CN107414448A - A kind of airbag holder for the lossless clamping of Low rigidity skeleton class part - Google Patents
A kind of airbag holder for the lossless clamping of Low rigidity skeleton class part Download PDFInfo
- Publication number
- CN107414448A CN107414448A CN201710744128.2A CN201710744128A CN107414448A CN 107414448 A CN107414448 A CN 107414448A CN 201710744128 A CN201710744128 A CN 201710744128A CN 107414448 A CN107414448 A CN 107414448A
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- China
- Prior art keywords
- class part
- cavity
- skeleton class
- air bag
- air
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Classifications
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- 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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Air Bags (AREA)
Abstract
The invention discloses a kind of airbag holder for the lossless clamping of Low rigidity skeleton class part, belong to microoperation and field of micro electromechanical technology, it includes：Air cavity seat, retainer, air bag and gas circuit component；The air bag is one end open, the structure of one end closing；Its blind end has the cylindrical cavity to cave inward and the circular ring type cavity coaxial with the cylindrical cavity, and circular ring type cavity is used to coordinate with the ring surface of skeleton class part, and cylindrical cavity is used to coordinate with the axle of rigging position；The retainer is consistent with the profile of air bag, and more than one opening is machined with respectively on the relative periphery of its circular ring type cavity two；Docked with the openend of air bag the openend of air cavity seat；Retainer is sleeved on the outer surface of air bag, and is fixed on the openend end face of air cavity seat；The gas circuit component is connected by gas-tpe fitting with the cavity of air cavity seat, for airbag aeration and exhaust；The present invention being capable of accurately nondestructively to be installed the replacing the spare parts of Bidirectional-squeezing clamping Low rigidity skeleton class.
Description
Technical field
The invention belongs to microoperation and field of micro electromechanical technology, and in particular to it is lossless that one kind is used for Low rigidity skeleton class part
The airbag holder of clamping.
Background technology
At present, the skeleton class part of Low rigidity is used in high-new microminiature sciemtifec and technical sphere more and more, for example
As internal diameter 26mm, external diameter 28.5m, high 11mm, middle four wide 2mm support columns copper alloy skeleton class part, lossless clamping is
Urgent problem to be solved.In addition, for Low rigidity skeleton class part, in assembling, fit clearance is small and needs to be glued, and how to protect
Demonstrate,prove precision assembly and fit clearance to assembling process uniformly, it is necessary to be monitored, to complete the lossless of Low rigidity skeleton class part
Clamping and precision assembly, clamper that is a kind of flexible and being monitored with multi-dimensional force need be developed.
Prior art have it is a kind of rubber pneumatic bag be built in surrounding be provided with the tube wall of strip hole, compressed gas enter air bag
In, air bag expansion, the urgent air bag of not managed wall pressure protrudes from strip hole, so as to grip part.But this scheme can not grip small
Part, and air bag is one direction extrusion sections, for Low rigidity class part, one direction extruding easily makes part deformation, not
Suitable for the lossless clamping of Low rigidity skeleton class part.
The content of the invention
In view of this, it is an object of the invention to provide a kind of air bag clamping for the lossless clamping of Low rigidity skeleton class part
Device, being capable of accurately nondestructively to be installed the replacing the spare parts of Bidirectional-squeezing clamping Low rigidity skeleton class.
The present invention is achieved through the following technical solutions：
A kind of airbag holder for the lossless clamping of Low rigidity skeleton class part, including：Air cavity seat, retainer, air bag
And gas circuit component；
Part to be held is the skeleton class part of Low rigidity, and the skeleton class part is annular thin wall structure；
The air cavity seat is one end open, the structure of one end closing, and the side of air cavity seat is provided with gas-tpe fitting；
The air bag is one end open, the structure of one end closing；Its blind end have the cylindrical cavity that caves inward and
The circular ring type cavity coaxial with the cylindrical cavity, circular ring type cavity are used to coordinate with the ring surface of skeleton class part, cylindrical type
Cavity is used to coordinate with the axle of rigging position；
The retainer is consistent with the profile of air bag, and one is machined with respectively on the relative periphery of its circular ring type cavity two
Opening above, and the aperture position on two peripheries corresponds；
Integrated connection relation is as follows：Docked with the openend of air bag the openend of air cavity seat；Retainer is sleeved on air bag
Outer surface, and it is fixed on the openend end face of air cavity seat；
The gas circuit component is connected by gas-tpe fitting with the cavity of air cavity seat, for airbag aeration and exhaust.
Further, in addition to sensor protection fixture, six-dimension force sensor, pinboard and power monitor component；
Docked with the blind end of air cavity seat the lower surface of pinboard；Six-dimension force sensor is arranged on the upper surface of pinboard,
The cable slots of the connecting cable for placing six-dimension force sensor are machined with pinboard；Sensor protection fixture is sleeved on 6 DOF
The outside of force snesor；
Power monitor component with lead with six-dimension force sensor by being connected, for clamping skeleton class part in rigging position
Assembly force is monitored in real time caused by being assembled.
Further, the power monitor component includes：The power supply that order is electrically connected with and signal transmitting box, data collecting card
And main frame；Power supply and signal transmitting box provide operating voltage for six-dimension force sensor, and by the original strain of six-dimension force sensor
Signal is amplified to be converted to voltage signal；Data collecting card gathers power supply and the voltage signal of signal transmitting box output, and will
The voltage signal collected carries out A/D conversions, after obtaining A/D conversion values, is stored in the internal register of itself；Main frame passes through
Cable is connected with data collecting card, and after reading the A/D conversion values stored in data collecting card, by demarcating file by the A/
D conversion values are scaled power/moment information.
Further, the gas circuit component includes：Source of the gas, filter, pressure regulator valve, solenoid directional control valve and flow speed control valve；Source of the gas
It is connected with the gas-tpe fitting on air cavity seat by tracheae, and is connected with the cylindrical cavity of air cavity seat；Gas-tpe fitting is arrived along source of the gas
Filter, pressure regulator valve, solenoid directional control valve and flow speed control valve are sequentially installed on tracheae.
Further, the material of the air bag is silica gel.
Further, when the diameter dimension of skeleton class part changes in the range of the envelope of the circular ring type cavity of retainer
When, by adjusting pressure regulator valve, the operating air pressure in different air bags is set, you can come to adjust the overhang of airbag aeration expansion
Accommodate and assemble skeleton class part.
Further, when the diameter dimension of skeleton class part is not in the range of the envelope of the circular ring type cavity of retainer,
By changing various sizes of retainer, to adjust the overhang of airbag aeration expansion to clamp skeleton class part.
Beneficial effect：(1) present invention accurately can nondestructively clamp Low rigidity by air bag Bidirectional-squeezing holding parts
Skeleton class part, efficiently solves that rigidity is small, intensity difference, deformation failure easily occurs or even the skeleton class part that is damaged
Clamping, serve the effect of the skeleton class part of flexible uniformly clamping Low rigidity.
(2) present invention is capable of the assembly force of effective monitoring skeleton class part, can realize flexibility by six-dimension force sensor
Clamping and assembling, it is easy to operate, improve assembly precision and efficiency of assembling.
(3) diameter dimension of middle skeleton class part of the present invention changes in the range of the envelope of the circular ring type cavity of retainer
When, by adjusting pressure regulator valve, the operating air pressure in different air bags is set, you can come to adjust the overhang of airbag aeration expansion
Accommodate and assemble skeleton class part；When the diameter dimension of skeleton class part is not in the range of the envelope of the circular ring type cavity of retainer
When, by changing various sizes of retainer, to adjust the overhang of airbag aeration expansion to clamp skeleton class part, realize soft
Property clamping, improve assembly precision efficiency.
Brief description of the drawings
Fig. 1 is the construction profile figure of the present invention；
Fig. 2 is the structure composition figure of the present invention；
Fig. 3 is present invention skeleton class design of part figure to be held；
Fig. 4 is the airbag structure figure of the present invention；
Fig. 5 is the retainer structure chart of the present invention；
Fig. 6 is the power monitor component electrical connection figure of the present invention；
Fig. 7 is the gas circuit component annexation figure of the present invention；
Wherein, 1- sensor protections fixture, 2- six-dimension force sensors, 3- pinboards, 4- air cavity seats, 5- gas-tpe fittings, 6-
Retainer, 7- skeleton class parts, 8- air bags, 10- power supplys and signal transmitting box, 11- data collecting cards, 13- main frames, 14- sources of the gas,
15- filters, 16- pressure regulator valves, 17- solenoid directional control valves, 18- flow speed control valves.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The invention provides a kind of airbag holder for the lossless clamping of Low rigidity skeleton class part, referring to the He of accompanying drawing 1
2, including：Sensor protection fixture 1, six-dimension force sensor 2, pinboard 3, air cavity seat 4, retainer 6, air bag 8, power monitor component
And gas circuit component；
Part to be held is the skeleton class part 7 of Low rigidity, and the skeleton class part 7 is formed in one, referring to accompanying drawing
3, it is made up of two coaxial annulus and four support columns for connecting two annulus；
The inside of the air cavity seat 4 is machined with cylindrical cavity, forms one end open, the structure of one end closing, plays gas circuit
The effect of conducting, the lower surface of air cavity seat 4 are provided with screwed hole, and for fixation balloon 8 and retainer 6, upper surface is provided with screwed hole
For being fixedly connected with pinboard 3, side is provided with screwed hole and is used to install gas-tpe fitting 5；
Referring to accompanying drawing 4, the air bag 8 is one end open, the cylindrical structure of one end closing；The openend of cylindrical structure
The flat annulus edge for it to be fixedly mounted is machined with, the blind end of cylindrical structure has the cylindrical cavity to cave inward
And circular ring type cavity, and the cylindrical cavity and circular ring type cavity are coaxial with cylindrical structure, circular ring type cavity be used for
Skeleton class part 7 coordinates, and cylindrical cavity is used for (when clamping skeleton class part 7 installed in equipment position) and rigging position
The axle of part to be assembled coordinates；The material of the air bag 8 is silica gel；
Referring to accompanying drawing 5, the retainer 6 is consistent with the profile of air bag 8, is similarly one end open, the cylinder of one end closing
Type structure；The openend of cylindrical structure is machined with the flat annulus edge for it to be fixedly mounted, the envelope of cylindrical structure
Closed end has the cylindrical cavity to cave inward and a circular ring type cavity, and the cylindrical cavity and circular ring type cavity are and cylindrical type
Structure is coaxial, and circular ring type cavity is used to coordinate with skeleton class part 7, and cylindrical cavity is used to (install in clamping skeleton class part 7
When equipping position) coordinate with the axle of the part to be assembled of rigging position；Two relative peripheries of the circular ring type cavity
It is upper to be machined with four openings being uniformly distributed circumferentially respectively, and the aperture position on two peripheries corresponds respectively；
Integrated connection relation is as follows：The six-dimension force sensor 2 is arranged on the upper surface of pinboard 3, six-dimension force sensor 2
Outer cover sensor protection fixture 1 is housed, connecting cable for placing six-dimension force sensor 2 is machined with pinboard 3
Cable slots；Docked with the blind end of air cavity seat 4 lower surface of pinboard 3；The openend of air cavity seat 4 and the openend pair of air bag 8
Connect；Retainer 6 is sleeved on the outer surface of air bag 8, and is fixed on the openend end face of air cavity seat 4, for protecting air bag 8, simultaneously
Prevent the inflation deformation of air bag 8；
The power monitor component with lead with six-dimension force sensor 2 by being connected, for being filled to clamping skeleton class part 7
With position assembled caused by assembly force monitored in real time；The power monitor component includes：The power supply that order is electrically connected with
With signal transmitting box 10, data collecting card 11 and main frame 13；Referring to accompanying drawing 6, it is six-dimensional force that power supply is used for signal transmitting box 10
Sensor 2 provides operating voltage, and is converted to voltage signal by the original strain signal of six-dimension force sensor 2 is amplified；Number
It is used to gather power supply and the voltage signal of the output of signal transmitting box 10 according to capture card 11, and the voltage signal collected is subjected to A/
D is changed, and after obtaining A/D conversion values, is stored in the internal register of itself；Main frame 13 is connected by cable and data collecting card 11
Connect, and after reading the A/D conversion values stored in data collecting card 11, by demarcating file by the A/D conversion values be scaled power/
Moment information；
The gas circuit component is connected by gas-tpe fitting 5 with the cylindrical cavity of air cavity seat 4, for inflating and arranging to air bag 8
Gas；Gas circuit component includes：Source of the gas 14, filter 15, pressure regulator valve 16, solenoid directional control valve 17 and flow speed control valve 18；Referring to accompanying drawing 7, gas
Source 14 is connected by tracheae with the gas-tpe fitting 5 on air cavity seat 4, and is connected with the cylindrical cavity of air cavity seat 4；Gas is arrived along source of the gas 14
Filter 15, pressure regulator valve 16, solenoid directional control valve 17 and flow speed control valve 18 are sequentially installed on the tracheae of pipe joint 5；During work, source of the gas
Compressed gas caused by 14 pass sequentially through filter 15, pressure regulator valve 16, solenoid directional control valve 17, flow speed control valve 18, gas-tpe fitting 5, gas
The cylindrical cavity of chamber seat 4, reach inside air bag 8；Wherein, pressure regulator valve 16 is used to control the pressure in air bag 8, and flow speed control valve 18 is used for
Throughput is adjusted, solenoid directional control valve 17 is used for the inflation and exhaust for controlling air bag 8.
Operation principle：Adjustment pressure regulator valve 16 and flow speed control valve 18 arrive setting value, enable air bag 8 in inflation in specified gas
After being worked under pressure value；Pressure regulator valve 16, flow speed control valve 18 and solenoid directional control valve 17 is kept to be in closed mode；
After the movement executing mechanism of outside drives the airbag holder motion in place by sensor protection fixture 1,
Air bag 8 and skeleton class part 7 to be held are aligned using the vision system of outside, through demarcation, ensure air bag 8 and skeleton
The axiality of class part 7 is in the range of allowance error, and now air bag 8 is located at the surface of skeleton class part 7, and air bag 8 is unexpanded；
Outside movement executing mechanism continues to drive airbag holder to move down so that air bag 8 inserts skeleton class part 7, i.e.,
The annular cavity of air bag 8 coordinates with the gap of skeleton class part 7, when circular ring type cavity floor and the skeleton class part 7 of retainer 6
Top surface reach setting gap when, movement executing mechanism stop move down；Now, pressure regulator valve 16, flow speed control valve 18 and electromagnetism is opened to change
To valve 17, the compressed gas transtracheal of the offer of source of the gas 14, gas-tpe fitting 5, the cylindrical cavity of air cavity seat 4, air bag 8 is finally passed into
In, inflated to air bag 8, the inflation of air bag 8, the side wall of the circular ring type cavity of air bag 8 is from the two of the circular ring type cavity of retainer 6
The opening of individual side is stretched out, the uniform wrapping frame class part 7 inside and outside skeleton class part 7, i.e. Bidirectional-squeezing clamping skeleton class
Part 7；Now, the contact area of air bag 8 and skeleton class part 7 increases, and contact force reduces to a certain extent, successfully realizes lossless
Clamping；
Outside movement executing mechanism drives airbag holder and skeleton class part 7 to move by sensor protection fixture 1
To corresponding rigging position, after being positioned skeleton class part 7 and part to be assembled with the help of vision system, motion is held
Row mechanism drives airbag holder to move down and inserts skeleton class part 7 in part to be assembled, when skeleton class part 7 with it is to be assembled
Part not to timing, lateral assembly force can be produced, by power monitor component monitor whether produce assembly force, you can further
Improve assembly precision；
When skeleton class part 7 reaches setting gap with part to be assembled, movement executing mechanism stops moving down, then,
Solenoid directional control valve 17 is commutated, and by Exhaust Open, air bag 8 is deflated, and release skeleton class part 7, completes assembling.
When the diameter dimension of skeleton class part 7 changes in the range of the envelope of the circular ring type cavity of retainer 6, pass through tune
Whole pressure regulator valve 16, the operating air pressure in different air bags 8 is set, you can to adjust the overhang of the inflation of air bag 8 to accommodate
With assembling skeleton class part 7, flexible clamping is realized, improves assembly precision efficiency.
When the diameter dimension of skeleton class part 7 is not in the range of the envelope of the circular ring type cavity of retainer 6, pass through replacing
Various sizes of retainer 6, to adjust the overhang of the inflation of air bag 8 to clamp skeleton class part 7, flexible clamping is realized,
Improve assembly precision efficiency.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (7)
- A kind of 1. airbag holder for the lossless clamping of Low rigidity skeleton class part, it is characterised in that including：Air cavity seat (4), Retainer (6), air bag (8) and gas circuit component；Part to be held is the skeleton class part (7) of Low rigidity, and the skeleton class part (7) is annular thin wall structure；The air cavity seat (4) is one end open, the structure of one end closing, and the side of air cavity seat (4) is provided with gas-tpe fitting (5)；The air bag (8) is one end open, the structure of one end closing；Its blind end have the cylindrical cavity that caves inward and with The coaxial circular ring type cavity of the cylindrical cavity, circular ring type cavity are used to coordinate with the ring surface of skeleton class part (7), cylindrical type Cavity is used to coordinate with the axle of rigging position；The retainer (6) is consistent with the profile of air bag (8), and one is machined with respectively on the relative periphery of its circular ring type cavity two Opening more than individual, and the aperture position on two peripheries corresponds；Integrated connection relation is as follows：Docked with the openend of air bag (8) openend of air cavity seat (4)；Retainer (6) is sleeved on gas The outer surface of capsule (8), and it is fixed on the openend end face of air cavity seat (4)；The gas circuit component is connected by gas-tpe fitting (5) with the cavity of air cavity seat (4), for inflating and being vented to air bag (8).
- 2. a kind of airbag holder for the lossless clamping of Low rigidity skeleton class part as claimed in claim 1, its feature exist In, in addition to sensor protection fixture (1), six-dimension force sensor (2), pinboard (3) and power monitor component；Docked with the blind end of air cavity seat (4) lower surface of pinboard (3)；Six-dimension force sensor (2) is arranged on pinboard (3) Upper surface, the cable slots of the connecting cable for placing six-dimension force sensor (2) are machined with pinboard (3)；Sensor protection Fixture (1) is sleeved on the outside of six-dimension force sensor (2)；Power monitor component with lead with six-dimension force sensor (2) by being connected, for assembling position to clamping skeleton class part (7) Assembly force caused by being assembled is put to be monitored in real time.
- 3. a kind of airbag holder for the lossless clamping of Low rigidity skeleton class part as claimed in claim 2, its feature exist In the power monitor component includes：The power supply that order is electrically connected with and signal transmitting box (10), data collecting card (11) and main frame (13)；Power supply and signal transmitting box (10) are that six-dimension force sensor (2) provides operating voltage, and by six-dimension force sensor (2) Original strain signal is amplified to be converted to voltage signal；Data collecting card (11) gathers power supply and exported with signal transmitting box (10) Voltage signal, and by the voltage signal collected carry out A/D conversions, after obtaining A/D conversion values, the inside for being stored in itself is posted In storage；Main frame (13) is connected by cable with data collecting card (11), and the A/D for reading storage in data collecting card (11) turns After changing value, the A/D conversion values are scaled by power/moment information by demarcating file.
- 4. a kind of airbag holder for the lossless clamping of Low rigidity skeleton class part as claimed in claim 1, its feature exist In the gas circuit component includes：Source of the gas (14), filter (15), pressure regulator valve (16), solenoid directional control valve (17) and flow speed control valve (18)；Source of the gas (14) is connected by tracheae with the gas-tpe fitting (5) on air cavity seat (4), and is connected with the cylindrical cavity of air cavity seat (4) It is logical；Filter (15), pressure regulator valve (16), solenoid directional control valve are sequentially installed along source of the gas (14) to the tracheae of gas-tpe fitting (5) And flow speed control valve (18) (17).
- 5. a kind of airbag holder for the lossless clamping of Low rigidity skeleton class part as claimed in claim 1, its feature exist In the material of the air bag (8) is silica gel.
- 6. a kind of airbag holder for the lossless clamping of Low rigidity skeleton class part as claimed in claim 1, its feature exist In when the diameter dimension of skeleton class part (7) changes in the range of the envelope of the circular ring type cavity of retainer (6), passing through tune Whole pressure regulator valve (16), sets the operating air pressure in different air bag (8), you can to adjust the overhang of air bag (8) inflation To accommodate and assemble skeleton class part (7).
- 7. a kind of airbag holder for the lossless clamping of Low rigidity skeleton class part as claimed in claim 1, its feature exist In when the diameter dimension of skeleton class part (7) is not in the range of the envelope of the circular ring type cavity of retainer (6), passing through replacing Various sizes of retainer (6), to adjust the overhang of air bag (8) inflation to clamp skeleton class part (7).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710744128.2A CN107414448B (en) | 2017-08-25 | 2017-08-25 | A kind of airbag holder for the lossless clamping of Low rigidity skeleton class part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710744128.2A CN107414448B (en) | 2017-08-25 | 2017-08-25 | A kind of airbag holder for the lossless clamping of Low rigidity skeleton class part |
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| CN107414448A true CN107414448A (en) | 2017-12-01 |
| CN107414448B CN107414448B (en) | 2019-06-07 |
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| CN201710744128.2A Active CN107414448B (en) | 2017-08-25 | 2017-08-25 | A kind of airbag holder for the lossless clamping of Low rigidity skeleton class part |
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| CN108515531A (en) * | 2018-04-13 | 2018-09-11 | 宁波德深机械设备有限公司 | Clamp type industrial robot |
| CN108543649A (en) * | 2018-04-21 | 2018-09-18 | 芜湖牧羿自动化科技有限公司 | A kind of auto parts and components processing spray-painting plant |
| CN108946133A (en) * | 2018-05-24 | 2018-12-07 | 武汉华星光电技术有限公司 | The limit thimble and arranging-in-row device of arranging-in-row device |
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| CN114227643A (en) * | 2021-12-15 | 2022-03-25 | 珠海格力电器股份有限公司 | Assembly positioning structure, robot arm and robot |
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| CN108414402A (en) * | 2018-02-06 | 2018-08-17 | 浙江迎丰科技股份有限公司 | A kind of rotary viscosimeter |
| CN108515531A (en) * | 2018-04-13 | 2018-09-11 | 宁波德深机械设备有限公司 | Clamp type industrial robot |
| CN108543649A (en) * | 2018-04-21 | 2018-09-18 | 芜湖牧羿自动化科技有限公司 | A kind of auto parts and components processing spray-painting plant |
| CN108946133A (en) * | 2018-05-24 | 2018-12-07 | 武汉华星光电技术有限公司 | The limit thimble and arranging-in-row device of arranging-in-row device |
| CN109048954A (en) * | 2018-07-26 | 2018-12-21 | 燕山大学 | A kind of software is eaten robot |
| CN112444361A (en) * | 2019-09-05 | 2021-03-05 | 郑州宇通客车股份有限公司 | Passenger car framework joint fixing tool and passenger car framework joint rigidity detection device |
| CN112444361B (en) * | 2019-09-05 | 2022-10-28 | 宇通客车股份有限公司 | Passenger car framework joint fixing tool and passenger car framework joint rigidity detection device |
| CN111547616A (en) * | 2020-05-20 | 2020-08-18 | 山东泰玉研磨科技有限公司 | Novel clamping device for steel ball grinding wheel |
| CN114043112A (en) * | 2021-10-18 | 2022-02-15 | 江苏盘龙机械制造有限公司 | Automatic change bearing roller welding set |
| CN114227643A (en) * | 2021-12-15 | 2022-03-25 | 珠海格力电器股份有限公司 | Assembly positioning structure, robot arm and robot |
| CN114227643B (en) * | 2021-12-15 | 2023-08-22 | 珠海格力电器股份有限公司 | Assembly positioning structure, robot arm and robot |
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