CN101259763B - Powder briquetting machine products discharging automatic picking, cleaning and transmitting system - Google Patents
Powder briquetting machine products discharging automatic picking, cleaning and transmitting system Download PDFInfo
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- CN101259763B CN101259763B CN200710067551XA CN200710067551A CN101259763B CN 101259763 B CN101259763 B CN 101259763B CN 200710067551X A CN200710067551X A CN 200710067551XA CN 200710067551 A CN200710067551 A CN 200710067551A CN 101259763 B CN101259763 B CN 101259763B
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- transmitting system
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Abstract
The invention relates to a system for automatically collecting, clearing and conveying the discharged material of the product made by a powder press, which comprises a frame, a collecting mechanism for pressed product and a grabbing conveying mechanism; the collecting mechanism for pressed product comprises a grabbing manipulator, a beam guide rail and a retainer plate; the grabbing manipulator can be connected with the beam guide rail arranged on the frame in a sliding way; one end of the beam guide rail is arranged above the material receiving plate of a die carrier of the powder press and the other end is arranged above the retainer plate; the grabbing conveying mechanism comprises an exit strip, an industrial robot and a conveying device; the exit strip is connected with the retainer plate anteriorly and posteriorly; a scraping wing at the maximum scraping position is arranged below the conveying manipulator of the industrial robot; the first station of the industrial robot is arranged above the exit strip and the second station of the industrial robot is arranged above the conveying device. The system realizes the unbroken collecting, clearing and conveying of the pressed product in a mechanically automated way.
Description
(1) technical field
The present invention relates to a kind of powder briquetting machine products discharging automatic picking, cleaning and transmitting system.
(2) background technology
At present, in pulverulent product industries such as magnetic materials, after the powder press discharging goods pick up, clear up and operation such as carrying all by manually finishing.
In Patent Office of the People's Republic of China's on October 1st, 2003 disclosed " the centering taking mechanical hand that is used for the powder hydraulic press " (application number 02282437.5), a kind of centering taking mechanical hand that is used for the powder hydraulic press is disclosed.Feature is on the powder box support to be housed, gear box is installed on it, bearing is installed in the gear box, the axle of band gear is housed on bearing, tooth bar all is equipped with at this two ends respectively, end at each tooth bar all is fixed with connecting plate, installs on connecting plate binder, installs oscillating cylinder in the axle upper end of band gear.
This existing patent is the self-emptying needs at annulus class part, and original pay-off of powder hydraulic press is carried out an improved design, its objective is the problem that annulus class part damages in the self-emptying process easily that solves.Do not solve the powder press products discharging later pick up, automation issues such as conveying.
In pulverulent product industries such as magnetic materials, the stampings discharging is later picks up, clears up and operation such as carrying needs a large amount of manually, realize that its automation is considered to very difficult thing, and main cause is that the intensity of stampings is lower, is easy to breakage.
(3) summary of the invention
Pick up, clear up and operation such as carrying needs a large amount of hand labors, deficiency that automaticity is low for the discharging that overcomes existing powder press goods, the invention provides a kind of powder briquetting machine products discharging automatic picking, cleaning and transmitting system that picks up automatically, clears up and carry that adopts the mechanical automation mode, realizes stampings.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of powder briquetting machine products discharging automatic picking, cleaning and transmitting system, comprise frame, stampings mechanism for picking, gripping conveyor structure, described stampings mechanism for picking comprises catching robot, beam guideway, the retainer plate that is used to grasp stampings, described catching robot is connected with beam guideway slidably, described manipulator is connected with the drive unit that is used to control the manipulator pick-and-place, move on beam guideway, described retainer plate is horizontally disposed, and described beam guideway and retainer plate are installed on the frame; Described beam guideway one end is positioned at the top of placing the plate that connects material of stampings on the powder press mould bases, and the other end is positioned at the top of retainer plate; Described gripping conveyor structure comprises exit plate, industrial robot, conveying equipment, described exit plate is installed on the frame, described exit plate is docked with retainer plate, the position of described industrial robot is over against exit plate, first station of described industrial robot is positioned at the top of exit plate, the top that second station is positioned at the conveying equipment entrance point, described industrial robot be used to control the drive unit that moves between the manipulator pick-and-place and first station, second station and be connected.
Further, described industrial robot comprises conveying mechanical arm, wrist, arm and the rotatable trunk that is used to grasp stampings, described conveying mechanical arm is fixedlyed connected with wrist, described wrist is rotatably connected by hinge and arm, described arm is rotatably connected by the column of hinge and trunk, described rotatable trunk comprises column, base, and described column lower end is socketed in the base rotationally.
Further, described conveying equipment is a belt conveyor, and described belt conveyor entrance point is connected in industrial robot, and the port of export is connected in the vanning station.
As preferred a kind of scheme: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises elevating mechanism, described elevating mechanism comprises vertical guide rail, in order to drive the lifting drive that retainer plate moves up and down along vertical guide rail, described retainer plate is slidably mounted on the described vertical guide rail, described vertical guide rail is installed on the frame, described retainer plate connects described lifting drive, and described lifting drive is installed on the frame.
Further again, described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises pusher, described pusher comprises scraping wings, horizontal guide rail, in order to drive scraping wings along the reciprocating driving mechanism of horizontal guide rail, described scraping wings is slidably mounted on the horizontal guide rail, described horizontal guide rail is installed on the frame, described scraping wings connects described drive unit, described scraping wings is arranged vertically and is positioned at the side of retainer plate, be positioned at vertical guide rail at retainer plate and be higher than the retainer face of retainer plate in the base of scraping wings bottom the time, described driving mechanism is installed on the frame, described scraping wings in maximum pusher position be positioned at industrial robot manipulator below.
As preferred another kind of scheme: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises pusher, described pusher comprises scraping wings, horizontal guide rail, in order to drive scraping wings along the reciprocating driving mechanism of horizontal guide rail, described scraping wings is slidably mounted on the horizontal guide rail, described horizontal guide rail is installed on the frame, described scraping wings connects described drive unit, described scraping wings is arranged vertically and is positioned at the side of retainer plate, the base of scraping wings is higher than the retainer face of retainer plate, described driving mechanism is installed on the frame, described scraping wings in maximum pusher position be positioned at industrial robot manipulator below.
As preferred another scheme: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises electronic powder-brushing machine and air draught powder collection device, described electronic powder-brushing machine is arranged within the arm reach of described industrial robot, described electronic powder-brushing machine is installed on the frame, and the powered brush of electronic powder-brushing machine is aimed in the inlet scoop of described air draught powder collection device.
As preferred another scheme: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system comprise be connected with at least two press at least two overlap stampings mechanism for picking, gripping conveyor structure; Described each stampings mechanism for picking, gripping conveyor structure are arranged in the exit side of corresponding powder press, the entrance point of the conveying equipment of described each gripping conveyor structure is connected in the industrial robot of corresponding stampings mechanism for picking, and the port of export is connected in same vanning station.Realized people's multimachine operation scheme.
Technical conceive of the present invention is: combined by manipulator, beam guideway and industrial robot, its scheme of being connected is that beam guideway is erected between press and the retainer plate, manipulator is connected in beam guideway, can between press and retainer plate, move along guide rail by drive system, its hand grab can grasp down the press mould bases connect material on the plate stampings and be placed on the retainer plate, exit plate is docked with retainer plate, on exit plate, the manipulator of industrial robot can grasp the stampings that lift sends and be placed into appointed positions, on belt conveyor.
This retainer plate is connected in vertical guide rail, can move up and down along vertical guide rail by drive system, the lower position of vertical guide rail is equipped with pusher, its scraping wings is connected in horizontal guide rail, can stampings be pushed out retainer plate along guide rail movement by drive system, the stampings on the retainer plate are passed out on the exit plate.This scheme is applicable to the mould bases of the powder press higher occasion of Board position that connects material.
Industrial robot has four frees degree, the one, what hand was grabbed opening and closing, in order to grasping stampings, the 2nd, the rotation of wrist, in order to the upset stampings, the 3rd, the rising of arm with put down, the 4th, the rotation of trunk.
This system also comprises electronic powder-brushing machine and air draught powder collection device, electronic powder-brushing machine is arranged within lift side or the robot arm scope, its powered brush can be removed the burr of stampings, and the powered brush of powered brush powder machine should be aimed in the inlet scoop of air draught powder collection device.
Belt conveyor is erected between robot and the man power encasement's station, many robots can be linked to each other with man power encasement's station, constitutes the operation scheme of people's multimachine.
Beneficial effect of the present invention mainly shows: 1, reality picking up automatically of stampings, clear up and carry the automaticity height; 2, employing picks and places with manipulator and is main manner of execution, has reduced goods to greatest extent because of moving, roll and colliding the damage that causes; 3, whole system compact conformation, occupied ground is few; 4, alleviated working strength of workers, saved artificial; 5, fully take into account system economy, have good application prospects.
(4) description of drawings
Fig. 1 is the schematic diagram of powder briquetting machine products discharging automatic picking, cleaning and transmitting system.
Fig. 2 is the schematic diagram of industrial robot.
Fig. 3 is the schematic diagram of a people three machine operation schemes.
(5) specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1, Fig. 2, a kind of powder briquetting machine products discharging automatic picking, cleaning and transmitting system, comprise frame, stampings mechanism for picking, gripping conveyor structure, described stampings mechanism for picking comprises catching robot 2, beam guideway 3, the retainer plate 4 that is used to grasp stampings, described catching robot 2 is connected with beam guideway 3 slidably, described catching robot 2 is connected with the drive unit that is used to control the catching robot pick-and-place, move on beam guideway, described retainer plate 4 is horizontally disposed, and described beam guideway 3 and retainer plate 4 are installed on the frame; Described beam guideway 3 one ends are positioned at the top of placing the plate 5 that connects material of stampings on powder press 1 mould bases, and the other end is positioned at the top of retainer plate 4; Described gripping conveyor structure comprises exit plate, industrial robot 8, conveying equipment 9, described exit plate is installed on the frame, described exit plate is docked with retainer plate 4, the position of described industrial robot 8 is over against exit plate, first station of described industrial robot 8 is positioned at the top of exit plate, the top that second station is positioned at the entrance point of conveying equipment 9, described industrial robot 8 be used to control the drive unit that moves between the manipulator pick-and-place and first station, second station and be connected.
Described industrial robot 8 comprises conveying mechanical arm 10, wrist 15, arm 16 and the rotatable trunk 17 that is used to grasp stampings, described conveying mechanical arm 10 is fixedlyed connected with wrist 15, described wrist 15 is rotatably connected by hinge and arm 16, described arm 16 is rotatably connected by the column of hinge and trunk 17, described rotatable trunk 17 comprises column, base, and described column lower end is socketed in the base rotationally.Industrial robot 8 has four frees degree, and the opening and closing of conveying mechanical arm 10 is in order to grasp stampings; The rotation of wrist 15 is in order to the upset stampings; The rising of arm 16 with put down; The rotation of trunk 17.
Described conveying equipment 9 is a belt conveyor, and described belt conveyor entrance point is connected in industrial robot 8, and the port of export is connected in the Turnover Box of vanning station.
Described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises elevating mechanism, described elevating mechanism comprises vertical guide rail 11, lifting drive, described retainer plate 4 is slidably mounted on the described vertical guide rail 11, described vertical guide rail 11 is installed on the frame, described retainer plate 4 is connected in order to drive the lifting drive that retainer plate moves up and down along vertical guide rail 11, and described lifting drive is installed on the frame.
Described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises pusher, described pusher comprises scraping wings 6, horizontal guide rail 12, driving mechanism, described scraping wings 6 is slidably mounted on the horizontal guide rail 12, described horizontal guide rail 12 is installed on the frame, described scraping wings 6 is connected in order to drive scraping wings along horizontal guide rail 12 reciprocating drive units, described scraping wings 6 is arranged vertically and is positioned at the side of retainer plate 4, the base of the scraping wings 6 that (is positioned at vertical guide rail 11 bottom) when retainer plate 4 is reduced to extreme lower position is higher than the retainer face of retainer plate 4, described driving mechanism is installed on the frame, described scraping wings 6 in maximum pusher position be positioned at industrial robot 8 conveying mechanical arm 10 below.
Described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises electronic powder-brushing machine 13 and air draught powder collection device 14, described electronic powder-brushing machine 13 is arranged within arm 16 scopes of described industrial robot 8, described electronic powder-brushing machine 13 is installed on the frame, and the powered brush of electronic powder-brushing machine 13 is aimed in the inlet scoop of described air draught powder collection device 14.
Described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises electronic powder-brushing machine 13 and air draught powder collection device 14, described electronic powder-brushing machine 13 is arranged in the side of described vertical guide rail 11, described electronic powder-brushing machine 13 is installed on the frame, and the powered brush of electronic powder-brushing machine 13 is aimed in the inlet scoop of described air draught powder collection device 14.
The concrete course of work of present embodiment is: after powder press 1 pushes out stampings, the mould bases that stampings are positioned at press connects material on the plate 5, catching robot 2 moves to the top that is positioned at the stampings on the plate 5 that connects material, control catching robot 2 grasps stampings, and control it and on beam guideway 3, move, stampings are transplanted on retainer plate 4 tops, during in the motion process stampings be disposed in the powered brush reaming of the electronic powder-brushing machine 13 of vertical guide rail 11 sides; Control catching robot 2 again and decontrol, stampings are placed on the retainer plate 4, and catching robot 2 resets; Control retainer plate 4 moves down along vertical guide rail 11, docks up to retainer plate 4 and exit plate are concordant, and at this moment, scraping wings 6 is positioned at the side of retainer plate 4; Driving mechanism drives scraping wings 6 and moves along horizontal guide rail 12, and stampings are pushed on the exit plate, and when arriving maximum pusher position, scraping wings 6 resets, and retainer plate 4 risings reset during this period; The stampings that the manipulator 10 of control industrial robot 8 grasps on the exit plate, control manipulator 10 is removed the stampings upsets and the powered brush of aiming at electronic powder-brushing machine 13 to the burr of stampings, control manipulator 10 to second stations, manipulator 10 is positioned at the top of conveying equipment entrance point, control manipulator 10 is decontroled stampings, and stampings are placed on the conveying equipment 9; Conveying equipment 9 is sent to man power encasement's station with stampings, and stampings are by the Turnover Box 18 of manually packing into.
With reference to Fig. 1, Fig. 2 and Fig. 3, present embodiment comprises at least two cover stampings mechanism for picking, the gripping conveyor structure that is connected with at least two press; Described each stampings mechanism for picking, gripping conveyor structure are arranged in the exit side of corresponding powder press, the entrance point of the conveying equipment 9 of described each gripping conveyor structure is connected in the industrial robot 8 of corresponding stampings mechanism for picking, and the port of export is connected in same vanning station.Realize the operating type of people's multimachine: as a people two machines, a people three machines and a people four machines etc.; The structure of the stampings mechanism for picking of present embodiment, elevating mechanism, pusher and gripping conveyor structure is identical with embodiment 1 with the course of work.
Fig. 3 is a people three machine operation schemes of powder briquetting machine products discharging automatic picking, cleaning and transmitting system, comprise three powder press 1, three cover powder briquetting machine products discharging automatic picking, cleaning and transmitting systems, three cover conveying equipments 9, described powder briquetting machine products discharging automatic picking, cleaning and transmitting system is arranged in the dead ahead of powder press 1, the entrance point of conveying equipment 9 is connected in the industrial robot 8 in the powder briquetting machine products discharging automatic picking, cleaning and transmitting system, and the port of export is connected in the Turnover Box 18 of vanning station.
Claims (10)
1. powder briquetting machine products discharging automatic picking, cleaning and transmitting system, it is characterized in that: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system comprises frame, the stampings mechanism for picking, the gripping conveyor structure, described stampings mechanism for picking comprises the catching robot that is used to grasp stampings, beam guideway, retainer plate, described catching robot is connected with beam guideway slidably, described catching robot be used to control the manipulator pick-and-place, the drive unit that picks up that moves on beam guideway connects, described retainer plate is horizontally disposed, and described beam guideway and retainer plate are installed on the frame;
Described beam guideway one end is positioned at the top of placing the plate that connects material of stampings on the powder press mould bases, and the other end is positioned at the top of retainer plate;
Described gripping conveyor structure comprises exit plate, industrial robot, conveying equipment, described exit plate is installed on the frame, described exit plate is docked with retainer plate, the position of described industrial robot is over against exit plate, first station of described industrial robot is positioned at the top of exit plate, the top that second station is positioned at the conveying equipment entrance point, and the feed drive device that moves between described industrial robot and the conveying mechanical arm pick-and-place that is used to control industrial robot and first station, second station is connected.
2. powder briquetting machine products discharging automatic picking, cleaning and transmitting system as claimed in claim 1, it is characterized in that: described industrial robot comprises conveying mechanical arm, wrist, arm and the rotatable trunk that is used to grasp stampings, described conveying mechanical arm is fixedlyed connected with wrist, described wrist is rotatably connected by hinge and arm, described arm is rotatably connected by the column of hinge and trunk, described rotatable trunk comprises column, base, and described column lower end is socketed in the base rotationally.
3. powder briquetting machine products discharging automatic picking, cleaning and transmitting system as claimed in claim 1, it is characterized in that: described conveying equipment is a belt conveyor, described belt conveyor entrance point is connected in industrial robot, and the port of export is connected in the Turnover Box of vanning station.
4. as the described powder briquetting machine products discharging automatic picking, cleaning and transmitting system of one of claim 1-3, it is characterized in that: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises elevating mechanism, described elevating mechanism comprises vertical guide rail, in order to drive the lifting drive that retainer plate moves up and down along vertical guide rail, described retainer plate is slidably mounted on the described vertical guide rail, described vertical guide rail is installed on the frame, described retainer plate connects described lifting drive, and described lifting drive is installed on the frame.
5. powder briquetting machine products discharging automatic picking, cleaning and transmitting system as claimed in claim 4, it is characterized in that: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises pusher, described pusher comprises scraping wings, horizontal guide rail, in order to drive scraping wings along the reciprocating driving mechanism of horizontal guide rail, described scraping wings is slidably mounted on the horizontal guide rail, described horizontal guide rail is installed on the frame, described scraping wings connects described driving mechanism, described scraping wings is arranged vertically and is positioned at the side of retainer plate, be positioned at vertical guide rail at retainer plate and be higher than the retainer face of retainer plate in the base of scraping wings bottom the time, described driving mechanism is installed on the frame, described scraping wings in maximum pusher position be positioned at industrial robot manipulator below.
6. as the described powder briquetting machine products discharging automatic picking, cleaning and transmitting system of one of claim 1-3, it is characterized in that: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises pusher, described pusher comprises scraping wings, horizontal guide rail, in order to drive scraping wings along the reciprocating driving mechanism of horizontal guide rail, described scraping wings is slidably mounted on the horizontal guide rail, described horizontal guide rail is installed on the frame, described scraping wings connects described driving mechanism, described scraping wings is arranged vertically and is positioned at the side of retainer plate, the base of scraping wings is higher than the retainer face of retainer plate, described driving mechanism is installed on the frame, described scraping wings in maximum pusher position be positioned at industrial robot manipulator below.
7. powder briquetting machine products discharging automatic picking, cleaning and transmitting system as claimed in claim 5, it is characterized in that: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises electronic powder-brushing machine and air draught powder collection device, described electronic powder-brushing machine is arranged within the arm reach of described industrial robot, described electronic powder-brushing machine is installed on the frame, and the powered brush of electronic powder-brushing machine is aimed in the inlet scoop of described air draught powder collection device.
8. powder briquetting machine products discharging automatic picking, cleaning and transmitting system as claimed in claim 4, it is characterized in that: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system also comprises electronic powder-brushing machine and air draught powder collection device, described electronic powder-brushing machine is arranged in the side of described vertical guide rail, described electronic powder-brushing machine is installed on the frame, and the powered brush of electronic powder-brushing machine is aimed in the inlet scoop of described air draught powder collection device.
9. as the described powder briquetting machine products discharging automatic picking, cleaning and transmitting system of one of claim 1-3, it is characterized in that: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system comprises at least two cover stampings mechanism for picking, the gripping conveyor structure that is connected with at least two press; Described each stampings mechanism for picking, gripping conveyor structure are arranged in the exit side of corresponding powder press, the entrance point of the conveying equipment of described each gripping conveyor structure is connected in the industrial robot of described gripping conveyor structure, and the port of export is connected in same vanning station.
10. powder briquetting machine products discharging automatic picking, cleaning and transmitting system as claimed in claim 7 is characterized in that: described powder briquetting machine products discharging automatic picking, cleaning and transmitting system comprises at least two cover stampings mechanism for picking, the gripping conveyor structure that is connected with at least two press; Described each stampings mechanism for picking, gripping conveyor structure are arranged in the exit side of corresponding powder press, the entrance point of the conveying equipment of described each gripping conveyor structure is connected in the industrial robot of described gripping conveyor structure, and the port of export is connected in same vanning station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710067551XA CN101259763B (en) | 2007-03-09 | 2007-03-09 | Powder briquetting machine products discharging automatic picking, cleaning and transmitting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710067551XA CN101259763B (en) | 2007-03-09 | 2007-03-09 | Powder briquetting machine products discharging automatic picking, cleaning and transmitting system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101259763A CN101259763A (en) | 2008-09-10 |
| CN101259763B true CN101259763B (en) | 2010-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200710067551XA Expired - Fee Related CN101259763B (en) | 2007-03-09 | 2007-03-09 | Powder briquetting machine products discharging automatic picking, cleaning and transmitting system |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102173098B (en) * | 2011-01-07 | 2015-08-12 | 苏光宝 | Discharging mechanism of powder molding press |
| CN102285148B (en) * | 2011-08-19 | 2014-04-16 | 天津市天锻压力机有限公司 | Formed product transporting device for powder hydraulic machine |
| CN103085074A (en) * | 2013-02-25 | 2013-05-08 | 南京博派智能科技有限公司 | Mechanical arm special for cantilever type magnetic material pressing machine |
| CN110281467A (en) * | 2019-08-09 | 2019-09-27 | 拓疆智能装备(中山)有限公司 | A kind of semiconductor plastic package robot automatic loading and unloading system |
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| EP0096258A1 (en) * | 1982-06-07 | 1983-12-21 | General Electric Company | Pick-off device for removing manufactured part from manufacturing machine |
| CN2407898Y (en) * | 2000-02-02 | 2000-11-29 | 中国科学院沈阳自动化研究所 | Automatic loading and unloading mechanical hand for punching |
| CN2576435Y (en) * | 2002-10-31 | 2003-10-01 | 天津市天锻压力机有限公司 | Centring workpiece-taking mechanical arm for powder hydraulic machine |
| CN1788993A (en) * | 2005-12-19 | 2006-06-21 | 南京东部精密机械有限公司 | Automatic blank arranging machine control system and its control method |
| CN1788944A (en) * | 2005-12-19 | 2006-06-21 | 南京东部精密机械有限公司 | Full-automatic blank arranging machine |
| CN201009470Y (en) * | 2007-03-09 | 2008-01-23 | 浙江工业大学 | Automatic pick up cleaning conveying system of powder press product discharging |
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- 2007-03-09 CN CN200710067551XA patent/CN101259763B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0096258A1 (en) * | 1982-06-07 | 1983-12-21 | General Electric Company | Pick-off device for removing manufactured part from manufacturing machine |
| CN2407898Y (en) * | 2000-02-02 | 2000-11-29 | 中国科学院沈阳自动化研究所 | Automatic loading and unloading mechanical hand for punching |
| CN2576435Y (en) * | 2002-10-31 | 2003-10-01 | 天津市天锻压力机有限公司 | Centring workpiece-taking mechanical arm for powder hydraulic machine |
| CN1788993A (en) * | 2005-12-19 | 2006-06-21 | 南京东部精密机械有限公司 | Automatic blank arranging machine control system and its control method |
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| CN201009470Y (en) * | 2007-03-09 | 2008-01-23 | 浙江工业大学 | Automatic pick up cleaning conveying system of powder press product discharging |
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| CN101259763A (en) | 2008-09-10 |
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Granted publication date: 20100602 Termination date: 20130309 |