CN105666232A - Suspension type mechanical arm and numerical control machine tool - Google Patents

Suspension type mechanical arm and numerical control machine tool Download PDF

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Publication number
CN105666232A
CN105666232A CN201610218735.0A CN201610218735A CN105666232A CN 105666232 A CN105666232 A CN 105666232A CN 201610218735 A CN201610218735 A CN 201610218735A CN 105666232 A CN105666232 A CN 105666232A
Authority
CN
China
Prior art keywords
slide rail
sub
mechanical hand
control machine
machine tool
Prior art date
Application number
CN201610218735.0A
Other languages
Chinese (zh)
Inventor
夏军
罗育银
李立
覃久涛
Original Assignee
深圳市创世纪机械有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳市创世纪机械有限公司 filed Critical 深圳市创世纪机械有限公司
Priority to CN201610218735.0A priority Critical patent/CN105666232A/en
Publication of CN105666232A publication Critical patent/CN105666232A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/048Multiple gripper units
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads

Abstract

The invention discloses a suspension type mechanical arm and a numerical control machine tool.The suspension type mechanical arm comprises a first sliding rail, a second sliding rail, a suspension arm and a driving mechanism.The first sliding rail is installed on a lathe bed of the numerical control machine tool, the second sliding rail is movably connected to the first sliding rail, the suspension arm is movably connected to the second sliding rail and comprises a cross rod and at least two picking-up devices arranged on the cross rod and distributed in the length direction of the cross rod, and the driving mechanism drives the second sliding rail to move back and forth on the first sliding rail to drive the suspension arm to move back and forth on the second sliding rail.The suspension type mechanical arm is directly installed on the numerical control machine tool, and is small in size, simple in structure, suitable for both large numerical control machine tools and small numerical control machine tools, flexible in action and capable of rapidly and effectively achieving automatic feeding and discharging; meanwhile, the picking-up devices in two directions are used for picking up workpieces by turns by rotating the cross rod so that material waiting time can be shortened, multiple workpieces can be taken and placed each time, the production efficiency is greatly improved, and the production cost is reduced.

Description

Cantilevered mechanical hand and Digit Control Machine Tool

Technical field

The present invention relates to numerical control machine tool technique field, especially relate to a kind of cantilevered mechanical hand being applied to Digit Control Machine Tool and there is the Digit Control Machine Tool of this cantilevered mechanical hand.

Background technology

Digit Control Machine Tool is a kind of automatically processing device, has machining accuracy height, a feature that production efficiency is high, and the effect in machinery industry is more and more important. Although the working (machining) efficiency of Digit Control Machine Tool is of a relatively high, but developing rapidly along with technology, the production efficiency of traditional Digit Control Machine Tool can not meet the demand in market.

At present, one of method improving Digit Control Machine Tool production efficiency uses mechanical hand to carry out automatic loading/unloading exactly, can promote on the one hand and reload speed thus improving production efficiency, also is able on the other hand reduce cost of labor. Existing mechanical hand is floor rail type mechanical hand, multiple stage Digit Control Machine Tool shares a floor rail type mechanical hand, this mechanical hand needs longer track, therefore volume is bigger, structure is complicated, and the installing space taken is relatively big, action underaction, and it is only applicable to large-size numerical control machine, is not particularly suited for miniature numerical control lathe.

Summary of the invention

A kind of cantilevered mechanical hand of offer and Digit Control Machine Tool are provided, it is desirable to provide a kind of compact, simple in construction, flexible movements cantilevered mechanical hand, to improve the production efficiency of Digit Control Machine Tool, reduce production cost.

To achieve these objectives, the present invention proposes a kind of cantilevered mechanical hand, is applied to Digit Control Machine Tool, including:

First slide rail, is installed on the lathe bed of described Digit Control Machine Tool;

Second slide rail, is movably connected on described first slide rail;

Cantilever, is movably connected on described second slide rail, including a cross bar and be located on described cross bar and along described cross bar length direction arrangement at least two pick device;

Driving mechanism, drives described second slide rail back and forth movement on described first slide rail, and drives described cantilever back and forth movement on described second slide rail.

Preferably, described pick device includes being respectively facing the first of different directions and picks up sub-device and the second sub-device of pickup, and described driving mechanism also drives described cross bar to rotate, so that described first picks up sub-device and described second pickup sub-device picking up work piece in turn.

Preferably, the described first sub-device of pickup and described second picks up sub-device and is respectively facing two opposite directions.

Preferably, described pick device includes the substrate being connected to described cross bar, and it is the sucker being connected to the relative two sides of described substrate that the described first sub-device of pickup picks up sub-device with described second.

Preferably, the described first sub-device of pickup and the described second sub-device of pickup include at least two sucker respectively.

Preferably, described pick device includes sucker, draws workpiece by described sucker.

Preferably, described first slide rail horizontal expansion, described second slide rail longitudinal extension.

Preferably, described driving mechanism includes servomotor, by the second slide rail described in described driven by servomotor and described cantilever motion.

The present invention proposes a kind of Digit Control Machine Tool simultaneously, including lathe bed and be installed on the digital control system of described lathe bed, material frame, workbench and cantilevered mechanical hand, described digital control system controls described cantilevered mechanical hand and picks and places workpiece between described material frame and workbench. Described cantilevered mechanical hand includes: the first slide rail, is installed on the lathe bed of described Digit Control Machine Tool; Second slide rail, is movably connected on described first slide rail; Cantilever, is movably connected on described second slide rail, including a cross bar and be located on described cross bar and along described cross bar length direction arrangement at least two pick device; Driving mechanism, drives described second slide rail back and forth movement on described first slide rail, and drives described cantilever back and forth movement on described second slide rail.

A kind of cantilevered mechanical hand provided by the present invention, man-to-man form can be directly mounted at Digit Control Machine Tool, compact, reduce installing space, simple in construction, flexible movements, it is possible to realize automatic loading/unloading fast and effectively, fast in automatic loading/unloading hourly velocity, the time of reloading after tested only needs 8 seconds. And the pickup sub-device picking up work piece in turn of both direction is used by rotary bar, it is possible to save the material waiting time, it is achieved Continuous maching, and multiple workpiece can be picked and placeed every time, therefore substantially increase production efficiency, reduce production cost. The cantilevered mechanical hand of the embodiment of the present invention is not only suitable for large-size numerical control machine, is applicable to again miniature numerical control lathe.

Accompanying drawing explanation

Fig. 1 is the structural representation that the cantilevered mechanical hand of one embodiment of the invention is installed on Digit Control Machine Tool;

Fig. 2 is the partial structurtes schematic diagram of the cantilevered mechanical hand in Fig. 1.

In accompanying drawing:

100-lathe bed; 110-material frame

120-workbench; 130-workpiece

200-the first slide rail; 300-the second slide rail

400-cantilever; 410-pedestal

420-cross bar; 421-rotating shaft

422-bearing block; 423-connects seat

430-pick device; 431-first picks up sub-device

432-second picks up sub-device 433-substrate

510-reductor 520-motor

The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.

Detailed description of the invention

Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.

Referring to Fig. 1, it is proposed to cantilevered mechanical hand one embodiment of the present invention, described cantilevered mechanical hand is applied to Digit Control Machine Tool. as shown in Figure 1, Digit Control Machine Tool includes lathe bed 100 and is installed on the digital control system of lathe bed 100, material frame 110 and workbench 120, cantilevered mechanical hand is then installed on lathe bed 100, material frame 110 is used for placing workpiece to be processed 130 and finished work 130, digital control system controls cantilevered mechanical hand and picks and places workpiece 130 between material frame 110 and workbench 120, that is: the workpiece to be processed 130 on cantilevered mechanical hand pickup material frame 110 is positioned on workbench 120, after completion of processing, pick up the finished work 130 on workbench 120 again and be positioned on material frame 110, so move in circles.

As it is shown in figure 1, cantilevered mechanical hand includes first slide rail the 200, second slide rail 300, cantilever 400 and driving mechanism. First slide rail 200 is installed on lathe bed 100, along Digit Control Machine Tool horizontal expansion, extends to workbench 120 position from material frame 110 position, is positioned at material frame 110 and the side of workbench 120, it is possible to understand that extends for the Y-axis along Digit Control Machine Tool; Second slide rail 300 is movably connected on the first slide rail 200, it is possible to along the first slide rail 200 back and forth movement, and the second slide rail 200 is along Digit Control Machine Tool longitudinal extension, it is possible to understand that the Z axis for Digit Control Machine Tool extends; Cantilever 400 is movably connected on the second slide rail 300, can along the second slide rail 300 back and forth movement, cantilever 400 includes being movably connected on the pedestal 410 of the second slide rail 300, the cross bar 420 being connected to pedestal 410 and at least two pick device 430 be located on cross bar 420 and arrange along cross bar 420 length direction, the workpiece 130 on material frame 110 and workbench 120 is picked and placeed by pick device 430, each pick device 430 can pick up a workpiece 130, therefore can pick up at least two workpiece 430 every time; Driving mechanism drives the second slide rail 300 back and forth movement (namely moving forward and backward) on the first slide rail 200, thus driving cantilever 400 back and forth movement between material frame 110 and workbench 120 being connected on the second slide rail 300, and drive cantilever 400 back and forth movement (namely moving up and down) on the second slide rail 300, so that the pick device 430 of cantilever 400 can pick and place the workpiece 130 on material frame 110 and workbench 120.

Digital control system drives the motion of the second slide rail 300 and cantilever 400 according to the machine process reed time controll driving mechanism of Digit Control Machine Tool, and reed time controll pick device 430 picks and places workpiece 130, it is achieved the full-automatic processing of workpiece 130.

Driving mechanism includes motor, and this motor is preferably servomotor, is moved by driven by servomotor the second slide rail 300 and cantilever 400. As driving mechanism includes two servomotors, one of them driven by servomotor second slide rail 300 moves along Y-axis, the end of the first slide rail 200 can be installed on, another driven by servomotor cantilever 400 moves along Z axis, the end of the second slide rail 300 can be installed on, drive the servomotor of cantilever 400 motion to be preferably the servomotor with band-type brake. Pass through driven by servomotor, it is possible to achieve mechanical hand being accurately positioned in Y-axis and Z axis.

Further, pick device 430 is preferably sucked type pick device, including sucker and vacuum equipment, the air in sucker is extracted by vacuum equipment, making formation vacuum between sucker and workpiece 130, thus drawing workpiece 130, otherwise then discharging workpiece 130 when vacuum state disappears.

Further, as shown in Figure 2, in the embodiment of the present invention, pick device 430 includes being respectively facing the first sub-device 431 and second of pickup of different directions and picks up sub-device 432, namely the two towards in angle theta, and 0 < θ≤180 degree, now, each pick device 430 can pick up two workpiece 130. preferably, the first sub-device 431 of pickup and the second sub-device 432 of pickup are respectively facing two opposite directions, i.e. θ=180 degree, to avoid two workpiece 130 picked up on sub-device (431,432) to interfere. simultaneously, driving mechanism also drives cross bar 420 to rotate, so that the first sub-device 431 and second of pickup picks up sub-device 432 picking up work piece 130 in turn, such as: when above cantilever 400 is positioned at workbench 120, after the first sub-device 431 of pickup picks up the finished work 130 on workbench 120, driving mechanism drives cross bar 420 to rotate, so that second picks up sub-device 432 Alignment stage 120, workpiece to be processed 130 is positioned on workbench 120, so that Digit Control Machine Tool can realize Continuous maching, material frame 110 picking up work piece 130 is returned without waiting for mechanical hand, save the waiting time, improve working (machining) efficiency.Driving mechanism drives cross bar 420 to rotate by motor, and this motor is preferably servomotor, the precision positioned to improve cross bar 420 to rotate.

As shown in Figure 2, in the present embodiment, pick device 430 includes the substrate 433 being connected to cross bar 420, it is the sucker being connected to the relative two sides of substrate 433 that the first sub-device 431 of pickup picks up sub-device 432 with second, and namely the first sub-device 431 of pickup and the second sub-device 432 of pickup are respectively facing two opposite directions. Preferably, the first sub-device 431 of pickup and the second sub-device 432 of pickup include at least two sucker respectively, in the present embodiment, the first sub-device 431 of pickup and the second sub-device 432 of pickup include four suckers respectively, namely the two sides that substrate 433 is relative has been symmetrical arranged four pairs of suckers, and four pick devices 430 of having arranged along its length on cross bar 420, therefore can pick and place four workpiece 130 every time simultaneously, working (machining) efficiency is high.

As shown in Figure 2, in the present embodiment, cross bar 420 includes rotating shaft 421, comprise bearing bearing block 422 and the connection seat 423 comprising shaft coupling, pick device 430 is arranged on rotating shaft 421, bearing and the shaft coupling connected in seat 423 in rotating shaft 421, bearing block 422 are sequentially connected with, connecting the shaft coupling in seat 423 and connected the motor 520 of driving mechanism by the reductor 510 of driving mechanism, this motor 520 is preferably servomotor. Bearing block 422, connection seat 423, reductor 510 and motor 520 are mounted in cantilever 400 pedestal 410, to improve safety.

The specific works flow process of the cantilevered mechanical hand of the embodiment of the present invention is as follows:

When using first, first cantilevered mechanical hand is positioned and the setting of initial point, just can reuse after setting. When needs converted products, first workpiece to be processed 130 being placed on material frame 110, material frame 110 includes work area to be added and processing district, work area to be added placement workpiece to be processed 130, processing district placement finished work 130. After starting Digit Control Machine Tool, digital control system controls the driving mechanism of cantilevered mechanical hand and drives the second slide rail 300 and cantilever 400 to carry out running fix on the first slide rail 200 and the second slide rail 300 respectively so that each pick device 430 in cantilever beam 420 is directed at a workpiece to be processed 130 on material frame 110.

First during pickup workpiece to be processed 130, after the first sub-device 431 of pickup of digital control system control pick device 430 picks up processing work 130, controlling driving mechanism rotary bar 420, the recycling sub-device 431 of the second pickup picks up standby workpiece 130.

Then, digital control system controls driving mechanism and drives the second slide rail 300 to move toward workbench 120 on the first slide rail 200, after moving into place, control the second pickup sub-device 432 and workpiece to be processed 130 is placed on workbench 120, then control cantilevered mechanical hand and return initial point.

Workpiece to be processed 130 is processed by Digit Control Machine Tool, after machining, digital control system controls cantilevered mechanical hand again and moves to workbench 120, the second sub-device 432 of pickup is utilized to pick up finished work 130, and rotary bar 420, the workpiece to be processed 130 that first picks up sub-device 431 is positioned on workbench 120.

Finally, digital control system controls cantilevered mechanical hand and returns material frame 110, the finished work 130 that second picks up on sub-device 432 is positioned on material frame 110, and utilize the workpiece to be processed 130 that the second sub-device 432 of pickup picks up on material frame 110, meanwhile, workpiece to be processed 130 on workbench 120 is processed by Digit Control Machine Tool, after machining, digital control system controls cantilevered mechanical hand again and moves to workbench pickup finished work 130 and place workpiece to be processed 130, so moves in circles.

The cantilevered mechanical hand of the embodiment of the present invention, it is possible to man-to-man form is directly mounted at Digit Control Machine Tool, compact, reduce installing space, simple in construction, flexible movements, can realizing automatic loading/unloading fast and effectively, fast in automatic loading/unloading hourly velocity, the time of reloading after tested only needs 8 seconds. And pickup sub-device (431,432) picking up work piece 130 in turn of both direction are used by rotary bar 420, it is possible to save the material waiting time, realize Continuous maching, and multiple workpiece 130 can be picked and placeed every time, therefore substantially increase production efficiency, reduce production cost. The cantilevered mechanical hand of the embodiment of the present invention is not only suitable for large-size numerical control machine, is applicable to again miniature numerical control lathe.

The present invention proposes a kind of Digit Control Machine Tool simultaneously, and this Digit Control Machine Tool includes lathe bed and is installed on the digital control system of lathe bed, material frame, workbench and cantilevered mechanical hand, and digital control system controls cantilevered mechanical hand and picks and places workpiece between described material frame and workbench. Cantilevered mechanical hand includes: the first slide rail, is installed on lathe bed; Second slide rail, is movably connected on described first slide rail; Cantilever, is movably connected on described second slide rail, including a cross bar and be located on described cross bar and along described cross bar length direction arrangement at least two pick device; Driving mechanism, drives described second slide rail back and forth movement on described first slide rail, and drives described cantilever back and forth movement on described second slide rail. Cantilevered mechanical hand described in the present embodiment is the cantilevered mechanical hand in the present invention involved by above-described embodiment, does not repeat them here.

The Digit Control Machine Tool of the embodiment of the present invention, by installing a compact, simple in construction, the cantilevered mechanical hand of flexible movements, can realizing automatic loading/unloading fast and effectively by cantilevered mechanical hand, fast in automatic loading/unloading hourly velocity, the time of reloading after tested only needs 8 seconds. And the pickup sub-device picking up work piece in turn of both direction is used by the cross bar of hinged cantilever formula mechanical hand, the material waiting time can be saved, it is achieved Continuous maching, and multiple workpiece can be picked and placeed every time, therefore substantially increase production efficiency, reduce production cost.

Should be understood that; these are only the preferred embodiments of the present invention; can not therefore limit the scope of the claims of the present invention; every equivalent structure utilizing description of the present invention and accompanying drawing content to make or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical fields, all in like manner include in the scope of patent protection of the present invention.

Claims (9)

1. a cantilevered mechanical hand, is applied to Digit Control Machine Tool, it is characterised in that including:
First slide rail (200), is installed on the lathe bed (100) of described Digit Control Machine Tool;
Second slide rail (300), is movably connected on described first slide rail (200);
Cantilever (400), it is movably connected on described second slide rail (300), including a cross bar (420) and be located at that described cross bar (420) is upper and at least two pick device (430) along the arrangement of described cross bar (420) length direction;
Driving mechanism, drives described second slide rail (300) at the upper back and forth movement of described first slide rail (200), and drives described cantilever (400) at the upper back and forth movement of described second slide rail (300).
2. cantilevered mechanical hand according to claim 1, it is characterized in that, described pick device includes being respectively facing the first of different directions and picks up sub-device (431) and the second sub-device of pickup (432), described driving mechanism also drives described cross bar (420) to rotate, so that described first picks up sub-device (431) and described second pickup sub-device (432) picking up work piece in turn (130).
3. cantilevered mechanical hand according to claim 2, it is characterised in that the described first sub-device of pickup (431) and described second is picked up sub-device (432) and is respectively facing two opposite directions.
4. cantilevered mechanical hand according to claim 2, it is characterized in that, described pick device includes the substrate (433) being connected to described cross bar (420), and it is the sucker being connected to the relative two sides of described substrate (433) that the described first sub-device of pickup (431) picks up sub-device (432) with described second.
5. cantilevered mechanical hand according to claim 2, it is characterised in that the described first sub-device of pickup (431) and described second is picked up sub-device (432) and included at least two sucker respectively.
6. cantilevered mechanical hand according to claim 1, it is characterised in that described pick device (430) includes sucker, draws workpiece (130) by described sucker.
7. the cantilevered mechanical hand according to any one of claim 1-6, it is characterised in that described first slide rail (200) horizontal expansion, described second slide rail (300) longitudinal extension.
8. the cantilevered mechanical hand according to any one of claim 1-6, it is characterised in that described driving mechanism includes servomotor, is moved by the second slide rail (300) described in described driven by servomotor and described cantilever (400).
9. a Digit Control Machine Tool, including lathe bed and be installed on the digital control system of described lathe bed, material frame and workbench, it is characterized in that, also including the cantilevered mechanical hand as described in any one of claim 1-8, described digital control system controls described cantilevered mechanical hand and picks and places workpiece between described material frame and workbench.
CN201610218735.0A 2016-04-07 2016-04-07 Suspension type mechanical arm and numerical control machine tool CN105666232A (en)

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Application Number Priority Date Filing Date Title
CN201610218735.0A CN105666232A (en) 2016-04-07 2016-04-07 Suspension type mechanical arm and numerical control machine tool

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008183705A (en) * 2007-01-30 2008-08-14 Fritz Studer Ag Workpiece processing device
JP2013508169A (en) * 2009-10-27 2013-03-07 スマート スチール システムズ プロプリエタリー リミテッド Computer aided beam making machine
JP5177492B2 (en) * 2007-11-19 2013-04-03 清水建設株式会社 Temporary structures that can be removed and methods for removing temporary structures
CN104354097A (en) * 2014-10-20 2015-02-18 深圳市远洋翔瑞机械股份有限公司 Automatic loading and unloading device for numerically-controlled machine tool
CN204222510U (en) * 2014-09-25 2015-03-25 深圳大宇精雕科技有限公司 A kind of carving machine of automatic loading/unloading
CN104890422A (en) * 2015-06-10 2015-09-09 肖衍盛 Sheet material feeding and discharging device, mobile phone glass machining center and machining method
CN105415135A (en) * 2015-10-30 2016-03-23 深圳市远洋翔瑞机械股份有限公司 Automatic feeding and discharging machining device of numerically-controlled machine tool
CN205572022U (en) * 2016-04-07 2016-09-14 深圳市创世纪机械有限公司 Cantilever type manipulator and digit control machine tool

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008183705A (en) * 2007-01-30 2008-08-14 Fritz Studer Ag Workpiece processing device
JP5177492B2 (en) * 2007-11-19 2013-04-03 清水建設株式会社 Temporary structures that can be removed and methods for removing temporary structures
JP2013508169A (en) * 2009-10-27 2013-03-07 スマート スチール システムズ プロプリエタリー リミテッド Computer aided beam making machine
CN204222510U (en) * 2014-09-25 2015-03-25 深圳大宇精雕科技有限公司 A kind of carving machine of automatic loading/unloading
CN104354097A (en) * 2014-10-20 2015-02-18 深圳市远洋翔瑞机械股份有限公司 Automatic loading and unloading device for numerically-controlled machine tool
CN104890422A (en) * 2015-06-10 2015-09-09 肖衍盛 Sheet material feeding and discharging device, mobile phone glass machining center and machining method
CN105415135A (en) * 2015-10-30 2016-03-23 深圳市远洋翔瑞机械股份有限公司 Automatic feeding and discharging machining device of numerically-controlled machine tool
CN205572022U (en) * 2016-04-07 2016-09-14 深圳市创世纪机械有限公司 Cantilever type manipulator and digit control machine tool

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