CN105772594A - Mechanical arm of punch - Google Patents

Mechanical arm of punch Download PDF

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Publication number
CN105772594A
CN105772594A CN201610246959.2A CN201610246959A CN105772594A CN 105772594 A CN105772594 A CN 105772594A CN 201610246959 A CN201610246959 A CN 201610246959A CN 105772594 A CN105772594 A CN 105772594A
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CN
China
Prior art keywords
cylinder
discharging
feeding
hopper
plate
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
Application number
CN201610246959.2A
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Chinese (zh)
Other versions
CN105772594B (en
Inventor
颜志刚
蔡晋辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Tiantai Youpaite Intelligent Stamping Co., Ltd.
Original Assignee
Hangzhou Electronic Science and Technology University
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Priority to CN201610246959.2A priority Critical patent/CN105772594B/en
Publication of CN105772594A publication Critical patent/CN105772594A/en
Application granted granted Critical
Publication of CN105772594B publication Critical patent/CN105772594B/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
    • 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
    • B21D43/026Combination of two or more feeding devices provided for in B21D43/04 - B21D43/18
    • 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
    • B21D43/003Positioning devices
    • 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
    • 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
    • B21D43/11Advancing 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
    • 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
    • B21D43/18Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
    • 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
    • B21D45/06Stripping-off devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21JFORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00Details of machines for forging, pressing, or hammering
    • B21J13/08Accessories for handling work or tools
    • B21J13/10Manipulators

Abstract

The invention discloses a mechanical arm of a punch. The mechanical arm of the punch comprises a mechanical arm feeding structure and a mechanical arm discharging structure. The mechanical arm feeding structure is arranged on a feeding base, and the mechanical arm discharging structure is arranged on a discharging base. Specifically, the mechanical arm feeding structure comprises a feeding lifting mechanism, a material box, a plane positioning mechanism and a feeding mechanism. The mechanical arm discharging structure comprises a discharging grabbing mechanism, a material collecting mechanism and an electric control box. The mechanical arm of the punch is suitable for being used in working environments such as large-batch and high-repeatability stamping and forging. The mechanical arm of the punch has the beneficial effects of being precise in positioning, stable in production quality, adjustable in working takt, stable and reliable in running, convenient to maintain and the like.

Description

A kind of punching machine mechanical arm
Technical field
The invention belongs to sheet metal blanking processing technique field, particularly to a kind of punching machine mechanical arm.
Background technology
In punch press is processed, owing to present requirement on machining accuracy is more and more higher, the personnel requirement of process equipment and operation equipment is also progressively more high, and enterprise often can not recruit suitable people, causes that cost of labor significantly improves.Simultaneously in workman's course of processing, due to manually-operated unstability, disqualification rate ubiquity.In the processing of this external punch press, manual operation is dangerous big, and workman easily causes industrial injury due to maloperation or cause specific, increases entreprise cost.Based on these problems, what punch press processing enterprise was all urgent want to find can effectively reduce cost, can improve again the solution of product yield and quality.Therefore a kind of plate punching machine mechanical arm of exploitation, replaces the automatic loading and unloading and the punching press function that are accomplished manually workpiece in punch press loading and unloading link, uses and have great advantage under the working environments such as high-volume, repeated strong punching press forging.This mechanical hand has registration, the quality of production is stable, work tempo is adjustable, operate steadily the feature such as reliable, easy to maintenance.
Summary of the invention
It is an object of the invention to for the deficiencies in the prior art, it is provided that a kind of punching machine mechanical arm.
The technical solution adopted for the present invention to solve the technical problems is as follows:
A kind of punching machine mechanical arm, including finger feed structurally and mechanically hands discharging structure;Finger feed structurally and mechanically hands discharging structure is separately positioned on feeding base and discharging base;Concrete: finger feed structure includes feeding hoisting mechanism, hopper, planar positioning mechanism, feed mechanism;Mechanical hand discharging structure includes discharging grasping mechanism, receiving mechanism and electric cabinet;
Feeding hoisting mechanism includes feeding lifting cylinder, feeding mechanical hand main body frame, feeding guide, feeding one-level cylinder, feeding secondary cylinder, roller, straight optical axis, sucker lift cylinder and charging sucker;Feeding lifting cylinder is arranged on feeding mechanical hand main body frame, concrete feeding lifting cylinder is arranged on feeding mechanical hand main body frame by feeding lifting cylinder altitude mixture control cushion block, and the output shaft of feeding lifting cylinder is fixing with feeding guide after the through hole of feeding mechanical hand main body frame is connected, it is possible to pull feeding guide up and down by stretching of feeding lifting cylinder;Four straight optical axis are arranged in feeding mechanical hand main body frame, one end of straight optical axis is fixing with feeding mechanical hand main body frame inside upper surface to be connected, the other end is fixed on straight optical axis support, and straight optical axis support is fixedly connected in feeding mechanical hand main body frame;Feeding guide is fixed on straight optical axis, and two concrete feeding guides are parallel fixing respectively through four straight optical axis, and two feeding guides can slide up and down along straight optical axis;Feeding one-level cylinder and feeding secondary cylinder are each attached to the lower surface of feeding guide, concrete: feeding one-level cylinder is directly anchored to the lower surface of feeding guide, feeding secondary cylinder is connected with the upper surface slide of feeding guide by pulley, and namely feeding secondary cylinder himself can be able to be translated by what the movement of pulley was;The output shaft of feeding one-level cylinder is directly connected with feeding secondary cylinder, and the output shaft of feeding secondary cylinder is connected with sucker lift cylinder, and the output shaft of sucker lift cylinder is connected with charging sucker by sucker stand.
Planar positioning mechanism includes located lateral cylinder, longitudinal register cylinder, longitudinal register block, located lateral block, longitudinal pushing block and horizontal pushing block;The output shaft of located lateral cylinder is connected with horizontal pushing block, and longitudinal register cylinder is connected with longitudinal pushing block, and longitudinal register block and located lateral block are arranged on fixed position, for the plate in hopper is positioned.
Described located lateral block and longitudinal register block are adjustable, are adjusted according to the size of plate;Horizontal pushing block and longitudinal pushing block are fine-tuning up and down, are adjusted according to the thickness of plate;During location, first shifted plate onto horizontal block by located lateral cylinder by horizontal pushing block, complete horizontal location;Longitudinal register cylinder moving afterwards, shifts plate onto longitudinal register block place by longitudinal pushing block, completes longitudinal location, so far complete the location of plate start position.
Feed mechanism includes proximity switch support, proximity switch micro-adjusting mechanism, proximity switch I, the fixing cylinder of hopper, fixing cylinder adjustment structure, hopper position block, enhancing screw motor, motor fixed rack, screw mandrel, screw rod fixing plate, rolling wheel support, roller, box for feeding odd longitudinal direction cylinder, box for feeding odd longitudinal direction cylinder contiguous block, proximity switch II, rising jacking block, jacking block pole;
Proximity switch I is disposed proximate on switch bracket by proximity switch micro-adjusting mechanism, and proximity switch I is arranged on slab edge position, for detecting the height of plate original position;Plate is placed in hopper, and hopper is placed on feed mechanism frame upper surface;Feed mechanism framework is provided with multiple clamping unit, each clamping unit is made up of the fixing cylinder of hopper, fixing cylinder adjustment structure and hopper position block, the fixing cylinder of hopper is arranged in fixing cylinder adjustment structure, fixing cylinder adjustment structure is arranged on feed mechanism frame upper surface, the output shaft of the fixing cylinder of hopper is connected with hopper position block by connecting rod, and fixing cylinder adjustment structure wants to be connected with connecting rod by clamping block, thus fixing for hopper cylinder, fixing cylinder adjustment structure and hopper position block are formed integrally;Facilitate the flexible of the fixing cylinder of hopper, control the fixing hopper of hopper position block;Enhancing screw motor is arranged in feed mechanism framework by motor fixed rack, and the lower surface of motor fixed rack is provided with proximity switch II, for judging the extreme higher position of screw rod fixing plate;;The output shaft of lead screw motor is connected with screw mandrel one end, and the other end of screw mandrel is connected with feed mechanism framework inner bottom surface after screw rod fixing plate;For threadeding between screw mandrel with screw rod fixing plate, when lead screw motor works, screw rod fixing plate moves up and down along screw mandrel;Rising jacking block is arranged on feed mechanism frame inner surface, and one end of jacking block pole is fixing with rising jacking block to be connected, and the other end is fixing with screw rod fixing plate after motor fixed rack to be connected;Rolling wheel support is fixed on feed mechanism framework outer bottom, and roller is arranged on rolling wheel support, corresponding with the hopper guide rail being arranged on base, and box for feeding odd longitudinal direction cylinder is connected with feed mechanism framework by box for feeding odd longitudinal direction cylinder contiguous block;When box for feeding odd longitudinal direction cylinder operation, box for feeding odd longitudinal direction cylinder can drive whole feed mechanism along case guide rail relative motion by roller.
Described hopper is used for placing plate, and during work, hopper is placed on feed mechanism;Described hopper and air accumulator are arranged in feeding mechanical hand main body frame, and all cylinders are connected with air accumulator each through two five-way electromagnetic valves, and air accumulator provides source of the gas for all cylinders.
Mechanical hand discharging structure includes discharging grasping mechanism, receiving mechanism and electric cabinet;
Discharging grasping mechanism is similar with feeding hoisting mechanism;Concrete: discharging grasping mechanism includes discharging lifting cylinder, discharging mechanical hand main body frame, discharge guide, discharging one-level cylinder, discharging secondary cylinder, roller, guide rail straight optical axis, servomotor, discharging sucker, discharging sucker stand, servomotor contiguous block;Discharging lifting cylinder is arranged on discharging mechanical hand main body frame, concrete discharging lifting cylinder is arranged on discharging mechanical hand main body frame by altitude mixture control cushion block, and the output shaft of discharging lifting cylinder is fixing with discharge guide after the through hole of discharging mechanical hand main body frame is connected, it is possible to pull discharge guide up and down by stretching of discharging lifting cylinder;Four discharge guide straight optical axis are arranged in discharging mechanical hand main body frame, one end of guide rail straight optical axis is fixing with discharging mechanical hand main body frame inside upper surface to be connected, the other end is fixed on straight optical axis support, and straight optical axis support is fixedly connected in discharging mechanical hand main body frame;Discharge guide is fixed on guide rail straight optical axis, and two concrete discharge guides are parallel fixing respectively through four guide rail straight optical axis, and two discharge guides can slide up and down along guide rail straight optical axis;Discharging one-level cylinder and discharging secondary cylinder are each attached to the lower surface of discharge guide, concrete: discharging one-level cylinder is directly anchored to the lower surface of discharge guide, discharging secondary cylinder is connected with the upper surface slide of discharge guide by pulley, and namely discharging secondary cylinder himself can be able to be translated by what the movement of pulley was;The output shaft of discharging one-level cylinder is directly connected with discharging secondary cylinder, and the output shaft of discharging secondary cylinder is connected with servomotor by servomotor contiguous block, and servomotor is connected with discharging sucker by discharging sucker stand;Servomotor can order about discharging sucker stand and rotate with discharging sucker.
Receiving mechanism and electric cabinet are arranged in discharging mechanical hand main body frame;Wherein receiving mechanism includes chute and rewinding case;Chute is slope, and directly through with rewinding case, when plate is from discharging grasping mechanism let-down, and the plate buffering entrance rewinding case by chute.
The using method of a kind of punching machine mechanical arm of the present invention, including finger feed arrangement works process and mechanical hand discharging structure work process;
Described finger feed arrangement works process is as follows:
First: plate is sequentially placed in hopper by workman, more manually hopper is placed on feed mechanism, and in electric cabinet, starts play button;After work starts: hopper is clamped on feed mechanism by four clamping units, concrete: in clamping unit, the output shaft of the fixing cylinder of hopper is connected with hopper position block by connecting rod, and fixing cylinder adjustment structure wants to be connected with connecting rod by clamping block, thus by fixing for hopper cylinder, fixing cylinder adjustment structure and hopper position block forms;By the fixing hopper of extension and contraction control hopper position block of the fixing cylinder of hopper;
Secondly: hopper is pulled in working area by feeding longitudinal direction cylinder by feed mechanism, concrete: box for feeding odd longitudinal direction cylinder by hopper guide rail and the roller whole feed mechanism of drive along hopper guide rail relative motion;Thus hopper is pulled in working area;
Then: feeding hoisting mechanism stretching by feeding lifting cylinder, feeding guide is moved down along straight optical axis, until material sucker is positioned at above plate;The location of plate position in fact is completed now by planar positioning mechanism, concrete: located lateral cylinder action, complete plate located lateral;Longitudinal register cylinder action, completes plate longitudinal register;Feeding hoisting mechanism moves down into appointment position by sucker lift cylinder output shaft, thus facilitating charging sucker to be held by plate;
Then: feeding hoisting mechanism stretching by feeding lifting cylinder, being moved by feeding guide on straight optical axis, plate promotes;Thus carrying out one-level flat-removing air cyclinder action, indirectly promoting two grades of flat-removing air cyclinder actions, namely under the promotion of feeding one-level cylinder, feeding secondary cylinder translates along guide rail, thus being put in immediately below drift by plate;Now stretch under feeding lifting cylinder, plate is positioned on the mould of workbench;
Last: feeding hoisting mechanism return, prepare to draw next block plate, now start punch press, carry out punching press;
Described mechanical hand discharging structure work process is specific as follows:
First: after punch press completes a punching press by drift, discharging secondary cylinder moves, thus promoting discharging one-level cylinder to translate along guide rail, thus being held by discharging sucker by the plate being placed on workbench mould;
Secondly: discharging grasping mechanism is stretched by discharging lifting cylinder and plate rises to appointment position, now servomotor work, swing, after completing the rotary work of plate, the elongation of discharging lifting cylinder output shaft makes discharging sucker move down, by plate from being newly positioned over the mould of workbench after moving down certain position;Discharging grasping mechanism resets to discharging one-level cylinder distalmost end subsequently;
Then: after punch press completes second time punching press by drift, discharging secondary cylinder moves, thus promoting discharging one-level cylinder to translate along guide rail, thus the plate being placed on workbench mould is held by discharging sucker;
Subsequently: plate is in directly over chute by discharging one-level cylinder and discharging secondary cylinder by moving;Unclamp sucker, put down plate, complete once to complete discharging process;
Last: discharging grasping mechanism return, prepare to draw next block plate.
The method have the benefit that
The present invention is capable of fault self-diagnosis: in whole work process; running parameter is diagnosed by PLC in real time; discovery has abnormal operation (as do not received the signal that puts in place at the appointed time) to shut down in time, and sound and light alarm is to point out staff to overhaul;
The present invention facilitates user's maintenance and expansion to system: system has the diagnosis and removal method of complete maintenance explanation and fault, and reserved multi-channel control interface and communication interface facilitate extension and the networking of system simultaneously.
The present invention adopts one-line putting, and is emitted on same straight line by feeding mechanical hand and discharging mechanical hand, convenient operation.Simultaneously facilitate die change.
The present invention can effectively reduce cost, can improve again product yield and quality;Replace the automatic loading and unloading and the punching press function that are accomplished manually workpiece in punch press loading and unloading link, use under the working environments such as high-volume, repeated strong punching press forging and have great advantage.And this mechanical hand has registration, the quality of production is stable, work tempo is adjustable, operate steadily the feature such as reliable, easy to maintenance.
Accompanying drawing explanation
Fig. 1 is system structure diagrammatic cross-sectional view
Fig. 2 is system structure diagrammatic top view
Fig. 3 is feeding mechanical arrangement works flow chart of the present invention
Fig. 4 is discharging machinery arrangement works flow chart of the present invention
Fig. 5 (a) is feeding hoisting mechanism front view of the present invention
Fig. 5 (b) is feeding hoisting mechanism top view of the present invention
Fig. 6 is planar positioning mechanism of the present invention
Fig. 7 is feeding mechanical structure sectional view of the present invention
Fig. 8 is feeding mechanical structure of guide-rail top partial view diagram of the present invention
Fig. 9 (a) is rotating mechanism critical piece structure chart of the present invention
Fig. 9 (b) is rotating mechanism critical piece top view of the present invention
NullDiagram: 1. 2. The packing cylinder screen 3 feeding manipulator body frame 4 feeding guide 5 6 cylinder feed grade feed 7 secondary cylinder block 8 linear optical axis 9 10 container 11 gasholder 12 lateral positioning cylinder feeding lifting gear 13 14 15 punch press subject 16 base table 17 18 discharging manipulator discharge increase cylinder body frame 19 guide line axis 20 pulley 21 discharging guide rail 22 23 discharging secondary discharge level cylinder cylinder 24 discharging chute 25 closed container base of electric cabinet 26 and 27, 28 container guide bracket of 29 30 chuck chuck 31 vertical positioning cylinder servo motor 32 33 proximity switch support 34 proximity switch fine-tuning institutions 35 proximity switch 38 36 37 container fixed plate cylinder fixed cylinder structure adjustment 39 clamping block container positioning block is 40 41 ascending fixed bracket screw motor 42 and 43 44 screw fixation screw plate 45 46 roller wheel bracket 47 feed box vertical cylinder 48 feed box vertical cylinder connecting piece of 49 proximity switch up top 50 piece of 51 top piece of the strut 52 vertical positioning block is 53 horizontal positioning block is 54 56 vertical push block 55 horizontal push block packing height adjustment cylinder block 57 feeding secondary cylinder connecting piece of 58 60 feed chuck chuck lifting cylinder linear optical axis of 59 stent 61 discharging suction cup 62 discharge chuck bracket 63 servo motor connection piece
Detailed description of the invention
The technical solution adopted for the present invention to solve the technical problems is as follows:
A kind of punching machine mechanical arm, including finger feed structurally and mechanically hands discharging structure;Finger feed structurally and mechanically hands discharging structure is separately positioned on feeding base and discharging base;Concrete: finger feed structurally and mechanically hands discharging structure finger feed structure includes feeding hoisting mechanism, hopper, planar positioning mechanism, feed mechanism;Mechanical hand discharging structure includes discharging grasping mechanism, receiving mechanism and electric cabinet;
As shown in Fig. 1,2,7, feeding hoisting mechanism includes feeding lifting cylinder 1, feeding mechanical hand main body frame 3, feeding guide 4, feeding one-level cylinder 5, feeding secondary cylinder 6, roller 7, straight optical axis 8, sucker lift cylinder 58 and charging sucker 60;Feeding lifting cylinder 1 is arranged on feeding mechanical hand main body frame 3, concrete feeding lifting cylinder 1 is arranged on feeding mechanical hand main body frame 3 by feeding lifting cylinder altitude mixture control cushion block 56, and the output shaft of feeding lifting cylinder 1 is fixing with feeding guide 4 after the through hole of feeding mechanical hand main body frame 3 is connected, it is possible to pull feeding guide 4 up and down by stretching of feeding lifting cylinder 1;Four straight optical axis 8 are arranged in feeding mechanical hand main body frame 3, one end of straight optical axis 8 is fixing with feeding mechanical hand main body frame 3 inside upper surface to be connected, the other end is fixed on straight optical axis support 59, and straight optical axis support 59 is fixedly connected in feeding mechanical hand main body frame 3;Feeding guide 4 is fixed on straight optical axis 8, and two concrete feeding guides 4 are parallel fixing respectively through four straight optical axis 8, and two feeding guides 4 can slide up and down along straight optical axis 8;Feeding one-level cylinder 5 and feeding secondary cylinder 6 are each attached to the lower surface of feeding guide 4, concrete: feeding one-level cylinder 5 is directly anchored to the lower surface of feeding guide 4, feeding secondary cylinder 6 is connected with the upper surface slide of feeding guide 4 by pulley, and namely feeding secondary cylinder 6 himself can be able to be translated by what the movement of pulley was;The output shaft of feeding one-level cylinder 5 is directly connected with feeding secondary cylinder 6, and the output shaft of feeding secondary cylinder 6 is connected with sucker lift cylinder 58, and the output shaft of sucker lift cylinder 58 is connected with charging sucker 60 by sucker stand 30.
As shown in figs. 1 and 6, planar positioning mechanism includes located lateral cylinder 9, longitudinal register cylinder 31, longitudinal register block 52, located lateral block 53, longitudinal pushing block 54 and horizontal pushing block 55;The output shaft of located lateral cylinder 9 is connected with horizontal pushing block 55, and longitudinal register cylinder 31 is connected with longitudinal pushing block 54, and longitudinal register block 52 and located lateral block 53 are arranged on fixed position, for the plate in hopper is positioned;
Described located lateral block and longitudinal register block are adjustable, are adjusted according to the size of plate.Horizontal pushing block and longitudinal pushing block are fine-tuning up and down, are adjusted according to the thickness of plate;During location, first shifted plate onto horizontal block by located lateral cylinder 9 by horizontal pushing block 55, complete horizontal location;Longitudinal register cylinder 31 moves afterwards, shifts plate onto longitudinal register block 52 place by longitudinal pushing block 54, completes longitudinal location, so far complete the location of plate start position.
As Fig. 1,2, shown in 5 (a) and 5 (b), feed mechanism includes proximity switch support 33, proximity switch micro-adjusting mechanism 34, proximity switch I35, the fixing cylinder 37 of hopper, fixing cylinder adjustment structure 38, hopper position block 40, enhancing screw motor 41, motor fixed rack 42, screw mandrel 43, screw rod fixing plate 44, rolling wheel support 45, roller 46, box for feeding odd longitudinal direction cylinder 47, box for feeding odd longitudinal direction cylinder contiguous block 48, proximity switch II49, rising jacking block 50, jacking block pole 51;
Proximity switch I35 is disposed proximate on switch bracket 33 by proximity switch micro-adjusting mechanism 34, and proximity switch I35 is arranged on slab edge position, for detecting the height of plate original position;Plate 36 is placed in hopper, and hopper is placed on feed mechanism frame upper surface;Feed mechanism framework is provided with multiple clamping unit, each clamping unit is by the fixing cylinder 37 of hopper, fixing cylinder adjustment structure 38 and hopper position block 40 form, the fixing cylinder 37 of hopper is arranged in fixing cylinder adjustment structure 38, fixing cylinder adjustment structure 38 is arranged on feed mechanism frame upper surface, the output shaft of the fixing cylinder 37 of hopper is connected with hopper position block 40 by connecting rod, and fixing cylinder adjustment structure 38 wants to be connected with connecting rod by clamping block 39, thus by fixing for hopper cylinder 37, fixing cylinder adjustment structure 38 and hopper position block 40 composition one;Facilitate the flexible of the fixing cylinder 37 of hopper, control hopper position block 40 and fix hopper;Enhancing screw motor 41 is arranged in feed mechanism framework by motor fixed rack 42, and the lower surface of motor fixed rack 42 is provided with proximity switch II49, for judging the extreme higher position of screw rod fixing plate 44;;The output shaft of lead screw motor 41 is connected with screw mandrel one end, and the other end of screw mandrel 43 is connected with feed mechanism framework inner bottom surface after screw rod fixing plate 44;For threadeding between screw mandrel 43 with screw rod fixing plate 44, when lead screw motor 41 works, screw rod fixing plate 44 moves up and down along screw mandrel 43;Rising jacking block 50 is arranged on feed mechanism frame inner surface, and one end of jacking block pole 51 is fixing with rising jacking block 50 to be connected, and the other end is fixing with screw rod fixing plate 44 after motor fixed rack 42 to be connected;Rolling wheel support 45 is fixed on feed mechanism framework outer bottom, and roller 46 is arranged on rolling wheel support 45, corresponding with the hopper guide rail 28 being arranged on base, and box for feeding odd longitudinal direction cylinder 47 is connected with feed mechanism framework by box for feeding odd longitudinal direction cylinder contiguous block 48;When box for feeding odd longitudinal direction cylinder 47 works, box for feeding odd longitudinal direction cylinder 47 can pass through roller 46 and drive whole feed mechanism along case guide rail 28 relative motion;
Described hopper is used for placing plate, and during work, hopper is placed on feed mechanism;Described hopper and air accumulator are arranged in feeding mechanical hand main body frame 3, and all cylinders are connected with air accumulator 11 each through two five-way electromagnetic valves, and air accumulator 11 provides source of the gas for all cylinders.
As shown in Fig. 1,2,8 and 9 (a), 9 (b), mechanical hand discharging structure includes discharging grasping mechanism, receiving mechanism (including chute and rewinding case) and electric cabinet;
As shown in Fig. 1,2,8 and 9 (a), 9 (b), discharging grasping mechanism is similar with feeding hoisting mechanism;Concrete: discharging grasping mechanism includes discharging lifting cylinder 17, discharging mechanical hand main body frame 18, discharge guide 21, discharging one-level cylinder 22, discharging secondary cylinder 23, roller 20, guide rail straight optical axis 19, servomotor 32, discharging sucker 61, discharging sucker stand 62, servomotor contiguous block 63;Discharging lifting cylinder 17 is arranged on discharging mechanical hand main body frame 18, concrete discharging lifting cylinder 17 is arranged on discharging mechanical hand main body frame 18 by altitude mixture control cushion block, and the output shaft of discharging lifting cylinder 17 is fixing with discharge guide 21 after the through hole of discharging mechanical hand main body frame 18 is connected, it is possible to pull discharge guide 21 up and down by stretching of discharging lifting cylinder 17;Four discharge guide straight optical axis 19 are arranged in discharging mechanical hand main body frame 18, one end of guide rail straight optical axis 19 is fixing with discharging mechanical hand main body frame 18 inside upper surface to be connected, the other end is fixed on straight optical axis support 59, and straight optical axis support 59 is fixedly connected in discharging mechanical hand main body frame 18;Discharge guide 21 is fixed on guide rail straight optical axis 19, and two concrete discharge guides 21 are parallel fixing respectively through four guide rail straight optical axis 19, and two discharge guides 21 can slide up and down along guide rail straight optical axis 19;Discharging one-level cylinder 22 and discharging secondary cylinder 23 are each attached to the lower surface of discharge guide 21, concrete: discharging one-level cylinder 22 is directly anchored to the lower surface of discharge guide 21, discharging secondary cylinder 23 is connected with the upper surface slide of discharge guide 21 by pulley, and namely discharging secondary cylinder 23 himself can be able to be translated by what the movement of pulley was;The output shaft of discharging one-level cylinder 22 is directly connected with discharging secondary cylinder 23, and the output shaft of discharging secondary cylinder 23 is connected with servomotor 32 by servomotor contiguous block 63, and servomotor 32 is connected with discharging sucker 61 by discharging sucker stand 62;Servomotor 32 can order about discharging sucker stand 62 and rotate 180 with discharging sucker 61.
As illustrated in fig. 1 and 2, receiving mechanism and electric cabinet are arranged in discharging mechanical hand main body frame 18;Wherein receiving mechanism includes chute and rewinding case;Chute is slope, and directly through with rewinding case, when plate is from discharging grasping mechanism let-down, and the plate buffering entrance rewinding case by chute.
The work process of punching machine mechanical arm of the present invention includes two parts, respectively finger feed arrangement works process and mechanical hand discharging structure work process;
As it is shown on figure 3, described finger feed arrangement works process is as follows:
First: plate is sequentially placed in hopper by workman, more manually hopper is placed on feed mechanism, and in electric cabinet, starts play button.After work starts: hopper is clamped on feed mechanism by four clamping units, concrete: in clamping unit, the output shaft of the fixing cylinder 37 of hopper is connected with hopper position block 40 by connecting rod, and fixing cylinder adjustment structure 38 wants to be connected with connecting rod by clamping block 39, thus hopper being fixed cylinder 37, fixing cylinder adjustment structure 38 and hopper position block 40 forms;Hopper is fixed by the extension and contraction control hopper position block 40 of the fixing cylinder 37 of hopper;
Secondly: hopper is pulled in working area by feeding longitudinal direction cylinder by feed mechanism, concrete: box for feeding odd longitudinal direction cylinder 47 drives whole feed mechanism along hopper guide rail 28 relative motion by hopper guide rail 28 and roller 46;Thus hopper is pulled in working area.
Then: feeding hoisting mechanism stretching by feeding lifting cylinder 1, feeding guide 4 is moved down along straight optical axis 8, until material sucker 60 is positioned at above plate;The location of plate position in fact is completed now by planar positioning mechanism, concrete: located lateral cylinder action, complete plate located lateral;Longitudinal register cylinder action, completes plate longitudinal register;Feeding hoisting mechanism moves down into appointment position by sucker lift cylinder 58 output shaft, thus facilitating charging sucker 60 to be held by plate.
Then: feeding hoisting mechanism stretching by feeding lifting cylinder 1, being moved by feeding guide 4 on straight optical axis 8, plate promotes;Thus carrying out one-level flat-removing air cyclinder action, indirectly promoting two grades of flat-removing air cyclinder actions, namely under the promotion of feeding one-level cylinder 5, feeding secondary cylinder 6 translates along guide rail, thus being put in immediately below drift by plate;Now feeding lifting cylinder is stretched for 1 time, is positioned on the mould of workbench by plate;
Last: feeding hoisting mechanism return, prepare to draw next block plate, now start punch press, carry out punching press.
As shown in Figure 4, mechanical hand discharging structure work process is specific as follows:
First: after punch press completes a punching press by drift, discharging secondary cylinder 2 moves, thus promoting discharging one-level cylinder 22 to translate along guide rail, thus the plate being placed on workbench mould is held by discharging sucker 61;
Secondly: discharging grasping mechanism is stretched by discharging lifting cylinder 17 and plate rises to appointment position, now servomotor 32 works, rotation turnback, after completing the rotary work of plate, the elongation of discharging lifting cylinder 17 output shaft makes discharging sucker 61 move down, by plate from being newly positioned over the mould of workbench after moving down certain position;Discharging grasping mechanism resets to discharging one-level cylinder 22 distalmost end subsequently;
Then: after punch press completes second time punching press by drift, discharging secondary cylinder 2 moves, thus promoting discharging one-level cylinder 22 to translate along guide rail, thus the plate being placed on workbench mould is held by discharging sucker 61;
Subsequently: plate is in directly over chute by discharging one-level cylinder 22 and discharging secondary cylinder 2 by moving;Unclamp sucker, put down plate, complete once to complete discharging process.
Last: discharging grasping mechanism return, prepare to draw next block plate.

Claims (8)

1. a punching machine mechanical arm, it is characterised in that include finger feed structurally and mechanically hands discharging structure;Finger feed structurally and mechanically hands discharging structure is separately positioned on feeding base and discharging base;Concrete: finger feed structure includes feeding hoisting mechanism, hopper, planar positioning mechanism, feed mechanism;Mechanical hand discharging structure includes discharging grasping mechanism, receiving mechanism and electric cabinet;
Feeding hoisting mechanism includes feeding lifting cylinder, feeding mechanical hand main body frame, feeding guide, feeding one-level cylinder, feeding secondary cylinder, roller, straight optical axis, sucker lift cylinder and charging sucker;Feeding lifting cylinder is arranged on feeding mechanical hand main body frame, concrete feeding lifting cylinder is arranged on feeding mechanical hand main body frame by feeding lifting cylinder altitude mixture control cushion block, and the output shaft of feeding lifting cylinder is fixing with feeding guide after the through hole of feeding mechanical hand main body frame is connected, it is possible to pull feeding guide up and down by stretching of feeding lifting cylinder;Four straight optical axis are arranged in feeding mechanical hand main body frame, one end of straight optical axis is fixing with feeding mechanical hand main body frame inside upper surface to be connected, the other end is fixed on straight optical axis support, and straight optical axis support is fixedly connected in feeding mechanical hand main body frame;Feeding guide is fixed on straight optical axis, and two concrete feeding guides are parallel fixing respectively through four straight optical axis, and two feeding guides can slide up and down along straight optical axis;Feeding one-level cylinder and feeding secondary cylinder are each attached to the lower surface of feeding guide, concrete: feeding one-level cylinder is directly anchored to the lower surface of feeding guide, feeding secondary cylinder is connected with the upper surface slide of feeding guide by pulley, and namely feeding secondary cylinder himself can be able to be translated by what the movement of pulley was;The output shaft of feeding one-level cylinder is directly connected with feeding secondary cylinder, and the output shaft of feeding secondary cylinder is connected with sucker lift cylinder, and the output shaft of sucker lift cylinder is connected with charging sucker by sucker stand.
2. a kind of punching machine mechanical arm according to claim 1, it is characterised in that bag planar positioning mechanism includes located lateral cylinder, longitudinal register cylinder, longitudinal register block, located lateral block, longitudinal pushing block and horizontal pushing block;The output shaft of located lateral cylinder is connected with horizontal pushing block, and longitudinal register cylinder is connected with longitudinal pushing block, and longitudinal register block and located lateral block are arranged on fixed position, for the plate in hopper is positioned.
3. a kind of punching machine mechanical arm according to claim 2, it is characterised in that described located lateral block and longitudinal register block are adjustable, are adjusted according to the size of plate;Horizontal pushing block and longitudinal pushing block are fine-tuning up and down, are adjusted according to the thickness of plate;During location, first shifted plate onto horizontal block by located lateral cylinder by horizontal pushing block, complete horizontal location;Longitudinal register cylinder moving afterwards, shifts plate onto longitudinal register block place by longitudinal pushing block, completes longitudinal location, so far complete the location of plate start position.
4. a kind of punching machine mechanical arm according to claim 2, it is characterised in that feed mechanism includes proximity switch support, proximity switch micro-adjusting mechanism, proximity switch I, the fixing cylinder of hopper, fixing cylinder adjustment structure, hopper position block, enhancing screw motor, motor fixed rack, screw mandrel, screw rod fixing plate, rolling wheel support, roller, box for feeding odd longitudinal direction cylinder, box for feeding odd longitudinal direction cylinder contiguous block, proximity switch II, rising jacking block, jacking block pole;
Proximity switch I is disposed proximate on switch bracket by proximity switch micro-adjusting mechanism, and proximity switch I is arranged on slab edge position, for detecting the height of plate original position;Plate is placed in hopper, and hopper is placed on feed mechanism frame upper surface;Feed mechanism framework is provided with multiple clamping unit, each clamping unit is made up of the fixing cylinder of hopper, fixing cylinder adjustment structure and hopper position block, the fixing cylinder of hopper is arranged in fixing cylinder adjustment structure, fixing cylinder adjustment structure is arranged on feed mechanism frame upper surface, the output shaft of the fixing cylinder of hopper is connected with hopper position block by connecting rod, and fixing cylinder adjustment structure wants to be connected with connecting rod by clamping block, thus fixing for hopper cylinder, fixing cylinder adjustment structure and hopper position block are formed integrally;Facilitate the flexible of the fixing cylinder of hopper, control the fixing hopper of hopper position block;Enhancing screw motor is arranged in feed mechanism framework by motor fixed rack, and the lower surface of motor fixed rack is provided with proximity switch II, for judging the extreme higher position of screw rod fixing plate;;The output shaft of lead screw motor is connected with screw mandrel one end, and the other end of screw mandrel is connected with feed mechanism framework inner bottom surface after screw rod fixing plate;For threadeding between screw mandrel with screw rod fixing plate, when lead screw motor works, screw rod fixing plate moves up and down along screw mandrel;Rising jacking block is arranged on feed mechanism frame inner surface, and one end of jacking block pole is fixing with rising jacking block to be connected, and the other end is fixing with screw rod fixing plate after motor fixed rack to be connected;Rolling wheel support is fixed on feed mechanism framework outer bottom, and roller is arranged on rolling wheel support, corresponding with the hopper guide rail being arranged on base, and box for feeding odd longitudinal direction cylinder is connected with feed mechanism framework by box for feeding odd longitudinal direction cylinder contiguous block;When box for feeding odd longitudinal direction cylinder operation, box for feeding odd longitudinal direction cylinder can drive whole feed mechanism along case guide rail relative motion by roller.
5. a kind of punching machine mechanical arm according to claim 4, it is characterised in that described hopper is used for placing plate, and during work, hopper is placed on feed mechanism;Described hopper and air accumulator are arranged in feeding mechanical hand main body frame, and all cylinders are connected with air accumulator each through two five-way electromagnetic valves, and air accumulator provides source of the gas for all cylinders.
6. a kind of punching machine mechanical arm according to claim 1, it is characterised in that mechanical hand discharging structure includes discharging grasping mechanism, receiving mechanism and electric cabinet;
Discharging grasping mechanism is similar with feeding hoisting mechanism;Concrete: discharging grasping mechanism includes discharging lifting cylinder, discharging mechanical hand main body frame, discharge guide, discharging one-level cylinder, discharging secondary cylinder, roller, guide rail straight optical axis, servomotor, discharging sucker, discharging sucker stand, servomotor contiguous block;Discharging lifting cylinder is arranged on discharging mechanical hand main body frame, concrete discharging lifting cylinder is arranged on discharging mechanical hand main body frame by altitude mixture control cushion block, and the output shaft of discharging lifting cylinder is fixing with discharge guide after the through hole of discharging mechanical hand main body frame is connected, it is possible to pull discharge guide up and down by stretching of discharging lifting cylinder;Four discharge guide straight optical axis are arranged in discharging mechanical hand main body frame, one end of guide rail straight optical axis is fixing with discharging mechanical hand main body frame inside upper surface to be connected, the other end is fixed on straight optical axis support, and straight optical axis support is fixedly connected in discharging mechanical hand main body frame;Discharge guide is fixed on guide rail straight optical axis, and two concrete discharge guides are parallel fixing respectively through four guide rail straight optical axis, and two discharge guides can slide up and down along guide rail straight optical axis;Discharging one-level cylinder and discharging secondary cylinder are each attached to the lower surface of discharge guide, concrete: discharging one-level cylinder is directly anchored to the lower surface of discharge guide, discharging secondary cylinder is connected with the upper surface slide of discharge guide by pulley, and namely discharging secondary cylinder himself can be able to be translated by what the movement of pulley was;The output shaft of discharging one-level cylinder is directly connected with discharging secondary cylinder, and the output shaft of discharging secondary cylinder is connected with servomotor by servomotor contiguous block, and servomotor is connected with discharging sucker by discharging sucker stand;Servomotor can order about discharging sucker stand and rotate with discharging sucker.
7. a kind of punching machine mechanical arm according to claim 6, it is characterised in that receiving mechanism and electric cabinet are arranged in discharging mechanical hand main body frame;Wherein receiving mechanism includes chute and rewinding case;Chute is slope, and directly through with rewinding case, when plate is from discharging grasping mechanism let-down, and the plate buffering entrance rewinding case by chute.
8. the using method of a kind of punching machine mechanical arm according to claim 7, it is characterised in that include finger feed arrangement works process and mechanical hand discharging structure work process;
Described finger feed arrangement works process is as follows:
First: plate is sequentially placed in hopper by workman, more manually hopper is placed on feed mechanism, and in electric cabinet, starts play button;After work starts: hopper is clamped on feed mechanism by four clamping units, concrete: in clamping unit, the output shaft of the fixing cylinder of hopper is connected with hopper position block by connecting rod, and fixing cylinder adjustment structure wants to be connected with connecting rod by clamping block, thus by fixing for hopper cylinder, fixing cylinder adjustment structure and hopper position block forms;By the fixing hopper of extension and contraction control hopper position block of the fixing cylinder of hopper;
Secondly: hopper is pulled in working area by feeding longitudinal direction cylinder by feed mechanism, concrete: box for feeding odd longitudinal direction cylinder by hopper guide rail and the roller whole feed mechanism of drive along hopper guide rail relative motion;Thus hopper is pulled in working area;
Then: feeding hoisting mechanism stretching by feeding lifting cylinder, feeding guide is moved down along straight optical axis, until material sucker is positioned at above plate;The location of plate position in fact is completed now by planar positioning mechanism, concrete: located lateral cylinder action, complete plate located lateral;Longitudinal register cylinder action, completes plate longitudinal register;Feeding hoisting mechanism moves down into appointment position by sucker lift cylinder output shaft, thus facilitating charging sucker to be held by plate;
Then: feeding hoisting mechanism stretching by feeding lifting cylinder, being moved by feeding guide on straight optical axis, plate promotes;Thus carrying out one-level flat-removing air cyclinder action, indirectly promoting two grades of flat-removing air cyclinder actions, namely under the promotion of feeding one-level cylinder, feeding secondary cylinder translates along guide rail, thus being put in immediately below drift by plate;Now stretch under feeding lifting cylinder, plate is positioned on the mould of workbench;
Last: feeding hoisting mechanism return, prepare to draw next block plate, now start punch press, carry out punching press;
Described mechanical hand discharging structure work process is specific as follows:
First: after punch press completes a punching press by drift, discharging secondary cylinder moves, thus promoting discharging one-level cylinder to translate along guide rail, thus being held by discharging sucker by the plate being placed on workbench mould;
Secondly: discharging grasping mechanism is stretched by discharging lifting cylinder and plate rises to appointment position, now servomotor work, swing, after completing the rotary work of plate, the elongation of discharging lifting cylinder output shaft makes discharging sucker move down, by plate from being newly positioned over the mould of workbench after moving down certain position;Discharging grasping mechanism resets to discharging one-level cylinder distalmost end subsequently;
Then: after punch press completes second time punching press by drift, discharging secondary cylinder moves, thus promoting discharging one-level cylinder to translate along guide rail, thus the plate being placed on workbench mould is held by discharging sucker;
Subsequently: plate is in directly over chute by discharging one-level cylinder and discharging secondary cylinder by moving;Unclamp sucker, put down plate, complete once to complete discharging process;
Last: discharging grasping mechanism return, prepare to draw next block plate.
CN201610246959.2A 2016-04-19 2016-04-19 A kind of punching machine mechanical arm Active CN105772594B (en)

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CN106424337A (en) * 2016-12-27 2017-02-22 安徽中科自动化股份有限公司 Heart-shaped box cover forming tool
CN108907063A (en) * 2018-07-02 2018-11-30 安徽飞翔电器有限公司 Forging machine tool loading and unloading industrial robot
CN109142802A (en) * 2018-07-23 2019-01-04 南通同洲电子有限责任公司 A kind of multiduty communication interface jig
CN109986012A (en) * 2019-05-13 2019-07-09 厦门市鑫盛威工贸有限公司 A kind of press machine and forging molding process of forging production
CN110899542A (en) * 2019-12-20 2020-03-24 青岛华满机械科技有限公司 Strip numerical control feeder
CN111112436A (en) * 2020-01-03 2020-05-08 济南金麒麟刹车系统有限公司 Automatic blanking equipment of strip

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CN106424337A (en) * 2016-12-27 2017-02-22 安徽中科自动化股份有限公司 Heart-shaped box cover forming tool
CN108907063A (en) * 2018-07-02 2018-11-30 安徽飞翔电器有限公司 Forging machine tool loading and unloading industrial robot
CN108907063B (en) * 2018-07-02 2020-04-07 安徽飞翔电器有限公司 Material loading and unloading industrial robot of forging press
CN109142802A (en) * 2018-07-23 2019-01-04 南通同洲电子有限责任公司 A kind of multiduty communication interface jig
CN109142802B (en) * 2018-07-23 2021-12-14 南通同洲电子有限责任公司 Communication interface tool of multipurpose
CN109986012A (en) * 2019-05-13 2019-07-09 厦门市鑫盛威工贸有限公司 A kind of press machine and forging molding process of forging production
CN110899542A (en) * 2019-12-20 2020-03-24 青岛华满机械科技有限公司 Strip numerical control feeder
CN111112436A (en) * 2020-01-03 2020-05-08 济南金麒麟刹车系统有限公司 Automatic blanking equipment of strip
CN111112436B (en) * 2020-01-03 2021-09-28 济南金麒麟刹车系统有限公司 Automatic blanking equipment of strip

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Effective date of registration: 20191204

Address after: 317200 Xia Bao Yuan village, Chicheng street, Tiantai County, Taizhou, Zhejiang

Patentee after: Zhejiang Tiantai Youpaite Intelligent Stamping Co., Ltd.

Address before: 310027 No. 2 street, Xiasha Higher Education Zone, Hangzhou, Zhejiang

Patentee before: Hangzhou Electronic Science and Technology Univ