CN106272514A - A kind of adjustable automatic loading and unloading manipulator - Google Patents

A kind of adjustable automatic loading and unloading manipulator Download PDF

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Publication number
CN106272514A
CN106272514A CN201610836427.4A CN201610836427A CN106272514A CN 106272514 A CN106272514 A CN 106272514A CN 201610836427 A CN201610836427 A CN 201610836427A CN 106272514 A CN106272514 A CN 106272514A
Authority
CN
China
Prior art keywords
rack
stockpile
adjustable
horizontal
mounting seat
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.)
Pending
Application number
CN201610836427.4A
Other languages
Chinese (zh)
Inventor
张利
汪财
张建军
魏振春
金爱民
王锦波
毕翔
张福民
吴志云
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.)
ANHUI FEIXIANG ELECTRICAL APPLIANCE Co Ltd
Hefei University of Technology
Original Assignee
ANHUI FEIXIANG ELECTRICAL APPLIANCE Co Ltd
Hefei University of Technology
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 ANHUI FEIXIANG ELECTRICAL APPLIANCE Co Ltd, Hefei University of Technology filed Critical ANHUI FEIXIANG ELECTRICAL APPLIANCE Co Ltd
Priority to CN201610836427.4A priority Critical patent/CN106272514A/en
Publication of CN106272514A publication Critical patent/CN106272514A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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 kind of adjustable automatic loading and unloading mechanism, it is intended to overcome the deficiency of existing loading and unloading manipulator, provide a kind of adjustable charging and discharging mechanism for factory, can adapt to different product needed, there is the strongest suitability, including frame, motor, turbine, worm screw, lead screw, clasp nut, cylinder, guide rod, support etc..The present invention realizes handling equipment by the position of the different structure of adjustment straight feeding device and is applicable to different product specification, rotated by driven by motor sliding screw and realize clasp nut vertical motion, thus drive material feeding tray to arrive precalculated position, improve the work efficiency of mechanical hand.After workpiece completes, telescopic arm returns with finished work, falls in lower stockpile after encountering backgauge post.Present configuration is simple, and ruggedness is good, can control device by external connected electronic, have the strongest adjustability, adapt to different product specifications, improve work efficiency.

Description

A kind of adjustable automatic loading and unloading manipulator
Technical field
The present invention relates to mechanical hand field, a kind of adjustable automatic loading and unloading manipulator.
Background technology
Loading and unloading manipulator basic structure is roughly the same the most both at home and abroad, but major part mechanical hand can only adapt to a kind of product Product specification.Once product specification changes, and needs correspondingly to change the height of mechanical hand.The height and position of existing mechanical hand Being fixing, if needing to increase mechanical hand height, can only solve by the way of increasing backing plate on ground.If but needing to subtract Low height, that is just difficult to.And for different products, need to change position and the position of backgauge post of feeding cylinder, General mechanical hand is difficult to.
Summary of the invention it is an object of the invention to provide a kind of adjustable automatic loading and unloading manipulator, to realize the most up and down The variable demand with adaptation different product in operating position of material mechanical hand.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of adjustable automatic loading and unloading manipulator, it is characterised in that: include founding the frame to arranging, the adjacent frame in frame right Right side is provided with workbench, and workbench dead astern is stood to being provided with upper stockpile, upper stockpile is slidably fitted with and is suspended from above workbench Feeding pallet, workbench right stands to being provided with lower stockpile, lower stockpile is slidably fitted with blanking pallet, and in frame, right side turns Moving and be provided with sliding screw, described sliding screw central shaft is vertically arranged, and sliding screw lower end is coaxially installed with Worm gear, is provided with motor, worm screw in frame, described motor output shaft is connected with worm screw coaxial transmission by shaft coupling, and worm screw and The worm-drive engagement of sliding screw lower end, described sliding screw is gone back Screw assembly clasp nut, connects on the right side of clasp nut Be connected to carry material fork, described in carry material fork and pass on the right side of frame and stretch between feeding pallet and workbench, frame top stands to peace Equipped with pair of brackets column, two stands column symmetric arrays along the longitudinal direction, rack beam, institute are installed between two stands column State rack beam to arrange along left and right horizontal direction, and rack beam extend right up to cross above lower stockpile, on the right side of lower stockpile on Side is provided with installation crossbeam along anterior-posterior horizontal direction, and described rack beam right-hand member is fixed on installation crossbeam, sets bottom rack beam Having the guide rail extended along left and right horizontal direction, slide on rails is equipped with slide block, and bottom rack beam, left end is hung by cylinder Mounting seat is provided with straight feeding cylinder, and the piston rod rod end of straight feeding cylinder is connected horizontally on to the right on slide block, described cunning The telescopic arm being provided with along left and right horizontal direction bottom block, telescopic arm extends right up to above stockpile, and telescopic arm is suspended from feeding Equipped with electric magnet bottom arm section above heap, upper stockpile position directly above is just pacified by rack beam top by suction air cylinder support Equipped with vertical suction cylinder, the piston rod of vertical suction cylinder connects to have straight down crosses over rack beam along anterior-posterior horizontal direction Connecting plate, bottom connecting plate, front and back ends connects the most straight down vacuum cup connecting rod, and two vacuum cup connecting rods are divided Cross rack beam respective side the most straight down and stretch to below telescopic arm, and each vacuum cup connecting rod lower end connects respectively There is vacuum cup.
The adjustable automatic loading and unloading manipulator of described one, it is characterised in that: stockpile under the correspondence of rack beam forward and backward side Top position is equipped with backgauge post by screwed hole respectively, screwed hole have multiple and on rack beam along left and right horizontal direction one Word arrangement, realizes the adjustable positioning of backgauge post by screwed hole.
The adjustable automatic loading and unloading manipulator of described one, it is characterised in that: described telescopic arm is suspended from above stockpile Arm section bottom be also equipped with inner circle location dish.
The adjustable automatic loading and unloading manipulator of described one, it is characterised in that: form downwards in the middle of described connecting plate Recess, and recess bore is more than the diameter of vertical suction cylinder, the piston rod of vertical suction cylinder is connected to recess straight down Bottom, and recess be provided with set buffer spring on the piston rod.
The adjustable automatic loading and unloading manipulator of described one, it is characterised in that: two stands column opposite side passes through respectively Screwed hole connects support mounting seat, and screwed hole has multiple and vertically arranges in bracket upright post respectively, screwed hole realize The adjustable installation of support mounting seat, the relative one end of two stands mounting seat is connected to the support extended along left and right horizontal direction Mounting seat adjustable slit, described rack beam left part is arranged between two stands mounting seat adjustable slit, the forward and backward side of rack beam left part It is respectively equipped with multiple screwed hole along left and right horizontal direction word order, and the forward and backward side of rack beam left part and respective side support Mounting seat adjustable slit passes through the adjustable connection of bolt.
The adjustable automatic loading and unloading manipulator of described one, it is characterised in that: described installation crossbeam is opposed to setting by one The support punch press support column put supports, and each support punch press support column is respectively equipped with the screw thread of multiple vertically word order Hole, installs crossbeam and is connected by bolt is adjustable with support punch press support column.
The present invention makes raw material suction means realize being accurately positioned with the position of raw material to be processed.By the adjustable machine in design many places Structure, it is achieved mechanical hand adjustable positioning.Screw lifting device uses sliding screw and opening nut mechanism to be greatly improved work Efficiency.Vertical device for suction material uses buffer spring, can effectively reduce the impact of vertical suction cylinder, and improve the work of cylinder Stroke.The action that the mechanical hand of the present invention performs is relatively easy, less demanding to precision, it is only necessary to carry out simple logic control System.This structure is designed with external motor, utilizes programming Control electric machine rotation to realize the displacement of stockpile, makes feeding convenient.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram.
Fig. 2 is screw lifting device schematic diagram of the present invention
Fig. 3 is the present invention vertical device for suction material schematic diagram.
Fig. 4 is bracket upright post of the present invention and mounting seat attachment structure schematic diagram.
Detailed description of the invention
As shown in Fig. 1 Fig. 4, a kind of adjustable automatic loading and unloading manipulator, including standing to the frame 1 arranged, frame 1 is right Being provided with workbench on the right side of the adjacent frame in side, workbench dead astern is stood to being provided with upper stockpile 9, upper stockpile 9 is slidably fitted with outstanding Feeding pallet 12 above workbench, workbench right is stood to being provided with lower stockpile 10, lower stockpile is slidably fitted with blanking Pallet, in frame 1, right side is rotatablely equipped with sliding screw 2, and sliding screw 2 central shaft is vertically arranged, sliding screw 2 times End is coaxially installed with worm gear 5, is provided with motor 8, worm screw 6 in frame 1, and motor 8 output shaft is same with worm screw 6 by shaft coupling 7 Through-drive connects, and worm screw 6 engages with worm gear 5 transmission of sliding screw 2 lower end, and sliding screw 2 goes back Screw assembly folding Nut 3, connects on the right side of clasp nut 3 and carries material fork 11, carries material fork 11 and passes on the right side of frame 1 and stretch to feeding pallet 12 and work Between station, frame 1 top is stood to being provided with pair of brackets column 24, two stands column 24 symmetric arrays along the longitudinal direction, and two Being provided with rack beam 27 between bracket upright post 24, rack beam 27 is arranged along left and right horizontal direction, and rack beam 27 is to the right Extending beyond above lower stockpile 10, on the right side of lower stockpile 10, top is provided with installation crossbeam 28, rack beam along anterior-posterior horizontal direction 27 right-hand members are fixed on installation crossbeam 28, are provided with the guide rail 16 extended along left and right horizontal direction, guide rail 16 bottom rack beam 27 Upper slidable fit has slide block 14, and bottom rack beam 27, left end hangs mounting seat 13 by cylinder and is provided with straight feeding cylinder 15, the piston rod rod end of straight feeding cylinder 15 is connected horizontally on to the right on slide block 14, along left and right horizontal direction bottom slide block 14 The telescopic arm 17 being provided with, telescopic arm 17 extends right up to above stockpile 9, and telescopic arm 17 is suspended from the arm section above stockpile 9 Bottom is equipped with electric magnet, and upper stockpile 9 position directly above is just provided with vertical by suction air cylinder support 20 by rack beam 27 top Straight suction cylinder 19, the piston rod of vertical suction cylinder 19 connects to have straight down crosses over rack beam 27 along anterior-posterior horizontal direction Connecting plate, bottom connecting plate, front and back ends connects the most straight down vacuum cup connecting rod 21, two vacuum cup connecting rods 21 cross rack beam 27 respective side the most straight down and stretch to below telescopic arm 17, and each vacuum cup connecting rod 21 times End is connected to vacuum cup 22.
Under the correspondence of rack beam 27 forward and backward side, stockpile 10 top position is equipped with backgauge post 23, spiral shell by screwed hole respectively Pit have multiple and on rack beam 27 along left and right horizontal direction word order, realize the adjustable of backgauge post 23 by screwed hole Location.
Telescopic arm 17 is suspended from bottom the arm section above stockpile and is also equipped with inner circle location dish 18.
Form downwards recess in the middle of connecting plate, and recess bore is more than the diameter of vertical suction cylinder 19, vertical suction What the piston rod of cylinder 19 was connected in notched bottoms, and recess straight down is provided with set buffer spring 30 on the piston rod.
Two stands column 24 opposite side is connected by screwed hole respectively support mounting seat 25, and screwed hole has multiple and difference Bracket upright post 24 vertically arranges, screwed hole realizes the adjustable installation of support mounting seat 25, two stands mounting seat 25 phase To one end be connected to along left and right horizontal direction extend support mounting seat adjustable slit 26, rack beam 27 left part is arranged on Between two stands mounting seat adjustable slit 26, the forward and backward side of rack beam 27 left part is respectively equipped with multiple along left and right horizontal direction one word The screwed hole of arrangement, and the forward and backward side of rack beam 27 left part and respective side support mounting seat adjustable slit 26 are by the adjustable company of bolt Connect.
Crossbeam 28 is installed supported, on each support punch press support column 29 to the support punch press support column 29 arranged by an opposition It is respectively equipped with the screwed hole of multiple vertically word order, crossbeam 28 is installed with support punch press support column 29 by the adjustable company of bolt Connect.
The present invention includes vertically placing frame 1, and frame 1 is internal equipped with motor 8, and motor 8 is by shaft coupling 7 with worm screw 6 even Connecing, worm screw 6 is connected with worm gear 5.Lead screw 2 installed by described worm gear 5, and it is internal that sliding screw 2 is fixed on frame 1.Described Lead screw 2 central shaft is arranged along the vertical direction, lead screw 2 is equipped with clasp nut 3, equipped with carrying material on clasp nut 3 Fork 11.Frame 1 is outer is equipped with upper stockpile 9 and lower stockpile 10, is cased with pallet 12 in upper stockpile 9, and described pallet 12 pitches 11 even with carrying material Connect.Frame 1 two bracket upright post 24 installed above, bracket upright post mounting seat 25 installed above.Support is equipped in described mounting seat Crossbeam 27, rack beam 27 cylinder installed below hang mounting seat 13, mounting seat has straight feeding cylinder 15 and two smooth Guide rail 16, equipped with slide block 14 on guide rail, installs telescopic arm 17, equipped with inner circle location dish 18 on telescopic arm below described slide block.? On rack beam 27, vertical suction cylinder 19 just installed above to upper stockpile 9, cylinder by sucker connecting rod 21 equipped with two suctions Dish 22.On rack beam 27, two backgauge posts 23 just installed above to lower stockpile 10, backgauge post 23 is by rack beam 27 The screwed hole of diverse location can realize adjustable positioning.
During work, motor 8 drives worm screw 6 to rotate by shaft coupling 7, and worm screw 6 rotates around horizontal center line and makes snail Wheel 5 rotates around vertical centrage, drives the sliding screw 2 being fixed on worm gear 5 to rotate.Tighten clasp nut 3 upper knob 4 can protect Demonstrate,prove two half-nuts to engage with lead screw 2, thus drive clasp nut 3 to move up.When nut is raised to highest point, need to replace New upper stockpile 9.Now nut must be down to bottommost, unclamp knob, two half-nuts can be made to separate with lead screw 2, manually It is back to bottommost.Nut both sides are dovetail groove track, are welded with guide rod guide pin bushing, convenient sliding when nut is disengaged from leading screw Dynamic.
Vertical suction cylinder 19 pumps, and the vacuum cup connecting rod 21 on cylinder, can equipped with vacuum cup 22 From upper stockpile 9 punching picked up and to promote.Equipped with electric magnet on straight feeding device telescopic arm 17, when vertical suction cylinder is inhaled Take punching and up during punching can encounter telescopic arm 17 by inner circle location dish 18 and be blocked, but vertical suction cylinder 19 may proceed to move upward, and just depart from punching, and punching is then adsorbed in telescopic arm 17 following table by the electric magnet on telescopic arm 17 Face, the most just can move with telescopic arm 17.
Installing straight feeding device in bracket upright post 24, support mounting seat 25 is threaded connection and is arranged on bracket upright post On 24.There is the screwed hole of differing heights on column, mounting seat can be installed at various height.Rack beam 27 is arranged on and props up On frame mounting seat adjustable slit 26, installation can be moved in the horizontal direction.Cylinder is had to hang on one end below rack beam 27 Mounting seat 13, is provided with pair of parallel guide rail 16 and feeding cylinder 15.There is a slide block 14 on closed slide, have below slide block Fixing telescopic arm 17, telescopic arm top is equipped with inner circle location dish 18.Rack beam 27 other end installs crossbeam 28, installs crossbeam 28 Supported by pair of brackets punch press support column 29.
The adjustable device in the top blanking mechanical of present invention many places on hand realizes mechanical hand and adapts to different product needed.Propping up It is drilled with the screwed hole of differing heights in frame punch press support column, bracket upright post, rack beam is drilled with equidistant bolt mounting holes, Support mounting seat connects support mounting seat adjustable slit, hangs mounting seat at cylinder and is designed as adjustable slit.By these adjustable mechanisms, Mechanical hand can be realized work on different station.Longer in view of cylinder stroke, for saving space, underhung is installed as without bar Cylinder, speed is high, good stability, coordinates baffle plate to can easily be accommodated position, extremely meets the adjustable design of many specifications of this mechanical hand and wants Ask.

Claims (6)

1. an adjustable automatic loading and unloading manipulator, it is characterised in that: include founding the frame to arranging, the adjacent machine in frame right Being provided with workbench on the right side of frame, workbench dead astern is stood to being provided with upper stockpile, upper stockpile is slidably fitted with and is suspended from workbench The feeding pallet of side, workbench right stands to being provided with lower stockpile, lower stockpile is slidably fitted with blanking pallet, right side in frame Being rotatablely equipped with sliding screw, described sliding screw central shaft is vertically arranged, and sliding screw lower end coaxially fixedly mounts Having worm gear, be provided with motor, worm screw in frame, described motor output shaft is connected with worm screw coaxial transmission by shaft coupling, and worm screw Engaging with the worm-drive of sliding screw lower end, described sliding screw is gone back Screw assembly has clasp nut, on the right side of clasp nut Connect carry material fork, described in carry material fork pass on the right side of frame and stretch between feeding pallet and workbench, frame top stand to Pair of brackets column, two stands column symmetric arrays along the longitudinal direction are installed, between two stands column, rack beam are installed, Described rack beam is arranged along left and right horizontal direction, and rack beam extends right up to cross above lower stockpile, on the right side of lower stockpile Top is provided with installation crossbeam along anterior-posterior horizontal direction, and described rack beam right-hand member is fixed on installation crossbeam, bottom rack beam Being provided with the guide rail extended along left and right horizontal direction, slide on rails is equipped with slide block, and bottom rack beam, left end is hanged by cylinder Hanging mounting seat and be provided with straight feeding cylinder, the piston rod rod end of straight feeding cylinder is connected horizontally on to the right on slide block, described The telescopic arm that slider bottom is provided with along left and right horizontal direction, telescopic arm extends right up to above stockpile, and telescopic arm is suspended from Equipped with electric magnet bottom arm section above stockpile, upper stockpile position directly above is just passed through suction air cylinder support by rack beam top Being provided with vertical suction cylinder, the piston rod of vertical suction cylinder connects to have straight down crosses over support horizontal stroke along anterior-posterior horizontal direction The connecting plate of beam, bottom connecting plate, front and back ends connects the most straight down vacuum cup connecting rod, two vacuum cup connecting rods Cross rack beam respective side the most straight down and stretch to below telescopic arm, and each vacuum cup connecting rod lower end connects respectively It is connected to vacuum cup.
The adjustable automatic loading and unloading manipulator of one the most according to claim 1, it is characterised in that: rack beam is forward and backward Under the correspondence of side, stockpile top position is equipped with backgauge post by screwed hole respectively, screwed hole have multiple and on rack beam along left Right horizontal direction word order, realizes the adjustable positioning of backgauge post by screwed hole.
The adjustable automatic loading and unloading manipulator of one the most according to claim 1, it is characterised in that: described telescopic arm is suspended from Inner circle location dish it is also equipped with bottom arm section above upper stockpile.
The adjustable automatic loading and unloading manipulator of one the most according to claim 1, it is characterised in that: in the middle of described connecting plate Forming downwards recess, and recess bore is more than the diameter of vertical suction cylinder, the piston rod of vertical suction cylinder is straight down Be connected in notched bottoms, and recess is provided with set buffer spring on the piston rod.
The adjustable automatic loading and unloading manipulator of one the most according to claim 1, it is characterised in that: two stands column is relative Side is connected by screwed hole respectively support mounting seat, and screwed hole has multiple and vertically arranges in bracket upright post respectively, by Screwed hole realizes the adjustable installation of support mounting seat, and the relative one end of two stands mounting seat is connected to along left and right horizontal direction The support mounting seat adjustable slit extended, described rack beam left part is arranged between two stands mounting seat adjustable slit, rack beam The forward and backward side of left part is respectively equipped with multiple screwed hole along left and right horizontal direction word order, and the forward and backward side of rack beam left part with Respective side support mounting seat adjustable slit passes through the adjustable connection of bolt.
The adjustable automatic loading and unloading manipulator of one the most according to claim 1, it is characterised in that: described installation crossbeam by One opposition supports to the support punch press support column arranged, and each support punch press support column is respectively equipped with a multiple vertically word row The screwed hole of row, installs crossbeam and is connected by bolt is adjustable with support punch press support column.
CN201610836427.4A 2016-09-20 2016-09-20 A kind of adjustable automatic loading and unloading manipulator Pending CN106272514A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610836427.4A CN106272514A (en) 2016-09-20 2016-09-20 A kind of adjustable automatic loading and unloading manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610836427.4A CN106272514A (en) 2016-09-20 2016-09-20 A kind of adjustable automatic loading and unloading manipulator

Publications (1)

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CN106272514A true CN106272514A (en) 2017-01-04

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108160231A (en) * 2018-01-16 2018-06-15 洛阳永大重工科技有限公司 One kind, which adds, takes stick machine
CN111203897A (en) * 2020-02-10 2020-05-29 温州职业技术学院 Manipulator of printing machine
CN112061759A (en) * 2020-09-23 2020-12-11 深圳市三联盛科技股份有限公司 Diode packaging feeding device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61183013A (en) * 1985-02-07 1986-08-15 Sumitomo Electric Ind Ltd Article transfer device
CN103861968A (en) * 2012-12-17 2014-06-18 湖北鑫威机械设备有限公司 Feeding lifting device of steady steel plate unstacker
CN104084499A (en) * 2014-06-25 2014-10-08 安徽飞翔电器有限公司 Automatic feeding and discharging control device
CN104525769A (en) * 2014-12-12 2015-04-22 合肥工业大学 Automatic material transferring stamping production line
CN104624829A (en) * 2014-12-12 2015-05-20 合肥工业大学 Automatic feeding and discharging mechanical arm of punch press

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61183013A (en) * 1985-02-07 1986-08-15 Sumitomo Electric Ind Ltd Article transfer device
CN103861968A (en) * 2012-12-17 2014-06-18 湖北鑫威机械设备有限公司 Feeding lifting device of steady steel plate unstacker
CN104084499A (en) * 2014-06-25 2014-10-08 安徽飞翔电器有限公司 Automatic feeding and discharging control device
CN104525769A (en) * 2014-12-12 2015-04-22 合肥工业大学 Automatic material transferring stamping production line
CN104624829A (en) * 2014-12-12 2015-05-20 合肥工业大学 Automatic feeding and discharging mechanical arm of punch press

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108160231A (en) * 2018-01-16 2018-06-15 洛阳永大重工科技有限公司 One kind, which adds, takes stick machine
CN108160231B (en) * 2018-01-16 2020-06-05 洛阳永大重工科技有限公司 Rod adding and taking machine
CN111203897A (en) * 2020-02-10 2020-05-29 温州职业技术学院 Manipulator of printing machine
CN111203897B (en) * 2020-02-10 2021-02-23 温州职业技术学院 Manipulator of printing machine
CN112061759A (en) * 2020-09-23 2020-12-11 深圳市三联盛科技股份有限公司 Diode packaging feeding device

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Application publication date: 20170104

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