CN208713968U - The robot device of clamping high temperature rotational workpieces - Google Patents
The robot device of clamping high temperature rotational workpieces Download PDFInfo
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- CN208713968U CN208713968U CN201821291269.XU CN201821291269U CN208713968U CN 208713968 U CN208713968 U CN 208713968U CN 201821291269 U CN201821291269 U CN 201821291269U CN 208713968 U CN208713968 U CN 208713968U
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Abstract
The robot devices of clamping high temperature rotational workpieces, assemble method and clamping method, the manipulator connection frame being connect including upper end with robot rotation end, two symmetrical be horizontally set on manipulator connection frame lower end and connection frame flange that connecting end surface is vertically arranged, root and the first manipulator assembly and the second manipulator assembly identical with the first manipulator assembly structure for being correspondingly connected with frame flanged joint；First manipulator assembly includes root and the fixed retainer for being correspondingly connected with frame flanged joint, the drive assembly connecting with fixed retainer, the respectively rotation assembly that connect with fixed retainer and drive assembly and the clamping assembly that connect with drive assembly and rotation assembly respectively.The device can effectively realize that the clamping to High Temperature Rotating workpiece is carried.
Description
Technical field
The utility model relates to the technical fields of clamping high temperature rotational workpieces in centrifugal casting technique, specifically clamp
Robot device, assemble method and the clamping method of High Temperature Rotating workpiece.
Background technique
As Industrial Robot Technology is in the continuous development of traditional industries, robot replaces the loading and unloading technology of manual labor
It is used widely.In centrifugal casting technique, there is clamping high temperature rotational workpieces difficulty in existing loading and unloading equipment.
Therefore it is badly in need of a kind of robot device for capableing of clamping high temperature rotational workpieces.
Utility model content
The purpose of this utility model is to provide the robot device of clamping high temperature rotational workpieces, assemble method and clamping sides
Method is carried for realizing the clamping to High Temperature Rotating workpiece.
The technical solution adopted by the utility model to solve its technical problems is that: the manipulator dress of clamping high temperature rotational workpieces
It sets, assemble method and clamping method, characterized in that it includes clamping assembly, rotation assembly, drive assembly and fixed keeps assembly
And manipulator connection frame, the manipulator connection frame and six-joint robot end axis connection；The fixed holding assembly and machine
Tool hand connection frame is connected and fixed, including support shaft I, support shaft II, support triangle plate, the big bearing retainer in front end, the support
The both ends axis I are fixed by screwing to respectively on the manipulator connection frame and the support triangle plate, the support shaft II
Both ends are fixed by screwing to respectively on the big bearing retainer of the support triangle plate and the front end；
Drive assembly setting keeps assembly rear end fixed, including oil cylinder, oil cylinder connector, driving set square, leads
To axis, linear bearing, the small bearing retainer of support column and rear end, the oil cylinder, which is connected through a screw thread, is mounted on the fixed guarantor
It holds on the support triangle plate of assembly, the oil cylinder front end is connected on the driving set square by the oil cylinder connector, institute
It states guiding shaft rear end to be connected through a screw thread on the support triangle plate for being fixed on the fixed holding assembly, front end passes through the straight line
Bearing is mounted on the driving set square, plays the role of guiding.The small bearing retainer in rear end passes through the support column
And the form being threadedly coupled is mounted on the driving set square；
The rotation assembly is arranged in collateral in the front end of the drive assembly, including the big bearing in front end, the big bearing in front end
Support, central axis, the small bearing in rear end, the small bearing positioning ring in rear end, the small bearing supporting frame in rear end, the small bearing in rear end are mounted on
On the small bearing retainer in the rear end of the drive assembly, the central axis passes through the small bearing positioning ring in the rear end and the rear end
Small bearing supporting frame is mounted on the small bearing in the rear end, and the big bearing in front end is mounted on the fixed front end for keeping assembly
On big bearing retainer, the big bearing medial support frame in front end is mounted on the big bearing in the front end；
The clamping assembly is arranged in the front end of the rotation assembly, including hinged support plate, articulated slab I, articulated slab II,
Clamping jaw finger support plate, clamping jaw finger, oil-free bushing, cantilever pin, the articulated connection plate be connected through a screw thread be mounted on it is described
On the big bearing medial support frame in the front end of rotation assembly, central axis and the nothing of the articulated slab I by the rotation assembly
Oily bushing and cantilever pin are mounted on the hinged support plate, and the articulated slab II equally passes through the oil-free bushing and cantilever pin
It is mounted on the articulated slab I, the front end the articulated slab II is pacified by the clamping jaw finger support plate, oil-free bushing and cantilever pin
On the hinged support plate, the clamping jaw finger, which is connected through a screw thread, to be mounted on the articulated slab II.
Further, the support shaft I uses the spring steel material with certain flexibility, to avoid during clamping
Mechanical damage caused by rotational workpieces and clamping jaw decentraction.
Further, the support shaft I, support shaft II are at triangle arrangement form.
Further, the small bearing of the big bearing in the front end and the rear end uses back-to-back double-row angular contact bal bearing.
The beneficial effects of the utility model are: the robot device of clamping high temperature rotational workpieces provided by the utility model,
Assemble method and clamping method, can be realized in centrifugal casting technique, the workpiece of High Temperature Rotating carries out clamping carrying, solves
In actual production can not clamping high temperature rotational workpieces the problem of.The utility model can effectively raise production efficiency, liberation
Labour of the manpower in casting adverse circumstances.
Detailed description of the invention
Fig. 1 is one of the three-dimensional figure of the utility model；
Fig. 2 is the two of the three-dimensional figure of the utility model；
Fig. 3 is the cross-sectional view of the utility model；
Fig. 4 is the utility model manipulator connection frame three-dimensional figure；
Fig. 5, which is that the utility model is fixed, keeps assembly three-dimensional figure；
Fig. 6 is the utility model drive assembly three-dimensional figure；
Fig. 7 is the utility model rotation assembly three-dimensional figure；
Fig. 8 is that the utility model clamps assembly three-dimensional figure.
Fig. 9 is the three-dimensional figure that the utility model clamps that assembly is connect with rotation assembly.
In figure: 1, manipulator connection frame；Connection frame flange, 2, fixed holding assembly；21, support shaft I；22, support shaft
II；23, support triangle plate；24, the big bearing retainer in front end；3, drive assembly；31, oil cylinder；32, oil cylinder connector；33, it drives
Dynamic set square；34, guiding axis；35, linear bearing；36, support column；37, the small bearing retainer in rear end；4, rotation assembly；41, preceding
Hold big bearing；42, the big bearing medial support frame in front end；43, central axis；44, the small bearing in rear end；45, the small bearing positioning in rear end
Ring；46, the small bearing supporting frame in rear end；5, assembly is clamped；51, hinged support plate；52, articulated slab I；53, articulated slab II；54, it presss from both sides
Cleft hand refers to support plate；55, clamping jaw finger；56, oil-free bushing；57, cantilever pin；6, the second manipulator assembly；58, outside crossbearer；
59, reset spring；80, rotating electric machine；81, radial swing arm is rotated；82, eccentric expansion arm；83, swing angle limits radial arm.
Specific embodiment
As shown in Figures 1 to 9, the utility model manipulator connection frame 1 that include upper end connect with robot rotation end,
Two be symmetrically horizontally set on 1 lower end of manipulator connection frame and connection frame flange that connecting end surface is vertically arranged, root with it is corresponding
First manipulator assembly of connection frame flanged joint and the second manipulator assembly 6 identical with the first manipulator assembly structure；
First manipulator assembly includes root and the fixed retainer 2 and fixed retainer 2 for being correspondingly connected with frame flanged joint
The drive assembly 3 of connection, the rotation assembly 4 being connect respectively with fixed retainer 2 and drive assembly 3 and total with driving respectively
The clamping assembly 5 connected at 3 and rotation assembly 4.
Fixed retainer 2 includes the branch that at least three is horizontally disposed and root is connect with the connecting hole of connection frame flange respectively
Support axis I21, it is vertically arranged and 23, at least three level of support triangle plate that its flange hole connect with the end support shaft I21 respectively
Be arranged and support shaft II22 that root is connect with support triangle plate 23 respectively and be vertically arranged and rear end respectively with support shaft
The big bearing retainer 24 in front end of the end II22 connection；
Support shaft I21 is spring steel and modifier treatment.
Drive assembly 3 include be mounted on oil cylinder 31 at 23 back center of support triangle plate of fixed retainer 2, setting exists
The oil cylinder connector 32 of 31 piston rod end of oil cylinder is distributed horizontally to 23 front end of support triangle plate for being mounted on fixed retainer 2
Guiding axis 34, the driving set square that horizontal sliding and back center are connect with oil cylinder connector 32 on guiding axis 34 on face
33, the linear bearing 35 between driving set square 33 and guiding axis 34 is set, is distributed on driving 33 left side of set square
Support column 36 and 36 left end of support column is set and the small bearing retainer 37 in the rear end concentric with 31 piston rod of oil cylinder；
The oil cylinder 31 of first manipulator assembly and the oil cylinder of the drive assembly of the second manipulator assembly 6 be connected on one it is hydraulic
On pipeline, the oil cylinder of the drive assembly of the rodless cavity of the oil cylinder 31 of the first manipulator assembly and the second manipulator assembly 6 has bar
Chamber series connection.
Rotation assembly 4 includes the central axis 43 coaxial with the small bearing retainer 37 in the rear end of drive assembly 3, is sleeved on center
The small bearing supporting frame 46 in the rear end of 43 root of axis, setting the small bearing retainer in rear end 37 and the small bearing supporting frame 46 in rear end it
Between the small bearing 44 in rear end, on centrally disposed axis 43 and be located at small 44 left end of bearing in rear end the small bearing positioning ring 45 in rear end,
It is sleeved on the big bearing medial support frame 42 in front end at 43 middle part of central axis and is arranged in the big bearing medial support frame 42 in front end
The big bearing 41 in front end between the big bearing retainer 24 in front end of fixed retainer 2；
Have in 43 left end end milling of central axis flat, is radially machined with connection through-hole in flat portion.
Clamping assembly 5 includes on the small bearing supporting frame 46 in rear end that two right end roots are separately fixed at rotation assembly 4
Hinged support plate 51；Two central axises 43 for being located at rotation assembly 4 it is flat between corresponding hinged support plate 51 and root with
The left end connection through-hole of central axis 43 is by being oriented to articulated slab I52, root and the end articulated slab I52 of pin connection hingedly and middle part
By the articulated slab II53 hinged and in X-type with 51 left end hole of hinged support plate of cantilever pin 57, setting in cantilever pin 57 and hingedly
Oil-free bushing 56 between 51 left end hole of support plate, the heat-insulated clamping jaw being arranged between hinged support plate 51 and articulated slab II53
The left part each articulated slab II53 is arranged in and for the clamping jaw finger 55 of clamping workpiece, setting in clamping jaw in finger support plate 54
Outside crossbearer 58 on 55 lateral wall of finger, the reset spring 59 being arranged between two articulated slab II53；
Guiding elongated slot corresponding with guide pin is provided on hinged support plate 51.
It is internal on the right side of the connection frame flange of manipulator connection frame to be coaxially arranged with rotating electric machine 80, it is right in connection frame flange
It is coaxially arranged with rotation ring gear on portion's lateral wall, is provided between the output gear and rotation ring gear of rotating electric machine 80 logical
The middle transition gear for crossing fixed tooth rest installation has been arranged radially the radial swing arm 81 of rotation on rotation ring gear lateral wall,
It is connected with the root of horizontally disposed eccentric expansion arm 82 in 81 outer end of the radial swing arm of rotation, in the big axis in the front end of rotation assembly 4
It holds and has been arranged radially swing angle restriction radial arm 83 on medial support frame 42；Eccentric expansion arm 82 drives swing angle after extending
Radial arm 83 is limited to swing.
The installation method of robot device comprising the manipulator connection frame 1, two that upper end is connect with robot rotation end
It is a to be symmetrically horizontally set on 1 lower end of manipulator connection frame and connection frame flange that connecting end surface is vertically arranged, root and corresponding company
Connect the first manipulator assembly and the second manipulator assembly 6 identical with the first manipulator assembly structure of frame flanged joint；The peace
Dress method includes the following steps；
Step 1, assembling clamping assembly 5；Firstly, outside crossbearer 58 is welded on 55 outside of clamping jaw finger；Then, it will press from both sides
Cleft hand refers to that 55 right ends and the left end of articulated slab II53 are fixedly connected, and places clamping jaw between articulated slab II53 and hinged support plate 51
Finger support plate 54, and pass through cantilever pin 57 for two articulated slab II53, hinged support plate 51, clamping jaw finger support plate 54
Inserting connection, is packed into oil-free bushing 56 between cantilever pin 57 and corresponding 51 left end hole of hinged support plate；Secondly, will hingedly prop up
Fagging 51 and articulated slab II53 are hinged, and reset spring 59 is connected between articulated slab II53；Again, will
Step 2 assembles rotation assembly 4；Firstly, the right end in central axis 43 is packed into the small bearing supporting frame 46 in rear end, rear end
The small bearing positioning ring 45 of small bearing 44 and rear end；Then, the small bearing retainer 37 in rear end is packed on the small bearing 44 in rear end；
Secondly, being packed into the big bearing medial support frame 42 in front end in the middle part of central axis 43, it is packed on the big bearing medial support frame 42 in front end
The big bearing 41 in front end；Again, the big bearing retainer 24 in front end is packed on the big bearing 41 in front end；
Step 3, connection rotation assembly 4 and clamping assembly 5；Firstly, by hinged support plate 51 and the small bearing supporting frame in rear end
46 connections；Then, articulated slab I52 is placed between hinged support plate 51 and central axis 43；Finally, being inserted in guiding elongated slot
Guide pin connects articulated slab I52, hinged support plate 51 and central axis 43；
Step 4 assembles drive assembly 3；Firstly, in 23 installation oil cylinder 31 of support triangle plate and guiding axis 34；Then, exist
31 piston rod end installation oil cylinder connector 32 of oil cylinder, guiding axis 34 be mounted on driving set square 33, and with oil cylinder connector
32 left ends；Secondly, the small bearing retainer 37 in rear end is connect by support column 36 with driving set square 33；
Step 5, firstly, assembling fixed retainer 2；Then, drive assembly 3 is connect with fixed retainer 2；Secondly, will
Fixed retainer 2 is connected on the connection frame flange of manipulator connection frame；Again, by the oil cylinder 31 of the first manipulator assembly with
The oil cylinder of the drive assembly of second manipulator assembly 6 is connected on a fluid pressure line, and by the oil cylinder of the first manipulator assembly
31 rodless cavity is connected with the rod chamber of the oil cylinder of the drive assembly of the second manipulator assembly 6.
The clamping method of high temperature workpiece, by means of robot device comprising upper end is connect with robot rotation end
The connection frame method that manipulator connection frame 1, two is symmetrically horizontally set on 1 lower end of manipulator connection frame and connecting end surface is vertically arranged
Blue, root and the first manipulator assembly and the second machine identical with the first manipulator assembly structure for being correspondingly connected with frame flanged joint
Tool hand assembly 6；The clamping method includes the following steps；
Firstly, the first manipulator assembly drive assembly driving clamping assembly open outside crossbearer prop up workpiece inner sidewall/
Clamping jaw finger closure clamping workpiece lateral wall；Then, under the action of self-weight, workpiece rotates angle around rotation assembly；Secondly, logical
It crosses rotating electric machine and radial arm drive workpiece swing is limited by swing angle；Again, manipulator connection frame drives work rotation, together
When, the second manipulator assembly and reversing of position；Finally, the second manipulator assembly takes while the first manipulator assembly blowing
Material.
Reset spring eliminates creeping for hydraulic cylinder, guarantees the persistence of aid power.It rotates radial swing arm and realizes that driving is swung
To specified angle, facilitate blowing, avoids gear from hindering by eccentric expansion arm.
The utility model is described in detail with reference to the accompanying drawing.
As shown in Figures 1 to 5, manipulator connection frame 1, which is connected through a screw thread, is mounted on six-joint robot terminal shaft, fixed
Assembly 2 is kept to be connected and fixed with manipulator connection frame 1,21 both ends support shaft I are fixed by screwing to manipulator company respectively
It connects on frame 1 and support triangle plate 23, support shaft I is made as terminal connection portion part using the spring steel material with certain flexibility
Single unit system has certain flexibility, avoids rotational workpieces and mechanical damage caused by clamping jaw decentraction during clamping, no
The operating accuracy for influencing manipulator, avoids cylinder deformation.22 both ends support shaft II are fixed by screwing to support respectively
On the big bearing retainer 24 of set square 23 and front end, the effect of support shaft II is the big bearing retainer in fixed front end.Support shaft I
The form of 3 circumference uniform distributions is taken with support shaft II, such form can play the effect for stablizing fixation, while being capable of very great Cheng
The needs that ventilation is realized on degree avoid clamping jaw accumulated heat from being transmitted to damage of the rear end to robot and oil cylinder.Fixed holding assembly
Effect is to play the role of supporting fixed single unit system；When the first manipulator assembly is when clamping workpiece, while being located at it
The second manipulator of opposite direction assembly 6 is unclamping corresponding workpiece, to improve working efficiency, simplifies circuit design.
As shown in Figure 1 to Figure 3, the setting of drive assembly 3 keeps 2 rear end of assembly fixed, as shown in fig. 6, oil cylinder 31 passes through
It is threadedly coupled and is mounted on the fixed support triangle plate 23 for keeping assembly 2,31 front end of oil cylinder is connected to by oil cylinder connector 32
It driving on set square 33,34 rear end of guiding axis, which is connected through a screw thread, to be fixed on the fixed support triangle plate 23 for keeping assembly 2,
Front end is mounted on driving set square 33 by linear bearing 35, plays the role of guiding.When needing to carry out clamping workpiece, oil cylinder
31 stretch out, and through oil cylinder connector 32 under the guiding role of guiding axis 34, driving set square 33 are pushed to move forward.The small axis in rear end
It holds retainer 37 to be mounted on support column 36 and by way of being threadedly coupled on driving set square 33, due to the branch of support column 36
Support effect, the small bearing retainer 37 in rear end move forward, and the effect of drive assembly 3 is to provide driving for single unit system；
As shown in Figure 1 to Figure 3, the front end of drive assembly 3 is arranged in rotation assembly 4, as shown in fig. 7, the small bearing 44 in rear end
It is mounted on the small bearing retainer 46 in rear end of drive assembly 3, central axis 43 is small by the small bearing positioning ring 45 in rear end and rear end
Bearing supporting frame 46 is mounted on the small bearing 44 in rear end, under the action of in rear end, small bearing retainer 37 moves forward, the small bearing in rear end
44 push central axis 43 to move forward, and the big bearing 41 in front end is mounted on the fixed big bearing retainer 24 in front end for keeping assembly 2, preceding
Big 42 root of bearing medial support frame is held to be mounted in big 41 inner hole of bearing in front end, after clamping workpiece, in the big bearing 42 in front end
Under the action of the small bearing 44 in rear end, under the action of workpiece gravity, rotational workpieces synchronous rotary can be followed, while playing folder
Tight effect；
As shown in Figure 1 to Figure 3, the front end of rotation assembly 4 is arranged in clamping assembly 5, as shown in figure 8, articulated connection plate 51
It is connected through a screw thread on the big bearing medial support frame 42 in front end for being mounted on rotation assembly 4, articulated slab I 52 passes through rotation assembly 4
Central axis 43 and oil-free bushing 56 and cantilever pin 57 be mounted on hinged support plate 51, the articulated slab II 53 equally passes through
Oil-free bushing 56 and cantilever pin 57 are mounted on articulated slab I 53, and 53 front end articulated slab II passes through clamping jaw finger support plate 54, nothing
Oily bushing 56 and cantilever pin 57 are mounted on hinged support plate 51, and clamping jaw finger 55, which is connected through a screw thread, is mounted on the articulated slab
On II 53, clamping jaw finger uses stainless steel material resistant to high temperature, and thermal insulation layer can be added between clamping jaw finger and articulated slab II, is subtracted
Few front end heat is transmitted to rear end.After central axis 43 moves forward, the linkwork of driving clamping assembly 5, so that linkwork moves,
Realize the clamping to workpiece.I.e. mechanism can clamp workpiece and workpiece can be followed to be rotated at this time, remove to play clamping
Transport the purpose of High Temperature Rotating workpiece.
Claims (6)
1. a kind of robot device of clamping high temperature rotational workpieces, which is characterized in that connect including upper end and robot rotation end
Manipulator connection frame, the two symmetrical connection frames for being horizontally set on manipulator connection frame lower end and connecting end surface is vertically arranged connect
Flange, root and the first manipulator assembly for being correspondingly connected with frame flanged joint and with the first manipulator assembly structure identical second
Manipulator assembly；
First manipulator assembly includes root and be correspondingly connected with the fixed retainer of frame flanged joint, connect with fixed retainer
Drive assembly, the rotation assembly being connect respectively with fixed retainer and drive assembly and total with drive assembly and rotation respectively
At the clamping assembly of connection.
2. the robot device of clamping high temperature rotational workpieces according to claim 1, which is characterized in that fixed retainer packet
At least three is horizontally disposed and root is connect with the connecting hole of connection frame flange respectively support shaft I is included, is vertically arranged and its method
Support triangle plate that flange aperture is connect with the end support shaft I respectively, at least three is horizontally disposed and root respectively with support triangle plate
It the support shaft II of connection and is vertically arranged and the big bearing retainer in front end that rear end is connect with the end support shaft II respectively；
Support shaft I is spring steel and modifier treatment.
3. the robot device of clamping high temperature rotational workpieces according to claim 1, which is characterized in that drive assembly includes
The oil cylinder connection for being mounted on the oil cylinder at the support triangle back center of fixed retainer, oil cylinder piston boom end being set
Part, the guiding axis being distributed horizontally on the support triangle front edge of board face for being mounted on fixed retainer, the horizontal sliding on guiding axis
And the driving set square of back center and the connection of oil cylinder connector, the linear axis driven between set square and guiding axis is set
The support column that hold, is distributed on driving set square left side and support column left end and concentric with cylinder piston rod is set
The small bearing retainer in rear end；
The oil cylinder of the drive assembly of the oil cylinder of first manipulator assembly and the second manipulator assembly is connected on a fluid pressure line,
The rodless cavity of the oil cylinder of first manipulator assembly is connected with the rod chamber of the oil cylinder of the drive assembly of the second manipulator assembly.
4. the robot device of clamping high temperature rotational workpieces according to claim 1, which is characterized in that rotation assembly includes
With the small bearing retainer in rear end of drive assembly coaxial central axis, the small bearing supporting frame in rear end for being sleeved on central axis root,
The small bearing in rear end between the small bearing supporting frame of the small bearing retainer in rear end and rear end is set, on centrally disposed axis and is located at
The small bearing positioning ring in rear end of the small bearing left end in rear end, the big bearing medial support frame in front end being sleeved in the middle part of central axis and
The big bearing in front end between the big bearing medial support frame in front end and the big bearing retainer in front end of fixed retainer is set；
Have in the end milling of central axis left end flat, is radially machined with connection through-hole in flat portion.
5. the robot device of clamping high temperature rotational workpieces according to claim 1, which is characterized in that clamping assembly includes
The hinged support plate on the small bearing supporting frame in rear end that two right end roots are separately fixed at rotation assembly；Two are located at rotation
The central axis for turning assembly is flat between corresponding hinged support plate and root and the left end of central axis connection through-hole pass through guide pin company
Articulated slab I, root and the end articulated slab I connect is hinged and middle part is hinged by cantilever pin and hinged support plate left end hole and is in X
The articulated slab II of type, the oil-free bushing being arranged between cantilever pin and hinged support plate left end hole, setting hinged support plate with
Heat-insulated clamping jaw finger support plate between articulated slab II is arranged in the left part each articulated slab II and is used for the folder of clamping workpiece
Cleft hand refers to, is arranged on clamping jaw finger lateral wall outside crossbearer, the reset spring being arranged between two articulated slab II；
Guiding elongated slot corresponding with guide pin is provided on hinged support plate.
6. the robot device of clamping high temperature rotational workpieces according to claim 1, which is characterized in that connected in manipulator
It is internal on the right side of the connection frame flange of frame to be coaxially arranged with rotating electric machine, rotation is coaxially arranged on connection frame flange right part lateral wall
Turn ring gear, the intermediate mistake of fixed tooth rest installation is provided between the output gear and rotation ring gear of rotating electric machine
Gear is crossed, the radial swing arm of rotation has been arranged radially on rotation ring gear lateral wall, is connected with water rotating radial swing arm outer end
The root of the eccentric expansion arm of flat setting, has been arranged radially swing angle on the big bearing medial support frame in the front end of rotation assembly
Limit radial arm；Swing angle is driven to limit radial arm swing after the elongation of eccentric expansion arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821291269.XU CN208713968U (en) | 2018-08-10 | 2018-08-10 | The robot device of clamping high temperature rotational workpieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821291269.XU CN208713968U (en) | 2018-08-10 | 2018-08-10 | The robot device of clamping high temperature rotational workpieces |
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| Publication Number | Publication Date |
|---|---|
| CN208713968U true CN208713968U (en) | 2019-04-09 |
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ID=65977255
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821291269.XU Active CN208713968U (en) | 2018-08-10 | 2018-08-10 | The robot device of clamping high temperature rotational workpieces |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858153A (en) * | 2018-08-10 | 2018-11-23 | 青岛新松机器人自动化有限公司 | Robot device, assemble method and the clamping method of clamping high temperature rotational workpieces |
| CN110270794A (en) * | 2019-08-02 | 2019-09-24 | 格力电器（芜湖）有限公司 | Pipe fitting welding crawl positioning device, welding method and water heater |
-
2018
- 2018-08-10 CN CN201821291269.XU patent/CN208713968U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858153A (en) * | 2018-08-10 | 2018-11-23 | 青岛新松机器人自动化有限公司 | Robot device, assemble method and the clamping method of clamping high temperature rotational workpieces |
| CN110270794A (en) * | 2019-08-02 | 2019-09-24 | 格力电器（芜湖）有限公司 | Pipe fitting welding crawl positioning device, welding method and water heater |
| CN110270794B (en) * | 2019-08-02 | 2021-08-20 | 格力电器（芜湖）有限公司 | Pipe joint welding grabbing and positioning device, welding method and water heater |
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