CN107262833A - Multifunctional floating surface finishing system actuator - Google Patents
Multifunctional floating surface finishing system actuator Download PDFInfo
- Publication number
- CN107262833A CN107262833A CN201710732902.8A CN201710732902A CN107262833A CN 107262833 A CN107262833 A CN 107262833A CN 201710732902 A CN201710732902 A CN 201710732902A CN 107262833 A CN107262833 A CN 107262833A
- Authority
- CN
- China
- Prior art keywords
- electromagnet
- magnet
- speed main
- main spindle
- actuator housing
- 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
- 238000007667 floating Methods 0.000 title claims abstract description 31
- 210000000078 claw Anatomy 0.000 claims description 9
- 238000005452 bending Methods 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims description 6
- 230000003442 weekly effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000001727 in vivo Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 238000003754 machining Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
-
- 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
- B25J15/0019—End effectors other than grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
A multifunctional floating surface finishing system actuator relates to the technical field of machining. The actuator comprises an actuator shell with an upper end and a lower end both provided with openings, and the upper end of the actuator shell is connected with an end cover. The high-speed main shaft is arranged in the actuator shell, the lower end of the high-speed main shaft is connected with the electromagnet assembly, the annular magnet connected in the actuator shell is sleeved outside the electromagnet assembly, and after the electromagnet assembly is electrified, the magnetic force of the electromagnet assembly is repelled with the annular magnet so as to realize radial floating of the high-speed main shaft; an electromagnet is arranged above the high-speed spindle, a circular magnet is arranged in the end cover, and the magnetic force of the electromagnet is repelled with the circular magnet after the electromagnet is electrified so as to realize the axial floating of the high-speed spindle. The invention has compact structure and simple use, can adopt an industrial motor as a power source, avoids the application of pneumatic, hydraulic and other devices, realizes buffering by utilizing magnetic force, and can be used in general production sites or special environments.
Description
Technical field
The present invention relates to machining technology field, specially a kind of Multifunctional floating dynamic formula surface finishing system actuators.
Background technology
In mechanical manufacturing field, generally artificial progress deburring operation is replaced to effectively improve production using industrial robot
Efficiency, reduces cost, ensures part deburring quality, the device is mainly applied to the robotic deburring's system being actively obedient to
In, due to robot localization error component, using easily occurring during rigid blade arbor deburring, cutter is broken or part is damaged
Situation.Floating type deburring actuator can effectively solve the problems, such as this respect, it can make cutter the burr of part follow plus
Work, can be prevented effectively from the damage of cutter and part caused by part and position error.At present, floating type deburring performs device master
It is divided into active compliant and passive compliant, passive compliant is complicated and more difficult mostly using devices such as pneumatic, hydraulic pressure
Ensure the air-tightness of structure, and it is also more single in the direction of the machine, also there is very big defect on protection workpiece surface.
The content of the invention
It is an object of the invention to provide a kind of Multifunctional floating dynamic formula surface finishing system actuators, background can effectively solve the problem that
The problem of in technology.
Realizing the technical scheme of above-mentioned purpose is：A kind of Multifunctional floating dynamic formula surface finishing system actuators, its feature exists
In：Be the actuator housing of opening including upper and lower ends, the upper end of actuator housing be connected with end cap, lower end be connected with it is dust-proof
Lid；
High-speed main spindle is provided with actuator housing, the lower end of high-speed main spindle is connected with electromagnet assembly, the lower end of high-speed main spindle
Center is connected with through electromagnet assembly and extends downwardly from being equipped with to be connected to outside the rotary shaft of dust cap, electromagnet assembly holding
Annular magnet in row device housing, magnetic force repels each other electromagnet assembly with annular magnet after powered up, to realize the footpath of high-speed main spindle
To floating；
It is provided with above high-speed main spindle in electromagnet that is can floating upwards and being connected with high-speed main spindle, end cap and circle is installed
Shape magnet, magnetic force repels each other electromagnet with circular magnet after powered up, is floated with the axial direction for realizing high-speed main spindle.
Further, the upper end of the high-speed main spindle is connected by the ball joint and ball cup of mutual cooperation with electromagnet
Connect, one end of ball joint is connected to high-speed main spindle upper end center position, and ball cup is connected to the center of electromagnet.
Further, step upward is provided with the actuator inner walls, the electromagnet is supported on step.
Further, electromagnet assembly includes circular seat, and circular seat is provided centrally with through hole, circular seat it is circumferentially disposed
Have and multiple cylindrical electromagnet being disposed radially are evenly equipped with annular groove, annular groove.
Further, high-speed main spindle is connected by connection buckle with electromagnet assembly, the two ends of the connection buckle by
The multi-disc claw composition arranged along ring weekly interval, the claw holding of connection buckle one end is on the outer wall of high-speed main spindle bottom, even
The claw for connecing the buckle other end is placed in the centre bore of electromagnet assembly.
Further, the lower end of the rotary shaft is connected with cutter snap joint.
Further, U-shaped alignment pin has been placed on the actuator housing between the electromagnet and circular magnet, U-shaped is fixed
One end of position pin is arranged in actuator housing, one end is arranged on outside actuator housing, and when U-shaped alignment pin, to turn to two ends vertical
During downward position, it is pressed under one end that U-shaped alignment pin is arranged in actuator housing on electromagnet, limitation electromagnet is to floating
It is dynamic.
Further, the bending section being arranged on U-shaped alignment pin outside actuator housing is provided with the actuator housing
The L-shaped groove of cooperation so that when U-shaped alignment pin is at level and downward opening vertical state, is arranged on actuator housing
Outer bending section is contained in L-shaped groove, it is to avoid rotated.
Further, the circumference of the actuator housing, which is additionally provided with to slide in multiple chutes, chute, is provided with slide,
Slide one end is extended in actuator housing, and is connected with the first arc-shaped magnet, inner side end and the height of the first arc-shaped magnet
The outer face of fast main shaft is engaged, and the protruding actuator housing of the other end of slide is simultaneously connected with mobile sliding block, mobile to slide
The end face outside of block is the ramp tilted upward, and each first arc-shaped magnet corresponds to connection on the inwall of actuator housing
There are the second arc-shaped magnet of one and intrados the first arc-shaped magnet of direction, the first arc-shaped magnet and the second arc-shaped magnet are relative
End face magnetic pole is opposite；
Actuator housing external screw thread is connected with radial positioning annulus, and the inner circumferential bottom of radial positioning annulus is provided with and mobile sliding block
The lower inclined plane that ramp in end face outside coordinates.
Further, the outer end of slide is provided with conic clamp, and the stub end of conic clamp is additionally provided with reverse pintle hook lock
Card key, the mobile sliding block is provided with the neck being fastened in conic clamp.
Compact conformation of the present invention, using simple, power source can be used as using industrial motor, it is to avoid pneumatic, hydraulic pressure etc.
The application of equipment, and buffering is realized using magnetic force, used available for general production scene or particular surroundings.Both system can be improved
Flexibility, the rigidity of system is can guarantee that again.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is A in Fig. 1 to partial schematic diagram；
Fig. 3 is the structural representation of electromagnet assembly；
Fig. 4 is the structural representation of connection buckle.
Embodiment
As shown in Figure 1,2,3, 4, the present invention is the actuator housing 1 of opening including upper and lower ends, actuator housing 1
Upper end is connected with end cap 2, lower end and is connected with dust cap 3, and wherein dust cap 3 can be made of such as rubber flexible material.
High-speed main spindle 4 is provided with actuator housing 1, the lower end of high-speed main spindle 4 is connected with electromagnet by connection buckle 6
Component 5, electromagnet assembly 5 includes circular seat 51, and circular seat 51 is provided centrally with centre bore 52, circular seat 51 it is circumferentially disposed
Have and multiple cylindrical electromagnet 54 are evenly equipped with annular groove 53, annular groove 53, cylindrical the inner of electromagnet 54 and the spiral shell of circular seat 51
Line is connected, and is conveniently replaceable.
The two ends of connection buckle 6 are constituted by the multi-disc claw 61 arranged along ring weekly interval, the claw 61 of the one end of connection buckle 6
Holding is on the outer wall of the bottom of high-speed main spindle 4, and the claw 61 of the other end of connection buckle 6 is placed in the centre bore of electromagnet assembly 5
In 52.
The lower end center of high-speed main spindle 4 is connected with the centre bore 52 through electromagnet assembly 5 and extends downwardly from dust cap 3
Rotary shaft 7, the lower end of rotary shaft 7 is connected with cutter snap joint 8.
The annular magnet 9 being connected in actuator housing 1 is equipped with outside electromagnet assembly 5, cylindrical electromagnet 54 is logical
Magnetic force repels each other with annular magnet 9 after electricity, to realize the radial floating of high-speed main spindle 4.
It is provided with that be supported by step 10 upward, step 10 can on the inwall of the actuator housing 1 of the top of high-speed main spindle 4
The electromagnet 11 floated upwards, ball joint 13 and ball cup 12 and electromagnetism that the upper end of high-speed main spindle 4 passes through mutual cooperation
Iron 11 is connected, and one end of ball joint 13 is connected to the upper end center position of high-speed main spindle 4, and ball cup 12 is connected to electromagnet 11
Circular magnet 14 it has been bolted in center, end cap 2, electromagnet 11 magnetic force and the phase of circular magnet 14 after powered up
Reprimand, is floated with the axial direction for realizing high-speed main spindle.
U-shaped alignment pin 15, U-shaped alignment pin 15 have been placed on actuator housing 1 between electromagnet 11 and circular magnet 14
One end be arranged in actuator housing 1, one end is arranged on outside actuator housing 1, when U-shaped alignment pin 15, to turn to two ends vertical
During downward position, it is pressed under one end that U-shaped alignment pin 15 is arranged in actuator housing 1 on electromagnet 11, limits electromagnet
11 float upwards.
The L-shaped that the bending section being arranged on U-shaped alignment pin 15 outside actuator housing 1 coordinates is provided with actuator housing 1
Groove 30 so that when U-shaped alignment pin 15 is at level and downward opening vertical state, is arranged on outside actuator housing 1
Bending section is contained in L-shaped groove 30, it is to avoid rotated.
The circumference of actuator housing 1, which is also evenly equipped with to slide in four chutes 16, chute 16, is provided with slide 17, slide
17 one end are extended in actuator housing 1, and are connected with the first arc-shaped magnet 18, inner side end and the height of the first arc-shaped magnet 18
The outer face of fast main shaft 4 is engaged, and the protruding actuator housing 1 of the other end of slide 17 is simultaneously connected with mobile sliding block 19,
The end face outside of mobile sliding block 19 is the ramp tilted upward, inwall of each first arc-shaped magnet 18 in actuator housing 1
On all correspond to be connected with one with intrados direction the first arc-shaped magnet 18 the second arc-shaped magnet 20, the He of the first arc-shaped magnet 18
The relative end face magnetic pole of second arc-shaped magnet 19 is opposite.
The external screw thread of actuator housing 1 is connected with radial positioning annulus 21, and the inner circumferential bottom of radial positioning annulus 21 is provided with
The lower inclined plane 22 coordinated with the ramp in the mobile end face outside of sliding block 19.
Slide 17 is provided with conic clamp 23 using plastic material, outer end, and the stub end of conic clamp 23 is additionally provided with
The card key 24 of reverse pintle hook lock, mobile sliding block 19 is provided with the neck 25 being fastened in conic clamp 23.
The present invention can realize axial floating, radial floating, axial-radial three kinds of ralocatable modes of floating, concrete operating principle
For：
When processing request axially floats, rotation radial positioning annulus 21 is moved down, and promotes mobile sliding block 19 to move radially,
The first arc-shaped magnet 18 is driven to hold high-speed main spindle 4 tightly, so as to limit radially wobbling for high-speed main spindle 4；Meanwhile, U-shaped alignment pin 15
Two ends rotate to parallel with electromagnet 11, electromagnet 11 forms the magnetic force repelled each other after being powered with corresponding circular magnet 14, when holding
When row device is by axial force, it can be realized and buffered by this magnetic force.
When processing request radial floating, the two ends of U-shaped alignment pin 15 are rotated to vertical with electromagnet 11, limit electromagnet
11 make it can not be moved axially；Meanwhile, rotation footpath radial positioning annulus 21 is moved up, and the first arc-shaped magnet 18 is in the second arc
Under the suction of shape magnet 19, slide 17, mobile sliding block 19 is driven to be displaced outwardly together, meanwhile, the first arc-shaped magnet 18 unclamps
High-speed main spindle 4, makes high-speed main spindle 4 to realize and radially wobbles, the circumferential cylindrical electromagnet 54 of electromagnet assembly 5 after powered up with
The magnetic force that the formation of annular magnet 9 repels each other, when actuator is by radial load, can be realized by this magnetic force and buffered.
When processing request, which is axially and radially realized, to float simultaneously, above-mentioned axially float mutually is tied with the principle of radial floating
Conjunction, is not being repeated herein.
Claims (10)
1. a kind of Multifunctional floating dynamic formula surface finishing system actuators, it is characterised in that：It is holding for opening including upper and lower ends
Row device housing, the upper end of actuator housing is connected with end cap, lower end and is connected with dust cap；
High-speed main spindle is provided with actuator housing, the lower end of high-speed main spindle is connected with electromagnet assembly, the lower end of high-speed main spindle
Center is connected with through electromagnet assembly and extends downwardly from being equipped with to be connected to outside the rotary shaft of dust cap, electromagnet assembly holding
Annular magnet in row device housing, magnetic force repels each other electromagnet assembly with annular magnet after powered up, to realize the footpath of high-speed main spindle
To floating；
It is provided with above high-speed main spindle in electromagnet that is can floating upwards and being connected with high-speed main spindle, end cap and circle is installed
Shape magnet, magnetic force repels each other electromagnet with circular magnet after powered up, is floated with the axial direction for realizing high-speed main spindle.
2. a kind of Multifunctional floating dynamic formula surface finishing system actuators according to claim 1, it is characterised in that：The height
The upper end of fast main shaft is connected by the ball joint and ball cup of mutual cooperation with electromagnet, and one end of ball joint is connected to
High-speed main spindle upper end center position, ball cup is connected to the center of electromagnet.
3. a kind of Multifunctional floating dynamic formula surface finishing system actuators according to claim 1, it is characterised in that：It is described to hold
Step upward is provided with row device inner walls, the electromagnet is supported on step.
4. a kind of Multifunctional floating dynamic formula surface finishing system actuators according to claim 1, it is characterised in that：Electromagnet
Component includes circular seat, and circular seat is provided centrally with through hole, and being circumferentially provided with annular groove, annular groove for circular seat be evenly equipped with
Multiple cylindrical electromagnet being disposed radially.
5. a kind of Multifunctional floating dynamic formula surface finishing system actuators according to claim 4, it is characterised in that：It is main at a high speed
Axle is connected by connection buckle with electromagnet assembly, and the two ends of the connection buckle are by the multi-disc claw arranged along ring weekly interval
Composition, the claw holding of connection buckle one end is on the outer wall of high-speed main spindle bottom, and the claw of the connection buckle other end is placed in
In the centre bore of electromagnet assembly.
6. a kind of Multifunctional floating dynamic formula surface finishing system actuators according to claim 1, it is characterised in that：Described turn
The lower end of moving axis is connected with cutter snap joint.
7. a kind of Multifunctional floating dynamic formula surface finishing system actuators according to claim 1, it is characterised in that：The electricity
U-shaped alignment pin is placed on actuator housing between magnet and circular magnet, one end of U-shaped alignment pin is arranged on actuator shell
In vivo, one end is arranged on outside actuator housing, and when U-shaped alignment pin turns to the position of two ends straight down, U-shaped alignment pin is set
Put and be pressed under one end in actuator housing on electromagnet, limitation electromagnet floats upwards.
8. a kind of Multifunctional floating dynamic formula surface finishing system actuators according to claim 1, it is characterised in that：It is described to hold
The L-shaped groove that the bending section being arranged on U-shaped alignment pin outside actuator housing coordinates is provided with row device housing so that U-shaped is positioned
When pin is at level and downward opening vertical state, the bending section being arranged on outside actuator housing is contained in L-shaped groove,
Avoid rotating.
9. a kind of Multifunctional floating dynamic formula surface finishing system actuators according to claim 1, it is characterised in that：It is described to hold
The circumference of row device housing, which is additionally provided with to slide in multiple chutes, chute, is provided with slide, and slide one end extends to actuator
In housing, and the first arc-shaped magnet is connected with, the inner side end of the first arc-shaped magnet is engaged with the outer face of high-speed main spindle, it is sliding
The protruding actuator housing of the other end of moving plate is simultaneously connected with mobile sliding block, and the end face outside of mobile sliding block is to tilt upward
Ramp, each first arc-shaped magnet is corresponded on the inwall of actuator housing is connected with one with intrados towards first
Second arc-shaped magnet of arc-shaped magnet, the first arc-shaped magnet end face magnetic pole relative with the second arc-shaped magnet is opposite；
Actuator housing external screw thread is connected with radial positioning annulus, and the inner circumferential bottom of radial positioning annulus is provided with and mobile sliding block
The lower inclined plane that ramp in end face outside coordinates.
10. a kind of Multifunctional floating dynamic formula surface finishing system actuators according to claim 9, it is characterised in that：Slide
The outer end of piece is provided with conic clamp, and the stub end of conic clamp is additionally provided with the card key of reverse pintle hook lock, and the mobile sliding block is set
It is equipped with the neck being fastened in conic clamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710732902.8A CN107262833A (en) | 2017-08-24 | 2017-08-24 | Multifunctional floating surface finishing system actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710732902.8A CN107262833A (en) | 2017-08-24 | 2017-08-24 | Multifunctional floating surface finishing system actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107262833A true CN107262833A (en) | 2017-10-20 |
Family
ID=60076445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710732902.8A Pending CN107262833A (en) | 2017-08-24 | 2017-08-24 | Multifunctional floating surface finishing system actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107262833A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281254A (en) * | 2019-05-31 | 2019-09-27 | 浙江工业大学 | A kind of rigid soft compound end effector of robotic asssembly posture correction |
| CN110315409A (en) * | 2019-08-09 | 2019-10-11 | 安徽理工大学 | A kind of adaptive laminating apparatus of suspension permanent magnetic milling robot main shaft |
| CN110450052A (en) * | 2019-08-09 | 2019-11-15 | 安徽理工大学 | A kind of milling robot spindle floating mechanism |
| CN110722087A (en) * | 2019-11-07 | 2020-01-24 | 连云港杰瑞自动化有限公司 | Be used for continuous high temperature forging flexible clamping jaw |
| CN113953877A (en) * | 2020-07-20 | 2022-01-21 | 新兴重工湖北三六一一机械有限公司 | Floating support device and floating support method |
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| EP0235019A1 (en) * | 1986-02-18 | 1987-09-02 | Forest-Line | Combination rotary spindle tool holder and electric motor |
| US20030061921A1 (en) * | 2001-09-28 | 2003-04-03 | Industrial Technology Research Institute | Internal, active, and compensatory method and device for the rotational main-shaft of a cutting tool with axial bias-and-swing |
| CN203992650U (en) * | 2014-06-16 | 2014-12-10 | 番禺珠江钢管（珠海）有限公司 | A kind of floating type pipe end burr cutter and pipe end burr trimming device |
| CN203993524U (en) * | 2014-07-30 | 2014-12-10 | 绍兴宏邦电子科技有限公司 | A kind of electricity of the external-added high-speed air floatation with axial float eliminating machine main shaft |
| CN104723212A (en) * | 2014-08-16 | 2015-06-24 | 青岛科技大学 | High-flexibility deburring machine |
| CN204893724U (en) * | 2015-08-05 | 2015-12-23 | 浙江瑞宏机器人有限公司 | Reciprocating type float head device |
| CN105415174A (en) * | 2015-12-31 | 2016-03-23 | 苏州紫金港智能制造装备有限公司 | Gravity self-compensating type floating deburring device |
| CN205438195U (en) * | 2016-03-29 | 2016-08-10 | 胡阭敏 | Radial axle is to unit head that floats entirely |
| CN206357058U (en) * | 2016-12-30 | 2017-07-28 | 北京配天技术有限公司 | A kind of floating sanding apparatus |
| CN207103995U (en) * | 2017-08-24 | 2018-03-16 | 南通理工智能制造技术有限公司 | Multifunctional floating surface finishing system actuator |
-
2017
- 2017-08-24 CN CN201710732902.8A patent/CN107262833A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0235019A1 (en) * | 1986-02-18 | 1987-09-02 | Forest-Line | Combination rotary spindle tool holder and electric motor |
| US20030061921A1 (en) * | 2001-09-28 | 2003-04-03 | Industrial Technology Research Institute | Internal, active, and compensatory method and device for the rotational main-shaft of a cutting tool with axial bias-and-swing |
| CN203992650U (en) * | 2014-06-16 | 2014-12-10 | 番禺珠江钢管（珠海）有限公司 | A kind of floating type pipe end burr cutter and pipe end burr trimming device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281254A (en) * | 2019-05-31 | 2019-09-27 | 浙江工业大学 | A kind of rigid soft compound end effector of robotic asssembly posture correction |
| CN110315409A (en) * | 2019-08-09 | 2019-10-11 | 安徽理工大学 | A kind of adaptive laminating apparatus of suspension permanent magnetic milling robot main shaft |
| CN110450052A (en) * | 2019-08-09 | 2019-11-15 | 安徽理工大学 | A kind of milling robot spindle floating mechanism |
| CN110450052B (en) * | 2019-08-09 | 2021-04-30 | 安徽理工大学 | Polishing robot main shaft floating mechanism |
| CN110722087A (en) * | 2019-11-07 | 2020-01-24 | 连云港杰瑞自动化有限公司 | Be used for continuous high temperature forging flexible clamping jaw |
| CN113953877A (en) * | 2020-07-20 | 2022-01-21 | 新兴重工湖北三六一一机械有限公司 | Floating support device and floating support method |
| CN113953877B (en) * | 2020-07-20 | 2024-05-28 | 襄阳新兴精密制造有限公司 | Floating support device and floating support method |
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