CN102527807B - Multi-station hydraulic stretcher with transposition manipulator - Google Patents
Multi-station hydraulic stretcher with transposition manipulator Download PDFInfo
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- CN102527807B CN102527807B CN201210013446.9A CN201210013446A CN102527807B CN 102527807 B CN102527807 B CN 102527807B CN 201210013446 A CN201210013446 A CN 201210013446A CN 102527807 B CN102527807 B CN 102527807B
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Abstract
The invention relates to a multi-station hydraulic stretcher with a transposition manipulator, which comprises a base, a bed bedplate, an upper oil cylinder bedplate, a middle upright, a peripheral upright and the transposition manipulator. The base is fixed on the ground; the bed bedplate is fixed on the base; the middle upright and the peripheral upright support the upper oil cylinder bedplate and a working bedplate between the upper oil cylinder bedplate and the bed bedplate; a plurality of upper hydraulic cylinders are distributed on the upper oil cylinder bedplate in the peripheral direction; a crankshaft mechanism is arranged between the bed bedplate and the working bedplate; the working bedplate is driven to move up and down by the crankshaft mechanism; the positions on the working bedplate, which correspond to the upper hydraulic cylinders, are provided with die stations; the transposition manipulator is arranged on the working bedplate and can rotate left and right to clamp and put down a workpiece; according to the invention, a plurality of independent die stations are arranged on the stretcher, so that the repeated stretching process on the same product on the same stretcher can be implemented; and meanwhile, the transposition manipulator can be used for carrying out automatic transposition on the workpiece.
Description
Technical field
The present invention relates to a kind of hydraulic tensioning equipment, especially relate to the Multi-station hydraulic drawing machine with transposition mechanical arm that a kind of flexibility is high, operability is good, production efficiency is high, labour intensity is little, yield rate is high, cost is low, security is good, belong to hydraulic tensioning equipment technical field.
Background technology
At present, adopt four-column type hydraulic tensioner to complete to being pressed into the product of moulding more, and drawing and forming part not to be one-off drawing mostly complete, but to just can complete through multiple working procedure.Therefore in factory process process, every procedure, all to there being a hydraulic tensioner, is processed many hydraulic tensioners of a product needed and is formed streamline one.
In use there is following shortcoming in existing hydraulic tensioner: 1) production efficiency is low, and labour intensity is large.Be responsible for the workman of every procedure and repeat same mechanical action every day, labour intensity is larger, and workman's need of work has a rest, and has reduced the production time between invisible, has reduced production efficiency; 2) yield rate is relatively low, because workman's repeated labor intensity is larger, easily produces fatigue, therefore in process, has more error, causes product rejection; 3) energy consumption is high, and every operation all needs corresponding hydraulic tensioner, and therefore hydraulic tensioner quantity is more, and consuming the energy also can be more; 4) labor cost is high, and because the machine quantity that machining needs is more, every machine at least needs again a workman, the workman who also needs some to coordinate between different operations in addition, and therefore number of workers is more, and labor cost is higher; 5) safety coefficient is low, because workman's action need gos deep into machine intimate, in the time that workman's maloperation or machine break down, easily causes personnel's injures and deaths.
At present, multiple position press puts goods on the market, but multiple position press mostly is multi-station punch, rare for Multi-station hydraulic drawing machine.Multiple position press adopts station straight line more, the rising of workpiece proposes the action of mould district, straight line transposition action, the action that mould district is put in workpiece decline adopts machine driving to realize more, in process, need some parts in adjusting transmission mechanism to adapt to different moulds, flexibility is not high, poor operability.
Summary of the invention
The present invention seeks to have proposed in order to overcome the deficiencies in the prior art the Multi-station hydraulic drawing machine with transposition mechanical arm that a kind of flexibility is high, operability is good, production efficiency is high, labour intensity is little, yield rate is high, cost is low, security is good.
For achieving the above object, the technical solution used in the present invention is: a kind of Multi-station hydraulic drawing machine with transposition mechanical arm, comprises base, support platen, upper cylinder platen, middle standing pillar, circumference column, transposition mechanical arm; Described base fixes on the ground; Described support platen is fixed on base; Described middle standing pillar and circumference column are separately positioned between upper cylinder platen and support platen and support upper cylinder platen and working plate, on described upper cylinder platen upper surface circumferencial direction, are distributed with multiple upper hydraulic cylinders; Between described support platen and working plate, there is toggle mechanism; On described working plate, the position of corresponding upper hydraulic cylinder is provided with mould station; Described toggle mechanism comprises short connecting rod, long connecting rod, bent connecting rod, upper bed-plate, lower bottom base, travel(l)ing rest, lower hydraulic cylinder; Described upper bed-plate and lower bottom base are separately fixed on working plate and support platen; The top of described long connecting rod and upper bed-plate hinge, the bottom of described bent connecting rod and lower bottom base hinge; The bottom of described long connecting rod and the upper hinge of bent connecting rod; The two ends of described short connecting rod respectively with hinge place, the travel(l)ing rest hinge of long connecting rod and bent connecting rod; Described travel(l)ing rest is connected with the piston rod of lower hydraulic cylinder; Described transposition mechanical arm is arranged on working plate, gripping that can left rotation and right rotation and put down workpiece.
Preferably, described transposition mechanical arm, comprises manipulator base, the first motor mount, the first motor, manipulator pinion, manipulator sector gear, the second motor mount, the second motor, screw mandrel, upper location-plate, manipulator installation sleeve, manipulator mounting rack, manipulator assembly; Described manipulator base is arranged on working plate; Described manipulator base, working plate are respectively through middle standing pillar; Described middle standing pillar is positioned at the center of manipulator base; Described manipulator sector gear can be rotatably set on manipulator base; Described the first motor mount is arranged on working plate; Described the first motor is arranged on the first motor mount; Described manipulator pinion is located on the output shaft of the first motor; Described manipulator pinion engages with manipulator sector gear; Described the second motor mount is arranged on the upper surface of manipulator sector gear; Described the second motor is arranged on the second motor mount; The upper surface of the output shaft perpendicular robotic sector gear of described the second motor; The output shaft of described the second motor is connected with one end of screw mandrel; The other end of described screw mandrel is arranged on location-plate; Described upper location-plate is arranged on the top of middle standing pillar; Described manipulator installation sleeve can rotate around middle standing pillar, and described manipulator installation sleeve is set on screw mandrel simultaneously, can move up and down with screw mandrel; Described manipulator mounting rack is arranged on a sidepiece of manipulator installation sleeve; Described manipulator assembly is arranged on manipulator mounting rack.
Preferably, described manipulator assembly, comprises cylinder, left manipulator, right manipulator, cylinder piston rod, hinge block, limited block, chute; Described cylinder is fixed on manipulator mounting rack; Described left manipulator passes through hinge block hinge on the cylinder piston rod in cylinder left side; Described right manipulator passes through hinge block hinge on the cylinder piston rod on cylinder right side; 2 arc chutes are set on described limited block; On described left manipulator, be provided with a bearing pin, snap in the chute in limited block left side; On described right manipulator, be provided with a bearing pin, snap in the chute on limited block right side; In the time that cylinder piston rod stretches out, left manipulator, right manipulator are in releasing orientation; In the time that cylinder piston rod shrinks, left manipulator, right manipulator are in tightening up state.
Preferably, every group of combination that comprises two group leader's connecting rods and bent connecting rod of described toggle mechanism; The combination of described two group leader's connecting rods and bent connecting rod is along the radially alternate setting of working plate; The top of described long connecting rod and upper bed-plate hinge, the bottom of described bent connecting rod and lower bottom base hinge; The bottom of described long connecting rod and the upper hinge of bent connecting rod; Described every group leader's connecting rod is connected by middle contiguous block with the hinge place of bent connecting rod; One end, the travel(l)ing rest of described centre contiguous block are distinguished the two ends of hinge at same short connecting rod.
Preferably, on described support platen, be provided with knock-pin, each mould station correspondence is provided with a knock-pin; In the time that toggle mechanism drives working plate to move downward, the molded workpiece part in the counterdie on mould station is ejected counterdie by knock-pin.
Preferably, all there is a toggle mechanism below of described each counterdie.
Preferably, on described upper cylinder platen upper surface circumferencial direction, be evenly distributed with 6 or 4 upper hydraulic cylinders.
Preferably, on described upper cylinder platen, be provided with rotatable handwheel; Pinion is arranged at described handwheel top; Described upper hydraulic cylinder is uniform 3 screw rods of circumferencial direction around; Flanging platen is fixed in described screw rod lower end; The fixing patrix in below of described flanging platen; Gear wheel is arranged at the top of described 3 screw rods, and described pinion and gear wheel engagement arrange.
Due to the utilization of technique scheme, the present invention compared with prior art has following advantages:
Multi-station hydraulic drawing machine with transposition mechanical arm of the present invention, flexibility is high, can adapt to the mould of differing heights in certain limit, can realize a product of six stations processing, also can lay at six stations the mould of two cover workpiece, and realize the loading and unloading of middle a certain station; Liftout system is simply effective, there is no more transmission mechanism, but can realize the automatic ejection of workpiece, is convenient to realize automation, and all processing full-automations, completely without manual operation, have improved the security of system, and efficiency is high, and converted products quality is high.Simple in structure, higher to the stretching depth of product than traditional multiple position press, machinable product scope is large.Meanwhile, the present invention program utilizes the intermeshing rotation of manipulator pinion and manipulator sector gear to realize the left rotation and right rotation of manipulator installation sleeve, thereby reaches the left rotation and right rotation of controlling manipulator assembly; Utilize the rotation of the second driven by motor screw mandrel to regulate the height up and down of manipulator installation sleeve, thereby reach the height up and down of controlling manipulator assembly; Meanwhile, control tightening up, unclamping of left manipulator, right manipulator by cylinder, the present invention is easy to operate freely, flexibility is high.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, technical solution of the present invention is described further:
Fig. 1 is the complete section figure of the front view of the Multi-station hydraulic drawing machine with transposition mechanical arm of the present invention;
Fig. 2 be the Multi-station hydraulic drawing machine with transposition mechanical arm of the present invention top view partly cut open figure;
Fig. 3 is the schematic diagram of the transposition mechanical arm part in the Multi-station hydraulic drawing machine with transposition mechanical arm of the present invention;
Fig. 4 be the transposition mechanical arm in the Multi-station hydraulic drawing machine with transposition mechanical arm of the present invention manipulator assembly tighten up view;
Fig. 5 is the releasing orientation schematic diagram of the manipulator assembly of the transposition mechanical arm in the Multi-station hydraulic drawing machine with transposition mechanical arm of the present invention.
Wherein, 1, upper hydraulic cylinder; 2, upper cylinder platen; 3, middle standing pillar; 4, circumference column; 5, working plate; 6, support platen; 7, base; 8, lower hydraulic cylinder; 9, toggle mechanism; 10, counterdie; 11, patrix; 12, handwheel; 13, pinion; 14, gear wheel; 15, screw rod; 16, long connecting rod; 17, lower bottom base; 18, middle connecting plate; 19, short connecting rod; 20, upper bed-plate; 21, piston rod; 22, travel(l)ing rest; 23, knock-pin; 24, bent connecting rod; 25, transposition mechanical arm; 31, manipulator base; 32, the first motor mount; 33, the first motor; 34, manipulator pinion; 35, manipulator sector gear; 36, the second motor mount; 37, the second motor; 38, screw mandrel; 39, upper location-plate; 40, manipulator installation sleeve; 41, manipulator mounting rack; 42, manipulator assembly; 43, cylinder; 44, left manipulator; 45, right manipulator; 46, cylinder piston rod; 47, hinge block; 48, limited block; 49, chute.
The specific embodiment
Be six work position hydraulic stretching-machines as accompanying drawing 1,2 is depicted as the Multi-station hydraulic drawing machine with transposition mechanical arm of the present invention, uniform six the upper hydraulic cylinders 1 of its upper cylinder platen 2 upper surface circumferencial directions; This six work position hydraulics stretching-machine, also comprise and be fixed on ground base 7, be fixed on the support platen 6 on base 7, between upper cylinder platen 2 and support platen 6, there are middle standing pillar 3 and six circumference columns 4, meanwhile, middle standing pillar 3 and six circumference columns 4 support upper cylinder platen 2 and working plate 5; Six upper hydraulic cylinders 1 are the mould station on corresponding a working plate 5 respectively, places counterdie 10 on mould station.On described upper cylinder platen 2, be provided with six rotatable handwheels 12, described handwheel 12 tops are provided with pinion 13, uniform 3 screw rods 15 of circumferencial direction around hydraulic cylinder 1 on each, gear wheel 14 is arranged at the top of described 3 screw rods 15, and described pinion 13 engages setting with gear wheel 14.Flanging platen (not marking) is fixed in screw rod 15 lower ends, on described flanging platen, fixes patrix 11.While rotating handwheel 12, transmission by pinion 13 with gear wheel 14, three screw rods 15 are rotated, because gear wheel 14 is relative fixing with position on upper cylinder platen 2 vertical directions, therefore under the effect of spiral, screw rod 15 is by upper and lower rectilinear motion, thereby drive patrix 11 moves up and down, and therefore can reach the height that regulates as required patrix 11.Between described support platen 6 and working plate 5, have toggle mechanism 9, described toggle mechanism 9 comprises short connecting rod 19, long connecting rod 16, bent connecting rod 24, upper bed-plate 20, lower bottom base 17, travel(l)ing rest 22, lower hydraulic cylinder 8; Described upper bed-plate 20 and lower bottom base 17 are separately fixed on working plate 5 and support platen 6; The top of described long connecting rod 16 and upper bed-plate 20 hinges, the bottom of described bent connecting rod 24 and lower bottom base 17 hinges; The upper hinge of the bottom of described long connecting rod 16 and bent connecting rod 24; The two ends of described short connecting rod 19 respectively with long connecting rod 16 hinge place, travel(l)ing rest 22 hinges with bent connecting rod 24; Described travel(l)ing rest 22 is connected with the piston rod 21 of lower hydraulic cylinder 8.9 every groups of combinations that comprise two group leader's connecting rods 16 and bent connecting rod 24 of the mechanism of toggle described in this enforcement; The combination of described two group leader's connecting rods 16 and bent connecting rod 24 is along the radially alternate setting of working plate 5; The top of described long connecting rod 16 and upper bed-plate 20 hinges, the bottom of described bent connecting rod 24 and lower bottom base 17 hinges; The upper hinge of the bottom of described long connecting rod 16 and bent connecting rod 24; Described every group leader's connecting rod 16 is connected by middle contiguous block 18 with the hinge place of bent connecting rod 24; One end, the travel(l)ing rest 22 of described centre contiguous block 18 are distinguished the two ends of hinges at same short connecting rod 19.All there is a toggle mechanism 9 below of each counterdie 10.In the time that described lower hydraulic cylinder 8 drives travel(l)ing rest 22 to move up and down by piston rod 21, short connecting rod 19, long connecting rod 16 move under the drive of travel(l)ing rest 22, in the time that travel(l)ing rest 22 arrives peak, long connecting rod 16 is in vertical position with bent connecting rod 24, now toggle mechanism 9 is in dead-centre position, therefore can be in drawing process firm support working plate 5.After stretching finishes, travel(l)ing rest 22 moves downward, and the dead-centre position of toggle mechanism 9 is destroyed, and working plate 5 moves downward under the drive of toggle mechanism 9.Therefore, by the boosting function of toggle mechanism 9, the lower hydraulic cylinder 9 that tonnage is less can drive working plate 5 to move up and down, and in the time of matched moulds, provides enough mold clamping forces.On described support platen 6, be provided with knock-pin 23, each counterdie 10 correspondence is provided with a knock-pin 23; In the time that crank mechanism 9 drives working plate 5 to move downward, the molded workpiece part in counterdie 10 is ejected counterdie 10 by knock-pin 23.
Six work position hydraulic stretching-machines described in use the present embodiment, while stretching operation, place tablet on a counterdie 10 wherein; The moving working plate 5 of lower hydraulic cylinder 8 Sports bands moves upward, with patrix 11 matched moulds; Six upper hydraulic cylinders 1 move respectively, and each station stretches to workpiece respectively; After stretching completes, six upper hydraulic cylinder 1 backhauls respectively; The lower hydraulic cylinder 8 simultaneously moving working plate 5 of Sports band moves downward, and separates with patrix 11, and the molded workpiece part in counterdie 10 is ejected counterdie 10 by knock-pin 23 simultaneously, realizes an operation cycle.
On above embodiment, the quantity of hydraulic cylinder can be adjusted according to actual needs, such as 4 hydraulic cylinders are only set.
As shown in accompanying drawing 1-5, described transposition mechanical arm 24 is arranged on working plate 5, gripping that can left rotation and right rotation and put down workpiece.Described transposition mechanical arm 24, comprises manipulator base 31, the first motor mount 32, the first motor 33, manipulator pinion 34, manipulator sector gear 35, the second motor mount 36, the second motor 37, screw mandrel 38, upper location-plate 39, manipulator installation sleeve 40, manipulator mounting rack 41, manipulator assembly 42; Described manipulator base 31 is arranged on working plate 5; Described middle standing pillar 3 arranges, and is positioned at manipulator base 31 center through manipulator base 31, working plate 5; Described manipulator sector gear 35 can be rotatably set on manipulator base 31; Described the first motor mount 32 is arranged on working plate 5; Described the first motor 33 is arranged on the first motor mount 32; Described manipulator pinion 34 is located on the output shaft of the first motor 33; Described manipulator pinion 34 engages with manipulator sector gear 35; Described the second motor mount 36 is arranged on the upper surface of manipulator sector gear 35; Described the second motor 37 is arranged on the second motor mount 36; The upper surface of the output shaft perpendicular robotic sector gear 35 of described the second motor 37; The output shaft of described the second motor 37 is connected with one end of screw mandrel 38; The other end of described screw mandrel 38 is arranged on location-plate 39; Described upper location-plate 39 is arranged on the top of middle standing pillar 3; Described manipulator installation sleeve 40 can rotate around middle standing pillar 3, and described manipulator installation sleeve 40 is set on screw mandrel 38 simultaneously, can move up and down with screw mandrel 38; Described manipulator mounting rack 41 is arranged on a sidepiece of manipulator installation sleeve 40; Described manipulator assembly 42 is arranged on manipulator mounting rack 41.Described manipulator assembly 42, comprises cylinder 43, left manipulator 44, right manipulator 45, cylinder piston rod 46, hinge block 47, limited block 48, chute 49; Described cylinder 43 is fixed on manipulator mounting rack 41; Described left manipulator 44 passes through hinge block 47 hinges on the cylinder piston rod 46 in cylinder 43 left sides; Described right manipulator 45 passes through hinge block 47 hinges on the cylinder piston rod 46 on cylinder 43 right sides; 2 arc chutes 49 are set on described limited block 48; On described left manipulator 44, be provided with a bearing pin (not marking), snap in the chute 49 in limited block 48 left sides; On described right manipulator 45, be provided with a bearing pin (not marking), snap in the chute 49 on limited block 48 right sides; In the time that oil cylinder projecting shaft 46 stretches out, left manipulator 44, right manipulator 45 are in releasing orientation, as shown in Figure 5; In the time that cylinder piston rod 46 shrinks, left manipulator 44, right manipulator 45 are in tightening up state, as shown in Figure 4.
Certainly, cylinder 43 also can change small oil tank into.
Due to the utilization of technique scheme, the present invention compared with prior art has following advantages:
Multi-station hydraulic drawing machine with transposition mechanical arm of the present invention, flexibility is high, can adapt to the mould of differing heights in certain limit, can realize a product of six stations processing, also can lay at six stations the mould of two cover workpiece, and realize the loading and unloading of middle a certain station; Liftout system is simply effective, there is no more transmission mechanism, but can realize the automatic ejection of workpiece, is convenient to realize automation, and all processing full-automations, completely without manual operation, have improved the security of system, and efficiency is high, and converted products quality is high.Simple in structure, higher to the stretching depth of product than traditional multiple position press, machinable product scope is large.Meanwhile, the present invention program utilizes the mutual rotation of manipulator pinion and manipulator sector gear to realize the left rotation and right rotation of manipulator installation sleeve, thereby reaches the left rotation and right rotation of controlling manipulator assembly; Utilize the rotation of the second driven by motor screw mandrel to regulate the height up and down of manipulator installation sleeve, thereby reach the height up and down of controlling manipulator assembly; Meanwhile, control tightening up, unclamping of left manipulator, right manipulator by cylinder, the present invention is easy to operate freely, flexibility is high.
Below be only concrete exemplary applications of the present invention, protection scope of the present invention is not constituted any limitation.All employing equivalents or equivalence are replaced and the technical scheme of formation, within all dropping on rights protection scope of the present invention.
Claims (2)
1. the Multi-station hydraulic drawing machine with transposition mechanical arm, comprises base, support platen, upper cylinder platen, middle standing pillar, circumference column, transposition mechanical arm; Described base fixes on the ground; Described support platen is fixed on base; Described middle standing pillar and circumference column are separately positioned between upper cylinder platen and support platen and support upper cylinder platen and working plate, it is characterized in that: on described upper cylinder platen upper surface circumferencial direction, be distributed with multiple upper hydraulic cylinders; Between described support platen and working plate, there is toggle mechanism; On described working plate, the position of corresponding upper hydraulic cylinder is provided with mould station; Described toggle mechanism comprises short connecting rod, long connecting rod, bent connecting rod, upper bed-plate, lower bottom base, travel(l)ing rest, lower hydraulic cylinder; Described upper bed-plate and lower bottom base are separately fixed on working plate and support platen; The top of described long connecting rod and upper bed-plate hinge, the bottom of described bent connecting rod and lower bottom base hinge; The bottom of described long connecting rod and the upper hinge of bent connecting rod; The two ends of described short connecting rod respectively with hinge place, the travel(l)ing rest hinge of long connecting rod and bent connecting rod; Described travel(l)ing rest is connected with the piston rod of lower hydraulic cylinder; Described transposition mechanical arm is arranged on working plate, gripping that can left rotation and right rotation and put down workpiece; Described transposition mechanical arm, comprises manipulator base, the first motor mount, the first motor, manipulator pinion, manipulator sector gear, the second motor mount, the second motor, screw mandrel, upper location-plate, manipulator installation sleeve, manipulator mounting rack, manipulator assembly; Described manipulator base is arranged on working plate; Described manipulator base, working plate are respectively through middle standing pillar; Described middle standing pillar is positioned at the center of manipulator base; Described manipulator sector gear can be rotatably set on manipulator base; Described the first motor mount is arranged on working plate; Described the first motor is arranged on the first motor mount; Described manipulator pinion is located on the output shaft of the first motor; Described manipulator pinion engages with manipulator sector gear; Described the second motor mount is arranged on the upper surface of manipulator sector gear; Described the second motor is arranged on the second motor mount; The upper surface of the output shaft perpendicular robotic sector gear of described the second motor; The output shaft of described the second motor is connected with one end of screw mandrel; The other end of described screw mandrel is arranged on location-plate; Described upper location-plate is arranged on the top of middle standing pillar; Described manipulator installation sleeve can rotate around middle standing pillar, and described manipulator installation sleeve is set on screw mandrel simultaneously, can move up and down with screw mandrel; Described manipulator mounting rack is arranged on a sidepiece of manipulator installation sleeve; Described manipulator assembly is arranged on manipulator mounting rack.
2. the Multi-station hydraulic drawing machine with transposition mechanical arm according to claim 1, is characterized in that: described manipulator assembly, comprises cylinder, left manipulator, right manipulator, cylinder piston rod, hinge block, limited block, chute; Described cylinder is fixed on manipulator mounting rack; Described left manipulator passes through hinge block hinge on the cylinder piston rod in cylinder left side; Described right manipulator passes through hinge block hinge on the cylinder piston rod on cylinder right side; 2 arc chutes are set on described limited block; On described left manipulator, be provided with a bearing pin, snap in the chute in limited block left side; On described right manipulator, be provided with a bearing pin, snap in the chute on limited block right side; In the time that cylinder piston rod stretches out, left manipulator, right manipulator are in releasing orientation; In the time that cylinder piston rod shrinks, left manipulator, right manipulator are in tightening up state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210013446.9A CN102527807B (en) | 2012-01-17 | 2012-01-17 | Multi-station hydraulic stretcher with transposition manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210013446.9A CN102527807B (en) | 2012-01-17 | 2012-01-17 | Multi-station hydraulic stretcher with transposition manipulator |
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| CN102527807A CN102527807A (en) | 2012-07-04 |
| CN102527807B true CN102527807B (en) | 2014-05-21 |
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| CN201210013446.9A Expired - Fee Related CN102527807B (en) | 2012-01-17 | 2012-01-17 | Multi-station hydraulic stretcher with transposition manipulator |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103143977B (en) * | 2012-12-04 | 2015-07-22 | 西安交通大学苏州研究院 | Six-working station automatic converting mechanical arm |
| CN106271822B (en) * | 2016-08-18 | 2024-06-25 | 沧州卓金管道科技有限公司 | Feeding and discharging manipulator of numerical control machine tool |
| CN108188242A (en) * | 2017-12-29 | 2018-06-22 | 高邮市精富来搪铝设备制造厂 | Multi-station full-automatic drawing press |
| CN110640021B (en) * | 2019-10-30 | 2024-09-06 | 枣庄矿业（集团）有限责任公司柴里煤矿 | Rope leather automatic forming machine |
| CN112405571B (en) * | 2020-09-30 | 2023-07-28 | 北京工业大学 | Nested industrial assembly gripper |
| CN112975782A (en) * | 2021-02-24 | 2021-06-18 | 深圳市豪博讯电子科技有限公司 | Clamp for processing circuit board |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2064302U (en) * | 1989-12-09 | 1990-10-24 | 营口市石棉水泥制品厂 | Multi-working position presser with opening and fixing disk stand |
| CN2388024Y (en) * | 1999-06-06 | 2000-07-19 | 莱州市轻工机械厂 | Woodworking planer workbench rise and fall regulating mechanism |
| CN2845947Y (en) * | 2005-12-06 | 2006-12-13 | 苏州市越海拉伸机械有限公司 | Digital control hydraulic double power stretcher |
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