CN102785068B - Manipulator and rotary-disk linking device - Google Patents

Manipulator and rotary-disk linking device Download PDF

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Publication number
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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China
Prior art keywords
gear
shaft
synchronizing wheel
manipulator
cam
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CN201210265371.3A
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CN102785068A (en
Inventor
郭行翌
余金禄
严秀华
胡熙鹏
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XIAMEN JINGHE ELECTRICITY AUTOMATION CO Ltd
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XIAMEN JINGHE ELECTRICITY AUTOMATION CO Ltd
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Priority to CN201210265371.3A priority Critical patent/CN102785068B/en
Publication of CN102785068A publication Critical patent/CN102785068A/en
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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

A kind of manipulator and rotating disk linkage
Technical field
The present invention relates to a kind of mechanical device assembling for completing frock, 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 development of science and technology, in machinery production manufacture field, the assembling process of frock has realized mechanical automation substantially, and the conventional frock automatic assembling apparatus of technology 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 captures laggard luggage by manipulator joins, and with this, completes the automation assembling process of frock.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 coordinate intelligent operating platform to control, rotating disk adopts motor as power source, therefore, there is following weak point in it: has increased the cost of intelligent operating platform and for the cost of labor of operative intelligence operating platform, therefore cost is higher; The easy change of distance between manipulator and rotating disk, assembling is easily out of order; Be difficult to that multistation carries out simultaneously, efficiency of assembling is lower etc.
Summary of the invention
The object 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 the features such as cost is low, efficiency 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 rotate the hollow flange dispenser, motor, the first transmission mechanism, the second transmission mechanism of flange and motionless flange, for changing gear-box, gear main shaft, the first helical gear, at least one cam robot of transmission direction and being installed on cam robot with the second helical gear of 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; Gear main shaft passes the hollow bulb of hollow flange dispenser, and forms and be rotationally connected with inactive order; The rotating shaft of motor is connected with the power shaft of hollow flange dispenser by the first transmission mechanism; The power shaft of gear-box connects the first transmission mechanism or motor, and the output shaft of this gear-box connects gear main shaft by the second transmission mechanism; The first helical gear is equipped with in one end of gear main shaft, and cam robot is fixed on inactive order, and cam mechanism the second helical gear is on hand meshed with the first helical gear.
Described the first transmission mechanism comprises power transmission shaft, the first synchronizing wheel, the second synchronizing wheel, the 3rd synchronizing wheel, the first Timing Belt and the second Timing Belt; The first synchronizing wheel is loaded on the rotating shaft of described motor, the second synchronizing wheel, the 3rd synchronizing wheel are loaded on respectively power transmission shaft, between the first synchronizing wheel and the second synchronizing wheel, by the first Timing Belt, connect, the 3rd synchronizing wheel connects the power shaft of described hollow flange dispenser by the second Timing Belt; One end of power transmission shaft connects the power shaft of described gear-box by a shaft coupling.
Described the first transmission mechanism comprises power transmission shaft, the first synchronizing wheel, the second synchronizing wheel, the 3rd synchronizing wheel, the first Timing Belt, the second Timing Belt, the first shaft coupling and clutch brake assembly; The power shaft of clutch brake assembly is connected with the rotating shaft of described motor by the first shaft coupling, and the first synchronizing wheel is loaded on the output shaft of clutch brake assembly; The second synchronizing wheel, the 3rd synchronizing wheel are loaded on respectively power transmission shaft, between the first synchronizing wheel and the second synchronizing wheel, by the first Timing Belt, connect, and the 3rd synchronizing wheel connects the power shaft of described hollow flange dispenser by the second Timing Belt; One end of power transmission shaft connects the power shaft of described gear-box by one second shaft coupling.
Described the second transmission mechanism comprises the first gear and the second gear; The first gear is loaded on the output shaft of described gear-box, and the second gear is loaded on the other end of described gear main shaft, and the first gear is meshed with the second gear.
Described cam robot comprises that turning cylinder, bottom be equipped with the guide rod of gripper, the first fork, the second fork, the first cam for driving the first fork to swing, the second cam, axle bed, holder, the first extension spring and the second extension spring for driving the second fork to swing; Holder is fixed on the marginal position of described inactive order, and described the second helical gear is vertically installed on the inner side of described holder by turning cylinder, and the first cam and the second cam are loaded on respectively the two ends of turning cylinder, and is 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; The first fork and the second fork lay respectively at the both sides of holder, and each one end of the first fork and the second fork forms and is rotationally connected with holder respectively; The other end of the first fork is connected with axle bed, for promoting axle bed horizontal movement; The first extension spring is connected between holder and axle bed, for driving axle bed to reset; The other end of the second fork is connected with the top of guide rod, for promoting guide rod, moves up and down; The second extension spring is matched with between guide rod top and axle bed bottom, for driving guide rod to reset.
The gearratio of described the second helical gear and described the first gear is 1:1.
Described cam robot also comprises guide post, and this guide post is plugged in described holder along the direction level in inner side to the outside of described holder, and movable through described axle bed.
The gearratio of described gear-box is 1:1.
Also comprise a base, described motor, gear-box and described power transmission shaft are installed on respectively this base top; Described hollow flange dispenser is installed on an installing plate that is fixed on base top.
Also comprise a base, described motor, clutch brake assembly, gear-box and described power transmission shaft are installed on respectively this base top; Described hollow flange dispenser is installed on an installing plate that is fixed on base top.
A kind of manipulator of the present invention and rotating disk linkage, after starter motor, by power transmission shaft, realizing respectively cutting apart of rotating disk rotates and the first helical gear rotation, the first helical gear drives again the second helical gear to rotate, and the second helical gear often revolves and turns around, the action of cam robot circulation primary, i.e. cam robot circulation primary action, 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, due to being divided into two-way by the first transmission mechanism, gear-box and the second transmission mechanism, the rotation output of motor rotates output, drive respectively rotating disk and cam robot to move, 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 to break down in assembling process;
2, a plurality of cam robots can be assemblied in to inactive order simultaneously, therefrom realize multistation and carry out assembly manipulation simultaneously, greatly increase work efficiency.
3, as preferred embodiment, rotating shaft at motor connects clutch brake assembly, thereby can be by the closing or throw off running or the time-out that action carrys out control device of solenoidoperated cluthes, avoid frequent starting motor and cause motor performance to reduce, the possibility of even burning.
Below in conjunction with drawings and Examples, the present invention is described in further detail; But a kind of manipulator of the present invention and rotating disk linkage are not limited to embodiment.
Accompanying drawing explanation
Fig. 1 is D structure schematic diagram one of the present invention;
Fig. 2 is D structure schematic diagram two of the present invention;
Fig. 3 is front view of the present invention;
Fig. 4 is the D structure schematic diagram of hollow flange dispenser of the present invention;
Fig. 5 is the D structure schematic diagram one of cam robot of the present invention;
Fig. 6 is the D structure schematic diagram two of cam robot of the present invention.
The specific embodiment
Embodiment, refer to shown in Fig. 1-Fig. 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, the first transmission mechanism 3, the second transmission mechanism, for changing gear-box 10, gear main shaft 81, the first helical gear 8, a plurality of cam robot 6 and a plurality of the second helical gear 7 that transmission direction and gearratio are 1:1.Hollow flange dispenser 9 is provided with and rotates flange 91 and motionless flange 92, and wherein, motionless flange 92 is positioned at the inner side 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 the bearing formation in inactive order 5.The rotating shaft of motor 2 is connected with the power shaft of hollow flange dispenser 9 by the first transmission mechanism 3; The power shaft of gear-box 10 connects the first transmission mechanism 3, and the output shaft of this gear-box 10 connects gear main shaft 81 by the second transmission mechanism.The 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 be fixedly installed in respectively inactive order 5, each second helical gear 7 is installed on respectively a cam mechanism on hand, for driving cam manipulator 6, move, each second helical gear 7 is meshed with the first helical gear 8 respectively, and the first helical gear 8 is 3:1 with the gearratio of each the second helical gear 7.
Wherein,
As a preferred embodiment, above-mentioned the first transmission mechanism 3 comprises power transmission shaft 36, the first synchronizing wheel 33, the second synchronizing wheel 35, the 3rd synchronizing wheel 37, the first Timing Belt 34, the second Timing Belt 38, the first shaft coupling 31 and clutch brake assembly 32.The power shaft of clutch brake assembly 32 is connected with the rotating shaft of motor 2 by the first shaft coupling 31, and the first synchronizing wheel 33 is loaded on the output shaft of clutch brake assembly 32; The second synchronizing wheel 35, the 3rd synchronizing wheel 37 are loaded on respectively between power transmission shaft 36, the first synchronizing wheels 33 and the second synchronizing wheel 35 and connect by the first Timing Belt 34, and the gearratio of this first synchronizing wheel 33 and the second synchronizing wheel 35 is preferably 1:2.The 3rd synchronizing wheel 37 connects the power shaft of hollow flange dispenser 9 by the second Timing Belt 38, power transmission shaft 36 is revolved and turn around, and hollow flange dispenser 9 is cut apart once.One end of power transmission shaft 36 is by the power shaft of one second shaft coupling 101 connection teeth roller boxs 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 by the first shaft coupling 31, when motor 2 need to be suspended, by the clutch assembly 32 that brakes, carry out brake, make throw-out-of clutch, and when motor 2 need to continue operation, release brake, closes clutch.So, frequent starting motor 2 be can avoid and motor 2 warming-up effect performances, the possibility of even burning caused.Certainly, also can not adopt this clutch brake assembly, but directly the first synchronizing wheel is installed on to the rotating shaft of motor.Said gear case 10 also can not connect the first transmission mechanism, but is connected with the rotating shaft of another motor by a shaft coupling, with this, changes the transmission direction of another motor.
As a preferred embodiment, above-mentioned the second transmission mechanism comprises the first gear 102 and the second gear 103; The first gear 102 and the second gear 103 are respectively spur gear, and the first gear 102 is loaded on the output shaft of gear-box 10, and the second gear 103 is loaded on the other end of gear main shaft 81, and the first gear 102 is meshed with the second gear 103.The gearratio of this first gear 102 and the second gear 103 is 1:3, and so, the gearratio of above-mentioned each second helical gear 7 and the first gear 102 is 1:1, can make hollow flange dispenser 9 often cut apart once, and the second helical gear 7 revolves and turns around.Here, the second transmission mechanism also can adopt two synchronizing wheels to coordinate and synchronously bring realization.
As a preferred embodiment, refer to shown in Fig. 5, Fig. 6, above-mentioned each cam robot 6 comprises that respectively turning cylinder 603, bottom be equipped with gripper and (in figure, do not embody, this gripper is end system, can different structures be installed according to different applicable cases) two guide rods 601, the first fork 607, the second fork 613, the first cam 602 for driving the first fork 607 to swing, the second cam 604, axle bed 609, holder 606, the first extension spring 615 and the second extension spring 608 for driving the second fork 613 to swing.Holder 606 is fixed on the marginal position of inactive order 5, and to define the side over against inactive order center in this holder 606 be the inner side of holder 606, and the side back to inactive order center in this holder 606 is the outside of holder 606.The second helical gear 7 is vertically installed on the inner side of holder 606 by turning cylinder 603, the first cam 602 and the second cam 604 are loaded on respectively the two ends of turning cylinder 603, and is 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 fixed connection by a guide rod fixed block 611.The first fork 607 and the second fork 613 lay respectively at all the other both sides of holder 606, and each one end of the first fork 607 and the second fork 613 is rotationally connected with the top sidewall formation of holder 606 respectively; The other end of the first fork 607 is connected with axle bed 609, and for promoting axle bed 609 horizontal movements, the other end of concrete the first fork 607 is that the 3rd fork 608 being rotationally connected by formation is successively connected with axle bed 609 with drive link 607; The first extension spring 615 is connected between the bottom of holder 606 and the bottom of axle bed 609, for driving axle bed 609 to reset.The other end of the second fork 613 is connected with the top of guide rod 601, being used for promoting guide rod 601 moves up and down, the other end of concrete the second fork 613 is connected with guide rod 601 by a slide rail 612, this slide rail 612 is fixed on a sidewall of guide rod fixed block 612, and the other end of the second fork just in time activity is matched with in this slide rail; The second extension spring 608 is matched with between guide rod 601 tops and axle bed 609 bottoms, and for driving guide rod 601 to reset, concrete the second extension spring 608 is connected between guide rod fixed block 611 and drive link 607.Specifically, the middle section position of the first fork 607 is equipped with a clutch shaft bearing part 610, and this clutch shaft bearing part 610, for cooperatively interacting with the first cam 602, drives the first fork 607 to swing; One end of the second fork 613 has an extension block, makes the second fork 613 be L font, and one second bearing part 614 is housed on this extension block, and this second bearing part 614, for cooperatively interacting with the second cam 604, drives the second fork 613 to swing.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 inner side to the outside of holder 606, and movable through axle bed 609, and this guide post 605 is for leading to axle bed 609.During work, the second helical gear 7 rotates and drives turning cylinder 603 to rotate, thereby drives the first cam 602 that is positioned at turning cylinder 603 two ends to rotate together with the second cam 604.The first cam 602 promotes clutch shaft bearing part 610 while rotating, the first fork 607 outwards swung and by the 3rd fork 608 and drive link 607, promote axle bed 609 horizontally outward motion under the guiding of guide post 605 successively, thereby driving two guide rods 601 horizontally outward to move; While returning, utilize the first extension spring 615 that two guide rods 601 are resetted.The second cam 604 promotes the second bearing part 614 while rotating, and makes the second fork 613 upwards swing and drive two guide rods 601 to move upward under the guiding of axle bed 609; While returning, utilize the 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 respectively the top of this base 1; Hollow flange dispenser 9 is installed on an installing plate 11 that is fixed on base top.
A kind of manipulator of the present invention and rotating disk linkage, adopt after said structure, cam robot 6 has been realized mechanical linkage with rotating disk 4, and share a motor 2 as power source: after motor 2 starts, the first transmission mechanism 3 drives rotating disk 4 realizations to cut apart rotation by hollow flange dispenser 9, the transmission direction that gear-box 10 is changed power transmission shaft 36, and drive the first helical gear 8 to rotate by the second transmission mechanism, thereby drive each second helical gear 7 to rotate, make each second helical gear 7 drive corresponding cam robot 6 to complete the process of transporting of tool part.This process, without air cylinder driven, is also handled intelligent operating platform without special staff and is controlled, thereby can greatly reduce production costs.In addition, cam robot 6 is realized after mechanical linkage with rotating disk 4, and both are both set a distances, can accurately coordinate, and can greatly reduce rate of breakdown.
A kind of manipulator of the present invention and rotating disk linkage, adopt after said structure, can make a rotating disk coordinate with a plurality of cam robots, thereby can realize multistation and carry out assembly manipulation simultaneously simultaneously, is conducive to greatly increase work efficiency.
Above-described embodiment is only used for further illustrating a kind of manipulator of the present invention and rotating disk linkage; but the present invention is not limited to embodiment; any simple modification, equivalent variations and modification that every foundation technical spirit of the present invention is done above embodiment, all fall in the protection domain of technical solution of the present invention.

Claims (10)

1. manipulator and a rotating disk linkage, is characterized in that: comprise rotating disk, inactive order, have rotate the hollow flange dispenser, motor, the first transmission mechanism, the second transmission mechanism of flange and motionless flange, for changing gear-box, gear main shaft, the first helical gear, at least one cam robot of transmission direction and being installed on cam robot with the second helical gear of 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; Gear main shaft passes the hollow bulb of hollow flange dispenser, and forms and be rotationally connected with inactive order; The rotating shaft of motor is connected with the power shaft of hollow flange dispenser by the first transmission mechanism; The power shaft of gear-box connects the first transmission mechanism or motor, and the output shaft of this gear-box connects gear main shaft by the second transmission mechanism; The first helical gear is equipped with in one end of gear main shaft, and cam robot is fixed on inactive order, and cam mechanism the second helical gear is on hand meshed with the first helical gear.
2. manipulator according to claim 1 and rotating disk linkage, is characterized in that: described the first transmission mechanism comprises power transmission shaft, the first synchronizing wheel, the second synchronizing wheel, the 3rd synchronizing wheel, the first Timing Belt and the second Timing Belt; The first synchronizing wheel is loaded on the rotating shaft of described motor, the second synchronizing wheel, the 3rd synchronizing wheel are loaded on respectively power transmission shaft, between the first synchronizing wheel and the second synchronizing wheel, by the first Timing Belt, connect, the 3rd synchronizing wheel connects the power shaft of described hollow flange dispenser by the second Timing Belt; One end of power transmission shaft connects the power shaft of described gear-box by a shaft coupling.
3. manipulator according to claim 1 and rotating disk linkage, is characterized in that: described the first transmission mechanism comprises power transmission shaft, the first synchronizing wheel, the second synchronizing wheel, the 3rd synchronizing wheel, the first Timing Belt, the second Timing Belt, the first shaft coupling and clutch brake assembly; The power shaft of clutch brake assembly is connected with the rotating shaft of described motor by the first shaft coupling, and the first synchronizing wheel is loaded on the output shaft of clutch brake assembly; The second synchronizing wheel, the 3rd synchronizing wheel are loaded on respectively power transmission shaft, between the first synchronizing wheel and the second synchronizing wheel, by the first Timing Belt, connect, and the 3rd synchronizing wheel connects the power shaft of described hollow flange dispenser by the second Timing Belt; One end of power transmission shaft connects the power shaft of described gear-box by one second shaft coupling.
4. according to the manipulator described in any one in claim 1-3 and rotating disk linkage, it is characterized in that: described the second transmission mechanism comprises the first gear and the second gear; The first gear is loaded on the output shaft of described gear-box, and the second gear is loaded on the other end of described gear main shaft, and the first gear is meshed with the second gear.
5. according to the manipulator described in any one in claim 1-3 and rotating disk linkage, it is characterized in that: described cam robot comprises that turning cylinder, bottom be equipped with the guide rod of gripper, the first fork, the second fork, the first cam for driving the first fork to swing, the second cam, axle bed, holder, the first extension spring and the second extension spring for driving the second fork to swing; Holder is fixed on the marginal position of described inactive order, and described the second helical gear is vertically installed on the inner side of described holder by turning cylinder, and the first cam and the second cam are loaded on respectively the two ends of turning cylinder, and is 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; The first fork and the second fork lay respectively at the both sides of holder, and each one end of the first fork and the second fork forms and is rotationally connected with holder respectively; The other end of the first fork is connected with axle bed, for promoting axle bed horizontal movement; The first extension spring is connected between holder and axle bed, for driving axle bed to reset; The other end of the second fork is connected with the top of guide rod, for promoting guide rod, moves up and down; The second extension spring is matched with between guide rod top and axle bed bottom, for driving guide rod to reset.
6. manipulator according to claim 4 and rotating disk linkage, is characterized in that: the gearratio of described the second helical gear and described the first gear is 1:1.
7. manipulator according to claim 5 and rotating disk linkage, it is characterized in that: described cam robot also comprises guide post, this guide post is plugged in described holder along the direction level in inner side to the outside of described holder, and movable through described axle bed.
8. according to the manipulator described in any one in claim 1-3 and rotating disk linkage, it is characterized in that: the gearratio of described gear-box is 1:1.
9. manipulator according to claim 2 and rotating disk linkage, is characterized in that: also comprise a base, described motor, gear-box and described power transmission shaft are installed on respectively this base top; Described hollow flange dispenser is installed on an installing plate that is fixed on base top.
10. manipulator according to claim 3 and rotating disk linkage, is characterized in that: also comprise a base, described motor, clutch brake assembly, gear-box and described power transmission shaft are installed on respectively this base top; Described hollow flange dispenser is installed on an installing plate that is fixed on base top.
CN201210265371.3A 2012-07-27 2012-07-27 Manipulator and rotary-disk linking device Active CN102785068B (en)

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CN102785068B true CN102785068B (en) 2014-08-20

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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
TWI561334B (en) * 2014-09-22 2016-12-11 Fu Lai Yao
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
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

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