CN101961868B - Automatic positioning mechanism and method thereof - Google Patents

Automatic positioning mechanism and method thereof Download PDF

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Publication number
CN101961868B
CN101961868B CN200910304655.7A CN200910304655A CN101961868B CN 101961868 B CN101961868 B CN 101961868B CN 200910304655 A CN200910304655 A CN 200910304655A CN 101961868 B CN101961868 B CN 101961868B
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China
Prior art keywords
gas pawl
fixed
jaw
fixture
nut
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Expired - Fee Related
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CN200910304655.7A
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Chinese (zh)
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CN101961868A (en
Inventor
谢政宪
陈志贤
何昌平
张振洲
王春喜
赵刚
张轩
王建富
缪聪聪
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Kangzhun Electronic Technology Kunshan Co Ltd
Hon Hai Precision Industry Co Ltd
Original Assignee
Kangzhun Electronic Technology Kunshan Co Ltd
Hon Hai Precision Industry Co Ltd
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Application filed by Kangzhun Electronic Technology Kunshan Co Ltd, Hon Hai Precision Industry Co Ltd filed Critical Kangzhun Electronic Technology Kunshan Co Ltd
Priority to CN200910304655.7A priority Critical patent/CN101961868B/en
Publication of CN101961868A publication Critical patent/CN101961868A/en
Application granted granted Critical
Publication of CN101961868B publication Critical patent/CN101961868B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention discloses an automatic positioning mechanism and a method thereof, which are used for arranging a plurality of nuts sleeved on a fixed rod on one workpiece. The automatic positioning mechanism comprises a workbench for placing the workpiece and an installation and assembly unit opposite to the workpiece, wherein the installation and assembly unit comprises a first gas claw, a second gas claw and a third gas claw which respectively comprise a plurality of clamping jaws capable of sliding oppositely or reversely; the clamping jaws of the first gas claw are clamped on the upper part of the fixed rod; the clamping jaws of the second gas claw are clamped on a nut on the outermost side of the lower part of the fixed rod; the clamping jaws of the third gas claw are clamped at the tail end of the fixed rod; when the automatic positioning mechanism is used, the clamping jaws of the second gas claw are opened to release the nut on the outermost side, and then the clamping jaws of the second gas claw approach again to be clamped on other nuts on the lower part of the fixed rod; the clamping jaws of the third gas claw are opened so that the nuts on the outermost side slide to the part, where the nuts needs to be installed, of the workpiece, thereby realizing the automatic installation of the nuts.

Description

Automatic positioning mechanism and method thereof
Technical field
The present invention relates to a kind of automatic positioning mechanism and method thereof, particularly a kind of automatic positioning mechanism and method thereof that nut can be automatically positioned on to a workpiece.
Background technology
In the assembling process of electronic product (as notebook computer), generally need on the loading plate of electronic product, fix some copper nuts, need to being fixed on part on loading plate, to be locked in copper nut common, first manually described copper nut is positioned over to the precalculated position of loading plate, and then heats described copper nut and make it be heat-fused in loading plate.Yet, manually place copper nut and need to expend a lot of human resources, and very easily occur neglected loading nut or wrongly installed nut; And described nut is very little, be difficult for taking, very easily make operator produce fatigue, thereby affect installation accuracy and efficiency.
Summary of the invention
In view of this, be necessary to provide a kind of high accuracy, high efficiency automatic positioning mechanism and method thereof.
A kind of automatic positioning mechanism, it is used for the some nuts that are sheathed on a fixed bar to be placed in respectively a workpiece, described automatic positioning mechanism comprises that one is used for placing workbench and the installation assembled unit over against described workpiece of described workpiece, described installation assembled unit comprises one first gas pawl, one second gas pawl and one the 3rd gas pawl, described first, second and third gas pawl comprise respectively some can be in opposite directions or the jaw of dorsal glide, and the distance between the jaw of the jaw of described the second gas pawl and described the 3rd gas pawl equals the height of a nut, the jaw of described the first gas pawl is held on the top of described fixed bar, the jaw of described the second gas pawl is held on the outermost nut in described fixed bar bottom, the jaw of described the 3rd gas pawl is held on the end of described fixed bar, during use, the jaw of described the second gas pawl first opens and discharges described outermost nut, afterwards the jaw of described the second gas pawl again near and be held on other nuts of described fixed bar bottom, the jaw of described the 3rd gas pawl opens and makes described outermost slide nut drop down onto the position that described workpiece needs mounting nuts.
A kind of method of automatic location, be used for the some nuts that are sheathed on a fixed bar to be placed in respectively a workpiece, described automatic positioning method comprises the following steps: provide a rotating mechanical arm and to be fixed on the installation assembled unit of described mechanical arm, described installation assembled unit comprises one first gas pawl, one second gas pawl and one the 3rd gas pawl, described first, second and third gas pawl comprise respectively some can be in opposite directions or the jaw of dorsal glide; Will be arranged with the fixed bar of some nuts install and described installation assembled unit, and the jaw of described the first gas pawl is held on the top of described fixed bar, the jaw of described the second gas pawl is held on the outermost nut in described fixed bar bottom; The jaw of described the 3rd gas pawl is held on the end of described fixed bar; Rotate described mechanical arm, drive described installation assembled unit to move to the position that needs mounting nuts over against described workpiece; The jaw of described the second gas pawl opens, and the outermost nut of fixed bar bottom is slid into against the jaw of the 3rd gas pawl, afterwards, the jaw of described the second gas pawl again mutually near and be held on other nuts of fixed bar bottom; The jaw of described the 3rd gas pawl opens, and described outermost slide nut drops down onto the position that described workpiece needs mounting nuts, afterwards, the jaw of described the 3rd gas pawl again mutually near and be held on the end of described fixed bar.
Compare prior art, automatic positioning mechanism of the present invention and method thereof operate described second and third gas pawl by priority, control the jaw of described second and third gas pawl and distinguish dorsal glide and the clamping of pine oil to described nut, so that described outermost slide nut drops down onto described workpiece, thereby described outermost nut is positioned over to described workpiece, reduce human error, improved precision and the speed of location.
Accompanying drawing explanation
In conjunction with the specific embodiment, the invention will be further described with reference to the accompanying drawings.
Fig. 1 is the schematic perspective view of automatic positioning mechanism better embodiment of the present invention and a workpiece, and described automatic positioning mechanism comprises a mechanical arm, a connection piece and is installed assembled unit.
Fig. 2 is the enlarged drawing of II part in Fig. 1.
Fig. 3 is the mechanical arm in Fig. 1 and the three-dimensional exploded view that assembled unit is installed.
Fig. 4 is the three-dimensional exploded view that assembled unit is installed in Fig. 3.
Fig. 5 is the three-dimensional exploded view of another view directions of Fig. 4.
Fig. 6 to Fig. 8 is the use state diagram that assembled unit is installed in Fig. 3.
The specific embodiment
Please refer to Fig. 1 to Fig. 3, the better embodiment of automatic positioning mechanism of the present invention is used for a plurality of nuts 10 to be installed on a workpiece 12.Described automatic positioning mechanism comprises that a workbench 30, is fixed on the mechanical arm 50 of workbench 30, is installed on the installation assembled unit 70 of mechanical arm 50.
Workbench 30 comprises higher fixed part 32 and a lower support portion that is adjacent to described fixed part 32 34.Four gripper shoes 340 are vertically fixed on the Si Jiaochu of the end face of support portion 34.Two guide rails 342 are laterally connected in respectively the top of two locating dowels 340 of the same side that is positioned at support portion 34.This workpiece 12 is fixedly placed between two guide rails 342.In the time need to respectively nut 10 being set at a plurality of diverse locations of this workpiece 12, controlling described mechanical arm 50 and turn to this workpiece 12 and need the top of the position of mounting nuts 10, and control described installation assembled unit 70 and nut 10 is placed in to corresponding position.
Some fixed bars 20 perpendicular separation ground are fixed on the end face of the fixed part 32 of workbench 30.On each fixed bar 20, be arranged with some nuts 10, one end of this fixed bar 20 is provided with a larger-size head 22, to prevent that nut 10 self-retaining bars 20 from coming off.
Mechanical arm 50 comprises that a junction 52, is fixed on holder 54, one first horizontal pivoted arm 56 and the one second horizontal pivoted arm 58 of connecting portion 52.In the present embodiment, can utilize the actuators such as a cylinder or servomotor (not shown) to order about this first and second horizontal pivoted arm 56,58 rotates.
The upper and lower side of connecting portion 52 comprises respectively a fixed head 522.
The top of holder 54 is provided with a pivoting hole 542.
Two opposite ends of the first horizontal pivoted arm 56 are vertically extended respectively a pivotal axis 562,563 dorsad.
The second horizontal pivoted arm 58 comprises a pivot part 582 and a fixed part 584 extending from a side of pivot part 582.Pivot part 582 bottoms are provided with an axis hole (not shown) corresponding with pivotal axis 563.The interior cylinder (not shown) that a drive installation assembled unit 70 is set of fixed part 584, this cylinder is provided with a telescopic connecting rod 80.
While assembling this mechanical arm 50, the fixed head 522 at the top of connecting portion 52 is fixed in the bottom of holder 54.Two pivotal axis 562,563 of the first horizontal pivoted arm 56 are the pivotable pivoting hole 542 of holder 54 and the axis hole of the second horizontal pivoted arm 58 of being installed on respectively.Now, the first horizontal pivoted arm 56 can rotate around pivotal axis 562, and the second horizontal pivoted arm 58 can rotate around pivotal axis 563.
Please refer to Fig. 4 and Fig. 5, this installation assembled unit 70 comprises one first gas pawl 73, one first fixed mount 74, one second gas pawl 76, one second fixed mount 78 and one the 3rd gas pawl 79.In the present embodiment, this installation assembled unit 70 is connected in connecting rod 80, and is ordered about and move up and down by described cylinder.
The first gas pawl 73 comprises columned first fixture 71, some connectors 72 and some jaws 75.In the present embodiment, this first gas pawl 73 can pass through an air cylinder driven, thus make jaw 75 along the first fixture 71 radially mutually near or away from.In order to have better clamping effect, described jaw 75 comprises the chuck (not label) of a wedge shape.In other embodiments, the chuck of described jaw 75 also can be provided with the arcuate structure corresponding with the surface of fixed bar 20.
The first fixture 71 comprises one first end face 710 and second end face 712 corresponding with the first end face 710.The middle part of the first fixture 71 is provided with a fixing hole 711 that is used for fixing connecting rod 80.The edge of the first fixture 71 offers some fixing holes 713 that run through this first and second end face 710,712.The middle part of described the second end face 712 is convexly equipped with a projection 717 that offers accepting hole (not label).Described connector 72 radians such as grade radially slide the second end face 712 that is installed on described the first fixture 71.Described jaw 75 is fixed on corresponding connector 72, and each jaw 75 is towards the free end of described projection 717.
The first fixed mount 74 comprises body 742 and some vertically extending fixed legs 744 of edge from body 742 in the form of annular discs.The middle part of body 742 offers a through hole 745.Body 742 is offered some fixing holes 746 around the surrounding of through hole 745, and fixing hole 746 is less than fixed leg 744 to the distance of through hole 745 to the distance of through hole 745.Each fixed leg 744 is larger near the size of the part of body 742, thereby is formed with a stop surface 747 in the pars intermedia of each fixed leg 744.
The second gas pawl 76 is similar to described the first gas pawl 73.Similarly, this second gas pawl 76 comprises columned second fixture 77, some connector 761 and some jaws 766 that is fixed on corresponding connector 761 that is slidably mounted on the second fixture 77.In the present embodiment, this second gas pawl 76 can pass through an air cylinder driven, thus make jaw 766 along this second fixture 77 radially slide ground mutually near or away from.
The second fixed mount 78 is similar to the first fixed mount 74.Similarly, the second fixed mount 78 comprises body 782 and some vertically extending fixed legs 784 of edge from body 782 in the form of annular discs; And each fixed leg 784 comprises that one is positioned at the stop surface 786 at the middle part of corresponding fixed leg 784.The middle part of body 782 is provided with the through hole 787 of a circle, and these some fixed legs 784 are positioned at the edge of described through hole 787.Body 782 is in wherein offering two fixing holes 788 between two fixed legs 784.
The 3rd gas pawl 79 comprises that one the 3rd fixture 792 and two is slidably mounted on the jaw 798 of a side of the 3rd fixture 792.In the present embodiment, the 3rd gas pawl 79 can pass through an air cylinder driven, thus make jaw 798 along the side of the 3rd fixture 792 slidably mutually near or away from.
While assembling this installation assembled unit 70, the fixed leg 744 of the first fixed mount 74 passes and is fixed on respectively the fixing hole 713 of the first fixture 71 of the first gas pawl 73.The end of this fixed leg 744 also can maybe be riveted on the end of this fixed leg 744 the first end face 710 of the first fixture 71 by screw lock one nut, to prevent that the first gas pawl 73 is from described fixed leg 744 landings.Thereby the first gas pawl 73 is fixed on the first fixed mount 74.And the second end face 712 of the first fixture 71 is resisted against the stop surface 747 of fixed leg 744, jaw 75 is towards the body 742 of the first fixed mount 74.
The fixed leg 784 of the second fixed mount 78 passes the installing hole 772 of the second fixture 77 of the second gas pawl 76, and is fixed on the fixing hole 746 of the first fixed mount 74.Equally, the end of this fixed leg 784 can maybe be riveted on the end of this fixed leg 784 body 742 of the first fixed mount 74 by screw lock one nut.Thereby the second gas pawl 76 and the second fixed mount 78 are all fixed on the first fixed mount 74.Now, two opposing end surfaces of the second fixture 77 are resisted against respectively the body 742 of the first fixed mount 74 and the stop surface 786 of fixed leg 784.Jaw 766 is towards the body 782 of the second fixed mount 78.
Utilize two fixtures (figure does not show, as screw), pass respectively two fixing holes 788 of the second fixed mount 78, and screw in the 3rd fixture 792 of the 3rd gas pawl 79, thereby the 3rd fixture 792 is fixed on to the second fixed mount 78.Now, two jaws 798 of the 3rd gas pawl 79 are positioned at the below of the through hole 787 of the second fixture 78, and two jaws 798 align with the jaw 766 of the second gas pawl 76.Distance between jaw 798 and jaw 766 equals the height of a nut 10.
Please referring again to Fig. 1, while assembling this automatic positioning mechanism, the fixed head 522 of the bottom of the connecting portion 52 of mechanical arm 50 is fixed on the middle part of end face of the fixed part 32 of workbench 30.The some fixed bars 20 that are equiped with nut 10 are fixed on fixed part 32, and are positioned at the both sides of described mechanical arm 50.The connecting rod 80 of mechanical arm 50 is fixed on the fixing hole 711 of the first fixture 71 of the first gas pawl 73 that assembled unit 70 is installed, thereby assembled unit 70 is installed, is fixed in mechanical arm 50.
Incorporated by reference to reference to Fig. 6 to Fig. 8, during use, workpiece 12 fixed placement between two guide rails 342 of workbench 30, and make workpiece 12 need mounting nuts 10 one facing to described installation assembled unit 70.
Cylinder drives respectively first, second and third corresponding gas pawl 73,76,79, thereby makes jaw 75, the jaw 766 of the second gas pawl 76 and the jaw 798 of the 3rd gas pawl 79 of the first gas pawl 73 move dorsad slidably respectively and open.Mechanical arm 50 drives installation assembled unit 70 to turn on the fixed bar 20 of the fixed part 32 that is fixed on workbench 30, and aims at the head 22 of fixed bar 20.Air cylinder driven connecting rod 80 and installation assembled unit 70 are close to fixed part 32, make the head 22 of fixed bar 20 all pass successively through hole 787, the through hole 770 of the second fixture 77 and the through hole 745 of the first fixed mount 74 of the second fixed mount 78 together with the nut 10 that is sheathed on fixed bar 20, and be contained in the accepting hole of the projection 717 of the first fixture 71.Now, the jaw 75,766,798 that drives first, second and third gas pawl 73,76,79 is move toward one another and close respectively, thereby jaw 75 grips the nut 10 of the close head 22 of bar 20; Jaw 766 grips the nut 10 of the lower end of bar 20.Therefore, the nut 10 on fixed bar 20 is folded between jaw 75,766.Connecting rod 80 drives installs that assembled units 70 move upward and away from fixed part 32, from fixed bar 20 self-retaining portions 32 are extracted.Now, drive jaw 798 to be held on the end of fixed bar 20.
Mechanical arm 50 drives installation assembled unit 70 to turn to workpiece 12, and alignment pieces 12 needs the position of mounting nuts 10.The jaw 766 that drives the second gas pawl 76 is along radially the moving dorsad of the second fixture 77 of the second gas pawl 76 and open, thereby the nut 10 on fixed bar 20 glides along fixed bar 20, and the nut bottom of fixed bar 20 slides to the jaw 798 against the 3rd gas pawl 79 for 10 times.Now, the jaw 766 that drives the second gas pawl 76 is along the radially move toward one another of the second fixture 77 and grip the penultimate nut 10 on bar 20.Afterwards, drive two jaws 798 of the 3rd gas pawl 79 mutually move dorsad away from, thereby the nut that is resisted against jaw 798 slides to the position that workpiece 12 needs mounting nuts 10 10 times.When need to be at other positions of this workpiece 12 mounting nuts 10, by described mechanical arm 50, adjust the position of described installation assembled unit 70, make its alignment pieces 12 need other positions of mounting nuts 10, then operate in a manner mentioned above described installation assembled unit 70, can realize the automatic releasing of nut 10 is placed in to any part that workpiece 12 needs mounting nuts 10.
Finally, the workpiece 12 that this is installed to nut 10 utilizes the mode of hot melt that nut 10 is fused to workpiece 12.

Claims (10)

1. an automatic positioning mechanism, it is used for the some nuts that are sheathed on a fixed bar to be placed in respectively a workpiece, described automatic positioning mechanism comprises that one is used for placing workbench and the installation assembled unit over against described workpiece of described workpiece, described installation assembled unit comprises one first gas pawl, one second gas pawl and one the 3rd gas pawl, described first, second and third gas pawl comprise respectively some can be in opposite directions or the jaw of dorsal glide, and the distance between the jaw of the jaw of described the second gas pawl and described the 3rd gas pawl equals the height of a nut, the jaw of described the first gas pawl is held on the top of described fixed bar, the jaw of described the second gas pawl is held on the outermost nut in described fixed bar bottom, the jaw of described the 3rd gas pawl is held on the end of described fixed bar, during use, the jaw of described the second gas pawl first opens and discharges described outermost nut, afterwards the jaw of described the second gas pawl again near and be held on other nuts of described fixed bar bottom, the jaw of described the 3rd gas pawl opens and makes described outermost slide nut drop down onto the position that described workpiece needs mounting nuts.
2. automatic positioning mechanism as claimed in claim 1, it is characterized in that: described the first gas pawl comprises one first fixture, on described workbench, be fixed with a mechanical arm that is used for driving described installation assembled unit to rotate, described mechanical arm comprises the cylinder of the described installation assembled unit motion of a driving, described cylinder comprises a telescopic connecting rod, and described connecting rod is fixed on described the first fixture.
3. automatic positioning mechanism as claimed in claim 2, it is characterized in that: described the first fixture is fixed on one first fixed mount, described the first fixture comprises one first end face and second end face relative with described the first end face, described the first fixture is offered some fixing holes that run through described first and second end face, and described the first fixed mount comprises some fixed legs that are fixed on described fixing hole.
4. automatic positioning mechanism as claimed in claim 3, is characterized in that: each jaw of described the first gas pawl is fixed on a connection piece, and equal angular the radially sliding of described connector is installed on described the second end face.
5. automatic positioning mechanism as claimed in claim 3, it is characterized in that: described the second gas pawl comprises that one second fixed mount and is fixed on the second fixture of the second fixed mount, described the second fixture is provided with some installing holes, described the first fixed mount is provided with fixing hole corresponding to some and described installing hole, described the second fixed mount is convexly equipped with some fixed legs, described fixed leg passes respectively corresponding installing hole, and is fixed on the corresponding fixing hole of the first fixed mount.
6. automatic positioning mechanism as claimed in claim 5, is characterized in that: each jaw of described the second gas pawl is fixed on a connection piece, and equal angular the radially sliding of described connector is installed on described the second fixture, and towards described the second fixed mount.
7. automatic positioning mechanism as claimed in claim 5, is characterized in that: described the 3rd gas pawl comprises one the 3rd fixture, and described the second fixed mount is provided with two fixing holes that are used for fixing described the 3rd fixture.
8. a method of automatically locating, is used for the some nuts that are sheathed on a fixed bar to be placed in respectively a workpiece, and described automatic positioning method comprises the following steps:
Provide a rotating mechanical arm and to be fixed on the installation assembled unit of described mechanical arm, described installation assembled unit comprises one first gas pawl, one second gas pawl and one the 3rd gas pawl, described first, second and third gas pawl comprise respectively some can be in opposite directions or the jaw of dorsal glide;
The fixed bar that is arranged with some nuts is installed on to described installation assembled unit, and the jaw of described the first gas pawl is held on the top of described fixed bar, the jaw of described the second gas pawl is held on the outermost nut in described fixed bar bottom; The jaw of described the 3rd gas pawl is held on the end of described fixed bar;
Rotate described mechanical arm, drive described installation assembled unit to move to the position that needs mounting nuts over against described workpiece;
The jaw of described the second gas pawl opens, and the outermost nut of fixed bar bottom is slid into against the jaw of the 3rd gas pawl, afterwards, the jaw of described the second gas pawl again mutually near and be held on other nuts of fixed bar bottom;
The jaw of described the 3rd gas pawl opens, and described outermost slide nut drops down onto the position that described workpiece needs mounting nuts, afterwards, the jaw of described the 3rd gas pawl again mutually near and be held on the end of described fixed bar.
9. the method for automatic location as claimed in claim 8, is characterized in that: the distance between the jaw of described the second gas pawl and the jaw of described the 3rd gas pawl equals the height of a nut.
10. the method for automatic location as claimed in claim 8, it is characterized in that: described the first gas pawl is fixed on one first fixed mount, described the second gas pawl is fixed on one second fixed mount, described the second fixed mount is fixed on described the first fixed mount, and described the 3rd gas pawl is fixed on described the second fixed mount.
CN200910304655.7A 2009-07-22 2009-07-22 Automatic positioning mechanism and method thereof Expired - Fee Related CN101961868B (en)

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Application Number Priority Date Filing Date Title
CN200910304655.7A CN101961868B (en) 2009-07-22 2009-07-22 Automatic positioning mechanism and method thereof

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Application Number Priority Date Filing Date Title
CN200910304655.7A CN101961868B (en) 2009-07-22 2009-07-22 Automatic positioning mechanism and method thereof

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CN101961868A CN101961868A (en) 2011-02-02
CN101961868B true CN101961868B (en) 2014-01-29

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102806448A (en) * 2012-08-08 2012-12-05 吴江市博众精工科技有限公司 Automatic copper nut feeding machine
CN104339357B (en) * 2013-08-01 2016-02-03 珠海格力电器股份有限公司 Compressor lifting manipulator

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2736157Y (en) * 2003-12-27 2005-10-26 深圳富泰宏精密工业有限公司 Self-feeding thermo-fusion device
CN2761364Y (en) * 2004-12-29 2006-03-01 比亚迪股份有限公司 Device for fastening nut
CN101214728A (en) * 2008-01-09 2008-07-09 深圳市迈特自动化系统有限公司 Bolt nut implanting machine and implanting method thereof
CN201105507Y (en) * 2007-10-16 2008-08-27 深圳市迈特自动化系统有限公司 Full-automatic numerical control screw nut implanting machine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2736157Y (en) * 2003-12-27 2005-10-26 深圳富泰宏精密工业有限公司 Self-feeding thermo-fusion device
CN2761364Y (en) * 2004-12-29 2006-03-01 比亚迪股份有限公司 Device for fastening nut
CN201105507Y (en) * 2007-10-16 2008-08-27 深圳市迈特自动化系统有限公司 Full-automatic numerical control screw nut implanting machine
CN101214728A (en) * 2008-01-09 2008-07-09 深圳市迈特自动化系统有限公司 Bolt nut implanting machine and implanting method thereof

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