CN109176567A - Gear carries detection assistance mechanical arm - Google Patents
Gear carries detection assistance mechanical arm Download PDFInfo
- Publication number
- CN109176567A CN109176567A CN201811128299.3A CN201811128299A CN109176567A CN 109176567 A CN109176567 A CN 109176567A CN 201811128299 A CN201811128299 A CN 201811128299A CN 109176567 A CN109176567 A CN 109176567A
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- China
- Prior art keywords
- gear
- fixture
- overturning
- clamping
- torsion shaft
- Prior art date
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- Granted
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- 238000001514 detection method Methods 0.000 title claims abstract description 29
- 230000000712 assembly Effects 0.000 claims abstract description 13
- 238000000429 assembly Methods 0.000 claims abstract description 13
- 229910000831 Steel Inorganic materials 0.000 claims description 25
- 239000010959 steel Substances 0.000 claims description 25
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses gears to carry detection assistance mechanical arm, including frame plate and the hand steered handle being connected on frame plate, overturning component and clamp assemblies；Overturning component includes torsion shaft and the overturning driving assembly with torsion shaft cooperation for driving torsion shaft to rotate；Clamp assemblies include fixture and cooperate the clamping driving assembly for driving fixture clamp or release with fixture；Clamp assemblies and overturning axis connection, and torsion shaft is followed to rotate.The clamp or release of fixture is driven the beneficial effects of the present invention are: being realized by clamping driving assembly, the clamping to gear is realized, realizes the mechanical handing of gear, reduce labor intensity；By driving torsion shaft rotation by overturning driving assembly again after connecting torsion shaft with clamp assemblies, it realizes to back-geared overturning is clamped, is detected convenient for the gear end to gear, without manually carrying out overturning detection, it realizes the detection of gear and carries in one, improve production detection efficiency.
Description
Technical field
The present invention relates to a kind of mechanical arms, carry detection assistance mechanical arm in particular to a kind of gear.
Background technique
High-speed rail and subway gear mostly use manual handling gear workpieces when being carried to grinding machine progress clamping at present
Mode, labor intensity is larger, and production efficiency is low；Meanwhile whether worker needs to examine gear shaft terminal qualified with cubing, using artificial
Mode of transport further reduced detection efficiency；Although there are some assistance mechanical arms on the market, collection gear is carried and detection
Not in integrated mechanical arm.
Summary of the invention
It is an object of the invention to overcome existing gear to carry to lead to low efficiency using manpower transport's operation with detection, work
The big problem of intensity provides a kind of gear and carries detection assistance mechanical arm, it, which has, is applicable in gear multiplicity, rapid operation and flexibly
The characteristics of.
To achieve the above object, the gear designed by the present invention carries detection assistance mechanical arm, including frame plate and is connected to
Hand steered handle, overturning component and clamp assemblies on frame plate；
The overturning component includes torsion shaft and the overturning driving assembly with torsion shaft cooperation for driving torsion shaft to rotate；
The clamp assemblies include fixture and cooperate the clamping driving assembly for driving fixture clamp or release with fixture；
The clamp assemblies and the overturning axis connection, and the torsion shaft is followed to rotate.
Further, the overturning driving assembly includes lift cylinders, the overturning rack gear on lift cylinders output shaft, is set to
Overturning rack gear side and the turning gear engaged are nibbled set on the directive wheel of the turning gear other side, with the turning gear
The follower gear of conjunction；The torsion shaft and the follower gear cooperate.
Still further, the clamping driving assembly includes rotary cylinder, the clamping tooth on rotary cylinder output shaft
Wheel, set on clamping gear opposite side and engage two clamping rack gears, set on clamping rack gear back side rack gear mounting plate, set
Line slideway auxiliary, the guide rail mounting plate that is connect with line slideway auxiliary in rack gear mounting plate back side；Two guide rail mounting plates
Both ends are connected by connecting plate, guide rail mounting plate lower end and the overturning axis connection；
The fixture includes two fixture blocks positioned opposite；Two fixture blocks pass through a fixture mounting base installation respectively
On different rack gear mounting plates.
Preferably, the fixture block is connect by bearing with fixture mounting base；The fixture mounting base is equipped with for locking
The locking nut of fixture block.
Further, the fixture block includes clamping jaw one and clamping jaw two of the operative end surface back to setting；The work of the clamping jaw one
Make end face equipped with protruding block；The inverted V-shaped block that the clamping jaw one is vertically arranged, the clamping jaw two are horizontally disposed vee-block.It is logical
It crosses and sets clamping jaw one and clamping jaw two for fixture block, therefore a fixture block is actually two fixtures, and pacified by bearing and fixture
Seat connection is filled, switching is simple, applicable different shape and size of gears；By the effect of protruding block, when clamping, can be played very well
Positioning action.
Further, the fixture block is the horizontally disposed extension body of rod, and two fixture block ends are equipped with horizontal link block, institute
The both ends for stating link block are respectively equipped with vertical clamping jaw three；One of them described clamping jaw three is flexibly connected with link block for adjusting
The gap of two clamping jaws three.By the way that fixture block horizontal extension to be arranged, effective working length when clamping is increased, is operated more square
Just.
Further, the Hand steered hand includes n shape connecting rod and floating handle and button handle set on connecting rod both ends；
The connecting rod is connect by handle bearing with the frame plate.Due to the effect of handle bearing, hand steered handle can be relative to frame plate
Rotation, without bending over or lifting arm, operates more to can guarantee optimal stance in operation while reducing fatigue
Laborsaving convenience.
It further, further include controller；The controller is set to the frame plate；The button handle is equipped with control and presses
Button；Controller is connect with the control button electric signal of the button handle.
It further, further include lifting assembly；The lifting assembly includes lifting motor, steel cable, pressure sensor, right
Penetrate sensor and limit baffle；The lifting motor upper end is connected with KPK track, and lifting motor output shaft is connected with steel disk, institute
Lifting motor is stated to connect with the controller electric signal；In on steel disk, the other end is connect the steel cable one ends wound with frame plate；Institute
Pressure sensor is stated to connect on the floating handle and with the controller electric signal；The limit baffle is set to the steel
On rope, the opposite type sensor is set to the steel cable two sides and connect with controller electric signal.By being arranged on floating handle
Pressure sensor, hand realizes frame plate to the power on/off of the pressure signal control lifting motor of pressure sensor when passing through operation
Lifting is controlled without switch button, is operated more intelligent；In addition, due to being equipped with limit baffle and opposite type sensor, it can limiting frame
Plate rises or falls to greatest extent, and maloperation is avoided to cause to rise or fall excessive and damage equipment or workpiece.
Further, the frame plate upper end is equipped with the swivel bearing that axle center is arranged vertically.By the effect of swivel bearing, can make
The direction of entire mechanical arm can be adjusted as needed or change, to be applicable in the piece-holder of different station.
The clamp or release of fixture is driven the beneficial effects of the present invention are: being realized by clamping driving assembly, realization pair
The clamping of gear (workpiece), realizes the mechanical handing of gear, reduces labor intensity；By the way that torsion shaft is connect with clamp assemblies
Torsion shaft rotation is driven by overturning driving assembly again afterwards, is realized to back-geared overturning is clamped, convenient for the gear end to gear
It is detected, without manually carrying out overturning detection, realizing the detection of gear and carrying in one, improves production detection effect
Rate.
Detailed description of the invention
Fig. 1 is that gear of the present invention carries a kind of detection schematic perspective view of embodiment of assistance mechanical arm.
Fig. 2 is the schematic perspective view of another angle of Fig. 1.
Fig. 3 is the schematic view of the front view of Fig. 1, wherein dotted line is illustrated as the rotating effect of hand steered handle in operating process.
Fig. 4 is the right side structural representation of Fig. 3.
Fig. 5 is the left view structural representation of Fig. 3；
Fig. 6 is the backsight diagrammatic cross-section of Fig. 3.
Fig. 7 is the schematic perspective view for the another embodiment that gear of the present invention carries detection assistance mechanical arm.
Fig. 8 is the schematic front view of Fig. 7.
Fig. 9 is the structural schematic diagram of lifting assembly of the invention.
In figure, 1. frame plates；2. torsion shaft；3. lift cylinders；4. overturning rack gear；5. turning gear；6. directive wheel；7. with movable tooth
Wheel；8. rotary cylinder；9. clamping gear；10. clamping rack gear；11. rack gear mounting plate；12. line slideway auxiliary；13. guide rail is installed
Plate；14. connecting plate；15. fixture block；16. fixture mounting base；17. clamping jaw one；18. clamping jaw two；19. connecting rod；20. floating handle；
21. button handle；22. handle bearing；23. controller；24. swivel bearing；25. display；26. link block；27. clamping jaw three；
28. lifting motor；29. steel cable；30. opposite type sensor；31. limiting baffle；32. steel disk；33. workpiece.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Embodiment 1
Gear as shown in figs. 1 to 6 carries detection assistance mechanical arm, including frame plate 1 and the Hand steered being connected on frame plate 1
Hand, overturning component and clamp assemblies；
Overturning component includes torsion shaft 2 and the overturning driving assembly with the cooperation of torsion shaft 2 for driving torsion shaft 2 to rotate；
Clamp assemblies include fixture and cooperate the clamping driving assembly for driving fixture clamp or release with fixture；Clamping
Component is connect with torsion shaft 2, and torsion shaft 2 is followed to rotate.
Overturning driving assembly includes lift cylinders 3, the overturning rack gear 4 on 3 output shaft of lift cylinders, is set to overturning rack gear 4
Side and the turning gear 5 engaged, engaged set on the directive wheel 6 of 5 other side of turning gear, with turning gear 5 it is servo-actuated
Gear 7；Torsion shaft 2 and follower gear 7 cooperate.
Clamping driving assembly includes rotary cylinder 8, the clamping gear 9 on 8 output shaft of rotary cylinder, is set to clamping tooth
Take turns 9 opposite sides and engage two clamping rack gears 10, set on clamping 10 back side of rack gear rack gear mounting plate 11, be set to rack gear
The line slideway auxiliary 12 of 11 back side of mounting plate, the guide rail mounting plate 13 being connect with line slideway auxiliary 12；Two guide rail mounting plates 13
Both ends are connected by connecting plate 14, and 13 lower end of guide rail mounting plate is connect with torsion shaft 2.
Fixture includes two fixture blocks 15 positioned opposite；Two fixture blocks 15 are mounted on by a fixture mounting base 16 respectively
On different rack gear mounting plates 11.
The driving of rotary cylinder 8 clamping gear 9 reversion rotates forward, so that two clamping rack gears 10 are reversed or move towards, it is right
The rack gear mounting plate 11 answered is also reversed or moves towards, since two fixture blocks 15 of fixture are mounted on rack gear mounting plate 11, because
This two fixture blocks 15 are reversed or move towards, and realize the release or clamping of fixture.
Lift cylinders 3 are preferably cylinder, and driving overturning rack gear 4 moves up and down when work, to drive 5 turns of turning gear
Dynamic, then follower gear 7 rotates, to drive torsion shaft 2 to rotate, since clamping driving assembly only has guide rail mounting plate 13 and turns over
Shaft 2 rotates, so that clamping driving assembly rotation, i.e., fixture rotates with it when torsion shaft 2 rotates.
Fixture block 15 includes clamping jaw one 17 and clamping jaw two 18 of the operative end surface back to setting；The operative end surface of clamping jaw 1 is equipped with
Protruding block；The inverted V-shaped block that clamping jaw 1 is vertically arranged, clamping jaw 2 18 are horizontally disposed vee-block.By the way that fixture block 15 is arranged
For clamping jaw 1 and clamping jaw 2 18, therefore a fixture block 15 is actually two fixtures, and passes through bearing and fixture mounting base 16
Connection, switching is simple, applicable different shape and size of gears；By the effect of protruding block, when clamping, can play fixed well
Position effect.
Fixture block 15 is connect by bearing with fixture mounting base 16；Fixture mounting base 16 is equipped with the lock for locking fixture block 15
Tight nut.After opening locking nut, fixture block 15 can be rotated under the action of bearing relative to fixture mounting base 16, for example, fixture block
15 originally for clamping jaw 1 operative end surface inwardly, fixture block 15 rotate 180 ° after, the operative end surface of clamping jaw 2 18 inwardly, and passes through
Locking nut is locked, then uses 2 18 clamping workpiece 33 of clamping jaw.
Hand steered hand includes n shape connecting rod 19 and floating handle 20 and button handle 21 set on 19 both ends of connecting rod；Even
Extension bar 19 is connect by handle bearing 22 with frame plate 1.Due to the effect of handle bearing 22, hand steered handle can be 1 turn relative to frame plate
Dynamic, to can guarantee optimal stance in operation, without bending over or lifting arm, operation is more saved while reducing fatigue
Power is convenient.
It further include controller 23；Controller 23 is set to frame plate 1；Button handle 21 is equipped with control button；Controller 23 with
The control button electric signal of button handle 21 connects.
As shown in figure 9, further including lifting assembly；Lifting assembly includes lifting motor 28, steel cable 29, pressure sensor, right
Penetrate sensor 30 and limit baffle 31；28 upper end of lifting motor is connected with KPK track, and 28 output shaft of lifting motor is connected with steel disk
32, lifting motor 28 is connect with 23 electric signal of controller；In on steel disk 32, the other end is connect 29 one ends wound of steel cable with frame plate 1；
Pressure sensor is set on floating handle 20 and connect with 23 electric signal of controller；It limits baffle 31 to be set on steel cable 29, to penetrating
Sensor 30 is set to 29 two sides of steel cable and connect with 23 electric signal of controller.By the way that pressure sensing is arranged on floating handle 20
Device, hand realizes the lifting of frame plate 1 to the power on/off of the pressure signal control lifting motor 28 of pressure sensor when passing through operation
(workpiece lifting clamped) is controlled without switch button, is operated more intelligent；In addition, due to being equipped with limit baffle 31 and right
Sensor 30 is penetrated, rising or falling to greatest extent for frame plate 1 can be limited, maloperation is avoided to cause to rise or fall excessive and damage
Equipment or workpiece 33.
Specific lifting principle are as follows: after the pressure sensor on floating handle 20 senses continuous, when signal is transmitted
Controller 23, controller 23 control lifting motor 28 and are powered, so that the rotation winding steel cable 29 of steel disk 32, frame plate 1 is promoted, thus
Fixture rises, and workpiece 33 is raised；When pressure sensor senses spaced pressure signal, for example there is a pressure every second
The signal is then transferred to controller 23 by signal, and controller 23 is determined as that workpiece 33 needs to decline, thus is controlled to lifting motor 28
Its reversion of system instruction, so that workpiece 33 declines, certainly, the interval time of this interval pressure signal cannot be too long, and no person is invalid, than
Such as, when sensing a pressure signal within pressure sensor every five seconds, and by pressure signal transmission to controller 23, controller 23
It is determined as that workpiece 33 does not need to decline, therefore will not be instructed to lifting motor 28；When pressure sensor does not experience pressure
When signal, lifting motor 28 is powered off, and steel disk 32 remains static, thus frame plate 1 is static.
The elevating control of lifting assembly needs artificial control skill, naturally also simply controls very much skill, that is, needs mention
When playing workpiece 33, the floating handle 20 of pressure sensor is persistently held；When needing to decline, floating handle is held at short interval
20.
Opposite type sensor 30 can be set on other frame bodies, such as below KPK track, and be in 29 two sides of steel cable, limiting block
Piece 31 is gone up and down with steel cable 29, but when being elevated to the position equipped with opposite type sensor 30, after opposite type sensor 30 detects signal
Controller 23 is sent the signal to, controller 23 controls lifting motor 28 and powers off.
1 upper end of frame plate is equipped with the swivel bearing 24 that axle center is arranged vertically.By the effect of swivel bearing 24, entire machine can be made
The direction of tool arm can be adjusted as needed or change, and be clamped with being applicable in the workpiece 33 of different station.It can also set and be used on frame plate 1
The display 25 of human-computer interaction.
Embodiment 2
As shown in Figure 7,8, the gear carrying detection assistance mechanical arm of the present embodiment is roughly the same with embodiment 1, and difference exists
It is the horizontally disposed extension body of rod in fixture block 15, two 15 ends of fixture block are equipped with horizontal link block 26, the both ends of link block 26
It is respectively equipped with vertical clamping jaw 3 27；One of clamping jaw 3 27 is flexibly connected for adjusting two clamping jaws 3 27 with link block 26
Gap, the mode which is flexibly connected with link block 26 can be the hinged form of connecting rod.By by 15 water of fixture block
It is flat to be extended, increase effective working length when clamping, more convenient operation.
Link block 26 is equipped with U-lag hole, and 15 end of fixture block, which is equipped with, adjusts bolt, adjusts bolt and passes through U-lag hole, passes through
It adjusts bolt and is fixed on the position in U-lag hole to adjust the link position of fixture block 15 end and link block 26；To adjustable clamp
At a distance from the installation of pawl 3 27 and fixture mounting base 16, for the structure compared to fixture in embodiment 1, the fixture of the present embodiment can be with
Workpiece 33 (gear) is transported to more distant positions.In addition, the method for clamping of the present embodiment is preferably the flank of tooth for clamping gear 9,
Different from the gear shaft end face clamped in embodiment 1, the method for clamping of the present embodiment is convenient for gear shaft terminal processing.In order to protect tooth
Rubber cushion blocks can be arranged in 3 27 opposite face of clamping jaw, to protect the flank of tooth in face.
For the mode of operation of the present embodiment in addition to fixture is different, remaining mode of operation and application method are same as Example 1.
Claims (10)
1. a kind of gear carries detection assistance mechanical arm, it is characterised in that: including frame plate (1) and the hand being connected on frame plate (1)
Handle hand, overturning component and clamp assemblies；
The overturning component includes that torsion shaft (2) and the overturning with torsion shaft (2) cooperation for driving torsion shaft (2) to rotate drive
Component；
The clamp assemblies include fixture and cooperate the clamping driving assembly for driving fixture clamp or release with fixture；It is described
Clamp assemblies are connect with the torsion shaft (2), and the torsion shaft (2) is followed to rotate.
2. gear according to claim 1 carries detection assistance mechanical arm, it is characterised in that: the overturning driving assembly packet
Lift cylinders (3), the overturning rack gear (4) being set on lift cylinders (3) output shaft are included, overturning rack gear (4) side is set to and engages
Turning gear (5), be set to turning gear (5) other side directive wheel (6), engaged with the turning gear (5) with movable tooth
It takes turns (7)；The torsion shaft (2) and the follower gear (7) cooperate.
3. gear according to claim 2 carries detection assistance mechanical arm, it is characterised in that: the clamping driving assembly packet
Include rotary cylinder (8), be set to rotary cylinder (8) output shaft on clamping gear (9), be set to clamping gear (9) opposite side and with
Two clampings rack gear (10) of its engagement, are set to rack gear mounting plate at the rack gear mounting plate (11) for being set to clamping rack gear (10) back side
(11) line slideway auxiliary (12) of back side, the guide rail mounting plate (13) being connect with line slideway auxiliary (12)；Two guide rail peaces
Loading board (13) both ends are connected by connecting plate (14), and guide rail mounting plate (13) lower end is connect with the torsion shaft (2)；
The fixture includes two fixture blocks positioned opposite (15)；Two fixture blocks (15) pass through a fixture mounting base respectively
(16) it is mounted on different rack gear mounting plates (11).
4. gear according to claim 3 carries detection assistance mechanical arm, it is characterised in that: the fixture block (15) passes through axis
It holds and is connect with fixture mounting base (16)；The fixture mounting base (16) is equipped with the locking nut for locking fixture block (15).
5. gear according to claim 3 carries detection assistance mechanical arm, it is characterised in that: the fixture block (15) includes work
Make end face back to setting clamping jaw one (17) and clamping jaw two (18)；The operative end surface of the clamping jaw one (17) is equipped with protruding block；Institute
The inverted V-shaped block that clamping jaw one (17) is vertically arranged is stated, the clamping jaw two (18) is horizontally disposed vee-block.
6. gear according to claim 3 carries detection assistance mechanical arm, it is characterised in that: the fixture block (15) is level
The extension body of rod of setting, two fixture block (15) ends are equipped with horizontal link block (26), and the both ends of the link block (26) are distinguished
Equipped with vertical clamping jaw three (27)；One of them described clamping jaw three (27) is flexibly connected for adjusting two folders with link block (26)
The gap of pawl three (27).
7. gear according to claim 1 carries detection assistance mechanical arm, it is characterised in that: the Hand steered hand includes n
Shape connecting rod (19) and the floating handle (20) and button handle (21) for being set to connecting rod (19) both ends；The connecting rod (19) is logical
Handle bearing (22) is crossed to connect with the frame plate (1).
8. gear according to claim 7 carries detection assistance mechanical arm, it is characterised in that: further include controller (23)；
The controller (23) is set to the frame plate (1)；The button handle (21) is equipped with control button；Controller (23) with it is described
The control button electric signal of button handle (21) connects.
9. gear according to claim 8 carries detection assistance mechanical arm, it is characterised in that: further include lifting assembly；Institute
Stating lifting assembly includes folder lifting motor (28), steel cable (29), pressure sensor, opposite type sensor (30) and limit baffle
(31)；Folder lifting motor (28) upper end is connected with KPK track, and folder lifting motor (28) output shaft is connected with steel disk (32),
The folder lifting motor (28) connect with the controller (23) electric signal；Steel cable (29) one ends wound is in steel disk (32)
On, the other end is connect with frame plate (1)；The pressure sensor be set to the floating handle (20) on and with the controller (23)
Electric signal connection；The limit baffle (31) is set on the steel cable (29), and the opposite type sensor (30) is set to the steel cable
(29) it two sides and is connect with controller (23) electric signal.
10. gear according to claim 1 carries detection assistance mechanical arm, it is characterised in that: frame plate (1) upper end is set
The swivel bearing (24) for thering is axle center to arrange vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811128299.3A CN109176567B (en) | 2018-09-27 | 2018-09-27 | Gear carrying detection power-assisted mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811128299.3A CN109176567B (en) | 2018-09-27 | 2018-09-27 | Gear carrying detection power-assisted mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109176567A true CN109176567A (en) | 2019-01-11 |
| CN109176567B CN109176567B (en) | 2024-09-24 |
Family
ID=64906316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811128299.3A Active CN109176567B (en) | 2018-09-27 | 2018-09-27 | Gear carrying detection power-assisted mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109176567B (en) |
Cited By (5)
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| CN110315307A (en) * | 2019-06-25 | 2019-10-11 | 武汉汉唐智能工业技术有限公司 | One kind beating bolt tooling |
| CN111216150A (en) * | 2020-03-11 | 2020-06-02 | 江苏天宏智能装备有限公司 | Four paws of casting aftertreatment robot transport |
| CN113510737A (en) * | 2021-03-30 | 2021-10-19 | 深圳市德泽威技术检测有限公司 | Test device's area rocking arm strengthens anchor clamps |
| CN114193485A (en) * | 2021-11-02 | 2022-03-18 | 广东汇博机器人技术有限公司 | Manipulator and column helping hand arm with helping hand function |
| CN117023087A (en) * | 2023-10-09 | 2023-11-10 | 成都普什制药有限公司 | Detect tilting mechanism for leak hunting BFS production line of packing leakproofness |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315307A (en) * | 2019-06-25 | 2019-10-11 | 武汉汉唐智能工业技术有限公司 | One kind beating bolt tooling |
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| CN117023087A (en) * | 2023-10-09 | 2023-11-10 | 成都普什制药有限公司 | Detect tilting mechanism for leak hunting BFS production line of packing leakproofness |
| CN117023087B (en) * | 2023-10-09 | 2023-12-22 | 成都普什制药有限公司 | Detect tilting mechanism for leak hunting BFS production line of packing leakproofness |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109176567B (en) | 2024-09-24 |
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