CN113043001B - Intelligent decomposing device for shaft end bolts - Google Patents
Intelligent decomposing device for shaft end bolts Download PDFInfo
- Publication number
- CN113043001B CN113043001B CN201911426366.4A CN201911426366A CN113043001B CN 113043001 B CN113043001 B CN 113043001B CN 201911426366 A CN201911426366 A CN 201911426366A CN 113043001 B CN113043001 B CN 113043001B
- Authority
- CN
- China
- Prior art keywords
- bolt
- end cover
- decomposing
- clamp
- speed reducer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/069—Multi-spindle machines
-
- 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
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent shaft end bolt decomposing device, which comprises a rail, an image recognition mechanism, a lifting mechanism, a bolt loosening mechanism, a bolt decomposing mechanism, a manipulator and a hopper, wherein the rail and the image recognition mechanism, the lifting mechanism, the bolt loosening mechanism, the manipulator and the hopper are arranged on two sides of the rail, 6 bolts are simultaneously disassembled by a visual recognition technology and a technology of loosening the bolts with large torque and damaging a locking pad and a locking steel wire by a servo motor, and the manipulator is used for classifying and placing the 6 bolts.
Description
Technical Field
The invention relates to a device for intelligently decomposing a shaft end bolt of a railway wagon wheel.
Background
At present, the shaft end bolts of the railway wagon wheel are decomposed by adopting a manual operation mode: the anti-loose pad is shoveled, anti-loose steel wires are cut off, 6 bolts at two ends of the shaft are respectively unscrewed by a pneumatic wrench, and then the bolts, the marking plate, the bearing end covers and the like are taken out and put into respective hoppers; the invention adopts a visual recognition technology and a technology of loosening bolts with large torque of a servo motor and damaging a locking pad and locking steel wires, and simultaneously detaches 6 bolts and carries out classified placement by a manipulator.
Disclosure of Invention
In order to overcome the defects, the invention provides the intelligent shaft end bolt decomposing device, which ensures the decomposing effect and improves the production efficiency.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an intelligent shaft end bolt decomposing device is characterized in that: the whole machine consists of a track (9), an image recognition mechanism (5), a lifting mechanism (6), a bolt loosening mechanism (4), a bolt decomposing mechanism (3), a hopper (2) and a manipulator (1); two sides of the track (9) are respectively provided with an image recognition mechanism (5) which can recognize the model, the size and the position information of the workpiece wheel set (7); the image recognition mechanism (5) is followed by a bolt loosening mechanism (4), and the bolt loosening mechanism (4) can loosen end cover bolts (12) at two ends of the wheel set (7) and screw off a steel wire anti-loosening lock (13); the bolt loosening mechanism (4) is followed by a bolt decomposing mechanism (3), the bolt decomposing mechanism (3) is used for disassembling end cover bolts (12) at two ends of the wheel set (7), and a lifting mechanism (6) is arranged at the middle positions of the bolt loosening mechanism (4) and the bolt decomposing mechanism (3); the lifting mechanism (6) lifts the wheel set (7) to a height suitable for working; the mechanical arm (1) is arranged behind the bolt decomposing mechanism (3), and the mechanical arm (1) is used for placing the bolt (12) of the detachable end cover, the bearing end cover (10) and the marking plate (11) into the hopper (2).
Preferably, the first base (14) of the bolt loosening mechanism (4) is provided with a first linear guide rail (22); a first movable seat plate (21) is arranged on a first sliding seat (15) of the first linear guide rail (22), and a first vertical plate (17) is welded on the first movable seat plate (21); the first base (14) is provided with a first sliding seat cylinder (20), a cylinder piston rod is hinged with the first movable seat plate (21), and the first movable seat plate (21) is controlled to advance and retreat; a servo motor I (16) and a speed reducer I (18) are fixed on two sides of the vertical plate I (17), a hexagonal spanner I (19) and a counter moment rod (23) are arranged at the front end of the speed reducer I (18), and a distance between the hexagonal spanner I (19) and the counter moment rod (23) can be adjusted by adjusting the air cylinder (25) and the connecting rod (24), so that the speed reducer I is suitable for shafts of different types; the first hexagonal spanner (19) is sleeved on the end cover bolt (12), meanwhile, the counter moment rod (23) is blocked on the other end cover bolt (12), when the first servo motor (16) is started, the first hexagonal spanner (19) is rotated through the first speed reducer (18), the first hexagonal spanner (19) generates huge torsion to unscrew the end cover bolt (12), and steel wires penetrating through the 3 end cover bolts (12) are twisted off to prepare for bolt disassembly.
Preferably, the bolt decomposing mechanism (3) is characterized in that a second linear guide rail (34) is arranged on a second base (26), a second moving seat plate (33) is arranged on a second sliding seat (27) on the second linear guide rail (34), a second vertical plate (29) is welded on the second moving seat plate (33), a second sliding seat cylinder (28) is arranged between the second base (26) and the second moving seat plate (33) and connected with the second sliding seat plate, the second sliding seat cylinder (28) controls the second moving seat plate (33) to move forwards and backwards, a second servo motor (30) and a second speed reducer (31) are fixed on two sides of the second vertical plate (29), 3 second hexagonal wrench heads (32) are arranged at the front end of the second speed reducer (31), and when the second servo motor (30) is started, the second speed reducer (31) drives the second hexagonal wrench heads (32) to rotate so as to detach end cover bolts (12) on the bearing end covers (10).
Preferably, the front end of the manipulator (1) is provided with a sucker (35), a bolt clamp (36) and an end cover clamp (37); the end cover clamp (37) is controlled by an end cover clamp cylinder (38) to clamp or unclamp, and is used for clamping a bearing end cover (10) at the front end of the bearing (8); the bolt clamp (36) is controlled to clamp or loosen by a bolt clamp cylinder (39) through a hinging rod (40) and is used for clamping the end cover bolt (12); the sucking disc (35) is used for sucking the marking plate (11) at the shaft end.
Drawings
The invention is further described below with reference to the drawings and examples.
Fig. 1: front view of intelligent shaft end bolt decomposing device
Fig. 2: top view of intelligent shaft end bolt decomposing device
Fig. 3: front view of bearing (workpiece)
Fig. 4: left side view of bearing (workpiece)
Fig. 5: front view of bolt loosening mechanism
Fig. 6: top view of bolt loosening mechanism
Fig. 7: front view of bolt decomposing mechanism
Fig. 8: top view of bolt decomposing mechanism
Fig. 9: front view of manipulator
Fig. 10: front view of clamp assembly
In the figure: the device comprises a manipulator (1), a hopper (2), a bolt decomposing mechanism (3), a bolt loosening mechanism (4), an image recognition mechanism (5), a lifting mechanism (6), a wheel pair (7), a bearing (8), a track (9), a bearing end cover (10), a marking plate (11), an end cover bolt (12), a steel wire anti-loosening lock (13), a first base (14), a first sliding seat (15), a first servo motor (16), a first vertical plate (17), a first speed reducer (18), a first hexagonal spanner (19), a first sliding seat cylinder (20), a first movable base plate (21), a first linear guide rail (22), a counter moment rod (23), a connecting rod (24), an adjusting cylinder (25), a second base (26), a second sliding seat (27), a second sliding seat cylinder (28), a second vertical plate (29), a second servo motor (30), a second speed reducer (31), a second hexagonal spanner (32), a second movable base plate (33), a second linear guide rail (34), a sucker (35), a bolt clamp (36), an end cover clamp (37), an end cover cylinder (38), a bolt clamp cylinder (39) and a hinge rod clamp (40).
Detailed Description
Please refer to fig. 1 and 2: the intelligent shaft end bolt decomposing device consists of a track (9), an image recognition mechanism (5) on two sides of the track, a lifting mechanism (6), a bolt loosening mechanism (4), a bolt decomposing mechanism (3), a manipulator (1) and a hopper (2); two sides of the track (9) are respectively provided with an image recognition mechanism (5) which can recognize the model, the size and the position information of the workpiece wheel set (7); the image recognition mechanism (5) is followed by a bolt loosening mechanism (4), the left and right sets of bolt loosening mechanisms (4) can loosen end cover bolts (12) at two ends of the wheel set (7) and screw a steel wire anti-loosening lock (13), and the bolt loosening mechanism (4) is followed by a bolt decomposing mechanism (3); the bolt decomposing mechanism (3) is also a set of bolt decomposing mechanisms at the left and the right, and end cover bolts (12) at the two ends of the wheel set (7) are disassembled; a lifting mechanism (6) is arranged between the bolt loosening mechanism (4) and the bolt decomposing mechanism (3) and is used for lifting the wheel set (7) to a height suitable for decomposition; the bolt decomposing mechanism (3) is followed by two manipulators (1), and the manipulators (1) take off the end cover bolts (12), the bearing end covers (10) and the marking plates (11) and put the end cover bolts into the hopper (2).
Please refer to fig. 3 and fig. 4: the two ends of the wheel set (7) are provided with bearings (8), the end faces of the bearings (8) are provided with bearing end covers (10), marking plates (11), end cover bolts (12) and steel wire anti-loosening locks (13), and the intelligent shaft end bolt decomposing device is used for decomposing the end cover bolts and putting the end cover bolts into the hopper (2).
Please refer to fig. 5 and 6: the lower part of the bolt loosening mechanism (4) is provided with a first base (14), a first linear guide rail (22) is arranged on the first base (14), a first movable seat plate (21) is arranged on a first sliding seat (15) on the first linear guide rail (22), a first vertical plate (17) is welded on the first movable seat plate (21), a first sliding seat cylinder (20) is arranged on the first base (14), and a cylinder piston rod is hinged with the first movable seat plate (21); the first sliding seat cylinder (20) controls the advance and retreat of the first moving seat plate (21), and the first servo motor (16) and the first speed reducer (18) are fixed on two sides of the first vertical plate (17); the front end of the first speed reducer (18) is provided with a first hexagonal spanner (19) and a counter moment rod (23), and the distance between the first hexagonal spanner (19) and the counter moment rod (23) can be adjusted by an adjusting cylinder (25) and a connecting rod (24), so that the speed reducer is suitable for shaft types of different types; the piston rod of the first sliding seat cylinder (20) stretches out to drive the first seat plate (21) to drive the upper mechanism to advance; the first hexagonal spanner (19) is sleeved on the end cover bolt (12), meanwhile, the counter moment rod (23) is blocked on the other end cover bolt (12), when the first servo motor (16) is started, the first hexagonal spanner (19) is rotated through the first speed reducer (18), the first hexagonal spanner (19) generates huge torsion to unscrew the end cover bolt (12), and steel wires penetrating through the 3 end cover bolts (12) are twisted off to prepare for bolt disassembly.
Please refer to fig. 7 and 8: the lowest part of the bolt decomposing mechanism (3) is a base II (26), a linear guide rail II (34) is arranged on the base II (26), a movable seat board II (33) is arranged on a sliding seat II (27) on the linear guide rail II (34), a vertical plate II (29) is welded on the movable seat board II (33), a sliding seat cylinder II (28) is arranged between the base II (26) and the movable seat board II (33) and connected with the base II, the sliding seat cylinder II (28) controls the movable seat board II (33) to advance and retreat, a servo motor II (30) and a speed reducer II (31) are fixed on two sides of the vertical plate II (29), 3 hexagonal spanner II (32) are arranged at the front end of the speed reducer II (31), and when the servo motor II (30) is started, the hexagonal spanner II (32) is driven to rotate through the speed reducer II (31), and an end cover bolt (12) on the bearing end cover (10) is detached.
Please refer to fig. 9 and 10: the front end of the manipulator (1) is provided with a sucker (35), a bolt clamp (36) and an end cover clamp (37), the end cover clamp (37) is clamped or loosened by an end cover clamp cylinder (38) in a controlled manner and is used for clamping a bearing end cover (10) at the front end of a bearing (8), the bolt clamp (36) is clamped or loosened by a bolt clamp cylinder (39) in a controlled manner through a hinging rod (40) and is used for clamping an end cover bolt (12), and the sucker (35) is used for sucking a marking plate (11) at the shaft end.
The working process is as follows:
when the workpiece wheel set (7) passes through the image recognition mechanism (5), the image recognition mechanism (5) can obtain model, size and position information of the workpiece wheel set (7), and other mechanism actions are controlled according to the information.
The wheel set (7) is lifted to a proper height by the lifting mechanism (6) at the bolt loosening mechanism (4), the bolt loosening mechanism (4) approaches to the wheel set (7), the first hexagonal spanner (19) is sleeved on the end cover bolt (12), the counter moment rod (23) is blocked by the other end cover bolt (12), the first servo motor (16) is started, the first hexagonal spanner (19) rotates, the first hexagonal spanner (19) loosens the end cover bolt (12) by huge torsion, and the steel wire anti-loosening lock (13) passes through the 3 end cover bolts (12) to be twisted off so as to prepare for bolt disassembly.
The wheel set (7) is lifted to a proper height by the lifting mechanism (6) at the bolt decomposing mechanism (3), the bolt decomposing mechanism (3) approaches the wheel set (7), the end cover bolts (12) are sleeved with the 3 hexagonal wrench heads II (32), and when the servo motor II (30) is started, the hexagonal wrench heads II (32) are driven to rotate through the speed reducer II (31) to detach the end cover bolts (12) on the bearing end cover (10).
The two manipulators (1) take down the bearing bolts (12), the bearing end covers (10) and the marking plates (11) and put them into the hopper (2).
Claims (4)
1. An intelligent shaft end bolt decomposing device is characterized in that: the whole machine consists of a track (9), an image recognition mechanism (5), a lifting mechanism (6), a bolt loosening mechanism (4), a bolt decomposing mechanism (3), a hopper (2) and a manipulator (1); two sides of the track (9) are respectively provided with an image recognition mechanism (5) which can recognize the model, the size and the position information of the workpiece wheel set (7); the image recognition mechanism (5) is followed by a bolt loosening mechanism (4), and the bolt loosening mechanism (4) can loosen end cover bolts (12) at two ends of the wheel set (7) and screw off a steel wire anti-loosening lock (13); the bolt loosening mechanism (4) is followed by a bolt decomposing mechanism (3), the bolt decomposing mechanism (3) is used for disassembling end cover bolts (12) at two ends of the wheel set (7), and a lifting mechanism (6) is arranged at the middle positions of the bolt loosening mechanism (4) and the bolt decomposing mechanism (3); the lifting mechanism (6) lifts the wheel set (7) to a height suitable for working; the mechanical arm (1) is arranged behind the bolt decomposing mechanism (3), and the mechanical arm (1) is used for placing the bolt (12) of the detachable end cover, the bearing end cover (10) and the marking plate (11) into the hopper (2).
2. The intelligent shaft end bolt decomposing device according to claim 1, wherein the bolt loosening mechanism (4) is characterized in that a first linear guide rail (22) is arranged on a first base (14); a first movable seat plate (21) is arranged on a first sliding seat (15) of the first linear guide rail (22), and a first vertical plate (17) is welded on the first movable seat plate (21); the first base (14) is provided with a first sliding seat cylinder (20), a cylinder piston rod is hinged with the first movable seat plate (21), and the first movable seat plate (21) is controlled to advance and retreat; a servo motor I (16) and a speed reducer I (18) are fixed on two sides of the vertical plate I (17), a hexagonal spanner I (19) and a counter moment rod (23) are arranged at the front end of the speed reducer I (18), and a distance between the hexagonal spanner I (19) and the counter moment rod (23) can be adjusted by adjusting the air cylinder (25) and the connecting rod (24), so that the speed reducer I is suitable for shafts of different types; the first hexagonal spanner (19) is sleeved on the end cover bolt (12), meanwhile, the counter moment rod (23) is blocked on the other end cover bolt (12), when the first servo motor (16) is started, the first hexagonal spanner (19) is rotated through the first speed reducer (18), the first hexagonal spanner (19) generates huge torsion to unscrew the end cover bolt (12), and steel wires penetrating through the 3 end cover bolts (12) are twisted off to prepare for bolt disassembly.
3. The intelligent shaft end bolt decomposing device according to claim 1, wherein the bolt decomposing mechanism (3) is characterized in that a second linear guide rail (34) is arranged on a second base (26), a second movable seat plate (33) is arranged on a second sliding seat (27) on the second linear guide rail (34), a second vertical plate (29) is welded on the second movable seat plate (33), a second sliding seat cylinder (28) is arranged between the second base (26) and the second movable seat plate (33) and connected with the second base, the second sliding seat cylinder (28) controls the second movable seat plate (33) to advance and retreat, a second servo motor (30) and a second speed reducer (31) are fixed on two sides of the second vertical plate (29), 3 hexagonal wrench heads (32) are arranged at the front end of the second speed reducer (31), and when the second servo motor (30) is started, the second speed reducer (31) drives the second hexagonal wrench heads (32) to rotate, so that the end cover bolts (12) on the end cover (10) are detached.
4. The intelligent shaft end bolt decomposing device according to claim 1, characterized in that the front end of the manipulator (1) is provided with a sucker (35), a bolt clamp (36) and an end cover clamp (37); the end cover clamp (37) is controlled by an end cover clamp cylinder (38) to clamp or unclamp, and is used for clamping a bearing end cover (10) at the front end of the bearing (8); the bolt clamp (36) is controlled to clamp or loosen by a bolt clamp cylinder (39) through a hinging rod (40) and is used for clamping the end cover bolt (12); the sucking disc (35) is used for sucking the marking plate (11) at the shaft end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911426366.4A CN113043001B (en) | 2019-12-26 | 2019-12-26 | Intelligent decomposing device for shaft end bolts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911426366.4A CN113043001B (en) | 2019-12-26 | 2019-12-26 | Intelligent decomposing device for shaft end bolts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113043001A CN113043001A (en) | 2021-06-29 |
| CN113043001B true CN113043001B (en) | 2023-07-28 |
Family
ID=76507782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911426366.4A Active CN113043001B (en) | 2019-12-26 | 2019-12-26 | Intelligent decomposing device for shaft end bolts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113043001B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454173A (en) * | 2022-03-03 | 2022-05-10 | 南京拓控信息科技股份有限公司 | Intelligent decomposing system for center plate bolts of railway wagon |
| CN115446578A (en) * | 2022-08-25 | 2022-12-09 | 西南交通大学 | Method for disassembling front cover of counter bearing of railway wagon wheel |
| CN115446587B (en) * | 2022-08-25 | 2023-07-14 | 西南交通大学 | Railway wagon wheel pair bearing front cover dismounting system |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB846936A (en) * | 1956-09-27 | 1960-09-07 | Plasser Bahnbaumasch Franz | Machine for screwing up and unscrewing bolts and nuts, for the rail securing means of permanent way |
| US4215636A (en) * | 1978-06-12 | 1980-08-05 | Florida East Coast Railway Company | Machine for engaging and rotating concrete crosstie bolts |
| CN2606036Y (en) * | 2003-04-28 | 2004-03-10 | 朱金良 | Intelligent moment spanner for screw bolts at shaft ends |
| CN201214184Y (en) * | 2008-05-12 | 2009-04-01 | 王光华 | Large torque bolt and nut releasing/locking tool |
| CN102152106B (en) * | 2011-03-21 | 2012-07-25 | 山东同力达智能机械有限公司 | Shaft end nut assembling system of CRH2 motor train unit |
| CN103419015B (en) * | 2012-05-24 | 2015-08-19 | 南车青岛四方机车车辆股份有限公司 | Motor train unit wheel set shaft end nut tightening device |
| CN206140096U (en) * | 2016-09-30 | 2017-05-03 | 东风雷诺汽车有限公司 | Connecting rod cap bolt returns loose device automatically |
| CN109719497A (en) * | 2017-10-30 | 2019-05-07 | 齐齐哈尔四达铁路设备有限责任公司 | Rolling stock puma manipulator, which moves back, unloads transmission line |
| CN108296754B (en) * | 2018-01-24 | 2019-06-25 | 杭州师范大学钱江学院 | Closely locking nut Intelligent Installation system and its installation method based on machine vision |
| CN110227927A (en) * | 2019-05-22 | 2019-09-13 | 郭毅义 | A kind of large sealing lid synchronization bolt fastener |
| CN110524231B (en) * | 2019-09-06 | 2024-08-16 | 广汽丰田发动机有限公司 | Unscrewing machine |
| CN212311360U (en) * | 2019-12-26 | 2021-01-08 | 齐齐哈尔四达铁路设备有限责任公司 | Intelligent shaft end bolt decomposing device |
-
2019
- 2019-12-26 CN CN201911426366.4A patent/CN113043001B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113043001A (en) | 2021-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113043001B (en) | Intelligent decomposing device for shaft end bolts | |
| CN108857360B (en) | Charging screw dismounting device for storage battery | |
| CN109623351A (en) | A kind of cargo train couple yoke supporting plate bolt dismantling device | |
| CN212311360U (en) | Intelligent shaft end bolt decomposing device | |
| CN113981757A (en) | Maintenance operation device and bolt disassembling mechanism for railway fastener system | |
| CN106395358A (en) | Cam-connecting rod conveying mechanism of limit switch part assembling machine | |
| CN205684975U (en) | A kind of pin member tear material device open | |
| CN107088600A (en) | A kind of double end edge knurling machine | |
| CN116810042A (en) | Automatic feeding and cutting device and method for metal pipe | |
| CN217864640U (en) | Magnetic plate pulling device | |
| CN106409570A (en) | Limit switch part assembly machine | |
| CN203698473U (en) | Car bumper detaching device | |
| CN112659155B (en) | New energy automobile gearbox casing snatchs manipulator | |
| KR20060018963A (en) | Servo hand of robot | |
| CN212355657U (en) | Production line workpiece taking machine | |
| CN213136749U (en) | Full-automatic cross material feeding manipulator that gets | |
| CN206839526U (en) | A kind of oil cylinder demountor | |
| CN213059186U (en) | Automatic turnover mechanism for T-shaped iron core | |
| CN220312411U (en) | Full-automatic multi-hole site moves equipment of screwing up simultaneously | |
| CN115446587B (en) | Railway wagon wheel pair bearing front cover dismounting system | |
| CN219403988U (en) | Automatic change equipment processing with quick clamping device | |
| CN215478175U (en) | Compressing, taking and placing mechanism | |
| CN218225933U (en) | Grinding machine is used in auto-parts processing | |
| CN220484629U (en) | Part clamping grabbing clamp | |
| CN215548722U (en) | Automatic change manipulator for assembly line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |