CN106625731A - Grip fixture of robot for cleaning engine cylinder cover casting - Google Patents
Grip fixture of robot for cleaning engine cylinder cover casting Download PDFInfo
- Publication number
- CN106625731A CN106625731A CN201710041107.4A CN201710041107A CN106625731A CN 106625731 A CN106625731 A CN 106625731A CN 201710041107 A CN201710041107 A CN 201710041107A CN 106625731 A CN106625731 A CN 106625731A
- Authority
- CN
- China
- Prior art keywords
- mounting base
- cylinder
- tight
- push
- fixture mounting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Abstract
The invention relates to a grip fixture of a robot for cleaning an engine cylinder cover casting. The grip fixture comprises a convex fixture mounting base plate, a protective cover having a lower part connected with the fixture mounting base plate, and a flange connecting base connected to an upper part of the protective cover, wherein the grip fixture further comprises a positioning and clamping part arranged under the fixture mounting base plate, and a driving control part arranged on the fixture mounting base plate and correspondingly matched with the positioning and clamping part; the positioning and clamping part is used for gripping a casting; the flange connecting base is used for connecting to the robot. The grip fixture provided by the invention can position accurately, and is high in cleaning quality, suitable for meeting requirements on mixed line production of many varieties, and especially suitable for cleaning the engine cylinder cover casting.
Description
Technical field
The present invention relates to auto parts and components castings production line, and in particular to a kind of robot cleaning engine cylinder cover foundry goods
Handgrip fixture.
Background technology
As cost of labor increases, the fast development of industrial 4.0 (fourth industrial revolution), casting industry starts promotion machine
Device people replaces manual work.In casting cleaning operation, burr is cleared up using robot grabbing workpiece automatically, work can be reduced
People's labour intensity, improve production efficiency.At present, robot crawl foundry goods carries out polishing cleaning according to program track, if foundry goods
Positioning precision is poor, will cause that foundry goods damages foundry goods matrix in scale removal process or burr is not polished totally, therefore accurately
Positioning foundry goods is to ensure casting cleaning quality premise.Foundry production line advocates Multi-type production, therefore different cultivars foundry goods
It is the premise for ensureing production line efficiency using same handgrip fixture.The foundry goods profile of different cultivars has certain difference, in design
The general common ground chosen between different cultivars foundry goods carries out positioning clamping during handgrip fixture.
At present the positioning mode of foundry goods is typically using with clamp or two pin one-side Clamping Apparatus.With clamp using the outer of foundry goods
Shape is positioned, and typically using a cylinder or a hydraulic oil cylinder driving clamping, its advantage is that participation moving component is few, reliability
Height, shortcoming is that foundry goods profile has deviation, causes positioning precision poor；Two pin one-side Clamping Apparatus are using one plane of foundry goods and two
Pin-and-hole is positioned, and has an advantage in that positioning precision is high, shortcoming be cast pin-and-hole coaxiality deviation it is big, alignment pin and pin-and-hole
Interference fit is also easy to produce, alignment pin is difficult to exit pin-and-hole, causes robot to report to the police and shut down.
A kind of all-steel cord spindle crawl fixture of robot disclosed in CN204123404U, including " door " shape
Frame, on the upper side wall of " door " shape support, is provided with adpting flange, and adpting flange is used to fix company with industrial robot device
Connect, below the upper side wall of " door " shape support, be provided with positioner, in the both sides sidewall outer of " door " shape support, be provided with a pair
" L " shape clamping seats, " L " shape clamping seats are oppositely arranged, and " L " shape clamping seats are flexibly connected by guider with the side wall of support,
In the both sides side wall inner surface of " door " shape support, a pair of drive cylinders are provided with, the piston rod of drive cylinder is through on rack side wall
Through hole is connected with clamping seats, and under the driving of drive cylinder, cylinder piston rod drives clamping seats to clamp in opposite directions or dorsad loose
Open.Its crawl all-steel cord spindle position accurately, reliable in action, realize steel wire calendaring operation in radial tyre production from
Dynamicization.But it is not applied for clearing up engine cylinder cover foundry goods.
The content of the invention
It is an object of the invention to provide a kind of robot clears up the handgrip fixture of engine cylinder cover foundry goods, it can accurately determine
Position, cleaning quality is high, it is adaptable to the needs of Multi-type production, is particularly suitable for the cleaning of engine cylinder cover foundry goods.
A kind of robot of the present invention clears up the handgrip fixture of engine cylinder cover foundry goods, including the folder in "convex" shaped
Tool mounting base, the protective cover of bottom and the connection of fixture mounting base, the flange connection pedestal for being connected to protective cover top, it is special
Levying is：Also include the positioning clamping part being located at below the fixture mounting base, be located above the fixture mounting base simultaneously
With the drive control part of the positioning clamping part corresponding matching；The positioning clamping part is used to capture foundry goods, the method
Orchid connection pedestal is used to be connected with robot.
Further, the positioning clamping part includes being respectively provided at the following edge below the fixture mounting base
The right clamping component of right part, the left clamping component of left part, the top edge that is located at below the fixture mounting base in
The upper clamping component in portion；The limit point of Z-direction first is provided with the position near the right clamping component, near the left clamping
The position of component is provided with the limit point of Z-direction second, and at the position of the clamping component on described the limit point of Z-direction the 3rd is provided with；
Also include being located at the limited block of Y-direction first and Y of the following marginal center below the fixture mounting base
The limited block of direction second；
Also include being located at the first push-tight block of left part below the close fixture mounting base, be located near fixture peace
Fill the X-direction limited block of right part below base plate, be located at the second push-tight block on the top below the fixture mounting base；Leaning on
The position of the nearly first push-tight block is provided with the first contact inductive switch, and near the position of X-direction limited block second is being provided with
Contact inductive switch.
Further, the drive control part includes right clamping cylinder, the left clamping being located on the fixture mounting base
Cylinder and upper clamping cylinder, the right clamping cylinder and the right clamping component corresponding matching, the left clamping cylinder and with institute
State left clamping component corresponding matching, the upper clamping cylinder and the upper clamping component corresponding matching；
Also including being located above the fixture mounting base is used to drive the left clamping cylinder, right clamping cylinder and upper folder
The clamping cylinder magnetic valve of tight cylinder；
Also include being located above the fixture mounting base and be used for the Y-direction push-tight cylinder for driving the first push-tight component
With for driving the X-direction push-tight cylinder of the second push-tight component, the Y-direction push-tight cylinder and X-direction push-tight cylinder receive push-tight
Cylinder solenoid valve is controlled；
Also include being located at the electrical signal jack box in the middle part of the following side above the fixture mounting base, the push-tight gas
Cylinder magnetic valve, clamping cylinder magnetic valve, the first contact inductive switch and the second contact inductive switch respectively with the electrical equipment
Signal jack box is electrically connected.
Further, the limited block of the Y-direction first, the limited block of Y-direction second, X-direction limited block are by bolt and fixture
Mounting base is connected, and the limit point of the Z-direction first, the limit point of Z-direction second and the limit point of Z-direction the 3rd pass through bolt
It is connected with fixture mounting base, the Y-direction push-tight cylinder, X-direction push-tight cylinder are by bolt and fixture mounting base
It is connected；The right clamping component, left clamping component and upper clamping component are connected by bolt and fixture mounting base.
The present invention solves foundry goods after robot crawl multi items foundry goods and is accurately positioned problem, is mainly reflected in following several
Point：
(1) handgrip fixture locating surface adopts the machine overstriking positioning reference plane of foundry goods, and this positioning reference plane is different cultivars
Common ground, so as to realize that same handgrip meets the positioning of different cultivars with crawl；
(2) flatness of machine overstriking positioning reference plane is 0.03mm (millimeter), and the flatness of its lap is relatively low, this handgrip
Fixture is positioned using the machine overstriking positioning datum of foundry goods in the face of tri- directions of X, Y, Z, is accurately positioned foundry goods, is solved profile-followed
The problem that fixture positioning precision difference and two pin one-side Clamping Apparatus alignment pins are worked poor with pin-and-hole.
Description of the drawings
Fig. 1 is the axonometric drawing of the present invention；
Fig. 2 is mounted in the schematic diagram (upward view of Fig. 1) of the positioning clamping part below fixture mounting base；
Fig. 3 is mounted in the drive control part schematic diagram on fixture mounting base；
Schematic diagram when Fig. 4 is present invention crawl foundry goods；
Fig. 5 is the rearview of Fig. 4；
Fig. 6 is the schematic diagram of the limited block of Y-direction first or the limited block of Y-direction second；
Fig. 7 is the schematic diagram of upper clamping cylinder and upper clamping component corresponding matching；
Fig. 8 is the schematic diagram of Y-direction push-tight cylinder and the second push-tight component corresponding matching.
In figure：1- flanges connect pedestal, 2- protective covers, the right clamping components of 3-, the limit point of 4-Z directions first, 5-Y
The limited block of direction first, the limited block of 6-Y directions second, the limit point of 7-Z directions second, the left clamping components of 8-, 9- first is pushed away
Tight component, 10- the first contact inductive switches, the limit point of 11-Z directions the 3rd, the upper clamping components of 12-, the push-tights of 13- second
Component, 14- the second contact inductive switches, 15-X directions limited block, 16- fixture mounting bases, 17-Y directions push-tight gas
Cylinder, the upper clamping cylinders of 18-, 19-X directions push-tight cylinder, 20- push-tight cylinder solenoid valves, 21- clamping cylinder magnetic valves,
The right clamping cylinders of 22-, 23- electrical signal jack boxes, the left clamping cylinders of 24-；
25- foundry goods X-direction locating surfaces, 26- foundry goods, 27- foundry goods the first anchor point of Z-direction, 28- foundry goods Y-direction
One locating surface, the anchor point of 29- foundry goods Z-direction the 3rd, 30- foundry goods Y-direction the second locating surface 31- foundry goods Z-direction second is positioned
Point.
Specific embodiment
Below according to Figure of description, the invention will be further described.
The handgrip of engine cylinder cover foundry goods is cleared up referring to a kind of robot shown in Fig. 1, Fig. 2, Fig. 3, Fig. 6, Fig. 7 and Fig. 8
Fixture, including in "convex" shaped fixture mounting base 16, bottom and fixture mounting base connection protective cover 2, be connected to it is anti-
The flange connection pedestal 1 on shield top, is characterized in that：Also include being located at the positioning clamping section below the fixture mounting base 16
Point, be located at the fixture mounting base 16 above and with the drive control part of the positioning clamping part corresponding matching；It is described
Positioning clamping part is used to capture foundry goods 26, and the flange connection pedestal 1 is used to be connected with robot.
The positioning clamping part includes being respectively provided at the right side at the following edge below the fixture mounting base 16
In the left clamping component 8 of the right clamping component 3, left part in portion, the top edge being located at below the fixture mounting base 16
The upper clamping component 12 in portion；The first limit point of Z-direction 4 is provided with the position near the right clamping component 3, near the left side
The position of clamping component 8 is provided with the second limit point of Z-direction 7, and at the position of the clamping component 12 on described Z-direction the 3rd is provided with
Limit point 11；Right clamping component 3 is arranged in the same area with the first limit point of Z-direction 4, and left clamping component 8 is limited with Z-direction second
Site 7 is arranged in the same area, and upper clamping component 12 is arranged in the same area, so can protect with the limit point 11 of Z-direction the 3rd
The Impact direction axis of card foundry goods clamping is close with the central axis of limit point, and during ensureing and clamp foundry goods skew is occurred without.
Also include being located at first limited block of Y-direction 5 of the following marginal center below the fixture mounting base 16
With the second limited block of Y-direction 6；
Also include being located at the first push-tight block 9 of left part below the close fixture mounting base 16, be located near the folder
Have the X-direction limited block 15 of right part below mounting base 16, be located at second of the top below the fixture mounting base 16
Push-tight block 13；The first contact inductive switch 10 is provided with the position near the first push-tight block 9, spacing near X-direction
The position of block 15 is provided with the second contact inductive switch 14.First push-tight block 9 is arranged in same axis with X-direction limited block 15
On, the second push-tight block 13 is located at the top below the fixture mounting base 16, and the first limited block of Y-direction 5 and Y-direction second are limited
Position block 6 is located at following below the fixture mounting base 16, and the second push-tight block 13 is located at the first limited block 5 and Y-direction
The approximate centerline of the second limited block 6, during ensureing and promote foundry goods skew is occurred without.
The drive control part includes right clamping cylinder 24, the left clamping cylinder being located on the fixture mounting base 16
22 and upper clamping cylinder 18, the right clamping cylinder 24 and the corresponding matching of right clamping component 3, the He of left clamping cylinder 22
With the corresponding matching of left clamping component 8, the upper clamping cylinder 18 and the corresponding matching of upper clamping component 12；
Also include that being located at the fixture mounting base 16 is used to drive the left clamping cylinder 22, right clamping cylinder 24 above
With the clamping cylinder magnetic valve 21 of upper clamping cylinder 18；
Also include that being located at the fixture mounting base 16 is used to drive the Y-direction push-tight of the first push-tight component 9 above
Cylinder 17 and the X-direction push-tight cylinder 19 for driving the second push-tight component 13, the Y-direction push-tight cylinder 17 and X-direction are pushed away
Tight cylinder 19 is controlled by push-tight cylinder solenoid valve 20；
Also include being located at the electrical signal jack box 23 in the middle part of the following side above the fixture mounting base 16, it is described to push away
Tight 14 points of cylinder solenoid valve 20, clamping cylinder magnetic valve 21, the first contact inductive switch 10 and the second contact inductive switch
Do not electrically connect with the electrical signal jack box 23.
The first limited block of the Y-direction 5, the second limited block of Y-direction 6, X-direction limited block 15 are installed by bolt and fixture
Base plate 16 is connected, and the first limit point of the Z-direction 4, the second limit point of Z-direction 7 and the limit point 11 of Z-direction the 3rd pass through spiral shell
Bolt is connected with fixture mounting base 16, and the Y-direction push-tight cylinder 17, X-direction push-tight cylinder 19 are by bolt and fixture
Mounting base 16 is connected；The right clamping component 3, left clamping component 8 and upper clamping component 12 are pacified by bolt and fixture
Dress base plate 16 is connected.
When Y-direction push-tight cylinder 17, X-direction push-tight 19 action of cylinder, active force is that Z-direction is downward, to ensure foundry goods Y side
Contact with Y-direction limited block 5 to the first locating surface 28, the second locating surface of foundry goods Y-direction 30 is contacted with the second limited block of Y-direction 6.
Motion under ejecting rod of cylinder Z-direction of the second push-tight component 13 using lever rocking arm principle by push-tight cylinder is converted to the second push-tight block
Move to Y-direction；First push-tight block 9, the first clamping component 3, the second clamping component 8 and the 3rd clamping component 12 are equally used
This principle, simply the first clamping component 3, the second clamping component 8 and the 3rd clamping component 12 move downward ejecting rod of cylinder Z-direction
Be converted to gripping block Z-direction to move upwards.
Referring to Fig. 4 and Fig. 5,
Crawl flow process：Foundry goods is placed on pallet pipeline and is transferred to robot crawl position stopping, and robot is moved to grabs
Fetch bit, the Y-direction push-tight cylinder 17 on handgrip drives the first push-tight block 9, X-direction push-tight cylinder 19 to drive the second push-tight component 13
After foundry goods is promoted in place, state left clamping cylinder 22 and drive left clamping component 8, right clamping cylinder 24 to drive right clamping component 3, on
Clamping cylinder 18 drives upper clamping component 12 to clamp foundry goods 26.
After the transmission of engine cylinder cover foundry goods stops in place, robot is moved to crawl position, is first the first contact sense
First with cast(ing) surface contact induction in place, then push-tight cylinder solenoid valve 20 is moved 10 and second contact inductive switch of inductive switch 14
Make, compressed air enters Y-direction push-tight cylinder 17 and X-direction push-tight cylinder 19, Y-direction push-tight cylinder 17 drives the first push-tight structure
Part 9, X-direction push-tight cylinder 19 drives the X-direction and Y-direction of the positioning foundry goods of the second push-tight component 13；X-direction limited block 15 and casting
Part X-direction locating surface 25 is contacted, and the first limited block of Y-direction 5 is contacted with the first locating surface of foundry goods Y-direction 28, and Y-direction second is spacing
Block is contacted with the second locating surface of foundry goods Y-direction 30, then is the action of clamping cylinder magnetic valve 21, and compressed air is entered to drive and clamped
Cylinder 18, right clamping cylinder 22, the positioning foundry goods Z-direction of left clamping cylinder 24, the first anchor point of foundry goods Z-direction 27 and Z-direction the
One limit point 4 is contacted, and the second anchor point of foundry goods Z-direction 31 is contacted with the second limit point of Z-direction 7, the anchor point of foundry goods Z-direction the 3rd
29 contact with the limit point 11 of Z-direction the 3rd, complete foundry goods clamping, and last robot is moved to polishing position and is cleared up.
Claims (4)
1. a kind of robot clears up the handgrip fixture of engine cylinder cover foundry goods, including the fixture mounting base in "convex" shaped
(16), the protective cover (2) of bottom and the connection of fixture mounting base, be connected to flange connection pedestal (1) on protective cover top, it is special
Levying is：Also include being located at the following positioning clamping part of the fixture mounting base (16), be located at the fixture mounting base
(16) above and with it is described positioning clamping part corresponding matching drive control part；The positioning clamping part is used to capture casting
Part (26), the flange connects pedestal (1) for being connected with robot.
2. robot according to claim 1 clears up the handgrip fixture of engine cylinder cover foundry goods, it is characterized in that：The positioning
Clamping part includes being respectively provided at the right clamping component of the right part near the fixture mounting base (16) following edge below
(3), the left clamping component (8) of left part, be located at upper folder near the fixture mounting base (16) top marginal center below
Tight component (12)；The limit point of Z-direction first (4) is provided with the position near the right clamping component (3), near the left folder
The position of tight component (8) is provided with the limit point of Z-direction second (7), and at the position of the clamping component (12) on described Z-direction is provided with
3rd limit point (11)；
Also include being located at the limited block of the Y-direction first (5) near the fixture mounting base (16) following marginal center below
With the limited block of Y-direction second (6)；
Also include being located near the fixture mounting base (16) below the first push-tight block (9) of left part, be located near the folder
Tool mounting base (16) below the X-direction limited block (15) of right part, be located near the fixture mounting base (16) top below
The second push-tight block (13)；The first contact inductive switch (10) is provided with the position near the first push-tight block (9), is being leaned on
The position of nearly X-direction limited block (15) is provided with the second contact inductive switch (14).
3. robot according to claim 1 and 2 clears up the handgrip fixture of engine cylinder cover foundry goods, it is characterized in that：It is described
Drive control part includes being located at right clamping cylinder (24) on the fixture mounting base (16), left clamping cylinder (22) and upper
Clamping cylinder (18), the right clamping cylinder (24) and right clamping component (3) corresponding matching, the left clamping cylinder (22)
And with left clamping component (8) corresponding matching, the upper clamping cylinder (18) and upper clamping component (12) corresponding matching；
Also include that being located at the fixture mounting base (16) is used to drive the left clamping cylinder (22), right clamping cylinder above
(24) and upper clamping cylinder (18) clamping cylinder magnetic valve (21)；
Also include that being located at the fixture mounting base (16) is used to drive the Y-direction push-tight of the first push-tight component (9) above
Cylinder (17) and for drive the second push-tight component (13) X-direction push-tight cylinder (19), the Y-direction push-tight cylinder (17) and
X-direction push-tight cylinder (19) is controlled by push-tight cylinder solenoid valve (20)；
Also include being located at the electrical signal jack box (23) in the middle part of the fixture mounting base (16) following side above, it is described to push away
Tight cylinder solenoid valve (20), clamping cylinder magnetic valve (21), the first contact inductive switch (10) and the sensing of the second contact are opened
Close (14) to electrically connect with the electrical signal jack box (23) respectively.
4. robot according to claim 1 and 2 clears up the handgrip fixture of foundry goods, it is characterized in that：The Y-direction first is limited
Position block (5), the limited block of Y-direction second (6), X-direction limited block (15) are connected by bolt and fixture mounting base (16),
The limit point of the Z-direction first (4), the limit point of Z-direction second (7) and the limit point (11) of Z-direction the 3rd are by bolt and fixture
Mounting base (16) is connected, and the Y-direction push-tight cylinder (17), X-direction push-tight cylinder (19) are pacified by bolt and fixture
Dress base plate (16) is connected；The right clamping component (3), left clamping component (8) and upper clamping component (12) by bolt with
Fixture mounting base (16) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041107.4A CN106625731A (en) | 2017-01-17 | 2017-01-17 | Grip fixture of robot for cleaning engine cylinder cover casting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041107.4A CN106625731A (en) | 2017-01-17 | 2017-01-17 | Grip fixture of robot for cleaning engine cylinder cover casting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625731A true CN106625731A (en) | 2017-05-10 |
Family
ID=58842343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710041107.4A Pending CN106625731A (en) | 2017-01-17 | 2017-01-17 | Grip fixture of robot for cleaning engine cylinder cover casting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625731A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107285189A (en) * | 2017-08-03 | 2017-10-24 | 上汽大众汽车有限公司 | Battery bag module enters box hanger |
| CN107932542A (en) * | 2017-12-19 | 2018-04-20 | 浙江省机电设计研究院有限公司 | A kind of apparatus and method for clamping casting |
| CN111376291A (en) * | 2018-12-30 | 2020-07-07 | 沈阳自动化研究所(昆山)智能装备研究院 | Power starting device for workpiece machining clamp |
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| DE10237233A1 (en) * | 2002-08-14 | 2004-03-04 | Daimlerchrysler Ag | Clamping device of a fine machining device and method for the deformation-adapted finishing of a workpiece using the clamping device |
| US20130032982A1 (en) * | 2011-08-04 | 2013-02-07 | Vigel S.P.A | Workpiece-holding unit for installation on machining centers for connecting rods |
| CN104259891A (en) * | 2014-09-29 | 2015-01-07 | 安徽江淮汽车股份有限公司 | Clamp assembly for rough machining of engine cylinder body |
| CN104589113A (en) * | 2014-12-02 | 2015-05-06 | 爱彼思（苏州）自动化科技有限公司 | Shell clamping device |
| CN204935195U (en) * | 2015-09-11 | 2016-01-06 | 浙江华燕精密科技有限公司 | A kind of special fixture of engine gear case machining |
| CN205008919U (en) * | 2015-08-13 | 2016-02-03 | 常州市金狮压铸有限公司 | Motorcycle engine left side lid mills a frock |
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|---|---|---|---|---|
| DE10237233A1 (en) * | 2002-08-14 | 2004-03-04 | Daimlerchrysler Ag | Clamping device of a fine machining device and method for the deformation-adapted finishing of a workpiece using the clamping device |
| US20130032982A1 (en) * | 2011-08-04 | 2013-02-07 | Vigel S.P.A | Workpiece-holding unit for installation on machining centers for connecting rods |
| CN104259891A (en) * | 2014-09-29 | 2015-01-07 | 安徽江淮汽车股份有限公司 | Clamp assembly for rough machining of engine cylinder body |
| CN104589113A (en) * | 2014-12-02 | 2015-05-06 | 爱彼思（苏州）自动化科技有限公司 | Shell clamping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107285189A (en) * | 2017-08-03 | 2017-10-24 | 上汽大众汽车有限公司 | Battery bag module enters box hanger |
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| CN107932542A (en) * | 2017-12-19 | 2018-04-20 | 浙江省机电设计研究院有限公司 | A kind of apparatus and method for clamping casting |
| CN111376291A (en) * | 2018-12-30 | 2020-07-07 | 沈阳自动化研究所(昆山)智能装备研究院 | Power starting device for workpiece machining clamp |
| CN111376291B (en) * | 2018-12-30 | 2023-10-20 | 昆山智能装备研究院 | Workpiece machining clamp power starting device |
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Application publication date: 20170510 |