ABB机器人平衡缸3HAB4216-1
ABB机器人平衡缸3HAB4216-1中海德(福建)工业设备有限公司
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福州市高新区乌龙江大道正荣财富中心B座八层

三、液压式末端夹持机构
1.常闭式夹持机构
借助弹簧强大预紧力固定钻具，液压松开。夹持机构未执行抓取任务时，处于夹紧钻具状态。其基本结构为一组经过预压缩的弹簧作用在斜面或杠杆等增力机构上，使卡瓦座产生轴向移动，带动卡瓦径向移动，夹紧钻具；高压油进入卡瓦座与外壳形成的液压缸，进一步压缩弹簧，使卡瓦座和卡瓦产生反向运动，松开钻具。
2.常开式夹持机构
通常采用弹簧松开、液压夹紧的方式，未执行抓取任务时处于松开状态。夹持机构靠液压缸的推力产生夹持力，油压减低将导致夹持力的减小，通常要在油路上设置性能可靠的液压锁来保持油压。
3.液压松紧型夹持机构
松开、夹紧均通过液压实现，如果两侧液压缸进油口均通通高压油，则卡瓦会随着活塞运动向中心收拢，夹紧钻具，改变高压油入口，卡瓦则背离中心，松开钻具。
4.复合式液压夹持机构
这种装置有主液压缸与副液压缸，副液压缸侧连接一组碟簧，当高压油进入主液压缸，推动主液压缸缸体移动，通过顶柱将力传给副液压缸侧的卡瓦座，碟簧被进一步压缩，卡瓦座移动；同时，主液压缸侧卡瓦座在弹簧力作用下移动，松开钻具。
四、磁吸式末端夹持机构
分为电磁吸盘和**吸盘两种。电磁吸盘是用接通和切断线圈中的电流，产生和**磁力的方法来吸住和释放铁磁性物体。永磁吸盘则是利用**磁钢的磁力来吸住铁磁性物体的它是通过移动隔磁物体来改变吸盘中磁力线回路，从而达到吸住和释放物体的目的。但同样是吸盘，**吸盘的吸力不如电磁吸盘大。
R911171569 WSC60ET MESSWANDLER W3*B
R911171570 WSC60ET VERBINDUNGSLEITUNG WANDLER
R911171571 WSC60ET VERBINDUNGSLEITUNG WANDLER
R911171573 WSC60HA-062.12-0100-MA-34-0110-3-NN
R911171574 WSC60HA-062.13-0100-MA-34-0110-3-NN
R911171575 WSC60HA-062.22-0100-MA-34-0110-3-NN
R911171576 WSC60HA-062.23-0100-MA-36-0110-3-NN
R911171577 WSC60HA-062.14-0100-MA-34-0110-3-NN
R911171578 WSC60HA-062.15-0100-MA-36-0110-3-NN
R911171579 WSC60HA-062.24-0100-MA-34-0110-3-NN
R911171580 WSC60HA-062.25-0100-MA-36-0110-3-NN
R911171604 WSC60GK-044.00-0100-MA-34-0110-3-NN
R911171605 WSC60GK-044.01-0100-MA-34-0110-3-NN
R911171606 WSC60GK-044.10-0250-AA-24-0160-3-NN
R911171612 WSC60ST-022.01-0100-MA-34-0110-3-NN
R911171618 PSG 6120.00 GM 251
R911171619 PSG 6120.00 GM 252
R911171620 PSG 6120.00 GM 253
R911171621 PSG 6170.00 GM 241
R911171622 PSG 6170.00 GM 242
R911171623 PSG 6170.00 GM 243
R911171631 WSC60GK-045.00-0100-MA-36-0110-3-NN
R911171632 WSC60GK-045.10-0250-AA-24-0160-3-NN
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R911171635 WSC60GK-046.01-0100-MA-34-0110-3-NN
R911171645 PSG-MC 135/25
R911171646 PSG-MC 150/25
R911171647 PSG-MC 150/35
R911171648 PSG-MC 150/50
R911171662 WSC60GK-046.10-0100-MA-34-0110-3-NN
R911171665 PSQ6000 XQR-CKD
R911171673 WSC60GK-022.00-0100-MA-34-0110-3-NN
R911171677 PSG 6170.68 AT
R911171679 WSC60GK-062.16
R911171680 WSC60HA-062.16-0100-MA-34-0110-3-NN
R911171682 WSC60HA-062.26-0100-MA-34-0110-3-NN
R911171684 WSC60OP-062.NN-KLIMAGERAET
R911171685 WSC60OP-062.NN-HEIZUNG
R911171686 WSC60OP-062.NN-NACHRUESTSATZ 2. ZANGE
R911171690 WSC60OP-046.NN-ADAPTERRAHMEN FANUK
R911171691 WSC60HA-040.12-0100-MA-34-0110-3-NN
R911171698 WSC60GK-136.00-0100-MA-34-0110-3-NN
R911171699 WSC60GK-136.01-0100-MA-34-0110-3-NN
R911171704 PSG 6170.00 PSM
R911171705 WSC60GK-136.10-0100-MA-34-0110-3-NN
R911171706 WSC60GK-136.11-0100-MA-34-0110-3-NN
R911171707 WSC60GK-136.15-0100-MA-34-0110-3-NN
R911171708 WSC60GK-136.16-0100-MA-34-0110-3-NN
R911171709 PSI6300.634-L1
R911171711 WSC60PC-030.04-0000-NN-12-0010-1-NN
R911171713 WSC60PC-030.05-0000-NN-12-0010-1-NN
R911171715 WSC60ST-041.71-0250-AA-34-0160-1-NN
R911171716 WSC60ST-041.72-0250-AA-34-0320-1-NN
R911171717 WSC60ST-042.71-0100-MA-34-0110-1-NN
R911171718 WSC60ST-042.72-0100-MA-34-0220-1-NN
R911171731 WSC60ST-136.16-0200-MF-34-0220-3-NN
R911171732 PSI6300.256-L1
R911171733 PSI6300.256-W1
R911171758 WSC60HA-232.10-0100-MA-34-0110-3-NN
R911171759 WSC60HA-232.11-0100-MA-34-0110-3-NN
R911171760 WSC60GK-135.30-0100-MA-34-0110-3-NN
R911171766 WSC60OP-UMBAUSATZ GK-045.10 - GK045.00
R911171797 WSC60GK-023.00-0100-MA-34-0110-3-NN
R911171801 WSC60OP-062.XX-TRAGEGESTELL
R911171810 WSC60HA-046.10-0100-MA-34-0110-3-NN
R911171813 WSC60GK-235.00-0100-MA-34-0110-3-NN
R911171820 WSC60WA-024.00-0250-MF-24-0200-3-NN
R911171823 PSG 6130.00 PTK



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