CN106583945B - Four paws automatic centring chuck and lathe - Google Patents
Four paws automatic centring chuck and lathe Download PDFInfo
- Publication number
- CN106583945B CN106583945B CN201611237408.6A CN201611237408A CN106583945B CN 106583945 B CN106583945 B CN 106583945B CN 201611237408 A CN201611237408 A CN 201611237408A CN 106583945 B CN106583945 B CN 106583945B
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- 210000000078 claw Anatomy 0.000 claims abstract description 57
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000000465 moulding Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 238000003698 laser cutting Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The present invention relates to clamping machine tools, a kind of four paws automatic centring chuck is provided, including base and two two pawl clamp systems, each two pawls clamp system includes two claws, two transmission components and actuator, each transmission component includes drive rod, drive connection bar, clamps connecting rod and clamping bar, four successively hingedly form parallelogram, drive connection bar and the hinge joint clamped between connecting rod are articulated on base, and hinge joint be located at or the connection straight line between the first elongation end and the second elongation end on；A kind of lathe, including above-mentioned chuck are also provided.Four claws can realize clamping workpiece to middle shrinkage under the action of actuator in the present invention, speed is relatively high with precision, and using drive rod, drive connection bar, clamping bar and the parallelogram lindage transmission for clamping connecting rod composition between claw and actuator, four claws two are all right one way or the other to be shunk to the center of circle respectively, realize clamping workpiece, clamp speeds, precision and clamping force are relatively high.
Description
Technical field
The present invention relates to lathe more particularly to a kind of four paws automatic centring chucks and lathe.
Background technique
Machine chuck is lathe accessory with the most use, and different parts to be processed is it is necessary to the different sizes of correspondence and difference
The chuck of form, especially laser cutting machine tool, part to be processed rectangle is in the majority, present situation be when processing Rectangular Parts,
Four-jaw chuck clamp clamping of workpieces can only be used, and the chuck used now: 1) traditional chuck is unable to automatic centering clamping
Workpiece, it is often necessary to by measuring or adjusting once and again respectively by experience the respective position of four paws to reach centering folder
Tight purpose has seriously affected production efficiency so non-cutting time is too long；2) being proposed four paws within nearly 2 years two-by-two can be with centering
Chuck, but the transmission of its claw is realized by gear, gear drive belongs to higher pair contact, so chucking power is unreliable, in addition to
Interior clamping stroke is also little；3) pneumatic linear actuator drives two two linkages of plane to drive claw workpiece pressings, and structure is complicated and to circle
Intracardiac clamping stroke is limited, needs frequently to change pawl or changes chuck.
Summary of the invention
The purpose of the present invention is to provide a kind of four paws automatic centring chucks, it is intended to for solving existing chuck centering ratio
Cumbersome or clamping stroke is too short or the insecure problem of chucking power.
The present invention is implemented as follows:
The embodiment of the present invention provides a kind of four paws automatic centring chuck, including base and installs on the base and can
Two two pawl clamp systems of movable clamping workpiece, each two pawls clamp system include the movable clamping workpiece two
A claw drives the corresponding card with one-to-one two transmission components of two claws and by the transmission component
The actuator of pawl linear movement, each transmission component include drive rod, drive connection bar, clamp connecting rod and clamping
Bar, four successively hingedly form parallelogram, and the drive rod, which has, stretches out described put down along two hinge hole line direction
Row quadrangle and the first elongation end moved along a straight line is driven by hinged actuator, the clamping bar has hinged along two
The parallelogram is stretched out and second elongation end hinged with the claw in hole line direction, the drive connection bar with it is described
The hinge joint clamped between connecting rod is articulated on the base, and the hinge joint is located at or close first elongation end is hinged
On connection straight line between point and the second elongation end hinge joint.
Further, each actuator includes can rotate around own axes and length direction is parallel to the correspondence card
Two screw rods of pawl moving direction and two sliding sleeves being connect respectively with two screw flights, two screw rods with it is right
Two drive rods of the two pawls clamp system are answered to correspond, each screw rod is described with the corresponding drive rod
First elongation end is hinged, and two screw rods of each actuator is oppositely oriented.
Further, two transmission components of each two pawls clamp system are symmetrically set along the axis of symmetry of workpiece
It sets, and two screw rods are located along the same line.
Further, corresponding two screw rods of each two pawls clamp system one end close to each other connects by one
Female connector is connected as entirety or corresponding two screw rods of each two pawls clamp system are an integral molding structure.
Further, the base corresponds to and is provided with protrusion at each transmission component, each transmission component
The drive connection bar and the clampings connecting rod with it is described protrusion hingedly.
Further, the base, which corresponds to, is provided with straight-line groove at each claw, the claw is slideably positioned in correspondence
The straight-line groove in.
Further, four claws of two two pawls clamp systems are evenly spaced on same circumference.
The embodiment of the present invention also provides a kind of lathe, including above-mentioned four paws automatic centring chuck.
The invention has the following advantages:
It in chuck of the invention, is connected between actuator and claw by transmission component, to this when actuator works, is led to
Crossing transmission component can drive corresponding claw to move linearly, and in the moving process, claw far from or close to workpiece,
I.e. when needing to clamp workpiece, first workpiece can be placed between four claws, can then be driven after actuator work corresponding
On the contrary claw is close to workpiece, and then realizes clamping to the workpiece, then drive a claw far from workpiece, and workpiece can be by chuck
It takes out.And for transmission component part, the form of parallel four-bar linkage is mainly used, actuator can drive drive rod
First elongation end moves linearly, and then drives drive connection bar rotation by drive rod, and then limited and driven by drive connection bar
The other end motion track of bar, drive rod drive the end of clamping bar connected to it to rotate, while clamping leading for connecting rod
Under system, so that the second elongation end of clamping bar drives corresponding claw to move linearly, and the first of moving direction and drive rod
Elongation end moving direction is opposite.It is low secondary connection, four claws using parallelogram lindage in above-mentioned transmission process
Two is all right one way or the other respectively to center of circle contraction, clamping workpiece is realized, in the identical situation of outside diameter size of workpiece, compared to traditional
Gear drive inwardly clamps that stroke is bigger, and clamp speeds, precision and clamping force are relatively high.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of four paws automatic centring chuck provided in an embodiment of the present invention；
Fig. 2 is the A-A direction view of Fig. 1；
Fig. 3 is the drive mechanism signal of two transmission components of two pawl clamp systems of the four paws automatic centring chuck of Fig. 1
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1 and Fig. 3, the embodiment of the present invention provides a kind of four paws automatic centring chuck, including base 1 and two
Two pawl clamp systems 2, two pawl clamp systems 2 are installed on base 1, are arranged between two two pawl clamp systems 2 in 90 degree, two
The movable clamping to workpiece 3 may be implemented in person's cooperation, refines the structure of each two pawls clamp system 2 comprising claw 21, transmission
Component 22 and actuator 23, claw 21 and transmission component 22 are two, and the two is one-to-one relationship, and actuator 23
It can according to need and be selected as one or two, actuator 23 is power section, can be made by the transmission of transmission component 22
With corresponding claw 21 can be driven to move linearly, and moving direction be far from driving your workpiece 3 or close to actuator 23,
Two claws 21 of each two pawls clamp system 2 are located along the same line and between the two every to this two two pawl clamp systems 2
Four claws 21 are opposite two-by-two, the mounting groove for accommodating workpiece 3 can be formed between four, and four claws 21 are equal along same circumference
It is even to be spaced apart, refine transmission component 22 structure, each transmission component 22 include drive rod 221, drive connection bar 222,
Connecting rod 224 and clamping bar 223 are clamped, four successively hingedly form parallelogram, and drive rod 221 has along two hinge
The first elongation end of parallelogram is stretched out in the direction for connecing line between hole, and clamping bar 223 has between two hinge hole
The second elongation end of parallelogram is stretched out in the direction of line, between the second elongation end of clamping bar 223 and corresponding claw 21
Hingedly, the other end is then hinged with wherein one end of drive rod 221, and the first elongation end of drive rod 221 can then drive
It can be moved along a straight line under the action of part 23, in addition for drive connection bar 222 and clamp connecting rod 224, hinge between the two
Contact is articulated on base 1, and the other end of the two is then hinged with drive rod 221 and clamping bar 223 respectively, and driving connects certainly
Link position between extension bar 222 and drive rod 221 is not the first elongation end of drive rod 221, clamps connecting rod 224 and clamps
Link position between bar 223 is also not the second elongation end of clamping bar 223, and drive connection bar 222 and clamping connecting rod 224
Between hinge joint be located at or close to the first elongation end hinge joint and the second elongation end hinge joint between connection straight line
On, and during the first elongation end and the second elongation end are mobile, which is always positioned at or close between the two
Connect straight line.In the present invention, drive rod 221, drive connection bar 222, clamping connecting rod 224 and clamping bar 223 are formed in parallel
Four-bar mechanism, actuator 23 work, and the first elongation end of drive rod 221 can be driven to move linearly, and due to being drivingly connected
The restriction effect of bar 222, so that the other end of drive rod 221 drives clamping bar 223 to rotate, and clamping bar 223 is clamping connection
Under the containing of bar 224, and due to clamping the hinge joint between connecting rod 224 and drive connection bar 222 near or at first
On connection straight line between the hinge joint of elongation end and the hinge joint of the second elongation end, then clamping bar 223 drives corresponding claw 21
In mobile process, claw 21 can only do the linear movement reversed with the first elongation end of drive rod 221, without generation and its
Vertical linear movement, two transmission components 22 of usual each two pawls clamp system 2 are located at the axis of symmetry of workpiece 3
Opposite sides, when actuator 23 controls the first elongation end of drive rod 221 far from the axis of symmetry, corresponding claw 21 is close
Workpiece 3, each claw 21 form the clamping to workpiece 3, otherwise when actuator 23 controls the first elongation end of drive rod 221 close to right
When claiming axis, each claw 21 releases the clamping action to the workpiece 3 far from the workpiece 3, each claw 21.In the above-mentioned course of work
In, actuator 23 controls the centering movement of claw 21, can carry out automatically, and it is very convenient without manually adjusting, it mentions significantly
The high clamping speed and precision of workpiece 3, improves production efficiency, and between still further aspect, actuator 23 and claw 21
Drive mechanism be drive rod 221, drive connection bar 222, the parallelogram lindage for clamping connecting rod 224 and pinched composition,
It is low secondary connection, and four 21 liang of claw all right one way or the other respectively to center of circle contraction, clamping workpiece is realized, in the outside diameter ruler of workpiece
In very little identical situation, inwardly clamp that stroke is bigger, and clamp speeds, precision and clamping force compare compared to traditional gear drive
It is high.
Referring to Fig. 1 and Fig. 2, optimizes above-described embodiment, multiple structural forms can have for actuator 23, such as can
To use cylinder, cylinder be it is multiple, corresponded with drive rod 221, push the of corresponding drive rod 221 by Telescopic-cylinder
The linear movement of one elongation end.Certain actuator 23 can also be using other structure types, for example actuator 23 includes two spiral shells
Bar 231 and two sliding sleeves 232, certain actuator 23 should also include motor, two sliding sleeves 232 and corresponding two pawls clamping machine
Two drive rods 221 of structure 2 correspond, and also correspond between two sliding sleeves 232 and two screw rods 231, by each cunning
Set 232 is sheathed on corresponding screw rod 231, is threadedly coupled between sliding sleeve 232 and corresponding screw rod 231, the length of each screw rod 231
Degree is oriented parallel to the moving direction of corresponding claw 21, and sliding sleeve 232 and the first elongation end of corresponding drive rod 221 are hinged,
When motor drives screw rod 231 to rotate around own axes, the sliding sleeve 232 on the screw rod 231 then moves along its length, in turn
Drive the first elongation end synchronous linear of drive rod 221 mobile, the motion track of sliding sleeve 232 is parallel to the movement of corresponding claw 21
Track.
Referring to figures 1-3, continue to optimize above-described embodiment, two transmission components 22 of each two pawls clamp system 2 are along work
The axis of symmetry of part 3 is symmetrical arranged, and two screw rods 231 are located along the same line.In the present embodiment, each two pawls clamp system
2 be symmetrical structure, and the axis of symmetry is identical as workpiece 3, or when chuck to be applied on lathe, which is
The axis of symmetry of machine tool chief axis, when actuator 23 works, the movement of two transmission components 22 is all the same, and two screw rods 231 revolve
Turn identical angle, the moving distance of two claws 21 is identical.It further, can be in each two pawls clamp system 2 corresponding two
A connector sleeve 233 is provided between root screw rod 231, two screw rods 231 end close to each other is connected by the connector sleeve 233
For an entirety.In this configuration, make two screw rods 231 be an entirety by connector sleeve 233, this motor is being driven
When a screw rod 231 rotates in device, another 231 synchronous rotary of screw rod, or can be revolved with the connector sleeve 233 among motor driven
Turn, so that two 231 synchronous rotaries of screw rod, and then can control two 21 synchronization actions of claw of each two pawls clamp system 2,
The thread rotary orientation of two screw rods 231 answer on the contrary, so that the two in synchronous rotary, the moving direction of two claws 21
On the contrary, two claws 21 can synchronize release or synchronous clamping workpiece 3；Or each two pawls clamp system 2 corresponding two
Screw rod 231 is an integral molding structure, and the two is an entirety in the preparation, that is, uses a longer screw rod, two sliding sleeves 232
It being threadedly connected on the long bolt, the long bolt should have two parts screw thread at this time, and it is corresponding with two transmission components 22 respectively, and
Two-part thread rotary orientation is opposite.And in this structure type, the screw rod 231 of two two pawl clamp systems 2 should be arranged in a staggered manner,
That is wherein two piece screw rods 231 of two screw rods 231 of one liang of pawl clamp system 2 perpendicular to another two pawls clamp system 2, and not position
In in same plane.
Referring again to Fig. 1 and Fig. 2, further, the position that each transmission component 22 is corresponded on base 1 is provided with
Protrusion 11, the drive connection bar 222 and clamping connecting rod 224 of each transmission component 22 are hinged with corresponding raised 11.This reality
It applies in example, since drive connection bar 222 and clamping connecting rod 224 are hinged between base 1, protrusion 11 is set on base 1
Structure, can be to avoid the two when rotating relative to base 1, the rotation path of both outer surface interference of base 1, and by each group
Transmission component 22 drive connection bar 222 and clamp connecting rod 224 and be connected to the same position of base 1, then can simplify
The rotational structure is assembled also more convenient.Four claws 21 of still further aspect, usual chuck are installed in the front cover of base 1
Board position can then be provided with straight-line groove 12 on front shroud, and the number of straight-line groove 12 is identical as the number of claw 21, and the two is
One-to-one relationship, in addition corresponding two straight-line grooves 12 of each two pawls clamp system 2 should be located along the same line, each claw
21 are slideably positioned in corresponding straight-line groove 12, i.e., actuator 23 controls claw 21 and slides along corresponding straight-line groove 12, not only subtract
Less wear, and can guarantee the linear movement precision of claw 21.
Referring to Fig. 1, the embodiment of the present invention also provides a kind of lathe, including above-mentioned chuck.In the present invention, by above-mentioned card
Disk is applied on lathe, can specifically be applied on laser cutting machine tool, four on chuck claw 21 can drive
Part 23 acts on lower automatic centering, and then realizes the clamping to workpiece 3, and clamping speed and precision are relatively high, and clamping process
Using low secondary connection transmission, claw 21 clamps that stroke is big, chucking power it is reliable.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of four paws automatic centring chuck, including base and install on the base and movable two for clamping workpiece
Two pawl clamp systems, each two pawls clamp system include movable clamp described in described two claws of workpiece and two
One-to-one two transmission components of claw and the driving that the corresponding claw linear movement is driven by the transmission component
Part, it is characterised in that: each transmission component includes drive rod, drive connection bar, clamps connecting rod and clamping bar, and four
Person successively hingedly forms parallelogram, and the drive rod, which has, stretches out parallel four side along two hinge hole line direction
Shape and the first elongation end moved along a straight line is driven by hinged actuator, the clamping bar has along two hinge hole line
The parallelogram is stretched out and second elongation end hinged with the claw in direction, and the drive connection bar and the clamping connect
Hinge joint between extension bar is articulated on the base, and the hinge joint is located at or close to the first elongation end hinge joint and institute
It states on the connection straight line between the second elongation end hinge joint.
2. four paws automatic centring chuck as described in claim 1, it is characterised in that: each actuator includes can be around itself
Axis rotation and length direction be parallel to the corresponding claw moving direction two screw rods and respectively with two screw rods
Two sliding sleeves being threadedly coupled, two screw rods and two drive rods one of the corresponding two pawls clamp system are a pair of
It answers, each screw rod and first elongation end of the corresponding drive rod are hinged, and two spiral shells of each actuator
Bar it is oppositely oriented.
3. four paws automatic centring chuck as claimed in claim 2, it is characterised in that: two of each two pawls clamp system
The transmission component is symmetrical arranged along the axis of symmetry of workpiece, and two screw rods are located along the same line.
4. four paws automatic centring chuck as claimed in claim 3, it is characterised in that: each two pawls clamp system is corresponding
Two screw rods one end close to each other is connected as entirety by a connector sleeve or each two pawls clamp system is corresponding
Two screw rods be an integral molding structure.
5. four paws automatic centring chuck as described in claim 1, it is characterised in that: the base corresponds to each transmission group
Be provided with protrusion at part, the drive connection bar of each transmission component and the clamping connecting rod with the protrusion
Hingedly.
6. four paws automatic centring chuck as described in claim 1, it is characterised in that: the base corresponds to be set at each claw
It is equipped with straight-line groove, the claw is slideably positioned in the corresponding straight-line groove.
7. four paws automatic centring chuck as described in claim 1, it is characterised in that: four of two two pawls clamp systems
The claw is evenly spaced on same circumference.
8. a kind of lathe, it is characterised in that: including the described in any item four paws automatic centring chucks of such as claim 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611237408.6A CN106583945B (en) | 2016-12-28 | 2016-12-28 | Four paws automatic centring chuck and lathe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611237408.6A CN106583945B (en) | 2016-12-28 | 2016-12-28 | Four paws automatic centring chuck and lathe |
Publications (2)
| Publication Number | Publication Date |
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| CN106583945A CN106583945A (en) | 2017-04-26 |
| CN106583945B true CN106583945B (en) | 2019-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611237408.6A Active CN106583945B (en) | 2016-12-28 | 2016-12-28 | Four paws automatic centring chuck and lathe |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309455A (en) * | 2017-08-01 | 2017-11-03 | 山东省智能机器人应用技术研究院 | Chuck |
| CN107322506A (en) * | 2017-08-01 | 2017-11-07 | 肇庆华信高精密机械有限公司 | A kind of self-centering unit |
| CN107398570A (en) * | 2017-09-01 | 2017-11-28 | 数恒（苏州）新材料科技有限公司 | A kind of fast fastening clamp disk |
| CN109014997B (en) * | 2018-10-09 | 2020-08-07 | 广州市锐美汽车零部件有限公司 | Rapid clamping device for shaft core chamfering |
| CN109483069A (en) * | 2018-11-29 | 2019-03-19 | 常州戴芮珂机电科技有限公司 | A kind of chuck with pumping dirt function |
| CN109795271B (en) * | 2019-01-25 | 2023-09-12 | 天津联汇智造科技有限公司 | Drag mechanism and mobile robot |
| CN109676168B (en) * | 2019-02-01 | 2023-12-22 | 中国工程物理研究院机械制造工艺研究所 | Three-jaw centering device |
| CN113733129A (en) * | 2020-05-29 | 2021-12-03 | 广东天机机器人有限公司 | Clamping jaw device |
| CN111822895A (en) * | 2020-08-18 | 2020-10-27 | 常州市润渊精密机械科技有限公司 | Rear chuck with dust removal function |
| CN114505511B (en) * | 2022-03-30 | 2023-05-23 | 南京工业职业技术大学 | Four-jaw synchronous self-centering lathe chuck |
| CN116276215B (en) * | 2023-05-22 | 2023-08-01 | 苏州优贝特医疗器械有限公司 | Quick mechanical transmission four-jaw synchronous clamp capable of self-adapting non-flat workpiece |
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| CN206493036U (en) * | 2016-12-28 | 2017-09-15 | 张飘 | Four paws automatic centring chuck and lathe |
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| CN2493372Y (en) * | 2001-09-06 | 2002-05-29 | 上海大学 | Spherical surface moving robot |
| CN201338029Y (en) * | 2008-12-24 | 2009-11-04 | 本钢板材股份有限公司 | Correcting device for telescoping steel coils |
| CN103213122B (en) * | 2013-04-23 | 2015-07-01 | 上海大学 | Mechanical grabbing hand based on synchronous double-connecting-rod centering moving mechanism |
| CN203566714U (en) * | 2013-11-14 | 2014-04-30 | 上海星派自动化科技有限公司 | Synchronous gripper of bag robot palletizer |
| CN203843716U (en) * | 2014-03-25 | 2014-09-24 | 杭州锐冠精工机械有限公司 | Workpiece clamp allowing automatic centering |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206493036U (en) * | 2016-12-28 | 2017-09-15 | 张飘 | Four paws automatic centring chuck and lathe |
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