CN114905547A - Installation chassis for industrial robot - Google Patents
Installation chassis for industrial robot Download PDFInfo
- Publication number
- CN114905547A CN114905547A CN202210649607.7A CN202210649607A CN114905547A CN 114905547 A CN114905547 A CN 114905547A CN 202210649607 A CN202210649607 A CN 202210649607A CN 114905547 A CN114905547 A CN 114905547A
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- industrial robot
- chassis
- clamping
- rod
- mounting
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- 238000009434 installation Methods 0.000 title abstract description 22
- 230000000712 assembly Effects 0.000 claims abstract description 15
- 238000000429 assembly Methods 0.000 claims abstract description 15
- 125000004122 cyclic group Chemical group 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000003028 elevating effect Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 230000005526 G1 to G0 transition Effects 0.000 claims description 2
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an installation chassis for an industrial robot, comprising: a lower support portion, an upper clamping portion and a connecting portion; the lower support part includes: the chassis comprises a chassis body and a linear lifting power piece arranged on the chassis body, wherein a supporting plate is arranged at the top of the linear lifting power piece; the upper portion clamping part includes track pole and clamping component, and clamping component's quantity is more than two sets, and the track pole is whole cyclic annularly, and clamping component includes: first movable sleeve, thread bush, threaded rod and splint, first movable sleeve is located on the track pole, and the thread bush is fixed in on the first movable sleeve, and the threaded rod runs through the thread bush, and threaded rod and thread bush form the screw drive structure. Compared with the prior art, the annular rail rod is matched with the plurality of clamping assemblies, so that the industrial robot bottom plates in various shapes and sizes can be installed and fixed, the application range of the annular rail rod is greatly enlarged, and the use cost of the industrial robot is reduced.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to an installation chassis for an industrial robot.
Background
Some industrial robots include an industrial robot body and a base plate arranged below the industrial robot. The installation of the industrial robot main body is satisfied by setting the installation chassis. In practical application, different industrial operation requirements need to be completed by using different industrial robot bodies.
In the prior art, the lower part of the industrial robot main body is provided with a bottom plate, an installation chassis is fixed on the lower part of the bottom plate of the industrial robot main body, and the structure of the installation chassis needs to be matched with the structure of the bottom plate. Namely: a base plate corresponds to a structural mounting chassis. When the main bodies of the industrial robots are different, the bottom plates below the industrial robots are also different, and when the bottom plates of the robots are different, the chassis needs to be replaced.
As can be seen from this, the mounting chassis for an industrial robot in the related art has poor versatility, is inconvenient to use, and has high use cost.
Disclosure of Invention
Technical problem to be solved
Based on the technical scheme, the invention provides the mounting chassis for the industrial robot, and the mounting chassis for the industrial robot aims to solve the technical problems that the mounting chassis for the industrial robot in the prior art is poor in universality, inconvenient to use and high in use cost.
(II) technical scheme
In order to solve the above technical problem, the present invention provides an installation chassis for an industrial robot, comprising: a lower support portion, an upper clamping portion and a connecting portion; the lower support part includes: the chassis comprises a chassis body and a linear lifting power piece arranged on the chassis body, wherein a supporting plate is arranged at the top of the linear lifting power piece; the upper portion clamping part includes track pole and clamping components, clamping components's quantity is more than two sets, the track pole is whole for cyclic annular, clamping components includes: the first movable sleeve is sleeved on the track rod, the threaded sleeve is fixed on the first movable sleeve, the threaded rod penetrates through the threaded sleeve, the threaded rod and the threaded sleeve form a spiral transmission structure, the clamping plate is arranged at one end, close to the center of the track rod, of the threaded rod, the clamping plate is rotatably connected with the track rod, a positioning groove is formed in the track rod and is arranged along the extending direction of the track rod, a fastening screw hole is formed in the first movable sleeve, a fastening screw is arranged in the fastening screw hole, and the fastening screw penetrates through the fastening screw hole and abuts against the bottom surface of the positioning groove; the connecting part comprises a connecting rod component which is connected with the track rod and the supporting plate.
Preferably, the whole track rod is circular, and a disconnected installation notch is formed in the track rod.
Preferably, the clamping assembly further comprises a rotating handle, and the rotating handle is arranged at one end of the threaded rod far away from the clamping plate.
Preferably, the positioning groove is formed in the bottom of the track rod, and the cross section of the positioning groove is rectangular.
Preferably, the clamping assembly further comprises a longitudinal rod, the lower portion of the longitudinal rod is fixed on the first movable sleeve, and the threaded sleeve is fixed on the top of the longitudinal rod.
Preferably, the linear lifting power part is an oil cylinder or an air cylinder.
Preferably, the chassis body comprises an installation cavity formed therein, the top of the chassis body is provided with an installation hole communicated with the installation cavity, the lower part of the linear lifting power piece is fixed in the installation cavity, and the upper part of the linear lifting power piece extends out of the installation hole; a working box is also arranged in the mounting cavity; the lower part of the chassis body is provided with a caster.
Preferably, the connecting rod assembly includes: second movable sleeve, diagonal bar and horizon bar, second movable sleeve cover is located on the track pole, the second movable sleeve includes pipy cover main part and locates the side connecting rod of cover main part one side, be equipped with first connecting hole on the side connecting rod, the top of diagonal bar is equipped with the second connecting hole, runs through threaded connection spare first connecting hole and second connecting hole realize the diagonal bar links to each other with dismantling of second movable sleeve, the bottom of diagonal bar with the one end stationary phase of horizon bar links to each other, the other end of horizon bar with the backup pad is fixed links to each other.
Preferably, the number of the connecting rod assemblies is more than two, and the connecting rod assemblies and the clamping assemblies are arranged at intervals.
Preferably, the clamping plate is a right-angle plate which is formed by the bottom supporting plate and the side pressing plate in a surrounding mode.
(III) advantageous effects
Compared with the prior art, the beneficial effects of the mounting chassis for the industrial robot mainly comprise:
the annular track rod is matched with the plurality of clamping assemblies, so that the base plates of the industrial robots in various shapes and sizes can be installed and fixed, the application range of the invention is greatly improved, and the use cost of the industrial robot is reduced.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, in which:
fig. 1 is a schematic front view of the overall structure of a mounting chassis for an industrial robot according to an embodiment of the present invention;
fig. 2 is a schematic plan view of the entire structure of a mounting chassis for an industrial robot according to an embodiment of the present invention;
fig. 3 is a mounting chassis for an industrial robot according to an embodiment of the present invention: the structure of the track rod is schematic;
FIG. 4 is an enlarged view of a portion of FIG. 1 at A;
fig. 5 shows an installation chassis for an industrial robot according to an embodiment of the present invention: the structural schematic diagram of the connecting rod assembly;
fig. 6 shows an installation chassis for an industrial robot according to an embodiment of the present invention: the clamping assembly is a schematic structural diagram.
Description of the attached labels:
100. a lower support part 200, an upper clamping part 300, a connecting part 400, a caster;
11. the device comprises a chassis body, 12 linear lifting power parts, 13 supporting plates and 14 working boxes;
21. track rod, 22 clamping component, 23 set screw;
31. a connecting rod assembly;
111. mounting cavity 112, mounting hole;
211. a positioning groove 212 is provided with a notch;
221. a first movable sleeve, 222, a threaded sleeve, 223, a threaded rod, 224, a clamping plate, 225, a rotating handle, 226, a longitudinal rod;
2211. fastening screw holes;
311. a second movable sleeve, 312, an oblique rod, 313, a horizontal rod;
2241. bottom support plate 2242, side pressure board.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; the connection may be mechanical connection, electrical connection, direct connection, indirect connection through an intermediate medium, communication between the inside of the two elements, or "transmission connection", i.e., power connection through various suitable manners such as belt transmission, gear transmission, or sprocket transmission. The specific meanings of the above terms in the present invention can be understood in specific cases by those skilled in the art.
The industrial robot mounting chassis of the present invention will be further described with reference to fig. 1 to 6.
Referring to fig. 1-2 and fig. 4 with emphasis, the present invention discloses an installation chassis for an industrial robot, comprising: a lower support portion 100, an upper clamping portion 200, and a connecting portion 300; the lower support portion 100 includes: the chassis comprises a chassis body 11 and a linear lifting power part 12 arranged on the chassis body 11, wherein a supporting plate 13 is arranged at the top of the linear lifting power part 12; the upper clamping portion 200 includes rail bars 21 and clamping assemblies 22, the number of the clamping assemblies 22 is two or more, the rail bars 21 are annular as a whole, and the clamping assemblies 22 include: the first movable sleeve 221 is sleeved on the track rod 21, the threaded sleeve 222 is fixed on the first movable sleeve 221, the threaded sleeve 223 penetrates through the threaded sleeve 222, the threaded sleeve 223 and the threaded sleeve 222 form a spiral transmission structure, the clamping plate 224 is arranged at one end, close to the center of the track rod 21, of the threaded sleeve 223, the clamping plate 224 is rotatably connected with the track rod 21, a positioning groove 211 is arranged on the track rod 21, the positioning groove 211 is arranged along the extending direction of the track rod 21, a fastening screw hole 2211 is arranged on the first movable sleeve 221, a fastening screw 23 is arranged in the fastening screw hole 2211, and the fastening screw 23 penetrates through the fastening screw hole 2211 and abuts against the bottom surface of the positioning groove 211; the connecting portion 300 includes a link assembly 31 connecting the rail bar 21 and the support plate 13.
It should be noted that: since the track rod is annular, the center of the annular shape is the "track rod center" described above. When the track rod is circular, the center of the track rod refers to the center of a circle.
In the present embodiment, the lower support part 100 is used to support the lower part of the main body of the industrial robot, and the linear elevating power member 12 can increase the elevating power to adjust the height of the main body of the industrial robot. The upper grip portion 200 is used to grip the side portion of the industrial robot main body from different directions. The shape and the specification of the gripper 224 may be set to various shapes to improve the fitting degree of the gripper 224 to the main body of the industrial robot.
During the use, select the splint 224 of suitable specification according to the demand to install splint 224 on threaded rod 223, install on track pole 21 a plurality of first movable sleeve 221, place the industrial robot main part on backup pad 13, adjust the height of industrial robot main part through sharp lift power component 12, then adjust every clamping components 22, realize the clamp to the lateral part of work robot. The method comprises the following specific steps: rotating threaded rod 223, and then adjusting splint 224's position, adjust splint 224 to industrial robot main part bottom plate edge, carry out the centre gripping to the industrial robot bottom plate through splint 224, during the centre gripping, according to industrial robot bottom plate shape, adjust the position of every first movable sleeve 221 on track pole 21, make splint 224 hug closely the lateral wall of industrial robot bottom plate, then rotate holding screw 23, make holding screw 23 tip insert in constant head tank 211, and the bottom of butt constant head tank 211, fix with the position to first movable sleeve 221.
According to the mounting chassis for the industrial robot, the rail rod 21 is matched with the first movable sleeves 221 to adjust the positions of the clamping plates 224, the threaded rods 223 are matched with the threaded sleeves 222, and the relative distance between the clamping plates 224 can be further adjusted, so that the mounting chassis for the industrial robot can mount and fix industrial robot bottom plates in various shapes and sizes, the application range of the mounting chassis for the industrial robot is greatly enlarged, and the use cost of the industrial robot is reduced. The position of the clamping assembly 22 is convenient to adjust, the clamping plate 224 is convenient to replace, and the mounting chassis for the industrial robot has the advantage of convenience in use.
Referring to fig. 3, according to the embodiment of the present invention, the track rod 21 is a circular ring, and the track rod 21 is provided with a broken installation notch 212. In this embodiment, the mounting notch 212 facilitates the mounting of the first movable sleeve 221. The rail rod 21 has an annular structure, which facilitates the first movable sleeve 221 to slide smoothly to a desired position on the rail rod 21.
According to an embodiment of the present invention, the clamping assembly 22 further includes a rotating knob 225, the rotating knob 225 being disposed at an end of the threaded rod 223 remote from the clamping plate 224. In this embodiment, the rotation of the threaded rod 223 is facilitated by providing the rotating handle 225.
According to the embodiment of the present invention, the positioning groove 211 is formed at the bottom of the track rod 21, and the cross section of the positioning groove 211 is rectangular. In this embodiment, the positioning slot 211 is disposed at the bottom, i.e. the fastening screw 23 is disposed at the bottom of the track rod 21, and the position thereof is relatively hidden, so that on one hand, interference with the upper thread bushing 222 can be avoided, and operation is facilitated, and on the other hand, leakage of the protruding member can be avoided, thereby improving compactness and safety.
According to an embodiment of the present invention, the clamping assembly 22 further comprises a longitudinal rod 226, a lower portion of the longitudinal rod 226 is fixed to the first movable sleeve 221, and the threaded sleeve 222 is fixed to a top portion of the longitudinal rod 226. In the present embodiment, the vertical bar 226 plays a role of connection.
According to an embodiment of the present invention, the linear elevating power member 12 is an oil cylinder or an air cylinder.
Referring to fig. 1 with emphasis, according to the embodiment of the present invention, the chassis body 11 includes a mounting cavity 111 formed therein, the top of the chassis body 11 is provided with a mounting hole 112 communicating with the mounting cavity 111, the lower portion of the linear lifting power member 12 is fixed in the mounting cavity 111, and the upper portion of the linear power member extends out of the mounting hole 112; the installation cavity 111 is also internally provided with a working box 14; the lower part of the chassis body 11 is provided with casters 400. In this embodiment, the linear elevating power member 12 includes a cylinder barrel and a cylinder rod, the cylinder barrel is located in the installation cavity 111, and the cylinder rod extends out of the installation hole 112.
Referring now to FIG. 5 with emphasis, in accordance with an embodiment of the present invention, the connecting rod assembly 31 comprises: second movable sleeve 311, diagonal pole 312 and horizon bar 313, second movable sleeve 311 overlaps and locates on track pole 21, second movable sleeve 311 includes pipy cover main part and the side connecting rod of locating cover main part one side, be equipped with first connecting hole on the side connecting rod, the top of diagonal pole 312 is equipped with the second connecting hole, run through first connecting hole and second connecting hole through threaded connection spare, it links to each other to realize dismantling of diagonal pole 312 and second movable sleeve 311, the bottom of diagonal pole 312 and the one end of horizon bar 313 are fixed continuous, the other end of horizon bar 313 links to each other with backup pad 13 is fixed. In this embodiment, the second movable sleeve 311 and the diagonal rod 312 are separated, and when the connecting rod assembly 31 is installed, the second movable sleeve 311 is sleeved on the track rod 21, adjusted to be aligned with the diagonal rod 312 to be connected, and then installed in the threaded connection.
According to the embodiment of the present invention, the number of the connecting rod assemblies 31 is two or more, and the connecting rod assemblies 31 and the clamping assemblies 22 are arranged at intervals. In this embodiment, the provision of the plurality of link assemblies 31 can improve the smoothness of connection.
Referring now to fig. 6 with emphasis, in accordance with an embodiment of the present invention, the clamping plate 224 is a rectangular plate defined by a bottom plate 2241 and a side plate 2242. During the centre gripping, bottom plate 2241 and the bottom plate bottom butt of industrial robot main part, side pressure board 2242 and the bottom plate lateral part butt of industrial robot main part can follow two directions and realize spacingly, adopt this structure, can improve the steadiness that splint 224 presss from both sides and hold.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. An industrial robot mounting chassis, comprising: a lower support portion, an upper clamping portion and a connecting portion; the lower support portion includes: the chassis comprises a chassis body and a linear lifting power piece arranged on the chassis body, wherein a supporting plate is arranged at the top of the linear lifting power piece; the upper portion clamping part includes track pole and clamping component, clamping component's quantity is more than two sets, the track pole is whole for cyclic annular, clamping component includes: the first movable sleeve is sleeved on the track rod, the threaded sleeve is fixed on the first movable sleeve, the threaded rod penetrates through the threaded sleeve, the threaded rod and the threaded sleeve form a spiral transmission structure, the clamping plate is arranged at one end, close to the center of the track rod, of the threaded rod, the clamping plate is rotatably connected with the track rod, a positioning groove is formed in the track rod and is arranged along the extending direction of the track rod, a fastening screw hole is formed in the first movable sleeve, a fastening screw is arranged in the fastening screw hole, and the fastening screw penetrates through the fastening screw hole and is abutted to the bottom surface of the positioning groove; the connecting part comprises a connecting rod component which is connected with the track rod and the supporting plate.
2. The industrial robot mounting chassis according to claim 1, wherein the rail bar is annular as a whole, and the rail bar is provided with a broken mounting notch.
3. The industrial robot mounting chassis of claim 2, wherein the clamping assembly further comprises a twist grip disposed at an end of the threaded rod remote from the clamp plate.
4. The industrial robot mounting chassis of claim 3, wherein the positioning groove is provided at a bottom of the rail bar, and a cross section of the positioning groove is rectangular.
5. The industrial robot mounting chassis of claim 4, wherein the clamping assembly further comprises a side rail, a lower portion of the side rail being secured to the first movable sleeve, and the threaded sleeve being secured to a top portion of the side rail.
6. The industrial robot mounting chassis of claim 5, wherein the linear elevating power member is a cylinder or a pneumatic cylinder.
7. The mounting chassis for the industrial robot as claimed in claim 6, wherein the chassis body includes a mounting cavity formed therein, a mounting hole communicating with the mounting cavity is formed at the top of the chassis body, the lower part of the linear elevating power member is fixed in the mounting cavity, and the upper part of the linear power member extends out of the mounting hole; a working box is also arranged in the mounting cavity; the lower part of the chassis body is provided with a caster.
8. The industrial robot mounting chassis of claim 7, wherein the linkage assembly comprises: second activity cover, diagonal bar and horizon bar, second activity cover is overlapped and is located on the track pole, the second activity cover includes pipy cover main part and locates the side connecting rod of cover main part one side, be equipped with first connecting hole on the side connecting rod, the top of diagonal bar is equipped with the second connecting hole, runs through threaded connection spare first connecting hole and second connecting hole realize the diagonal bar links to each other with dismantling of second activity cover, the bottom of diagonal bar with the one end stationary phase of horizon bar links to each other, the other end of horizon bar with the backup pad is fixed to link to each other.
9. The industrial robot mounting chassis of claim 8, wherein the number of the link assemblies is two or more, and the link assemblies and the clamping assemblies are arranged at intervals.
10. The industrial robot mounting chassis of claim 9, wherein the clamping plate is a rectangular plate shape defined by the bottom pallet and the side pallets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210649607.7A CN114905547A (en) | 2022-06-09 | 2022-06-09 | Installation chassis for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210649607.7A CN114905547A (en) | 2022-06-09 | 2022-06-09 | Installation chassis for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114905547A true CN114905547A (en) | 2022-08-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210649607.7A Pending CN114905547A (en) | 2022-06-09 | 2022-06-09 | Installation chassis for industrial robot |
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| CN (1) | CN114905547A (en) |
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| JP2003103422A (en) * | 2001-09-27 | 2003-04-08 | Amada Eng Center Co Ltd | Multiple type plate material machining method and multiple type plate machining system |
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| CN110757070A (en) * | 2019-11-27 | 2020-02-07 | 江苏新迈机械有限公司 | Welding tool |
| CN110977313A (en) * | 2019-11-21 | 2020-04-10 | 南京众浩机械制造有限公司 | Rotary table mechanism with stable rotation |
| CN211475366U (en) * | 2019-12-10 | 2020-09-11 | 沈阳华凯科技有限责任公司 | Fixing device for industrial machinery manufacturing |
| CN112247352A (en) * | 2020-10-12 | 2021-01-22 | 广东铭利达科技有限公司 | Three-dimensional flexible welding device |
| CN212385342U (en) * | 2020-07-27 | 2021-01-22 | 海安明光光学玻璃科技有限公司 | Fixing device for optical glass processing |
| CN214770212U (en) * | 2021-06-03 | 2021-11-19 | 芜湖艾德瑞机械制造有限公司 | Quick mounting fixture for automobile shock absorbing cylinder |
| CN215846970U (en) * | 2021-07-06 | 2022-02-18 | 青岛永基重型机床有限公司 | Circular regulating and controlling clamp for numerical control gantry machine tool |
| CN216398874U (en) * | 2021-12-28 | 2022-04-29 | 山东恒亚机床制造有限公司 | Clamping device of thread lathe |
-
2022
- 2022-06-09 CN CN202210649607.7A patent/CN114905547A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003103422A (en) * | 2001-09-27 | 2003-04-08 | Amada Eng Center Co Ltd | Multiple type plate material machining method and multiple type plate machining system |
| DE102004013407A1 (en) * | 2004-03-18 | 2005-10-06 | Alpma Alpenland Maschinenbau Gmbh | Cheese tray processing device, has tray grippers for holding cheese trays, and turning and processing units controlled such that turning operation of one tray and processing operation of another tray are conducted at same time |
| CN209491685U (en) * | 2019-02-27 | 2019-10-15 | 广东工贸职业技术学院 | A kind of industrial robot composite fixture |
| CN110977313A (en) * | 2019-11-21 | 2020-04-10 | 南京众浩机械制造有限公司 | Rotary table mechanism with stable rotation |
| CN110757070A (en) * | 2019-11-27 | 2020-02-07 | 江苏新迈机械有限公司 | Welding tool |
| CN211475366U (en) * | 2019-12-10 | 2020-09-11 | 沈阳华凯科技有限责任公司 | Fixing device for industrial machinery manufacturing |
| CN212385342U (en) * | 2020-07-27 | 2021-01-22 | 海安明光光学玻璃科技有限公司 | Fixing device for optical glass processing |
| CN112247352A (en) * | 2020-10-12 | 2021-01-22 | 广东铭利达科技有限公司 | Three-dimensional flexible welding device |
| CN214770212U (en) * | 2021-06-03 | 2021-11-19 | 芜湖艾德瑞机械制造有限公司 | Quick mounting fixture for automobile shock absorbing cylinder |
| CN215846970U (en) * | 2021-07-06 | 2022-02-18 | 青岛永基重型机床有限公司 | Circular regulating and controlling clamp for numerical control gantry machine tool |
| CN216398874U (en) * | 2021-12-28 | 2022-04-29 | 山东恒亚机床制造有限公司 | Clamping device of thread lathe |
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Application publication date: 20220816 |
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