CN110103244B - Inner hole expanding and grabbing mechanism - Google Patents
Inner hole expanding and grabbing mechanism Download PDFInfo
- Publication number
- CN110103244B CN110103244B CN201910490478.XA CN201910490478A CN110103244B CN 110103244 B CN110103244 B CN 110103244B CN 201910490478 A CN201910490478 A CN 201910490478A CN 110103244 B CN110103244 B CN 110103244B
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- expansion
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- tightening
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- 230000007246 mechanism Effects 0.000 title claims abstract description 36
- 230000008602 contraction Effects 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 7
- 238000001125 extrusion Methods 0.000 claims description 23
- 238000007906 compression Methods 0.000 claims description 18
- 230000006835 compression Effects 0.000 claims description 17
- 230000002349 favourable effect Effects 0.000 abstract description 3
- 239000010410 layer Substances 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 244000023431 Proboscidea parviflora Species 0.000 description 1
- 235000019096 Proboscidea parviflora Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
Abstract
The invention discloses an inner hole expanding and grabbing mechanism which comprises a pull rod, an expansion sleeve, a tightening sleeve and a power part, wherein the expansion sleeve is arranged on the outer side of the pull rod, the tightening sleeve is arranged on the outer side of the expansion sleeve, a hole workpiece is arranged on the outer side of the expansion sleeve, the pull rod, the expansion sleeve and the tightening sleeve are coaxially arranged, the pull rod and the expansion sleeve are respectively fixed and can generate relative movement, the tightening sleeve is fixed with the pull rod, the power part is connected with the pull rod, the pull rod moves along the axial direction of the pull rod, the expansion sleeve realizes outward expansion and inward contraction in the process of moving the pull rod, and the tightening sleeve extrudes the expansion sleeve when the expansion sleeve is arranged in the expansion sleeve. The invention is provided with the 3-layer coaxial sleeve structure with 'inner core, middle expansion and outer contraction', has small and compact space, strong rigidity of the mechanism, strong bearing capacity and strong expansion force, and particularly has the tightening sleeve with the 'outer contraction' function, so that the contraction state and the size of the mechanism are stable, and the robot is favorable for being quickly and accurately inserted into an inner hole of a workpiece to grasp the workpiece.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to an inner hole expanding and grabbing mechanism.
Background
The grabbing mechanism applied to the automatic island of the workpiece cleaning robot is used as an important part of the robot gripper and used for grabbing small workpieces of the automobile engine, but the small workpieces of the automobile engine comprise various workpieces, and the workpieces are inconsistent in appearance, unequal in inner hole size, unequal in thickness and unequal in stacking quantity. Because the appearance difference of the grabbed workpieces is large, an inner hole grabbing mode is adopted.
Currently, there are two main types of existing gripping mechanisms: one is a pneumatic (or electric) double-jaw, and the other is a pneumatic (or electric) three-jaw. The operation environment of the automatic island of the workpiece cleaning robot is complex, the gripping mechanism is required to transfer the workpieces among positioning tools in different forms, and the two types of gripping jaws can grip a single workpiece through the inner hole, but the automatic island of the workpiece cleaning robot is suitable for the complex operation environment of the automatic island of the workpiece cleaning robot and is difficult; meanwhile, the existing double-claw or three-claw mechanism can only effectively grasp a single-layer workpiece due to insufficient expansion force of the mechanism for the workpiece with a larger inner hole, if two or more layers of workpieces are grasped, the continuous compaction state of the upper-layer workpiece cannot be effectively ensured, the upper-layer workpiece can be caused to freely rotate, the robot directional conveying cannot be completed, and the mechanism cannot be suitable for various positioning tools of an automatic island.
Disclosure of Invention
The invention aims to solve the problems and provide an inner hole expanding and grabbing mechanism.
To achieve the above object, the present disclosure provides an inner hole expanding gripping mechanism for gripping a hole-series workpiece, including:
An execution unit; the execution part comprises a pull rod and an expansion sleeve, the expansion sleeve is sleeved on the outer side of the pull rod, the hole system workpiece is sleeved on the outer side of the expansion sleeve, and the pull rod and the expansion sleeve are respectively fixed and can generate relative movement;
A power section; the power part is connected with the pull rod, the pull rod moves along the middle axis direction, and the expansion sleeve realizes outward expansion and inward contraction in the process of moving the pull rod up and down.
Optionally, the execution part further comprises a tightening sleeve, the tightening sleeve is arranged on the outer side of the expansion sleeve, the pull rod, the expansion sleeve and the tightening sleeve are coaxially arranged, the tightening sleeve is fixed with the pull rod, and the tightening sleeve extrudes the expansion sleeve when the tightening sleeve is arranged in the expansion sleeve.
Optionally, the inner hole expanding and grabbing mechanism further comprises an air cylinder flange, the power part is fixed on the upper portion of the air cylinder flange, the pull rod, the expanding sleeve and the tightening sleeve are sleeved and then penetrate through the lower portion of the air cylinder flange, and the expanding sleeve is fixed with the air cylinder flange.
Optionally, the inner hole expanding grabbing mechanism further comprises a compression spring, the compression spring is sleeved on the outer side of the tightening sleeve, the upper end of the compression spring is fixed with the cylinder flange, and when the grabbing mechanism grabs the hole system workpiece, the compression spring applies downward compression elasticity to the hole system workpiece.
Optionally, an extrusion head is arranged at the lower end of the pull rod, and the extrusion head is formed into a circular truncated cone structure;
The lower section of the expansion sleeve is in a three-petal structure, the lower section of the expansion sleeve comprises an expansion section, the expansion section is arranged close to the lower end of the expansion sleeve, the outer wall of the expansion sleeve at the expansion section is vertical, and the inner wall of the expansion sleeve at the expansion section is upward and inward inclined;
The extrusion head is matched with the inner wall of the expansion sleeve at the expansion section, and when the extrusion head moves upwards, the extrusion head extrudes the expansion section to expand outwards, and the expansion sleeve tightly supports the hole wall of the hole system workpiece.
Optionally, the upper section and the lower section of the tightening sleeve are both formed into a three-flap structure, the outer wall of the tightening sleeve is vertically arranged, and the inner wall of the tightening sleeve close to the lower end of the tightening sleeve is inclined upwards and inwards;
The lower section of the expansion sleeve further comprises a tightening section, the tightening section is connected with the expansion section, the tightening section is positioned at the upper part of the expansion section, and the outer wall of the expansion sleeve at the tightening section is obliquely arranged upwards and inwards;
the tightening section of the expansion sleeve is matched with the inner wall of the inclined setting of the tightening sleeve, and when the extrusion head moves downwards, the tightening sleeve extrudes the tightening section and the expansion sleeve is retracted.
Optionally, the expansion section and the tightening section of the expansion sleeve are connected with each other, a limiting step for preventing the pull rod from being excessively large in process is arranged on the joint, and when the pull rod is located at the lower limit position, the lower end of the tightening sleeve abuts against the limiting step.
Optionally, the power portion adopts the cylinder to provide power for the executive part, and the pull rod is connected with the piston head of cylinder piston rod, is provided with the stopper that is used for preventing the pull rod return stroke too big between cylinder shell and the piston head, and the pull rod is located when last spacing, and the piston head contradicts the stopper.
Optionally, the cylinder stroke is greater than the desired drawbar stroke.
Optionally, an annular groove is formed in the outer wall of the pull rod near the upper end of the pull rod, and the piston head is clamped in the annular groove.
The invention has the beneficial effects that:
1. The invention is provided with the three-layer coaxial sleeve structure of 'inner core, middle expansion and outer contraction', which has small and compact space, strong rigidity, strong bearing capacity and strong expansion force, and particularly has the tightening sleeve with the 'outer contraction' function, so that the contraction state and the size of the mechanism are stable, and the robot is favorable for being quickly and accurately inserted into the inner hole of a workpiece to grasp the workpiece.
2. The invention sets the compressing stable spring, so that the plurality of the grabbed workpieces have an extra axial compressing force, and the extra friction force generated by the compressing can keep the workpieces at a stable position all the time in the moving process, and the dislocation is avoided, especially for the workpieces of which the upper layers cannot be expanded, the transferred workpieces can smoothly enter a new station.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
FIG. 1 is a schematic view of the structure of the inner hole expanding gripping mechanism of the present invention;
FIG. 2 is a schematic diagram of an actuator according to the present invention;
FIG. 3 is a component exploded view of the actuator of the present invention;
FIG. 4 is a cross-sectional view of the tie rod of the female expansion gripping mechanism of the present invention as it is moved up;
fig. 5 is a cross-sectional view of the female expansion gripping mechanism of the present invention with the pull rod moved downward.
Description of the reference numerals
The device comprises a 1-cylinder, a 2-piston head, a 3-executing part, a 4-compression spring, a 5-annular groove, a 6-pull rod, a 7-extrusion head, an 8-cylinder flange, a 9-tightening sleeve, a 10-expansion sleeve, an 11-piston rod, a 12-limiting block, a 13-tightening section, a 14-expansion section, a 15-extrusion step and a 16-limiting step.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
In the present disclosure, unless otherwise indicated, terms such as "upper" and "lower" are generally defined based on the orientation or positional relationship shown in the drawings, and specifically refer to the orientation of the drawing shown in fig. 1 in combination with the positional relationship of the corresponding components in other drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated.
As shown in fig. 1, the invention relates to an inner hole expanding gripping mechanism, which is used for gripping a hole system workpiece and comprises an executing part 3, a power part and a compression spring 4.
As shown in fig. 2 and 3, the actuator 3 includes a tie rod 6, an expansion sleeve 10, a tightening sleeve 9, and a cylinder flange 8.
The lower section of the pull rod 6 is inclined downwards and inwards. An annular groove 5 is formed in the outer wall of the pull rod 6 near the upper end of the pull rod, and the annular groove 5 is horizontally arranged. The lower extreme of pull rod 6 is provided with extrusion head 7, and extrusion head 7 forms into the round platform structure.
The lower section of the expansion shell 10 is formed in a three-lobed configuration. The lower section of the expansion sleeve 10 comprises an expansion section 14 and a tightening section 13, the expansion section 14 is arranged close to the lower end of the expansion sleeve 10, the outer wall of the expansion sleeve 10 at the expansion section 14 is vertical, the inner wall of the expansion sleeve 10 at the expansion section 14 is inclined upwards and inwards, the tightening section 13 is connected with the expansion section 14, the tightening section 13 is positioned on the upper portion of the expansion section 14, and the outer wall of the expansion sleeve 10 at the tightening section 13 is inclined upwards and inwards. The three-lobe structure between the tightening segment 13 and the upper segment of the expansion shell 10 is inclined downwardly and inwardly, where the angle of inclination is smaller than the angle of inclination of the lower segment of the tie rod 6. The joint of the expansion section 14 and the tightening section 13 of the expansion sleeve 10 is provided with a limiting step 16 for preventing the pull rod 6 from being excessively advanced.
The upper section and the lower section of the tightening sleeve 9 are both formed into a three-flap structure, the outer wall of the tightening sleeve 9 is vertically arranged, and the inner wall of the tightening sleeve 9 near the lower end of the tightening sleeve is inclined upwards and inwards.
The upper end of the cylinder flange 8 is in a semicircular shape, the lower end of the cylinder flange 8 is in a circular shape, and the upper end and the lower end of the cylinder flange 8 are directly and rigidly connected through a vertically arranged connecting rod.
The power part adopts a cylinder 1 to provide power for the executing part 3. The cylinder 1 is fixed on the semicircle ring of cylinder flange 8 upper end, and the piston rod 11 of cylinder 1 piston vertically passes semicircle ring setting downwards. The piston head 2 is arranged at the lower end of the piston rod 11 of the cylinder 1. A limiting block 12 for preventing the pull rod 6 from returning too much is arranged between the outer shell of the cylinder 1 and the piston head 2.
The expansion sleeve 10 is sleeved on the outer side of the pull rod 6, the extrusion head 7 of the pull rod 6 is positioned in the expansion section 14 of the expansion sleeve 10, and the extrusion head 7 is matched and pressed with the inner wall of the expansion sleeve 10 at the expansion section 14. The tightening sleeve 9 is sleeved outside the expansion sleeve 10, and the tightening section 13 of the expansion sleeve 10 is matched with the inner wall of the inclined setting of the tightening sleeve 9 and is mutually extruded. The pull rod 6, the expansion sleeve 10 and the tightening sleeve 9 are coaxially arranged, and the upper end of the tightening sleeve 9 is welded with the outer wall of the pull rod 6. After the pull rod 6, the expansion sleeve 10 and the tightening sleeve 9 are stacked and sleeved, the pull rod vertically upwards passes through a circular ring at the lower end of the cylinder flange 8, a pin passes through a gap between the upper segment petals of the tightening sleeve 9, the expansion sleeve 10 and the circular ring at the lower end of the cylinder flange 8 are in pin joint, the piston head 2 is clamped into the annular groove 5 of the pull rod 6, and the pull rod 6 and the piston head 2 form I-shaped connection.
The compression spring 4 is sleeved outside the tightening sleeve 9, and the upper end of the compression spring 4 is fixed with a circular ring at the lower end of the cylinder flange 8. The lower end of the compression spring 4 and the lower end of the expansion sleeve 10 are positioned on the same horizontal plane.
In the manufacturing process of the engine, the robot automatic island for cleaning the parts can relate to a plurality of hole-series workpieces with inconsistent shapes, unequal inner hole sizes, unequal thicknesses and unequal stacking quantity. The invention provides an inner hole expanding and grabbing mechanism which is used for grabbing stacked hole system workpieces and enabling the hole system workpieces to be transferred among a plurality of processing stations.
The robot moves the inner hole expanding grabbing mechanism to the position above the workpiece to be grabbed, the executing part 3 is aligned with the hole of the workpiece to be grabbed, the grabbing mechanism moves down to the expansion sleeve 10 to penetrate into all holes of the workpiece to be grabbed, and at the moment, the compression spring 4 contacts the upper side face of the uppermost workpiece and generates downward compression force on the workpiece.
As shown in fig. 4, when the cylinder 1 is started, the piston rod 11 of the cylinder 1 moves up in the cylinder 1, so as to drive the pull rod 6 to move up, the pull rod 6 and the tightening sleeve 9 are welded, the tightening sleeve 9 moves up relative to the expansion sleeve 10 due to the fact that the tightening sleeve 10 is fixed with the cylinder flange 8, the expansion sleeve 10 is not moved, the extrusion head 7 of the pull rod 6 moves up in the expansion section 14 of the expansion sleeve 10, and when the pull rod 6 is located in the expansion sleeve 10 for limiting up, the piston head 2 abuts against the limiting block 12, and the pull rod 6 is prevented from returning too much, so that the effect of protecting the expansion sleeve 10 is achieved. Simultaneously, the lower end of the tightening sleeve 9 moves upwards on the outer wall of the tightening section 13 of the expansion sleeve 10, and the expansion section 14 of the expansion sleeve 10 expands outwards due to the extrusion of the extrusion head 7 on the inner wall of the expansion sleeve 10, so that the expansion sleeve 10 expands the wall of the workpiece hole.
Then the robot controls the inner hole expansion grabbing mechanism to move upwards, the workpiece expanded by the expansion sleeve 10 and the workpiece on the upper side of the workpiece move along with the grabbing mechanism, and the compression spring 4 compresses the grabbed workpiece, so that the position of the workpiece is stable.
As shown in fig. 5, after the grabbing mechanism reaches the workpiece transferring station, the air cylinder 1 is started, the piston rod 11 of the air cylinder 1 moves downwards in the air cylinder 1, the tightening sleeve 9 moves downwards relative to the expansion sleeve 10, the expansion sleeve 10 does not move, the extrusion head 7 of the pull rod 6 moves downwards in the expansion section 14 of the expansion sleeve 10, the lower end of the tightening sleeve 9 moves upwards and downwards on the outer wall of the tightening section 13 of the expansion sleeve 10, and after the lower end of the tightening sleeve 9 abuts against the limiting step 16, the piston rod 11 moves downwards to stop. Because the tightening sleeve 9 presses the tightening section 13 of the expansion sleeve 10, the expansion sleeve 10 is retracted, the expansion sleeve 10 loosens the hole wall of the workpiece, and the workpiece is transferred to the transfer station.
In order to provide the gripping mechanism with tolerance compensation, the stroke of the cylinder 1 is larger than the required stroke of the pull rod 6 in terms of the stroke amount of the cylinder 1.
When the expansion sleeve 10 expands the hole wall of the workpiece, the limiting step 16 and the extrusion step 15 both generate extrusion expansion force on the hole wall of the workpiece, and the two steps are used for fully balancing the force and the moment. The inner wall of the expansion sleeve 10 at the expansion section 14 is inclined upwards and inwards, so that the thickness of the expansion sleeve is larger, and the strength of the expansion section 14 of the expansion sleeve 10 is ensured. The thickness is relatively large. Meanwhile, the wall thickness of the part above the tightening section 13 of the expansion sleeve 10 is thinner, so that the flexibility of the expansion sleeve 10 is ensured, and the expansion sleeve 10 can be expanded.
The invention is provided with the three-layer coaxial sleeve structure of 'inner core, middle expansion and outer contraction', which has small and compact space, strong rigidity, strong bearing capacity and strong expansion force, and particularly has the tightening sleeve 9 with the 'outer contraction' function, so that the contraction state and the size of the mechanism are stable, and the robot is favorable for being quickly and accurately inserted into the inner hole of a workpiece to grasp the workpiece.
The invention sets the compressing stable spring, so that the plurality of the grabbed workpieces have an extra axial compressing force, and the extra friction force generated by the compressing can keep the workpieces at a stable position all the time in the moving process, and the dislocation is avoided, especially for the workpieces of which the upper layers cannot be expanded, the transferred workpieces can smoothly enter a new station.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the embodiments described above, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present disclosure does not further describe various possible combinations.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (5)
1. The hole expansion grabbing mechanism is used for grabbing hole workpieces and is characterized in that: comprising the following steps:
an execution unit; the execution part comprises a pull rod and an expansion sleeve, the expansion sleeve is sleeved on the outer side of the pull rod, the hole system workpiece is sleeved on the outer side of the expansion sleeve, and the pull rod and the expansion sleeve are respectively fixed and can generate relative movement; the execution part further comprises a tightening sleeve, the tightening sleeve is sleeved on the outer side of the expansion sleeve, the pull rod, the expansion sleeve and the tightening sleeve are coaxially arranged, the tightening sleeve is fixed with the pull rod, and the tightening sleeve extrudes the expansion sleeve when the expansion sleeve is arranged in the expansion sleeve;
a power section; the power part is connected with the pull rod, the pull rod moves along the middle axis direction, and the expansion sleeve realizes outward expansion and inward contraction in the process of moving the pull rod up and down;
A cylinder flange; the power part is fixed at the upper part of the cylinder flange, and the pull rod, the expansion sleeve and the tightening sleeve are sleeved and then penetrate through the lower part of the cylinder flange;
A compression spring; the compression spring is sleeved on the outer side of the tightening sleeve, the upper end of the compression spring is fixed with the cylinder flange, and when the grabbing mechanism grabs the hole system workpiece, the compression spring applies downward compression elasticity to the hole system workpiece;
the lower end of the pull rod is provided with an extrusion head which is formed into a circular truncated cone structure;
The lower section of the expansion sleeve is in a three-petal structure, the lower section of the expansion sleeve comprises an expansion section, the expansion section is arranged close to the lower end of the expansion sleeve, the outer wall of the expansion sleeve at the expansion section is vertical, and the inner wall of the expansion sleeve at the expansion section is upward and inward inclined;
The extrusion head is matched with the inner wall of the expansion sleeve at the expansion section, and when the extrusion head moves upwards, the extrusion head extrudes the expansion section to expand outwards, and the expansion sleeve supports the hole wall of the hole system workpiece;
The upper section and the lower section of the tightening sleeve are both in a three-flap structure, the outer wall of the tightening sleeve is vertically arranged, and the inner wall of the tightening sleeve close to the lower end of the tightening sleeve is inclined upwards and inwards;
The lower section of the expansion sleeve further comprises a tightening section, the tightening section is connected with the expansion section, the tightening section is positioned at the upper part of the expansion section, and the outer wall of the expansion sleeve at the tightening section is obliquely arranged upwards and inwards;
the tightening section of the expansion sleeve is matched with the inner wall of the inclined setting of the tightening sleeve, and when the extrusion head moves downwards, the tightening sleeve extrudes the tightening section and the expansion sleeve is retracted.
2. The female expansion gripping mechanism of claim 1, wherein: the joint of the expansion section and the tightening section of the expansion sleeve is provided with a limiting step for preventing the pull rod from being excessively large in process, and when the pull rod is positioned at the lower limit, the lower end of the tightening sleeve is abutted against the limiting step.
3. The female expansion gripping mechanism of claim 2, wherein: the power part adopts the cylinder to provide power for the actuating part, and the pull rod is connected with the piston head of cylinder piston rod, is provided with the stopper that is used for preventing the pull rod return stroke too big between cylinder shell and the piston head, and the pull rod is located when last spacing, and the piston head contradicts the stopper.
4. The female expansion gripping mechanism of claim 3, wherein: the cylinder travel is greater than the desired drawbar travel.
5. The female expansion gripping mechanism of claim 3, wherein: the outer wall of the pull rod is provided with an annular groove near the upper end of the pull rod, and the piston head is clamped in the annular groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910490478.XA CN110103244B (en) | 2019-06-06 | 2019-06-06 | Inner hole expanding and grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910490478.XA CN110103244B (en) | 2019-06-06 | 2019-06-06 | Inner hole expanding and grabbing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110103244A CN110103244A (en) | 2019-08-09 |
| CN110103244B true CN110103244B (en) | 2024-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910490478.XA Active CN110103244B (en) | 2019-06-06 | 2019-06-06 | Inner hole expanding and grabbing mechanism |
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| CN (1) | CN110103244B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587636B (en) * | 2019-09-10 | 2022-10-14 | 四川航天神坤科技有限公司 | Automatic snatch mechanism |
| CN110788072B (en) * | 2019-11-20 | 2020-09-11 | 诸暨市金美机械厂 | Chain cleaning device capable of automatically oiling |
| CN114012402B (en) * | 2021-11-08 | 2023-09-08 | 无锡威孚精密机械制造有限责任公司 | Tool for press-fitting spring in pump |
| CN115446506A (en) * | 2022-09-29 | 2022-12-09 | 苏州凯尔博精密机械有限公司 | Hot gas welding mechanism of automobile air suspension air chamber and welding process thereof |
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| US8938903B2 (en) * | 2011-07-11 | 2015-01-27 | Mark C. LaRue | Firearm barrel having cartridge chamber preparation facilitating efficient cartridge case extraction and protection against premature bolt failure |
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| CN103950034A (en) * | 2014-04-09 | 2014-07-30 | 哈尔滨博强机器人技术有限公司 | Automatic installation claw of robot for O-shaped rings |
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| CN110103244A (en) | 2019-08-09 |
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