CN105522037B - A kind of numerical-control full-automatic washpipe apparatus - Google Patents

A kind of numerical-control full-automatic washpipe apparatus Download PDF

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Publication number
CN105522037B
CN105522037B CN201610070395.1A CN201610070395A CN105522037B CN 105522037 B CN105522037 B CN 105522037B CN 201610070395 A CN201610070395 A CN 201610070395A CN 105522037 B CN105522037 B CN 105522037B
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CN
China
Prior art keywords
cylinder
hand
numerical
automatic
washpipe
Prior art date
Application number
CN201610070395.1A
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Chinese (zh)
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CN105522037A (en
Inventor
吴天生
吴祖健
Original Assignee
广州英固特音响拉杆有限公司
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Filing date
Publication date
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Priority to CN201610070395.1A priority Critical patent/CN105522037B/en
Publication of CN105522037A publication Critical patent/CN105522037A/en
Application granted granted Critical
Publication of CN105522037B publication Critical patent/CN105522037B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D28/00Shaping by press-cutting; Perforating
    • B21D28/24Perforating, i.e. punching holes
    • B21D28/28Perforating, i.e. punching holes in tubes or other hollow bodies
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, 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
    • B21D43/02Advancing work in relation to the stroke of the die or tool
    • B21D43/04Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D45/00Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
    • B21D45/003Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass in punching machines or punching tools

Abstract

The invention discloses a kind of numerical-control full-automatic washpipe apparatus, including frame, workbench, control panel, automatic charging module, gearing hand, Multifunctional punching module and 360 ° of rotating machinery arms;The workbench is located at the upper rack, the gearing hand is located on the workbench, the automatic charging module is located at the feed end top of the gearing hand, the Multifunctional punching module and 360 ° of rotating machinery arms are arranged on the workbench according to the characteristics of workpiece, and the Multifunctional punching module includes a set of diel and two sets of material jacking mechanisms;The present invention can carry out 360 ° of comprehensive punching presses to workpiece, have the advantages that automaticity is high, production efficiency is high, applied widely, cost is low and machining accuracy is high.

Description

A kind of numerical-control full-automatic washpipe apparatus

Technical field

The present invention relates to a kind of automatically processing device, more particularly, to a kind of numerical-control full-automatic washpipe apparatus.

Background technology

Application of the tubing between finishing, sound equipment, case and bag and various products is very extensive, with economic society Development, requirement of every kind of product to hole on tubing is also more and more, and present technology can not meet the demand of social development, as in A kind of full automatic punching machine disclosed in state patent 201520514939.X, comprising punching die be symmetricly set on mounting surface Both sides, and both constitute sliding with mounting surface and coordinate, and both opposite slidings constitute hold assemblies, and slid along the axis of tubing Punching, workpiece is easily deformed during full automatic punching machine processing light wall pipe, and can only carry out either simplex sequence punching, and hardly possible processing multiaspect has The tubing in hole, inhomogeneity type hole and cellular type.

The content of the invention

The present invention can only carry out either simplex sequence punching, hardly possible processing for there is the deformation of light wall pipe handling ease in the prior art The problem of multiaspect has hole, inhomogeneity type hole and cellular type tubing can carry out 360 ° of comprehensive punching presses there is provided one kind to tubing, Automaticity is high, a kind of numerical-control full-automatic washing pipe that production efficiency is high, applied widely, cost is low and machining accuracy is high is set It is standby.The technical scheme is that:

A kind of numerical-control full-automatic washpipe apparatus, including frame, workbench, control panel, automatic charging module, gearing Hand, Multifunctional punching module, 360 ° of rotating machinery arms and recovering hopper;The workbench is located in the frame, on workbench Provided with the gearing hand, the gearing hand is provided with above feed end and discharge end, the gearing hand feed end Provided with the automatic charging module, gearing hand discharge end is provided with the recovering hopper, and the Multifunctional punching module is located at institute State on workbench, it is vertical with gearing hand, and it includes a set of diel and two sets of material jacking mechanisms, a set of stamping die Tool is connected and is located at the side of the gearing hand with a set of material jacking mechanism, and material jacking mechanism described in other set is located at institute The opposite side of gearing hand is stated, 360 ° of rotating machinery arms are located at the side of Multifunctional punching module.

Further, the automatic charging module includes hopper, tube drawing machine structure, detection means, push pipe mechanism, Guiding machine Structure and base;The hopper, guiding mechanism and base are all made up of left and right two parts, and the hopper is provided with institute in turn below Guiding mechanism and base are stated, the base constitutes Sliding Structures with the workbench, can be according to workpiece length adjustment The width of automatic charging module, the tube drawing machine structure is located at the hopper top, and the push pipe mechanism is located at the guiding mechanism Top, the detection means is located at the guiding mechanism bottom;

Further, 360 ° of rotating machinery arms are by upper cylinder, upper cylinder support block, rotary shaft support block, rotation Rotating shaft, guide rail, bottom plate, sliding block, propulsion cylinder support block, propulsion cylinder and rack and pinion drive mechanism composition;The upper cylinder It is fixed in the upper cylinder support block, the upper cylinder support block bottom is sequentially provided with the rotary shaft support block, sliding block, led Provided with the through hole matched with the rotary shaft in the middle of rail and bottom plate, the rotary shaft support block, the rotary shaft is located at described logical In hole, rotary shaft one is connected with the gear in the rack and pinion drive mechanism, the tooth in the rack and pinion drive mechanism Bar is connected with the piston rod of the upper cylinder, and the propulsion cylinder is fixed in the propulsion cylinder support block, propulsion cylinder Piston rod is fixed on the sliding block, and propulsion cylinder can drive the sliding block to be moved along the guide rail direction.

Further, the numerical-control full-automatic washpipe apparatus is provided with least a set of Multifunctional punching module.

Further, the Multifunctional punching module bottom constitutes slipping mechanism with the workbench.

Further, the material jacking mechanism is made up of drive device, liftout bottom plate, liftout slipping mechanism and inductor; The drive device is located at the upper left quarter of the liftout bottom plate, and the liftout slipping mechanism is located at the right part of the liftout bottom plate, The drive device is connected with the liftout slipping mechanism, and the liftout bottom plate upper right quarter is provided with elongated hole, and the inductor is located at On the elongated hole.

Further, the gearing hand is by push cylinder, pushing machinery hand, positioning mechanical arm, support, positioning gas Cylinder, recovering hopper hanging column composition;The gearing hand includes two the pushing machinery hands and the positioning mechanical arm, described two Bar pushing machinery hand is located at the inner side of the support, and two positioning mechanical arms are located at the outside of the support, the pushing machinery Hand and the positioning mechanical are designed with least two grooves matched with workpiece, the pushing machinery hand and positioning mechanical on hand Subordinate portion is designed with positioning cylinder, and the positioning cylinder is fixed on the bracket, and the positioning cylinder can drive pusher Tool hand and the positioning mechanical arm move up and down, and the feed end of the gearing hand is provided with the push cylinder, the push Cylinder is fixed on the bracket, and the push cylinder can drive the pushing machinery hand to carry out side-to-side movement, the transmission The discharge end of manipulator is provided with the recovering hopper hanging column.

Advantages of the present invention:

(1) present invention can carry out 360 ° of comprehensive punching presses provided with 360 ° of rotating machinery arms to workpiece.

(2) present invention is provided with automatic charging module, and without artificial feeding, production efficiency is high.

(3) automatic charging module of the invention and the width of Multifunctional punching module and position can be adjusted, and can be met not It is applied widely with the processing of length processing part.

(4) present invention is provided with least a set of Multifunctional punching module, and different Sheet Metal Forming Technologies can be in the present invention Once complete, cost is low.

(5) present invention is provided with material jacking mechanism, workpiece accurately can be sent into desired position, machining accuracy is high.

(6) present invention is provided with gearing hand, with 4 robot support workpieces, is deformed during punching press small.

Brief description of the drawings

Fig. 1 is the schematic top plan view of the numerical-control full-automatic washpipe apparatus of the present invention;

Fig. 2 is the structural representation of the numerical-control full-automatic washpipe apparatus of the present invention;

Fig. 3 is the schematic front view of the automatic charging module of the present invention;

Fig. 4 is the structural representation of the automatic charging module of the present invention;

Fig. 5 is the structural representation of 360 ° of rotating machinery arms of the present invention;

Fig. 6 is the structural representation of the material jacking mechanism of the present invention;

Fig. 7 is the structural representation of the gearing hand of the present invention;

Reference:Automatic charging module 1, workbench 2, the first process Multifunctional punching module 3,360 ° of rotating machine arms Arm 4, the 3rd process Multifunctional punching module 5, recovering hopper 6, the 4th process Multifunctional punching module 7, the multi-functional punching of the second process Pressing mold group 8, gearing hand 9, control panel 10, hopper 101, tube drawing machine structure 102, detection means 103, push pipe mechanism 104, lead To mechanism 105, base 106, upper cylinder 401, upper cylinder support block 402, rotary shaft support block 403, rotary shaft 404, guide rail 405th, bottom plate 406, sliding block 407, propulsion cylinder support block 408, propulsion cylinder 409, rack and pinion drive mechanism 410, driving dress Put 701, liftout bottom plate 702, liftout slipping mechanism 703, inductor 704, push cylinder 901, pushing machinery hand 902, localization machine Tool hand 903, support 904, positioning cylinder 905, recovering hopper hanging column 906.

Embodiment

Case study on implementation:

Refer to shown in Fig. 1, the numerical control automatic punching machine described in the embodiment of the present invention, including frame, automatic charging module 1st, workbench 2, the first process Multifunctional punching module 3,360 ° of rotating machinery arms 4, the 3rd process Multifunctional punching module 5, Recovering hopper 6, the 4th process Multifunctional punching module 7, the second process Multifunctional punching module 8, gearing hand 9, control panel 10;The gearing hand 9 is located on the workbench 2, and gearing hand 9 is provided with feed end and discharge end, the feed end Top is provided with the automatic charging module 1, and the discharge end is provided with the recovering hopper 6, and the right side of automatic charging module 1 is successively Provided with the first process Multifunctional punching module 3,360 ° of rotating machinery arms 4, the second process Multifunctional punching module 8, 360 ° of rotating machinery arms 4, the 3rd process Multifunctional punching module 5,360 ° of multi-functional punchings of process of rotating machinery arm 4 and the 4th Pressing mold group 7;The first process Multifunctional punching module 3, the second process Multifunctional punching module 8, the multi-functional punching of the 3rd process The process Multifunctional punching module 7 of pressing mold group 5 and the 4th is all made up of corresponding punching press module and material jacking mechanism.

Refer to shown in Fig. 3, the automatic charging module 1 includes hopper 101, tube drawing machine structure 102, detection means 103, top Pipe mechanism 104, guiding mechanism 105 and base 106;The hopper 101, guiding mechanism 105 and base 106 are all by left and right two It is grouped into, the hopper 101 is provided with the guiding mechanism 105 and base 106, the base 106 and the work in turn below Platform 2 constitute Sliding Structures, can according to workpiece length adjustment automatic charging module 1 width, the tube drawing machine structure 102 The top of hopper 101 is located at, the push pipe mechanism 104 is located at the top of guiding mechanism 105, and the detection means 103 is set In the bottom of guiding mechanism 105.

Refer to shown in Fig. 5,360 ° of rotating machinery arms 4 are by upper cylinder 401, upper cylinder support block 402, rotary shaft Support block 403, rotary shaft 404, guide rail 405, bottom plate 406, sliding block 407, propulsion cylinder support block 408, propulsion cylinder 409 and tooth Wheel rack gear 410 is constituted;The upper cylinder 401 is fixed in the upper cylinder support block 402, the upper cylinder support The bottom of block 402 is sequentially provided with the rotary shaft support block 403, sliding block 407, guide rail 405 and bottom plate 406, the rotary shaft support Provided with the through hole matched with the rotary shaft 404 in the middle of block 403, the rotary shaft 404 is located in the through hole, the rotary shaft 404 1 are connected with the gear in the rack and pinion drive mechanism 410, the rack in the rack and pinion drive mechanism 410 It is connected with the piston rod of the upper cylinder 401, the upper cylinder 401 is transported straight line by the rack and pinion drive mechanism 410 Dynamic to be converted into rotary motion to drive rotary shaft 404 to rotate, the propulsion cylinder 409 is fixed on the propulsion cylinder support block On 408, the piston rod of propulsion cylinder 409 is fixed on the sliding block 407, and the propulsion cylinder 409 can drive the sliding block 407 move along the direction of guide rail 405.

Refer to shown in Fig. 6, material jacking mechanism is by drive device 701, liftout bottom plate 702, liftout slipping mechanism 703 and sensing Device 704 is constituted;The upper left quarter of the liftout bottom plate 702 is provided with the drive device 701, and the right part of the liftout bottom plate 702 is set There is the liftout slipping mechanism 703, the drive device 701 is connected with the liftout slipping mechanism 703, the drive device 701 are made up of motor and rack and pinion drive mechanism, and the upper right quarter of liftout bottom plate 702 is provided with elongated hole, and the inductor 704 is set On the elongated hole.

Refer to shown in Fig. 7, the gearing hand 9 is by push cylinder 901, pushing machinery hand 902, positioning mechanical arm 903rd, support 904, positioning cylinder 905, recovering hopper hanging column 906 are constituted;The gearing hand 9 includes two pushing machinery Hand 902 and two positioning mechanical arms 903, two pushing machinery hands 902 are located at the inner side of the support 904, two Positioning mechanical arm 903 is located on the outside of the support 904, the pushing machinery hand 902 and the positioning mechanical arm 903 and all set There is the groove matched with workpiece, pushing machinery hand 902 and positioning mechanical arm 903 bottom is provided with positioning cylinder 905, described Positioning cylinder 905 is fixed on the support 904, and the positioning cylinder 905 can drive pushing machinery hand 902 and the positioning Manipulator 903 moves up and down, and the feed end of the pushing machinery hand 902 is provided with the push cylinder 901, the push cylinder 901 are fixed on the support 904, and the push cylinder 901 can drive the pushing machinery hand 902 to carry out side-to-side movement, The discharge end of the gearing hand 9 is provided with the recovering hopper hanging column 906.

The use process of the implementation case:The automatic charging module 1 is adjusted to by suitable width according to the length of workpiece, Workpiece is put into the hopper 101 in the automatic charging module 1, programmed and started on control panel 10, when from When detection means 103 in dynamic feeding module 1 is detected in guiding mechanism 105 without material, the tube drawing machine structure 102 and push pipe mechanism 104 will be worked, and the workpiece of the inside of hopper 101 is transported on the gearing hand 9 by guiding mechanism 105, described The positioning cylinder 905 of the bottom of pushing machinery hand 902 will be by the pushing machinery hand 902 and workpiece top to a high position, Ran Housuo State push cylinder 901 the pushing machinery hand 902 and workpiece are turned right one station of push, under the positioning mechanical arm 903 The positioning mechanical arm 903 is pushed up a high position by the positioning cylinder 905 in portion, then the positioning gas of the bottom of pushing machinery hand 902 Cylinder 905 will retract the pushing machinery hand 902 low level, and workpiece is stayed on the positioning mechanical arm 903, the push gas The positioning mechanical arm 903 is retracted original position by cylinder 901, and the positioning cylinder 905 of the bottom of positioning mechanical arm 903 is by positioning mechanical Hand 903 and workpiece retract low level, and workpiece is continuously sent to next station like this, when workpiece is sent to During the first process Multifunctional punching 3 position of module, the material jacking mechanism of the first process Multifunctional punching module 3 will will be processed Part is pushed at diel, after diel punching press is complete, and the material jacking mechanism being connected with diel will push back workpiece On to the gearing hand 9, workpiece is sent at 360 ° of rotating machinery arms 4 by the gearing hand 9, described The propulsion cylinder 409 of 360 ° of rotating machinery arms 4 drives the sliding block 407 to move to required position, and upper cylinder 401 passes through gear Rack gear 410 drives rotary shaft 404 to rotate by transform linear motion is rotary motion, and workpiece is rotated to required Workpiece is sent at the second process Multifunctional punching module 8 by angle, the gearing hand 9, described after punching press is complete Workpiece is sent at 360 ° of rotating machinery arms 4 by gearing hand 9, workpiece is rotated to required angle, institute State gearing hand 9 workpiece is sent at the 3rd process Multifunctional punching module 5, after punching press is complete, the gearing hand 9 Workpiece is sent at 360 ° of rotating machinery arms 4, workpiece is rotated to required angle, the gearing hand 9 are sent to workpiece at the 4th process Multifunctional punching module 7, after punching press is complete, and the gearing hand 9 transmits workpiece Onto the recovering hopper 6, under gravity, workpiece slips into hopper.

Although having done more detailed elaboration to technical scheme and having enumerated, it will be appreciated that for ability For field technique personnel, modification is made to above-described embodiment or equivalent alternative solution is used, this is to those skilled in the art It is it is clear that these modifications or improvements without departing from theon the basis of the spirit of the present invention, belong to the present invention for member Claimed scope.

Claims (9)

1. a kind of numerical-control full-automatic washpipe apparatus, including frame, workbench and control panel, it is characterised in that:The workbench It is provided with automatic charging module, gearing hand, Multifunctional punching module and 360 ° of rotating machinery arms;The gearing hand The centre of the workbench is located at, gearing hand is provided with feed end and discharge end, and the automatic charging module is located at the biography The top of dynamic manipulator feed end, the Multifunctional punching module is located on the right side of the automatic charging module, and it include it is a set of Diel and two sets of material jacking mechanisms, a set of diel are connected with a set of material jacking mechanism and are located at the driver The side of tool hand, material jacking mechanism described in other set is located at the opposite side of the gearing hand, 360 ° of rotating machine arms Arm is located at the side of Multifunctional punching module.
2. numerical-control full-automatic washpipe apparatus according to claim 1, it is characterised in that:The automatic charging module is by expecting Bucket, tube drawing machine structure, detection means, push pipe mechanism, guiding mechanism and base composition;The hopper, guiding mechanism and base are all By left and right, two parts are constituted, and the hopper is provided with the guiding mechanism and base, the base and the workbench in turn below Sliding Structures are constituted, the tube drawing machine structure is located at the hopper top, and the push pipe mechanism is located at the guiding mechanism top, institute State detection means and be located at the guiding mechanism bottom.
3. numerical-control full-automatic washpipe apparatus according to claim 2, it is characterised in that:360 ° of rotating machinery arms by Upper cylinder, upper cylinder support block, rotary shaft support block, rotary shaft, guide rail, bottom plate, sliding block, propulsion cylinder support block, propulsion gas Cylinder and rack and pinion drive mechanism composition;The substrate is sequentially provided with the guide rail, sliding block, rotary shaft support block, upper gas Set in the middle of cylinder support block and upper cylinder, the rotary shaft support block provided with the through hole matched with the rotary shaft, the rotary shaft In the through hole, the rotary shaft one is connected with the gear in the rack and pinion drive mechanism, and the rack-and-pinion is passed Rack in motivation structure is connected with the piston rod of the upper cylinder, and the propulsion cylinder is fixed on the propulsion cylinder support block On, the piston rod of propulsion cylinder is fixed on the sliding block.
4. numerical-control full-automatic washpipe apparatus according to claim 3, it is characterised in that:The numerical-control full-automatic washpipe apparatus Provided with least a set of Multifunctional punching module.
5. numerical-control full-automatic washpipe apparatus according to claim 1, it is characterised in that:The Multifunctional punching module bottom Slipping mechanism is constituted with the workbench.
6. numerical-control full-automatic washpipe apparatus according to claim 1, it is characterised in that:The material jacking mechanism is filled by driving Put, liftout bottom plate, liftout slipping mechanism and inductor are constituted;The drive device is located at the upper left quarter of the liftout bottom plate, institute The right part that liftout slipping mechanism is located at the liftout bottom plate is stated, the drive device is connected with the liftout slipping mechanism, described Liftout bottom plate upper right quarter is provided with elongated hole, and the inductor is located on the elongated hole.
7. numerical-control full-automatic washpipe apparatus according to claim 6, it is characterised in that:The drive device drives for motor Or cylinder driving.
8. numerical-control full-automatic washpipe apparatus according to claim 1, it is characterised in that:The gearing hand is by push gas Cylinder, pushing machinery hand, positioning mechanical arm, support, positioning cylinder, recovering hopper hanging column composition;The gearing hand includes two The pushing machinery hand and the positioning mechanical arm, two pushing machinery hands are located at the inner side of the support, two positioning Manipulator is located at the outside of the support, and the pushing machinery hand and the positioning mechanical are designed with least two and processing on hand The groove of part matching, the pushing machinery hand and positioning mechanical arm bottom are designed with positioning cylinder, and the positioning cylinder is fixed on On the support, the feed end of the gearing hand is provided with the push cylinder, and the push cylinder is fixed on the support On, the discharge end of the gearing hand is provided with the recovering hopper hanging column.
9. numerical-control full-automatic washpipe apparatus according to claim 1, it is characterised in that:The control panel is aobvious using touch-control Display screen.
CN201610070395.1A 2016-02-01 2016-02-01 A kind of numerical-control full-automatic washpipe apparatus CN105522037B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610070395.1A CN105522037B (en) 2016-02-01 2016-02-01 A kind of numerical-control full-automatic washpipe apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610070395.1A CN105522037B (en) 2016-02-01 2016-02-01 A kind of numerical-control full-automatic washpipe apparatus

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CN105522037B true CN105522037B (en) 2017-07-28

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105903804B (en) * 2016-05-20 2017-09-26 浙江工业大学 A kind of hole-punching method of the single-ended dislocation circumferential apertures of smoke pipe
CN105964770B (en) * 2016-05-20 2019-06-18 浙江工商大学 A kind of hole-punching method of smoke pipe circumferential apertures
CN107790546B (en) * 2016-09-07 2019-05-10 东莞市江顺箱包袋配件有限公司 Punching device for pipe fittings
CN110508709A (en) * 2019-07-25 2019-11-29 安庆牛力模具股份有限公司 A kind of nut stamping die with automatic charging

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4510525B2 (en) * 2004-06-04 2010-07-28 三桜工業株式会社 Burring processing equipment
DE102006038775A1 (en) * 2006-08-18 2008-02-21 Bernd Maus Method for cutting apertures for low-friction bearings in annular cage blank comprises clamping blank in matrix with gap, through which apertures are stamped out from inside using punch
CN101480676B (en) * 2009-01-22 2010-08-18 庄添财 Method for automatically processing pipe fitting and equipment thereof
CN204770126U (en) * 2015-07-16 2015-11-18 嘉兴市远超自动化设备有限公司 Full -automatic piercing press
CN205519178U (en) * 2016-02-01 2016-08-31 广州英固特音响拉杆有限公司 Full -automatic washing pipe equipment of numerical control

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