CN207548604U - A kind of clamp system of vibration damper complement assembly machine - Google Patents

A kind of clamp system of vibration damper complement assembly machine Download PDF

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Publication number
CN207548604U
CN207548604U CN201721691284.9U CN201721691284U CN207548604U CN 207548604 U CN207548604 U CN 207548604U CN 201721691284 U CN201721691284 U CN 201721691284U CN 207548604 U CN207548604 U CN 207548604U
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rectangular
plate
bottom plate
arm
rectangular bottom
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李洪钊
刘永红
党建伟
王文波
朱自华
朱恒波
赵阳
赵国超
周军记
周楷元
王耀黎
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Nanyang Cijan Auto Shock Absorber Co Ltd
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Nanyang Cijan Auto Shock Absorber Co Ltd
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Abstract

本实用新型公开了一种减振器总成装配机的夹紧机构,包括夹紧盒,夹紧盒包括前后设置的矩形底板,矩形底板前端成三角形,矩形底板中后部沿板长方向设置有矩形通孔,矩形底板左右两侧边均竖直设置有一体成型的侧边板,矩形底板后侧边竖直设置有后边板,后边板中部设置有圆孔,矩形底板上方设置有与矩形底板结构完全相同的盖板。本实用新型设计合理、结构简单、能够通过气缸推开卡块通过转动连接的连杆推动左侧臂和右侧臂实现夹紧动作,左夹紧块和右夹紧上V型槽的设计能够起到定心的作用,托板的设置能够有效托举减振器防止其下滑,托板橡胶垫的设置能够有效防止减振器与托板的刚性碰撞。

The utility model discloses a clamping mechanism of a shock absorber assembly assembly machine, which comprises a clamping box. The clamping box comprises a rectangular bottom plate arranged front and back, the front end of the rectangular bottom plate is triangular, and the middle and rear part of the rectangular bottom plate is arranged along the length direction of the plate. There are rectangular through holes, the left and right sides of the rectangular base plate are vertically provided with integrally formed side plates, the rear side of the rectangular base plate is vertically provided with a rear plate, the middle of the rear plate is provided with a round hole, and the upper part of the rectangular base plate is provided with a rectangular The base plate has the same structure as the cover plate. The utility model has reasonable design and simple structure, and can push the clamping block through the cylinder and push the left arm and the right arm to realize the clamping action by rotating the connected connecting rod. The design of the V-shaped groove on the left clamping block and the right clamping can Playing the role of centering, the setting of the support plate can effectively lift the shock absorber to prevent it from sliding down, and the setting of the support plate rubber pad can effectively prevent the rigid collision between the shock absorber and the support plate.

Description

一种减振器总成装配机的夹紧机构Clamping mechanism of a shock absorber assembly machine

技术领域technical field

本实用新型涉及汽车减振器装配技术领域,具体涉及一种减振器总成装配机的夹紧机构。The utility model relates to the technical field of automobile shock absorber assembly, in particular to a clamping mechanism of a shock absorber assembly assembly machine.

背景技术Background technique

汽车减振器是汽车一种避振的装置,为了使车架与车身的振动迅速衰减,从而改善汽车行驶的平顺性和舒适性,汽车悬架系统上一般都装有减振器,减振器能缓冲颠簸时产生弹压的压力,使得汽车行驶更平稳。Automobile shock absorber is a kind of anti-vibration device for automobiles. In order to quickly attenuate the vibration of the frame and body, thereby improving the ride comfort and comfort of the car, the automobile suspension system is generally equipped with a shock absorber. The shock absorber can buffer the pressure generated during bumps, making the car run more smoothly.

现今多数减振器装配线多要求实现制动化,而在减振器装配工序中,需要对减振器进行夹持固定,传统的减振器夹持机构结构复杂,制造成本高,且定心不准,易松动,因此需要设计一种能够用于减振器制动化装配产线的高效夹紧机构。Nowadays, most shock absorber assembly lines require braking, and in the shock absorber assembly process, the shock absorber needs to be clamped and fixed. The traditional shock absorber clamping mechanism has a complex structure, high manufacturing cost, and centering Inaccurate, easy to loose, so it is necessary to design a high-efficiency clamping mechanism that can be used in the shock absorber braking assembly line.

实用新型内容Utility model content

本实用新型的目的是针对现有技术存在的不足,提供一种能够自动化压装、自动化打紧、智能防错判别,确保装配时自动识别防护帽压装到位,螺母拧紧的拧紧力矩稳定,降低劳动强度,稳定可靠,能够提高生产效率,节约成本的减振器总成自动装配装置。The purpose of this utility model is to aim at the deficiencies of the existing technology, to provide an automatic press-fitting, automatic tightening, intelligent error-proof judgment, to ensure that the protective cap is automatically identified when the assembly is in place, the tightening torque of the nut is stable, and the labor is reduced. Strong, stable and reliable, can improve production efficiency and save cost of the shock absorber assembly automatic assembly device.

为了解决上述技术问题,本实用新型采用如下技术方案:一种减振器总成装配机的夹紧机构,包括夹紧盒,夹紧盒包括前后设置的矩形底板,矩形底板前端成三角形,矩形底板中后部沿板长方向设置有矩形通孔,矩形底板左右两侧边均竖直设置有侧边板,矩形底板后侧边竖直设置有后边板,后边板中部设置有圆孔,矩形底板上方设置有与矩形底板结构完全相同的盖板。In order to solve the above-mentioned technical problems, the utility model adopts the following technical scheme: a clamping mechanism of a shock absorber assembly machine, including a clamping box, the clamping box includes a rectangular bottom plate arranged front and back, the front end of the rectangular bottom plate is triangular, rectangular The rear part of the bottom plate is provided with a rectangular through hole along the length direction of the plate, the left and right sides of the rectangular bottom plate are vertically provided with side plates, the rear side of the rectangular bottom plate is vertically provided with a rear side plate, and the middle part of the rear side plate is provided with a round hole. A cover plate having the same structure as the rectangular bottom plate is arranged above the bottom plate.

矩形底板上端面左侧紧邻侧边板内侧设置有左侧臂,左侧臂包括前后设置的左力臂,左力臂中部内侧垂直设置有一体成型的第一固定臂;矩形底板上端面右侧紧邻侧边板内侧设置有右侧臂,右侧臂包括前后设置的右力臂,右力臂中部内侧垂直设置有一体成型的第二固定臂。On the left side of the upper surface of the rectangular bottom plate, a left arm is arranged adjacent to the inner side of the side plate. The left arm includes a left moment arm arranged front and back, and an integrally formed first fixed arm is vertically arranged on the inner side of the middle part of the left moment arm; the right side of the upper surface of the rectangular bottom plate A right arm is arranged adjacent to the inner side of the side plate, and the right arm includes a right moment arm arranged front and back, and an integrally formed second fixed arm is vertically arranged on the inner side of the middle part of the right moment arm.

第一固定臂和第二固定臂通过第一销轴转动连接,第一销轴位于第一固定臂和第二固定臂的内端,第一销轴固定在矩形底板和盖板的前端部,左力臂和右力臂后端均铰接有连杆,矩形底板上端后部设置有卡块,卡块前端面设置有第二销轴,两连杆后端均转动连接于第二销轴,卡块上下端均设有矩形凸起,卡块下端矩形凸起卡设在矩形底板的矩形通孔内,卡块上端矩形凸起卡设在盖板的矩形通孔内,卡块能沿矩形通孔滑动;左力臂和右力臂内侧分别设置有左夹紧块和右夹紧块,左夹紧块和右夹紧块内侧均竖直设置有 V型槽,夹紧盒下端竖直设置有左导杆和右导杆,左导杆和右导杆上设置有一固定块,固定块前端面水平设置有的托板。The first fixed arm and the second fixed arm are rotatably connected by a first pin shaft, the first pin shaft is located at the inner end of the first fixed arm and the second fixed arm, the first pin shaft is fixed on the front end of the rectangular bottom plate and the cover plate, The rear ends of the left moment arm and the right moment arm are hinged with connecting rods, a block is arranged at the rear of the upper end of the rectangular bottom plate, and a second pin is arranged on the front end of the block, and the rear ends of the two connecting rods are both rotatably connected to the second pin. The upper and lower ends of the clamp block are provided with rectangular protrusions, the rectangular protrusions at the lower end of the clamp block are set in the rectangular through hole of the rectangular bottom plate, the rectangular protrusions at the upper end of the clamp block are set in the rectangular through hole of the cover plate, and the clamp block can be fixed along the rectangular through hole. Sliding through the hole; left clamping block and right clamping block are arranged on the inner side of the left arm and right arm respectively, and V-shaped grooves are vertically arranged on the inner side of the left clamping block and the right clamping block, and the lower end of the clamping box is vertical A left guide rod and a right guide rod are provided, a fixed block is arranged on the left guide rod and the right guide rod, and a supporting plate is arranged horizontally on the front end of the fixed block.

所述的圆孔两侧对称设置有两固定孔。Two fixing holes are arranged symmetrically on both sides of the circular hole.

所述的左导杆和右导杆均穿设过矩形底板和盖板,且与夹紧盒固定连接。Both the left guide rod and the right guide rod pass through the rectangular bottom plate and the cover plate, and are fixedly connected with the clamping box.

托板上端面设置有橡胶垫。A rubber pad is arranged on the upper surface of the supporting plate.

所述的后边板后侧面设置有气缸,气缸通过两固定孔固定,气缸的活塞杆外端与卡块固定连接。The rear side of the rear side plate is provided with a cylinder, the cylinder is fixed through two fixing holes, and the outer end of the piston rod of the cylinder is fixedly connected with the clamping block.

所述的矩形底板和侧边板一体成型;矩形底板和后边板一体成型。The rectangular bottom plate and the side panels are integrally formed; the rectangular bottom plate and the rear side plate are integrally formed.

相对于现有技术,本实用新型的有益效果为:本实用新型设计合理、结构简单、能够通过气缸推开卡块通过转动连接的连杆推动左侧臂和右侧臂实现夹紧动作,左夹紧块和右夹紧上V型槽的设计能够起到定心的作用,托板的设置能够有效托举减振器防止其下滑,托板橡胶垫的设置能够有效防止减振器与托板的刚性碰撞。Compared with the prior art, the beneficial effects of the utility model are: the utility model has a reasonable design and a simple structure, and can push the left arm and the right arm to realize the clamping action by pushing the connecting rod through the connecting rod through the cylinder, and the left The design of the clamping block and the V-groove on the right clamp can play a centering role. The setting of the supporting plate can effectively lift the shock absorber to prevent it from sliding down. The setting of the rubber pad of the supporting plate can effectively prevent the shock absorber from colliding with the supporting plate. Rigid collision of plates.

附图说明Description of drawings

图1为本实用新型的结构示意图;Fig. 1 is the structural representation of the utility model;

图2为夹紧盒的结构示意图。Fig. 2 is a schematic structural diagram of the clamping box.

1. 矩形底板、2. 后边板、3.矩形通孔、301. 侧边板、302. 固定块、303. 左侧臂、304.右侧臂、305.右导杆、306.左导杆、307.托板、308.卡块、314. 左夹紧块、315.右夹紧块、316. 圆孔。1. Rectangular bottom plate, 2. Rear side plate, 3. Rectangular through hole, 301. Side plate, 302. Fixed block, 303. Left arm, 304. Right arm, 305. Right guide rod, 306. Left guide rod , 307. supporting plate, 308. block, 314. left clamping block, 315. right clamping block, 316. round hole.

具体实施方式Detailed ways

实施例:如图1-2所示,本实用新型所述的一种减振器总成装配机的夹紧机构,包括夹紧盒,夹紧盒包括前后设置的矩形底板1,矩形底板1前端成三角形,矩形底板1中后部沿板长方向设置有矩形通孔3,矩形底板1左右两侧边均竖直设置有一体成型的侧边板301,矩形底板1后侧边竖直设置有一体成型的后边板2,后边板2中部设置有圆孔316,圆孔316两侧对称设置有两固定孔,矩形底板1上方设置有与矩形底板1结构完全相同的盖板,盖板盖在矩形底板3正上方起到密封和固定作用。Embodiment: As shown in Figure 1-2, the clamping mechanism of a shock absorber assembly assembly machine described in the utility model includes a clamping box, and the clamping box includes a rectangular bottom plate 1 arranged front and back, and a rectangular bottom plate 1 The front end is triangular, the middle and rear part of the rectangular bottom plate 1 is provided with a rectangular through hole 3 along the length direction of the plate, the left and right sides of the rectangular bottom plate 1 are vertically provided with integrally formed side panels 301, and the rear side of the rectangular bottom plate 1 is vertically arranged There is an integrally formed rear side plate 2, a round hole 316 is arranged in the middle of the rear side plate 2, two fixing holes are symmetrically arranged on both sides of the round hole 316, and a cover plate with the same structure as the rectangular bottom plate 1 is arranged on the top of the rectangular bottom plate 1, and the cover plate covers Play a role of sealing and fixing directly above the rectangular base plate 3 .

矩形底板1上端面左侧紧邻侧边板301内侧设置有左侧臂303,左侧臂303包括前后设置的左力臂,左力臂中部内侧垂直设置有一体成型的第一固定臂;矩形底板1上端面右侧紧邻侧边板301内侧设置有右侧臂304,右侧臂304包括前后设置的右力臂,右力臂中部内侧垂直设置有一体成型的第二固定臂。The left side arm 303 is arranged on the left side of the upper end surface of the rectangular base plate 1 adjacent to the inner side of the side plate 301. The left arm 303 includes a left moment arm arranged front and back, and an integrally formed first fixed arm is vertically arranged on the inner side of the middle part of the left moment arm; the rectangular base plate 1. A right arm 304 is arranged on the right side of the upper end surface adjacent to the inner side of the side plate 301. The right arm 304 includes a right moment arm arranged front and back, and a second integrally formed fixed arm is vertically arranged on the inner side of the middle part of the right moment arm.

第一固定臂和第二固定臂通过第一销轴转动连接,第一销轴位于第一固定臂和第二固定臂的内端,第一销轴固定在矩形底板1和盖板的前端部,左力臂和右力臂后端均铰接有连杆,矩形底板1上端后部设置有卡块308,卡块308前端面设置有第二销轴,两连杆后端均转动连接于第二销轴,卡块308上下端均设有矩形凸起,卡块308下端矩形凸起卡设在矩形底板1的矩形通孔3内,卡块308上端矩形凸起卡设在盖板的矩形通孔3内,卡块308能沿矩形通孔3滑动,后边板2后侧面设置有气缸,气缸通过两固定孔固定,气缸的活塞杆外端与卡块308固定连接。The first fixed arm and the second fixed arm are rotatably connected by the first pin shaft, the first pin shaft is located at the inner end of the first fixed arm and the second fixed arm, and the first pin shaft is fixed on the front end of the rectangular bottom plate 1 and the cover plate , the rear ends of the left moment arm and the right moment arm are hinged with connecting rods, the rear part of the upper end of the rectangular bottom plate 1 is provided with a block 308, the front end of the block 308 is provided with a second pin shaft, and the rear ends of the two connecting rods are rotatably connected to the first Two pin shafts, the upper and lower ends of the clamping block 308 are provided with rectangular protrusions, the rectangular protrusions at the lower end of the clamping block 308 are set in the rectangular through hole 3 of the rectangular bottom plate 1, and the rectangular protrusions at the upper end of the clamping block 308 are clamped in the rectangular shape of the cover plate. In the through hole 3, the clamping block 308 can slide along the rectangular through hole 3, and the back side of the rear side plate 2 is provided with a cylinder, which is fixed through two fixing holes, and the piston rod outer end of the cylinder is fixedly connected with the clamping block 308.

夹紧机构未工作时气缸处于收缩状态,卡块308在两矩形通孔3最后端,连杆作用于左力臂和右力臂使左夹紧块314和右夹紧块315张开,当夹紧机构工作时,减振器底部由托板307托起,气缸处于伸出状态,卡块308在气缸作用下在两矩形通孔3最前端,连杆推动于左力臂和右力臂使左夹紧块314和右夹紧块315向内夹紧固定减振器。When the clamping mechanism is not working, the cylinder is in contracted state, and the clamping block 308 is at the rear end of the two rectangular through holes 3, and the connecting rod acts on the left moment arm and the right moment arm to make the left clamping block 314 and the right clamping block 315 open. When the clamping mechanism is working, the bottom of the shock absorber is held up by the supporting plate 307, and the cylinder is in the extended state. Under the action of the cylinder, the block 308 is at the front end of the two rectangular through holes 3, and the connecting rod is pushed on the left moment arm and the right moment arm. Make the left clamping block 314 and the right clamping block 315 clamp and fix the shock absorber inwardly.

左力臂和右力臂内侧分别设置有左夹紧块314和右夹紧块315,左夹紧块314和右夹紧块315内侧均竖直设置有 V型槽,夹紧盒下端竖直设置有左导杆306和右导杆305,左导杆306和右导杆305上设置有一固定块302,固定块302前端面水平设置有的托板307,托板307上端面设置有橡胶垫。The left clamping block 314 and the right clamping block 315 are arranged on the inside of the left moment arm and the right moment arm respectively, and the insides of the left clamping block 314 and the right clamping block 315 are all vertically provided with V-shaped grooves, and the lower end of the clamping box is vertical. A left guide rod 306 and a right guide rod 305 are provided, and a fixed block 302 is arranged on the left guide rod 306 and the right guide rod 305. The front end of the fixed block 302 is horizontally provided with a supporting plate 307, and the upper end of the supporting plate 307 is provided with a rubber pad. .

本实用新型设计合理、结构简单、能够通过直线气缸推开卡块308通过转动连接的连杆推动左侧臂303和右侧臂304实现夹紧动作,左夹紧块314和右夹紧上V型槽的设计能够起到定心的作用,托板307的设置能够有效托举减振器防止其下滑,托板307橡胶垫的设置能够有效防止减振器与托板307的刚性碰撞。The utility model has reasonable design and simple structure, and can push the clamping block 308 through the linear cylinder to push the left arm 303 and the right arm 304 to realize the clamping action through the connecting rod connected by rotation, and the left clamping block 314 and the right clamping upper V The design of the groove can play the role of centering, the setting of the supporting plate 307 can effectively lift the shock absorber to prevent it from sliding down, and the setting of the supporting plate 307 rubber pad can effectively prevent the rigid collision between the shock absorber and the supporting plate 307.

Claims (6)

1.一种减振器总成装配机的夹紧机构,其特征在于:包括夹紧盒,夹紧盒包括前后设置的矩形底板,矩形底板前端成三角形,矩形底板中后部沿板长方向设置有矩形通孔,矩形底板左右两侧边均竖直设置有侧边板,矩形底板后侧边竖直设置有后边板,后边板中部设置有圆孔,矩形底板上方设置有与矩形底板结构完全相同的盖板;1. A clamping mechanism for a shock absorber assembly assembly machine, characterized in that: it includes a clamping box, the clamping box includes rectangular bottom plates arranged front and rear, the front end of the rectangular bottom plate is triangular, and the middle and rear parts of the rectangular bottom plate are along the length direction of the plate Rectangular through holes are provided, side plates are vertically arranged on the left and right sides of the rectangular bottom plate, a rear side plate is vertically arranged on the rear side of the rectangular bottom plate, a round hole is arranged in the middle of the rear side plate, and a rectangular bottom plate structure is arranged above the rectangular bottom plate. the exact same cover; 矩形底板上端面左侧紧邻侧边板内侧设置有左侧臂,左侧臂包括前后设置的左力臂,左力臂中部内侧垂直设置有一体成型的第一固定臂;矩形底板上端面右侧紧邻侧边板内侧设置有右侧臂,右侧臂包括前后设置的右力臂,右力臂中部内侧垂直设置有一体成型的第二固定臂;On the left side of the upper surface of the rectangular bottom plate, a left arm is arranged adjacent to the inner side of the side plate. The left arm includes a left moment arm arranged front and back, and an integrally formed first fixed arm is vertically arranged on the inner side of the middle part of the left moment arm; the right side of the upper surface of the rectangular bottom plate A right arm is provided adjacent to the inner side of the side plate, and the right arm includes a right moment arm arranged front and back, and a second integrally formed fixed arm is vertically arranged on the inner side of the middle part of the right moment arm; 第一固定臂和第二固定臂通过第一销轴转动连接,第一销轴位于第一固定臂和第二固定臂的内端,第一销轴固定在矩形底板和盖板的前端部,左力臂和右力臂后端均铰接有连杆,矩形底板上端后部设置有卡块,卡块前端面设置有第二销轴,两连杆后端均转动连接于第二销轴,卡块上下端均设有矩形凸起,卡块下端矩形凸起卡设在矩形底板的矩形通孔内,卡块上端矩形凸起卡设在盖板的矩形通孔内,卡块能沿矩形通孔滑动;左力臂和右力臂内侧分别设置有左夹紧块和右夹紧块,左夹紧块和右夹紧块内侧均竖直设置有 V型槽,夹紧盒下端竖直设置有左导杆和右导杆,左导杆和右导杆上设置有一固定块,固定块前端面水平设置有的托板。The first fixed arm and the second fixed arm are rotatably connected by a first pin shaft, the first pin shaft is located at the inner end of the first fixed arm and the second fixed arm, the first pin shaft is fixed on the front end of the rectangular bottom plate and the cover plate, The rear ends of the left moment arm and the right moment arm are hinged with connecting rods, a block is arranged at the rear of the upper end of the rectangular bottom plate, and a second pin is arranged on the front end of the block, and the rear ends of the two connecting rods are both rotatably connected to the second pin. The upper and lower ends of the clamp block are provided with rectangular protrusions, the rectangular protrusions at the lower end of the clamp block are set in the rectangular through hole of the rectangular bottom plate, the rectangular protrusions at the upper end of the clamp block are set in the rectangular through hole of the cover plate, and the clamp block can be fixed along the rectangular through hole. Sliding through the hole; left clamping block and right clamping block are arranged on the inner side of the left arm and right arm respectively, and V-shaped grooves are vertically arranged on the inner side of the left clamping block and the right clamping block, and the lower end of the clamping box is vertical A left guide rod and a right guide rod are provided, a fixed block is arranged on the left guide rod and the right guide rod, and a supporting plate is arranged horizontally on the front end of the fixed block. 2.根据权利要求1所述的一种减振器总成装配机的夹紧机构,其特征在于:所述的圆孔两侧对称设置有两固定孔。2 . The clamping mechanism of a shock absorber assembly assembly machine according to claim 1 , wherein two fixing holes are arranged symmetrically on both sides of the circular hole. 3 . 3.根据权利要求1所述的一种减振器总成装配机的夹紧机构,其特征在于:所述的左导杆和右导杆均穿设过矩形底板和盖板,且与夹紧盒固定连接。3. The clamping mechanism of a shock absorber assembly assembly machine according to claim 1, characterized in that: the left guide rod and the right guide rod both pass through the rectangular bottom plate and the cover plate, and are connected with the clamp Tight box fixed connection. 4.根据权利要求3所述的一种减振器总成装配机的夹紧机构,其特征在于:托板上端面设置有橡胶垫。4. The clamping mechanism of a shock absorber assembly assembly machine according to claim 3, wherein a rubber pad is provided on the end surface of the supporting plate. 5.根据权利要求2所述的一种减振器总成装配机的夹紧机构,其特征在于:所述的后边板后侧面设置有气缸,气缸通过两固定孔固定,气缸的活塞杆外端与卡块固定连接。5. The clamping mechanism of a shock absorber assembly assembly machine according to claim 2, characterized in that: the rear side of the rear side plate is provided with a cylinder, the cylinder is fixed through two fixing holes, and the piston rod of the cylinder The end is fixedly connected with the block. 6.根据权利要求1所述的一种减振器总成装配机的夹紧机构,其特征在于:所述的矩形底板和侧边板一体成型;矩形底板和后边板一体成型。6 . The clamping mechanism of a shock absorber assembly assembly machine according to claim 1 , wherein the rectangular bottom plate and the side plates are integrally formed; the rectangular bottom plate and the rear side plate are integrally formed. 7 .
CN201721691284.9U 2017-12-07 2017-12-07 A kind of clamp system of vibration damper complement assembly machine Expired - Fee Related CN207548604U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110815102A (en) * 2019-12-12 2020-02-21 南阳淅减汽车减振器有限公司 On-line clamp and clamping method for intelligent assembly line of shock absorber
CN111958635A (en) * 2020-08-18 2020-11-20 马鞍山迈若斯机器人科技有限公司 Tension feedback robot joint connecting mechanism

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110815102A (en) * 2019-12-12 2020-02-21 南阳淅减汽车减振器有限公司 On-line clamp and clamping method for intelligent assembly line of shock absorber
CN111958635A (en) * 2020-08-18 2020-11-20 马鞍山迈若斯机器人科技有限公司 Tension feedback robot joint connecting mechanism

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