CN112974712A - Servo synchronous drive's ten automatic handling devices - Google Patents
Servo synchronous drive's ten automatic handling devices Download PDFInfo
- Publication number
- CN112974712A CN112974712A CN202011548039.9A CN202011548039A CN112974712A CN 112974712 A CN112974712 A CN 112974712A CN 202011548039 A CN202011548039 A CN 202011548039A CN 112974712 A CN112974712 A CN 112974712A
- Authority
- CN
- China
- Prior art keywords
- clamping
- lifting
- base
- feeding
- screw rod
- 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
Links
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 45
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract 1
- 238000005242 forging Methods 0.000 description 7
- 238000000641 cold extrusion Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/40—Special adaptations for controlling two or more stepping motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a servo synchronous driven ten-shaft automatic handling device which comprises a rack, a first stepping beam, a second stepping beam, a first automatic assembly, a second automatic assembly, a third automatic assembly and a fourth automatic assembly, wherein the first stepping beam and the second stepping beam are arranged in parallel, the first automatic assembly and the second automatic assembly are respectively movably connected with the same side ends of the first stepping beam and the second stepping beam, the first automatic assembly and the second automatic assembly are arranged on the rack, and balance cylinders are arranged in the vertical directions of the first automatic assembly, the second automatic assembly, the third automatic assembly and the fourth automatic assembly. By means of synchronous control of the servo motors, products on all stations can be clamped simultaneously, automatic carrying of the products in the die is achieved, participation of personnel and operation intensity are reduced, and production efficiency is improved in a multiplied mode. In the scheme of the invention, the device is provided with a plurality of servo modules, which is beneficial to monitoring each action and process and improves the safety and reliability of the operation of the device.
Description
Technical Field
The invention relates to the field of cold extrusion, in particular to a servo synchronous driven ten-shaft automatic conveying device.
Background
Forging is one of basic processes of mechanical manufacturing and is an indispensable important link of mechanical products. The parts manufactured by the forging process have the advantages of high strength, good toughness, material saving, energy saving and low cost, and are suitable for mass production. With the rapid market competition, the forging operation environment is severe, the prices of labor and raw materials are increased, and more enterprises select automatic forging lines. Most of the traditional forging production lines are produced by a plurality of independent presses and a plurality of persons, the production efficiency is extremely low, and the occupied area of equipment is large.
A servo synchronous driven ten-axis automatic carrying device is needed to solve the above problems.
Disclosure of Invention
The invention provides a servo synchronous driven ten-shaft automatic conveying device, which solves the problems that most of the traditional forging production lines in the prior art are produced by a plurality of independent presses and a plurality of persons independently and manually, the production efficiency is extremely low, and the occupied area of equipment is large.
The invention provides a servo synchronous driven ten-shaft automatic handling device which comprises a rack, a first walking beam, a second walking beam, a first automatic assembly, a second automatic assembly, a third automatic assembly and a fourth automatic assembly, wherein the first walking beam and the second walking beam are arranged in parallel, the first automatic assembly and the second automatic assembly are respectively and movably connected with the same side ends of the first walking beam and the second walking beam, the first automatic assembly and the second automatic assembly are arranged on the rack, the third automatic assembly and the fourth automatic assembly are respectively and fixedly connected with the free ends of the first walking beam and the second walking beam, the third automatic assembly and the fourth automatic assembly are respectively arranged on the rack, the first automatic assembly and the second automatic assembly are used for controlling the clamping and lifting of the first walking beam and the second walking beam, and the third automatic assembly and the fourth automatic assembly are used for controlling the clamping and lifting of the first walking beam and the second walking beam, Lifting and feeding, wherein the servo control system is used for controlling the first automatic assembly, the second automatic assembly, the third automatic assembly and the fourth automatic assembly to move.
On a multi-station forging press, the outer side walls of the left front upright post and the left rear upright post are respectively provided with a lifting module, and a clamping module is placed on the lifting module; the outer side walls of the right front/right rear upright posts are respectively provided with a lifting module, the feeding module is placed on the lifting module, and the clamping module is placed on the feeding module. The front walking beam and the rear walking beam penetrate through the press machine, and two ends of the front walking beam and the rear walking beam are respectively arranged on the clamping module;
each lifting module/clamping module/feeding module is directly driven by a servo motor to drive a precise ball screw and is guided by a precise linear guide rail so as to ensure the accuracy of the action of each mechanism;
four clamping modules at two front/two rear sides: the servo motor drives the ball screw to drive the telescopic shaft to do front and back telescopic motion, and one end of the walking beam is fixed on the telescopic shaft, so that the two walking beams do relative clamping/opening motion;
the bottom parts of the four lifting modules are respectively provided with a balance cylinder for balancing the load of the lifting mass, the servo motor drives the ball screw to realize synchronous lifting, and the four clamping modules are driven to synchronously lift, so that the two stepping beams perform relative lifting/descending actions;
the feeding modules on the two lifting modules on the right side drive the ball screw by the servo motor to push the clamping modules placed on the feeding modules to move left and right, so that left and right feeding/returning actions of the two stepping beams are realized;
the detection of the encoder is completely synchronous with the angle of the crankshaft of the press, and the servo motor is controlled according to the feedback data of the encoder, so that the two stepping beams can accurately and precisely carry and position according to the movement track which is compiled in advance.
The invention relates to a servo synchronous driven ten-shaft automatic handling device, which is a preferable mode.A first automatic assembly comprises a first clamping device and a first lifting device, wherein the first lifting device is arranged at the upper end of a rack, the first clamping device is arranged at the moving end of the first lifting device, and the first clamping device is movably connected with a first stepping beam;
the second automatic assembly comprises a second clamping device and a second lifting device, the second lifting device is arranged at the upper end of the rack, the second clamping device is arranged at the moving end of the second lifting device, and the second clamping device is movably connected with the second stepping beam;
the first clamping device and the second clamping device are used for controlling the distance between the first stepping beam and the second stepping beam; the first lifting device and the second lifting device are used for controlling the heights of the first stepping beam and the second stepping beam.
The invention relates to a servo synchronous driven ten-shaft automatic handling device, which is a preferable mode, wherein a third automatic assembly comprises a third clamping device, a third lifting device and a third feeding device, the third lifting device is arranged at the upper end of a rack, the third feeding device is arranged at the moving end of the lifting device, the third clamping device is arranged at the moving end of the third feeding device, and the third clamping device is fixedly connected with the end part of a first feeding beam;
the fourth automatic assembly comprises a fourth clamping device, a fourth lifting device and a fourth feeding device, the fourth lifting device is arranged at the upper end of the rack, the fourth feeding device is arranged at the moving end of the lifting device, the fourth clamping device is arranged at the moving end of the fourth feeding device, and the fourth clamping device is fixedly connected with the end part of the second stepping beam;
the third clamping device and the fourth clamping device are used for controlling the distance between the first stepping beam and the second stepping beam; the third lifting device and the fourth lifting device are used for controlling the heights of the first stepping beam and the second stepping beam; the third feeding device and the fourth feeding device are used for controlling the longitudinal positions of the first stepping beam and the second stepping beam.
The invention relates to a servo synchronous driven ten-shaft automatic handling device, which is a preferable mode, wherein a first step beam comprises a first left side rod, a first right side rod, a first middle rod, a first linear slide rail and a first connecting rotating shaft, the first left side rod and the first right side rod are respectively coaxially and detachably connected with two ends of the first middle rod, the first linear slide rail is arranged on the side surface of the first left side rod, and the first connecting rotating shaft is arranged on the same side surface of the first right side rod;
the second step-in beam comprises a second left side rod, a second right side rod, a second middle rod, a second linear slide rail and a second connecting rotating shaft, the second left side rod and the second right side rod are coaxially and detachably connected to two ends of the second middle rod respectively, the second linear slide rail is arranged on the side face of the second left side rod, and the second connecting rotating shaft is arranged on the same side face of the second right side rod.
The walking beam is by left and right three section transport pole, and the left side pole is fixed in on the left clamp module through linear guide, and the right side pole is fixed in on the clamp module on right side through connecting the pivot, and the intermediate lever passes through butt joint, will control the pole and link in line.
The invention relates to a servo synchronous driven ten-shaft automatic conveying device, which is a preferable mode, wherein a first clamping device comprises a first clamping base, a first clamping screw rod, a first clamping support plate, a first telescopic shaft and a first supporting seat, the first clamping base is arranged on a first lifting device, the first clamping base is of a horizontal tubular structure with an open upper end, the first clamping screw rod is arranged in the first clamping base, the first clamping support plate is of a tubular structure with a lower end matched with the first clamping screw rod, the first telescopic shaft is arranged at the upper end of the first clamping support plate in parallel with the first clamping screw rod, the first supporting seat is arranged at the tail end of the first clamping base, the first supporting seat is used for supporting the first telescopic shaft, and the first stepping beam is vertically connected with the tail end of the first telescopic shaft through a first linear slide rail;
the second clamping device comprises a second clamping base, a second clamping screw rod, a second clamping support plate, a second telescopic shaft and a second support seat, the second clamping base is arranged on the second lifting device and is of a transverse tubular structure with an open upper end, the second clamping screw rod is arranged in the second clamping base, the lower end of the second clamping support plate is of a tubular structure matched with the second clamping screw rod, the second telescopic shaft is arranged at the upper end of the second clamping support plate in parallel with the second clamping screw rod, the second support seat is arranged at the tail end of the second clamping base and is used for supporting the second telescopic shaft, and the second stepping beam is vertically connected with the tail end of the second telescopic shaft through a second linear slide rail;
the third clamping device comprises a third clamping base, a third clamping screw rod, a third clamping support plate, a third telescopic shaft and a third support seat, the third clamping base is arranged on the third feeding device and is of a transverse tubular structure with an open upper end, the third clamping screw rod is arranged in the third clamping base, the third clamping support plate is of a tubular structure with a lower end matched with the third clamping screw rod, the third telescopic shaft is arranged at the upper end of the third clamping support plate and is parallel to the third clamping screw rod, the third support seat is arranged at the tail end of the third clamping base and is used for supporting the third telescopic shaft, and the first stepping beam is vertically connected with the tail end of the third telescopic shaft through a first connecting rotating shaft;
the fourth clamping device comprises a fourth clamping base, a fourth clamping screw rod, a fourth clamping support plate, a fourth telescopic shaft and a fourth supporting seat, the fourth clamping base is arranged on the fourth feeding device and is of a horizontal tubular structure with an open upper end, the fourth clamping screw rod is arranged inside the fourth clamping base, the fourth clamping support plate is of a tubular structure with a lower end matched with the fourth clamping screw rod, the fourth telescopic shaft is arranged at the upper end of the fourth clamping support plate and is parallel to the fourth clamping screw rod, the fourth supporting seat is arranged at the tail end of the fourth clamping base and is used for supporting the fourth telescopic shaft, and the second stepping beam is perpendicularly connected with the tail end of the fourth telescopic shaft through a second connecting rotating shaft.
The clamping module comprises a clamping base, a clamping screw rod, a linear guide rail, a clamping support plate, a telescopic shaft and a supporting seat. The ball screw is arranged in the clamping base, when the screw rotates, the clamping support plate is pushed to move back and forth along the linear guide rail, and the telescopic shaft on the support plate also extends and retracts left and right along the support seat.
The invention relates to a servo synchronous driven ten-shaft automatic carrying device, which is a preferable mode, wherein a third feeding device comprises a third feeding base, a third feeding screw rod and a third feeding carrier plate, the third feeding base is arranged at the moving end of a third lifting device, the third feeding base is of a transverse tubular structure with an open upper end, the third feeding screw rod is arranged in the third feeding base, the lower end of the third feeding carrier plate is of a tubular structure matched with the third feeding screw rod, and a third clamping base is arranged on the upper surface of the third feeding carrier plate;
the fourth feeding device comprises a fourth feeding base, a fourth feeding screw rod and a fourth feeding support plate, the fourth feeding base is arranged at the moving end of the fourth lifting device, the fourth feeding base is of a transverse tubular structure with an open upper end, the fourth feeding screw rod is arranged in the fourth feeding base, the lower end of the fourth feeding support plate is of a tubular structure matched with the fourth feeding screw rod, and the fourth clamping base is arranged on the upper surface of the fourth feeding support plate;
the third feeding screw rod is parallel to the fourth feeding screw rod, and the third feeding screw rod is vertical to the third clamping screw rod.
The feeding module and the clamping module have basically the same structure and comprise a feeding base, a feeding screw rod, a linear guide rail and a feeding carrier plate. The ball screw is arranged in the feeding base, and when the screw rotates, the feeding support plate is pushed to move left and right along the linear guide rail.
The invention relates to a servo synchronous driven ten-shaft automatic carrying device, which is an optimal selection mode.A first lifting device comprises a first lifting base, a first lifting screw rod and a first lifting carrier plate, wherein the first lifting base is a vertically arranged tubular structure with an open side edge, the first lifting screw rod is arranged in the first lifting base, the first lifting carrier plate is a tubular structure with one side provided with the first lifting screw rod, and the upper end of the first lifting carrier plate is provided with a first clamping device;
the second lifting device comprises a second lifting base, a second lifting screw rod and a second lifting support plate, the second lifting base is a vertically-arranged tubular structure with an open side edge, the second lifting screw rod is arranged in the second lifting base, the second lifting support plate is a tubular structure with one side provided with a part matched with the second lifting screw rod, and a second clamping device is arranged at the upper end of the second lifting support plate;
the third lifting device comprises a third lifting base, a third lifting screw rod and a third lifting support plate, the third lifting base is a vertically-arranged tubular structure with an open side edge, the third lifting screw rod is arranged in the third lifting base, the third lifting support plate is a tubular structure with one side provided with the third lifting screw rod matched with the third lifting support plate, and a third feeding device is arranged at the upper end of the third lifting support plate;
the fourth lifting device comprises a fourth lifting base, a fourth lifting screw rod and a fourth lifting support plate, the fourth lifting base is of a vertically-arranged tubular structure with an open side edge, the fourth lifting screw rod is arranged in the fourth lifting base, the fourth lifting support plate is of a tubular structure with one side provided with the fourth lifting screw rod matched with the fourth lifting support plate, and a fourth feeding device is arranged at the upper end of the fourth lifting support plate;
the first lifting screw rod, the second lifting screw rod, the third lifting screw rod and the fourth lifting screw rod are parallel to each other, and the first lifting screw rod is perpendicular to the first feeding screw rod and the first clamping screw rod.
The lifting module is vertically arranged. The ball screw is arranged in the clamping base, when the screw rotates, the lifting support plate is pushed to move up and down along the linear guide rail, and a balance cylinder at the bottom of the support plate provides lifting balance force; the whole module is fixed on the press through the bracket.
The invention has the following beneficial effects:
(1) by adopting a module type structural design, each module can be replaced according to different stroke requirements;
(2) the high-rigidity structural design is adopted, the precision ball screw is adopted for direct drive, the guide is realized by a precision linear guide rail, and the high-rigidity structure is realized;
(3) and a multi-axis servo motor is adopted for synchronous control, so that each module can keep a certain synchronous operation relation according to requirements.
Drawings
FIG. 1 is a schematic view of a servo-synchronized driven ten-axis automatic handling apparatus;
FIG. 2 is a schematic view of a first robot assembly of a servo-actuated synchronous ten-axis robot handler;
FIG. 3 is a schematic diagram of a second robot assembly of a servo-actuated synchronous ten-axis robot handler;
FIG. 4 is a schematic view of a third robot assembly of a servo-actuated synchronous ten-axis robot handler;
FIG. 5 is a schematic view of a fourth robot assembly of a servo-actuated synchronous ten-axis robot;
FIG. 6 is a schematic view of a first walking beam of a servo synchronous driven ten-axis automatic handling apparatus;
FIG. 7 is a schematic view of a second walking beam of a servo synchronous driven ten-axis automatic handler;
FIG. 8 is a schematic view of a first clamping device of a servo-actuated synchronous ten-axis automatic handling device;
FIG. 9 is a schematic view of a second clamping device of a servo-actuated synchronous ten-axis automatic handling device;
FIG. 10 is a schematic view of a third clamping mechanism of a servo-actuated synchronous ten-axis automatic handler;
FIG. 11 is a schematic view of a fourth clamping device of a servo-actuated synchronous ten-axis automatic handler;
FIG. 12 is a schematic view of a third feed device of a servo synchronous driven ten-axis automatic handler;
FIG. 13 is a schematic view of a fourth feed device of a servo synchronous driven ten-axis automatic handler;
FIG. 14 is a schematic view of a first lifting device of a servo synchronous driven ten-axis automatic transfer device;
FIG. 15 is a schematic view of a second lifting device of a servo synchronous driven ten-axis automatic transfer device;
FIG. 16 is a schematic view of a third lifting device of a servo synchronous driven ten-axis automatic conveying device;
FIG. 17 is a schematic view of a fourth lifting device of a servo synchronous driven ten-axis automatic conveying device.
Reference numerals:
1. a frame; 2. a first step beam; 21. a first left side lever; 22. a first right side bar; 23. a first intermediate lever; 24. a first linear slide rail; 25. a first connecting rotating shaft; 3. secondly, beam feeding is carried out; 31. a second left side bar; 32. a second right side bar; 33. a second intermediate lever; 34. a second linear slide rail; 35. a second connecting rotating shaft; 4. a first automation component; 41. a first clamping device; 411. a first clamping base; 412. a first clamping screw; 413. a first clamping carrier plate; 414. a first telescopic shaft; 415. a first support base; 42. a first lifting device; 421. a first lifting base; 422. a first lifting screw rod; 423. a first lifting carrier plate; 5. a second automation component; 51. a second clamping device; 511. a second clamping base; 512. a second clamping screw rod; 513. a second clamping support plate; 514. a second telescopic shaft; 515. a second support seat; 52. a second lifting device; 521. a second lifting base; 522. a second lifting screw rod; 523. a second lifting support plate; 6. a third automation component; 61. a third clamping device; 611. a third clamping base; 612. a third clamping screw rod; 613. a third clamping support plate; 614. a third telescopic shaft; 615. a third support seat; 62. a third lifting device; 621. a third lifting base; 622. a third lifting screw rod; 623. a third lifting support plate; 63. a third feeding device; 631. a third feeding base; 632. a third feed screw; 633. a third feeding carrier plate; 7. a fourth automation component; 71. a fourth clamping device; 711. a fourth clamping base; 712. a fourth clamping screw rod; 713. a fourth clamping support plate; 714. a fourth telescopic shaft; 715. a fourth supporting seat; 72. a fourth lifting device; 721. a fourth lifting base; 722. a fourth lifting screw rod; 723. a fourth lifting support plate; 73. a fourth feeding device; 731. a fourth feeding base; 732. a fourth feed screw; 733. and a fourth feeding carrier plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
As shown in figure 1, the servo synchronous driven ten-shaft automatic handling device comprises a rack 1, a first stepping beam 2, a second stepping beam 3, a first automatic assembly 4, a second automatic assembly 5, a third automatic assembly 6 and a fourth automatic assembly 7, wherein the first stepping beam 2 and the second stepping beam 3 are arranged in parallel, the first automatic assembly 4 and the second automatic assembly 5 are respectively and movably connected with the same side ends of the first stepping beam 2 and the second stepping beam 3, the first automatic assembly 4 and the second automatic assembly 5 are arranged on the rack 1, the third automatic assembly 6 and the fourth automatic assembly 7 are respectively and fixedly connected with the free ends of the first stepping beam 2 and the second stepping beam 3, the third automatic assembly 6 and the fourth automatic assembly 7 are both arranged on the rack 1, the first automatic assembly 4 and the second automatic assembly 5 are used for controlling the clamping and the lifting of the first stepping beam 2 and the second stepping beam 3, the third automatic assembly 6 and the fourth automatic assembly 7 are used for controlling the clamping, lifting and feeding of the first walking beam 2 and the second walking beam 3, and the servo control system is used for controlling the movement of the first automatic assembly 4, the second automatic assembly 5, the third automatic assembly 6 and the fourth automatic assembly 7.
As shown in fig. 2, the first automatic assembly 4 comprises a first clamping device 41 and a first lifting device 42, the first lifting device 42 is arranged at the upper end of the frame 1, the first clamping device 41 is arranged at the moving end of the first lifting device 42, and the first clamping device 41 is movably connected with the first stepping beam 2;
as shown in fig. 3, the second robot assembly 5 includes a second clamping device 51 and a second lifting device 52, the second lifting device 52 is disposed at the upper end of the frame 1, the second clamping device 51 is disposed at the moving end of the second lifting device 52, and the second clamping device 51 is movably connected with the second stepping beam 3;
the first clamping device 41 and the second clamping device 51 are used for controlling the distance between the first stepping beam 2 and the second stepping beam 3; the first and second lifting devices 42 and 52 are used to control the height of the first and second walking beams 2 and 3.
As shown in fig. 4, the third automatic assembly 6 comprises a third clamping device 61, a third lifting device 62 and a third feeding device 63, the third lifting device 62 is arranged at the upper end of the frame 1, the third feeding device 63 is arranged at the movable end of the lifting device, the third clamping device 61 is arranged at the movable end of the third feeding device 63, and the third clamping device 61 is fixedly connected with the end of the first feed beam 2;
as shown in fig. 5, the fourth automatic assembly 7 comprises a fourth clamping device 71, a fourth lifting device 72 and a fourth feeding device 73, the fourth lifting device 72 is arranged at the upper end of the frame 1, the fourth feeding device 73 is arranged at the moving end of the lifting device, the fourth clamping device 71 is arranged at the moving end of the fourth feeding device 73, and the fourth clamping device 71 is fixedly connected with the end of the second stepping beam 3;
the third clamping device 61 and the fourth clamping device 71 are used for controlling the distance between the first stepping beam 2 and the second stepping beam 3; the third lifting device 62 and the fourth lifting device 72 are used for controlling the heights of the first walking beam 2 and the second walking beam 3; the third feeding device 63 and the fourth feeding device 73 are used to control the longitudinal position of the first walking beam 2 and the second walking beam 3.
As shown in fig. 6, the first walking beam 2 includes a first left side lever 21, a first right side lever 22, a first middle lever 23, a first linear slide 24 and a first connecting rotating shaft 25, the first left side lever 21 and the first right side lever 22 are respectively coaxially and detachably connected to two ends of the first middle lever 23, the first linear slide 24 is disposed on a side surface of the first left side lever 21, and the first connecting rotating shaft 25 is disposed on the same side surface of the first right side lever 22;
as shown in fig. 7, the second walking beam 3 includes a second left side rod 31, a second right side rod 32, a second middle rod 33, a second linear slide 34 and a second connecting rotation shaft 35, the second left side rod 31 and the second right side rod 32 are coaxially and detachably connected to two ends of the second middle rod 33, the second linear slide 34 is disposed on the side of the second left side rod 31, and the second connecting rotation shaft 35 is disposed on the same side of the second right side rod 32.
As shown in fig. 8, the first clamping device 41 includes a first clamping base 411, a first clamping screw 412, a first clamping carrier 413, a first telescopic shaft 414 and a first supporting seat 415, the first clamping base 411 is disposed on the first lifting device 42, the first clamping base 411 is a horizontal tubular structure with an open upper end, the first clamping screw 412 is disposed inside the first clamping base 411, the first clamping carrier 413 is a tubular structure with a lower end matched with the first clamping screw 412, the first telescopic shaft 414 is disposed at the upper end of the first clamping carrier 413 in parallel with the first clamping screw 412, the first supporting seat 415 is disposed at the end of the first clamping base 411, the first supporting seat 415 is used for supporting the first telescopic shaft 414, and the first stepping beam 2 is vertically connected to the end of the first telescopic shaft 414 through a first linear slide rail 24;
as shown in fig. 9, the second clamping device 51 includes a second clamping base 511, a second clamping screw 512, a second clamping carrier 513, a second telescopic shaft 514 and a second support seat 515, the second clamping base 511 is disposed on the second lifting device 52, the second clamping base 511 is a horizontal tubular structure with an open upper end, the second clamping screw 512 is disposed inside the second clamping base 511, the second clamping carrier 513 is a tubular structure with a lower end matched with the second clamping screw 512, the second telescopic shaft 514 is disposed at the upper end of the second clamping carrier 513 parallel to the second clamping screw 512, the second support seat 515 is disposed at the end of the second clamping base 511, the second support seat 515 is used for supporting the second telescopic shaft 514, and the second walking beam 3 is vertically connected to the end of the second telescopic shaft 514 through a second linear slide rail 34;
as shown in fig. 10, the third clamping device 61 includes a third clamping base 611, a third clamping screw 612, a third clamping carrier 613, a third telescopic shaft 614 and a third supporting seat 615, the third clamping base 611 is disposed on the third feeding device 63, the third clamping base 611 is a horizontal tubular structure with an open upper end, the third clamping screw 612 is disposed inside the third clamping base 611, the third clamping carrier 613 is a tubular structure with a lower end matched with the third clamping screw 612, the third telescopic shaft 614 is disposed at the upper end of the third clamping carrier 613 and parallel to the third clamping screw 612, the third supporting seat 615 is disposed at the end of the third clamping base 611, the third supporting seat 615 is used for supporting the third telescopic shaft 614, and the first stepping beam 2 is vertically connected to the end of the third telescopic shaft 614 through the first connecting rotation shaft 25;
as shown in fig. 11, the fourth clamping device 71 includes a fourth clamping base 711, a fourth clamping screw 712, a fourth clamping carrier 713, a fourth telescopic shaft 714 and a fourth supporting seat 715, the fourth clamping base 711 is disposed on the fourth feeding device 73, the fourth clamping base 711 is a horizontal tubular structure with an open upper end, the fourth clamping screw 712 is disposed inside the fourth clamping base 711, the fourth clamping carrier 713 is a tubular structure with a lower end matched with the fourth clamping screw 712, the fourth telescopic shaft 714 is disposed at the upper end of the fourth clamping carrier 713 in parallel with the fourth clamping screw 712, the fourth supporting seat 715 is disposed at the end of the fourth clamping base 711, the fourth supporting seat 715 is used for supporting the fourth telescopic shaft 714, and the second walking beam 3 is vertically connected to the end of the fourth telescopic shaft 714 through the second connecting rotation shaft 35.
As shown in fig. 12, the third feeding device 63 includes a third feeding base 631, a third feeding screw 632 and a third feeding carrier plate 633, the third feeding base 631 is disposed at the moving end of the third lifting device 62, the third feeding base 631 is a horizontal tubular structure with an open upper end, the third feeding screw 632 is disposed inside the third feeding base 631, the lower end of the third feeding carrier plate 633 is a tubular structure matched with the third feeding screw 632, and the third clamping base 611 is disposed on the upper surface of the third feeding carrier plate 633;
as shown in fig. 13, the fourth feeding device 73 includes a fourth feeding base 731, a fourth feeding screw 732 and a fourth feeding carrier 733, the fourth feeding base 731 is disposed at the moving end of the fourth lifting device 72, the fourth feeding base 731 is a horizontal tubular structure with an open upper end, the fourth feeding screw 732 is disposed inside the fourth feeding base 731, the lower end of the fourth feeding carrier 733 is a tubular structure matched with the fourth feeding screw 732, and the fourth clamping base 711 is disposed on the upper surface of the fourth feeding carrier 733;
the third feed screw 632 is parallel to the fourth feed screw 732, and the third feed screw 632 is perpendicular to the third clamping screw 612.
As shown in fig. 14, the first lifting device 42 includes a first lifting base 421, a first lifting screw 422 and a first lifting carrier plate 423, the first lifting base 421 is a vertically-arranged tubular structure with open side, the first lifting screw 422 is disposed inside the first lifting base 421, the first lifting carrier plate 423 is a tubular structure with one side fitted with the first lifting screw 422, and a first clamping device 41 is disposed at the upper end of the first lifting carrier plate 423;
as shown in fig. 15, the second lifting device 52 includes a second lifting base 521, a second lifting screw 522 and a second lifting carrier plate 523, the second lifting base 521 is a vertical tubular structure with open side edges, the second lifting screw 522 is disposed inside the second lifting base 521, the second lifting carrier plate 523 is a tubular structure with one side edge matched with the second lifting screw 522, and a second clamping device 51 is disposed at the upper end of the second lifting carrier plate 523;
as shown in fig. 16, the third lifting device 62 includes a third lifting base 621, a third lifting screw 622 and a third lifting carrier plate 623, the third lifting base 621 is a vertically-arranged tubular structure with open side edges, the third lifting screw 622 is disposed inside the third lifting base 621, the third lifting carrier plate 623 is a tubular structure with one side provided with a fitting part for the third lifting screw 622, and the upper end of the third lifting carrier plate 623 is provided with a third feeding device 63;
as shown in fig. 17, the fourth lifting device 72 includes a fourth lifting base 721, a fourth lifting screw 722 and a fourth lifting carrier 723, the fourth lifting base 721 is a vertical tubular structure with an open side, the fourth lifting screw 722 is disposed inside the fourth lifting base 721, the fourth lifting carrier 723 is a tubular structure with one side fitted with the fourth lifting screw 722, and a fourth feeding device 73 is disposed at the upper end of the fourth lifting carrier 723;
the first lifting screw 422, the second lifting screw 522, the third lifting screw 622 and the fourth lifting screw 722 are parallel to each other, and the first lifting screw 422 is perpendicular to the first feeding screw and the first clamping screw 412.
The control system is controlled by a plurality of servo drivers, and adopts the control mode of a virtual main shaft on the basis of master-slave mode synchronous control,
the virtual main shaft is used for replacing an actual physical main shaft, all the motion shafts needing to be synchronized are used as the auxiliary shafts of the virtual main shaft, and then the motion shafts are controlled by taking the output of the virtual main shaft as the same control instruction, so that the time delay problem existing in the traditional master-slave synchronization control mode is solved, the virtual main shaft cannot be interfered and fluctuated by the outside, and the synchronization performance of the whole system is greatly improved.
The ten-axis automatic carrying device adopts the virtual main shaft to drive the ten-axis servo motor for control, the synchronous control is completely realized by using a software technology, the inherent characteristic of mechanical main shaft synchronization is reserved, the main shaft parameters can be adjusted on line without being limited by actual environment and conditions, the anti-interference capability is strong, and the synchronization precision and the dynamic performance of the system are greatly improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides a servo synchronous drive's ten automatic handling devices which characterized in that: comprises a frame (1), a first walking beam (2), a second walking beam (3), a first automatic assembly (4), a second automatic assembly (5), a third automatic assembly (6) and a fourth automatic assembly (7), wherein the first walking beam (2) and the second walking beam (3) are arranged in parallel, the first automatic assembly (4) and the second automatic assembly (5) are respectively movably connected with the same side end of the first walking beam (2) and the second walking beam (3), the first automatic assembly (4) and the second automatic assembly (5) are arranged on the frame (1), the third automatic assembly (6) and the fourth automatic assembly (7) are respectively fixedly connected with the free end of the first walking beam (2) and the free end of the second walking beam (3), the third automatic assembly (6) and the fourth automatic assembly (7) are both arranged on the frame (1), the first automatic assembly (4) and the second automatic assembly (5) are used for controlling the first walking beam (2) and the second walking beam (3) to clamp and lift, the third automatic assembly (6) and the fourth automatic assembly (7) are used for controlling the first walking beam (2) and the second walking beam (3) to clamp, lift and feed, and the servo control system is used for controlling the first automatic assembly (4), the second automatic assembly (5), the third automatic assembly (6) and the fourth automatic assembly (7) to move.
2. The servo synchronous driven ten-axis automatic transfer device according to claim 1, characterized in that: the first automatic assembly (4) comprises a first clamping device (41) and a first lifting device (42), the first lifting device (42) is arranged at the upper end of the rack (1), the first clamping device (41) is arranged at the moving end of the first lifting device (42), and the first clamping device (41) is movably connected with the first stepping beam (2);
the second automatic assembly (5) comprises a second clamping device (51) and a second lifting device (52), the second lifting device (52) is arranged at the upper end of the rack (1), the second clamping device (51) is arranged at the moving end of the second lifting device (52), and the second clamping device (51) is movably connected with the second stepping beam (3);
the first clamping device (41) and the second clamping device (51) are used for controlling the distance between the first walking beam (2) and the second walking beam (3); the first lifting device (42) and the second lifting device (52) are used for controlling the heights of the first walking beam (2) and the second walking beam (3).
3. The servo synchronous driven ten-axis automatic transfer device according to claim 1, characterized in that: the third automatic assembly (6) comprises a third clamping device (61), a third lifting device (62) and a third feeding device (63), the third lifting device (62) is arranged at the upper end of the rack (1), the third feeding device (63) is arranged at the moving end of the lifting device, the third clamping device (61) is arranged at the moving end of the third feeding device (63), and the third clamping device (61) is fixedly connected with the end part of the first advancing beam (2);
the fourth automatic assembly (7) comprises a fourth clamping device (71), a fourth lifting device (72) and a fourth feeding device (73), the fourth lifting device (72) is arranged at the upper end of the rack (1), the fourth feeding device (73) is arranged at the moving end of the lifting device, the fourth clamping device (71) is arranged at the moving end of the fourth feeding device (73), and the fourth clamping device (71) is fixedly connected with the end part of the second stepping beam (3);
the third clamping device (61) and the fourth clamping device (71) are used for controlling the distance between the first walking beam (2) and the second walking beam (3); the third lifting device (62) and the fourth lifting device (72) are used for controlling the heights of the first walking beam (2) and the second walking beam (3); the third feeding device (63) and the fourth feeding device (73) are used for controlling the longitudinal positions of the first walking beam (2) and the second walking beam (3).
4. The servo synchronous driven ten-axis automatic transfer device according to claim 1, characterized in that: the first walking beam (2) comprises a first left side rod (21), a first right side rod (22), a first middle rod (23), a first linear slide rail (24) and a first connecting rotating shaft (25), the first left side rod (21) and the first right side rod (22) are coaxially and detachably connected to two ends of the first middle rod (23) respectively, the first linear slide rail (24) is arranged on the side surface of the first left side rod (21), and the first connecting rotating shaft (25) is arranged on the same side surface of the first right side rod (22);
second step-in beam (3) includes that second left side pole (31), second right side pole (32), second intermediate lever (33), second linear slide rail (34) and second connect pivot (35), second left side pole (31) second right side pole (32) coaxial respectively can be dismantled the connection and be in second intermediate lever (33) both ends, second linear slide rail (34) set up in second left side pole (31) side, second connect pivot (35) set up in second right side pole (32) is with the side.
5. The servo synchronous driven ten-axis automatic transfer device according to claim 1, characterized in that: the first clamping device (41) comprises a first clamping base (411), a first clamping screw rod (412), a first clamping carrier plate (413), a first telescopic shaft (414) and a first supporting seat (415), the first clamping base (411) is arranged on the first lifting device (42), the first clamping base (411) is a horizontal tubular structure with an open upper end, the first clamping screw rod (412) is arranged inside the first clamping base (411), the first clamping carrier plate (413) is a tubular structure with a lower end matched with the first clamping screw rod (412), the upper end of the first clamping carrier plate (413) and the first clamping screw rod (412) are arranged in parallel to form the first telescopic shaft (414), the first supporting seat (415) is arranged at the tail end of the first clamping base (411), and the first supporting seat (415) is used for supporting the first telescopic shaft (414), the first stepping beam (2) is vertically connected with the tail end of the first telescopic shaft (414) through the first linear sliding rail (24);
the second clamping device (51) comprises a second clamping base (511), a second clamping screw rod (512), a second clamping carrier plate (513), a second telescopic shaft (514) and a second supporting seat (515), the second clamping base (511) is arranged on the second lifting device (52), the second clamping base (511) is a horizontal tubular structure with an open upper end, the second clamping screw rod (512) is arranged in the second clamping base (511), the second clamping carrier plate (513) is a tubular structure with a lower end matched with the second clamping screw rod (512), the second telescopic shaft (514) is arranged at the upper end of the second clamping carrier plate (513) in parallel with the second clamping screw rod (512), the second supporting seat (515) is arranged at the tail end of the second clamping base (511), and the second supporting seat (515) is used for supporting the second telescopic shaft (514), the second stepping beam (3) is vertically connected with the tail end of the second telescopic shaft (514) through the second linear slide rail (34);
the third clamping device (61) comprises a third clamping base (611), a third clamping screw (612), a third clamping carrier (613), a third telescopic shaft (614) and a third supporting seat (615), the third clamping base (611) is arranged on the third feeding device (63), the third clamping base (611) is a horizontal tubular structure with an open upper end, the third clamping screw (612) is arranged in the third clamping base (611), the third clamping carrier (613) is a tubular structure with a lower end matched with the third clamping screw (612), the third telescopic shaft (614) is arranged at the upper end of the third clamping carrier (613) and parallel to the third clamping screw (612), the third supporting seat (615) is arranged at the tail end of the third clamping base (611), and the third supporting seat (615) is used for supporting the third telescopic shaft (614), the first stepping beam (2) is vertically connected with the tail end of the third telescopic shaft (614) through the first connecting rotating shaft (25);
the fourth clamping device (71) comprises a fourth clamping base (711), a fourth clamping screw (712), a fourth clamping carrier plate (713), a fourth telescopic shaft (714) and a fourth supporting seat (715), the fourth clamping base (711) is arranged on the fourth feeding device (73), the fourth clamping base (711) is a horizontal tubular structure with an open upper end, the fourth clamping screw (712) is arranged in the fourth clamping base (711), the fourth clamping carrier plate (713) is a tubular structure with a lower end matched with the fourth clamping screw (712), the fourth telescopic shaft (714) is arranged at the upper end of the fourth clamping carrier plate (713) in parallel with the fourth clamping screw (712), the fourth supporting seat (715) is arranged at the tail end of the fourth clamping base (711), and the fourth supporting seat (715) is used for supporting the fourth telescopic shaft (714), the second stepping beam (3) is vertically connected with the tail end of the fourth telescopic shaft (714) through the second connecting rotating shaft (35).
6. The servo synchronous driven ten-axis automatic transfer device according to claim 1, characterized in that: the third feeding device (63) comprises a third feeding base (631), a third feeding screw rod (632) and a third feeding carrier plate (633), the third feeding base (631) is arranged at the moving end of the third lifting device (62), the third feeding base (631) is of a transverse tubular structure with an open upper end, the third feeding screw rod (632) is arranged inside the third feeding base (631), the lower end of the third feeding carrier plate (633) is of a tubular structure matched with the third feeding screw rod (632), and the third clamping base (611) is arranged on the upper surface of the third feeding carrier plate (633);
the fourth feeding device (73) comprises a fourth feeding base (731), a fourth feeding screw rod (732) and a fourth feeding carrier plate (733), the fourth feeding base (731) is arranged at the moving end of the fourth lifting device (72), the fourth feeding base (731) is a transverse tubular structure with an open upper end, the fourth feeding screw rod (732) is arranged in the fourth feeding base (731), the lower end of the fourth feeding carrier plate (733) is provided with a tubular structure matched with the fourth feeding screw rod (732), and the fourth clamping base (711) is arranged on the upper surface of the fourth feeding carrier plate (733);
the third feeding screw (632) and the fourth feeding screw (732) are parallel, and the third feeding screw (632) is perpendicular to the third clamping screw (612).
7. The servo synchronous driven ten-axis automatic transfer device according to claim 1, characterized in that: the first lifting device (42) comprises a first lifting base (421), a first lifting screw rod (422) and a first lifting carrier plate (423), the first lifting base (421) is a vertically-arranged tubular structure with an open side, the first lifting screw rod (422) is arranged inside the first lifting base (421), the first lifting carrier plate (423) is a tubular structure with one side matched with the first lifting screw rod (422), and the upper end of the first lifting carrier plate (423) is provided with the first clamping device (41);
the second lifting device (52) comprises a second lifting base (521), a second lifting screw rod (522) and a second lifting carrier plate (523), the second lifting base (521) is a vertical tubular structure with an open side, the second lifting screw rod (522) is arranged in the second lifting base (521), the second lifting carrier plate (523) is a tubular structure with one side matched with the second lifting screw rod (522), and the upper end of the second lifting carrier plate (523) is provided with the second clamping device (51);
the third lifting device (62) comprises a third lifting base (621), a third lifting screw rod (622) and a third lifting carrier plate (623), the third lifting base (621) is a vertically-arranged tubular structure with an open side edge, the third lifting screw rod (622) is arranged in the third lifting base (621), the third lifting carrier plate (623) is a tubular structure with one side matched with the third lifting screw rod (622), and the upper end of the third lifting carrier plate (623) is provided with the third feeding device (63);
the fourth lifting device (72) comprises a fourth lifting base (721), a fourth lifting screw rod (722) and a fourth lifting carrier plate (723), the fourth lifting base (721) is a vertical tubular structure with an open side, the fourth lifting screw rod (722) is arranged inside the fourth lifting base (721), the fourth lifting carrier plate (723) is a tubular structure with one side matched with the fourth lifting screw rod (722), and the fourth feeding device (73) is arranged at the upper end of the fourth lifting carrier plate (723);
the first lifting screw rod (422), the second lifting screw rod (522), the third lifting screw rod (622) and the fourth lifting screw rod (722) are parallel to each other, and the first lifting screw rod (422) is perpendicular to the first feeding screw rod and the first clamping screw rod (412).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011548039.9A CN112974712A (en) | 2020-12-24 | 2020-12-24 | Servo synchronous drive's ten automatic handling devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011548039.9A CN112974712A (en) | 2020-12-24 | 2020-12-24 | Servo synchronous drive's ten automatic handling devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112974712A true CN112974712A (en) | 2021-06-18 |
Family
ID=76345050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011548039.9A Pending CN112974712A (en) | 2020-12-24 | 2020-12-24 | Servo synchronous drive's ten automatic handling devices |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112974712A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113926975A (en) * | 2021-11-05 | 2022-01-14 | 连云港杰瑞自动化有限公司 | Ten-degree-of-freedom stepping type automatic carrying device |
| CN113976784A (en) * | 2021-11-05 | 2022-01-28 | 连云港杰瑞自动化有限公司 | Full-automatic forging production line for disc parts |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59156533A (en) * | 1982-12-08 | 1984-09-05 | オイムコ・アクチエンゲゼルシヤフト・フユ−ル・マシ−ネンバウ | Liftable beam manipulator for mold forging press |
| JPH06304690A (en) * | 1993-04-26 | 1994-11-01 | Kurimoto Ltd | Automatic conveying device in forging press |
| CN102173097A (en) * | 2011-02-12 | 2011-09-07 | 中国农业大学 | Multi-station automatic feeding method and device |
| CN103962494A (en) * | 2013-01-24 | 2014-08-06 | 江苏金秆农业装备有限公司 | Multi-station synchronous transferring device on forging forming assembly line |
| CN206981700U (en) * | 2017-08-08 | 2018-02-09 | 浙江景辉机械有限公司 | Servo multi-station forges and presses carrying implement |
| CN207996922U (en) * | 2017-06-06 | 2018-10-23 | 苏州吉泰兴机电设备有限公司 | A kind of three-D pressing robot |
| CN209334629U (en) * | 2019-01-02 | 2019-09-03 | 浙江景辉机械有限公司 | Linear servo forges and presses carrying implement |
| CN209363481U (en) * | 2018-12-03 | 2019-09-10 | 重庆合玉智能装备有限公司 | Both arms three-D stepping stamping system |
| CN111822637A (en) * | 2020-07-01 | 2020-10-27 | 营口锻压机床有限责任公司 | Servo type flexible walking beam mechanism of hot die forging press |
-
2020
- 2020-12-24 CN CN202011548039.9A patent/CN112974712A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59156533A (en) * | 1982-12-08 | 1984-09-05 | オイムコ・アクチエンゲゼルシヤフト・フユ−ル・マシ−ネンバウ | Liftable beam manipulator for mold forging press |
| JPH06304690A (en) * | 1993-04-26 | 1994-11-01 | Kurimoto Ltd | Automatic conveying device in forging press |
| CN102173097A (en) * | 2011-02-12 | 2011-09-07 | 中国农业大学 | Multi-station automatic feeding method and device |
| CN103962494A (en) * | 2013-01-24 | 2014-08-06 | 江苏金秆农业装备有限公司 | Multi-station synchronous transferring device on forging forming assembly line |
| CN207996922U (en) * | 2017-06-06 | 2018-10-23 | 苏州吉泰兴机电设备有限公司 | A kind of three-D pressing robot |
| CN206981700U (en) * | 2017-08-08 | 2018-02-09 | 浙江景辉机械有限公司 | Servo multi-station forges and presses carrying implement |
| CN209363481U (en) * | 2018-12-03 | 2019-09-10 | 重庆合玉智能装备有限公司 | Both arms three-D stepping stamping system |
| CN209334629U (en) * | 2019-01-02 | 2019-09-03 | 浙江景辉机械有限公司 | Linear servo forges and presses carrying implement |
| CN111822637A (en) * | 2020-07-01 | 2020-10-27 | 营口锻压机床有限责任公司 | Servo type flexible walking beam mechanism of hot die forging press |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113926975A (en) * | 2021-11-05 | 2022-01-14 | 连云港杰瑞自动化有限公司 | Ten-degree-of-freedom stepping type automatic carrying device |
| CN113976784A (en) * | 2021-11-05 | 2022-01-28 | 连云港杰瑞自动化有限公司 | Full-automatic forging production line for disc parts |
| CN113976784B (en) * | 2021-11-05 | 2023-05-05 | 连云港杰瑞自动化有限公司 | Full-automatic forging production line for disc parts |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201036799Y (en) | Automatic transferring mechanical arm | |
| CN102554062B (en) | Automatic stamping production line | |
| CN201960197U (en) | Automatic shearing line for special-shaped plates | |
| CN112974712A (en) | Servo synchronous drive's ten automatic handling devices | |
| CN206046984U (en) | A kind of double riveter | |
| CN102756210A (en) | Laser welding device of solar flat plate collector | |
| CN103143977A (en) | Six-working station automatic converting mechanical arm | |
| CN103395060B (en) | Three-axis stamping mechanical arm | |
| CN114406649A (en) | Scissor assembly mechanism for keyboard keys | |
| CN216575372U (en) | Servo synchronous drive's ten automatic handling devices | |
| CN112678294A (en) | Integrated device for cutting and labeling plate | |
| CN206105137U (en) | Automatic weld device | |
| CN205870107U (en) | Automatic loading and unloading mechanism | |
| CN202062447U (en) | Tendon-cut material strip lifting device for automatic IC (integrated circuit) material strip sorting and tendon cutting machine | |
| CN218396835U (en) | Pin inserting mechanism | |
| CN216681043U (en) | Scissor assembly mechanism for keyboard keys | |
| CN201693549U (en) | Dislocation grabbing machine | |
| CN208662869U (en) | A kind of feeding device for allowing the robot to quickly grab stiffening ring | |
| CN113102986A (en) | Six-axis screw locking machine with any inclination angle | |
| CN218050808U (en) | Welding device | |
| CN206588946U (en) | A kind of rapid starting/stopping manipulator | |
| CN215149107U (en) | Truss manipulator capable of being adjusted in multiple directions | |
| CN220362140U (en) | Precise laser cutting machine for plates | |
| CN214265616U (en) | Linear material moving manipulator for nut forging press | |
| CN203438231U (en) | Three-axis punching manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210618 |
|
| RJ01 | Rejection of invention patent application after publication |