CN106829437A - Down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel - Google Patents
Down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel Download PDFInfo
- Publication number
- CN106829437A CN106829437A CN201710237879.5A CN201710237879A CN106829437A CN 106829437 A CN106829437 A CN 106829437A CN 201710237879 A CN201710237879 A CN 201710237879A CN 106829437 A CN106829437 A CN 106829437A
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- seat
- screw rod
- support
- screw mandrel
- charging mechanism
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- 239000000463 material Substances 0.000 title claims abstract description 128
- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 241000237858 Gastropoda Species 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 13
- 238000007599 discharging Methods 0.000 claims description 11
- 238000003754 machining Methods 0.000 abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 244000137852 Petrea volubilis Species 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel, including support, power transfering part, material seat and lifting drive portion, the lifting drive portion includes fixed seat and material lifting drive cylinder, the fixed seat is mounted by means of bolts on support, the power transfering part includes screw rod and rocking bar, the screw rod is arranged on internal stent, described rocking bar one end is enclosed within screw rod end, one-way movement bearing is installed between the rocking bar and screw rod, described material lifting drive cylinder one end is articulated and connected with fixed seat, the other end is articulated and connected with rocking bar, the material cover for seat is on screw rod.The present invention can make mechanism supply the material to give materiel machining equipment, and material conveying capacity can be accurately controlled, while mechanism is not afraid of water, it is strong to environmental suitability, while structure cost of investment is low.
Description
【Technical field】
The present invention relates to the technical field that automation equipment aids in loading and unloading equipment, particularly a kind of material General reciprocating is moved
The technical field of down charging mechanism on the mechanical screw mandrel of power.
【Background technology】
Due to the rise of intelligence manufacture, various non-standard equipments also progressively from original manual operations it is increasing to half from
Dynamic fully-automatic equipment transformation.Therefore the auxiliary charging and discharging mechanism of its each equipment is also begun to from artificial feeding blanking to automatic
Loading and unloading change, and due to the cumulative year after year of current cost of labor, cause full automatic charging & discharging machine more and more universal, species
Also more and more, current equipment mainly realizes that material rises supply by stepper motor, but stepper motor price is high, while not
It is adapted to be worked in liquid environment, is susceptible to failure, while is needed in actual production upper and lower according to the product of plurality of specifications
Clamp tool is changed in feeding,
【The content of the invention】
The purpose of the present invention is exactly to solve the problems of the prior art, proposes a kind of material General reciprocating dynamic power machine formula silk
Down charging mechanism on bar, can make mechanism supply the material to give the materiel machining equipment, material conveying capacity can be accurately controlled, together
When mechanism be not afraid of water, it is strong to environmental suitability, while structure cost of investment is low.
To achieve the above object, the present invention proposes a kind of material General reciprocating dynamic power machine upper and lower feeder of formula screw mandrel
Structure, including support, power transfering part, material seat and lifting drive portion, the lifting drive portion include that fixed seat and material are lifted
Power cylinder, the fixed seat is mounted by means of bolts on support, and the power transfering part includes screw rod and rocking bar, the spiral shell
Bar is arranged on internal stent, and described rocking bar one end is enclosed within screw rod end, one-way movement axle is provided between the rocking bar and screw rod
Hold, described material lifting drive cylinder one end is articulated and connected with fixed seat, and the other end is articulated and connected with rocking bar, the material cover for seat exists
On screw rod.
Preferably, also including material fixed part, the material fixed part includes that material fixes power cylinder and material folding arm, institute
State material and fix power cylinder by the way that on the rack-mount discharging opening of bolt, single material is fixed and is symmetrically arranged with power cylinder
Two material folding arms, the material fixes power cylinder to be used to drive two material folding arm foldings to fix material.
Preferably, also including test section, the test section includes fixed support and infrared detection sensor, the fixation
Support is symmetricly set on around the discharging opening on support, and the infrared detection sensor is arranged on fixed support, described infrared
Whether detection sensor is used for measuring on the discharging opening of support have material.
Preferably, the support includes lower bottom base, the seat of honour, support bar and guide post, the two ends of the support bar are distinguished
It is installed on lower bottom base and the seat of honour, the guide post is installed between lower bottom base and the seat of honour.
Preferably, the material seat includes adjustable up-down set and material table, the adjustable up-down set is enclosed within screw rod
On, the material table is installed in adjustable up-down set sidepiece.
Preferably, the adjustable up-down set includes lifting seat stand, determines sleeve, rocking arm, movable snail sleeve, return spring and pressure
Bar, described to determine sleeve and be installed on lifting seat stand, described determine sleeve sidepiece and be hinged to be provided with movable snail sleeve, the movable snail sleeve is in semi-ring
Surveyed in shape, the movable snail sleeve and be provided with screw thread, the one end is hingedly mounted on movable snail sleeve, and the other end is hingedly mounted on liter
On drop seat stand, the rocking arm sidepiece is installed with depression bar, and described return spring one end is connected to determines on sleeve, and the other end is connected to pressure
On bar, the return spring has the pulling force for pressing to movable snail sleeve and determining sleeve, by downward moulded rod, movable snail sleeve can be made outside
Rotate, so that the thread separation on screw thread on movable snail sleeve and screw rod, conversely, after release depression bar, in the drawing of return spring
Movable snail sleeve can be pressed to screw rod under power effect, by rotating screw rod, adjustable up-down can be driven to cover and risen.
Preferably, the material table includes cradling piece and material seat board, the cradling piece lower end is installed in lifting seat stand
On, the material seat board is installed in cradling piece upper end, and the material seat board is used to place material.
Preferably, the type that the material fixes power cylinder is pneumatic linear actuator or hydraulic cylinder.
Preferably, the type of the material lifting drive cylinder is pneumatic linear actuator or hydraulic cylinder.
Beneficial effects of the present invention:The present invention can make machine by will coordinate the rising for realizing material with cylinder and screw rod
Structure supplies the material to give materiel machining equipment, and material conveying capacity can be accurately controlled, while mechanism is not afraid of water, environment is adapted to
Property it is strong, the combination of the mechanical screw mandrel and cylinder that use can be docked directly with industrial robot, so meeting product
The mobility of production efficiency and robot is greatly promoted while matter, can solve some particular places can not use driven by power
As the problem of power source.
Feature of the invention and advantage will be described in detail by embodiment combination accompanying drawing.
【Brief description of the drawings】
Fig. 1 is the front view of down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel of the invention;
Fig. 2 is the stereogram of down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel of the invention;
Fig. 3 is the left view of material seat;
Fig. 4 is the schematic diagram of material seat closed mode;
Fig. 5 is the schematic diagram of material seat open mode;
Fig. 6 is the schematic diagram of material fixed part;
Fig. 7 is the schematic diagram that material lifting drive cylinder is connected with rocking bar.
In figure:2- supports, 21- lower bottom bases, the 22- seats of honour, 23- support bars, 24- guide posts, 3- power transfering parts, 31- spiral shells
Bar, 32- rocking bars, 4- materials seat, 41- adjustable up-downs set, 411- lifting seat stand, 412- determine the dynamic spiral shell of sleeve, 413- rocking arms, 414-
Set, 415- return springs, 416- depression bars, 42- material tables, 421- cradling pieces, 422- materials seat board, 5- lifting drives portion, 51- are solid
Reservation, 52- material lifting drives cylinder, 6- materials fixed part, 61- materials fix power cylinder, 62- material foldings arm, 7- test sections, 71-
Fixed support, 72- infrared detection sensors.
【Specific embodiment】
Refering to Fig. 1 and Fig. 2, down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel of the invention, including branch
Frame 2, power transfering part 3, material seat 4 and lifting drive portion 5, the lifting drive portion 5 include that fixed seat 51 and material lifting are dynamic
Power cylinder 52, the fixed seat 51 is mounted by means of bolts on support 2, and the power transfering part 3 includes screw rod 31 and rocking bar
32, the screw rod 31 is arranged on inside support 2, and the one end of the rocking bar 32 is enclosed within the end of screw rod 31, the rocking bar 32 and screw rod 31
Between one-way movement bearing is installed, described one end of material lifting drive cylinder 52 is articulated and connected with fixed seat 51, the other end with shake
Bar 32 is articulated and connected, and the material seat 4 is enclosed within screw rod 31.Refering to Fig. 3-Fig. 7, also including material fixed part 6, the material is consolidated
Determine portion 6 and fix power cylinder 61 and material folding arm 62 including material, the material is fixed power cylinder 61 and is arranged on support 2 by bolt
Discharging opening on, single material is fixed and two material folding arms 62 is symmetrically arranged with power cylinder 61, and the material fixes power cylinder 61
For driving two foldings of material folding arm 62 to fix material.Also include test section 7, the test section 7 includes fixed support 71 and red
Outer detection sensor 72, the fixed support 71 is symmetricly set on around the discharging opening on support 2, the infrared detection sensor
72 are arranged on fixed support 71, and whether the infrared detection sensor 72 is used for measuring on the discharging opening of support 2 have material.Institute
Stating support 2 includes lower bottom base 21, the seat of honour 22, support bar 23 and guide post 24, and the two ends of the support bar 23 are installed in down respectively
On base 21 and the seat of honour 22, the guide post 24 is installed between lower bottom base 21 and the seat of honour 22.The material seat 4 includes adjustable
Lifting set 41 and material table 42, the adjustable up-down set 41 are enclosed within screw rod 31, and the material table 42 is installed in adjustable liter
Drop 41 sidepieces of set.The adjustable up-down set 41 includes lifting seat stand 411, determines sleeve 412, Rocker arm 4 13, movable snail sleeve 414, return
Spring 415 and depression bar 416, it is described to determine sleeve 412 and be installed on lifting seat stand 411, it is described to determine the sidepiece of sleeve 412 and be hinged to be provided with
Movable snail sleeve 414, the movable snail sleeve 414 is in survey to be provided with screw thread in semi-circular, the movable snail sleeve 414, the one end of the Rocker arm 4 13 hinge
Connect on movable snail sleeve 414, the other end is hingedly mounted on lifting seat stand 411, and the sidepiece of the Rocker arm 4 13 is installed with depression bar
416, the one end of the return spring 415 is connected to determines on sleeve 412, and the other end is connected on depression bar 416, the return spring
415 have the pulling force for pressing to movable snail sleeve 414 and determining sleeve 412, by downward moulded rod 416, movable snail sleeve 414 can be made outwards to turn
It is dynamic, so that the thread separation on screw thread on movable snail sleeve 414 and screw rod 31, conversely, behind release depression bar 416, in return bullet
Movable snail sleeve 414 can be pressed to screw rod 31 under the pulling force effect of spring 415, by rotating screw rod 31, adjustable up-down set can be driven
41 rise.The material table 42 includes cradling piece 421 and material seat board 422, and the lower end of the cradling piece 421 is installed in lifting seat stand
On 411, the material seat board 422 is installed in the upper end of cradling piece 421, and the material seat board 422 is used to place material.The material
The type of fixed power cylinder 61 is pneumatic linear actuator or hydraulic cylinder.The type of the material lifting drive cylinder 52 is pneumatic linear actuator or hydraulic cylinder
The course of work of the present invention:
On a kind of material General reciprocating dynamic power machine formula screw mandrel of the present invention down charging mechanism in the course of the work, by this structure
Installed in the infeed end of automation equipment, procedure declaration is operated as supply object using sand paper herein, first puts sand paper
Put on material table 42, drive rocking bar 32 back and forth to shake by the contractile motion of material lifting drive cylinder 52, due to rocking bar 32 and spiral shell
One-directional rotation bearing is provided between bar 31, so 31 meetings of screw rod are moved toward a direction, movable snail sleeve 414 passes through screw thread and spiral shell
Bar 31 is engaged, and under the drive of screw rod 31, speed of the material seat 4 with material as needed rises, and automation sand paper processing sets
Standby manipulator is constantly taken away the sand paper of the superiors, while the improper supplement of the sand paper of bottom, after sand paper is finished, by hand
Dynamic lower moulded rod 416, drives movable snail sleeve 414 to be turned out by depression bar 416, and the screw thread on movable snail sleeve 414 is separated with screw rod 31,
, be placed on sand paper on material table 42 again then by material 4 slide downwards of seat, repeats aforementioned activities, is sensed by infrared detection
Device 72 can detect the height of sand paper, the signal transmission between sand paper cut-off infrared detection sensor 72, material lifting drive
Cylinder 52 is stopped, and after manipulator takes sand paper, signal connection, material liter is set up again between infrared detection sensor 72
Drop power cylinder 52 restarts work, and the signal between sand paper separates infrared detection sensor 72 again is connected, by thing
The fixed power cylinder 61 of material drives the folding of material folding arm 62, it is possible to use material folding arm 62 clamps material sidepiece.
Down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel of the present invention, by will be with cylinder and screw rod 31
The rising of material is realized in cooperation, and mechanism can be made to supply the material to give the materiel machining equipment, material conveying capacity can accurately control
System, it is strong to environmental suitability while mechanism is not afraid of water, the combination of the mechanical screw mandrel and cylinder that will use can directly with industry
Robot is docked, and the mobility of production efficiency and robot is so greatly promoted while production quality is met, and can be solved
Some particular places can not use driven by power as the problem of power source, be electric power with charging and discharging mechanism dynamical system before
Driving is compared, and mechanism can directly be docked with robot and communicated, and the service efficiency of maximum lift robot, reduction is additionally required
The action of PLC programmings, reduces hand labor intensity, and improving production efficiency increases company's benefit.
The preferred embodiments of the present invention are the foregoing is only, the scope of the claims of the invention, every utilization is not thereby limited
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, be included within the scope of the present invention.
Claims (9)
1. down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel, it is characterised in that:Including support (2), power
Transfer part (3), material seat (4) and lifting drive portion (5), the lifting drive portion (5) lift including fixed seat (51) and material
Power cylinder (52), the fixed seat (51) is mounted by means of bolts on support (2), and the power transfering part (3) is including spiral shell
Bar (31) and rocking bar (32), the screw rod (31) are internal installed in support (2), and described rocking bar (32) one end is enclosed within screw rod (31) end
Portion, is provided with one-way movement bearing between the rocking bar (32) and screw rod (31), described material lifting drive cylinder (52) one end with
Fixed seat (51) is articulated and connected, and the other end is articulated and connected with rocking bar (32), and material seat (4) is enclosed within screw rod (31).
2. down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel as claimed in claim 1, it is characterised in that:
Also include material fixed part (6), the material fixed part (6) fixes power cylinder (61) and material folding arm (62) including material, described
Material is fixed power cylinder (61) and is arranged on the discharging opening on support (2) by bolt, and single material is fixed on power cylinder (61)
It is symmetrically arranged with two material folding arms (62).
3. down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel as claimed in claim 2, it is characterised in that:
Also include test section (7), the test section (7) includes fixed support (71) and infrared detection sensor (72), the fixed branch
Frame (71) is symmetricly set on around the discharging opening on support (2), and the infrared detection sensor (72) is installed in fixed support
(71) on.
4. down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel as claimed in claim 3, it is characterised in that:
The support (2) includes lower bottom base (21), the seat of honour (22), support bar (23) and guide post (24), the two of the support bar (23)
End is installed on lower bottom base (21) and the seat of honour (22) respectively, the guide post (24) be installed in lower bottom base (21) and the seat of honour (22) it
Between.
5. down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel as claimed in claim 3, it is characterised in that:
Material seat (4) includes adjustable up-down set (41) and material table (42), and the adjustable up-down set (41) is enclosed within screw rod
(31) on, the material table (42) is installed in adjustable up-down set (41) sidepiece.
6. down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel as claimed in claim 5, it is characterised in that:
The adjustable up-down set (41) is including lifting seat stand (411), determining sleeve (412), rocking arm (413), movable snail sleeve (414), return
Spring (415) and depression bar (416), it is described to determine sleeve (412) and be installed in lifting seat stand (411), it is described to determine sleeve (412) sidepiece
It is hinged and movable snail sleeve (414) is installed, the movable snail sleeve (414) is surveyed in semi-circular, in the movable snail sleeve (414) and is provided with screw thread,
Described rocking arm (413) one end is hingedly mounted on movable snail sleeve (414), and the other end is hingedly mounted in lifting seat stand (411), described
Rocking arm (413) sidepiece is installed with depression bar (416), and described return spring (415) one end is connected to determines on sleeve (412), the other end
It is connected on depression bar (416), the return spring (415) is with movable snail sleeve (414) to be pressed to the pulling force of determining sleeve (412).
7. down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel as claimed in claim 6, it is characterised in that:
The material table (42) includes cradling piece (421) and material seat board (422), and cradling piece (421) lower end is installed in lifting seat
On platform (411), the material seat board (422) is installed in cradling piece (421) upper end.
8. down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel as claimed in claim 3, it is characterised in that:
The type that the material fixes power cylinder (61) is pneumatic linear actuator or hydraulic cylinder.
9. down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel as claimed in claim 3, it is characterised in that:
The type of the material lifting drive cylinder (52) is pneumatic linear actuator or hydraulic cylinder.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710237879.5A CN106829437B (en) | 2017-04-12 | 2017-04-12 | Material general reciprocating power mechanical type screw rod up-down feeding mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710237879.5A CN106829437B (en) | 2017-04-12 | 2017-04-12 | Material general reciprocating power mechanical type screw rod up-down feeding mechanism |
Publications (2)
Publication Number | Publication Date |
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CN106829437A true CN106829437A (en) | 2017-06-13 |
CN106829437B CN106829437B (en) | 2024-04-23 |
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Application Number | Title | Priority Date | Filing Date |
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CN201710237879.5A Active CN106829437B (en) | 2017-04-12 | 2017-04-12 | Material general reciprocating power mechanical type screw rod up-down feeding mechanism |
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CN (1) | CN106829437B (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110425888A (en) * | 2019-07-08 | 2019-11-08 | 扬州安泰威合金硬面科技有限公司 | A kind of Co-based alloy powder coating smelting furnace charging device |
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KR20130053853A (en) * | 2011-11-16 | 2013-05-24 | 주식회사 프로코텍 | Loading and unloading apparatus for glass panel processing equipment |
CN204223802U (en) * | 2014-09-28 | 2015-03-25 | 东莞市展迅机械科技有限公司 | A kind of rotary feeder |
CN204400075U (en) * | 2014-12-10 | 2015-06-17 | 天津市仟佰億家具有限公司 | A kind of feeding device for plank sheet machining apparatus |
CN105329644A (en) * | 2015-11-20 | 2016-02-17 | 合肥工业大学 | Self-adaption automatic material feeding device |
CN206720279U (en) * | 2017-04-12 | 2017-12-08 | 深圳市嘉熠精密自动化科技有限公司 | Down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel |
-
2017
- 2017-04-12 CN CN201710237879.5A patent/CN106829437B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20130053853A (en) * | 2011-11-16 | 2013-05-24 | 주식회사 프로코텍 | Loading and unloading apparatus for glass panel processing equipment |
CN204223802U (en) * | 2014-09-28 | 2015-03-25 | 东莞市展迅机械科技有限公司 | A kind of rotary feeder |
CN204400075U (en) * | 2014-12-10 | 2015-06-17 | 天津市仟佰億家具有限公司 | A kind of feeding device for plank sheet machining apparatus |
CN105329644A (en) * | 2015-11-20 | 2016-02-17 | 合肥工业大学 | Self-adaption automatic material feeding device |
CN206720279U (en) * | 2017-04-12 | 2017-12-08 | 深圳市嘉熠精密自动化科技有限公司 | Down charging mechanism on a kind of material General reciprocating dynamic power machine formula screw mandrel |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110425888A (en) * | 2019-07-08 | 2019-11-08 | 扬州安泰威合金硬面科技有限公司 | A kind of Co-based alloy powder coating smelting furnace charging device |
CN110425888B (en) * | 2019-07-08 | 2020-11-03 | 扬州安泰威合金硬面科技有限公司 | Feeding device of nickel-based alloy powder coating smelting furnace |
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Publication number | Publication date |
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CN106829437B (en) | 2024-04-23 |
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