CN104438928A - Mechanical arm conveying mechanism for series-connection punching device - Google Patents
Mechanical arm conveying mechanism for series-connection punching device Download PDFInfo
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- CN104438928A CN104438928A CN201410587740.XA CN201410587740A CN104438928A CN 104438928 A CN104438928 A CN 104438928A CN 201410587740 A CN201410587740 A CN 201410587740A CN 104438928 A CN104438928 A CN 104438928A
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- slide
- main frame
- mobile jib
- line slideway
- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm conveying mechanism for a series-connection punching device. A main machine and a plurality of conveying seats of the mechanical arm conveying mechanism are each provided with a lifting transmission mechanism capable of driving a main rod to move up and down. The main rod is connected with an arm shell in a sliding mode. A suction cup mechanism capable of sucking a workpiece is arranged on the arm shell. A supporting rod is arranged on the main machine. A first slide seat is arranged on the supporting rod. The supporting rod is connected with the first slide seat in a sliding mode. A transversely-moving transmission structure capable of driving the first slide seat to slide leftwards and rightwards along the supporting rod is arranged on the main machine. A first linear guide rail is vertically installed on the first slide seat. A slide block of the first linear guide rail is fixedly connected with the arm shell. The mechanical arm conveying mechanism is simple in structure and low in cost, and the transversely-moving transmission mechanism does not rise or fall together with the main rod.
Description
Technical field
The present invention relates to manipulator technical field, the manipulator connecting gear espespecially on pressing equipment of connecting.
Background technology
A kind of manipulator of shell structure of acting as a travelling agent is disclosed in prior art, comprise main frame, mobile jib and some conveyance seats, main frame and some conveyance seats are linearly installed in the horizontal direction, main frame is connected with mobile jib respectively with some conveyance seats, mobile jib slidably connects arm shell, arm shell is connected with manipulator arm, manipulator arm is provided with the sucking disc mechanism that can adsorb workpiece, main frame and some conveyance seats are equipped with the elevating drive mechanism that mobile jib can be driven to move up and down, main frame is provided with the transition driving mechanism that arm shell can be driven to horizontally slip along mobile jib, transition driving mechanism comprises the traversing drive motors being installed on main frame, the conveyance seat of main frame and the adjacent both sides of main frame is all provided with synchronous pulley, the outside of synchronous pulley is arranged with Timing Belt, traversing drive motors to be driven with the synchronous pulley on main frame by ball spline shaft and is connected, Timing Belt is fixedly connected with arm shell.This kind is acted as a travelling agent the following problem of manipulator ubiquity in application process of shell structure: 1. transition driving mechanism and elevating drive mechanism unitary design, and its structure is more complicated, and cost is higher; 2. three synchronous pulleys of transition driving mechanism move up and down together with mobile jib, increase the load of elevating drive mechanism and mobile jib, and the service life of elevating drive mechanism and mobile jib declines.
Summary of the invention
For the deficiencies in the prior art, the invention provides the manipulator connecting gear on pressing equipment of connecting, its structure is simple, cost is lower, transition driving mechanism is not with mobile jib elevating movement, reduce the load of elevating drive mechanism and mobile jib, improve the service life of elevating drive mechanism and mobile jib.
For reaching above object, the manipulator connecting gear of the present invention on pressing equipment of connecting is main by the following technical solutions:
Manipulator connecting gear on pressing equipment of connecting, comprise main frame, mobile jib and some conveyance seats, main frame and some conveyance seats are linearly installed in the horizontal direction, interval is equipped with between main frame and some conveyance seats, main frame is connected with mobile jib respectively with some conveyance seats, described main frame and some conveyance seats are respectively equipped with the elevating drive mechanism that mobile jib can be driven to move up and down, mobile jib is provided with arm shell, mobile jib and arm shell are slidably connected, arm shell is provided with the sucking disc mechanism that can adsorb workpiece, described main frame is also provided with support bar, support bar and mobile jib be arranged in parallel, support bar is provided with the first slide, support bar and the first slide are slidably connected, main frame is provided with the traversing drive mechanism that the first slide can be driven to horizontally slip along support bar, described first slide is vertically installed with the first line slideway, the slide block of the first line slideway is fixedly connected with arm shell.
Preferably, described sucking disc mechanism comprises manipulator arm, and manipulator arm is provided with the sucker that can adsorb workpiece, and manipulator arm is fixedly connected with arm shell.
Further, described mobile jib is provided with the second slide, and the quantity of the second slide and arm shell is multiple, and the second slide and arm shell successively interval are installed, and arm shell and manipulator arm are all fixedly connected with the second slide, and mobile jib and the second slide are slidably connected.
Further, described mobile jib is provided with the second line slideway, and the second slide is fixedly connected with the slide block of the second line slideway.
Preferably, described transition driving mechanism comprises the first synchronous pulley, the first Timing Belt and the cross sliding driving device that are installed on main frame, cross sliding driving device drives with the first synchronous pulley and is connected, the conveyance seat adjacent with main frame is provided with the second synchronous pulley, first synchronous pulley is connected by the first toothed belt transmission with the second synchronous pulley, and described first Timing Belt is fixedly connected with the first slide.
Further, described cross sliding driving device comprises the traversing drive motors and the second Timing Belt that are installed on main frame, the motor shaft sleeve of traversing drive motors is provided with the first drive pulley, the rotating shaft of the first synchronous pulley is arranged with the second drive pulley, and the first drive pulley is connected by the second toothed belt transmission with the second drive pulley.
Further, described support bar is horizontally installed with the 3rd line slideway, and the slide block of the 3rd line slideway is fixedly connected with the first slide.
Preferably, described elevating drive mechanism comprises the lifting drive being installed on main frame, main frame and some conveyance seats are all provided with worm-gear speed reducer, connecting rod, lifting transmission swing arm and the 4th line slideway, worm-gear speed reducer comprises worm input shaft and worm-gear output shaft, the worm input shaft of worm-gear speed reducer is connected with lifting power transmission shaft, lifting drive drives with lifting power transmission shaft and is connected, connecting rod is sheathed on the worm-gear output shaft of worm-gear speed reducer, the two ends of lifting transmission swing arm are hinged with the slide block of connecting rod and the 4th line slideway respectively, the slide block of the 4th line slideway is fixedly connected with mobile jib.
Further, described lifting drive comprises the lifting drive motors and the 3rd Timing Belt that are installed on main frame, the motor shaft sleeve of lifting drive motors is provided with the 3rd drive pulley, lifting driving sleeve is provided with the 4th drive pulley, and the 3rd drive pulley is connected by the 3rd toothed belt transmission with the 4th drive pulley.
Further, described elevating drive mechanism also comprises the jacking load balance cylinder being installed on main frame and some conveyance seats, and the piston rod of jacking load balance cylinder is fixedly connected with the slide block of the 4th line slideway.
The beneficial effect of the manipulator connecting gear of the present invention on pressing equipment of connecting is:
1. transition driving mechanism and the split type independent design of elevating drive mechanism, its structure is simple, reduces manufacturing cost;
2. by vertically arranged first line slideway on the first slide, in the process that elevating drive mechanism drives mobile jib to move up and down along the first line slideway, transition driving mechanism does not move up and down with mobile jib, reduce the load of elevating drive mechanism and mobile jib, improve the service life of elevating drive mechanism and mobile jib.
Accompanying drawing explanation
Fig. 1 is that the manipulator connecting gear of the present invention on pressing equipment of connecting coordinates the structural representation installed with pressing equipment.
Fig. 2 is the structural representation of the manipulator connecting gear of the present invention on pressing equipment of connecting.
Fig. 3 is the structure for amplifying schematic diagram at the A place of Fig. 2.
Fig. 4 is the structure for amplifying schematic diagram at the B place of Fig. 3.
Fig. 5 is the mobile jib of the manipulator connecting gear of the present invention on pressing equipment of connecting and the connection diagram of arm shell and sucking disc mechanism.
Fig. 6 is the structural representation of the transition driving mechanism of the manipulator connecting gear of the present invention on pressing equipment of connecting.
Fig. 7 is the structural representation of the elevating drive mechanism of the manipulator connecting gear of the present invention on pressing equipment of connecting.
Fig. 8 is the structural representation of the lifting drive of the elevating drive mechanism of the manipulator connecting gear of the present invention on pressing equipment of connecting.
Detailed description of the invention
Shown in Fig. 1 ~ 8, manipulator connecting gear on pressing equipment of connecting, comprise main frame 1, mobile jib 2 and some conveyance seats 3, main frame 1 and some conveyance seats 3 are linearly installed in the horizontal direction, interval is equipped with between main frame 1 and some conveyance seats 3, particularly, between some conveyance seats 3, pressing equipment 30 is all installed, multiple stage pressing equipment 30 is arranged in order installation according to the punch forming order of workpiece 31, main frame 1 is connected with mobile jib 2 respectively with some conveyance seats 3, described main frame 1 and some conveyance seats 3 are respectively equipped with the elevating drive mechanism that mobile jib 2 can be driven to move up and down, mobile jib 2 is provided with arm shell 4, mobile jib 2 and arm shell 4 are slidably connected, arm shell 4 is provided with the sucking disc mechanism that can adsorb workpiece 31, arm shell 4 can drive sucking disc mechanism to horizontally slip on mobile jib 2,
Described main frame 1 is also provided with support bar 5, support bar 5 and mobile jib 2 be arranged in parallel, support bar 5 is provided with the first slide 6, support bar 5 and the first slide 6 are slidably connected, main frame 1 is provided with the traversing drive mechanism that the first slide 6 can be driven to horizontally slip along support bar 5, the slide block that described first slide 6 is vertically installed with the first line slideway 7, first line slideway 7 is fixedly connected with arm shell 4, thus the first slide 6, arm shell 4 and sucking disc mechanism interfix in the horizontal direction.Wherein, by first line slideway 7 vertically arranged on the first slide 6, when elevating drive mechanism drives mobile jib 2 to move up and down, the arm shell 4 that mobile jib 2 is arranged also can move up and down along the first line slideway 7, transition driving mechanism and support bar 5 do not move up and down with mobile jib 2, relative to the existing design in background technology, and transition driving mechanism and the split type independent design of elevating drive mechanism, its structure is simple, reduces manufacturing cost; In addition, also greatly reduce the load of elevating drive mechanism and mobile jib 2, improve the service life of elevating drive mechanism and mobile jib 2.
Described sucking disc mechanism comprises manipulator arm 8, and manipulator arm 8 is provided with the sucker 9 that can adsorb workpiece 31, and manipulator arm 8 is fixedly connected with arm shell 4.Arranged by this kind, manipulator arm 8, sucker 9 and arm shell 4 are relatively fixing, and arm shell 4 is by driving up and down, in the process of side-to-side movement, and sucker 9 adsorbs workpiece 31 and moves together thereupon, and its structure is simple.
Described mobile jib 2 is provided with the second slide 10, the quantity of the second slide 10 and arm shell 4 is multiple, second slide 10 and arm shell 4 successively interval are installed, and arm shell 4 and manipulator arm 8 are all fixedly connected with the second slide 10, and mobile jib 2 and the second slide 10 are slidably connected.Particularly, because stamping line of the present invention can be very long, arm shell 4 be divided into multistage and connect, easily manufactured, processing cost is also lower; In addition, because the rigidity of arm shell 4 is lower, if manipulator arm 8 to be directly installed to the distortion that arm shell 4 can cause arm shell 4, by the second slide 10 arranged, arm shell 4 and manipulator arm 8 are all fixedly connected with the second slide 10, thus reducing the load that arm shell 4 bears, arm shell 4 and manipulator arm 8 also can be more steady in the process run.
Described mobile jib 2 is provided with the second line slideway 11, second slide 10 and is fixedly connected with the slide block of the second line slideway 11.Particularly, the second slide 10 can horizontally slip along the second line slideway 11, and its kinematic accuracy is higher, and robust motion is good.
Described transition driving mechanism comprises the first synchronous pulley 12, first Timing Belt 14 and the cross sliding driving device being installed on main frame 1, cross sliding driving device drives with the first synchronous pulley 12 and is connected, the conveyance seat 3 adjacent with main frame 1 is provided with the second synchronous pulley 13, first synchronous pulley 12 and the second synchronous pulley 13 are in transmission connection by the first Timing Belt 14, and described first Timing Belt 14 is fixedly connected with the first slide 6.Particularly, cross sliding driving device, the first synchronous pulley 12, second synchronous pulley 13 and the first Timing Belt 14 constitute a Timing Belt connecting gear, wherein, first Timing Belt 14 is fixedly connected with the first slide 6, when cross sliding driving device starts, first Timing Belt 14 can drive the first slide 6 to horizontally slip, thus realizes the function that driving first slide 6 horizontally slips along support bar 5.By the synchronous belt drive mechanism arranged, its transmission stability is good, and noise is lower.
Described cross sliding driving device comprises the traversing drive motors 15 and the second Timing Belt 33 that are installed on main frame 1, the motor shaft sleeve of traversing drive motors 15 is provided with the first drive pulley 16, the rotating shaft of the first synchronous pulley 12 is arranged with the second drive pulley 17, first drive pulley 16 and the second drive pulley 17 is in transmission connection by the second Timing Belt 33.Particularly, the external diameter of the first drive pulley 16 is less than the external diameter of the second drive pulley 17, first drive pulley 16, second drive pulley 17 and the second Timing Belt 33 constitute a deceleration system, the higher output speed of this deceleration system to traversing drive motors 15 regulates, with the needs of satisfied reality.Wherein, the appearance and size of the first drive pulley 16 and the second drive pulley 17 can be chosen according to the actual needs, does not repeat them here.
The slide block that described support bar 5 is horizontally installed with the 3rd line slideway the 18, three line slideway 18 is fixedly connected with the first slide 6.Particularly, by arrange the 3rd line slideway the 18, three line slideway 18 and the first Timing Belt 14 cooperatively interact, realize the function that driving first slide 6 horizontally slips along support bar 5, arranged by this kind, improve the kinematic accuracy of the first slide 6, robust motion is good.
Described elevating drive mechanism comprises the lifting drive being installed on main frame 1, main frame 1 and some conveyance seats 3 are all provided with worm-gear speed reducer 19, connecting rod 20, lifting transmission swing arm 21 and the 4th line slideway 22, worm-gear speed reducer 19 comprises worm input shaft 191 and worm-gear output shaft 192, the worm input shaft 191 of worm-gear speed reducer 19 is connected with lifting power transmission shaft 25, lifting drive drives with lifting power transmission shaft 25 and is connected, connecting rod 20 is sheathed on the worm-gear output shaft 192 of worm-gear speed reducer 19, the two ends of lifting transmission swing arm 21 are hinged with the slide block of connecting rod 20 and the 4th line slideway 22 respectively, the slide block of the 4th line slideway 22 is fixedly connected with mobile jib 2.Particularly, worm-gear speed reducer 19, connecting rod 20, lifting transmission swing arm 21 and the 4th line slideway 22 form slider-crank mechanism, lifting power transmission shaft 25 is connected with the worm input shaft 191 of each worm-gear speed reducer 19 by shaft coupling 32, when lifting drive drives worm-gear speed reducer 19 to operate by lifting power transmission shaft 25, the slide block of the 4th line slideway 22 drives mobile jib 2 to move up and down.By the slider-crank mechanism arranged, its structure is simple, and it is convenient to control.
Wherein, be provided with fixed head 28 between the slide block of the 4th line slideway 22 and mobile jib 2, fixed head 28 is fixedly connected with the slide block of the 4th line slideway 22 and mobile jib 2 respectively, and lifting transmission swing arm 21 is articulated with fixed head 28.
Described lifting drive comprises the lifting drive motors 23 and the 3rd Timing Belt 34 that are installed on main frame 1, the motor shaft sleeve of lifting drive motors 23 is provided with the 3rd drive pulley 24, lifting power transmission shaft 25 is arranged with the 4th drive pulley the 26, three drive pulley 24 and the 4th drive pulley 26 is in transmission connection by the 3rd Timing Belt 34.Wherein, the 3rd drive pulley 24, the 4th drive pulley 26 and the 3rd Timing Belt 34 constitute a velocity-controlled system, and this velocity-controlled system can regulate the rotating speed that lifting drive motors 23 exports, with the needs of satisfied reality.
Described elevating drive mechanism also comprises the jacking load balance cylinder 27 being installed on main frame 1 and some conveyance seats 3, and the piston rod of jacking load balance cylinder 27 is fixedly connected with the slide block of the 4th line slideway 22.Particularly, described fixed head 28 is connected with slurcam 29, the piston rod of jacking load balance cylinder 27 is fixedly connected with slurcam 29, wherein, the slide block of the 4th line slideway 22, fixed head 28, slurcam 29 and mobile jib 2 are mutually permanently connected, slide block and the mobile jib 2 of the 4th line slideway 22 have the trend moved downward under the effect of self gravitation, by the jacking load balance cylinder 27 arranged, jacking load balance cylinder 27 can balance this gravity, to make mobile jib 2 more smooth and easy in the process moved up and down.
The above embodiment, just better embodiment of the present invention, be not limit the scope of the present invention, therefore all equivalences done according to structure, feature and the principle described in the present patent application the scope of the claims change or modify, and all should be included in patent claim of the present invention.
Claims (8)
1. the manipulator connecting gear on pressing equipment of connecting, primarily of mobile jib, the main frame be connected with mobile jib respectively and some conveyance seats form, main frame and some conveyance seats are linearly installed, interval is equipped with between main frame and some conveyance seats, it is characterized in that, described main frame and some conveyance seats are respectively equipped with the elevating drive mechanism that mobile jib can be driven to move up and down, mobile jib is provided with the arm shell be slidably connected with mobile jib, arm shell is provided with the sucking disc mechanism that can adsorb workpiece, wherein, sucking disc mechanism is the suctorial manipulator arm of tool, manipulator arm is fixedly connected with arm shell, described main frame is provided with the support bar be arranged in parallel with mobile jib, support bar is provided with the first slide be slidably connected with support bar, main frame is also provided with the traversing drive mechanism that the first slide can be driven to horizontally slip along support bar, described first slide is vertically installed with the first line slideway be fixedly connected with arm shell by slide block, mobile jib is provided with the second slide, and the quantity of the second slide and arm shell is multiple, and the second slide and arm shell successively interval are installed, and arm shell and manipulator arm are all fixedly connected with the second slide, and mobile jib and the second slide are slidably connected.
2. the manipulator connecting gear on pressing equipment of connecting as claimed in claim 1, it is characterized in that, described mobile jib is provided with the second line slideway, and the second slide is fixedly connected with the slide block of the second line slideway.
3. the manipulator connecting gear on pressing equipment of connecting as claimed in claim 1, it is characterized in that, described transition driving mechanism comprises the first synchronous pulley, the first Timing Belt and the cross sliding driving device that are installed on main frame, cross sliding driving device drives with the first synchronous pulley and is connected, the conveyance seat adjacent with main frame is provided with the second synchronous pulley, first synchronous pulley is connected by the first toothed belt transmission with the second synchronous pulley, and described first Timing Belt is fixedly connected with the first slide.
4. the manipulator connecting gear on pressing equipment of connecting as claimed in claim 3, it is characterized in that, described cross sliding driving device comprises the traversing drive motors and the second Timing Belt that are installed on main frame, the motor shaft sleeve of traversing drive motors is provided with the first drive pulley, the rotating shaft of the first synchronous pulley is arranged with the second drive pulley, and the first drive pulley is connected by the second toothed belt transmission with the second drive pulley.
5. the manipulator connecting gear on pressing equipment of connecting as described in claim 1 ~ 4 any one, it is characterized in that, described support bar is horizontally installed with the 3rd line slideway, the slide block of the 3rd line slideway is fixedly connected with the first slide.
6. the manipulator connecting gear on pressing equipment of connecting as claimed in claim 1, it is characterized in that, described elevating drive mechanism comprises the lifting drive being installed on main frame, main frame and some conveyance seats are all provided with worm-gear speed reducer, connecting rod, lifting transmission swing arm and the 4th line slideway, worm-gear speed reducer comprises worm input shaft and worm-gear output shaft, the worm input shaft of worm-gear speed reducer is connected with lifting power transmission shaft, lifting drive drives with lifting power transmission shaft and is connected, connecting rod is sheathed on the worm-gear output shaft of worm-gear speed reducer, the two ends of lifting transmission swing arm are hinged with the slide block of connecting rod and the 4th line slideway respectively, the slide block of the 4th line slideway is fixedly connected with mobile jib.
7. the manipulator connecting gear on pressing equipment of connecting as claimed in claim 6, it is characterized in that, described lifting drive comprises the lifting drive motors and the 3rd Timing Belt that are installed on main frame, the motor shaft sleeve of lifting drive motors is provided with the 3rd drive pulley, lifting driving sleeve is provided with the 4th drive pulley, and the 3rd drive pulley is connected by the 3rd toothed belt transmission with the 4th drive pulley.
8. the manipulator connecting gear on pressing equipment of connecting as claimed in claims 6 or 7, it is characterized in that, described elevating drive mechanism also comprises the jacking load balance cylinder being installed on main frame and some conveyance seats, and the piston rod of jacking load balance cylinder is fixedly connected with the slide block of the 4th line slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410587740.XA CN104438928A (en) | 2014-10-29 | 2014-10-29 | Mechanical arm conveying mechanism for series-connection punching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410587740.XA CN104438928A (en) | 2014-10-29 | 2014-10-29 | Mechanical arm conveying mechanism for series-connection punching device |
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| Publication Number | Publication Date |
|---|---|
| CN104438928A true CN104438928A (en) | 2015-03-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410587740.XA Pending CN104438928A (en) | 2014-10-29 | 2014-10-29 | Mechanical arm conveying mechanism for series-connection punching device |
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| CN (1) | CN104438928A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105527922A (en) * | 2016-01-29 | 2016-04-27 | 深圳市华成工业控制有限公司 | Punch manipulator control method and system thereof |
| CN106144576A (en) * | 2016-08-12 | 2016-11-23 | 橙果信息技术有限公司 | A kind of Traverse Displacement Unit |
| CN106825292A (en) * | 2015-12-04 | 2017-06-13 | 重庆银聪科技有限公司 | A kind of pneumatic punching machine lifting material feeder |
| CN109248965A (en) * | 2018-09-27 | 2019-01-22 | 清远市星徽精密制造有限公司 | A kind of three axis punching press feeding mechanical hands |
| CN113649469A (en) * | 2021-08-10 | 2021-11-16 | 安徽奔腾五金制造有限公司 | Refrigerator middle beam punch forming device and machining method thereof |
| CN113942217A (en) * | 2021-11-09 | 2022-01-18 | 广东朗信科技有限公司 | Continuous bottle discharging mechanism of stepping bottle blowing machine |
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| CN103357777A (en) * | 2013-08-06 | 2013-10-23 | 东莞市井田自动化设备有限公司 | Three-dimensional mechanical arm conveyer for stamping equipment |
| CN203426307U (en) * | 2013-07-18 | 2014-02-12 | 东莞市井田自动化设备有限公司 | Multi-machine wired transmission manipulator |
| CN203526380U (en) * | 2013-09-18 | 2014-04-09 | 东莞市井田自动化设备有限公司 | Mechanical arm conveying device achieving on-line automatic stamping through multiple stamping devices |
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| JP2007512138A (en) * | 2003-11-25 | 2007-05-17 | ギュデル グループ アーゲー | Conveyor for transporting workpieces in the press |
| CN203426307U (en) * | 2013-07-18 | 2014-02-12 | 东莞市井田自动化设备有限公司 | Multi-machine wired transmission manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106825292A (en) * | 2015-12-04 | 2017-06-13 | 重庆银聪科技有限公司 | A kind of pneumatic punching machine lifting material feeder |
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| CN106144576A (en) * | 2016-08-12 | 2016-11-23 | 橙果信息技术有限公司 | A kind of Traverse Displacement Unit |
| CN109248965A (en) * | 2018-09-27 | 2019-01-22 | 清远市星徽精密制造有限公司 | A kind of three axis punching press feeding mechanical hands |
| CN113649469A (en) * | 2021-08-10 | 2021-11-16 | 安徽奔腾五金制造有限公司 | Refrigerator middle beam punch forming device and machining method thereof |
| CN113942217A (en) * | 2021-11-09 | 2022-01-18 | 广东朗信科技有限公司 | Continuous bottle discharging mechanism of stepping bottle blowing machine |
| CN113942217B (en) * | 2021-11-09 | 2023-12-08 | 广东朗信科技有限公司 | Continuous bottle discharging mechanism of stepping bottle blowing machine |
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Application publication date: 20150325 |