CN110125971B - Precision cylindrical gear self-adaptive protection clamp manipulator - Google Patents
Precision cylindrical gear self-adaptive protection clamp manipulator Download PDFInfo
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- CN110125971B CN110125971B CN201910527848.2A CN201910527848A CN110125971B CN 110125971 B CN110125971 B CN 110125971B CN 201910527848 A CN201910527848 A CN 201910527848A CN 110125971 B CN110125971 B CN 110125971B
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- clamping
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- elastic clamping
- guide disc
- moving block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The invention discloses a cylindrical gear self-adaptive protection clamp manipulator which comprises a base, a guide disc, a driving assembly, an electromagnetic chuck and three elastic clamping mechanisms, wherein the three elastic clamping mechanisms are distributed at equal intervals and are connected to the guide disc in a sliding manner; according to the invention, the flexible base band sheet arranged on the elastic clamping mechanism is matched with the elastic clamping components so as to prevent the gear from rotating, the pressure on the tooth surface of the gear is very small, the tooth surface of the gear cannot be damaged, the tooth surface of the gear is better protected while the gear is clamped, and the service life of the gear is not influenced.
Description
Technical Field
The invention relates to the technical field of cylindrical gear assembly, in particular to a precision cylindrical gear self-adaptive protection clamp manipulator.
Background
The cylindrical gear is used as a symbol of the mechanical industry, the position of the cylindrical gear in the field of mechanical transmission is not replaceable, the high-precision cylindrical gear is used more and more frequently along with the acceleration of the industrialization process, the requirements on the tooth surface smoothness and the surface quality of the high-precision cylindrical gear are high, even the cylindrical gear with a coated tooth surface needs to be protected in the production process, but the existing cylindrical gear assembling clamp is easy to cause irreversible damage to the tooth surface in the clamping process, so that the assembly of the high-precision gear is severely restricted, and the service life of the high-precision gear is influenced.
Disclosure of Invention
The invention aims to overcome the defects and provide a precision cylindrical gear self-adaptive protection clamp manipulator.
In order to achieve the purpose, the invention adopts the following specific scheme:
a precision cylindrical gear self-adaptive protection clamp manipulator comprises a base, a guide disc, a driving assembly, an electromagnetic chuck and three elastic clamping mechanisms, wherein at least two support rods are connected between the base and the guide disc, the electromagnetic chuck is fixed on the guide disc, the axis of the guide disc is superposed with the axis of the electromagnetic chuck, the three elastic clamping mechanisms are distributed at equal intervals and are connected to the guide disc in a sliding manner, and the driving assembly is used for driving the three elastic clamping mechanisms to move along the radial direction simultaneously;
the elastic clamping mechanism comprises a clamping fixed seat, a clamping moving block, a flexible baseband piece and a plurality of elastic clamping assemblies, the clamping fixed seat is connected with a guide disc, one end of the clamping moving block is slidably embedded in the clamping fixed seat, a first reset spring is connected between the end portion of one end of the clamping moving block and the clamping fixed seat, a proximity switch used for controlling the electromagnetic chuck and the driving assembly to be powered on and powered off is embedded in the clamping fixed seat, the other end of the clamping moving block is hinged with two symmetrical swing blocks, the two ends of the flexible baseband piece are respectively and fixedly connected to the other end of the swing block, a second reset spring is connected between the swing blocks, and the elastic clamping assemblies are fixed on the flexible baseband piece and are arranged in a matrix.
The elastic clamping assembly comprises a clamping sleeve, a third reset spring and a floating clamping column, the clamping sleeve is fixed on the flexible base band, one end of the floating clamping column extends into the clamping sleeve, the third reset spring is arranged in the clamping sleeve, and two ends of the third reset spring are respectively connected with the clamping sleeve and the floating clamping column.
Wherein, the free end tip of floating card post is spherical.
Wherein, the interval is equipped with three spout along radial direction on the guiding disc, the guiding disc has the slider through three spout sliding connection respectively, press from both sides tight fixing base and fix on the slider, every the bottom of slider all is equipped with the engaging lug, and is three be equipped with the bar hole that is used for providing removal space for the engaging lug in the spout respectively, the slider passes through the engaging lug and is connected with drive assembly's output transmission.
The driving assembly comprises a driving motor, a motor support, a screw rod and a nut, the motor support is fixed on the base, the driving motor is fixed on the motor support, the two ends of the screw rod are respectively connected to the base and the guide disc in a rotating mode, the nut is in threaded connection with the screw rod, the output end of the driving motor is connected with one end of the screw rod in a transmission mode through the transmission gear set, the nut is hinged to the three connecting rods, and the other end of each connecting rod is hinged to the connecting lug.
The transmission gear set comprises a first transmission gear and a second transmission gear, the first transmission gear is connected with the output end of the driving motor, the second transmission gear is sleeved on the screw rod and meshed with the second transmission gear, and the radius of the second transmission gear is larger than that of the first transmission gear.
The invention has the beneficial effects that: compared with the prior art, the three elastic clamping mechanisms are connected on the guide disc in a sliding manner and are arranged at equal intervals, the gear is pre-positioned and flexibly clamped by moving the three elastic clamping mechanisms along the radial direction, and the gear is adsorbed by matching with the electromagnetic chuck, so that the gear clamping is completed; the flexible base band sheet arranged on the elastic clamping mechanism is matched with the elastic clamping components arranged on the flexible base band sheet in a matrix arrangement mode, so that the gear is prevented from rotating, a large clamping force is not needed, the pressure on the tooth surface of the gear is small, the tooth surface of the gear cannot be damaged, the tooth surface of the gear is better protected while the gear is clamped, and the service life of the gear is not influenced; in addition, the elastic clamping assemblies arranged in a matrix can adapt to cylindrical gears with different tooth shapes and different moduli, and the universality is stronger.
Drawings
FIG. 1 is a schematic structural diagram of a precision cylindrical gear adaptive protection clamp manipulator provided by an embodiment of the invention;
FIG. 2 is a diagram of a use state of a manipulator clamping cylindrical gear of the self-adaptive protection clamp for the precise cylindrical gear, which is provided by the embodiment of the invention;
FIG. 3 is a schematic structural diagram of a resilient clamping mechanism provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another perspective of a resilient clamping mechanism provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of a resilient clamping assembly provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a part of a precision cylindrical gear adaptive protection clamp manipulator provided by an embodiment of the invention;
FIG. 7 is a schematic structural diagram of a guide plate provided in an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of another perspective of a guide plate provided in an embodiment of the present invention;
description of reference numerals: 1-a base; 2-a guiding disc; 21-a chute; 22-a slide block; 221-connecting lugs; 23-a strip-shaped hole; 3-a drive assembly; 31-a drive motor; 32-a motor support; 33-a screw; 34-a nut; 35-transmission gear set; 36-a connecting rod; 4-an electromagnetic chuck; 5-an elastic clamping mechanism; 51-clamping the permanent seat; 52-clamping moving block; 53-a flexible substrate sheet; 54-a resilient clamping assembly; 541-a clamping sleeve; 542-a third return spring; 543-floating clamp column; 55-a first return spring; 56-proximity switch; 57-swinging block; 58-a second return spring; 6-support bar.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 8, the precision cylindrical gear self-adaptive protection fixture manipulator described in this embodiment includes a base 1, a guide disc 2, a driving assembly 3, an electromagnetic chuck 4, and three elastic clamping mechanisms 5, where at least two support rods 6 are connected between the base 1 and the guide disc 2, the electromagnetic chuck 4 is fixed on the guide disc 2, specifically, a circular groove may be formed on the guide disc 2, and then the electromagnetic chuck 4 is embedded in the circular groove, so that the structure is firmer, an axis of the guide disc 2 coincides with an axis of the electromagnetic chuck 4, the three elastic clamping mechanisms 5 are distributed at equal intervals and slidably connected to the guide disc 2, and the driving assembly 3 is configured to drive the three elastic clamping mechanisms 5 to move along a radial direction at the same time;
two sides of the clamping moving block 52 are respectively provided with a blocking inclined surface matched with the adjacent swing block 57, and the inclined surfaces of the two blocking inclined surfaces face inwards.
The elastic clamping mechanism 5 comprises a clamping fixed seat 51, a clamping moving block 52, a flexible baseband piece 53 and a plurality of elastic clamping components 54, the clamping fixed seat 51 is connected with the guide disc 2 in a sliding manner, one end of the clamping moving block 52 is embedded in the clamping fixed seat 51 in a sliding manner, a first reset spring 55 is connected between the end part of one end of the clamping moving block 52 and the clamping fixed seat 51, a proximity switch 56 for controlling the on/off of the electromagnetic chuck 4 and the driving component 3 is embedded in the clamping fixed seat 51, the other end of the clamping moving block 52 is hinged with two symmetrical swing blocks 57, two ends of the flexible baseband piece 53 are respectively and fixedly connected to the other ends of the swing blocks 57, a second reset spring 58 is connected between the two swing blocks 57, and the plurality of elastic clamping components 54 are fixed on the flexible baseband piece 53 and arranged in a matrix, preferably, as shown in fig. 3, the resilient clamping assemblies 54 are arranged in a 4 x 7 array.
The working mode of the embodiment is as follows: when the electromagnetic chuck works, a gear is placed on the electromagnetic chuck 4, then the driving assembly 3 drives the three elastic clamping mechanisms 5 to simultaneously move inwards along the radial direction, at the same time, the clamping fixed seat 51 drives the clamping moving block 52, the flexible base band piece 53 and the elastic clamping assembly 54 to move close to the gear, so that the elastic clamping assembly 54 is in contact with the gear, the flexible base band piece 53 is deformed into an arc-surface state covering the outer tooth surface of the gear from a linear state and drives the two swing blocks 57 to move towards each other, namely, an included angle between the two swing blocks 57 is reduced, meanwhile, the second return spring 58 is deformed into a bent state from the linear state, then under the continuous movement of the clamping fixed seat 51, part of the elastic clamping assembly 54 is matched with the tooth grooves of the gear, so as to clamp the gear and prevent the gear from rotating, meanwhile, the clamping moving block 52 continuously extends into the clamping fixed seat 51 under the extrusion, here, the width of the other end of the clamping moving block 52 may be set to be greater than the width of the clamping fixed base 51, so that the clamping moving block 52 can be limited, when the proximity switch 56 on the clamping fixed base 51 detects a signal of the clamping moving block 52, the proximity switch 56 feeds back a signal to enable the electromagnetic chuck 4 to be powered on and cut off the power supply of the driving assembly 3, and the electromagnetic chuck 4 holds the gear after being powered on, thereby realizing the clamping of the gear.
In the embodiment, three elastic clamping mechanisms 5 are slidably connected to the guide disc 2, the three elastic clamping mechanisms 5 are arranged at equal intervals, the three elastic clamping mechanisms 5 move along the radial direction to realize pre-positioning and flexible clamping of the gear, and the electromagnetic chuck 4 is matched to adsorb the gear to complete gear clamping; the flexible base band sheet 53 arranged on the elastic clamping mechanism 5 is matched with the elastic clamping components 54 arranged on the flexible base band sheet 53 in a matrix manner, so that the gear is prevented from rotating, a large clamping force is not needed, the pressure on the tooth surface of the gear is small, the tooth surface of the gear cannot be damaged, the tooth surface of the gear is better protected while the gear is clamped, and the service life of the gear is not influenced; in addition, the elastic clamping components 54 arranged in a matrix can adapt to cylindrical gears with different tooth shapes and different moduli, and the universality is stronger.
Based on the above embodiment, as shown in fig. 5, the elastic clamping assembly 54 includes a clamping sleeve 541, a third return spring 542, and a floating clamping column 543, the clamping sleeve 541 is fixed on the flexible substrate 53, one end of the floating clamping column 543 extends into the clamping sleeve 541, the third return spring 542 is disposed in the clamping sleeve 541, and two ends of the third return spring 542 are respectively connected to the clamping sleeve 541 and the floating clamping column 543; specifically, when the floating column 543 contacts with the tooth surface of the gear, the floating column 543 contacting with the tooth top of the gear is pressed and extended into the clamping sleeve 541, so that the third return spring 542 is compressed, and under the radial pressure of the floating column 543 contacting with the tooth bottom of the gear, a part of the floating column 543 extends into the clamping sleeve 541, and the other part of the floating column 543 is embedded between two teeth, thereby preventing the gear from rotating; preferably, the free end portion of the floating clamping column 543 is spherical, when the floating clamping column 543 contacts with the tooth surface of the gear, the floating clamping column 543 can be effectively prevented from damaging the tooth surface of the gear, and the tooth surface of the gear can be protected more favorably.
Based on the above embodiment, as shown in fig. 7 and 8, three sliding grooves 21 are formed in the guide disc 2 at intervals along the radial direction, the guide disc 2 is connected with sliding blocks 22 through the three sliding grooves 21 in a sliding manner, the clamping and fixing seat 51 is fixed on the sliding blocks 22, a connecting lug 221 is arranged at the bottom of each sliding block 22, strip-shaped holes 23 for providing a moving space for the connecting lugs 221 are formed in the three sliding grooves 21, and the sliding blocks 22 are in transmission connection with the output end of the driving assembly 3 through the connecting lugs 221; specifically, the driving assembly 3 drives the three sliding blocks 22 to move inwards along the sliding groove 21 through the connecting lugs 221, and further drives the three elastic clamping mechanisms 5 to move along the sliding groove 21, so that the gear is positioned and flexibly clamped, and the positioning is accurate.
Based on the above embodiment, as shown in fig. 6, the driving assembly 3 includes a driving motor 31, a motor support 32, a screw 33 and a nut 34, the motor support 32 is fixed on the base 1, the driving motor 31 is fixed on the motor support 32, two ends of the screw 33 are respectively rotatably connected to the base 1 and the guide disc 2, the nut 34 is connected to the screw 33 in a threaded manner, an output end of the driving motor 31 is in transmission connection with one end of the screw 33 through a transmission gear set 35, the nut 34 is hinged with three connecting rods 36, and the other ends of the three connecting rods 36 are respectively hinged with the connecting lugs 221; specifically, the two ends of the screw 33 are respectively connected with the base 1 and the guide disc 2 through bearings, the driving motor 31 drives the transmission gear set 35 to rotate, the transmission gear set 35 drives the screw 33 to rotate, the nut 34 is made to move up and down along the screw 33, the nut 34 drives the three sliding blocks 22 to move through the three connecting rods 36, and therefore the three elastic clamping mechanisms 5 clamp or loosen the gears simultaneously, and the elastic clamping mechanism is simple in structure and easy to control.
In this embodiment, further, drive gear group 35 includes first drive gear and second drive gear, first drive gear is connected with driving motor 31's output, second drive gear cover is established on screw rod 33, first drive gear and second drive gear intermeshing, second drive gear's radius is greater than first drive gear's radius, and driving motor 31 drives first drive gear rotatory, and first drive gear drives second drive gear and rotates, and then drives screw rod 33 and rotate, and second drive gear's radius is greater than first drive gear's radius, can reduce screw rod 33's slew velocity, and then makes three elastic clamping mechanism 5 along radial slow removal, avoids causing the impact to the gear, does benefit to the protection gear flank of tooth.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (4)
1. The precision cylindrical gear self-adaptive protection clamp manipulator is characterized by comprising a base (1), a guide disc (2), a driving assembly (3), an electromagnetic chuck (4) and three elastic clamping mechanisms (5), wherein at least two supporting rods (6) are connected between the base (1) and the guide disc (2), the electromagnetic chuck (4) is fixed on the guide disc (2), the axis of the guide disc (2) is overlapped with the axis of the electromagnetic chuck (4), the three elastic clamping mechanisms (5) are distributed at equal intervals and are connected to the guide disc (2) in a sliding mode, and the driving assembly (3) is used for driving the three elastic clamping mechanisms (5) to move in the radial direction simultaneously;
the elastic clamping mechanism (5) comprises a clamping fixed seat (51), a clamping moving block (52), a flexible base band piece (53) and a plurality of elastic clamping components (54), the clamping fixed seat (51) is connected with the guide disc (2), one end of the clamping moving block (52) is slidably nested in the clamping fixed seat (51), a first reset spring (55) is connected between the end part of one end of the clamping moving block (52) and the clamping fixed seat (51), a proximity switch (56) used for controlling the on-off of the electromagnetic chuck (4) and the driving component (3) is embedded in the clamping fixed seat (51), the other end of the clamping moving block (52) is hinged with two symmetrical swing blocks (57), two ends of the flexible base band piece (53) are respectively and fixedly connected to the other ends of the swing blocks (57), and a second reset spring (58) is connected between the two swing blocks (57), the elastic clamping components (54) are fixed on the flexible base band sheet (53) and are arranged in a matrix;
the elastic clamping assembly (54) comprises a clamping sleeve (541), a third reset spring (542) and a floating clamping column (543), the clamping sleeve (541) is fixed on the flexible base band sheet (53), one end of the floating clamping column (543) extends into the clamping sleeve (541), the third reset spring (542) is arranged in the clamping sleeve (541), and two ends of the third reset spring are respectively connected with the clamping sleeve (541) and the floating clamping column (543);
when the electromagnetic chuck works, a gear is placed on the electromagnetic chuck (4), then the driving assembly (3) drives the three elastic clamping mechanisms (5) to move inwards in the radial direction simultaneously, at the moment, the clamping fixed seat (51) drives the clamping moving block (52), the flexible base band piece (53) and the elastic clamping assembly (54) to move close to the gear, so that the elastic clamping assembly (54) is in contact with the gear, the flexible base band piece (53) is deformed into an arc-surface shape covering the outer tooth surface of the gear from a linear state and drives the two swing blocks (57) to move oppositely, namely, an included angle between the two swing blocks (57) is reduced, meanwhile, the second reset spring (58) is deformed into a bent state from the linear state, then under the continuous movement of the clamping fixed seat (51), part of the elastic clamping assembly (54) is matched with the tooth grooves of the gear, so as to clamp the gear, the gear is prevented from rotating, and the clamping moving block (52), the clamping moving block (52) can be limited by continuously extending into the clamping fixed seat (51) and compressing the first reset spring (55), when a proximity switch (56) on the clamping fixed seat (51) detects a signal of the clamping moving block (52), the proximity switch (56) feeds back a signal to electrify the electromagnetic chuck (4) and cut off a power supply of the driving assembly (3), and the electromagnetic chuck (4) attracts the gear after being electrified, so that the gear is clamped;
two sides of the clamping moving block (52) are respectively provided with a blocking inclined plane matched with the adjacent swing block (57), and the inclined planes of the two blocking inclined planes are inward.
2. The adaptive protection clamp manipulator for the precision cylindrical gear as claimed in claim 1, wherein the free end of the floating clamping column (543) is spherical.
3. The self-adaptive protection clamp manipulator for the precision cylindrical gear is characterized in that three sliding grooves (21) are formed in the guide disc (2) at intervals along the radial direction, the guide disc (2) is connected with sliding blocks (22) through the three sliding grooves (21) in a sliding mode respectively, the clamping fixing seat (51) is fixed on the sliding blocks (22), a connecting lug (221) is arranged at the bottom of each sliding block (22), strip-shaped holes (23) used for providing a moving space for the connecting lugs (221) are formed in the three sliding grooves (21), and the sliding blocks (22) are in transmission connection with the output end of the driving assembly (3) through the connecting lugs (221); drive assembly (3) include driving motor (31), motor support (32), screw rod (33) and nut (34), motor support (32) are fixed on base (1), driving motor (31) are fixed on motor support (32), the both ends of screw rod (33) are rotated respectively and are connected on base (1) and guiding disc (2), nut (34) threaded connection is on screw rod (33), the output of driving motor (31) is connected with the one end transmission of screw rod (33) through drive gear group (35), it has three connecting rod (36), and is three to articulate on nut (34) the other end of connecting rod (36) is articulated with engaging lug (221) respectively.
4. The adaptive protection clamp manipulator for the precision cylindrical gear according to claim 3, wherein the transmission gear set (35) comprises a first transmission gear and a second transmission gear, the first transmission gear is connected with an output end of the driving motor (31), the second transmission gear is sleeved on the screw (33), the first transmission gear is meshed with the second transmission gear, and the radius of the second transmission gear is larger than that of the first transmission gear.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910527848.2A CN110125971B (en) | 2019-06-18 | 2019-06-18 | Precision cylindrical gear self-adaptive protection clamp manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910527848.2A CN110125971B (en) | 2019-06-18 | 2019-06-18 | Precision cylindrical gear self-adaptive protection clamp manipulator |
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| CN110125971A CN110125971A (en) | 2019-08-16 |
| CN110125971B true CN110125971B (en) | 2020-03-24 |
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| CN110653841B (en) * | 2019-09-30 | 2022-09-13 | 佛山科学技术学院 | Simple and convenient mechanical gripper |
| CN110731875A (en) * | 2019-10-25 | 2020-01-31 | 河南省人民医院 | Emergency breathing device for respiratory clinic |
| CN110695160A (en) * | 2019-11-11 | 2020-01-17 | 苏师大半导体材料与设备研究院(邳州)有限公司 | Small-curvature-radius induction heating pipe bender |
| CN111890071A (en) * | 2020-08-03 | 2020-11-06 | 黄海涛 | Automatic material rod positioning and clamping mechanism for machining of numerical control lathe |
| CN112296836A (en) * | 2020-10-27 | 2021-02-02 | 李万奎 | Steel bar rust removal device |
| CN113018179B (en) * | 2021-03-11 | 2022-04-26 | 中国科学院自动化研究所 | Cylindrical surface self-locking mechanism and automatic liquid distribution system |
| CN113246041B (en) * | 2021-05-20 | 2022-08-12 | 浙江泽安电力设备有限公司 | PO pipe fixing device for production line that commonality is strong |
| CN113997313A (en) * | 2021-10-30 | 2022-02-01 | 晟铭电子(宁波）有限公司 | Clamping device of flexible elastic piece and equipment thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR1337489A (en) * | 1962-08-03 | 1963-09-13 | Commissariat Energie Atomique | Improvements made to means such as grapples to ensure the remote gripping of charges, particularly radioactive |
| CN107186741A (en) * | 2017-07-21 | 2017-09-22 | 陕西舜洋电子科技有限公司 | A kind of robot arm clamping device |
| CN107378016B (en) * | 2017-07-24 | 2018-11-23 | 南华大学 | Round rocket bay section machine adds fixture |
| CN108500684A (en) * | 2018-05-04 | 2018-09-07 | 芜湖市涵润智能科技有限公司 | A kind of industrial automation clamping device |
| CN208514112U (en) * | 2018-07-10 | 2019-02-19 | 青岛金客隆模具钢板有限公司 | Stationary fixture is used in a kind of machining |
| CN208895609U (en) * | 2018-07-24 | 2019-05-24 | 郑州市豫中铝镁装备有限公司 | A kind of metal-working plant that stability is strong |
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