CN101745908A - Mechanical arm and metal plate stamping device using same - Google Patents
Mechanical arm and metal plate stamping device using same Download PDFInfo
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- CN101745908A CN101745908A CN 200810220253 CN200810220253A CN101745908A CN 101745908 A CN101745908 A CN 101745908A CN 200810220253 CN200810220253 CN 200810220253 CN 200810220253 A CN200810220253 A CN 200810220253A CN 101745908 A CN101745908 A CN 101745908A
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- 239000000463 material Substances 0.000 claims abstract description 72
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- 238000003825 pressing Methods 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000004080 punching Methods 0.000 claims description 10
- 208000032370 Secondary transmission Diseases 0.000 claims description 7
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- 238000011112 process operation Methods 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 19
- 238000004519 manufacturing process Methods 0.000 abstract description 14
- 239000000047 product Substances 0.000 description 17
- 238000012545 processing Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000035611 feeding Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 238000010009 beating Methods 0.000 description 4
- 239000011265 semifinished product Substances 0.000 description 4
- 238000009499 grossing Methods 0.000 description 3
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- 230000002093 peripheral effect Effects 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
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- 238000010521 absorption reaction Methods 0.000 description 1
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Abstract
The invention discloses a mechanical arm, comprising a main beam, a plurality of supporting frames for supporting the main beam; the supporting frames are provided with a plurality of arms, the mechanical arm also comprises a driving device which drives the main beam to move rightwards and leftwards and horizontally and a driving device which drives the main beam to move upwards and downwards and vertically. The mechanical arm can be used to effectively realize delivery of the metal plates in multiple processes of the multiple operation stamping device and greatly reduce material transshipment time. The invention also discloses a metal plate stamping device using the mechanical arm which greatly improves production efficiency of products, enhances pass rate finished products, and liberates operators from trivial and boring labor and make corporate production more human-oriented.
Description
Technical field
The invention belongs to the manufacture field of panel beating industry, be specifically related to a kind of manipulator and use this manipulator metal plate stamping device.
Background technology
In the prior art, the traditional processing technology of panel beating industry and method are that one or two operators operate an open type or closed punch simultaneously, its operating procedure is: earlier steel plate coiled strip banding machine itemize, steel are cut into the blank dimension that needs with cross cut shears again, manually raw material are put into the diel punch process then, again the good product of punching press is manually taken out after finishing, whole process of production needs more operator to operate, the mode of production falls behind, workman's working strength is big, poor working environment, and in process, exist potential safety hazard significantly, its production efficiency is low, because the location in the punching course is all by manually operating, it is difficult to position accurately, makes that the defective work of the product that punching press is come out is more, and the qualification rate of finished product is lower.
In the punch process process, for convenience and carry metal plate material stock apace, autoloader has appearred in the prior art, this autoloader can directly be installed to the last process of punch press, reduced the horizontal operation of cutting of metal plate material, but this feeder just is fit to the unit converted products, is not suitable for multiple operation punch process equipment.
In addition, in existing patent documentation, the manipulator that some can replace the staff convey materials is also disclosed, for example: the patent No. is 200620059939.6, notification number is CN2933743, denomination of invention is the patent of invention of vacuum cap type manipulator, this vacuum cap type manipulator comprises that mainly sucking disc type mechanical hand comprises mechanical arm and control module, the bottom of described mechanical arm is connected with a vacuum cup, described vacuum cup can hold surface of the work, and control module control mechanical arm is done on the plane of X, Y-axis and moved freely.This vacuum cap type manipulator has used vavuum pump to inhale the work principle, utilize manipulator to replace the staff feeding to form, can improve the precision and the efficient of punch press, and suitably reducing job costs, the assurance of the efficient of single and mini-batch production or trial product and precision has important effect on panel beating and the hardware industry.But it can not satisfy big in batches, and operation is many, the needs of the metal plate stamping device that production scale is bigger.
Summary of the invention
The present invention seeks to overcome the deficiencies in the prior art, provide a kind of and can and be transported to the manipulator that different operations is processed easily the material while.
The present invention also provides a kind of metal plate stamping device of using aforementioned manipulator, this metal plate material pressing equipment, the needs of the metal plate material processing big in batches, that operation is many, production scale is big can be satisfied effectively, recruitment cost, raising production efficiency of products and the product qualified rate of enterprise can be reduced widely.
In order to reach above-mentioned first technical purpose, the present invention realizes by following technical scheme:
A kind of manipulator, comprise main beam, be used to support a plurality of bracing frames of main beam, described a plurality of bracing frame axially is provided with along described main beam, described main beam is provided with a plurality of arms, and described manipulator also comprises the horizontal drive apparatus that drives described main beam left and right horizontal motion and drives the vertical drive that described main beam moves both vertically up and down.
Described vertical drive comprises drive source that is arranged on the main beam below and the gear case assembly that is connected with described drive source, and wherein the power intake of gear case assembly is connected with the output of described drive source.
Described gear case assembly is made up of a plurality of gear-boxes, a plurality of described gear-boxes are axial arranged in two side positions of described drive source along described main beam, and the power intake of the described gear-box that wherein close described drive source is provided with is connected with the drive source output by connecting rod; Place between the gear-box of described drive source homonymy and interconnect by connecting rod; Described gear-box upper end is slidably to be articulated on the main beam.
Described gear-box comprises casing, extends to the outer tooth bar of casing and places in the casing and the tooth bar meshed gears, the rear portion is provided with upwardly extending slide plate in the described casing, this slide plate top is provided with and is used for the assembly pulley that fastens with main beam, and the bottom of described slide plate is provided with chute; The also coaxial fork that is connected with on gear is provided with a bearing pin parallel with the fork rotating shaft at the free end of this fork, is set with a tourelle on the described bearing pin, and this tourelle rolls in described chute.
A side axial at described main beam also is provided with master console, and described drive source is arranged on this master console, and described gear case assembly comprises two gear-boxes that are arranged on the master console and the gear-box that is fixed on each bracing frame upper end; The tooth bar that wherein is located at the gear-box on the master console is connected with the drive source output by connecting rod, interconnects by the connecting rod that is connected on the tooth bar separately between the described gear-box that places the drive source homonymy.
Described horizontal drive apparatus comprises servomotor and by the multistage synchronous belt drive mechanism of driven by servomotor, be coaxially arranged with a synchronous belt wheel with the output belt wheel of afterbody synchronous belt drive mechanism in the described multistage synchronous belt drive mechanism, and described synchronous pulley can axially move up and down along its rotating shaft; The synchronous band that two ends are fixed on the main beam is enclosed within on the described synchronous pulley.
Described multistage synchronous belt drive mechanism adopts the secondary transmission mechanism, this secondary transmission mechanism comprises first order variable transmission mechanism and second level Synchronous Transmission structure, wherein the input belt wheel of first order variable transmission mechanism is installed on the output shaft of servomotor, the coaxial setting of input belt wheel of the output belt wheel of first order variable transmission mechanism and second level synchronous drive mechanism simultaneously, the coaxial setting of output belt wheel of described synchronous pulley and second level synchronous drive mechanism.
With the both sides rotating shaft of the shaft parallel of described synchronous pulley on also be respectively arranged with a pinch roller; Described servomotor and multistage synchronous belt drive mechanism all are arranged on the master console.
Described horizontal drive apparatus comprises servomotor, be installed on the described servomotor output shaft synchronous pulley that can move along output shaft, walk around described synchronous pulley two ends is fixed on synchronous band on the main beam.
In order to reach above-mentioned second technical purpose, the present invention realizes by following technical scheme: a kind of metal plate stamping device that uses aforementioned manipulator, comprise metal plate material automatic charging machine, many cover metal plate material pressing equipments, the metal plate material forming mould that cooperates punching press with every cover metal plate material pressing equipment, transmission metal plate material carries out the manipulator and the finished product collecting machine of different process operations simultaneously, described metal plate material automatic charging machine places the metal plate material porch of manipulator main beam front end, and described metal plate material pressing equipment and the metal plate material forming mould that is mated punching press are evenly arranged along the main beam direction of manipulator.
Described automatic charging machine comprises initiatively feeder and metal plate material levelling machine, during use, by the active feeder steel plate coiled strip is carried out uncoiling and conveying, and then through the smoothing of metal plate material levelling machine, controls the distance of its feeding by control device.
Compared with prior art, the invention has the beneficial effects as follows:
(1) the present invention can dwindle the material transhipment time widely owing to used the manipulator with many arms, compares with panel beating operation before, and its production efficiency can be brought up in the past about 20 times;
(2) the present invention is with the use that is serially connected of metal plate material automatic charging machine, metal plate material pressing equipment, metal plate material forming mould and robot device, need carry out uncoiling rip cutting and crosscut two procedures with existing machined steel board raw material, reduced the crosscut operation, it has not only avoided the restriction of personnel and place effectively, has also reduced working strength of workers widely;
(3) the present invention is full-automatic pressing equipment owing to what use, compare with the existing mode of artificial location that relies on fully, it can accurate localization in process, the machining accuracy height, improve the stability and the uniformity of product effectively, thereby improve the qualification rate of finished product;
(3) the present invention only need use seriation and unitized metal plate punching mould, can produce different products by changing different moulds, and it is in enormous quantities to be widely used in processing, the product that multiple operation and production scale are big;
(4) the present invention is because whole process full-automation, only need an operator can control the operation of whole piece production line, reduced the recruitment cost of enterprise widely, also liberate simultaneously the labour, make the operator can from repeat, free among the scissors and paste, make the processing of product more tend to the hommization development.
Description of drawings
Fig. 1 is a metal plate material multiple operation punch process device structure schematic diagram of the present invention;
Fig. 2 is the Facad structure schematic diagram of manipulator of the present invention;
Fig. 3 is the plan structure schematic diagram of manipulator of the present invention;
Fig. 4 is a middle gear case Facad structure schematic diagram of the present invention;
Fig. 5 is a middle gear case side sectional view of the present invention;
Fig. 6 is the inner perspective view of middle gear case of the present invention;
Fig. 7 is a middle gear case inner plane structural representation of the present invention;
Fig. 8 is an arm structure schematic diagram among the present invention;
Fig. 9 is a master console perspective view among the present invention;
Figure 10 is a master console Facad structure schematic diagram among the present invention.
The specific embodiment
As shown in Figure 1, a kind of metal plate material multiple operation punch process equipment, the metal plate material forming mould 3 that comprises metal plate material automatic charging machine 1, five cover metal plate material pressing equipments 2, is used with every cover metal plate material pressing equipment 2, also comprise and be used for transmitting simultaneously manipulator 4 and the finished product collecting machine 5 of metal plate material to different operations, described automatic charging machine 1 comprises volume metal plate feeder 11 and metal plate material levelling machine 12, during use, carry out uncoiling and conveying by 11 pairs of steel plate coiled strips of volume metal plate feeder, and then through 12 smoothings of metal plate material levelling machine, by the distance of its feeding of control Electric Machine Control.
Described metal plate material levelling machine 12 places manipulator 4 front end metal plate material porch; In addition, metal plate material pressing equipment 2 and metal plate material forming mould 3 are used simultaneously, this five covers metal plate material pressing equipment 2 and the metal plate material forming mould 3 that cooperates thereof are serially connected on same the production line and are in different stations, manipulator 4 be used for the material of different station real-time, synchronous be sent to next process.
As Fig. 2～shown in Figure 7, the concrete structure of a kind of manipulator of the present invention, this manipulator 4 comprises main beam 41, is used to support four bracing frames 42 of main beam 41, certain fixed distance has six arms 43 at interval on main beam 41, the place also is provided with the intermediate station 48 that is used for the transfer material in main beam 41 centre positions, in addition, also be provided with master console 44 in main beam 41 axial sides, this master console 44 is provided with and drives oil cylinder 45, and this drives oil cylinder 45 can also or drive cylinder for drive motors; And, all be set with a gear-box 46 in the upper end of each bracing frame 42; In addition, also be provided with two gear-boxes 46 on master console 44, promptly have six gear-boxes 46, these six gear-boxes 46 axially are provided with the composition gear case assembly along main beam 41.
Among the present invention, gear-box 46 specifically comprises casing 461, extend to the tooth bar 462 outside the casing 461 and place in the casing 461 and tooth bar 462 meshed gears 463, rear positions in casing 461 also is provided with upwardly extending slide plate 464, and main beam 41 is slidably to be fastened on two groups of formed interorbitals of assembly pulley that pulley 465 is formed up and down set on gear-box 46 slide plates 464, the bottom of described slide plate 464 also is provided with chute 466, simultaneously, also be provided with fork 467 on the gear 463 coaxially, free end at this fork 467 is provided with a bearing pin 469 parallel with fork 467 rotating shafts, described bearing pin 469 extends in the above-mentioned chute 466, and, the outer peripheral face of described bearing pin 469 also is set with tourelle, on this tourelle, the lower surface contacts with the end face and the bottom surface of chute 466 respectively, and this tourelle is specifically as follows rolling bearing 468.
Above-mentioned six gear-boxes 46 are axial arranged in two side positions that drive oil cylinder 45 along described main beam 41, the tooth bar 462 that wherein is located at two gear-boxes 46 on the master console 44 links to each other by connecting rod 47 and also is connected with the output that drives oil cylinder 45 simultaneously, is that connecting rod 47 by being connected on the tooth bar 462 separately links together and be between three gear-boxes 46 that drive oil cylinder 45 the same sides.Described driving oil cylinder and formed jointly with the gear case assembly that is connected of driving oil cylinder and to drive the vertical drive that described main beam moves both vertically up and down.
When driving oil cylinder 45 actions, drive tooth bar 462 motions of oil cylinder 45 driving gearboxs 46, when tooth bar 462 is driven by external force, can drive and rotate with its meshed gears 463, then can drive fork 467 swings, because the outer peripheral face of an end of this fork 467 also is provided with a rolling bearing 468, will drive slide plate 464 like this moves up and down, because the slide plate 464 of gear-box 46 is to be articulated on the main beam 41 by the assembly pulley of being made up of two groups of pulleys 465, so, the slide plate 464 of gear-box 46 is when moving up and down, main beam 41 is also along with moving up and down together, like this, just can realize being fixed on six arms 43 on the main beam 41 and also do the motion of above-below direction simultaneously.Certainly, the combining structure of described fork 467 and bearing pin 469 can also have the distortion of other structure, for example substitutes with the crank-type fork.
In addition, for the motion that guarantees that arm 43 on the main beam 41 in the horizontal direction also can be simultaneously, described manipulator 4 also is provided with the horizontal drive apparatus that drives described main beam left and right horizontal motion, described horizontal drive apparatus comprises servomotor 49 and the multistage synchronous belt drive mechanism that is driven by servomotor 49, be coaxially arranged with a synchronous belt wheel 412 with the output belt wheel of afterbody synchronous belt drive mechanism in the described multistage synchronous belt drive mechanism, and described synchronous pulley 412 can axially move up and down along its rotating shaft; The synchronous band (not shown) that two ends are fixed on the main beam 41 is enclosed within on the described synchronous pulley 412.In order to make reliable and stable described main beams 41 work of drive of described synchronous pulley 412, with the both sides rotating shaft of the shaft parallel of described synchronous pulley 412 on also be respectively arranged with a pinch roller 413.And this servomotor 49 and multistage synchronous belt drive mechanism all are arranged on the master console 44.
In the present embodiment, multistage synchronous belt drive mechanism adopts the secondary transmission mechanism, this secondary transmission mechanism comprises first order variable transmission mechanism and second level Synchronous Transmission structure, wherein the input belt wheel of first order variable transmission mechanism 410 is installed on the output shaft of servomotor 49, the coaxial setting of input belt wheel of the output belt wheel of first order variable transmission mechanism 410 and second level synchronous drive mechanism 411 simultaneously, the coaxial setting of output belt wheel of described synchronous pulley 412 and second level synchronous drive mechanism 411.
Because gear-box 46 is to fixedly install, and main beam 41 is slidably to be fastened on gear-box 46 slide plates 464 between set two groups of pulleys 465 up and down, when servomotor 49 is just changeing or is reversing, by secondary transmission mechanism and synchronous pulley 412 and walk around described synchronous pulley 412 two ends be fixed on synchronous band on the main beam 41 just drive main beam 41 on the track that two groups of pulleys 465 form left or move right, can realize effectively that main beam 41 moves in the horizontal direction, thereby drive the arm 43 be fixed on the main beam 41 along with main beam 41 move left and right together.
In order to make the manipulator 4 can be smoothly and draw workpiece easily, the concrete structure of arm 43 is: comprise that a cross bar 431 and an end are connected the medium position of cross bar 431, the other end is fixedly connected on the trailing arm 432 on the main beam 41, four branch's vertical poles 433 also are set on the described cross bar 431, wherein two branch's vertical poles 433 of contiguous trailing arm 432 are provided with the vacuum cup 434 that is used to adsorb the metal plate material, two branch's vertical poles 433 away from trailing arm 432 are provided with electromagnet 435 in addition, when arm 43 moves to the absorption location of workpiece, vacuum cup 434 and electromagnet 435 act on simultaneously, grabbing workpiece, thereby the motion by main beam 41 brings to the subsequent processing position with workpiece, arm 43 discharges workpiece and returns back to home, has just finished the transmission of inter process material.
Certainly, can move described synchronous pulley 412 by output shaft, rely on then and walk around the synchronous band that described synchronous pulley 412 two ends are fixed on the main beam 41 and also can drive main beam 41 move left and right if directly on the output shaft of described servomotor 49, install one.
As shown in Figure 1, the workflow of metal plate stamping device of the present invention is: volume metal plate feeder 11 is according to the intermittently feeding automatically of metal plate material levelling machine metal plate material use quantity, also quantitatively the metal plate material is sent in the first cover metal plate material pressing equipment 2 by 12 smoothings of metal plate material levelling machine, after the first cover metal plate material pressing equipment, 2 punch process, finished product after manipulator 4 is processed the 5th cover metal plate material pressing equipment 2 is delivered in the finished product collecting machine 5, semi-finished product after 2 processing of quadruplet metal plate material pressing equipment are delivered to the 5th cover metal plate material pressing equipment 2, semi-finished product on the intermediate station 48 are delivered to quadruplet metal plate material pressing equipment 2, semi-finished product after 2 processing of the 3rd cover metal plate material pressing equipment are delivered on the intermediate station 48, semi-finished product after 2 processing of the second cover metal plate material pressing equipment are delivered to the 3rd cover metal plate material pressing equipment 2, five actions are carried out simultaneously, when manipulator 4 is got workpiece from mould, 12 beginnings of metal plate material levelling machine are sent the metal plate material in the first cover metal plate material pressing equipment 2, when manipulator 4 feedings are finished and after 12 feedings of metal plate material levelling machine put in place, punching press once more.Repeat above-mentioned action, can realize five cover metal plate material pressing equipment continuous operations simultaneously.
The number of manipulator 4 last arms 43 of the present invention is not limited to six mentioned in the foregoing description arms 43, the more arm 43 of more number can be set on the main beam 41 of manipulator 4, correspondingly be: metal plate material pressing equipment 2 and the metal plate material forming mould 3 that is used with metal plate material pressing equipment 2 also can be for more a plurality of, like this, just can realize the full-automatic punching course that more a plurality of stamping procedures carry out simultaneously, improve whole punch process efficiency of equipment widely, can also reduce simultaneously the quantity of operator on the production line effectively, reduce the recruitment cost of enterprise, because manipulator 4 can position exactly, reduced quantity, greatly improved the qualification rate of product owing to the inaccurate defect ware that brings in ground, artificial location.
Claims (11)
1. manipulator, it is characterized in that: comprise main beam, be used to support a plurality of bracing frames of main beam, described a plurality of bracing frame axially is provided with along described main beam, described main beam is provided with a plurality of arms, and described manipulator also comprises the horizontal drive apparatus that drives described main beam left and right horizontal motion and drives the vertical drive that described main beam moves both vertically up and down.
2. manipulator according to claim 1, it is characterized in that: described vertical drive comprises drive source that is arranged on the main beam below and the gear case assembly that is connected with described drive source, and wherein the power intake of gear case assembly is connected with the output of described drive source.
3. manipulator according to claim 2, it is characterized in that: described gear case assembly is made up of a plurality of gear-boxes, a plurality of described gear-boxes are axial arranged in two side positions of described drive source along described main beam, and the power intake of the described gear-box that wherein close described drive source is provided with is connected with the drive source output by connecting rod; Place between the gear-box of described drive source homonymy and interconnect by connecting rod; Described gear-box upper end is slidably to be articulated on the main beam.
4. manipulator according to claim 3, it is characterized in that: described gear-box comprises casing, extends to the outer tooth bar of casing and places in the casing and the tooth bar meshed gears, the rear portion is provided with upwardly extending slide plate in the described casing, this slide plate top is provided with and is used for the assembly pulley that fastens with main beam, and the bottom of described slide plate is provided with chute; The also coaxial fork that is connected with on gear is provided with a bearing pin parallel with the fork rotating shaft at the free end of this fork, is set with a tourelle on the described bearing pin, and this tourelle rolls in described chute.
5. manipulator according to claim 4, it is characterized in that: a side axial at described main beam also is provided with master console, described drive source is arranged on this master console, and described gear case assembly comprises two gear-boxes that are arranged on the master console and the gear-box that is fixed on each bracing frame upper end; The tooth bar that wherein is located at the gear-box on the master console is connected with the drive source output by connecting rod, interconnects by the connecting rod that is connected on the tooth bar separately between the described gear-box that places the drive source homonymy.
6. according to any one described manipulator among the claim 1-5, it is characterized in that: described horizontal drive apparatus comprises servomotor and by the multistage synchronous belt drive mechanism of driven by servomotor, be coaxially arranged with a synchronous belt wheel with the output belt wheel of afterbody synchronous belt drive mechanism in the described multistage synchronous belt drive mechanism, and described synchronous pulley can axially move up and down along its rotating shaft; The synchronous band that two ends are fixed on the main beam is enclosed within on the described synchronous pulley.
7. manipulator according to claim 6, it is characterized in that: described multistage synchronous belt drive mechanism adopts the secondary transmission mechanism, this secondary transmission mechanism comprises first order variable transmission mechanism and second level Synchronous Transmission structure, wherein the input belt wheel of first order variable transmission mechanism is installed on the output shaft of servomotor, the coaxial setting of input belt wheel of the output belt wheel of first order variable transmission mechanism and second level synchronous drive mechanism simultaneously, the coaxial setting of output belt wheel of described synchronous pulley and second level synchronous drive mechanism.
8. manipulator according to claim 6 is characterized in that: with the both sides rotating shaft of the shaft parallel of described synchronous pulley on also be respectively arranged with a pinch roller; Described servomotor and multistage synchronous belt drive mechanism all are arranged on the master console.
9. according to any one described manipulator among the claim 1-5, it is characterized in that: described horizontal drive apparatus comprises servomotor, be installed on the described servomotor output shaft synchronous pulley that can move along output shaft, walk around described synchronous pulley two ends is fixed on synchronous band on the main beam.
10. according to any one described manipulator among the claim 1-5, it is characterized in that: axially be provided with the intermediate station that is used for transfer metal plate material along described main beam.
11. metal plate stamping device that uses each described manipulator of claim 1 to 5, it is characterized in that: comprise metal plate material automatic charging machine, overlap metal plate material pressing equipment more, cooperate the metal plate material forming mould of punching press, manipulator and the finished product collecting machine that transmission metal plate material carries out different process operations simultaneously with every cover metal plate material pressing equipment, described metal plate material automatic charging machine places the metal plate material porch of manipulator main beam front end, and described metal plate material pressing equipment and the metal plate material forming mould that is mated punching press are evenly arranged along the main beam direction of manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810220253 CN101745908B (en) | 2008-12-18 | 2008-12-18 | Mechanical arm and metal plate stamping device using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810220253 CN101745908B (en) | 2008-12-18 | 2008-12-18 | Mechanical arm and metal plate stamping device using same |
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| CN101745908A true CN101745908A (en) | 2010-06-23 |
| CN101745908B CN101745908B (en) | 2013-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200810220253 Expired - Fee Related CN101745908B (en) | 2008-12-18 | 2008-12-18 | Mechanical arm and metal plate stamping device using same |
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| CN201201241Y (en) * | 2008-04-28 | 2009-03-04 | 珠海格力电器股份有限公司 | Manipulator and metal plate stamping processing equipment using the same |
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| CN103157732A (en) * | 2011-12-08 | 2013-06-19 | 莱恩精机(深圳)有限公司 | Mechanical arm |
| CN103157732B (en) * | 2011-12-08 | 2015-01-07 | 莱恩精机(深圳)有限公司 | Mechanical arm |
| CN102490180A (en) * | 2011-12-19 | 2012-06-13 | 山东大陆科技有限公司 | Grabbing mechanical hand, machining system constituted by same and machining method |
| CN102632123A (en) * | 2012-03-29 | 2012-08-15 | 浙江凌宇机械制造有限公司 | Automatic production line for brake discs |
| CN102962369A (en) * | 2012-11-26 | 2013-03-13 | 四川长虹电器股份有限公司 | Manipulator structure for automatic material loading and unloading of punch press |
| CN102962369B (en) * | 2012-11-26 | 2015-07-29 | 四川长虹电器股份有限公司 | A kind of robot manipulator structure for punch press automatic loading/unloading |
| CN104001776A (en) * | 2014-05-29 | 2014-08-27 | 陈桂晖 | Hydraulic mechanical system |
| CN104001776B (en) * | 2014-05-29 | 2016-08-24 | 陈桂晖 | A kind of hydraulic-mechanic system |
| CN104209442B (en) * | 2014-08-29 | 2016-05-11 | 重庆市铜梁区精亿电脑配件有限公司 | Automatic riveting machine |
| CN104209442A (en) * | 2014-08-29 | 2014-12-17 | 铜梁县精亿电脑配件有限公司 | Automatic riveting machine |
| CN105170481B (en) * | 2015-07-17 | 2017-10-20 | 浙江畅尔智能装备股份有限公司 | A kind of online feeding device for inspection of production line automatic discharging |
| CN105170481A (en) * | 2015-07-17 | 2015-12-23 | 浙江畅尔智能装备股份有限公司 | Automatic discharge online inspection submitting device for production line |
| CN105499378A (en) * | 2016-02-02 | 2016-04-20 | 苏州宝成汽车冲压有限公司 | Transmission mold and integral equipment used for manufacturing BPS oil seal framework |
| CN105499378B (en) * | 2016-02-02 | 2017-11-14 | 苏州宝成汽车冲压有限公司 | For producing the integral device of BPS oil tight skeletons |
| CN106078917A (en) * | 2016-07-06 | 2016-11-09 | 东莞市开方实业有限公司 | A kind of Full automatic punching cut machine of flexible PCB |
| CN106180370A (en) * | 2016-08-31 | 2016-12-07 | 苏州任翔金属制品有限公司 | A kind of hole punched device |
| CN107838939A (en) * | 2017-11-24 | 2018-03-27 | 安徽鲲鹏装备模具制造有限公司 | A kind of 5-linked sucker arm-and-hand system |
| CN107838939B (en) * | 2017-11-24 | 2023-09-08 | 安徽鲲鹏装备模具制造有限公司 | Five-linked sucker manipulator system |
| CN111531008A (en) * | 2020-05-18 | 2020-08-14 | 合肥浩凌机械设计制造有限公司 | Metal sheet multi-station stamping processing equipment and method |
| CN111531008B (en) * | 2020-05-18 | 2021-09-07 | 武汉东浩日汽车模具有限公司 | Metal sheet multi-station stamping processing equipment and method |
| CN113020425A (en) * | 2021-04-24 | 2021-06-25 | 江阴市富仁机件有限公司 | Full-automatic metal plate stamping forming line and forming process |
| CN115401109A (en) * | 2022-09-29 | 2022-11-29 | 常州市武进惠丰金属制品有限公司 | Production, assembly and processing system for wear-resistant and corrosion-resistant composite metal appearance piece |
| CN115401109B (en) * | 2022-09-29 | 2023-10-13 | 常州市武进惠丰金属制品有限公司 | Production, assembly and processing system for wear-resistant and corrosion-resistant composite metal appearance part |
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