CN206536495U - A kind of quick-changing mechanism for multi-functional mechanical wrist portion - Google Patents
A kind of quick-changing mechanism for multi-functional mechanical wrist portion Download PDFInfo
- Publication number
- CN206536495U CN206536495U CN201621466808.XU CN201621466808U CN206536495U CN 206536495 U CN206536495 U CN 206536495U CN 201621466808 U CN201621466808 U CN 201621466808U CN 206536495 U CN206536495 U CN 206536495U
- Authority
- CN
- China
- Prior art keywords
- support tube
- quick
- locking
- shaft
- mechanical wrist
- 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
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of quick-changing mechanism for multi-functional mechanical wrist portion, the technical problem of solution：For the existing mechanical wrist part quick-changing mechanism referred in background technology there are problems that transmission moment of torsion less, quick change reliability not.The technical scheme taken, a kind of quick-changing mechanism for multi-functional mechanical wrist portion, including the interposer affixed with multi-functional mechanical wrist portion and affixed by slotting mechanism with end effector, interposer fast inserted is in by slotting mechanism.The beneficial effects of the utility model are：This is used for the quick-changing mechanism of multi-functional mechanical wrist portion, connected using equidistant profile, can transmitting large torque, simple to operate, good reliability, pass through Fluid-transmission and mechanically operated collaborative design, the end effector of quick changing-over multifunction manipulator can be realized, with preferable application prospect.
Description
Technical field
The utility model discloses a kind of quick-changing mechanism, more particularly to a kind of changing planes soon for multi-functional mechanical wrist portion
Structure.
Background technology
With the lasting propulsion of CHINESE INDUSTRIES transition and upgrade, manipulator is widely used in automobile making, machining, green
The fields such as packaging, 3C assemblings.Further to improve the work capacity and operating efficiency of manipulator, common people adapt in Persisting exploitation
While the new end effector that ability is strong, versatility is good and flexibility ratio is high, it more desirable to different types of by automatic changing-over
End effector, to build multi-function robot work station, realizes that an industrial robot can complete several work task.Industry
The automatic changing-over technology of robot wrist, becomes a key technology of robot manipulating task system kind.
A kind of wrist quick-changing mechanism disclosed in the clear 58-137593 of Japan Patent, it is by connection end effector of pulling pin
With the non-circular shaft of robot wrist, extracted and sold by the cam surface being located on tool storage room when changing end effector, by overcoat
On spring press-in pull pin to realize, such a mechanism changing-over coupling stiffness is poor.A kind of work disclosed in Chinese patent CN105537758
Industry robot wrist quick-changing mechanism, it is to drive worm and worm wheel by motor, drives contraction set to clamp or unclamp stem；The dress
Put reliability not high.A kind of wrist quick-changing mechanism based on multisensor of Harbin Engineering University's exploitation, it is regarded using machine
Feel that guiding coarse positioning, optical guidance are accurately positioned and passively mix Shared control strategy with pose adjustment and master, perform end
Device can meet the geometry constraint conditions and mechanics constraints of normal docking needs in Renewal process；The quick-changing mechanism perceives energy
Power and strong environmental adaptability, change rapid, reliable, but system composition is complex, need to merge multi-door subject technology, such as machine
Vision, sensing technology etc..Therefore, the automatic changing-over mechanism of new wrist that moment of torsion is big, quick change reliability is high is transmitted in exploitation, to lifting
China's industry mechanical arm application level, the transition and upgrade of medium-sized and small enterprises of power-assisted China has important practical significance.
The content of the invention
Technical problem to be solved in the utility model is, fast for the existing mechanical wrist part that is referred in background technology
Converting mechanism there are problems that transmission moment of torsion less, quick change reliability not.
To solve the above problems, technical solution adopted in the utility model is：One kind is used for multi-functional mechanical wrist portion
Quick-changing mechanism, including the interposer affixed with multi-functional mechanical wrist portion and affixed by slotting mechanism with end effector,
Interposer fast inserted is in by slotting mechanism；
Interposer includes the first support tube, drive device, locks wobble-plate, the disk that is locked, equidistant profile locating shaft
And at least two locking sliding shoe,
The top connection multi-functional mechanical wrist portion of first support tube, evagination sets annular connecting portion on bottom, in ring
At least two open slot of circumferentially arranged decile, toroidal membrane is set in the endoporus of the first support tube on shape connecting portion,
Drive device is inserted in the endoporus of the first support tube, connects power transmission shaft in the output end of drive device and power transmission shaft penetrates annular
Dividing plate connection locking wobble-plate；
Locking wobble-plate is horizontally set in the endoporus of the first support tube and positioned at the bottom of toroidal membrane, while locking pendulum
Moving plate connects the disk that is locked；Circumferentially decile sets at least two waist type chutes on locking wobble-plate, in the disk that is locked
On radially decile set with the one-to-one T-shape groove of waist type chute；
All locking sliding shoes are installed on locking wobble-plate and are locked between disk, and locking sliding shoe includes sliding block sheet
The sliding block matched with T-shape groove, sliding block insertion T-shape groove are provided with body, slider body on symmetrical two sides
The interior slip for realizing both；The support shaft being engaged with waist type chute is set in the top surface of slider body, is set with support shaft
Roller and roller is slided in waist type chute；Evagination sets bulb to position pin, bulb locating dowel on the side of slider body
Pin is in three-dimensional 90 ° of vertical designs with support shaft, and bulb positioning pin passes the first support tube upper shed groove and reached by plug in machine
In structure；
Equidistant profile locating shaft is T-shaped, is set on the butt end end face of equidistant profile locating shaft and is seated detection mouth, releases
Inflatable mouth and the first fluid passage of at least one are put, shaft with equal profile is set in taper end；Equidistant profile locating shaft level is set
Put the outside in the end of the annular connecting portion of the first support tube and shaft with equal profile the first support tube of direction；
Second support tube and the second partition being horizontally set in the second support tube endoporus, the first support are included by slotting mechanism
Annular connecting portion on cylinder is inserted into the endoporus of the second support tube, and it is fixed with bulb to be provided with the inner hole wall of the second support tube
Position pin matches corresponding annular positioning groove, be provided with second partition with first fluid passage relative to second fluid
Passage.
The center of shaft with equal profile on improvement to technical solutions of the utility model, equidistant profile locating shaft sets electricity
Property plug.
Indent, which is provided with, on further improvement to above-mentioned technical proposal, second partition is engaged positioning with shaft with equal profile
Equidistant profile counterbore.
Above-mentioned technical proposal is further improved, the electricity being engaged with electrical plug is provided with equidistant profile counterbore
Property socket.
Improvement to technical solutions of the utility model, circular orientation slot cross-section is in semi-circular, the circular diameter of annular positioning groove half
It is equal with bulb positioning pin bulb diameter.
Improvement to technical solutions of the utility model, drive device can use swing type cylinder, or spiral swing hydranlic pressure jar, electricity
Machine
The beneficial effects of the utility model are：
1st, this is used for the quick-changing mechanism of multi-functional mechanical wrist portion, is connected using equidistant profile, can transmitting large torque, operation
Simply, good reliability, by Fluid-transmission and mechanically operated collaborative design, can realize quick changing-over multifunction manipulator
End effector, with preferable application prospect.
2nd, this is used for the quick-changing mechanism of multi-functional mechanical wrist portion, and interposer by slotting mechanism using equidistant profile with being connected
Connect, can transmitting large torque, operation positioning it is simple.
3rd, this is used for the quick-changing mechanism of multi-functional mechanical wrist portion, and using locking wobble-plate, be locked disk and locking cunning
Motion block, it is possible to achieve interposer and be reliably accurately positioned and clamped between slotting mechanism.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is overall structure sectional view of the present utility model；
Fig. 3 is the structural representation of stop sleeve one of the present utility model；
Fig. 4 is locking sliding shoe structural representation of the present utility model；
Fig. 5 is locking wobble-plate structural representation of the present utility model；
Fig. 6 is the dish structure schematic diagram of the present utility model that is locked；
Fig. 7 is equidistant profile positioning axis structure schematic diagram of the present utility model；
Fig. 8 is the structural representation of dividing plate two of the present utility model；
Fig. 9 is that bulb alignment pin of the present utility model holds out against connection diagram with annular positioning groove；
Figure 10 is that bulb alignment pin of the present utility model discharges connection diagram with annular positioning groove.
Wherein：1000th, interposer, the 1001, first support tube, 1001-1, open slot, 1002, drive device, 1003,
Lock wobble-plate, 1003-1, waist type chute, 1004, be locked disk, 1004-1, T-shape groove, 1005, locking sliding shoe,
1005-1, slider body, 1005-2, support shaft, 1005-3, roller, 1005-4, bulb positioning pin, 1005-5, sliding block,
1006th, equidistant profile locating shaft, 1006-1, first fluid passage, are seated detection mouth at 1006-2,1006-3, release inflatable mouth,
1006-4, shaft with equal profile, 1007, toroidal membrane, 1008, power transmission shaft, 1009, bearing, 1010, electrical plug, 2000, inserted
Mechanism, the 2001, second support tube, 2001-1, annular positioning groove, 2002, second partition, 2002-1, annular positioning groove, 2002-
2nd, equidistant profile counterbore, 2003, electrical socket.
Embodiment
Technical solutions of the utility model are described in detail below, but protection domain of the present utility model is not limited to
The embodiment.
To make content of the present utility model more obvious understandable, below in conjunction with accompanying drawing 1- Figure 10 and embodiment do into
The description of one step.
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain this
Utility model, is not used to limit the utility model.
As shown in figure 1, in the present embodiment be used for multi-functional mechanical wrist portion quick-changing mechanism, including with multifunction manipulator
The affixed interposer 1000 of wrist and affixed by slotting mechanism 2000 with end effector, the fast inserted of interposer 1000 exists
By in slotting mechanism 2000.
As shown in Fig. 2,3,4,5,6 and 7, interposer 1000 includes the first support tube 1001, drive device 1002, locking
Wobble-plate 1003, the disk 1004 that is locked, the locking sliding shoe 1005 of equidistant profile locating shaft 1006 and at least two.Locking
The quantity of sliding shoe 1005 can be determined according to the weight of arm end effector.Drive device 1002 can use swing type gas
Cylinder, or spiral swing hydranlic pressure jar, motor.
As shown in figure 3, the top connection multi-functional mechanical wrist portion of the first support tube 1001, evagination sets ring on bottom
Shape connecting portion, the open slot 1001-1 of at least two of circumferentially arranged decile on annular connecting portion, in the first support tube
Toroidal membrane 1007 is set, and drive device 1002 is inserted in the endoporus of the first support tube 1001, in driving dress 1001 endoporus
The output end connection power transmission shaft 1008 and power transmission shaft 1008 for putting 1002 penetrate the connection locking wobble-plate of toroidal membrane 1007
1003。
As shown in figure 5, locking wobble-plate 1003 be horizontally set in the endoporus of the first support tube 1001 and positioned at annular every
The bottom of plate 1007, while locking wobble-plate 1003 connects the disk 1004 that is locked；On locking wobble-plate 1003 circumferentially etc.
Set up separately and put at least two waist type chute 1003-1, radially decile is set and waist type chute 1003-1 being locked on disk 1004
One-to-one T-shape groove 1004-1, as shown in Figure 6.
All locking sliding shoes 1005 are installed on locking wobble-plate 1003 and are locked between disk 1004.Such as Fig. 4 institutes
Show, locking sliding shoe 1005 include being provided with slider body 1005-1, the upper symmetrical two sides of slider body 1005-1 and
The sliding block 1005-5 that T-shape groove 1004-1 matches, sliding block 1005-5 insertion T-shape, which lead to, realizes both cunnings in 1004-1
It is dynamic；The support shaft 1005-2 being engaged with waist type chute 1003-1 is set in slider body 1005-1 top surface, in support shaft
Roller 1005-3 is set with 1005-2 and roller 1005-3 is slided in waist type chute 1003-1；Slider body 1005-1's
Evagination sets bulb to position pin 1005-4 on side, and bulb positioning pin 1005-4 and support shaft 1005-2 hangs down in three-dimensional 90 °
Straight design, bulb positioning pin 1005-4 passes the upper shed groove 1001-1 of the first support tube 1001 and reached by slotting mechanism 2000
It is interior.
Distance of the waist type chute 1003-1 two ends along the locking radial direction of wobble-plate 1003 in the present embodiment, locking is slided
The critical distance that block 1005 is moved is equal with bulb positioning pin 1005-4 Probe-radius.
As shown in fig. 7, equidistant profile locating shaft 1006 is T-shaped, in the butt end end face of equidistant profile locating shaft 1006
Upper setting is seated detection mouth 1006-2, the release inflatable mouth 1006-3 and first fluid passage 1006-1 of at least one, in taper end
Upper setting shaft with equal profile 1006-4；Equidistant profile locating shaft 1006 is horizontally set on the annular connecting portion of the first support tube 1001
End and shaft with equal profile 1006-4 towards the first support tube 1001 outside.Isometric type on equidistant profile locating shaft 1006
Face axle 1006-4 center sets electrical plug 1010.
As shown in Figures 2 and 8, the second support tube 2001 is included by slotting mechanism 2000 and is horizontally set on the second support tube 2001
Annular connecting portion on second partition 2002 in endoporus, the first support tube 1001 is inserted into the endoporus of the second support tube 2001
In, it is provided with and matches corresponding annular positioning groove with bulb positioning pin 1005-4 on the inner hole wall of the second support tube 2001
2001-1, be provided with second partition 2002 with first fluid passage 1006-1 relative to second fluid passage 2002-1.
Annular positioning groove 2001-1 sections are in semi-circular, the circular diameter of annular positioning groove half and bulb positioning pin 1005-4 bulb diameter phases
Deng.Indent is provided with the equidistant profile counterbore 2002- that positioning is engaged with shaft with equal profile 1006-4 on second partition 2002
2.The electrical socket 2003 being engaged with electrical plug 1010 is provided with equidistant profile counterbore 2002-2.The electrical He of plug 1010
Electrical socket 2003 is routine techniques product of the prior art.
The quick-changing mechanism for multi-functional mechanical wrist portion of the present embodiment is as follows in operation principle：
When interposer 1000 by slotting mechanism 2000 with being seated, first by driving power transmission shaft by drive device 1002
1008 swing with locking wobble-plate 1003, and locking sliding shoe 1005 is in locking wobble-plate 1003 and the disk 1004 that is locked
Common constraint under, the radial direction along the first stop sleeve 1001 is protruding, bulb positioning pin 1005-4 bulb
Annular positioning groove 2001-1 is inserted at position, and electrical plug 1010 inserts electrical socket 2003, as shown in Figure 9；Secondly detection is seated
Detection mouth 1006-2 supply gas pressure, control interposer 1000 by slotting mechanism 2000 with being reliably seated；Finally, first fluid leads to
Road 1006-1 and second fluid passage 2002-1, end-effector discharge pressure fluid；Or pass through electrical plug 1010 and electricity
The property end-effector of socket 2003 transmits electric power；
When interposer 1000 by slotting mechanism 2000 with being separated, first, cut through first fluid passage 1006-1 and
Second fluid passage 2002-1 pressure fluid, cuts through the electric power that electrical plug 1010 and electrical socket 2003 are conveyed；Its
Secondary drive device 1002 drives power transmission shaft 1008 and locking wobble-plate 1003 to occur backswing, and locking sliding shoe 1005 is in locking
Wobble-plate 1003 and it is locked under the common constraint of disk 1004, along the radial direction of stop sleeve 1 to contract,
Annular positioning groove 2001-1 is exited at bulb positioning pin 1005-4 bulb position；Most backward release inflatable mouth 1006-3 provides pressure
Strength body, facilitates insertion into mechanism 1000 and the separation by slotting mechanism 2000, as shown in Figure 10.
The foregoing is only the quick-changing mechanism for multi-functional mechanical wrist portion that the utility model is related to one is preferable
Case study on implementation, but practical range of the present utility model is not limited thereto example.
It is routine techniques of the prior art not refer to parts in the utility model.
Be not specifically noted in all the utility model specifications be prior art or can by existing technology
Realize, it should be appreciated that for those of ordinary skills, can according to the above description be improved or converted, and
All these modifications and variations should all belong to the protection domain of the utility model appended claims.
Claims (6)
1. a kind of quick-changing mechanism for multi-functional mechanical wrist portion, it is characterised in that：Including solid with multi-functional mechanical wrist portion
The interposer (1000) that connects and affixed by slotting mechanism (2000) with end effector, interposer (1000) fast inserted exists
By in slotting mechanism (2000)；
Interposer (1000) includes the first support tube (1001), drive device (1002), locking wobble-plate (1003), locking admittedly
Price fixing (1004), equidistant profile locating shaft (1006) and at least two locking sliding shoe (1005),
The top connection multi-functional mechanical wrist portion of first support tube (1001), evagination sets annular connecting portion on bottom,
At least two open slot (1001-1) of circumferentially arranged decile, the endoporus in the first support tube (1001) on annular connecting portion
In set toroidal membrane (1007), drive device (1002) insert the first support tube (1001) endoporus in, in drive device
(1002) output end connection power transmission shaft (1008) and power transmission shaft (1008) penetrates toroidal membrane (1007) connection locking and swung
Disk (1003)；
Locking wobble-plate (1003) is horizontally set in the endoporus of the first support tube (1001) and positioned at toroidal membrane (1007)
Bottom, while locking wobble-plate (1003) connects the disk (1004) that is locked；The circumferentially decile in locking wobble-plate (1003)
At least two waist type chutes (1003-1) are set, and radially decile is set and waist type chute on the disk that is locked (1004)
(1003-1) one-to-one T-shape groove (1004-1)；
All locking sliding shoes (1005) are installed between locking wobble-plate (1003) and the disk that is locked (1004), and locking is slided
Motion block (1005) includes being provided with and " T " on symmetrical two sides on slider body (1005-1), slider body (1005-1)
Two are realized in the sliding block (1005-5) that type groove (1004-1) matches, sliding block (1005-5) insertion T-shape groove (1004-1)
The slip of person；Support shaft (the 1005- being engaged with waist type chute (1003-1) is set in the top surface of slider body (1005-1)
2), it is set with roller (1005-3) in support shaft (1005-2) and roller (1005-3) is slided in waist type chute (1003-1)；
On slider body (1005-1) side evagination set bulb position pin (1005-4), bulb positioning pin (1005-4) with
Support shaft (1005-2) is in three-dimensional 90 ° of vertical designs, and bulb positioning pin (1005-4) is passed to be opened on the first support tube (1001)
Mouth groove (1001-1) is simultaneously reached by slotting mechanism (2000)；
Equidistant profile locating shaft (1006) is T-shaped, sets and is seated on the butt end end face of equidistant profile locating shaft (1006)
Detection mouth (1006-2), release inflatable mouth (1006-3) and the first fluid passage (1006-1) of at least one, set in taper end
Put shaft with equal profile (1006-4)；Equidistant profile locating shaft (1006) is horizontally set on the annular connection of the first support tube (1001)
The end in portion and the outside of shaft with equal profile (1006-4) the first support tube of direction (1001)；
Second support tube (2001) and be horizontally set in the second support tube (2001) endoporus the are included by slotting mechanism (2000)
Annular connecting portion on two dividing plates (2002), the first support tube (1001) is inserted into the endoporus of the second support tube (2001),
It is provided with and matches corresponding annular positioning groove with bulb positioning pin (1005-4) on the inner hole wall of second support tube (2001)
(2001-1), be provided with second partition (2002) with first fluid passage (1006-1) relative to second fluid passage
(2002-1)。
2. using the quick-changing mechanism for multi-functional mechanical wrist portion described in claim 1, it is characterised in that equidistant profile is fixed
The center of shaft with equal profile (1006-4) on position axle (1006) sets electrical plug (1010).
3. using the quick-changing mechanism for multi-functional mechanical wrist portion described in claim 2, it is characterised in that second partition
(2002) indent is provided with the equidistant profile counterbore (2002-2) that positioning is engaged with shaft with equal profile (1006-4) on.
4. using the quick-changing mechanism for multi-functional mechanical wrist portion described in claim 3, it is characterised in that equidistant profile sinks
The electrical socket (2003) being engaged with electrical plug (1010) is provided with hole (2002-2).
5. using the quick-changing mechanism for multi-functional mechanical wrist portion described in claim 1, it is characterised in that annular positioning groove
(2001-1) section is in semi-circular, and the circular diameter of annular positioning groove half is equal with bulb positioning pin (1005-4) bulb diameter.
6. using the quick-changing mechanism for multi-functional mechanical wrist portion described in claim 1, it is characterised in that drive device
(1002) swing type cylinder, or spiral swing hydranlic pressure jar, motor can be used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621466808.XU CN206536495U (en) | 2016-12-29 | 2016-12-29 | A kind of quick-changing mechanism for multi-functional mechanical wrist portion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621466808.XU CN206536495U (en) | 2016-12-29 | 2016-12-29 | A kind of quick-changing mechanism for multi-functional mechanical wrist portion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206536495U true CN206536495U (en) | 2017-10-03 |
Family
ID=59938575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621466808.XU Active CN206536495U (en) | 2016-12-29 | 2016-12-29 | A kind of quick-changing mechanism for multi-functional mechanical wrist portion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206536495U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737796A (en) * | 2016-12-29 | 2017-05-31 | 南京信息职业技术学院 | A kind of quick-changing mechanism for multi-functional mechanical wrist portion |
| CN112497258A (en) * | 2020-11-17 | 2021-03-16 | 武汉联影智融医疗科技有限公司 | Mechanical arm and joint quick-change interface thereof |
-
2016
- 2016-12-29 CN CN201621466808.XU patent/CN206536495U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737796A (en) * | 2016-12-29 | 2017-05-31 | 南京信息职业技术学院 | A kind of quick-changing mechanism for multi-functional mechanical wrist portion |
| CN106737796B (en) * | 2016-12-29 | 2023-06-16 | 南京信息职业技术学院 | Quick-change mechanism for multifunctional mechanical arm part |
| CN112497258A (en) * | 2020-11-17 | 2021-03-16 | 武汉联影智融医疗科技有限公司 | Mechanical arm and joint quick-change interface thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737796A (en) | A kind of quick-changing mechanism for multi-functional mechanical wrist portion | |
| CN206536495U (en) | A kind of quick-changing mechanism for multi-functional mechanical wrist portion | |
| CN106275330B (en) | A kind of subsea control modules spring forced locking device | |
| CN201997967U (en) | Fixture special for processing knuckle | |
| CN110496995A (en) | A kind of stable type electric punch system with regulatory function | |
| CN208483869U (en) | It is a kind of for the quick change of robot tool and the device of safety detection | |
| CN203863679U (en) | Industrial mechanical arm | |
| CN107204530A (en) | The latent device docking charging plug device of autonomous | |
| CN103510927B (en) | Horizontal sleeve type connector for deep water manifold | |
| CN110937086A (en) | Concave-convex underwater butt joint device | |
| CN202356666U (en) | Pneumatic punching machine | |
| CN115091230A (en) | Intelligent manufacturing complete equipment based on industrial robot | |
| CN104227386A (en) | Improved device for quickly connecting joints underwater | |
| CN2928324Y (en) | High efficiency pneumatic chuck | |
| CN102284738A (en) | Electromagnetic clamping device for mechanical milling head | |
| CN111872929B (en) | Intelligent quick connecting device for robot | |
| CN110216485A (en) | A kind of handle end Combined machining device | |
| CN201470923U (en) | Automatic chuck | |
| CN204248839U (en) | A kind of curved surface guiding steel-ball type quick-replaceable interface with pose capability for correcting | |
| CN109773805B (en) | Clamp device for small space in water of nuclear power station | |
| CN108086948A (en) | A kind of locking device of underwater valve operation instrument | |
| CN202911967U (en) | Double-station filling machine | |
| CN101285541B (en) | Remote control submarine pipeline coupler | |
| CN203356947U (en) | Tool for replacing underwater perpendicular connector sealing element | |
| CN203917998U (en) | A kind of numerical control chuck with automatic key locking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |