CN107695461A - A kind of robot manipulator structure of gear grinding machines - Google Patents
A kind of robot manipulator structure of gear grinding machines Download PDFInfo
- Publication number
- CN107695461A CN107695461A CN201711113297.2A CN201711113297A CN107695461A CN 107695461 A CN107695461 A CN 107695461A CN 201711113297 A CN201711113297 A CN 201711113297A CN 107695461 A CN107695461 A CN 107695461A
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- arm
- vertical adjustment
- gear
- lateral adjustments
- longitudinally connected
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
- B23F23/02—Loading, unloading or chucking arrangements for workpieces
- B23F23/04—Loading or unloading arrangements
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to Gear Processing field, discloses a kind of robot manipulator structure of gear grinding machines, including symmetrical two manipulators, and manipulator includes mounting seat, vertical adjustment seat, longitudinally connected arm and lateral adjustments arm, and vertical adjustment seat is fixedly installed on mounting seat end；Vertical adjustment seat offers vertical adjustment groove, longitudinally connected arm one end offers fixing screwed hole, and longitudinally connected arm is connected with vertical adjustment seat through vertical adjustment groove by regulating bolt and its setting height(from bottom) on vertical adjustment seat can be adjusted in the range of vertical adjustment groove；Lateral adjustments arm is connected with longitudinally connected arm another end, and can be relative to longitudinally connected arm lateral adjustments；Lateral adjustments arm end is removably fixed with gear cleft hand.The gear size scope that gear grinding machines carry out loading and unloading automatically is expanded, gear grinding machines still can carry out automatic loading/unloading to various sizes of gear, improve operating efficiency when processing different dimensional parameters gears, and avoiding artificial loading and unloading causes to produce injury to human body.
Description
Technical field
The present invention relates to being related to gear machining technology field, more particularly to a kind of robot manipulator structure of gear grinding machines.
Background technology
Automatic toothing machine is processed by the use of emery wheel as finishing roller gear or some gears (helical gear, bevel gear etc.)
The gear cutting machine of the cutter flank of tooth, the deformation for being mainly used in eliminating after being heat-treated and the raising accuracy of gear, automatic toothing machine is certainly
Band loading and unloading manipulator, but in actual use, the manipulator carried are only capable of meeting main subtract on serial automatic of one, tooth
Blanking, i.e., it can only realize that automatic loading/unloading operates to the gear of same size batch, cause expensive automatic toothing machine not
It can be suitably used for the Gear Processing of other different size batches（Such as the external diameter change of gear or height change）, applicability is low,
If necessary to process the gear of different size batches, manually loading and unloading single-piece can only be ground, and the various sizes of tooth of each batch
Wheel there is certain quantity so that not only increasing operational motion, every product only emery wheel stops, opened the door, lower workpiece, on
Workpiece, startup, shutdown, emery wheel, which are opened etc., just accumulates the stand-by period more than 10 seconds, and 1 class will lack the more than one piece of converted products 80, together
When, artificial loading and unloading, because of main motor frequent starting, not only power consumption increase, also increases failure-frequency, and enabling mist of oil is very
Greatly, injury is also also easy to produce to operative employee's body.
The content of the invention
The technical problems to be solved by the invention are：For above-mentioned problem, there is provided a kind of machinery of gear grinding machines
Hand structure, the gear size scope of loading and unloading can be carried out automatically by expanding gear grinding machines within the specific limits, realize gear grinding machines
When processing the gear of different dimensional parameters, still automatic loading/unloading can be carried out to various sizes of gear, solved artificial
The cumbersome problem of operation, reduces because of frequent starting motor and increased power consumption, improves operating efficiency, avoids artificial
Loading and unloading cause to injury caused by human body.
The technical solution adopted by the present invention is as follows：A kind of robot manipulator structure of gear grinding machines, including symmetrical two machines
Tool hand, each manipulator include mounting seat, vertical adjustment seat, longitudinally connected arm and lateral adjustments arm, the vertical tune
Section seat is fixedly installed on the mounting seat end；Vertical adjustment groove, the longitudinally connected arm are offered on the vertical adjustment seat
One end offers fixing screwed hole, and the longitudinally connected arm passes through described in a regulating bolt through the vertical adjustment groove and precession
Fixing screwed hole come realize with the vertical adjustment seat be fixedly connected and the longitudinally connected arm can be in the height of vertical adjustment groove
Its height of fixed installation on the vertical adjustment seat is adjusted in the range of degree；The lateral adjustments arm and the longitudinally connected arm
Another end be fixedly connected and be mutually perpendicular to, the lateral adjustments arm can be relative to the longitudinally connected arm lateral adjustments；The horizontal stroke
It is removably secured to the end of regulating arm and is connected with gear cleft hand.
A kind of robot manipulator structure of gear grinding machines of the present invention, the another end of the longitudinally connected arm are fixedly installed transverse direction
Guide part, the length in the laterally steering portion are more than the width of longitudinally connected arm and vertical with longitudinally connected arm, and the transverse direction is led
There is laterally steering hole into portion, the lateral adjustments arm is passed through and is installed in laterally steering hole, and the lateral adjustments arm can
In laterally steering hole lateral adjustments are realized relative to the laterally steering portion.
A kind of robot manipulator structure of gear grinding machines of the present invention, the laterally steering hole are screwed hole, described laterally to adjust
Joint arm is screw mandrel, and the screw mandrel closes with corresponding threaded holes, and one end of the screw mandrel has a clamping part, is clamped by a spanner
In the clamping part and drive screw mandrel to be rotated relative to laterally steering portion, and then realize lateral adjustments arm relative to laterally steering portion
Transverse shifting is adjusted.
A kind of robot manipulator structure of gear grinding machines of the present invention, lock sleeve, the lock sleeve are socketed with the screw mandrel
Coordinate with wire rod thread, between laterally steering portion and gear cleft hand, the lock sleeve can lock screw mandrel the lock sleeve
Rotated in laterally steering portion, preventing screw mandrel relative to the laterally steering portion.
A kind of robot manipulator structure of gear grinding machines of the present invention, the perpendicular of rectangle is offered on the vertical adjustment seat end face
To guide groove, the vertical guide groove communicates with the vertical adjustment groove, and described longitudinally connected arm one end has the guiding of rectangle
Boss, the guide ledges are located in vertical guide groove and are adapted.
A kind of robot manipulator structure of gear grinding machines of the present invention, the gear cleft hand are laterally adjusted by cleft hand seat with described
Joint arm connects, and described cleft hand seat one end offers blind round hole, another end offers rectangular clip slot, and the gear cleft hand includes
Claw and fixed plate portion, the fixed plate portion are located in clip slot, and the upper end of the clip slot is accordingly threaded with lock-screw,
The lock-screw precession cleft hand seat and can hold out against the upper surface of the fixed plate portion, and the end of the lateral adjustments arm has one
Individual cylindrical portion, the cylindrical portion are located in the blind round hole and are adapted, the upper end of the blind round hole also accordingly screw thread
It is connected with lock-screw, the lock-screw precession cleft hand seat and can hold out against the cylindrical portion.
A kind of robot manipulator structure of gear grinding machines of the present invention, annular groove is offered in the cylindrical portion, when the circle
When post portion is located in the blind round hole, the end of the upper end locking screw of the blind round hole can be described in jacking in annular groove.
A kind of robot manipulator structure of gear grinding machines of the present invention is adjacent with longitudinally connected arm on the vertical adjustment seat
Graduation mark is provided with end face.
A kind of robot manipulator structure of gear grinding machines of the present invention, head and the vertical adjustment seat appearance of the regulating bolt
Pad is provided between face, head and the pad of regulating bolt are adjacent to, and pad is adjacent to vertical adjustment seat outer surface.
Compared with prior art, having the beneficial effect that using above-mentioned technical proposal：The robot manipulator structure of the present invention it is stable and
It is reasonable in design, strong applicability, regulation and left and right adjusting above and below the gear cleft hand of robot manipulator structure can be realized, and then according to product
The height of outside diameter size and product, is adjusted flexibly from both direction, adaptively to enter to various sizes of product
Row clamping loading and unloading, the gear size scope of loading and unloading can be carried out automatically by expanding gear grinding machines within the specific limits, without people
Work carries out loading and unloading, only robot manipulator structure need to be adaptively adjusted, when processing different batches gear to cause robot manipulator structure
Cleft hand adapt to the gear size of this batch, you can realize and automatic loading/unloading carried out to the gear of this batch, improve product
Processing efficiency, company's output value is added, ensure that the health of staff.
The present invention realizes the mill of our company's difference appearance and size roller gear product in the practical application of the applicant
The all standing of tooth manipulator automatic loading/unloading 100%, and split run roll flute process capacity efficiency 30% is lifted, two mills of company
Tooth machine can monthly increase the more than one piece of roll flute finished product 8000, newly-increased 48.38 ten thousand yuan of the output value of roll flute storage.
Brief description of the drawings
Fig. 1 is the cooperation top view of two manipulators in left and right and gear in robot manipulator structure of the invention；
Fig. 2 is the top view of right gear wheel cleft hand in the present invention；
Fig. 3 is the front view that right-hand member mounting seat coordinates with vertical adjustment seat in the present invention；
Fig. 4 is the top view that right-hand member mounting seat coordinates with vertical adjustment seat in the present invention；
Fig. 5 is the left view that right-hand member mounting seat coordinates with vertical adjustment seat in the present invention；
Fig. 6 is the right view of the longitudinally connected arm of right-hand member in the present invention；
Fig. 7 is the partial sectional view of the longitudinally connected arm of right-hand member in the present invention；
Fig. 8 is the top view of right-hand member lateral adjustments arm in the present invention；
Fig. 9 is the front view of right-hand member cleft hand seat in the present invention；
Figure 10 is the right view of right-hand member cleft hand seat in the present invention.
Reference：1 is mounting seat, and 2 be vertical adjustment seat, and 3 be longitudinally connected arm, and 4 be lateral adjustments arm, and 5 be vertical
Regulating tank, 6 be fixing screwed hole, and 7 be regulating bolt, and 8 be gear cleft hand, and 9 be laterally steering portion, and 10 be laterally steering hole, 11
It is lock sleeve for clamping part, 12,13 be vertical guide groove, and 14 be guide ledges, and 15 be cleft hand seat, and 16 be blind round hole, and 17 are
Clip slot, 18 be claw, and 19 be fixed plate portion, and 20 be lock-screw, and 21 be cylindrical portion, and 22 be annular groove, and 23 be pad.
Embodiment
The present invention is described further below in conjunction with the accompanying drawings.
Explanation：The vertical interface vertical direction i.e. with accompanying drawing 1, longitudinal direction is the above-below direction at the interface of accompanying drawing 1, and transverse direction is accompanying drawing
The left and right directions at 1 interface；The application only provides a kind of robot manipulator structure of automatic loading/unloading, realizes different size gear processing
The change of technological parameter, the application are not directed to.
Embodiment 1
As shown in Fig. 1 to 10, a kind of robot manipulator structure of gear grinding machines, including symmetrical two manipulators, two manipulators
And gear grinding machines（Not shown in figure）Executing agency（Not shown in figure）Be fixedly connected, each manipulator include mounting seat 1,
Vertical adjustment seat 2, longitudinally connected arm 3 and lateral adjustments arm 4, vertical adjustment seat 2 are fixedly installed on the end of mounting seat 1, specifically,
Vertical adjustment seat 2 is structure as a whole with mounting seat 1；Vertical adjustment groove 5, longitudinally connected one end of arm 3 are offered on vertical adjustment seat 2
Fixing screwed hole 6 is offered, longitudinally connected arm 3 passes through vertical adjustment groove 5 and precession fixing screwed hole 6 by a regulating bolt 7
Come realize with vertical adjustment seat 2 be fixedly connected and longitudinally connected arm 3 can adjust it in the altitude range of vertical adjustment groove 5
Fixed installation on vertical adjustment seat 2 highly, quarter is provided with vertical adjustment seat 2 on the end face adjacent with longitudinally connected arm 3
Spend line（Not shown in figure）, graduation mark causes when adjusting setting height(from bottom), more intuitively, can more rapidly will be longitudinally connected
The regulation of arm 3 is more than width, head and the vertical adjustment of vertical adjustment groove 5 to required setting height(from bottom), the head diameter of regulating bolt 7
2 outer surfaces of seat are adjacent to, and further, pad 23 are provided between the head and the outer surface of vertical adjustment seat 2 of regulating bolt 7, are adjusted
The head of section bolt 7 is adjacent to pad 23, and pad 23 is adjacent to the outer surface of vertical adjustment seat 2, and the setting of pad 23 to adjust
The not direct outer surface with vertical adjustment seat 2 in the head of bolt 7 is contacted, and when being fixed, the head of regulating bolt 7 is only being padded
There is spin friction the outer surface of piece 23, protects the outer surface of vertical adjustment seat 2；Lateral adjustments arm 4 is another with longitudinally connected arm 3
End is fixedly connected and is mutually perpendicular to, and lateral adjustments arm 4 can be relative to the longitudinally connected lateral adjustments of arm 3；The end of lateral adjustments arm 4
Be removably secured and be connected with gear cleft hand 8, can the gear cleft hand 8 for the different sizes that change the outfit as needed, two machineries
The gear cleft hand 8 of hand acts on the both ends of same gear, realizes the firm crawl to gear.
Specifically, the another end of longitudinally connected arm 3 is fixedly installed laterally steering portion 9, and the length in laterally steering portion 9, which is more than, indulges
Width to linking arm 3 and vertical with longitudinally connected arm 3, has laterally steering hole 10, lateral adjustments arm 4 in laterally steering portion 9
Pass through and be installed in laterally steering hole 10, lateral adjustments arm 4 can be realized in laterally steering hole 10 relative to laterally steering portion 9
Lateral adjustments so that lateral adjustments arm 4 is more firm relative to the transverse shifting regulation of longitudinally connected arm 3, laterally steering hole 10
For screwed hole, lateral adjustments arm 4 is screw mandrel, and screw mandrel closes with corresponding threaded holes, and one end of screw mandrel has a clamping part 11, clamps
Portion 11 is specially hexagonal head, is held on clamping part 11 by a spanner and drives screw mandrel to be rotated relative to laterally steering portion 9, enters
And realize that lateral adjustments arm 4 is adjusted relative to the transverse shifting of laterally steering portion 9, the cooperation of screw mandrel and screwed hole, further such that
Lateral adjustments arm 4 is more convenient and reliable and stable relative to the transverse shifting regulation of longitudinally connected arm 3.
Further, lock sleeve 12 is socketed with screw mandrel, lock sleeve 12 coordinates with wire rod thread, and lock sleeve 12 is positioned at laterally
Between guide part 9 and gear cleft hand 8, screw mandrel can be lock onto in laterally steering portion 9 by lock sleeve 12, prevent screw mandrel relative to transverse direction
Guide part 9 rotates, the setting of lock sleeve 12, is adjusted in place relative to the transverse shifting of longitudinally connected arm 3 in lateral adjustments arm 4
When, you can rotary locking cover 12 prevents robot work to be locked between lateral adjustments arm 4 and longitudinally connected arm 3
During screw mandrel relative to the unintentional rotation of laterally steering portion 9, influence robot manipulator structure normal work.
Embodiment 2
As shown in Fig. 1,3 to 7, on the basis of embodiment 1, the vertical guide groove of rectangle is offered on the end face of vertical adjustment seat 2
13, vertical guide groove 13 communicates with vertical adjustment groove 5, and longitudinally connected one end of arm 3 has the guide ledges 14 of rectangle, guide ledges
14 are located in vertical guide groove 13 and are adapted, and are arranged such so that longitudinally connected arm 3 adjusts installation on vertical adjustment seat 2
It is more stable smooth during height, the effect of guiding is served, ensures that longitudinally connected arm 3 is only done relative to vertical adjustment seat 2
Lower mobile regulation.
Embodiment 3
As shown in Fig. 1,2,8,9,10, on the basis of embodiment 1, gear cleft hand 8 is connected by cleft hand seat 15 and lateral adjustments arm 4
Connect, the one end of cleft hand seat 15 offers blind round hole 16, another end offers rectangular clip slot 17, and gear cleft hand 8 includes claw 18
With fixed plate portion 19, fixed plate portion 19 is located in clip slot 17, and the upper end of clip slot 17 is accordingly threaded with two lock-screws
20, lock-screw 20 precession cleft hand seat 15 and can hold out against the upper surface of fixed plate portion 19, and the end of lateral adjustments arm 4 has one
Cylindrical portion 21, cylindrical portion 21 are located in blind round hole 16 and are adapted, and the upper end of blind round hole 16 is also accordingly threaded with
One lock-screw 20, lock-screw 20 precession cleft hand seat 15 and can hold out against the cylindrical portion 21, and gear cleft hand 8 passes through fixed plate
It is removably secured and is connected with cleft hand seat 15, cleft hand seat 15 is removably secured with screw mandrel end by lock-screw 20 and is connected,
So that the connection or unloading process between three parts are more convenient, and can the different sizes that change the outfit as needed
Gear cleft hand 8, the also rotatable regulation cleft hand seat 15 before lock-screw 20 is locked so that the gear cleft hand of the front end of cleft hand seat 15
8 with treating that clip tooth wheel can be matched more fully；Further, annular groove 22 is offered in cylindrical portion 21, when cylindrical portion 21
When in the blind round hole 16, the end of the upper end locking screw 20 of blind round hole 16 can be so set in jacking annular groove 22
Put, ensure to hold out against the bottom of annular groove 22 when lock-screw 20 is locked, without directly withstanding on the outer round surface of cylindrical portion 21, prevent
Due to the outer round surface for frequently holding out against operation damage cylindrical portion 21 of lock-screw 20, ensure the inner surface of blind round hole 16 and cylinder
The outer round surface in portion 21 more fully coordinates contact, meanwhile, it can also prevent cleft hand seat 15 from undesirably falling off cylindrical portion 21, ensure pawl
Hand seat 15 is more stably fixedly connected with screw mandrel end.
Further, offer the vertical guide groove 13 of rectangle on the end face of vertical adjustment seat 2, vertical guide groove 13 with it is vertical
Regulating tank 5 communicates, and longitudinally connected one end of arm 3 has the guide ledges 14 of rectangle, and guide ledges 14 are located in vertical guide groove 13
And be adapted, it is arranged such so that longitudinally connected arm 3 is more stable smooth when adjusting setting height(from bottom) on vertical adjustment seat 2,
The effect of guiding is served, ensures that longitudinally connected arm 3 only moves up and down regulation relative to vertical adjustment seat 2.
When gear is highly unchanged, external diameter becomes big, lock sleeve 12 need to be only unclamped, adjusts the screw mandrel of two symmetrical manipulators,
So that then two gear cleft hands 8 unclamp lock-screw 20 corresponding to the upper end of blind round hole 16, rotation reversely away to correct position
Turn cleft hand seat 15 so that gear cleft hand 8 can be adapted with gear, while can change the large-sized gear pawl of installation as needed
Hand 8；When gear highly becomes big or becomes small, regulating bolt 7 can be directly unclamped, adjusts longitudinally connected arm 3 up or down so that
The height of gear cleft hand 8 then tightens regulating bolt 7 in the correct position of gear.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.If this
Art personnel, it is altered or modified in the unsubstantiality that the spirit for not departing from the present invention is done, should all belongs to power of the present invention
The claimed scope of profit.
Claims (9)
1. a kind of robot manipulator structure of gear grinding machines, including symmetrical two manipulators, it is characterised in that：Each machinery
Hand includes mounting seat（1）, vertical adjustment seat（2）, longitudinally connected arm（3）With lateral adjustments arm（4）, the vertical adjustment seat
（2）It is fixedly installed on the mounting seat（1）End；The vertical adjustment seat（2）On offer vertical adjustment groove（5）, it is described vertical
To linking arm（3）One end offers fixing screwed hole（6）, the longitudinally connected arm（3）Pass through a regulating bolt（7）Through described
Vertical adjustment groove（5）And fixing screwed hole described in precession（6）To realize and the vertical adjustment seat（2）Be fixedly connected and institute
State longitudinally connected arm（3）Can be in vertical adjustment groove（5）Altitude range in regulation its in the vertical adjustment seat（2）On fixation
Setting height(from bottom)；The lateral adjustments arm（4）With the longitudinally connected arm（3）Another end be fixedly connected and be mutually perpendicular to, the horizontal stroke
To regulating arm（4）Can be relative to the longitudinally connected arm（3）Lateral adjustments；The lateral adjustments arm（4）End removably
It is fixedly connected with gear cleft hand（8）.
A kind of 2. robot manipulator structure of gear grinding machines according to claim 1, it is characterised in that：The longitudinally connected arm（3）
Another end be fixedly installed laterally steering portion（9）, the laterally steering portion（9）Length be more than longitudinally connected arm（3）Width,
And with longitudinally connected arm（3）Vertically, the laterally steering portion（9）It is interior that there is laterally steering hole（10）, the lateral adjustments arm（4）
Pass through and be installed on laterally steering hole（10）It is interior, the lateral adjustments arm（4）Can be in laterally steering hole（10）It is interior relative to described
Laterally steering portion（9）Realize lateral adjustments.
A kind of 3. robot manipulator structure of gear grinding machines according to claim 2, it is characterised in that：The laterally steering hole（10）
For screwed hole, the lateral adjustments arm（4）For screw mandrel, the screw mandrel closes with corresponding threaded holes, and one end of the screw mandrel has one
Individual clamping part（11）, the clamping part is held on by a spanner（11）And screw mandrel is driven relative to laterally steering portion（9）Rotate,
And then realize lateral adjustments arm（4）Relative to laterally steering portion（9）Transverse shifting is adjusted.
A kind of 4. robot manipulator structure of gear grinding machines according to claim 3, it is characterised in that：Lock is socketed with the screw mandrel
Tight set（12）, the lock sleeve（12）Coordinate with wire rod thread, the lock sleeve（12）Positioned at laterally steering portion（9）With gear pawl
Hand（8）Between, the lock sleeve（12）Screw mandrel can be lock onto to laterally steering portion（9）It is interior, prevent screw mandrel relative to the transverse direction
Guide part（9）Rotate.
A kind of 5. robot manipulator structure of gear grinding machines according to any one of Claims 1-4, it is characterised in that：It is described vertical
Adjustment seat（2）The vertical guide groove of rectangle is offered on end face（13）, the vertical guide groove（13）With the vertical adjustment groove
（5）Communicate, the longitudinally connected arm（3）One end has the guide ledges of rectangle（14）, the guide ledges（14）Positioned at vertical
Guide groove（13）It is interior and be adapted.
A kind of 6. robot manipulator structure of gear grinding machines according to any one of Claims 1-4, it is characterised in that：The gear
Cleft hand（8）Pass through cleft hand seat（15）With the lateral adjustments arm（4）Connection, the cleft hand seat（15）One end offers blind round hole
（16）, another end offer rectangular clip slot（17）, the gear cleft hand（8）Including claw（18）With fixed plate portion（19）, institute
State fixed plate portion（19）Positioned at clip slot（17）It is interior, the clip slot（17）Upper end be accordingly threaded with lock-screw（20）,
The lock-screw（20）Can precession cleft hand seat（15）And hold out against the fixed plate portion（19）Upper surface, the lateral adjustments arm
（4）End there is a cylindrical portion（21）, the cylindrical portion（21）Positioned at the blind round hole（16）It is interior and be adapted, it is described
Blind round hole（16）Upper end be also accordingly threaded with lock-screw（20）, the lock-screw（20）Can precession cleft hand seat
（15）And hold out against the cylindrical portion（21）.
A kind of 7. robot manipulator structure of gear grinding machines according to claim 6, it is characterised in that：The cylindrical portion（21）On open
Provided with annular groove（22）, when the cylindrical portion（21）Positioned at the blind round hole（16）When interior, the blind round hole（16）It is upper
Hold lock-screw（20）End can annular groove described in jacking（22）It is interior.
A kind of 8. robot manipulator structure of gear grinding machines according to claim 1, it is characterised in that：The vertical adjustment seat（2）
Upper and longitudinally connected arm（3）Graduation mark is provided with adjacent end face.
A kind of 9. robot manipulator structure of gear grinding machines according to claim 1, it is characterised in that：The regulating bolt（7）'s
Head and vertical adjustment seat（2）Pad is provided between outer surface（23）, regulating bolt（7）Head and pad（23）It is adjacent to,
Pad（23）With vertical adjustment seat（2）Outer surface is adjacent to.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711113297.2A CN107695461A (en) | 2017-11-13 | 2017-11-13 | A kind of robot manipulator structure of gear grinding machines |
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| CN201711113297.2A CN107695461A (en) | 2017-11-13 | 2017-11-13 | A kind of robot manipulator structure of gear grinding machines |
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| CN109481040A (en) * | 2019-01-17 | 2019-03-19 | 厦门市领汇医疗科技有限公司 | A kind of manipulator fixture |
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| CN205033118U (en) * | 2015-10-22 | 2016-02-17 | 浙江机电职业技术学院 | Multifunctional fixture |
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