CN105598723B - The centring type retaining mechanism driven based on piezo-electric motor - Google Patents
The centring type retaining mechanism driven based on piezo-electric motor Download PDFInfo
- Publication number
- CN105598723B CN105598723B CN201610012881.8A CN201610012881A CN105598723B CN 105598723 B CN105598723 B CN 105598723B CN 201610012881 A CN201610012881 A CN 201610012881A CN 105598723 B CN105598723 B CN 105598723B
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- electric motor
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- 230000007246 mechanism Effects 0.000 title claims abstract description 40
- 239000000919 ceramic Substances 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims description 8
- 230000002463 transducing effect Effects 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 abstract 1
- 230000006870 function Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005461 lubrication Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000004904 shortening Methods 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 centring type retaining mechanism driven based on piezo-electric motor, is related to the automated exchanged cutter mechanism equipment technology field of lathe and machining center.The problem of present invention is to solve existing electromagnetic motor driver type locking mechanism structure complexity, there is electromagnetic interference.Present clip body passes through bolted splice with clamping jaw, limiting plate connects the top of fixture body sidewall, wedge head drive shaft goes out shaft sleeve through two, one goes out shaft sleeve and connects the center of clamp body bottom surface to fix, another goes out shaft sleeve and connects motor fixing plate, the wedge head of wedge head drive shaft connects four clamping jaw bottoms, two driving foots of piezo-electric motor connect shaft sleeve, apply just to each piezoelectric ceramic piece on piezo-electric motor, backward voltage, by controlling to apply each potsherd alive sequential, to control the reciprocating motion of wedge head drive shaft, and then realize locking and the unlocking function of retaining mechanism.It can be used in the equipment manufacturing of the automatic locking mechanism of Digit Control Machine Tool or machining center.
Description
Technical field
The present invention relates to piezo-electric motor driving is applied into centring type retaining mechanism, be related to lathe and machining center from
Dynamic clamping mechanism equipment technology field.
Background technology
Centring type retaining mechanism is commonly used in the jig Design of various lathes and machining center, its most basic function
It is exactly that positioning clamping is carried out to workpiece in workpiece process.In order to realize automation process, it is necessary to retaining mechanism
Power source is equipped with, to realize auto lock process.Ripe automatic locking mechanism is used as drive using rotating electromagnetic machine at present
Dynamic element, because electromagnetic machine output campaign is rotary motion, rotating speed is higher, it is small to exert oneself, and generally requires cooperation decelerator and biography
Motivation structure is to realize the purpose of deceleration, reinforcement and motion conversion, and this causes driving structure extremely complex, and cost of manufacture is high.Also,
There are various electromagnetic fields in this large scale equipment of the work in-process heart, the presence of external electrical field can also influence the normal work of motor,
Electromagnetic interference can be produced in the electromagnetic machine course of work simultaneously, this to need to carry out Anti-interference Design, adds whole system
Complexity.
The content of the invention
The present invention is that existing electromagnetic motor driver type locking mechanism structure is complicated, there is asking for electromagnetic interference in order to solve
Topic.The centring type retaining mechanism driven based on piezo-electric motor is now provided.
The centring type retaining mechanism driven based on piezo-electric motor, it includes four clamping jaws, limiting plate, clamp body, four bullets
Spring, wedge head drive 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 side walls of clamp body is each provided with a U
One clamping jaw is set along the vertical direction in type groove, each U-type groove, and U-type groove is hinged with clamping jaw by bolt, four clamping jaws
Bottom be fixed together；
The lower end of each clamping jaw is connected with one end of a spring；The other end of each spring respectively with fixture body sidewall
Hole connection,
Limiting plate is fixedly connected with four angles on clamp body top, and limiting plate is used to separate four clamping jaws；
Wedge head drive shaft includes wedge head and drive shaft, and wedge head is located at the top of drive shaft,
Wedge head drive shaft sequentially passes through two and goes out the center of shaft sleeve and clamp body bottom from bottom to up, and passes through wedge
Wedge head drive shaft is connected to the common port of the bottom of four clamping jaws by head, and one goes out shaft sleeve and the center of clamp body bottom surface is fixed
Connection, 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 includes upside transducer, downside transducer and vertical transducer,
The upper/lower terminal of vertical transducer sets upside transducer, downside transducer respectively, and one end of upside transducer is set
A driving foot is equipped with, one end of downside transducer is provided with a driving foot, one end and the upside transducer of vertical transducer
A side vertically connect, the other end of vertical transducer is vertical with a side of downside transducer to be connected,
The driving foot and downside transducing of the outer surface of drive shaft from top to bottom successively with upside transducer in wedge head drive shaft
The driving of device is in close contact enough,
Downside transducer is connected with motor fixing plate,
Upside transducer is slided up and down along motor fixing plate.
Beneficial effects of the present invention are：By applying forward and reverse voltage, same time control to the piezoelectric ceramic piece on piezo-electric motor
System applies alive sequential, to reach the purpose of driving wedge head drive shaft motion.
When needing to allow retaining mechanism to perform locking function：
First the piezoelectric ceramic piece 8-1-2 to the upside transducer 8-1 of piezo-electric motor 8 leads to forward voltage, upside transducer 8-1
Driving foot 8-1-1 compress wedge head drive shaft, afterwards, to downside transducer 8-3 piezoelectric ceramic piece 8-3-2 lead to negative voltage,
Downside transducer 8-3 driving foot 8-3-1 is separated with wedge head drive shaft, then, the piezoelectric ceramic piece 8- to vertical transducer 8-2
2-1 leads to forward voltage, vertical transducer 8-2 elongations, and then promotes upside transducer 8-1 to move upwards, because now upside is changed
Energy device 8-1 is in impaction state with wedge head drive shaft 5, drives wedge head drive shaft 5 to move upwards in the presence of frictional force；
Piezoelectric ceramic piece 8-3-2 to the downside transducer 8-3 of piezo-electric motor 8 leads to forward voltage, downside transducer 8-3's
Drive foot 8-3-1 to compress wedge head drive shaft 5, then lead to negative voltage, upside to upside transducer 8-1 piezoelectric ceramic piece 8-1-2
Transducer 8-1 driving foot 8-1-1 is separated with wedge head drive shaft 5, afterwards, the piezoelectric ceramic piece 8-2-1 to vertical transducer 8-2
Logical negative voltage, vertical transducer 8-2 is shunk, and upside transducer 8-1 is moved downward under the effect of sliding block 9 along sliding block fixing groove
Return；
Said process is repeated, it is possible to so that the continuous motion upwards of wedge head drive shaft 5, spring 4 compresses, clamping jaw 1
Execution end-contraction, workpiece is clamped.
Similarly, when needing to allow retaining mechanism to perform unlocking function：
First the piezoelectric ceramic piece 8-1-2 to the upside transducer 8-1 of piezo-electric motor 8 leads to forward voltage, upside transducer 8-1
Driving foot 8-1-1 compress wedge head drive shaft, afterwards, to downside transducer 8-3 piezoelectric ceramic piece 8-3-2 lead to negative voltage,
Downside transducer 8-3 driving foot 8-3-1 is separated with wedge head drive shaft, then, the piezoelectric ceramic piece 8- to vertical transducer 8-2
2-1 leads to negative voltage, and vertical transducer 8-2 shortens, and then promotes upside transducer 8-1 to move downward, because now upside is changed
Energy device 8-1 is in impaction state with wedge head drive shaft 5, drives wedge head drive shaft 5 to move downward in the presence of frictional force；
Piezoelectric ceramic piece 8-3-2 to the downside transducer 8-3 of piezo-electric motor 8 leads to forward voltage, downside transducer 8-3's
Drive foot 8-3-1 to compress wedge head drive shaft 5, then lead to negative voltage, upside to upside transducer 8-1 piezoelectric ceramic piece 8-1-2
Transducer 8-1 driving foot 8-1-1 is separated with wedge head drive shaft 5, afterwards, the piezoelectric ceramic piece 8-2-1 to vertical transducer 8-2
Logical forward voltage, vertical transducer 8-2 elongations, upside transducer 8-1 is moved upwards under the effect of sliding block 9 along sliding block fixing groove
Return；
Said process is repeated, it is possible to which, so that wedge head drive shaft 5 is continuously moved downward, spring 4 is replying masterpiece
Lower resilience is used, the execution end of clamping jaw 1 is opened, workpiece is unlocked.
The centring type retaining mechanism driven based on piezo-electric motor of the present invention takes full advantage of the low speed that piezo-electric motor has
Big torque thrust, the advantage of fast response time realize the direct drive of clamp system, eliminate in decelerator, transmission device etc.
Between component so that mechanism very simple in structure, both improved mechanism work reliability, cost is reduced again, is made simultaneously
Processing and assembling is simplified；Piezo-electric motor is driven using friction mode, in the absence of electromagnetic interference, need not also be examined
Consider electromagnetism tolerance, effectively overcome the electromagnetic compatibility problem that traditional electromagnetic motor driver retaining mechanism is present.Also, piezo-electric motor
For linear electric motors, it is not necessary to bearing and lubrication, it is to avoid traditional electromagnetic motor driver needs to consider that bearing lubrication, sealing etc. are asked
Topic.
The centring type retaining mechanism based on piezo-electric motor driving of the present invention is by piezo-electric motor to centring type retaining mechanism
Directly driven, with simple in construction, cost is low, fast response time, cut off self-lock, without electromagnetic interference, without using bearing
With lubrication, high reliability.
Piezo-electric motor is the next-generation drive that a kind of inverse piezoelectric effect of utilization piezoelectric converts electrical energy into mechanical energy.
Its stator is typically the composite elastic body for the given shape being made up of piezoelectric ceramics and metallic elastic body, by being applied to piezoelectric ceramics
Plus forward and reverse AC or DC voltage realizes mechanically deform in stator elastomeric, and then the particle formation tool in stator driving region
There is the movement locus of driving effect, further coupled by the friction between stator and rotor, realize the defeated of rotor macroscopic motion
Go out.Compared with traditional electromagnetic machine, piezo-electric motor has high low speed high torque thrust, torque density, positioning precision height, response
Speed is fast, cut off self-lock, without electromagnetic interference, without using bearing and lubrication, to be easily achieved straight line and multi-freedom electric motor etc. excellent
Point.
Brief description of the drawings
Fig. 1 is the stereochemical structure of the centring type retaining mechanism driven based on piezo-electric motor described in embodiment one
Figure；
Fig. 2 is Fig. 1 sectional view；
Fig. 3 is the three-dimensional structure diagram of piezo-electric motor in Fig. 1.
Embodiment
Embodiment one：Illustrate present embodiment referring to figs. 1 to Fig. 3, described in present embodiment based on pressure
The centring type retaining mechanism of electric motor drive, it includes four clamping jaws 1, limiting plate 2, clamp body 3, four springs 4, wedge head drivings
Axle 5, two go out shaft sleeve 6, motor fixing plate 7 and piezo-electric motor 8,
Clamp body 3 is the cube structure of upper end open, and the top middle portion of 3 four side walls of clamp body is each provided with one
One clamping jaw 1 is set along the vertical direction in U-type groove, each U-type groove, and U-type groove is hinged with clamping jaw 1 by bolt, four
The bottom of clamping jaw 1 is fixed together；
The lower end of each clamping jaw 1 is connected with one end of a spring 4；The other end of each spring 4 respectively with the side of clamp body 3
Hole connection on wall,
Limiting plate 2 is fixedly connected with four angles on the top of clamp body 3, and limiting plate 2 is used to separate four clamping jaws 1；
Wedge head drive shaft 5 includes wedge head and drive shaft, and wedge head is located at the top of drive shaft,
Wedge head drive shaft 5 sequentially passes through two and goes out the center of shaft sleeve 6 and the bottom of clamp body 3 from bottom to up, and leads to
The common port that wedge head drive shaft 5 is connected to the bottom of four clamping jaws 1 by wedge head is crossed, one goes out shaft sleeve 6 and the bottom surface of clamp body 3
Center is fixedly connected, and another goes out shaft sleeve 6 and is fixedly connected with motor fixing plate 7, and motor fixing plate 7 is consolidated with the bottom surface of clamp body 3
Fixed connection,
Piezo-electric motor 8 includes upside transducer 8-1, downside transducer 8-3 and vertical transducer 8-2,
Vertical transducer 8-2 upper/lower terminal sets upside transducer 8-1, downside transducer 8-3, upside transducing respectively
Device 8-1 one end is provided with a driving foot, and downside transducer 8-3 one end is provided with a driving foot, vertical transducer 8-2
One end it is vertical with a upside transducer 8-1 side be connected, the vertical transducer 8-2 other end and downside transducer 8-3
A side vertically connect,
The outer surface of drive shaft driving foot from top to bottom successively with upside transducer 8-1 and downside in wedge head drive shaft 5
Transducer 8-3 driving is in close contact enough,
Downside transducer 8-3 is connected with motor fixing plate 7,
Upside transducer 8-1 is slided up and down along motor fixing plate 7.
In present embodiment, the centring type retaining mechanism based on piezo-electric motor driving is in use, on piezo-electric motor
Each piezoelectric ceramic piece applies forward and reverse voltage, by controlling to apply each potsherd alive sequential, to control wedge head to drive
The reciprocating motion of moving axis, and then realize locking and the unlocking function of retaining mechanism；When drive signal is disconnected, in pretightning force
It can be achieved to cut off self-lock under effect.
Embodiment two：Present embodiment is to the determining based on piezo-electric motor driving described in embodiment one
Core type retaining mechanism is described further, in present embodiment, upside transducer 8-1, downside transducer 8-3 and vertical transducer
The complex that 8-2 is made up of by metal body and piezoelectric ceramic piece stickup or method of clamping,
Upside transducer 8-1 is symmetrically arranged with sliding block fixing groove 8- along two sides of vertical transducer 8-2 length directions
1-3, each sliding block fixing groove 8-1-3 is embedded with a sliding block 9, and sliding block 9 is fixedly connected with motor fixing plate 7,
Downside transducer 8-3 is symmetrically arranged with mounting seat 8-3-3 along two sides of vertical transducer 8-2 length directions,
Downside transducer 8-3 is connected by mounting seat 8-3-3 with motor fixing plate 7.
In present embodiment, sliding block 9 is fixedly connected with motor fixing plate 7, sliding block is limited in sliding block fixing groove 8-1-3
It is interior, it is ensured that the free degree that upside transducer 8-1 can move up and down.
Upside transducer 8-1 and downside transducer 8-3 are both connected on motor fixing plate 7, can so ensure to be moved through
To the reliable output campaign of wedge head drive shaft in journey.
Embodiment three：Present embodiment is to the determining based on piezo-electric motor driving described in embodiment one
Core type retaining mechanism is described further, in present embodiment, and the drive shaft in wedge head drive shaft 5 is hollow shaft, wedge head and drive
Moving axis is connected through a screw thread.
In present embodiment, drive shaft is designed as hollow shaft, to reduce the quality of axle, while wedge head and drive shaft are divided
Processing is opened, then with threaded connection, makes its consumptive material few, is easy to processing.
Embodiment four：Present embodiment is to the determining based on piezo-electric motor driving described in embodiment one
Core type retaining mechanism is described further, in present embodiment, four holes on the side wall of clamp body 3 be through hole, through hole end cap with
Clamp body is connected through a screw thread, and through hole end cap closes one end of through hole.
In present embodiment, four holes on the side wall of clamp body 3 are through hole, in order to the assembling of four springs.
Embodiment five：Present embodiment is to the determining based on piezo-electric motor driving described in embodiment one
Core type retaining mechanism is described further, in present embodiment, when clamping jaw 1 is three, and 120 degree are mutually between each two clamping jaw 1
Angle.
In present embodiment, clamping jaw 1 is three, can be in order to cylindrical part progress stator locking.
Operation principle：The centring type retaining mechanism driven based on piezo-electric motor, retaining mechanism is realized using piezo-electric motor
Auto lock and unblock, during specific works, forward and reverse voltage is applied to each piezoelectric ceramic piece on piezo-electric motor, passes through control
System applies alive sequential to each potsherd, to control upside transducer 8-1 and downside transducer 8-3 driving foot and driving
The compression and disengaged position of axle, and transducer 8-2 up and down motion vertically, so that the reciprocating motion of wedge head drive shaft 5 is controlled,
And then realize locking and the unlocking function of retaining mechanism.When performing locking function, by repeating, " driving foot 8-1-1 is pressed
Tightly --- driving foot 8-3-1 departs from, and --- vertical transducer 8-2 extends --- driving foot 8-3-1 to compress --- driving foot 8-1-1
The upward motion of drive shaft is realized in the action of disengaging --- vertical transducer 8-2 shortenings ", so as to realize that the locking of retaining mechanism is moved
Make.When performing unlocking function, by repeating " driving foot 8-1-1 compressions --- driving foot 8-3-1 departs from --- vertical transducing
Device 8-2 shortens --- driving foot 8-3-1 is compressed --- driving foot 8-1-1 departs from ---, and vertical transducer 8-2 extends " action reality
Show moving downward for drive shaft, so as to realize the unlocking motion of retaining mechanism.
Claims (4)
1. the centring type retaining mechanism driven based on piezo-electric motor, it is characterised in that it includes four clamping jaws (1), limiting plates
(2), clamp body (3), four springs (4), wedge head drive shaft (5), two go out shaft sleeve (6), motor fixing plate (7) and piezoelectricity
Motor (8),
Clamp body (3) is the cube structure of upper end open, and the top middle portion of (3) four side walls of clamp body is each provided with one
One clamping jaw (1) is set along the vertical direction in U-type groove, each U-type groove, and U-type groove is hinged with clamping jaw (1) by bolt,
The bottom of four clamping jaws (1) is fixed together；
The lower end of each clamping jaw (1) is connected with one end of a spring (4)；The other end of each spring (4) respectively with clamp body
(3) the hole connection on the wall of side,
Limiting plate (2) is fixedly connected with four angles on clamp body (3) top, and limiting plate (2) is used to separate four clamping jaws (1)
Open；
Wedge head drive shaft (5) includes wedge head and drive shaft, and wedge head is located at the top of drive shaft,
Wedge head drive shaft (5) sequentially passes through two centers for going out shaft sleeve (6) and clamp body (3) bottom from bottom to up, and
Wedge head drive shaft (5) is connected to the common port of the bottom of four clamping jaws (1) by wedge head, one goes out shaft sleeve (6) and fixture
The center of body (3) bottom surface is fixedly connected, and another goes out shaft sleeve (6) and is fixedly connected with motor fixing plate (7), motor fixing plate
(7) it is fixedly connected with clamp body (3) bottom surface,
Piezo-electric motor (8) includes upside transducer (8-1), downside transducer (8-3) and vertical transducer (8-2),
The upper/lower terminal of vertical transducer (8-2) sets upside transducer (8-1), downside transducer (8-3) respectively, and upside is changed
One end of energy device (8-1) is provided with a driving foot, and one end of downside transducer (8-3) is provided with a driving foot, changed vertically
Can device (8-2) one end it is vertical with a side of upside transducer (8-1) is connected, the other end of vertical transducer (8-2) and
One side of downside transducer (8-3) is vertically connected,
The outer surface of drive shaft driving foot from top to bottom successively with upside transducer (8-1) and downside in wedge head drive shaft (5)
The driving of transducer (8-3) is in close contact enough,
Downside transducer (8-3) is connected with motor fixing plate (7),
Upside transducer (8-1) is slided up and down along motor fixing plate (7).
2. the centring type retaining mechanism according to claim 1 driven based on piezo-electric motor, it is characterised in that upside transducing
Device (8-1), downside transducer (8-3) and vertical transducer (8-2) by metal body and piezoelectric ceramic piece by pasting or
The complex of method of clamping composition,
Two sides of the upside transducer (8-1) along vertical transducer (8-2) length direction are symmetrically arranged with sliding block fixing groove (8-
1-3), a sliding block (9) is embedded with each sliding block fixing groove (8-1-3), sliding block (9) is fixedly connected with motor fixing plate (7),
Two sides of the downside transducer (8-3) along vertical transducer (8-2) length direction are symmetrically arranged with mounting seat (8-3-
3),
Downside transducer (8-3) is connected by mounting seat (8-3-3) with motor fixing plate (7).
3. the centring type retaining mechanism according to claim 1 driven based on piezo-electric motor, it is characterised in that wedge head drives
Drive shaft on axle (5) is hollow shaft, and wedge head and drive shaft are connected through a screw thread.
4. the centring type retaining mechanism according to claim 1 driven based on piezo-electric motor, it is characterised in that clamp body
(3) four holes on the wall of side are through hole, and through hole end cap is connected through a screw thread with clamp body, and through hole end cap is by an end seal of through hole
Close.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 CN105598723A (en) | 2016-05-25 |
| CN105598723B true CN105598723B (en) | 2017-07-28 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903625B (en) * | 2015-12-22 | 2019-07-05 | 北京谊安医疗系统股份有限公司 | One kind being used for pinpoint adjustment tooling |
| CN106736740B (en) * | 2016-12-09 | 2019-01-22 | 广东天机工业智能系统有限公司 | Squeeze carrier |
| 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 |
| CN107479404B (en) * | 2017-09-21 | 2018-07-03 | 西北工业大学 | A kind of intelligence 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 |
| CN114737829B (en) * | 2022-04-24 | 2023-03-21 | 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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| JP5254980B2 (en) * | 2007-08-21 | 2013-08-07 | 日本碍子株式会社 | Positioning device and positioning method |
| CN102950492A (en) * | 2011-08-26 | 2013-03-06 | 吴江市海鑫机械有限公司 | Quick clamping clamp |
| CN202240645U (en) * | 2011-09-06 | 2012-05-30 | 南京农业大学 | Fine-adjusting device of boring cutter |
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| CN105598723A (en) | 2016-05-25 |
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