CN105598723A - Centering type locking mechanism based on piezoelectric motor drive - Google Patents
Centering type locking mechanism based on piezoelectric motor drive Download PDFInfo
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- CN105598723A CN105598723A CN201610012881.8A CN201610012881A CN105598723A CN 105598723 A CN105598723 A CN 105598723A CN 201610012881 A CN201610012881 A CN 201610012881A CN 105598723 A CN105598723 A CN 105598723A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 239000000919 ceramic Substances 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims description 8
- 239000002184 metal Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 10
- 238000003754 machining Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 abstract 2
- 230000009471 action Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000002463 transducing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a centering type locking mechanism based on piezoelectric motor drive and relates to the technical field of automatic clamping mechanism equipment of machine tools or machining centers. The centering type locking mechanism aims at solving the problems that an existing electromagnetic motor drive type locking mechanism is complex in structure, and electromagnetic interference exists. According to the centering type locking mechanism, a clamp and clamping claws are hinged through bolts, limiting plates are connected with the top ends of side walls of the clamp, a wedge head driving shaft penetrates through two output shaft sleeves, one output shaft sleeve is connected with the center of the bottom surface of the clamp to be fixed, the other output shaft sleeve is connected with a motor fixing plate, a wedge head of the wedge head driving shaft is connected with the bottom ends of the four clamping claws, two driving feet of a piezoelectric motor are connected with the output shaft sleeves, forward voltage and backward voltage are applied to all piezoelectric ceramic pieces on the piezoelectric motor, reciprocating motion of the wedge head driving shaft is controlled by controlling the timing sequence of applying the voltage to the piezoelectric ceramic pieces, and thus the locking and unlocking functions of the locking mechanism are achieved. The centering type locking mechanism can be applied to manufacturing of automatic locking mechanism equipment of numerical control machine tools or machining centers.
Description
Technical field
The present invention relates to piezo-electric motor to drive and be applied to centring type retaining mechanism, relate to the automatic mounting of lathe and machining centerClamp mechanism equipment technology field.
Background technology
Centring type retaining mechanism often uses in the jig Design of various lathes and machining center, and its most basic function is exactlyIn workpiece process, workpiece is positioned to clamping. In order to realize automation process, need to be equipped with to retaining mechanismPower source, to realize auto lock process. Ripe automatic locking mechanism all adopts rotating electromagnetic motor as driving unit at presentPart, because electromagnetic machine output movement is for rotatablely moving, rotating speed is higher, it is little to exert oneself, and generally need to coordinate decelerator and transmissionMechanism is to realize the object of slowing down, increasing force and motion conversion, and this makes drives structure very complicated, and cost of manufacture is high. And,In this main equipment of the work in-process heart, have various electromagnetic fields, the existence of external electrical field also can affect the normal work of motor,In the electromagnetic machine course of work, can produce electromagnetic interference, this makes to carry out Anti-interference Design, has increased whole system simultaneouslyComplexity.
Summary of the invention
The present invention is in order to solve the driving locking mechanism structure complexity of existing electromagnetic machine, has a problem of electromagnetic interference.The centring type retaining mechanism driving based on piezo-electric motor is now provided.
The centring type retaining mechanism driving based on piezo-electric motor, it comprise four jaws, limiting plate, clamp body, four springs,Wedge head driving shaft, two go out shaft sleeve, motor fixing plate and piezo-electric motor,
Clamp body is the cube structure of upper end open, and the top middle portion of four sidewalls of clamp body is respectively provided with a U-shaped groove,A jaw is set in each U-shaped groove along the vertical direction, and U-shaped groove and jaw undertaken by bolt hinged, four jawsBottom is fixed together;
The lower end of each jaw is connected with one end of a spring; The other end of each spring respectively with clamp body sidewall on holeConnect,
Limiting plate is fixedly connected with four angles on clamp body top, and limiting plate is for separating four jaws;
Wedge head driving shaft comprises wedge head and driving shaft, and wedge head is positioned at the top of driving shaft,
Wedge head driving shaft passes two centers that go out shaft sleeve and clamp body bottom from bottom to up successively, and will by wedge headWedge head driving shaft is connected to the common port of the bottom of four jaws, and one goes out shaft sleeve and is fixedly connected with the center of clamp body bottom surface,Another goes out shaft sleeve and is fixedly connected with motor fixing plate, and motor fixing plate is fixedly connected with clamp body bottom surface,
Piezo-electric motor comprises upside transducer, downside transducer and vertical transducer,
Vertically the upper/lower terminal of transducer arranges respectively upside transducer, downside transducer, and one end of upside transducer arrangesHave one to drive foot, one end of downside transducer is provided with one and drives foot, one end of vertical transducer and upside transducerA lateral vertical connects, and vertically the other end of transducer and a lateral vertical of downside transducer are connected,
On wedge head driving shaft the outer surface of driving shaft from top to bottom successively with the driving foot of upside transducer and driving of downside transducerAction spot close contact,
Downside transducer is connected with motor fixing plate,
Upside transducer slides up and down along motor fixing plate.
Beneficial effect of the present invention is: by applying forward and reverse voltage to the piezoelectric ceramic piece on piezo-electric motor, control simultaneouslyExecute alive sequential, reach the object that drives the motion of wedge head driving shaft.
In the time that needs allow retaining mechanism carry out locking function:
First give the logical forward voltage of piezoelectric ceramic piece 8-1-2 of the upside transducer 8-1 of piezo-electric motor 8, upside transducer 8-1'sDrive sufficient 8-1-1 dog wedge head driving shaft, afterwards, give the logical negative voltage of piezoelectric ceramic piece 8-3-2 of downside transducer 8-3,The driving foot 8-3-1 of downside transducer 8-3 separates with wedge head driving shaft, then, gives the piezoelectric ceramic piece of horizontal transducer 8-28-2-1 leads to forward voltage, and horizontal transducer 8-2 extends, and then promotes upside transducer 8-1 and move upward, owing to now going upSide transducer 8-1 and wedge head driving shaft 5, in impaction state, drive wedge head driving shaft 5 upwards to transport under the effect of frictional forceMoving;
The logical forward voltage of piezoelectric ceramic piece 8-3-2 of giving the downside transducer 8-3 of piezo-electric motor 8, downside transducer 8-3 drivesAction spot 8-3-1 dog wedge head driving shaft 5, the more logical negative voltage of piezoelectric ceramic piece 8-1-2 of giving upside transducer 8-1, upsideThe driving foot 8-1-1 of transducer 8-1 separates with wedge head driving shaft 5, afterwards, gives the piezoelectric ceramic piece 8-2-1 of horizontal transducer 8-2Logical negative voltage, horizontal transducer 8-2 shrinks, and upside transducer 8-1 transports downwards along slide block holddown groove under slide block 9 effectsMoving return;
Said process is carried out repeatedly, just can make wedge head driving shaft 5 move upward continuously, spring 4 compresses, jaw 1Execution end shrink, workpiece is clamped.
In like manner, in the time that needs allow retaining mechanism carry out unlocking function:
First give the logical forward voltage of piezoelectric ceramic piece 8-1-2 of the upside transducer 8-1 of piezo-electric motor 8, upside transducer 8-1'sDrive sufficient 8-1-1 dog wedge head driving shaft, afterwards, give the logical negative voltage of piezoelectric ceramic piece 8-3-2 of downside transducer 8-3,The driving foot 8-3-1 of downside transducer 8-3 separates with wedge head driving shaft, then, gives the piezoelectric ceramic piece of horizontal transducer 8-28-2-1 leads to negative voltage, and horizontal transducer 8-2 shortens, and then promotes upside transducer 8-1 and move downward, owing to now going upSide transducer 8-1 and wedge head driving shaft 5, in impaction state, drive wedge head driving shaft 5 to transport downwards under the effect of frictional forceMoving;
The logical forward voltage of piezoelectric ceramic piece 8-3-2 of giving the downside transducer 8-3 of piezo-electric motor 8, downside transducer 8-3 drivesAction spot 8-3-1 dog wedge head driving shaft 5, the more logical negative voltage of piezoelectric ceramic piece 8-1-2 of giving upside transducer 8-1, upsideThe driving foot 8-1-1 of transducer 8-1 separates with wedge head driving shaft 5, afterwards, gives the piezoelectric ceramic piece 8-2-1 of horizontal transducer 8-2Logical forward voltage, horizontal transducer 8-2 extends, and upside transducer 8-1 upwards transports along slide block holddown groove under slide block 9 effectsMoving return;
Said process is carried out repeatedly, just can make wedge head driving shaft 5 move downward continuously, spring 4 is in restoring force effectLower resilience, the execution end of jaw 1 opens, and workpiece is carried out to release.
The centring type retaining mechanism driving based on piezo-electric motor of the present invention takes full advantage of the low speed high torque that piezo-electric motor hasThe advantage of thrust, fast response time has realized the direct driving of clamp mechanism, has omitted the middle groups such as decelerator, transmission devicePart, makes mechanism structurally very simple, has both improved the reliability of mechanism's work, has reduced again cost, makes to add simultaneouslyWork assembly technology is simplified; Piezo-electric motor utilizes friction mode to drive, and does not have electromagnetic interference, also needn't examineConsider electromagnetism tolerance, effectively overcome the electromagnetic compatibility problem that traditional electrical magneto drives retaining mechanism to exist. And, piezoelectricity horseReach for linear electric motors, do not need bearing and lubricated, avoided traditional electrical magneto to drive and need to consider bearing lubrication, sealing etc.Problem.
The centring type retaining mechanism driving based on piezo-electric motor of the present invention carries out directly centring type retaining mechanism by piezo-electric motorConnect driving, have simple in structure, cost is low, fast response time, cut off self-lock, without electromagnetic interference, need not use bearing andLubricated, high reliability.
Piezo-electric motor is the next-generation drive that a kind of inverse piezoelectric effect of utilizing piezoelectric is mechanical energy by electric energy conversion. It is fixedThe composite elastic body of the given shape that son is normally made up of piezoelectric ceramics and metal elastic gonosome, by just applying to piezoelectric ceramicsOpposed crossing or DC voltage are realized mechanically deform in stator elastomer, and then particle forms and has and drive in stator drive areaThe movement locus of action use, further, by the friction coupling between stator and rotor, realizes the output of rotor macroscopic motion.Compare with traditional electromagnetic machine, piezo-electric motor has low speed high torque thrust, torque density is high, positioning precision is high, responseSpeed is fast, cut off self-lock, without electromagnetic interference, need not use bearing and lubricate, be easy to realize straight line and multi-freedom electric motor etc.Advantage.
Brief description of the drawings
Fig. 1 is the three-dimensional structure diagram of the centring type retaining mechanism driving based on piezo-electric motor described in detailed description of the invention one;
Fig. 2 is the cutaway view of Fig. 1;
Fig. 3 is the three-dimensional structure diagram of piezo-electric motor in Fig. 1.
Detailed description of the invention
Detailed description of the invention one: illustrate present embodiment referring to figs. 1 through Fig. 3, described in present embodiment based on piezoelectricityThe centring type retaining mechanism that motor drives, it comprises four jaws 1, limiting plate 2, clamp body 3, four springs 4, wedge headDriving shaft 5, two go out shaft sleeve 6, motor fixing plate 7 and piezo-electric motor 8,
The cube structure that clamp body 3 is upper end open, and the top middle portion of 3 four sidewalls of clamp body is respectively provided with a UType groove, arranges a jaw 1 along the vertical direction in each U-shaped groove, and U-shaped groove and jaw 1 undertaken by bolt hinged,The bottom of four jaws 1 is fixed together;
The lower end of each jaw 1 is connected with one end of a spring 4; The other end of each spring 4 respectively with clamp body 3 sidesHole on wall connects,
Limiting plate 2 is fixedly connected with four angles on clamp body 3 tops, and limiting plate 2 is for separating four jaws 1;
Wedge head driving shaft 5 comprises wedge head and driving shaft, and wedge head is positioned at the top of driving shaft,
Wedge head driving shaft 5 goes out the center of shaft sleeve 6 and clamp body 3 bottoms through two from bottom to up successively, and passes throughWedge head is connected to wedge head driving shaft 5 common port of the bottom of four jaws 1, and one goes out shaft sleeve 6 and clamp body 3 bottom surfacesCenter be fixedly connected with, another goes out shaft sleeve 6 and is fixedly connected with motor fixing plate 7, motor fixing plate 7 and clamp body 3Bottom surface is fixedly connected with,
Piezo-electric motor 8 comprises upside transducer 8-1, downside transducer 8-3 and vertical transducer 8-2,
Vertically the upper/lower terminal of transducer 8-2 arranges respectively upside transducer 8-1, downside transducer 8-3, upside transducerOne end of 8-1 is provided with one and drives foot, and one end of downside transducer 8-3 is provided with one and drives foot, vertically transducer 8-2One end be connected with a lateral vertical of upside transducer 8-1, the vertically other end and the downside transducer 8-3 of transducer 8-2Lateral vertical connect,
On wedge head driving shaft 5 outer surface of driving shaft from top to bottom successively with driving foot and the downside transducing of upside transducer 8-1The driving foot close contact of device 8-3,
Downside transducer 8-3 is connected with motor fixing plate 7,
Upside transducer 8-1 slides up and down along motor fixing plate 7.
In present embodiment, the centring type retaining mechanism driving based on piezo-electric motor is in when application, to each on piezo-electric motorPiezoelectric ceramic piece applies forward and reverse voltage, by controlling, each potsherd is executed to alive sequential, controls wedge head and drivesThe reciprocating motion of axle, and then realize locking and the unlocking function of retaining mechanism; In the time driving signal to disconnect, in pretightning forceUnder effect, can realize and cutting off self-lock.
Detailed description of the invention two: present embodiment is to the centring type driving based on piezo-electric motor described in detailed description of the invention oneRetaining mechanism is described further, in present embodiment, and upside transducer 8-1, downside transducer 8-3 and vertically transducer 8-2Pass through by metal body and piezoelectric ceramic piece the complex of pasting or method of clamping forms,
Upside transducer 8-1 is symmetrically arranged with slide block holddown groove 8-1-3 along two sides of vertical transducer 8-2 length direction,Each slide block holddown groove 8-1-3 is embedded with a slide block 9, and slide block 9 is fixedly connected with motor fixing plate 7,
Downside transducer 8-3 is symmetrically arranged with mount pad 8-3-3 along two sides of vertical transducer 8-2 length direction,
Downside transducer 8-3 is connected with motor fixing plate 7 by mount pad 8-3-3.
In present embodiment, slide block 9 is fixedly connected with motor fixing plate 7, and slide block is limited in slide block holddown groove 8-1-3,Ensure the free degree that upside transducer 8-1 can move up and down.
Upside transducer 8-1 and downside transducer 8-3 are all connected on motor fixing plate 7, can ensure like this in motion processTo the reliable output movement of wedge head driving shaft.
Detailed description of the invention three: present embodiment is to the centring type driving based on piezo-electric motor described in detailed description of the invention oneRetaining mechanism is described further, and in present embodiment, the driving shaft on wedge head driving shaft 5 is hollow shaft, wedge head and drivingAxle is threaded connection.
In present embodiment, driving shaft is designed to hollow shaft, to reduce the quality of axle, wedge head and driving shaft is separated simultaneouslyProcessing, then with being threaded, makes its consumptive material few, is convenient to processing.
Detailed description of the invention four: present embodiment is to the centring type driving based on piezo-electric motor described in detailed description of the invention oneRetaining mechanism is described further, and in present embodiment, four holes on clamp body 3 sidewalls are through hole, through hole end cap and folderSpecifically be threaded connection, and through hole end cap is by one end sealing of through hole.
In present embodiment, four holes on clamp body 3 sidewalls are through hole, so that the assembling of four springs.
Detailed description of the invention five: present embodiment is to the centring type driving based on piezo-electric motor described in detailed description of the invention oneRetaining mechanism is described further, and in present embodiment, when jaw 1 is three, between every two jaws 1, is mutually 120 degreeAngle.
In present embodiment, jaw 1 is three, can be so that cylindrical part is carried out to stator locking.
Operation principle: the centring type retaining mechanism driving based on piezo-electric motor, adopts piezo-electric motor to realize the automatic of retaining mechanismLocking and release, when specific works, apply forward and reverse voltage to each piezoelectric ceramic piece on piezo-electric motor, by controllingEach potsherd is executed to alive sequential, control the driving foot of two vertical transducers and the compression of driving shaft and depart from shapeState, and the moving up and down of horizontal transducer 8-2, thus the reciprocating motion of wedge head driving shaft 5 controlled, and then realize lockingThe locking of mechanism and unlocking function. While carrying out locking function, by repeating " to drive sufficient 8-1-1 compression---driving foot8-3-1 departs from---horizontal transducer 8-2 extends---drive sufficient 8-3-1 to compress---driving sufficient 8-1-1 to depart from---level is changedCan device 8-2 shorten " action realize moving upward of driving shaft, thereby realize the locking action of retaining mechanism. Carry out releaseWhen function, by repeating " drive sufficient 8-1-1 to compress---driving sufficient 8-3-1 to depart from---horizontal transducer 8-2 shortens---drive sufficient 8-3-1 to compress---driving sufficient 8-1-1 to depart from---horizontal transducer 8-2 extends " action realize driving shaftMove downward, thereby realize the release action of retaining mechanism.
Claims (4)
1. the centring type retaining mechanism driving based on piezo-electric motor, is characterized in that, it comprises four jaws (1), limiting plate(2), clamp body (3), four springs (4), wedge head driving shaft (5), two go out shaft sleeve (6), motor fixing plate (7),And piezo-electric motor (8),
The cube structure that clamp body (3) is upper end open, and the top middle portion of (3) four sidewalls of clamp body is respectively provided withA U-shaped groove, arranges a jaw (1) along the vertical direction in each U-shaped groove, and U-shaped groove and jaw (1) pass through spiral shellBolt carries out hinged, and the bottom of four jaws (1) is fixed together;
The lower end of each jaw (1) is connected with one end of a spring (4); The other end of each spring (4) respectively with folderSpecifically the hole on (3) sidewall connects,
Limiting plate (2) is fixedly connected with four angles on clamp body (3) top, and limiting plate (2) is for by four jaws (1)Separate;
Wedge head driving shaft (5) comprises wedge head and driving shaft, and wedge head is positioned at the top of driving shaft,
Wedge head driving shaft (5) passes two centers that go out shaft sleeve (6) and clamp body (3) bottom from bottom to up successively,And by wedge head, wedge head driving shaft (5) is connected to the common port of the bottom of four jaws (1), one goes out shaft sleeve (6)Be fixedly connected with the center of clamp body (3) bottom surface, another goes out shaft sleeve (6) and is fixedly connected with motor fixing plate (7),Motor fixing plate (7) is fixedly connected with clamp body (3) bottom surface,
Piezo-electric motor (8) comprises upside transducer (8-1), downside transducer (8-3) and vertical transducer (8-2),
Vertically the upper/lower terminal of transducer (8-2) arranges respectively upside transducer (8-1), downside transducer (8-3), onOne end of side transducer (8-1) is provided with one and drives foot, and one end of downside transducer (8-3) is provided with one and drives foot,Vertically one end of transducer (8-2) and a lateral vertical of upside transducer (8-1) are connected, vertically transducer (8-2)The other end be connected with a lateral vertical of downside transducer (8-3),
The outer surface of the upper driving shaft of wedge head driving shaft (5) from top to bottom successively with the driving foot of upside transducer (8-1) and underThe driving foot close contact of side transducer (8-3),
Downside transducer (8-3) is connected with motor fixing plate (7),
Upside transducer (8-1) slides up and down along motor fixing plate (7).
2. the centring type retaining mechanism driving based on piezo-electric motor according to claim 1, is characterized in that, upside changesEnergy device (8-1), downside transducer (8-3) and vertical transducer (8-2) pass through to paste by metal body and piezoelectric ceramic pieceOr the complex of method of clamping composition,
Upside transducer (8-1) is symmetrically arranged with slide block holddown groove along two sides of vertical transducer (8-2) length direction(8-1-3), in each slide block holddown groove (8-1-3), be all embedded with a slide block (9), slide block (9) and motor fixing plate (7)Be fixedly connected with,
Downside transducer (8-3) is symmetrically arranged with mount pad (8-3-3) along two sides of vertical transducer (8-2) length direction,
Downside transducer (8-3) is connected with motor fixing plate (7) by mount pad (8-3-3).
3. the centring type retaining mechanism driving based on piezo-electric motor according to claim 1, is characterized in that, wedge head drivesDriving shaft on moving axis (5) is hollow shaft, and wedge head and driving shaft are threaded connection.
4. the centring type retaining mechanism driving based on piezo-electric motor according to claim 1, is characterized in that clamp body(3) four holes on sidewall are through hole, and through hole end cap and clamp body are threaded connection, and through hole end cap is by one end of through holeSealing.
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| CN201610012881.8A CN105598723B (en) | 2016-01-08 | 2016-01-08 | The centring type retaining mechanism driven based on piezo-electric motor |
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| CN201610012881.8A CN105598723B (en) | 2016-01-08 | 2016-01-08 | The centring type retaining mechanism driven based on piezo-electric motor |
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| CN105598723A true CN105598723A (en) | 2016-05-25 |
| CN105598723B CN105598723B (en) | 2017-07-28 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106736740A (en) * | 2016-12-09 | 2017-05-31 | 广东天机工业智能系统有限公司 | Extruding carrier |
| CN106903625A (en) * | 2015-12-22 | 2017-06-30 | 北京谊安医疗系统股份有限公司 | One kind is used for pinpoint adjustment frock |
| CN107309896A (en) * | 2017-06-30 | 2017-11-03 | 安徽普伦智能装备有限公司 | A kind of mechanical gripper |
| CN107479404A (en) * | 2017-09-21 | 2017-12-15 | 西北工业大学 | A kind of intelligent clamping device and its Active Control Method |
| CN108656044A (en) * | 2018-03-29 | 2018-10-16 | 苏州赛腾精密电子股份有限公司 | A kind of positioning carrier |
| CN114737829A (en) * | 2022-04-24 | 2022-07-12 | 东创智造(浙江)有限公司 | Unlocking equipment |
| CN114799803A (en) * | 2022-05-25 | 2022-07-29 | 天津大学 | Nine-shaft series connection type macro-micro combination assembling robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106903625A (en) * | 2015-12-22 | 2017-06-30 | 北京谊安医疗系统股份有限公司 | One kind is used for pinpoint adjustment frock |
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| CN114799803A (en) * | 2022-05-25 | 2022-07-29 | 天津大学 | Nine-shaft series connection type macro-micro combination assembling robot system |
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| CN105598723B (en) | 2017-07-28 |
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