CN85108602A - The improvement of screw tightening apparatus - Google Patents
The improvement of screw tightening apparatus Download PDFInfo
- Publication number
- CN85108602A CN85108602A CN85108602.0A CN85108602A CN85108602A CN 85108602 A CN85108602 A CN 85108602A CN 85108602 A CN85108602 A CN 85108602A CN 85108602 A CN85108602 A CN 85108602A
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- screw
- rocking arm
- support
- fastening device
- tightening apparatus
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Abstract
A screw tightening apparatus, it has a support, a support, a rocker arrangement, a drive unit, a screw fastening device and a reaction absorbing device.Said rocker arrangement flatly stretches out from support, and is connected to rotationally on the support, and said drive unit is installed on the supported end of rocking arm part, should insert arm portion in order to rotate.Said screw fastening device is contained in the leading end of rocking arm part.Said reaction absorbing device works when a fastening screw.Reaction absorbing device is installed on screw fastening device or the rocking arm part.
Description
The present invention relates to the improvement of a kind of screw tightening apparatus (for example fastening automatic machine of industrial screw).
The industrial screw tightening apparatus of prior art is made up of a support, a support, first rocking arm, second rocking arm and a screw fastening device.Said support is installed on the said support so that it can vertically be moved a kind of like this mode.Said first rocking arm flatly stretches out from said support, and so that it can freely be rotated a kind of like this mode in horizontal plane, rack-mount.Said second rocking arm stretches out from said first rocking arm, and is connected on this first rocking arm, so that it can freely be rotated in horizontal plane.Said screw fastening device is installed in the leading end of said second rocking arm.
Drive unit is connected respectively on the supported end of above-mentioned first and second rocking arms, so that screw fastening device can move in the scope widely at one.
In addition, when a screw is tightened by screw fastening device, because a reaction torque acts on each rocking arm, so, be suitable for absorbing the brake apparatus of this moment of torsion and drive unit that each is above-mentioned is installed together with one.
Yet, in the screw tightening apparatus of prior art, because each brake apparatus all is installed on the servo motor, and reduction gearing of plug-in mounting all between each brake apparatus and each rocking arm, so, if a high pulling torque acts on each rocking arm, particularly when brake apparatus moves, because reduction gearing does not have enough rigidity, rocking arm will more or less rotate with respect to brake apparatus.For this reason, if with a predetermined torsional interaction on a screw tightening apparatus structure that is installed in a screw fastening device leading end, for example act on box spanner etc., then this screw fastening device itself will laterally move a segment distance.But, owing to the position of the screw of desiring to be tightened is fixed, so the screw of desiring to be tightened and the engagement of screw fastening device have stoped the above-mentioned of this screw fastening device laterally to be moved.Thereby, unless make and desire to be tightened solid screw and unload from screw fastening device, otherwise just not only be subjected to the effect of tightening torque by stubborn solid screw, but also the effect of the required lateral load of the transverse movement that is subjected to preventing screw fastening device, as a result, just produced screw or by the such shortcoming of the fastening deformation of member of screw.
For this reason, the screw tightening apparatus of this prior art can not be used for tightening large-sized screw, because fastening such large scale screw needs big tightening torque.
Thereby, for with the fastening screw that external diameter is big of the screw tightening apparatus of this prior art, need be installed in a brake apparatus with high stopping power on the rotating support arm of each rocking arm, the brake apparatus that is installed together with the drive unit of each rocking arm separates, and the rigidity of needs increase rocking arm itself, with distortion or the deflection that prevents that it is possible.Yet, will make the structure of screw tightening apparatus become complicated like this, it is big that volume becomes, and cost increases.
In addition, except above-mentioned this one type of prior art syringe, imagined a kind of screw tightening apparatus, this screw tightening apparatus is made into and can be parked on the preposition with screw fastening device of a servo motor, and act on the driving force that the reaction force on this screw fastening device produces by servo motor, rather than the brake force that brake apparatus produces is offseted.Yet such screw tightening apparatus also has the shortcoming that is produced by the deflection of rocking arm and other connecting elements that is similar at above-mentioned screw tightening apparatus.
According to above-mentioned situation, think over and designed the present invention.The purpose of this invention is to provide a screw tightening apparatus, the structure of this screw tightening apparatus not only not quite but also uncomplicated but can be passed through a less expensive device, tightens a screw that size is big.
Another object of the present invention provides a screw tightening apparatus, in this fastening machine, the screw fastening device that is installed in the second rocking arm leading end is equipped with the device that is used for the reaction force of absorption on said screw fastening device when a fastening large scale screw.
To achieve these goals, according to first scheme of the present invention, provide a screw tightening apparatus, it is characterized in that, it is made up of a support, a frame, first rocking arm, second rocking arm, drive unit and a reaction absorbing device.Said support so that its can be installed in the mode that vertical direction freely is rotated on the said support.Said first rocking arm and said second rocking arm flatly stretch out from said support, and are connected on the said support, so that it can freely be rotated in horizontal plane with respect to this support.Said drive unit is installed on the supported end of said rocker arrangement, in order to rotate this rocker arrangement.Said reaction absorbing device is used for absorbing when a screw is tightened by said screw fastening device, acts on the reaction force on this screw fastening device.
According to alternative plan of the present invention, a screw tightening apparatus is provided, it is characterized in that said reaction absorbing device is a driven shaft coupling.This driven shaft coupling assigns into the junction of said second rocking arm and said screw fastening device and is installed between the screw fastening of said screw fastening device leading end.
According to third party's case of the present invention, a screw tightening apparatus is provided, it is characterized in that said reaction absorbing device is a driven shaft coupling, it is connected on the leading end of said second rocking arm.
The present invention above-mentioned with many other advantages, key element and additional purpose, behind reference following detailed description and accompanying drawing, the personnel institute that will be proficient in this technology is understood easily.In below the detailed description and accompanying drawing, showed the optimum structure embodiment that embodies the principle of the invention by example intuitively.
Fig. 1 is the diagrammatic side views of the fastening automatic machine of screw of a prior art;
Fig. 2 is one group of performance diagram, has represented when with the fastening automatic machine of normal screws shown in Figure 1, act on first rocking arm reaction force and by the relation between first rocking arm, the determined angle of second rocking arm.
Fig. 3 is one group of performance diagram, has represented the relation between the center of rotation of the first rocking arm supported end and the span L between the screw restraint location center and the reaction force that produced during a fastening screw with the screw tightening apparatus of a prior art shown in Figure 1;
Fig. 4 is the whole diagrammatic side views of an expression according to an embodiment of screw tightening apparatus of the present invention;
Fig. 5 is a longitudinal sectional view, has represented the main part of screw tightening apparatus shown in Figure 4;
Fig. 6 is a view by the screw tightening apparatus among Fig. 5 that direction is seen shown in the arrow VI among Fig. 5;
Fig. 7 is the cross section view that screw tightening apparatus shown in Figure 5 is cut open along VII-VII line;
Fig. 8 is a longitudinal sectional view, and expression is according to another embodiment of the major part of screw tightening apparatus of the present invention;
Fig. 9 is a longitudinal sectional view, has represented according in the screw tightening apparatus of the present invention the further embodiment of major part;
Figure 10 is the profile that major part shown in Figure 9 is cut open along X-X line;
Figure 11 is an expression according to one of the screw tightening apparatus of the present invention whole diagrammatic side views of embodiment further.
Referring to figs. 1 to 3, at first explanation when the fastening screw of screw tightening apparatus of usefulness prior art, the problem that is run into.
In Fig. 1, showed the schematic side view of the fastening automatic machine of screw of a prior art.One first rocking arm " b " is connected on the support " a ", so that it can freely be rotated in horizontal plane.One second rocking arm " c " is so that it can freely be rotated a kind of like this mode in horizontal plane be connected on said first rocking arm " b ".Second rocking arm " c " at its free leading end, is equipped with screw fastening device " d ".Such structure can make first and second rocking arms " b " and " c " can be rotated respectively by means of drive unit " e " and " f ", drive unit " e " and " f " are respectively installed to the rotating support end of rocking arm separately, and screw fastening device " d " can be moved on a large scale at one.
In the span with one first rocking arm " b " is 700 millimeters, and when the span of second rocking arm " c " was the fastening screw of 550 millimeters the fastening automatic machine of screw of prior art, screw fastening device " d " tended to traversing 2 to 6 millimeters.
Fig. 2 is one group of performance diagram, and expression is by the variation of the laterally mobile reaction force " F " that is produced of screw fastening device " d " and by the relation between the variation of first rocking arm " b " and the determined angle theta of second rocking arm " c ".
Fig. 3 is one group of performance diagram, the variation of expression reaction force " F " and the relation between the variation of the center of rotation of first rocking arm " b " and the span " L " between the screw restraint location center.
Fig. 2 and Fig. 3 represent the span L with one first rocking arm " b "
1Be 630 millimeters, the span L of second rocking arm " c "
2Be that 400 millimeters the fastening automatic machine of screw of prior art is to the free leading end that is contained in said second rocking arm " c ".The screw restraint location center of screw fastening " d " applies the result of different moment of torsion gained.In Fig. 2 and Fig. 3, the angle between first rocking arm " b " and second rocking arm " c " is defined as θ.
Can see that from Fig. 2 and Fig. 3 when being reduced by first rocking arm " b " and the determined angle theta of second rocking arm " c ", a great reaction force acts on the screw of desiring to be tightened by screw fastening device.As a result, the member of desiring to be tightened is subjected to the influence such as distortion, fracture or the like illeffects.In addition, because the driving torque that acts on an external diameter and be on 10 millimeters the screw is 10 kilogram-metres, the driving torque T that acts on an external diameter and be on 24 millimeters the screw then is 100 kilogram-metres, so the fastening automatic machine of the screw of prior art only can be used in the screw of fastening external diameter in 6 to 10 millimeters scopes.
Be illustrated below with reference to Fig. 4 to 11 a pair of screw tightening apparatus of the present invention.
Fig. 4 is the whole diagrammatic side views of an expression according to an embodiment of screw tightening apparatus of the present invention.
In the figure, screw tightening apparatus of digital 1 expression, 1a is the support of screw tightening apparatus 1; 2a is a support, and it is so that it can be moved a kind of like this mode in vertical direction is supported by support 1a; Screw rod of digital 3 expressions, screw rod 3 is used for traversing carriage vertically, it is connected with a not shown drive unit, one first rocking arm of digital 4 expressions, and this rocking arm is supported by support 2 can make it freely be rotated a kind of like this mode in horizontal plane.One second rocking arm of digital 5 expressions, this rocking arm is supported on the leading end of first Rocker arm 4, so that it can freely be rotated in horizontal plane.Rocker arm 4 and 5 rotating support position lay respectively on the support 2 and first Rocker arm 4, and are connected respectively on drive unit 6 and 7.In drive unit 6 and 7, brake apparatus is installed.In addition, screw fastening device 9 is fixedly mounted in the leading end of second Rocker arm 5.Has a spanner driving shaft 8 in the lower end of screw fastening device 9.
Driven shaft coupling of digital 10 expressions, its supported end is connected on the spanner driving shaft 8 of screw fastening device 9 with dismountable mode.In addition, the leading end of driven shaft coupling 10 is detachably connected on the box spanner 11.
The structure of above-mentioned driven shaft coupling 10 as shown in Figure 5.It is made up of a connection garden tube 12, an input part 13 and an output element 14.Said input part 13 is connected to spanner driving shaft 9 and connects, and said output element is connected on the box spanner 11.Input part 13 and output element 14 have the square-section, they are installed in the connection garden tube 12, and make between the outer surface of the inwall of connection garden tube 12 and input, output element and the engagement of said inwall and keep a little gap, make the input and output part freely to move like this along its axis direction, and, have only play in a small amount diametrically.In addition, input part 13 and output element 14 each other opposing to direction on, be subjected to the bias voltage of spring 16 and 17 respectively.Input part 13 and output element 14, at the one end, each is supported by spring fastening 12a.Spring fastening 12a is positioned at the middle part of connection garden tube.Digital 18 and 19 expressions are used for preventing to import part 13 and output element 14 from being connected the end cap that garden tube 12 slides out.The mating part of end cap 18,19 and input and output part 13 and 14 is taper, and the input and output part 13 that is subjected to spring 16 and 17 bias voltages respectively with 14 be connected the 12 coaxial installations of garden tube.Play between garden tube 12 and input part 13, output element 14 makes that the leading end of output element 14 can be with respect to spanner driving shaft 8, with the rectangular direction of the axis of spanner driving shaft 8 on, move 2 to 10 millimeters.
The device of box spanner 11 is connected on the output element 14 of driven shaft coupling 10, and driven shaft coupling 10 is connected to again on the leading end of spanner driving shaft 8.The obtained effect explanation below now of screw by a fastening box spanner 11 devices.
At first, first Rocker arm 4 of screw tightening apparatus 1 and second Rocker arm 5 drive to be rotated by drive unit 6 and 7 respectively, so that make box spanner on the output element 14 that is connected to driven shaft coupling 10 promptly move to a position of the fastened screw of desire top.Then, make Rocker arm 4 and 5 by means of descending, so that box spanner 11 and the screw engagement that desire is fastened with support 2 screw rod 3 together.At this moment, because the input part 13 of driven shaft coupling 10 and the bias voltage that output element 14 is subjected to spring 16 and 17, and by 12 supportings of connection garden tube, but also have an initial rigidity, so, the spanner driving shaft 8 of screw tightening apparatus 1 and box spanner 11 coaxial arrangements.
In this case, if drive screw fastening device 9 driven shaft coupling 10 is rotated, then one by just will acting on the spanner driving shaft 8 at the fastened reaction force that screw produced, and this reaction force that acts on the spanner driving shaft 8 is finally born by support 1a.Yet, if the part between spanner driving shaft 8 and support 1a deforms, if that is to say resemble with reference to prior art constructions described by drive unit 6 and 7 separately-driven Rocker arm 4s and 5 on rotation direction, deform, then the leading end of second Rocker arm 5 will with the rectangular direction of its axis on, move a size displacement accordingly with the just fastened reaction force that screw produced.Then, second Rocker arm 5 is parked in that position.
Yet, because the driven shaft coupling 10 that is connected with spanner driving shaft 8 has a transverse deflection, so, when screw fastening device 9 is driven, second Rocker arm 5 is absorbed by the play in driven shaft coupling 10 in the displacement of rotation direction, therefore, just there is not cross force to act on the screw that meshes with box spanner 11.
When driving screw fastening device 9, driven shaft coupling 10 simultaneously, makes driven shaft coupling 10 produce lateral shifts, so that can make screw fastened along with rotation.
Fig. 8 and Fig. 9 have represented two other embodiment of above-mentioned driven shaft coupling.Structure shown in Figure 8, except the spring fastening 12a that saves connection garden tube 12 and make output element 14 and input part 13 only being subjected on the opposite directions the spring action this point, the same with structure shown in Figure 5.
In structure shown in Figure 9, input part 13 ' so that its can be freely slide along its axis direction, and with part 21 a kind of like this mode that on rotation direction, is meshed, be installed in the union piece 21.In addition, output element 14 ' be connected on the union piece 21 by a flexible engaging elements 22, so that part 14 ' can be with respect to union piece 21 swings.Flexible engaging elements 22 is made up of a hexagon middle body and two ends.These two ends and middle body form a whole, and its seamed edge has been determined the garden arc at axis direction.Two ends with this garden arc are respectively applied for and union piece 21 and output element 14 ' engagement.Supporting garden tube of digital 23 expressions, above-mentioned input part 13 ' with output element 14 ' and flexible engaging elements be installed in and be connected in the garden tube 23.Connection garden tube 23 is secured on the spanner driving shaft 8.In addition, the leading end of above-mentioned output element is taper, and matches with the auxiliary end of the taper of supporting garden tube 23, therefore, and part 14 ' can pack into alignedly in this garden tube 23 with garden tube 23.
In the structure that the foregoing description is represented, driven shaft coupling 10 all is placed between the spanner driving shaft 8 and box spanner 11 of screw fastening device 9.Yet, as shown in figure 11, second sub rocker arm that a threaded fastening device 9 is housed on it is divided into two rocker member 5a and 5b at its longitudinal direction, and also is possible by these two rocker member of driven shaft coupling a 10 ' connection.Driven shaft coupling 10 ' make by a kind of elastomeric material (such as rubber or spring or the like).In this case, box spanner 11 is directly connected on the spanner driving shaft 8 of screw fastening device 9.
In addition, in each the foregoing description, each driven shaft coupling all has the characteristic of returning its original state, and therefore, when the position of handling screw holder (such as box spanner etc.) was adjusted, driven shaft coupling can not produce any interference to this.
According to the present invention, even first rocking arm of screw fastening device is installed by a moment of torsion that acts on the said screw fastening device at its leading end, with the rectangular direction of the pivot center of said screw fastening device on, do not rotate more or less certain angle from a precalculated position, also not Having Lateral Force is 10 millimeters or greater than 10 millimeters in the screw that is tightened or is wrenched and external diameter, so far additional special brake apparatus in each rotating driving device on first and second rocking arms only. Could be with the fastening large scale screw of the screw tightening apparatus of above-mentioned prior art. Thereby, the present invention makes can fastening major diameter screw screw tightening apparatus and fastening minor diameter screw tightening apparatus roughly the same aspect cost and weight, and performance is significantly improved.
Should be appreciated that top narration just about the explanation of most preferred embodiment of the present invention, is determined by appended claim but scope of the present invention is not only limited to above-mentioned explanation.
Claims (4)
1, a screw tightening apparatus is characterized in that, it is made up of a support, support, rocker arrangement, drive unit, screw fastening device and reaction absorbing device; Said support is so that it can freely be moved a kind of like this mode in vertical direction is connected on the said support; Said rocker arrangement flatly stretches out from said support, and is connected on the said support, so that make it in horizontal plane, freely is rotated with respect to said support; Said drive unit is installed in the supported end of said rocker arrangement, in order to rotate said rocker arrangement; Said screw fastening device is installed in the leading end of said rocker arrangement; Said reaction absorbing device is used for absorbing when with the fastening screw of said screw fastening device, acts on the reaction force on the said screw fastening device.
2, according to the screw tightening apparatus of claim 1, it is characterized in that said reaction absorbing device is the driven shaft coupling between the screw fastened tools on attaching parts that are installed in said screw fastening device and the leading end that is connected to said screw fastening device.
According to the screw tightening apparatus of claim 1, it is characterized in that 3, said reaction absorbing device is a driven shaft coupling that is connected to said rocker arrangement leading end.
According to the screw tightening apparatus of claim 1, it is characterized in that 4, in said screw tightening apparatus, said rocker arrangement is made up of one first rocking arm and one second rocking arm; Said first rocking arm is pivotally connected on the said support, and said second rocking arm at its supported end place, is pivotally connected on the leading end of said first rocking arm, and said first and second rocking arms on its supported end separately, are equipped with drive unit respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85108602 CN1007330B (en) | 1985-11-06 | 1985-11-06 | Improvement of screw tightening apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85108602 CN1007330B (en) | 1985-11-06 | 1985-11-06 | Improvement of screw tightening apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN85108602A true CN85108602A (en) | 1987-05-13 |
| CN1007330B CN1007330B (en) | 1990-03-28 |
Family
ID=4796088
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 85108602 Expired CN1007330B (en) | 1985-11-06 | 1985-11-06 | Improvement of screw tightening apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1007330B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102574279A (en) * | 2009-10-07 | 2012-07-11 | 凯特克分部尤尼克斯公司 | Apparatus for tightening or loosening fasteners |
| CN102554050A (en) * | 2011-12-13 | 2012-07-11 | 苏州工业园区高登威科技有限公司 | Adjustable pneumatic nut riveting device |
| CN103640028A (en) * | 2013-11-28 | 2014-03-19 | 华南理工大学 | Novel plane articulated robot structure |
| CN103754289A (en) * | 2013-12-23 | 2014-04-30 | 柳州正菱集团有限公司 | Rear shock screwing gun rotation preventing stand |
| CN103978454A (en) * | 2014-05-23 | 2014-08-13 | 国家电网公司 | Novel combined locking wrench and application |
| CN104278602A (en) * | 2014-10-28 | 2015-01-14 | 南车戚墅堰机车有限公司 | High-efficiency locomotive bolt fastening device |
| CN104493813A (en) * | 2014-12-23 | 2015-04-08 | 东莞市顺如电子科技有限公司 | Four-axis driving device |
| CN105563405A (en) * | 2016-03-11 | 2016-05-11 | 苏州博众精工科技有限公司 | Z-axle direction and R-axle direction adjustable screwdriver component |
| CN105563098A (en) * | 2016-03-11 | 2016-05-11 | 苏州博众精工科技有限公司 | Locking mechanism |
| CN106003150A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Mounting method of lightweight screw locking manipulator |
| CN106944971A (en) * | 2017-04-27 | 2017-07-14 | 广西奥顺仪器有限公司 | A kind of bearing mounting mechanism of irregular part |
| CN108081244A (en) * | 2017-12-15 | 2018-05-29 | 沈阳工业大学 | One kind can move up and down formula SCARA machinery arm configurations |
| CN108340411A (en) * | 2018-02-08 | 2018-07-31 | 江西新能源科技职业学院 | Multi-function peripheral tool arm |
| CN114102113A (en) * | 2020-08-28 | 2022-03-01 | 杰瑞姆株式会社 | Automatic bolt fastening device using double-arm horizontal joint robot |
| CN114193490A (en) * | 2021-12-28 | 2022-03-18 | 核动力运行研究所 | Execution end suitable for mechanical arm of high-water-level blocking plate installation machine of steam generator |
| CN114734235A (en) * | 2017-02-06 | 2022-07-12 | 诺基安伦卡特股份有限公司 | Device for applying studs to tyres |
-
1985
- 1985-11-06 CN CN 85108602 patent/CN1007330B/en not_active Expired
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102574279A (en) * | 2009-10-07 | 2012-07-11 | 凯特克分部尤尼克斯公司 | Apparatus for tightening or loosening fasteners |
| CN102574279B (en) * | 2009-10-07 | 2014-12-17 | 凯特克分部尤尼克斯公司 | Apparatus for tightening or loosening fasteners |
| CN102554050A (en) * | 2011-12-13 | 2012-07-11 | 苏州工业园区高登威科技有限公司 | Adjustable pneumatic nut riveting device |
| CN103640028A (en) * | 2013-11-28 | 2014-03-19 | 华南理工大学 | Novel plane articulated robot structure |
| CN103640028B (en) * | 2013-11-28 | 2016-01-06 | 华南理工大学 | A kind of selective compliance assembly robot arm's structure |
| CN103754289A (en) * | 2013-12-23 | 2014-04-30 | 柳州正菱集团有限公司 | Rear shock screwing gun rotation preventing stand |
| CN103978454A (en) * | 2014-05-23 | 2014-08-13 | 国家电网公司 | Novel combined locking wrench and application |
| CN104278602A (en) * | 2014-10-28 | 2015-01-14 | 南车戚墅堰机车有限公司 | High-efficiency locomotive bolt fastening device |
| CN104278602B (en) * | 2014-10-28 | 2016-06-15 | 南车戚墅堰机车有限公司 | Efficient locomotive bolt clamp device |
| CN104493813A (en) * | 2014-12-23 | 2015-04-08 | 东莞市顺如电子科技有限公司 | Four-axis driving device |
| CN105563098A (en) * | 2016-03-11 | 2016-05-11 | 苏州博众精工科技有限公司 | Locking mechanism |
| CN105563405A (en) * | 2016-03-11 | 2016-05-11 | 苏州博众精工科技有限公司 | Z-axle direction and R-axle direction adjustable screwdriver component |
| CN106003150A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Mounting method of lightweight screw locking manipulator |
| CN114734235A (en) * | 2017-02-06 | 2022-07-12 | 诺基安伦卡特股份有限公司 | Device for applying studs to tyres |
| CN114734235B (en) * | 2017-02-06 | 2024-03-19 | 诺基安伦卡特股份有限公司 | Device for attaching stud to tyre |
| CN106944971A (en) * | 2017-04-27 | 2017-07-14 | 广西奥顺仪器有限公司 | A kind of bearing mounting mechanism of irregular part |
| CN108081244A (en) * | 2017-12-15 | 2018-05-29 | 沈阳工业大学 | One kind can move up and down formula SCARA machinery arm configurations |
| CN108340411A (en) * | 2018-02-08 | 2018-07-31 | 江西新能源科技职业学院 | Multi-function peripheral tool arm |
| CN114102113A (en) * | 2020-08-28 | 2022-03-01 | 杰瑞姆株式会社 | Automatic bolt fastening device using double-arm horizontal joint robot |
| CN114102113B (en) * | 2020-08-28 | 2024-03-08 | 杰瑞姆株式会社 | Automatic bolt fastening device using double-arm horizontal joint type robot |
| CN114193490A (en) * | 2021-12-28 | 2022-03-18 | 核动力运行研究所 | Execution end suitable for mechanical arm of high-water-level blocking plate installation machine of steam generator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1007330B (en) | 1990-03-28 |
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