CN205600356U - Left-right rotating screw rod translation type clamp holder - Google Patents

Left-right rotating screw rod translation type clamp holder Download PDF

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Publication number
CN205600356U
CN205600356U CN201620411488.1U CN201620411488U CN205600356U CN 205600356 U CN205600356 U CN 205600356U CN 201620411488 U CN201620411488 U CN 201620411488U CN 205600356 U CN205600356 U CN 205600356U
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screw
rod
motor
handed
nut
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徐嘉乐
姚素芹
俞浩荣
王政
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Changzhou Vocational Institute of Mechatronic Technology
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Changzhou Vocational Institute of Mechatronic Technology
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Abstract

The utility model discloses a control and revolve lead screw translation type holder, include: an electric motor; the screw rod is driven by the motor, one end of the screw rod is provided with left-handed threads and a left-handed nut, and the other end of the screw rod is provided with right-handed threads and a right-handed nut; the left claw rod is fixedly connected with the left-handed nut through a nut seat, and the right claw rod is fixedly connected with the right-handed nut through a nut seat. Two threads with opposite rotation directions are arranged at two ends of the screw rod of the utility model, when the motor drives the screw rod to rotate, the left-handed nut and the right-handed nut at the two ends of the screw rod are close to or far away from each other, thereby driving the left claw rod and the right claw rod to clamp or loosen; the utility model discloses dispose solitary servo motor or step motor, when machining, can conveniently press from both sides tightly or loosen the work piece of different dimensions through the rotation of programming control motor.

Description

左右旋丝杠平移型夹持器Left and right screw screw translation gripper

技术领域technical field

本实用新型涉及一种左右旋丝杠平移型夹持器,属于夹具技术领域。The utility model relates to a left and right screw screw translation clamper, which belongs to the technical field of clamps.

背景技术Background technique

在切削加工过程中,要使工件的各个加工表面的尺寸、形状及位置精度符合规定要求,必须使工件在机床或夹具中占有一个确定的位置。定位就是确定工件在机床上或夹具中占有正确位置的过程。工件定位是否准确,决定了工件的加工精度能否达到要求。工件夹紧为民保证工件在准确定位的前提下减少振动或松动,以便实现加工。In the cutting process, in order to make the size, shape and position accuracy of each machined surface of the workpiece meet the specified requirements, the workpiece must occupy a definite position in the machine tool or fixture. Positioning is the process of determining that the workpiece occupies the correct position on the machine tool or in the fixture. Whether the workpiece positioning is accurate determines whether the machining accuracy of the workpiece can meet the requirements. Workpiece clamping ensures that the workpiece is accurately positioned to reduce vibration or looseness for processing.

目前,一些夹具可夹持工件的直径有限,且定位精度差。夹具在使用过程中齿条与齿轮会产生磨损现象,从而产生较大的间隙,此时主动钳是受油缸直接推动,而从动钳要受齿条及齿轮的间接动作实现运动,一旦产生间隙,则主动钳与从动钳将产生不同步现象。所以中心位置会发生偏移,丧失夹持精度。At present, some fixtures can hold workpieces with limited diameters and poor positioning accuracy. During the use of the fixture, the rack and gear will wear and tear, resulting in a large gap. At this time, the active pliers are directly pushed by the oil cylinder, while the driven pliers are moved by the indirect action of the rack and gear. Once there is a gap , the active tongs and driven tongs will be out of sync. Therefore, the center position will shift and the clamping accuracy will be lost.

发明内容Contents of the invention

本实用新型所要解决的技术问题是:克服现有技术的不足,提供一种左右旋丝杠平移型夹持器,以解决夹具的钳爪不同步的技术问题。The technical problem to be solved by the utility model is: to overcome the deficiencies of the prior art, to provide a left and right screw screw translation clamper to solve the technical problem that the jaws of the clamp are not synchronized.

为了解决上述技术问题,本实用新型的技术方案是,一种左右旋丝杠平移型夹持器,包括:In order to solve the above-mentioned technical problems, the technical solution of the present utility model is, a left-right screw screw translation clamper, comprising:

电动机;motor;

由电动机驱动的丝杆,丝杆的一端具有左旋螺纹并安装有左旋螺母,另一端具有右旋螺纹并安装有右旋螺母;A screw driven by an electric motor, one end of the screw has a left-handed thread and a left-handed nut is installed, and the other end has a right-handed thread and a right-handed nut is installed;

钳爪杆,包括左钳爪杆和右钳爪杆,左钳爪杆通过螺母座与左旋螺母固定连接,右钳爪杆通过螺母座与右旋螺母固定连接。The claw rod includes a left claw rod and a right claw rod. The left claw rod is fixedly connected with the left-handed nut through a nut seat, and the right claw rod is fixedly connected with the right-handed nut through the nut seat.

进一步提供一种丝杆的具体结构,所述丝杆包括一对旋向相反的两个丝杆,两个丝杆通过一连接轴连接为一体,并由电动机同时驱动。A specific structure of the screw rod is further provided, the screw rod includes a pair of two screw rods with opposite rotation directions, the two screw rods are connected as a whole through a connecting shaft, and are simultaneously driven by a motor.

进一步提供丝杆的另一种结构,所述丝杆为具有一对旋向相反螺纹的双向丝杆。Another structure of the screw rod is further provided, and the screw rod is a bidirectional screw rod with a pair of opposite-hand threads.

进一步为了对钳爪杆的夹持动作进行导向,所述左右旋丝杠平移型夹持器还包括导轨,所述的左钳爪杆与左旋螺母之间、右钳爪杆与右旋螺母均连接有导杆,所述导杆上开有与导轨相配合的通孔,导杆通过通孔套在导轨上。Further, in order to guide the clamping action of the claw rod, the left and right screw screw translation clamper also includes a guide rail, between the left claw rod and the left-handed nut, between the right claw rod and the right-handed nut A guide rod is connected, and a through hole matched with the guide rail is opened on the guide rod, and the guide rod is sleeved on the guide rail through the through hole.

进一步为了提高重复定位精度,所述的丝杆为滚珠丝杆,所述的导轨为滚动导轨。Further, in order to improve repeat positioning accuracy, the screw rod is a ball screw, and the guide rail is a rolling guide rail.

进一步为了方便地通过编程控制电动机的旋转,所述的左右旋丝杠平移型夹持器还包括用于控制所述电动机的伺服电动机或步进电动机,所述电动机在伺服电动机或步进电动机的控制下旋转。Further, in order to conveniently control the rotation of the motor through programming, the left and right screw screw translation clamps also include a servo motor or a stepping motor for controlling the motor, and the motor is connected between the servo motor or the stepping motor. Spin under control.

采用了上述技术方案后,本实用新型的丝杆两端设置有旋向相反的两个螺纹,当电动机驱动丝杆旋转时,丝杆两端的左旋螺母和右旋螺母相互靠近或远离,从而带动左钳爪杆和右钳爪杆夹紧工作或松开工作;本实用新型能够使左钳爪杆和右钳爪杆同步动作,避免了动作不同步导致的夹持精度低的问题;本实用新型配置了单独的伺服电动机或步进电动机,在机械加工时,能方便地通过编程控制电动机的旋转来夹紧或松开不同尺寸规格的工件;另外,当丝杆为滚珠丝杆,所述的导轨为滚动导轨时,能大大提高左钳爪杆和右钳爪杆的重复定位精度,能够适于在高精度的加工中使用。After adopting the above technical scheme, the two ends of the screw rod of the utility model are provided with two threads with opposite rotation directions. When the motor drives the screw rod to rotate, the left-handed nut and the right-handed nut at the two ends of the screw rod are close to or far away from each other, thereby driving The left claw rod and the right claw rod are clamped or loosened; the utility model can make the left claw rod and the right claw rod move synchronously, avoiding the problem of low clamping precision caused by asynchronous actions; the utility model The new type is equipped with a separate servo motor or stepping motor. During machining, it is convenient to clamp or loosen workpieces of different sizes by controlling the rotation of the motor through programming; in addition, when the screw is a ball screw, the When the guide rail is a rolling guide rail, the repeated positioning accuracy of the left claw rod and the right claw rod can be greatly improved, and it can be used in high-precision processing.

附图说明Description of drawings

图1为本实用新型的结构原理图;Fig. 1 is a structural principle diagram of the utility model;

图中,1、电动机,2、丝杆,3、导轨,4-1、左钳爪杆,4-2、右钳爪杆,5、导杆。Among the figure, 1, electric motor, 2, screw mandrel, 3, guide rail, 4-1, left claw bar, 4-2, right claw bar, 5, guide rod.

具体实施方式detailed description

为了使本实用新型的内容更容易被清楚地理解,下面根据具体实施例并结合附图,对本实用新型作进一步详细的说明。In order to make the content of the utility model more clearly understood, the utility model will be further described in detail below based on specific embodiments and in conjunction with the accompanying drawings.

如图1所示,一种左右旋丝杠平移型夹持器,包括:As shown in Figure 1, a left and right screw screw translation clamper, including:

电动机1;motor 1;

由电动机1驱动的丝杆2,丝杆2的一端具有左旋螺纹并安装有左旋螺母,另一端具有右旋螺纹并安装有右旋螺母;A screw 2 driven by the motor 1, one end of the screw 2 has a left-handed thread and a left-handed nut is installed, and the other end has a right-handed thread and a right-handed nut is installed;

钳爪杆,包括左钳爪杆4-1和右钳爪杆4-2,左钳爪杆4-1通过螺母座与左旋螺母固定连接,右钳爪杆4-2通过螺母座与右旋螺母固定连接,提供准确的平移夹紧动作。Claw rod, including left claw rod 4-1 and right claw rod 4-2, left claw rod 4-1 is fixedly connected with a left-handed nut through a nut seat, and right claw rod 4-2 is connected with a right-handed nut through a nut seat Nut secure connection provides accurate translational clamping action.

优选地,如图1所示,丝杆2包括一对旋向相反的两个丝杆,两个丝杆通过一连接轴连接为一体,并由电动机1同时驱动。Preferably, as shown in FIG. 1 , the screw rod 2 includes a pair of two screw rods that rotate in opposite directions. The two screw rods are connected as a whole through a connecting shaft and driven by the motor 1 at the same time.

可选地,如图1所示,左右旋丝杠平移型夹持器还包括导轨3,左钳爪杆4-1与左旋螺母之间、右钳爪杆4-2与右旋螺母均连接有导杆5,导杆5上开有与导轨3相配合的通孔,导杆5通过通孔套在导轨3上;Optionally, as shown in Figure 1, the left and right screw screw translation clamper also includes a guide rail 3, between the left claw rod 4-1 and the left-handed nut, and between the right claw rod 4-2 and the right-handed nut. There is a guide rod 5, and a through hole matching with the guide rail 3 is opened on the guide rod 5, and the guide rod 5 is sleeved on the guide rail 3 through the through hole;

当左钳爪杆4-1和右钳爪杆4-2在丝杆2的带动下左右移动时,导杆5沿导轨3的方向移动,保证连接在导杆5上的左钳爪杆4-1和右钳爪杆4-2的平移运动,并且平移型钳爪可使工件自动定心。When the left claw rod 4-1 and the right claw rod 4-2 moved left and right under the drive of the screw mandrel 2, the guide rod 5 moved along the direction of the guide rail 3 to ensure that the left claw rod 4 connected to the guide rod 5 -1 and the translational movement of the right jaw rod 4-2, and the translation type jaws can automatically center the workpiece.

优选地,为了提高重复定位精度,丝杆2为滚珠丝杆,导轨3为滚动导轨。Preferably, in order to improve repeat positioning accuracy, the screw rod 2 is a ball screw, and the guide rail 3 is a rolling guide rail.

进一步,左右旋丝杠平移型夹持器还包括用于控制所述电动机1的伺服电动机或步进电动机,电动机1在伺服电动机或步进电动机的控制下旋转。Further, the left and right screw screw translation clamper also includes a servo motor or a stepping motor for controlling the motor 1, and the motor 1 rotates under the control of the servo motor or the stepping motor.

实施例二:Embodiment two:

如图1所示,一种左右旋丝杠平移型夹持器,包括:As shown in Figure 1, a left and right screw screw translation clamper, including:

电动机1;motor 1;

由电动机1驱动的丝杆2,丝杆2的一端具有左旋螺纹并安装有左旋螺母,另一端具有右旋螺纹并安装有右旋螺母;A screw 2 driven by the motor 1, one end of the screw 2 has a left-handed thread and a left-handed nut is installed, and the other end has a right-handed thread and a right-handed nut is installed;

钳爪杆,包括左钳爪杆4-1和右钳爪杆4-2,左钳爪杆4-1通过螺母座与左旋螺母固定连接,右钳爪杆4-2通过螺母座与右旋螺母固定连接。Claw rod, including left claw rod 4-1 and right claw rod 4-2, left claw rod 4-1 is fixedly connected with a left-handed nut through a nut seat, and right claw rod 4-2 is connected with a right-handed nut through a nut seat The nut secures the connection.

优选地,丝杆2为具有一对旋向相反螺纹的双向丝杆。Preferably, the screw rod 2 is a bi-directional screw rod with a pair of opposite-hand threads.

进一步,左右旋丝杠平移型夹持器还包括用于控制所述电动机1的伺服电动机或步进电动机,电动机1在伺服电动机或步进电动机的控制下旋转。Further, the left and right screw screw translation clamper also includes a servo motor or a stepping motor for controlling the motor 1, and the motor 1 rotates under the control of the servo motor or the stepping motor.

本夹持器中夹紧力FN和向丝杠提供的驱动力矩T之间的计算公式为:The calculation formula between the clamping force F N and the driving torque T provided to the screw in this clamp is:

Ff NN == TT dd Oo tt aa nno ββ

式中,dO为丝杠螺纹的中径(mm),β为螺纹的螺旋角。In the formula, d O is the pitch diameter (mm) of the lead screw thread, and β is the helix angle of the thread.

本实用新型的丝杆2两端设置有旋向相反的两个螺纹,当电动机1驱动丝杆2旋转时,丝杆2两端的左旋螺母和右旋螺母相互靠近或远离,从而带动左钳爪杆4-1和右钳爪杆4-2夹紧工作或松开工作;本实用新型能够使左钳爪杆4-1和右钳爪杆4-2同步动作,避免了动作不同步导致的夹持精度低的问题;本实用新型配置了单独的伺服电动机或步进电动机,在机械加工时,能方便地通过编程控制电动机1的旋转来夹紧或松开不同尺寸规格的工件;另外,当丝杆2为滚珠丝杆,导轨3为滚动导轨时,能大大提高左钳爪杆4-1和右钳爪杆4-2的重复定位精度,能够适于在高精度的加工中使用。Two ends of the screw rod 2 of the utility model are provided with two threads with opposite rotation directions. When the motor 1 drives the screw rod 2 to rotate, the left-handed nut and the right-handed nut at the two ends of the screw rod 2 approach or move away from each other, thereby driving the left claw The rod 4-1 and the right claw rod 4-2 are clamped or loosened; the utility model can make the left claw rod 4-1 and the right claw rod 4-2 act synchronously, avoiding the failure caused by asynchronous actions. The problem of low clamping accuracy; the utility model is equipped with a separate servo motor or stepping motor, which can conveniently clamp or loosen workpieces of different sizes and specifications through programming to control the rotation of the motor 1 during machining; in addition, When the screw rod 2 is a ball screw and the guide rail 3 is a rolling guide rail, the repeated positioning accuracy of the left claw rod 4-1 and the right claw rod 4-2 can be greatly improved, and can be suitable for use in high-precision processing.

以上所述的具体实施例,对本实用新型解决的技术问题、技术方案和有益效果进行了进一步详细说明,所应理解的是,以上所述仅为本实用新型的具体实施例而已,并不用于限制本实用新型,凡在本实用新型的精神和原则之内,所做的任何修改、等同替换、改进等,均应包含在本实用新型的保护范围之内。The specific embodiments described above have further described the technical problems, technical solutions and beneficial effects solved by the utility model in detail. It should be understood that the above descriptions are only specific embodiments of the utility model and are not intended to be used To limit the utility model, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.

Claims (6)

1.一种左右旋丝杠平移型夹持器,其特征在于,包括:1. A left and right screw translation clamper, characterized in that it comprises: 电动机(1);electric motor (1); 由电动机(1)驱动的丝杆(2),丝杆(2)的一端具有左旋螺纹并安装有左旋螺母,另一端具有右旋螺纹并安装有右旋螺母;A screw (2) driven by the motor (1), one end of the screw (2) has a left-handed thread and a left-handed nut is installed, and the other end has a right-handed thread and a right-handed nut is installed; 钳爪杆,包括左钳爪杆(4-1)和右钳爪杆(4-2),左钳爪杆(4-1)通过螺母座与左旋螺母固定连接,右钳爪杆(4-2)通过螺母座与右旋螺母固定连接。Claw rod, including left claw rod (4-1) and right claw rod (4-2), left claw rod (4-1) is fixedly connected with left-handed nut through nut seat, right claw rod (4- 2) It is fixedly connected with the right-handed nut through the nut seat. 2.根据权利要求1所述的左右旋丝杠平移型夹持器,其特征在于:所述丝杆(2)包括一对旋向相反的两个丝杆,两个丝杆通过一连接轴连接为一体,并由电动机(1)同时驱动。2. The right-and-left screw screw translation clamper according to claim 1, characterized in that: the screw rod (2) includes a pair of two screw rods with opposite rotation directions, and the two screw rods pass through a connecting shaft They are connected as one and driven simultaneously by the motor (1). 3.根据权利要求1所述的左右旋丝杠平移型夹持器,其特征在于:所述丝杆(2)为具有一对旋向相反螺纹的双向丝杆。3. The right-and-left screw screw clamp according to claim 1, characterized in that: the screw (2) is a two-way screw with a pair of threads with opposite rotation directions. 4.根据权利要求1或2或3所述的左右旋丝杠平移型夹持器,其特征在于:所述左右旋丝杠平移型夹持器还包括导轨(3),所述的左钳爪杆(4-1)与左旋螺母之间、右钳爪杆(4-2)与右旋螺母均连接有导杆(5),所述导杆(5)上开有与导轨(3)相配合的通孔,导杆(5)通过通孔套在导轨(3)上。4. According to claim 1, 2 or 3, the left and right screw screw translation clamper is characterized in that: the left and right screw screw translation clamper also includes guide rails (3), and the left clamp Between the claw rod (4-1) and the left-handed nut, the right claw rod (4-2) and the right-handed nut are connected with a guide rod (5), and the guide rod (5) is provided with a guide rail (3) With the matched through hole, the guide rod (5) is sleeved on the guide rail (3) through the through hole. 5.根据权利要求4所述的左右旋丝杠平移型夹持器,其特征在于:所述的丝杆(2)为滚珠丝杆,所述的导轨(3)为滚动导轨。5 . The left and right screw screw clamp according to claim 4 , characterized in that: the screw ( 2 ) is a ball screw, and the guide rail ( 3 ) is a rolling guide rail. 6.根据权利要求5所述的左右旋丝杠平移型夹持器,其特征在于:所述的左右旋丝杠平移型夹持器还包括用于控制所述电动机(1)的伺服电动机或步进电动机,所述电动机(1)在伺服电动机或步进电动机的控制下旋转。6. The right-and-left screw screw translation clamper according to claim 5, characterized in that: the left-right screw screw translation clamper also includes a servo motor or a servo motor for controlling the motor (1) A stepping motor, the motor (1) rotates under the control of a servo motor or a stepping motor.
CN201620411488.1U 2016-05-09 2016-05-09 Left-right rotating screw rod translation type clamp holder Expired - Fee Related CN205600356U (en)

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CN106492695A (en) * 2016-11-08 2017-03-15 珠海迪尔生物工程有限公司 A kind of vortex oscillation device
CN106553900A (en) * 2016-10-29 2017-04-05 安徽旭虹机械设备有限公司 A kind of bar extraction clamp device
CN106695433A (en) * 2017-01-21 2017-05-24 袁媛 Clamping adjusting mechanism and cutting unit for automatic cutting machine
CN107095525A (en) * 2017-04-14 2017-08-29 浙江雷霆电子科技有限公司 A kind of electronic product display equipment
CN107378817A (en) * 2017-06-13 2017-11-24 安徽机电职业技术学院 A kind of station packaged type screw rod plierses clamping apparatus
CN107584103A (en) * 2017-09-22 2018-01-16 芜湖火龙动力科技有限公司 A kind of sand container moving device of sand formwork casting line
CN108214658A (en) * 2018-01-05 2018-06-29 海宁奇瑞特光电有限公司 A kind of detent mechanism for being used to manufacture solar water heater water tank
CN108591718A (en) * 2018-04-25 2018-09-28 未石互动科技股份有限公司 A kind of transparent mobile screen
CN108746833A (en) * 2018-06-07 2018-11-06 安徽广美钢业有限公司 A kind of hi-precision cutting device for stainless pipe
CN108747693A (en) * 2018-04-17 2018-11-06 安徽畅宇泵阀制造有限公司 A kind of processing unit (plant) of centrifugal pump
CN109282773A (en) * 2018-11-27 2019-01-29 常州机电职业技术学院 Pipe fitting detection device and detection system
CN109572933A (en) * 2018-10-18 2019-04-05 武汉船用机械有限责任公司 A kind of de- cable device of heaving pile
CN109806466A (en) * 2019-03-22 2019-05-28 李蕾 A kind of fixed gloves of perfusion tube convenient for wearing
CN110678029A (en) * 2019-10-08 2020-01-10 六安市三鑫电器设备有限公司 Portable electric cabinet
CN111216542A (en) * 2020-01-21 2020-06-02 常州市鼎豪车辆配件有限公司 Automobile water tank frame with collision buffering performance
CN112091105A (en) * 2020-09-03 2020-12-18 济南精鹏数控设备有限公司 Numerical control clamp
CN112171342A (en) * 2020-10-13 2021-01-05 杭州云勃机械设计有限公司 Left-right rotation screw rod translation type clamp holder and using method thereof
CN112247633A (en) * 2020-10-13 2021-01-22 杭州云勃机械设计有限公司 Horizontal rotation type clamp holder for left-right rotation lead screw
WO2022077203A1 (en) 2020-10-13 2022-04-21 Shanghai Flexiv Robotics Technology Co., Ltd. Gripper and robotic arm

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106553900A (en) * 2016-10-29 2017-04-05 安徽旭虹机械设备有限公司 A kind of bar extraction clamp device
CN106492695A (en) * 2016-11-08 2017-03-15 珠海迪尔生物工程有限公司 A kind of vortex oscillation device
CN106695433A (en) * 2017-01-21 2017-05-24 袁媛 Clamping adjusting mechanism and cutting unit for automatic cutting machine
CN106695433B (en) * 2017-01-21 2019-07-26 青岛瑞宜利特变压器设备有限公司 Material folding adjustment mechanism and cutter unit for automatic gas cutting machine
CN107095525A (en) * 2017-04-14 2017-08-29 浙江雷霆电子科技有限公司 A kind of electronic product display equipment
CN107378817A (en) * 2017-06-13 2017-11-24 安徽机电职业技术学院 A kind of station packaged type screw rod plierses clamping apparatus
CN107584103B (en) * 2017-09-22 2019-05-03 芜湖火龙动力科技有限公司 A kind of sand container moving device of sand formwork casting line
CN107584103A (en) * 2017-09-22 2018-01-16 芜湖火龙动力科技有限公司 A kind of sand container moving device of sand formwork casting line
CN108214658A (en) * 2018-01-05 2018-06-29 海宁奇瑞特光电有限公司 A kind of detent mechanism for being used to manufacture solar water heater water tank
CN108747693A (en) * 2018-04-17 2018-11-06 安徽畅宇泵阀制造有限公司 A kind of processing unit (plant) of centrifugal pump
CN108591718A (en) * 2018-04-25 2018-09-28 未石互动科技股份有限公司 A kind of transparent mobile screen
CN108591718B (en) * 2018-04-25 2019-11-22 未石互动科技股份有限公司 A kind of transparent mobile screen
CN108746833A (en) * 2018-06-07 2018-11-06 安徽广美钢业有限公司 A kind of hi-precision cutting device for stainless pipe
CN108746833B (en) * 2018-06-07 2019-10-11 上海华普钢结构股份有限公司 A kind of hi-precision cutting device for stainless pipe
CN109572933A (en) * 2018-10-18 2019-04-05 武汉船用机械有限责任公司 A kind of de- cable device of heaving pile
CN109282773A (en) * 2018-11-27 2019-01-29 常州机电职业技术学院 Pipe fitting detection device and detection system
CN109806466A (en) * 2019-03-22 2019-05-28 李蕾 A kind of fixed gloves of perfusion tube convenient for wearing
CN110678029A (en) * 2019-10-08 2020-01-10 六安市三鑫电器设备有限公司 Portable electric cabinet
CN111216542A (en) * 2020-01-21 2020-06-02 常州市鼎豪车辆配件有限公司 Automobile water tank frame with collision buffering performance
CN112091105A (en) * 2020-09-03 2020-12-18 济南精鹏数控设备有限公司 Numerical control clamp
CN112171342A (en) * 2020-10-13 2021-01-05 杭州云勃机械设计有限公司 Left-right rotation screw rod translation type clamp holder and using method thereof
CN112247633A (en) * 2020-10-13 2021-01-22 杭州云勃机械设计有限公司 Horizontal rotation type clamp holder for left-right rotation lead screw
WO2022077203A1 (en) 2020-10-13 2022-04-21 Shanghai Flexiv Robotics Technology Co., Ltd. Gripper and robotic arm
EP4204192A4 (en) * 2020-10-13 2023-11-01 Shanghai Flexiv Robotics Technology Co., Ltd. GRIPPER AND ROBOTIC ARM
US11986950B2 (en) 2020-10-13 2024-05-21 Shanghai Flexiv Robotics Technology Co., Ltd. Gripper and robotic arm

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