CN102785068B - Manipulator and rotary-disk linking device - Google Patents
Manipulator and rotary-disk linking device Download PDFInfo
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- CN102785068B CN102785068B CN201210265371.3A CN201210265371A CN102785068B CN 102785068 B CN102785068 B CN 102785068B CN 201210265371 A CN201210265371 A CN 201210265371A CN 102785068 B CN102785068 B CN 102785068B
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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 invention relates to a mechanical device for completing tool assembly, in particular to a linkage device of a manipulator and a turntable.
Background
At present, with the continuous improvement of social and economic levels and the continuous development of scientific technology, in the field of mechanical production and processing, the assembly process of the tool basically realizes mechanical automation, the automatic assembly device of the tool commonly used in the prior art is realized by mostly adopting a mechanical arm and a rotary table, one tool part is fixed by utilizing the rotary table, and the other tool part is assembled after being grabbed by the mechanical arm, so that the automatic assembly process of the tool is completed. However, since the robot of the automatic tool assembling device of the related art is driven separately from the turntable: the manipulator adopts cylinder cooperation intelligent operation platform to control, and the carousel adopts the motor as the power supply, consequently, it has following weak point: the cost of the intelligent operation platform and the labor cost for operating the intelligent operation platform are increased, so the cost is higher; the distance between the manipulator and the turntable is easy to change, and assembly is easy to break down; difficult multi-station simultaneous operation, low assembly efficiency and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a linkage device of a manipulator and a turntable, which realizes mechanical linkage of a cam manipulator and the turntable, only needs a motor for driving, and has the characteristics of low cost, high efficiency, good stability and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: a linkage device of a manipulator and a turntable comprises a turntable, a fixed disk, a hollow flange divider with a rotating flange and a fixed flange, a motor, a first transmission mechanism, a second transmission mechanism, a gear box for changing the transmission direction, a gear main shaft, a first helical gear, at least one cam manipulator and a second helical gear, wherein the second helical gear is arranged on the cam manipulator and used for driving the cam manipulator to act; the turntable is fixedly connected with a rotating flange of the hollow flange divider, and the fixed disk is fixedly connected with a fixed flange of the hollow flange divider; the gear main shaft penetrates through the hollow part of the hollow flange divider and is in rotary connection with the fixed disc; a rotating shaft of the motor is connected with an input shaft of the hollow flange divider through a first transmission mechanism; the input shaft of the gear box is connected with a first transmission mechanism or a motor, and the output shaft of the gear box is connected with a gear spindle through a second transmission mechanism; a first helical gear is mounted at one end of the gear spindle, the cam manipulator is fixed on the fixed disc, and a second helical gear on the cam manipulator is meshed with the first helical gear.
The first transmission mechanism comprises a transmission shaft, a first synchronous wheel, a second synchronous wheel, a third synchronous wheel, a first synchronous belt and a second synchronous belt; the first synchronous wheel is arranged on a rotating shaft of the motor, the second synchronous wheel and the third synchronous wheel are respectively arranged on the transmission shaft, the first synchronous wheel and the second synchronous wheel are connected through a first synchronous belt, and the third synchronous wheel is connected with an input shaft of the hollow flange divider through a second synchronous belt; one end of the transmission shaft is connected with the input shaft of the gear box through a coupler.
The first transmission mechanism comprises a transmission shaft, a first synchronous wheel, a second synchronous wheel, a third synchronous wheel, a first synchronous belt, a second synchronous belt, a first coupler and a clutch brake assembly; an input shaft of the clutch-brake assembly is connected with a rotating shaft of the motor through a first coupler, and a first synchronous wheel is arranged on an output shaft of the clutch-brake assembly; the second synchronous wheel and the third synchronous wheel are respectively arranged on the transmission shaft, the first synchronous wheel and the second synchronous wheel are connected through a first synchronous belt, and the third synchronous wheel is connected with the input shaft of the hollow flange divider through a second synchronous belt; one end of the transmission shaft is connected with the input shaft of the gear box through a second coupling.
The second transmission mechanism comprises a first gear and a second gear; the first gear is arranged on the output shaft of the gear box, the second gear is arranged at the other end of the gear main shaft, and the first gear is meshed with the second gear.
The cam manipulator comprises a rotating shaft, a guide rod, a first swing rod, a second swing rod, a first cam, a second cam, a shaft seat, a fixed seat, a first tension spring and a second tension spring, wherein the bottom end of the guide rod is provided with a mechanical claw; the fixed seat is fixed at the edge of the fixed disc, the second helical gear is vertically arranged on the inner side of the fixed seat through a rotating shaft, and the first cam and the second cam are respectively arranged at two ends of the rotating shaft and are positioned at two sides of the fixed seat; the shaft seat is positioned at the outer side of the fixed seat, and the guide rod is in a vertical state and is movably inserted in the shaft seat; the first swing rod and the second swing rod are respectively positioned at two sides of the fixed seat, and one end of each of the first swing rod and the second swing rod is respectively in rotating connection with the fixed seat; the other end of the first swing rod is connected with the shaft seat and used for pushing the shaft seat to move horizontally; the first tension spring is connected between the fixed seat and the shaft seat and used for driving the shaft seat to reset; the other end of the second swing rod is connected with the top end of the guide rod and used for pushing the guide rod to move up and down; the second tension spring is matched between the top end of the guide rod and the bottom end of the shaft seat and used for driving the guide rod to reset.
The transmission ratio of the second bevel gear to the first gear is 1: 1.
The cam manipulator further comprises a guide rod, and the guide rod is horizontally inserted into the fixed seat along the direction from the inner side to the outer side of the fixed seat and movably penetrates through the shaft seat.
The transmission ratio of the gear box is 1: 1.
The motor, the gear box and the transmission shaft are respectively arranged at the top end of the base; the hollow flange divider is arranged on a mounting plate fixed above the base.
The motor, the clutch and brake assembly, the gear box and the transmission shaft are respectively arranged at the top end of the base; the hollow flange divider is arranged on a mounting plate fixed above the base.
According to the linkage device of the manipulator and the turntable, after the motor is started, the cutting rotation of the turntable and the rotation of the first bevel gear are respectively realized through the transmission shaft, the first bevel gear drives the second bevel gear to rotate, and the cam manipulator moves circularly once every time the second bevel gear rotates for one circle, namely the cam manipulator moves circularly once, and the hollow flange divider cuts once.
Compared with the automatic assembly device for the tool in the prior art, the automatic assembly device for the tool has the beneficial effects that:
1. the rotary output of the motor is divided into two paths of rotary outputs through the first transmission mechanism, the gear box and the second transmission mechanism to respectively drive the turntable and the cam manipulator to act, so that the mechanical linkage of the cam manipulator and the turntable is realized, and only the motor is used as a power source, so that the cost is lower; the cam manipulator is at a set distance from the turntable, so that the assembly process is not easy to break down;
2. a plurality of cam manipulators can be assembled on the fixed plate at the same time, and multi-station simultaneous assembly operation is realized, so that the working efficiency is greatly improved.
3. As a preferred embodiment, the rotating shaft of the motor is connected with the clutch-brake assembly, so that the operation or pause of the device can be controlled by controlling the on or off action of the clutch, and the possibility of the motor performance reduction and even burning caused by frequent starting of the motor is avoided.
The invention is further explained in detail with the accompanying drawings and the embodiments; however, the robot and turret linkage of the present invention is not limited to the embodiment.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a schematic perspective view of the hollow flange divider of the present invention;
FIG. 5 is a first perspective view of the cam robot of the present invention;
fig. 6 is a schematic perspective view of the cam robot of the present invention.
Detailed Description
In an embodiment, referring to fig. 1 to 4, a manipulator and turntable linkage device according to the present invention includes a turntable 4, a stationary platen 5, a hollow flange divider 9, a motor 2, a first transmission mechanism 3, a second transmission mechanism, a gear box 10 for changing a transmission direction and having a transmission ratio of 1:1, a gear spindle 81, a first helical gear 8, a plurality of cam manipulators 6, and a plurality of second helical gears 7. The hollow flange divider 9 is provided with a rotating flange 91 and an immovable flange 92, wherein the immovable flange 92 is positioned at the inner side of the rotating flange 91; the rotary disk 4 is fixedly connected with a rotary flange 91 of the hollow flange divider, and the fixed disk 5 is positioned above the rotary disk 4 and fixedly connected with a fixed flange 92 of the hollow flange divider. The gear spindle 81 passes through the hollow of the hollow flange divider 9 and is in rotational connection with a bearing in the stationary disk 5. A rotating shaft of the motor 2 is connected with an input shaft of the hollow flange divider 9 through the first transmission mechanism 3; the input shaft of the gearbox 10 is connected to the first transmission 3, and the output shaft of the gearbox 10 is connected to the gear spindle 81 via the second transmission. The top end of the gear spindle 81 is provided with a first bevel gear 8, each cam manipulator 6 is distributed along the circumferential direction of the fixed disk 5 and is fixedly arranged on the fixed disk 5, each second bevel gear 7 is arranged on one cam manipulator and is used for driving the cam manipulator 6 to move, each second bevel gear 7 is meshed with the first bevel gear 8, and the transmission ratio of the first bevel gear 8 to each second bevel gear 7 is 3: 1.
Wherein,
as a preferred embodiment, the first transmission mechanism 3 includes a transmission shaft 36, a first synchronous pulley 33, a second synchronous pulley 35, a third synchronous pulley 37, a first synchronous belt 34, a second synchronous belt 38, a first coupling 31 and a clutch-brake assembly 32. An input shaft of the clutch-brake assembly 32 is connected with a rotating shaft of the motor 2 through a first coupler 31, and a first synchronous wheel 33 is arranged on an output shaft of the clutch-brake assembly 32; the second synchronous wheel 35 and the third synchronous wheel 37 are respectively arranged on a transmission shaft 36, the first synchronous wheel 33 and the second synchronous wheel 35 are connected through a first synchronous belt 34, and the transmission ratio of the first synchronous wheel 33 to the second synchronous wheel 35 is preferably 1: 2. The third synchronizing wheel 37 is connected to the input shaft of the hollow flange divider 9 through the second synchronizing belt 38, so that the transmission shaft 36 rotates once and the hollow flange divider 9 divides once. One end of the transmission shaft 36 is connected to the input shaft of the gear box 10 through a second coupling 101, and the gear box 10 converts the transmission direction of the transmission shaft 36 into the transmission direction of the gear shaft 81. Here, the motor 2 is connected to the clutch and brake assembly 32 through the first coupling 31, so that when the motor 2 needs to be suspended, the clutch is disengaged by performing a braking operation through the clutch and brake assembly 32, and when the motor 2 needs to continue operating, the brake is disengaged and the clutch is engaged. Therefore, the possibility that the motor 2 is heated to influence the performance and even be burnt out due to frequent starting of the motor 2 can be avoided. Of course, the first synchronous wheel can be directly arranged on the rotating shaft of the motor without adopting the clutch-brake combination body. The gear box 10 may not be connected to the first transmission mechanism, but connected to a rotating shaft of another motor through a coupling, so as to change the transmission direction of the other motor.
As a preferred embodiment, the second transmission mechanism includes a first gear 102 and a second gear 103; the first gear 102 and the second gear 103 are straight gears, respectively, the first gear 102 is mounted on the output shaft of the gear box 10, the second gear 103 is mounted on the other end of the gear main shaft 81, and the first gear 102 is meshed with the second gear 103. The transmission ratio of the first gear 102 to the second gear 103 is 1:3, and thus the transmission ratio of each second helical gear 7 to the first gear 102 is 1:1, so that the hollow flange divider 9 can divide once per revolution of the second helical gear 7. Here, the second transmission mechanism can also be realized by two synchronous wheels matching with a synchronous belt.
As a preferred embodiment, please refer to fig. 5 and fig. 6, each of the cam manipulators 6 includes a rotating shaft 603, two guide rods 601 having a bottom end provided with a mechanical claw (not shown in the drawings, the mechanical claw is an end system, and different structures can be installed according to different applications), a first swing link 607, a second swing link 613, a first cam 602 for driving the first swing link 607 to swing, a second cam 604 for driving the second swing link 613 to swing, a shaft seat 609, a fixed seat 606, a first tension spring 615, and a second tension spring 608. The fixing seat 606 is fixed at the edge of the stationary platen 5, and defines that the side of the fixing seat 606 facing the center of the stationary platen is the inner side of the fixing seat 606, and the side of the fixing seat 606 facing away from the center of the stationary platen is the outer side of the fixing seat 606. The second bevel gear 7 is vertically installed on the inner side of the fixed seat 606 through the rotating shaft 603, and the first cam 602 and the second cam 604 are respectively installed at two ends of the rotating shaft 603 and located at the other two sides of the fixed seat 606; the shaft seat 609 is located outside the fixing seat 606, the two guide rods 601 are vertical and movably inserted into the shaft seat 609, and the top ends of the two guide rods 601 are fixedly connected by a guide rod fixing block 611. The first swing link 607 and the second swing link 613 are respectively located at the other two sides of the fixing seat 606, and one end of each of the first swing link 607 and the second swing link 613 is respectively in rotating connection with the top side wall of the fixing seat 606; the other end of the first swing link 607 is connected with the shaft seat 609 and used for pushing the shaft seat 609 to move horizontally, and specifically, the other end of the first swing link 607 is connected with the shaft seat 609 sequentially through a third swing link 608 and a transmission rod 607 which are in rotary connection; the first tension spring 615 is connected between the bottom end of the fixing seat 606 and the bottom end of the shaft seat 609 and is used for driving the shaft seat 609 to reset. The other end of the second oscillating bar 613 is connected with the top end of the guide rod 601 and is used for pushing the guide rod 601 to move up and down, specifically, the other end of the second oscillating bar 613 is connected with the guide rod 601 through a slide rail 612, the slide rail 612 is fixed on one side wall of the guide rod fixing block 612, and the other end of the second oscillating bar is just movably matched in the slide rail; the second tension spring 608 is fitted between the top end of the guide rod 601 and the bottom end of the shaft seat 609 for driving the guide rod 601 to return, and specifically, the second tension spring 608 is connected between the guide rod fixing block 611 and the transmission rod 607. Specifically, a first bearing 610 is installed at a middle position of the first swing link 607, and the first bearing 610 is used for cooperating with the first cam 602 to drive the first swing link 607 to swing; one end of the second oscillating bar 613 is provided with an extending block, so that the second oscillating bar 613 is in an L shape, and the extending block is provided with a second bearing part 614, and the second bearing part 614 is used for being matched with the second cam 604 to drive the second oscillating bar 613 to oscillate. Here, the number of the guide rods 601 is not limited to two, and one may be used, for example.
The cam manipulator 6 further comprises a guide rod 605, the guide rod 605 is horizontally inserted into the fixing seat 606 along the direction from the inner side to the outer side of the fixing seat 606 and movably passes through the shaft seat 609, and the guide rod 605 is used for guiding the shaft seat 609. In operation, the second bevel gear 7 rotates to rotate the rotating shaft 603, so as to rotate the first cam 602 and the second cam 604 at two ends of the rotating shaft 603. When the first cam 602 rotates, the first bearing part 610 is pushed, so that the first swing link 607 swings outwards and pushes the shaft seat 609 to horizontally move outwards under the guidance of the guide rod 605 through the third swing link 608 and the transmission rod 607 in sequence, thereby driving the two guide rods 601 to horizontally move outwards; on return, the two guide rods 601 are reset by means of a first tension spring 615. When the second cam 604 rotates, the second bearing 614 is pushed, so that the second oscillating bar 613 oscillates upwards to drive the two guide rods 601 to move upwards under the guidance of the shaft seat 609; on return, the two guide rods 601 are reset by the second tension spring 608.
As a preferred embodiment, the present invention further comprises a base 1, wherein the motor 2, the clutch and brake assembly 32, the gear box 10 and the transmission shaft 36 are respectively mounted on the top end of the base 1; the hollow flange divider 9 is mounted to a mounting plate 11 which is fixed above the base.
According to the linkage device of the manipulator and the turntable, after the structure is adopted, the cam manipulator 6 and the turntable 4 are in mechanical linkage, and share one motor 2 as a power source: after the motor 2 is started, the first transmission mechanism 3 drives the turntable 4 to realize cutting rotation through the hollow flange cutter 9, the gear box 10 changes the transmission direction of the transmission shaft 36, and drives the first bevel gears 8 to rotate through the second transmission mechanism, so that the second bevel gears 7 are driven to rotate, and the second bevel gears 7 drive the corresponding cam manipulators 6 to complete the conveying process of the tool parts. The process does not need to be driven by an air cylinder, and special workers do not need to operate the intelligent operating platform for control, so that the production cost can be greatly reduced. In addition, after the cam manipulator 6 and the turntable 4 are mechanically linked, the cam manipulator and the turntable are in a set distance, so that accurate matching can be performed, and the fault occurrence rate can be greatly reduced.
According to the linkage device of the manipulator and the turntable, after the structure is adopted, one turntable can be matched with a plurality of cam manipulators at the same time, so that the multi-station simultaneous assembly operation can be realized, and the working efficiency can be greatly improved.
The above embodiments are only used to further illustrate the manipulator and turntable linkage device of the present invention, but the present invention is not limited to the embodiments, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention fall within the protection scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a manipulator and carousel aggregate unit which characterized in that: the device comprises a turntable, a fixed disk, a hollow flange divider with a rotating flange and a fixed flange, a motor, a first transmission mechanism, a second transmission mechanism, a gear box for changing the transmission direction, a gear main shaft, a first helical gear, at least one cam manipulator and a second helical gear, wherein the second helical gear is arranged on the cam manipulator and is used for driving the cam manipulator to act; the turntable is fixedly connected with a rotating flange of the hollow flange divider, and the fixed disk is fixedly connected with a fixed flange of the hollow flange divider; the gear main shaft penetrates through the hollow part of the hollow flange divider and is in rotary connection with the fixed disc; a rotating shaft of the motor is connected with an input shaft of the hollow flange divider through a first transmission mechanism; the input shaft of the gear box is connected with a first transmission mechanism or a motor, and the output shaft of the gear box is connected with a gear spindle through a second transmission mechanism; a first helical gear is mounted at one end of the gear spindle, the cam manipulator is fixed on the fixed disc, and a second helical gear on the cam manipulator is meshed with the first helical gear.
2. The manipulator and carousel linkage of claim 1, wherein: the first transmission mechanism comprises a transmission shaft, a first synchronous wheel, a second synchronous wheel, a third synchronous wheel, a first synchronous belt and a second synchronous belt; the first synchronous wheel is arranged on a rotating shaft of the motor, the second synchronous wheel and the third synchronous wheel are respectively arranged on the transmission shaft, the first synchronous wheel and the second synchronous wheel are connected through a first synchronous belt, and the third synchronous wheel is connected with an input shaft of the hollow flange divider through a second synchronous belt; one end of the transmission shaft is connected with the input shaft of the gear box through a coupler.
3. The manipulator and carousel linkage of claim 1, wherein: the first transmission mechanism comprises a transmission shaft, a first synchronous wheel, a second synchronous wheel, a third synchronous wheel, a first synchronous belt, a second synchronous belt, a first coupler and a clutch brake assembly; an input shaft of the clutch-brake assembly is connected with a rotating shaft of the motor through a first coupler, and a first synchronous wheel is arranged on an output shaft of the clutch-brake assembly; the second synchronous wheel and the third synchronous wheel are respectively arranged on the transmission shaft, the first synchronous wheel and the second synchronous wheel are connected through a first synchronous belt, and the third synchronous wheel is connected with the input shaft of the hollow flange divider through a second synchronous belt; one end of the transmission shaft is connected with the input shaft of the gear box through a second coupling.
4. The manipulator and turret linkage according to any of claims 1-3, wherein: the second transmission mechanism comprises a first gear and a second gear; the first gear is arranged on the output shaft of the gear box, the second gear is arranged at the other end of the gear main shaft, and the first gear is meshed with the second gear.
5. The manipulator and turret linkage according to any of claims 1-3, wherein: the cam manipulator comprises a rotating shaft, a guide rod, a first swing rod, a second swing rod, a first cam, a second cam, a shaft seat, a fixed seat, a first tension spring and a second tension spring, wherein the bottom end of the guide rod is provided with a mechanical claw; the fixed seat is fixed at the edge of the fixed disc, the second helical gear is vertically arranged on the inner side of the fixed seat through a rotating shaft, and the first cam and the second cam are respectively arranged at two ends of the rotating shaft and are positioned at two sides of the fixed seat; the shaft seat is positioned at the outer side of the fixed seat, and the guide rod is in a vertical state and is movably inserted in the shaft seat; the first swing rod and the second swing rod are respectively positioned at two sides of the fixed seat, and one end of each of the first swing rod and the second swing rod is respectively in rotating connection with the fixed seat; the other end of the first swing rod is connected with the shaft seat and used for pushing the shaft seat to move horizontally; the first tension spring is connected between the fixed seat and the shaft seat and used for driving the shaft seat to reset; the other end of the second swing rod is connected with the top end of the guide rod and used for pushing the guide rod to move up and down; the second tension spring is matched between the top end of the guide rod and the bottom end of the shaft seat and used for driving the guide rod to reset.
6. The manipulator and turret linkage according to claim 4, wherein: the transmission ratio of the second bevel gear to the first gear is 1: 1.
7. The manipulator and turret linkage according to claim 5, wherein: the cam manipulator further comprises a guide rod, and the guide rod is horizontally inserted into the fixed seat along the direction from the inner side to the outer side of the fixed seat and movably penetrates through the shaft seat.
8. The manipulator and turret linkage according to any of claims 1-3, wherein: the transmission ratio of the gear box is 1: 1.
9. The manipulator and turret linkage according to claim 2, wherein: the motor, the gear box and the transmission shaft are respectively arranged at the top end of the base; the hollow flange divider is arranged on a mounting plate fixed above the base.
10. The manipulator and turret linkage according to claim 3, wherein: the motor, the clutch and brake assembly, the gear box and the transmission shaft are respectively arranged at the top end of the base; the hollow flange divider is arranged on a mounting plate fixed above the base.
Priority Applications (1)
| 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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| 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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| CN102785068A CN102785068A (en) | 2012-11-21 |
| CN102785068B true CN102785068B (en) | 2014-08-20 |
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| CN201210265371.3A Active CN102785068B (en) | 2012-07-27 | 2012-07-27 | Manipulator and rotary-disk linking device |
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| CN103170870B (en) * | 2013-03-28 | 2015-05-13 | 深圳市光和精密自动化有限公司 | Cam linkage rotating disc type processing equipment |
| TW201611942A (en) * | 2014-09-22 | 2016-04-01 | Fu-Lai Yao | Turnover positioning device of columnar element |
| CN104953758B (en) * | 2015-06-04 | 2017-08-25 | 苏州紫冠自动化设备有限公司 | Drive mechanism |
| 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 | Automatic assembly tool |
| 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 |
| AT522896B1 (en) * | 2019-09-02 | 2021-12-15 | Trumpf Maschinen Austria Gmbh & Co Kg | Manipulator arrangement and method for bending a component |
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| CN102009343A (en) * | 2010-12-18 | 2011-04-13 | 周俊雄 | Automatic lock cylinder assembly machine |
| CN201979430U (en) * | 2011-03-23 | 2011-09-21 | 厦门精合电气自动化有限公司 | Multi-station linked tool assembling device |
| CN202684455U (en) * | 2012-07-27 | 2013-01-23 | 厦门精合电气自动化有限公司 | Linking device for mechanical arm and turntable |
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| Publication number | Publication date |
|---|---|
| CN102785068A (en) | 2012-11-21 |
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