CN102785068A - Manipulator and rotary-disk linking device - Google Patents
Manipulator and rotary-disk linking device Download PDFInfo
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- CN102785068A CN102785068A CN2012102653713A CN201210265371A CN102785068A CN 102785068 A CN102785068 A CN 102785068A CN 2012102653713 A CN2012102653713 A CN 2012102653713A CN 201210265371 A CN201210265371 A CN 201210265371A CN 102785068 A CN102785068 A CN 102785068A
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Abstract
The invention discloses a manipulator and rotary-disk linking device, which comprises a rotary disk, an immovable disk, a hollow flange divider, a motor, a first driving mechanism, a second driving mechanism, a gear box, a main gear shaft, a first helical gear, a cam manipulator and a second helical gear, wherein the cam manipulator is fixedly arranged on the immovable disk, and the second helical gear is installed on the cam manipulator; the rotary disk is fixedly connected with a rotary flange of the hollow flange divider, and the immovable disk is fixedly connected with an immovable flange of the hollow flange divider; the main gear shaft penetrates through a hollow part of the hollow flange divider and is rotatablely connected with the immovable disk; a rotating shaft of the motor is connected with an input shaft of the hollow flange divider through the first driving mechanism; an input shaft of the gear box is connected with the first driving mechanism or the motor, and an output shaft of the gear box is connected with the main gear shaft through the second driving mechanism; and the first helical gear is installed on the main gear shaft, and the second helical gear is engaged with the first helical gear. The mechanical linkage of the cam manipulator and the rotary disk is realized at a set distance, and the manipulator and rotary-disk linking device has the characteristics of low cost, low fault rate, high efficiency and the like.
Description
Technical field
The present invention relates to a kind of mechanical device that is used to accomplish the frock assembling, particularly relate to a kind of manipulator and rotating disk linkage.
Background technology
At present, along with improving constantly of social economy's level, and the continuous development of science and technology; In the machinery production manufacture field; The assembling process of frock has realized mechanical automation basically, and technology frock automatic assembling apparatus commonly used adopts manipulator and rotating disk to realize more now, and it is to utilize rotating disk that one of them tool part is fixed; Another tool part grasps laggard luggage through manipulator joins, and accomplishes the automation assembling process of frock with this.Yet; Because the manipulator of this frock automatic assembling apparatus of prior art is to separate to drive with rotating disk: manipulator adopts cylinder to cooperate intelligent operating platform to control; Rotating disk adopts motor as power source; Therefore, there is following weak point in it: increased the cost and the cost of labor that is used for the operative intelligence operating platform of intelligent operating platform, so cost is higher; Distance between manipulator and the rotating disk is prone to change, and assembling is out of order easily; Be difficult to multistation and carry out simultaneously, efficiency of assembling is lower etc.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, a kind of manipulator and rotating disk linkage are provided, it makes cam robot and rotating disk realize mechanical linkage, only needs to adopt motor to drive, and has characteristics such as cost is low, efficient is high, good stability.
The technical solution adopted for the present invention to solve the technical problems is: a kind of manipulator and rotating disk linkage comprise rotating disk, inactive order, have hollow flange dispenser, motor, first transmission mechanism, second transmission mechanism, the gear-box that is used to change transmission direction, gear main shaft, first helical gear, at least one cam robot that rotates flange and motionless flange and are installed on second helical gear of cam robot with the driving cam manipulator behavior; The rotation flange Joint of rotating disk and hollow flange dispenser, the motionless flange Joint of inactive order and hollow flange dispenser; The gear main shaft passes the hollow bulb of hollow flange dispenser, and is rotationally connected with inactive order formation; The rotating shaft of motor is connected through the power shaft of first transmission mechanism with the hollow flange dispenser; The power shaft of gear-box connects first transmission mechanism or motor, and the output shaft of this gear-box is through the second transmission mechanism connection gear main shaft; One end of gear main shaft is equipped with first helical gear, and cam robot is fixed in inactive order, and second helical gear on the cam robot is meshed with first helical gear.
Said first transmission mechanism comprises power transmission shaft, first synchronizing wheel, second synchronizing wheel, the 3rd synchronizing wheel, the first synchronous band and second band synchronously; First synchronizing wheel is loaded on the rotating shaft of said motor; Second synchronizing wheel, the 3rd synchronizing wheel are loaded on power transmission shaft respectively; Connect through the first synchronous band between first synchronizing wheel and second synchronizing wheel, the 3rd synchronizing wheel is through the power shaft of the said hollow flange dispenser of the second band connection synchronously; One end of power transmission shaft connects the power shaft of said gear-box through a shaft coupling.
Said first transmission mechanism comprises that power transmission shaft, first synchronizing wheel, second synchronizing wheel, the 3rd synchronizing wheel, first are with synchronously, second band, first shaft coupling and the clutch brake assembly synchronously; The power shaft of clutch brake assembly is connected with the rotating shaft of said motor through first shaft coupling, and first synchronizing wheel is loaded on the output shaft of clutch brake assembly; Second synchronizing wheel, the 3rd synchronizing wheel are loaded on power transmission shaft respectively, connect through the first synchronous band between first synchronizing wheel and second synchronizing wheel, and the 3rd synchronizing wheel is through the power shaft of the said hollow flange dispenser of the second band connection synchronously; One end of power transmission shaft connects the power shaft of said gear-box through one second shaft coupling.
Said second transmission mechanism comprises first gear and second gear; First gear is loaded on the output shaft of said gear-box, and second gear is loaded on the other end of said gear main shaft, and first gear is meshed with second gear.
Said cam robot comprise turning cylinder, bottom the guide rod of gripper, first fork, second fork are housed, be used to drive the swing of first fork first cam, be used to drive second cam, axle bed, holder, first extension spring and second extension spring of the swing of second fork; Holder is fixed in the marginal position of said inactive order, and said second helical gear vertically is installed on the inboard of said holder through turning cylinder, and first cam and second cam are loaded on the two ends of turning cylinder respectively, and are positioned at the both sides of holder; Axle bed is positioned at the outside of holder, and guide rod is vertical state and activity is plugged in axle bed; First fork and second fork lay respectively at the both sides of holder, and each end of first fork and second fork is rotationally connected with holder formation respectively; The other end of first fork is connected with axle bed, is used to promote the axle bed horizontal movement; First extension spring is connected between holder and the axle bed, is used to drive axle bed and resets; The other end of second fork is connected with the top of guide rod, is used to promote guide rod and moves up and down; Second extension spring is matched with between guide rod top and the axle bed bottom, is used to drive guide rod and resets.
The gearratio of said second helical gear and said first gear is 1:1.
Said cam robot also comprises guide post, and this guide post is plugged in said holder along the direction level in inboard to the outside of said holder, and said axle bed is passed in activity.
The gearratio of said gear-box is 1:1.
Also comprise a base, said motor, gear-box and said power transmission shaft are installed on this base top respectively; Said hollow flange dispenser be installed on one be fixed in base top installing plate.
Also comprise a base, said motor, clutch brake assembly, gear-box and said power transmission shaft are installed on this base top respectively; Said hollow flange dispenser be installed on one be fixed in base top installing plate.
A kind of manipulator of the present invention and rotating disk linkage; Behind the starter motor, realize respectively rotating and the first helical gear rotation cutting apart of rotating disk through power transmission shaft, first helical gear drives second helical gear again and rotates; And second helical gear whenever revolves and turns around; The action of cam robot circulation primary, i.e. cam robot circulation primary action, the hollow flange dispenser is cut apart once.
Compare with the frock automatic assembling apparatus of prior art, the invention has the beneficial effects as follows:
1, owing to being divided into two-way through first transmission mechanism, gear-box and second transmission mechanism, the rotation output with motor rotates output; Drive rotating disk respectively and cam robot moves; Make the present invention therefrom realize the mechanical linkage of cam robot and rotating disk; And only need adopt motor as power source, cost is lower; Cam robot and rotating disk are both set a distances, are not easy in the assembling process to break down;
2, can a plurality of cam robots be assemblied in inactive order simultaneously, realize that therefrom multistation carries out assembly manipulation simultaneously, increases work efficiency greatly.
3, as preferred embodiment; Rotating shaft at motor connects clutch brake assembly; Thereby can be through the closing or throw off running or the time-out that action comes control device of solenoidoperated cluthes, avoid the frequent starting motor and cause motor performance to reduce, even the possibility of burning.
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain; But a kind of manipulator of the present invention and rotating disk linkage are not limited to embodiment.
Description of drawings
Fig. 1 is a D structure sketch map one of the present invention;
Fig. 2 is a D structure sketch map two of the present invention;
Fig. 3 is a front view of the present invention;
Fig. 4 is the D structure sketch map of hollow flange dispenser of the present invention;
Fig. 5 is the D structure sketch map one of cam robot of the present invention;
Fig. 6 is the D structure sketch map two of cam robot of the present invention.
The specific embodiment
Embodiment; See also Fig. 1-shown in Figure 4; A kind of manipulator of the present invention and rotating disk linkage comprise rotating disk 4, inactive order 5, hollow flange dispenser 9, motor 2, first transmission mechanism 3, second transmission mechanism, are used to change gear-box 10 that transmission direction and gearratio are 1:1, gear main shaft 81, first helical gear 8, a plurality of cam robot 6 and a plurality of second helical gear 7.Hollow flange dispenser 9 is provided with and rotates flange 91 and motionless flange 92, and wherein, motionless flange 92 is positioned at the inboard of rotating flange 91; Rotation flange 91 Joints of rotating disk 4 and hollow flange dispenser, inactive order 5 is positioned at the top of rotating disk 4, and with motionless flange 92 Joints of hollow flange dispenser.Gear main shaft 81 passes the hollow bulb of hollow flange dispenser 9, and is rotationally connected with inactive order 5 interior bearings formation.The rotating shaft of motor 2 is connected with the power shaft of hollow flange dispenser 9 through first transmission mechanism 3; The power shaft of gear-box 10 connects first transmission mechanism 3, and the output shaft of this gear-box 10 is through the second transmission mechanism connection gear main shaft 81.First helical gear 8 is equipped with on the top of this gear main shaft 81; Each cam robot 6 is along the circumferential distribution of inactive order 5; And being fixedly installed in inactive order 5 respectively, each second helical gear 7 is installed on respectively on the cam robot, is used for driving cam manipulator 6 and moves; Each second helical gear 7 is meshed with first helical gear 8 respectively, and the gearratio of first helical gear 8 and each second helical gear 7 is 3:1.
Wherein,
As a preferred embodiment, above-mentioned first transmission mechanism 3 comprises that power transmission shaft 36, first synchronizing wheel 33, second synchronizing wheel 35, the 3rd synchronizing wheel 37, first be with 34, second to be with 38, first shaft coupling 31 and clutch brake assembly 32 synchronously synchronously.The power shaft of clutch brake assembly 32 is connected with the rotating shaft of motor 2 through first shaft coupling 31, and first synchronizing wheel 33 is loaded on the output shaft of clutch brake assembly 32; Second synchronizing wheel 35, the 3rd synchronizing wheel 37 are loaded on respectively between power transmission shaft 36, the first synchronizing wheels 33 and second synchronizing wheel 35 and are with 34 to connect synchronously through first, and the gearratio of this first synchronizing wheel 33 and second synchronizing wheel 35 is preferably 1:2.The 3rd synchronizing wheel 37 through second synchronously with 38 connect hollow flange dispensers 9 power shaft, power transmission shaft 36 is revolved turns around, hollow flange dispenser 9 is cut apart once.One end of power transmission shaft 36 is through the power shaft of one second shaft coupling, 101 connection gear casees 10, and this gear-box 10 transfers the transmission direction of power transmission shaft 36 to the transmission direction of said gear axle 81.Here, motor 2 is connected with clutch brake assembly 32 through first shaft coupling 31, when making motor 2 need to suspend; Carry out brake through clutch brake assembly 32, make throw-out-of clutch, and when motor 2 needs to continue operation; Release brake closes clutch.So, can avoid frequent starting motor 2 and cause motor 2 warming-up effect performances, even the possibility of burning.Certainly, also can not adopt this clutch brake assembly, but directly first synchronizing wheel is installed on the rotating shaft of motor.Said gear case 10 also can not connect first transmission mechanism, but is connected with the rotating shaft of another motor through a shaft coupling, changes the transmission direction of another motor with this.
As a preferred embodiment, above-mentioned second transmission mechanism comprises first gear 102 and second gear 103; First gear 102 and second gear 103 are respectively spur gear, and first gear 102 is loaded on the output shaft of gear-box 10, and second gear 103 is loaded on the other end of gear main shaft 81, and first gear 102 is meshed with second gear 103.The gearratio of this first gear 102 and second gear 103 is 1:3, and so, the gearratio of above-mentioned each second helical gear 7 and first gear 102 is 1:1, and hollow flange dispenser 9 per minutes are cut once, and second helical gear 7 revolves and turns around.Here, second transmission mechanism also can adopt two synchronizing wheels to cooperate and bring realization synchronously.
As a preferred embodiment; See also Fig. 5, shown in Figure 6; Above-mentioned each cam robot 6 comprises that respectively turning cylinder 603, bottom be equipped with gripper and (embody among the figure; This gripper is an end system, can various structure be installed according to different applicable cases) two guide rods 601, first fork 607, second fork 613, be used to drive 607 swings of first fork first cam 602, be used to drive second cam 604, axle bed 609, holder 606, first extension spring 615 and second extension spring 608 of 613 swings of second fork.Holder 606 is fixed in the marginal position of inactive order 5, and defines that the side over against the inactive order center is the inboard of holder 606 in this holder 606, and the side back to the inactive order center in this holder 606 is the outside of holder 606.Second helical gear 7 vertically is installed on the inboard of holder 606 through turning cylinder 603, and first cam 602 and second cam 604 are loaded on the two ends of turning cylinder 603 respectively, and are positioned at all the other both sides of holder 606; Axle bed 609 is positioned at the outside of holder 606, and two guide rods 601 are vertical state and activity is plugged in axle bed 609, and the top of these two guide rods 601 is fixedly connected by a guide rod fixed block 611.First fork 607 and second fork 613 lay respectively at all the other both sides of holder 606, and each end of first fork 607 and second fork 613 forms with the top sidewall of holder 606 respectively and is rotationally connected; The other end of first fork 607 is connected with axle bed 609, is used to promote axle bed 609 horizontal movements, and the other end of concrete first fork 607 is that the 3rd fork 608 that is rotationally connected through formation successively is connected with axle bed 609 with drive link 607; First extension spring 615 is connected between the bottom of bottom and axle bed 609 of holder 606, is used to drive axle bed 609 and resets.The other end of second fork 613 is connected with the top of guide rod 601; Being used to promote guide rod 601 moves up and down; The other end of concrete second fork 613 is connected with guide rod 601 through a slide rail 612; This slide rail 612 is fixed in a sidewall of guide rod fixed block 612, and the other end of second fork just in time activity is matched with in this slide rail; Second extension spring 608 is matched with between guide rod 601 tops and axle bed 609 bottoms, is used to drive guide rod 601 and resets, and concrete second extension spring 608 is connected between guide rod fixed block 611 and the drive link 607.Specifically, the middle section position of first fork 607 is equipped with a clutch shaft bearing spare 610, and this clutch shaft bearing spare 610 is used for cooperatively interacting with first cam 602, drives 607 swings of first fork; One end of second fork 613 has an extension block, makes second fork 613 be the L font, and one second bearing part 614 is housed on this extension block, and this second bearing part 614 is used for cooperatively interacting with second cam 604, drives 613 swings of second fork.Here, the quantity of guide rod 601 is not limited to two, for example also can adopt one.
Above-mentioned cam robot 6 also comprises guide post 605, and this guide post 605 is plugged in holder 606 along the direction level in inboard to the outside of holder 606, and activity passes axle bed 609, and this guide post 605 is used for axle bed 609 is led.During work, second helical gear 7 rotates and drives turning cylinder 603 rotations, rotates together thereby drive first cam 602 and second cam 604 that are positioned at turning cylinder 603 two ends.First cam 602 promotes clutch shaft bearing spare 610 when rotating; Make first fork 607 outwards swing and promote axle beds 609 level under the guiding of guide post 605 through the 3rd fork 608 with drive link 607 successively and outwards move, outwards move thereby drive two guide rods, 601 levels; When returning, utilize first extension spring 615 that two guide rods 601 are resetted.Second cam 604 promotes second bearing part 614 when rotating, and makes the upwards swing and drive two guide rods 601 and under the guiding of axle bed 609, move upward of second fork 613; When returning, utilize second extension spring 608 that two guide rods 601 are resetted.
As a preferred embodiment, the present invention also comprises a base 1, and above-mentioned motor 2, clutch brake assembly 32, gear-box 10 and power transmission shaft 36 are installed on the top of this base 1 respectively; Hollow flange dispenser 9 be installed on one be fixed in base top installing plate 11.
A kind of manipulator of the present invention and rotating disk linkage; After adopting said structure; Cam robot 6 has been realized mechanical linkage with rotating disk 4, and a shared motor 2 is as power source: after motor 2 started, first transmission mechanism 3 drove rotating disks 4 through hollow flange dispenser 9 and realizes cutting apart rotation; The transmission direction that gear-box 10 is changed power transmission shaft 36; And drive first helical gear 8 through second transmission mechanism and rotate, rotate thereby drive each second helical gear 7, make each second helical gear 7 drive the process of transporting that corresponding cam robot 6 is accomplished tool part.This process need not air cylinder driven, also need not special staff and handles intelligent operating platform and control, thereby can reduce production costs greatly.In addition, after cam robot 6 was realized mechanical linkage with rotating disk 4, both were both set a distances, can accurately cooperate, and can reduce rate of breakdown greatly.
A kind of manipulator of the present invention and rotating disk linkage behind the employing said structure, can make a rotating disk cooperate with a plurality of cam robots simultaneously, thereby can realize that multistation carries out assembly manipulation simultaneously, helps increasing work efficiency greatly.
The foregoing description only is used for further specifying a kind of manipulator of the present invention and rotating disk linkage; But the present invention is not limited to embodiment; Every foundation technical spirit of the present invention all falls in the protection domain of technical scheme of the present invention any simple modification, equivalent variations and modification that above embodiment did.
Claims (10)
1. manipulator and rotating disk linkage is characterized in that: comprise rotating disk, inactive order, have hollow flange dispenser, motor, first transmission mechanism, second transmission mechanism, the gear-box that is used to change transmission direction, gear main shaft, first helical gear, at least one cam robot that rotates flange and motionless flange and be installed on second helical gear of cam robot with the driving cam manipulator behavior; The rotation flange Joint of rotating disk and hollow flange dispenser, the motionless flange Joint of inactive order and hollow flange dispenser; The gear main shaft passes the hollow bulb of hollow flange dispenser, and is rotationally connected with inactive order formation; The rotating shaft of motor is connected through the power shaft of first transmission mechanism with the hollow flange dispenser; The power shaft of gear-box connects first transmission mechanism or motor, and the output shaft of this gear-box is through the second transmission mechanism connection gear main shaft; One end of gear main shaft is equipped with first helical gear, and cam robot is fixed in inactive order, and second helical gear on the cam robot is meshed with first helical gear.
2. manipulator according to claim 1 and rotating disk linkage is characterized in that: said first transmission mechanism comprises power transmission shaft, first synchronizing wheel, second synchronizing wheel, the 3rd synchronizing wheel, the first synchronous band and second band synchronously; First synchronizing wheel is loaded on the rotating shaft of said motor; Second synchronizing wheel, the 3rd synchronizing wheel are loaded on power transmission shaft respectively; Connect through the first synchronous band between first synchronizing wheel and second synchronizing wheel, the 3rd synchronizing wheel is through the power shaft of the said hollow flange dispenser of the second band connection synchronously; One end of power transmission shaft connects the power shaft of said gear-box through a shaft coupling.
3. manipulator according to claim 1 and rotating disk linkage is characterized in that: it is characterized in that: said first transmission mechanism comprises that power transmission shaft, first synchronizing wheel, second synchronizing wheel, the 3rd synchronizing wheel, first are with synchronously, second band, first shaft coupling and the clutch brake assembly synchronously; The power shaft of clutch brake assembly is connected with the rotating shaft of said motor through first shaft coupling, and first synchronizing wheel is loaded on the output shaft of clutch brake assembly; Second synchronizing wheel, the 3rd synchronizing wheel are loaded on power transmission shaft respectively, connect through the first synchronous band between first synchronizing wheel and second synchronizing wheel, and the 3rd synchronizing wheel is through the power shaft of the said hollow flange dispenser of the second band connection synchronously; One end of power transmission shaft connects the power shaft of said gear-box through one second shaft coupling.
4. according to each described manipulator and rotating disk linkage among the claim 1-3, it is characterized in that: said second transmission mechanism comprises first gear and second gear; First gear is loaded on the output shaft of said gear-box, and second gear is loaded on the other end of said gear main shaft, and first gear is meshed with second gear.
5. according to each described manipulator and rotating disk linkage among the claim 1-3, it is characterized in that: said cam robot comprise turning cylinder, bottom the guide rod of gripper, first fork, second fork are housed, be used to drive the swing of first fork first cam, be used to drive second cam, axle bed, holder, first extension spring and second extension spring of the swing of second fork; Holder is fixed in the marginal position of said inactive order, and said second helical gear vertically is installed on the inboard of said holder through turning cylinder, and first cam and second cam are loaded on the two ends of turning cylinder respectively, and are positioned at the both sides of holder; Axle bed is positioned at the outside of holder, and guide rod is vertical state and activity is plugged in axle bed; First fork and second fork lay respectively at the both sides of holder, and each end of first fork and second fork is rotationally connected with holder formation respectively; The other end of first fork is connected with axle bed, is used to promote the axle bed horizontal movement; First extension spring is connected between holder and the axle bed, is used to drive axle bed and resets; The other end of second fork is connected with the top of guide rod, is used to promote guide rod and moves up and down; Second extension spring is matched with between guide rod top and the axle bed bottom, is used to drive guide rod and resets.
6. manipulator according to claim 4 and rotating disk linkage is characterized in that: the gearratio of said second helical gear and said first gear is 1:1.
7. manipulator according to claim 5 and rotating disk linkage; It is characterized in that: said cam robot also comprises guide post; This guide post is plugged in said holder along the direction level in inboard to the outside of said holder, and said axle bed is passed in activity.
8. according to each described manipulator and rotating disk linkage among the claim 1-3, it is characterized in that: the gearratio of said gear-box is 1:1.
9. manipulator according to claim 2 and rotating disk linkage is characterized in that: also comprise a base, said motor, gear-box and said power transmission shaft are installed on this base top respectively; Said hollow flange dispenser be installed on one be fixed in base top installing plate.
10. manipulator according to claim 3 and rotating disk linkage is characterized in that: also comprise a base, said motor, clutch brake assembly, gear-box and said power transmission shaft are installed on this base top respectively; Said hollow flange dispenser be installed on one be fixed in base top installing plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210265371.3A CN102785068B (en) | 2012-07-27 | 2012-07-27 | Manipulator and rotary-disk linking device |
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| CN201210265371.3A CN102785068B (en) | 2012-07-27 | 2012-07-27 | Manipulator and rotary-disk linking device |
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| CN102785068A true CN102785068A (en) | 2012-11-21 |
| CN102785068B CN102785068B (en) | 2014-08-20 |
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Cited By (9)
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| CN103170870A (en) * | 2013-03-28 | 2013-06-26 | 深圳市光和精密自动化有限公司 | Cam linkage rotating disc type processing equipment |
| CN104953758A (en) * | 2015-06-04 | 2015-09-30 | 苏州紫冠自动化设备有限公司 | Driving mechanism |
| TWI561334B (en) * | 2014-09-22 | 2016-12-11 | Fu Lai Yao | |
| CN106475760A (en) * | 2016-12-06 | 2017-03-08 | 深圳市科迈威包装机械有限公司 | A kind of assembly machine with cam link structure |
| CN108381166A (en) * | 2018-03-22 | 2018-08-10 | 厦门精合电气自动化有限公司 | A kind of device of turntable segmentation movement and manipulator linkage |
| CN108436417A (en) * | 2018-05-18 | 2018-08-24 | 南通理工学院 | A kind of Automated assembly tooling |
| CN108817904A (en) * | 2018-08-17 | 2018-11-16 | 深圳市云创自动化设备有限公司 | A kind of novel multi-station assembling equipment |
| CN110052828A (en) * | 2019-05-18 | 2019-07-26 | 深圳市科睿达自动化设备有限公司 | A kind of method of electronic component annular assembly line |
| CN114302777A (en) * | 2019-09-02 | 2022-04-08 | 特鲁普机械奥地利有限公司及两合公司 | Robot assembly and method for bending component |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103170870A (en) * | 2013-03-28 | 2013-06-26 | 深圳市光和精密自动化有限公司 | Cam linkage rotating disc type processing equipment |
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| TWI561334B (en) * | 2014-09-22 | 2016-12-11 | Fu Lai Yao | |
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| CN106475760A (en) * | 2016-12-06 | 2017-03-08 | 深圳市科迈威包装机械有限公司 | A kind of assembly machine with cam link structure |
| CN108381166A (en) * | 2018-03-22 | 2018-08-10 | 厦门精合电气自动化有限公司 | A kind of device of turntable segmentation movement and manipulator linkage |
| CN108436417A (en) * | 2018-05-18 | 2018-08-24 | 南通理工学院 | A kind of Automated assembly tooling |
| CN108817904A (en) * | 2018-08-17 | 2018-11-16 | 深圳市云创自动化设备有限公司 | A kind of novel multi-station assembling equipment |
| CN110052828A (en) * | 2019-05-18 | 2019-07-26 | 深圳市科睿达自动化设备有限公司 | A kind of method of electronic component annular assembly line |
| CN114302777A (en) * | 2019-09-02 | 2022-04-08 | 特鲁普机械奥地利有限公司及两合公司 | Robot assembly and method for bending component |
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|---|---|
| CN102785068B (en) | 2014-08-20 |
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