CN105382120A - Punching machine and mechanical arm installation rod thereof - Google Patents
Punching machine and mechanical arm installation rod thereof Download PDFInfo
- Publication number
- CN105382120A CN105382120A CN201511003454.5A CN201511003454A CN105382120A CN 105382120 A CN105382120 A CN 105382120A CN 201511003454 A CN201511003454 A CN 201511003454A CN 105382120 A CN105382120 A CN 105382120A
- Authority
- CN
- China
- Prior art keywords
- locking hole
- latch
- locking pin
- connection block
- mounting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- 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
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- 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
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
Abstract
The invention discloses a mechanical arm installation rod of a punching machine. The mechanical arm installation rod comprises a middle rod and an end rod which are used for being connected with a drive mechanism, and either the middle rod or the end rod is connected with a first connection base, and the other one is connected with a second connection base; the first connection base is provided with a bolt, and the second connection base is provided with an inserting hole which is formed in the bolt in a sleeving mode and is in sliding cooperation with the bolt; the mechanical arm installation rod further comprises a locking pin which is perpendicular to the inserting direction of the bolt, one end of the locking pin is in sliding cooperation with a first locking hole of the bolt, and the other end of the locking pin is in sliding cooperation with a second locking hole in the side wall of the inserting hole. Through twice inserting, the first connection base and the second connection base are fixedly connected, accordingly the middle rod and the end rod are fixedly connected, connection and detaching are more convenient, and therefore the problem that the middle rod and the end rod of the mechanical arm installation rod are inconvenient to detach can be well solved. The invention further discloses the punching machine including the mechanical arm installation rod.
Description
Technical field
The present invention relates to plate stamping technical field of processing equipment, particularly a kind of manipulator mounting rod of stamping machine, also relate to a kind of stamping machine comprising above-mentioned manipulator mounting rod.
Background technology
Produce for realizing quick continuous print punching automation, a lot of stamping machine has been equipped with three-D manipulator, and a press work position after utilizing three-D manipulator to drive stamping parts to move to from last press work position, realizes continuous print punching operation.
Manipulator mounting rod generally comprises intermediate bar and the end bar be detachably fixedly connected with intermediate bar two ends respectively, in two end bars, at least one end bar is fixedly connected with driving mechanism, moved by driving mechanism band moved end bar, and then make end bar drive intermediate bar to move, intermediate bar can be provided with multiple manipulator for grasping stamping parts.
And the diel for making stamping parts shaping, generally be arranged between two manipulator mounting rods, and then make manipulator mounting rod hinder the normal dismounting of mould, think realize die change on stamping machine base and respective type, the manipulator of respective numbers changes, need to dismantle the annexation between intermediate bar and end bar frequently.Mode with bolts between the intermediate bar of existing machinery hand mounting rod and end bar, in installing/dismounting process, operating personnel need to enter into inside stamping machine and carry out bolted dismounting operation, and because in stamping machine, space is less, simple bolt operation is also extremely waste time and energy.
In sum, how effectively solving the intermediate bar of manipulator mounting rod and the problem of end bar dismounting inconvenience, is current those skilled in the art's urgent problem.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of manipulator mounting rod of stamping machine, this manipulator mounting rod can solve the intermediate bar of manipulator mounting rod and the problem of end bar dismounting inconvenience effectively, and second object of the present invention is to provide a kind of stamping machine comprising above-mentioned manipulator mounting rod.
In order to achieve the above object, the invention provides following technical scheme:
A kind of manipulator mounting rod of stamping machine, comprise intermediate bar and the end bar for being connected with driving mechanism, on described intermediate bar and described end bar, one is connected with the first Connection Block another is provided with the second Connection Block, described first Connection Block has latch, and described second Connection Block is provided with and is set on described latch and the jack be slidably matched with described latch; Also comprise the locking pin arranged along the grafting direction perpendicular to described latch, one end of described locking pin and the first locking hole of described latch are slidably matched, and on the sidewall of the other end and described jack, the second locking hole is slidably matched.
Preferably, be arranged on the impeller of the inside of described latch, and described impeller is inserted in the second locking hole along promoting described locking pin in the process of the grafting direction movement of described latch, and described impeller is obliquely installed for the grafting direction of described latch relative to the supporting surface that the inner face of described locking pin offsets.
Preferably, the lower end of described supporting surface is provided with the draw-in groove be arranged in parallel with supporting surface, and the side near described supporting surface lower end on described locking pin is provided with the fastener matched with described draw-in groove.
Preferably, the elastic component stoping described locking pin to enter is provided with in described second locking hole.
Preferably, described second Connection Block comprises cover piece and base accessory, described base accessory is provided with described second locking hole of both sides inside and outside described jack and through described base accessory, described cover piece covers the outer end of described second locking hole, outer end and the described cover piece of described elastic component offset, the inner is connected with the thrust piece be slidably matched with described second locking hole, the sidewall of described second locking hole are provided with the flange stoping described thrust piece to move inward.
Preferably, also comprise for promoting the telescoping cylinder of described impeller along the grafting direction movement of described latch.
Preferably, the first sensor for identifying the first state is also comprised, for identifying the second sensor of the second state and the display for the status recognition that shows described first sensor and described first sensor; Described first state is the position that described impeller promotes described impeller when described locking pin is inserted into described second locking hole, and described second state is the position of described locking pin described impeller when can be retracted in described latch.
Preferably, described first Connection Block is provided with the alignment finger that described first locking hole and the second locking hole are aligned, described second Connection Block is provided with the alignment hole be slidably matched along the grafting direction of described latch with described alignment finger.One provided by the invention
The invention provides a kind of manipulator mounting rod of stamping machine, this manipulator mounting rod comprises intermediate bar, end bar, the first Connection Block, the second Connection Block and locking pin, wherein intermediate bar is generally used for installing the equipment such as mechanical holding hand, and its middle-end bar is used for being connected with driving mechanism, move to make driving mechanism driving mechanical holding hand.Wherein the first Connection Block and the second Connection Block one are arranged on intermediate bar, and another is arranged on end bar.Wherein the first Connection Block is provided with latch, another is provided with and is set on latch and the jack be slidably matched with latch.Wherein locking pin is arranged perpendicular to the grafting direction of latch, and namely the bearing of trend of locking pin is perpendicular to the grafting direction of latch, and is provided with the first locking hole on one end of latch, and on the sidewall of jack, be provided with the second locking hole; Wherein one end of locking pin and the first locking hole are slidably matched, and the other end and the second locking hole are slidably matched.
According to above-mentioned technical scheme, can know, the first Connection Block can be stoped to move along the grafting direction falling in latch relative to the second Connection Block by jack and latch, and wherein the two ends of locking pin are inserted in the first locking hole and the second locking hole respectively, the first Connection Block is stoped to move relative to the glide direction of the second Connection Block perpendicular to locking pin, and the grafting direction that locking pin falls in latch is arranged, and then the first Connection Block and the second Connection Block can be stoped to be fixed together, again because the first Connection Block and the second Connection Block are arranged on end bar and intermediate bar respectively, end bar and intermediate bar can be fixed together, and by two grafting, make connection and dismantle convenient.And the first locking hole is arranged on latch, and when the volume of two Connection Blocks is restricted, can enough large of latch, ensure the weight capacity of intermediate bar and end bar.This manipulator mounting rod can solve the intermediate bar of manipulator mounting rod and the problem of end bar dismounting inconvenience effectively in sum.
In order to reach above-mentioned second object, present invention also offers a kind of stamping machine, this stamping machine comprises any one manipulator mounting rod above-mentioned, and because above-mentioned manipulator mounting rod has above-mentioned technique effect, the stamping machine with this manipulator mounting rod also should have corresponding technique effect.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The first Connection Block that Fig. 1 provides for the embodiment of the present invention and the second Connection Block depart from the structural representation under connection status;
The first Connection Block that Fig. 2 provides for the embodiment of the present invention is fixedly connected with the structural representation under state with the second Connection Block;
The first Connection Block that Fig. 3 provides for the embodiment of the present invention and the second Connection Block depart from the overall structure schematic diagram under connection status.
Detailed description of the invention
The embodiment of the invention discloses a kind of manipulator mounting rod of stamping machine, with the problem of the intermediate bar with end bar dismounting inconvenience that effectively solve manipulator mounting rod.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1-Fig. 3, the first Connection Block that Fig. 1 provides for the embodiment of the present invention and the second Connection Block depart from the structural representation under connection status; The first Connection Block that Fig. 2 provides for the embodiment of the present invention is fixedly connected with the structural representation under state with the second Connection Block; The first Connection Block that Fig. 3 provides for the embodiment of the present invention and the second Connection Block depart from the overall structure schematic diagram under connection status.
In a kind of specific embodiment, present embodiments provide a kind of manipulator mounting rod of stamping machine, this manipulator mounting rod comprises intermediate bar, end bar, the first Connection Block, the second Connection Block and locking pin 3, wherein intermediate bar is generally used for installing the equipment such as mechanical holding hand, and its middle-end bar is used for being connected with driving mechanism, to make driving mechanism driving mechanical holding hand move, the direction of movement is generally to be with moved end bar to move up and down, move left and right and move forward and backward.And end bar wherein needs to be fixedly connected with intermediate bar, and be detachably be fixedly connected with, to make end bar that intermediate bar can be driven to move, and then driving mechanical holding hand moves.
Wherein the first Connection Block and the second Connection Block one are arranged on intermediate bar, and another is arranged on end bar.Wherein the first Connection Block is provided with latch 1, another is provided with and is set on latch 1 and the jack 2 be slidably matched with latch 1, in order to closure, wherein latch 1 is preferably arranged along the bearing of trend of manipulator mounting rod, and in order to easily manufactured, wherein latch 1 can be straight pin, and now jack 2 is wherein preferably cylindrical hole; The cross section of certain latch 1 can be also square, and the matching form of the shape of cross section of jack 2 and latch 1 closes.
Wherein locking pin 3 is arranged perpendicular to the grafting direction of latch 1, and namely the bearing of trend of locking pin 3 is perpendicular to the grafting direction of latch 1, and on one end of latch 1, be provided with the first locking hole, and on the sidewall of jack 2, be provided with the second locking hole; Wherein one end of locking pin 3 and the first locking hole are slidably matched, and the other end and the second locking hole are slidably matched.It should be noted that herein, under the state that jack 2 and latch 1 are in grafting, wherein locking pin 3 can by being inserted in the second locking hole from the first locking hole, the two ends of locking pin 3 are enable to be inserted in the first locking hole and the second locking hole respectively, or locking pin 3 can be inserted in the first locking hole from the second locking hole, be inserted into respectively in the first locking hole and the second locking hole to enable the two ends of locking pin 3.
In the present embodiment, the first Connection Block can be stoped to move along the grafting direction falling in latch 1 relative to the second Connection Block by jack 2 and latch 1, and wherein the two ends of locking pin 3 are inserted in the first locking hole and the second locking hole respectively, the first Connection Block is stoped to move relative to the glide direction of the second Connection Block perpendicular to locking pin 3, and the grafting direction that locking pin 3 falls in latch 1 is arranged, and then the first Connection Block and the second Connection Block can be stoped to be fixed together, again because the first Connection Block and the second Connection Block are arranged on end bar and intermediate bar respectively, end bar and intermediate bar can be fixed together, and by two grafting, make connection and dismantle convenient.And the first locking hole is arranged on latch 1, and when the volume of two Connection Blocks is restricted, can enough large of latch 1, ensure the weight capacity of intermediate bar and end bar.
Wherein locking pin 3 can be inserted into the second locking hole from the first locking hole, also can be inserted into the first locking hole from the second locking hole.In order to attractive in appearance, second locking hole can be set to blind hole, now then needing to control locking pin 3 is inserted into the second locking hole from the first locking hole, based on this, the inside of latch 1 can be provided with impeller 4, wherein impeller 4 is inserted in the second locking hole along promoting locking pin 3 in the process of the grafting direction movement of latch 1, and wherein locking pin 3 is inserted into the locking pin 3 that makes referred in the second locking hole and slides that the two ends of locking pin 3 are laid respectively in the first locking hole with in the second locking hole along the first locking hole.How to promote locking pin 3 for impeller 4 to move, wherein impeller 4 can be retractor device, but retractor device has requirement for volume, not easily arranges.So supporting surface for offseting with the inner of locking pin 3 can be provided with at impeller 4, and the grafting direction of the relative latch 1 of this supporting surface is obliquely installed, namely in the process of impeller 4 along the grafting direction movement of latch 1, locking pin 3 is because the restriction of the first locking hole, and cannot move along the grafting direction of latch 1, the mobile side of seating surface makes the lower end of latch 1 change along the direction of the first locking hole, to comply with the change of supporting surface.Wherein locking pin 3 lower surface can with supporting surface point cantact, also can linear contact lay, can also be face contact, consider stressed problem, preferably make the lower end of locking pin 3 and support plane-plane contact, namely the lower end of locking pin 3 be provided with the face of matching with supporting surface.Concrete wherein impeller 4 can be provided with round platform portion, and the side in round platform portion is supporting surface.
After end bar and intermediate bar depart from clamping, now locking pin 3 is easy to from the first locking hole landing, concrete, the draw-in groove 41 be arranged in parallel with supporting surface can be provided with in the lower end of supporting surface, and the side arranging close supporting surface lower end on locking pin 3 is provided with fastener 31, fastener 31 matches with draw-in groove 41, and wherein draw-in groove 41 be arranged in parallel along supporting surface, and referring to draw-in groove 41 can slide in draw-in groove 41 along the direction parallel with supporting surface.After locking pin 3 returns to the lower end position of supporting surface, and locking pin 3 opposite support face, move along the lower end bearing of trend of supporting surface, just in time comply with the clamping direction of fastener 31 and draw-in groove 41, can insert in draw-in groove 41 to make fastener 31, because the axis of the cell wall of draw-in groove 41 and the first locking hole has certain angle, locking pin 3 can not be moved along the first locking hole, and then make locking pin 3 landing can not go out the first locking hole.
Wherein locking pin 3 returns in the first locking hole from the second locking hole, can pass through gravity, but when arranging the locking pin 3 that multiple center around latch 1 is arranged, then cannot reach all locking pins 3 all return in the first locking hole by the gravity of self.The elastic component 5 stoping locking pin 3 to enter can be provided with in the second locking hole based on this, by the elastic acting force of elastic component 5, after impeller 4 returns to precalculated position, now the elastic force of elastic component 5 can promote locking pin 3 and returns in the first locking hole from the second locking hole.Second Connection Block is conveniently set, now the second Connection Block can comprise base accessory 7 and cover piece 6, base accessory 7 is provided with the second locking hole of both sides inside and outside jack 2 and through base accessory 7, cover piece 6 covers the outer end of the second locking hole, the outer end of elastic component 5 offsets with cover piece 6, the inner is connected thrust piece 8, second locking hole be slidably matched with the second locking hole is provided with the flange stoping thrust piece 8 to move inward.Referring near the side of jack 2 is wherein inner side, and the side away from jack 2 is outside.
Wherein the movement of impeller 4 can be promoted by moved by hand, also can be driven by power-driven mechanism, when can be driven by power driving mechanism, also can be provided with telescoping cylinder 9.The concrete piston rod of telescoping cylinder 9 that can make is arranged with round platform part, and round platform part and piston rod are coaxially arranged, then arrange a lock dog, and lock dog is connected with piston rod thread, and the interior inclined-plane of lock dog and the side of round platform part form draw-in groove 41.
Conveniently control and understand the state of telescoping cylinder 9, can sensor be provided with.Specifically be provided with: for identify the first state first sensor 10, identify the second sensor 11 of the second state and the display for the status recognition that shows first sensor 10 and the second sensor 11, first state is the position that impeller 4 promotes impeller 4 when locking pin 3 is inserted in the sidewall of jack 2, and the second state is the position of locking pin 3 impeller 4 when can be retracted in latch 1.The position measuring sensor block by first sensor 10 and the second sensor 11 estimates the inserting state of latch 1.
Latch 1 is generally cylinder latch 1, in order to ensure that locking pin 3 can be inserted in the first locking hole and the second locking hole respectively, when latch 1 is inserted into after in jack 2, first locking hole and the second locking hole along the circumferential direction should aligned position, for ensureing aligned position, the alignment finger 12 for making the first locking emptying aperture and the second locking hole align can be provided with on the first Connection Block, second Connection Block is provided with alignment hole 13, wherein alignment hole 13 and alignment finger 12 should be slidably matched along the grafting direction of latch 1.Relatively rotate tentatively to stop the first Connection Block and the second Connection Block.
Based on the manipulator mounting rod of the stamping machine provided in above-described embodiment, present invention also offers a kind of stamping machine, this stamping machine comprises any one manipulator mounting rod in above-described embodiment.The manipulator mounting rod in above-described embodiment is have employed, so the beneficial effect of this stamping machine please refer to above-described embodiment due to this stamping machine.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. the manipulator mounting rod of a stamping machine, comprise intermediate bar and the end bar for being connected with driving mechanism, it is characterized in that, on described intermediate bar and described end bar, one is provided with the first Connection Block another is provided with the second Connection Block, described first Connection Block has latch (1), and described second Connection Block is provided with and is set in the upper and jack (2) be slidably matched with described latch (1) of described latch (1); Also comprise the locking pin (3) arranged along the grafting direction perpendicular to described latch (1), one end of described locking pin (3) and the first locking hole of described latch (1) are slidably matched, and the second locking hole on the sidewall of the other end and described jack (2) is slidably matched.
2. manipulator mounting rod according to claim 1, it is characterized in that, also comprise the impeller (4) of the inside being arranged on described latch (1), and described impeller (4) is inserted in described second locking hole along promoting described locking pin (3) in the process of the grafting direction movement of described latch (1), the supporting surface for offseting with the inner face of described locking pin (3) on described impeller (4) is obliquely installed relative to the grafting direction of described latch (1).
3. manipulator mounting rod according to claim 2, it is characterized in that, the lower end of described supporting surface is provided with the draw-in groove (41) be arranged in parallel with supporting surface, and the upper side near described supporting surface lower end of described locking pin (3) is provided with the fastener (31) matched with described draw-in groove (41).
4. manipulator mounting rod according to claim 3, is characterized in that, is provided with the elastic component (5) stoping described locking pin (3) to enter in described second locking hole.
5. manipulator mounting rod according to claim 4, it is characterized in that, described second Connection Block comprises cover piece (6) and base accessory (7), described base accessory (7) is provided with described second locking hole of described jack (2) and the inside and outside both sides of through described base accessory (7), described cover piece (6) covers the outer end of described second locking hole, outer end and the described cover piece (6) of described elastic component (5) offset, the inner is connected with the thrust piece (8) be slidably matched with described second locking hole, the sidewall of described second locking hole is provided with the flange stoping described thrust piece (8) to move inward.
6. manipulator mounting rod according to claim 2, is characterized in that, also comprises for promoting the telescoping cylinder (9) of described impeller (4) along the grafting direction movement of described latch (1).
7. manipulator mounting rod according to claim 6, it is characterized in that, also comprising the first sensor (10) for identifying the first state, for identifying second sensor (11) of the second state and the display for the status recognition that shows described first sensor (10) and described second sensor (11); Described first state is the position that described impeller (4) promotes described impeller (4) when described locking pin (3) is inserted into described second locking hole, described second state be described locking pin (3) can be retracted to described latch (1) interior time described impeller (4) position.
8. manipulator mounting rod according to claim 7, it is characterized in that, described first Connection Block is provided with the alignment finger (12) that described first locking hole and the second locking hole are aligned, described second Connection Block is provided with the alignment hole (13) be slidably matched along the grafting direction of described latch (1) with described alignment finger.
9. a stamping machine, is characterized in that, comprises the manipulator mounting rod as described in any one of claim 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511003454.5A CN105382120B (en) | 2015-12-25 | 2015-12-25 | A kind of stamping machine and its manipulator mounting rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511003454.5A CN105382120B (en) | 2015-12-25 | 2015-12-25 | A kind of stamping machine and its manipulator mounting rod |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105382120A true CN105382120A (en) | 2016-03-09 |
| CN105382120B CN105382120B (en) | 2017-11-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511003454.5A Active CN105382120B (en) | 2015-12-25 | 2015-12-25 | A kind of stamping machine and its manipulator mounting rod |
Country Status (1)
| Country | Link |
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| CN (1) | CN105382120B (en) |
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| CN203822777U (en) * | 2014-03-06 | 2014-09-10 | 重庆赫杰精密机械有限公司 | Quick connection structure for detection tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2720083Y (en) * | 2004-08-16 | 2005-08-24 | 朱建华 | Joint capable of dismounting drill rod |
| CN201169077Y (en) * | 2008-02-14 | 2008-12-24 | 罗至典 | Punching machine transfer manipulator connection device |
| CN102009409A (en) * | 2009-09-07 | 2011-04-13 | 上海富亿德塑胶有限公司 | Two-arm manipulator device |
| WO2011142535A2 (en) * | 2010-05-13 | 2011-11-17 | 삼성중공업 주식회사 | Industrial robot having an apparatus for driving an attachable/detachable four-bar link mechanism |
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| CN203822777U (en) * | 2014-03-06 | 2014-09-10 | 重庆赫杰精密机械有限公司 | Quick connection structure for detection tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105382120B (en) | 2017-11-17 |
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Denomination of invention: The utility model relates to a stamping machine and a manipulator mounting rod thereof Effective date of registration: 20211213 Granted publication date: 20171117 Pledgee: China Co. truction Bank Corp Dongguan branch Pledgor: Guangdong Ruihui Intelligent Technology Co.,Ltd. Registration number: Y2021980014751 |
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