CN201036799Y - Automatic transferring mechanical arm - Google Patents
Automatic transferring mechanical arm Download PDFInfo
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- CN201036799Y CN201036799Y CNU2007200689611U CN200720068961U CN201036799Y CN 201036799 Y CN201036799 Y CN 201036799Y CN U2007200689611 U CNU2007200689611 U CN U2007200689611U CN 200720068961 U CN200720068961 U CN 200720068961U CN 201036799 Y CN201036799 Y CN 201036799Y
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- 230000009467 reduction Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
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Abstract
The utility model provides an automatic deportation manipulator, comprising a control device which controls a drive device and a driven device which are arranged between punches. Through a lifting movement working platform and a plane arm, the drive device and the driven device drive a load head to realize movements along an X-axle direction and a Z-axle direction to snatch at or put down workpieces. Wherein, the movements along the X-axle direction and the Z-axle direction and positioning are finished and driven by an AC servo motor which is controlled by a control core of the control device. The speed of the utility model is the highest at home including the same industry in Taiwan areas ( taking six punches as an example, the speed can reach four s), the tasks such as material punching, conveying, feeding and unloading, etc. processed on each punching station by manpower can be replaced. For the processing industries such as punching, etc. with repetitiveness, danger and high speed, the utility model can save manpower labor cost and improve the safety of manpower and equipment.
Description
Technical field
The utility model relates to the continuous production technical field that is used for many punch rams of multiple operation part, simultaneously the workpiece handling on many punch presses is also started the automatic handover manipulator that punch press carries out next technology punching press automatically to next station especially for metal parts after punch ram is finished.
Background technology
At present, known extrustion of metals is by the manually-operated punch press, carries out manual operation, and each punch press need be joined an operator, by the manual delivery workpiece, cause production accident easily, and production efficiency is low between the different operations.
In order to improve ram efficiency, the continuous stamping technology of multiple operation that has been useful at present the separate unit punch press occurs, as Chinese patent Granted publication number " the multiple operation progressive press tool unit that is used for punch press " for the CN2516291Y bulletin, this unit comprises last punch, movable slider, lower cavity die slide block, blanking piece and the die shank that driven by the punch press bent axle, the wedge post that can use as feeder is housed on the punch press head, the upper end of post is fixed on the punch, last punch is fixed on the punch press head by die shank, and the wedge that makes the folding of lower cavity die slide block is equipped with in the bottom; Be provided with a spring wall between last punch and the movable slider.Though this unit has improved production efficiency, it can only be the product of linear multiple working procedure at workpiece.
Also as Chinese patent Granted publication number " the punch press multistation automatic feeding " for the CN2728670Y bulletin, this device comprises drift, lower table, is installed in lower fan, the drive unit of the mould at workbench middle part; On the lower table of punch press, be equipped with and laterally move, again the vertical gripper of clamping and release.This device can be finished multiple working procedure successively on a punch press, blank is advanced on the right, and the left side goes out finished product, and work efficiency is greatly improved.
But up to the present, many punch presses multiple operation is transferred and is controlled at automatically domestic still blank automatically.
The utility model content
The technical problem that the utility model solved is to provide a kind of automatic handover manipulator, should automatically transfer manipulator and be used for metal parts and after punch ram is finished, simultaneously the workpiece handling on many punch presses is carried out next technology punching press to next station and automatic startup punch press, improve efficient greatly.
Technical problem to be solved in the utility model can realize by the following technical solutions:
Automatically transfer manipulator, comprising:
One can be arranged between any two punch presses or the first station punch press before or last station punch press after drive unit, this drive unit is provided with the lifting moving workbench that an oscilaltion mechanism and is installed in the oscilaltion mechanism and is subjected to the driving of oscilaltion mechanism to carry out oscilaltion, and the lifting moving workbench is provided with horizontal mobile mechanism and is subjected to horizontal mobile mechanism to drive the horizontal type arm that carries out horizontal reciprocating movement; Described lifting moving workbench and horizontal type arm all outwards stretch;
Some be arranged between two punch presses or the first station punch press before or last station punch press after slave unit, this slave unit accepts the lifting moving workbench and the horizontal type arm of automatic drive device, slave unit is provided with the driven oscilaltion mechanism that is used for float supporting the unsteady supporting mechanism of described lifting moving workbench and drives the oscilaltion of lifting moving workbench, and described driven oscilaltion mechanism accepts the power of automatic drive device by kinematic link;
Year head mechanism that is arranged on the horizontal type arm and arranges at interval, wherein each punch press is equipped with two covers and carries head mechanism, lays respectively at the both sides of corresponding punch press;
Plurality of fixed is at the intermediate stations transition mechanism of described drive unit or slave unit side, this intermediate stations transition mechanism comprise a workpiece transition gripper shoe at least and adjust workpiece transition gripper shoe up and down height up-down adjustment mechanism and be arranged on the workpiece transition gripper shoe spacing adjustment piece in order to the restriction location of workpiece;
One control device, this control device connect and control the oscilaltion mechanism horizontal mobile mechanism action of described drive unit by circuit, also connect by circuit and detecting element and control each punch press action.
Also be provided with the rack-and-pinion driving mechanism that drives the slave unit action on the lifting moving workbench of drive unit of the present utility model, wherein initiatively tooth bar is vertically mounted on the lifting moving workbench; Driven oscilaltion mechanism on described each slave unit is the rack-and-pinion follower, and wherein driven tooth bar is vertically mounted on the lifting moving workbench, and driving gear and some driven gears are realized transmission of power by the kinematic link serial connection and be synchronized with the movement.
In the utility model, described horizontal type arm is installed on the lifting moving workbench by linear bearing.
In the utility model, oscilaltion mechanism on the described drive unit comprises that one is installed in the lifting servomotor on the drive unit, be installed in the gear reduction box on the drive unit, toggle, the input of gear reduction box connects with the motor shaft of lifting servomotor, the crank that the output of gear reduction box drives toggle rotates, and the connecting rod in the toggle connects with the lifting moving workbench.
Horizontal mobile mechanism in the drive unit of the present utility model comprises that one is installed in the servomotor that moves horizontally on the lifting moving workbench, by the synchronous belt drive mechanism that moves horizontally driven by servomotor, move horizontally gear with driven pulley in the synchronous belt drive mechanism rotates synchronously, and move horizontally gears engaged and be fixed on the horizontal type arm and drive the horizontal rack that the horizontal type arm carries out horizontal reciprocating movement.
Of the present utility model year head mechanism comprises that one is installed in the cantilevered beam members and the head that carries in order to extracting or release workpiece that is installed on the cantilevered beam members on the horizontal type arm.Described year head is vacuum cup or electromagnet.
Described control device comprises a power unit, be installed in the punching press motion detection sensor on each punch press, touch-screen input and display device, the PLC cyclelog, locating module, driver module, described power unit is powered to the The whole control device, be provided with the lifting servomotor in the described locating module and move horizontally the servomotor action data, punching press motion detection sensor, touch-screen input and display device are connected with the signal input part of PLC cyclelog, the PLC cyclelog is connected with locating module, data in the read-write locating module, locating module sends forward operation pulse and inverted running pulse to driver module, and driver module drives the lifting servomotor and moves horizontally servomotor and accept the lifting servomotor and move horizontally the servomotor feedback pulse.
Owing to adopted technical scheme as above, productive temp of the present utility model reaches as high as 4S (is example with 6 punch presses), comprise that at home in the same industry of Taiwan be the highest, can replace manually and on each punching press station, carry out tasks such as material punching press, carrying, loading and unloading.Horizontal type arm of the present utility model is concentrated electricity, gas and is supplied with, and greatly simplifies the structure, and adopts cylinder floating to support, and moves up and down more steady.Adopt gear ﹠ rack structure, make move left and right more reliable.Adopt line slideway between horizontal type arm and the lifting moving workbench, make move left and right more steadily fast, greatly improved efficient.The utility model is being saved manpower labour cost for punching press repeatability, danger, processing industry that beat is high, improves artificial and device security has outstanding advantage.
Description of drawings
Fig. 1 is installed in schematic diagram on the Sheet Metal Forming Technology line for the utility model.
Fig. 2 is the utility model part-structure schematic diagram.
Fig. 3 is the structural representation of the utility model drive unit.
Fig. 4 is the left view of Fig. 3.
Fig. 5 is the vertical view of Fig. 3.
Fig. 6 is an oscilaltion structural scheme of mechanism described in the utility model.
Fig. 7 is a horizontal mobile mechanism structural representation described in the utility model.
Fig. 8 is the structural representation of slave unit described in the utility model.
Fig. 9 is the left view of Fig. 8.
Figure 10 is an intermediate stations transition mechanism structural representation described in the utility model.
Figure 11 is the left view of Figure 10.
Figure 12 is the structural representation of described in the utility model year head mechanism.
Figure 13 is the left view of Figure 12.
Figure 14 is the vertical view of Figure 12.
Figure 15 is the theory diagram of control device described in the utility model.
Figure 16 is the part electrical schematic diagram of control device described in the utility model.
The specific embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the utility model.
The automatic handover manipulator of automatic handover manipulator shown in the accompanying drawing for cooperating six punch presses to use.Referring to Fig. 1 and Fig. 2, should automatically transfer mechanical hand and comprise that being installed in one of position between the 3rd punch press 1 and the 4th punch press 1 overlaps drive unit 2, this drive unit 2 also can be installed between other two punch presses or the back of the front of first punch press 1 or the 6th punch press 1 certainly.The utility model is placed in drive unit 2 between the 3rd punch press 1 and the 4th punch press 1, mainly is to go to consider from the balance of whole manipulator.
Should transfer manipulator automatically and also comprise the slave unit 3 that is placed in position between other two punch presses 1.In general, slave unit 3 is placed in the both sides of drive unit 2.Certainly this slave unit 3 also can be installed in the front of first punch press 1 or the back of the 6th punch press 1.
In order to reduce displacement that horizontal type arm X-direction moves and workpiece to be reformed, placed six intermediate stations transition mechanisms 4 between six punch presses 1 again, intermediate stations transition mechanism 4 is positioned at sheet stock material loading station that drive unit 2 or slave unit 3 sides add the front 13 stations altogether.Whole like this production is controlled automatically by the utility model, has saved manually-operated, has stopped security incident, has improved productive temp.
Referring to Fig. 3, Fig. 4 and Fig. 5, drive unit 2 comprises a frame 21, be provided with the lifting moving workbench 22 that an oscilaltion mechanism and is installed in the oscilaltion mechanism and is subjected to the driving of oscilaltion mechanism to carry out oscilaltion in frame 21, lifting moving workbench 22 is provided with horizontal mobile mechanism and is subjected to horizontal mobile mechanism to drive the horizontal type arm 23 that carries out horizontal reciprocating movement; Lifting moving workbench 22 and horizontal type arm 23 all outwards stretch slave unit 3 and the intermediate stations transition mechanism 4 that extends on each station.Lifting moving workbench 22 and horizontal type arm 23 can adopt profile structure.
Referring to Fig. 6, oscilaltion mechanism on the drive unit 2 comprises that one is installed in lifting servomotor 24, the two-stage gear reduction box 25 on the frame 31, toggle 26, the input of two-stage gear reduction box 5 connects with the motor shaft of lifting servomotor 24, the crank that the output of two-stage gear reduction box 25 drives toggle 26 rotates, and the connecting rod in the toggle 26 connects with lifting moving workbench 22.
The compartment of terrain is equipped with linear bearing 27 on lifting moving workbench 22, and horizontal type arm 23 is installed on the linear bearing 27, and horizontal type arm 23 can move horizontally freely like this.
Referring to Fig. 7, horizontal mobile mechanism in the drive unit 2 comprise one be installed on the lifting moving workbench 22 move horizontally servomotor 24 ', by the synchronous belt drive mechanism 25 that moves horizontally servomotor 24 ' driving ', with synchronous belt drive mechanism 25 ' in driven pulley rotate synchronously move horizontally gear 25 ', with move horizontally gear 25 ' mesh and be fixed on the horizontal type arm 23 and drive the horizontal rack 26 that horizontal type arm 23 carries out horizontal reciprocating movement '.When moving horizontally servomotor 24 ' forward and reverse rotation, move horizontally gear 25 ' rotation like this by synchronous belt drive mechanism 25 ' driving, thus drive horizontal rack 26 ' and horizontal type arm 23 move horizontally, thereby the level that realizes workpiece is transferred.
When making whole lifting moving workbench 22 carry out oscilaltion reposefully, on the lifting moving workbench 22 of drive unit, also be provided with the rack-and-pinion driving mechanism that drives slave unit 23 actions, this rack-and-pinion driving mechanism comprises that one is vertically mounted on the active tooth bar 28 and the driving gear 29 that is installed on the frame 21 on the lifting moving workbench 22, driving gear 29 and initiatively tooth bar 28 engagements.
Referring to Fig. 8 and Fig. 9, each slave unit 3 accepts the lifting moving workbench 22 and the horizontal type arm 23 of automatic drive device 2, the driven oscilaltion mechanism that it comprises frame 21 and is installed in the unsteady supporting mechanism on the frame 21 and drives 22 oscilaltions of lifting moving workbench.Unsteady supporting mechanism is a cylinder 32, and this cylinder 32 supports lifting moving workbench 22 and makes it be in quick condition.Driven oscilaltion mechanism is the rack-and-pinion follower, it comprises driven tooth bar 33 and driven gear 34, driven tooth bar 33 is vertically mounted on the lifting moving workbench 22, driven gear 34 is installed on the frame 31, the driven gear 34 of each slave unit 3 is connected in series by kinematic link 35, realizes transmission of power and is synchronized with the movement.Like this when lifting moving workbench 22 carries out oscilaltion under oscilaltion mechanism drives, the active tooth bar 28 that is fixed on the lifting moving workbench 22 drives driving gear 29 rotations, the driven gear 34 that drives each slave unit 3 by kinematic link 35 synchronously rotates, and driven gear 34 drives driven tooth bar 33 and initiatively tooth bar 28 synchronous oscilaltions again.Thereby guaranteed the oscilaltion that whole lifting moving workbench 22 is stable.
Above-mentioned driving gear 29 and active tooth bar 28 and driven gear 34, driven tooth bar 33 adopt steel and nylon gear pairs, have greatly reduced noise.
Referring to Figure 10 and Figure 11, this intermediate stations transition mechanism comprises a frame 41 and the guide pin bushing 42, nut 43 and the workpiece transition gripper shoe 44 that are installed on the frame 41, guide pillar 45 is installed in guide pin bushing 42, the upper end of guide pillar 45 connects with workpiece transition gripper shoe 44 by securing member, in nut 43, be rotary with ladder type screw rod 46, workpiece transition gripper shoe 44 is withstood in trapezoidal screw 46 upper ends, and rotation trapezoidal screw 46 can be regulated the height up and down of workpiece transition gripper shoe 44.Above-mentioned guide pin bushing 42, guide pillar 45 and nut 43 and trapezoidal screw 46 formations up-down adjustment described in the utility model mechanism.Spacing adjustment piece 47 in order to the restriction location of workpiece is installed on workpiece transition gripper shoe 44, the location of workpiece is ajusted.
Referring to Figure 12, Figure 13 and Figure 14, carry head mechanism comprise one by securing member be installed in the cantilevered beam members 51 on the horizontal type arm 23 and be installed on the cantilevered beam members 51 in order to grasp or discharge workpiece carry 52.Carry 52 and can adopt vacuum cup or electromagnet.Adopt vacuum cup need be equipped with vacuum equipment, the startup of vacuum equipment is controlled by control device.Adopt electromagnet need be equipped with corresponding circuit, the give electricity and the dead electricity of electromagnet are also controlled by control device.
Referring to Figure 15, control device comprises a power unit (not shown), be installed in the punching press motion detection sensor (not shown) on each punch press 1, touch-screen input and display device (not shown), PLC cyclelog 61, locating module 62, driver module 63, power unit is powered to the The whole control device, be provided with the lifting servomotor in the locating module 62 and move horizontally the servomotor action data, punching press motion detection sensor, touch-screen input and display device are connected with the signal input part of PLC cyclelog 61, PLC cyclelog 61 is connected with locating module 62, data in the read-write locating module 62, locating module 62 sends forward operation pulse and inverted running pulse to driver module 63, and driver module 63 drives the lifting servomotor and moves horizontally servomotor and accept the lifting servomotor and move horizontally the servomotor feedback pulse.
But the horizontal type arm 23 that 52 X-direction of carrying above-mentioned automatic handover manipulator 12 of mounting straps between six punch presses 1 move, the lifting moving workbench 22 that Z-direction moves, carry 52 can be used to grasp/put down workpiece; Wherein X-direction moves, Z-direction moves moves and the location drives by AC servo motor and finishes, and servomotor is controlled by the control core of " Programmable Logic Controller (PLC)+positioning unit+servo amplifier ".
The extracting of workpiece/put down is finished by carrying 52; After workpiece is put on the mould of punch press 1 accurately, carry 52 and move to outside punch press 1 mould, start punch press 1 stamped workpieces, punch press 1 punching press finishes to get back to initial point, the punching press motion detection sensor of control device, after detecting the punch press end-of-job as travel switch, move 12 years 52 and grasp workpiece on six punch press 1 moulds simultaneously, be put into down operation, reciprocation cycle; Whole production is controlled automatically by control device, has saved manually-operated, has stopped security incident, has improved productive temp.
Automatic handover manipulator of the present utility model is mainly used in the different punch ram spares of multiple operation and produces continuously, and maximum workpiece weight is no more than 3Kg, and productive temp is no more than 8s (is example with 6 punch presses).Its best user mode is that workpiece is no more than 1Kg, and productive temp is 5s (is example with 6 punch presses), is that 6 All-China Federation of Taiwan Compatriots are moving, and class produces 5000.
More than show and described basic principle of the present utility model and principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present utility model; under the prerequisite that does not break away from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (12)
1. transfer manipulator automatically, it is characterized in that, comprising:
One can be arranged between any two punch presses or the first station punch press before or last station punch press after drive unit, this drive unit is provided with the lifting moving workbench that an oscilaltion mechanism and is installed in the oscilaltion mechanism and is subjected to the driving of oscilaltion mechanism to carry out oscilaltion, and the lifting moving workbench is provided with horizontal mobile mechanism and is subjected to horizontal mobile mechanism to drive the horizontal type arm that carries out horizontal reciprocating movement; Described lifting moving workbench and horizontal type arm all outwards stretch;
Some be arranged between two punch presses or the first station punch press before or last station punch press after slave unit, this slave unit accepts the lifting moving workbench and the horizontal type arm of automatic drive device, slave unit is provided with the driven oscilaltion mechanism that is used for float supporting the unsteady supporting mechanism of described lifting moving workbench and drives the oscilaltion of lifting moving workbench, and described driven oscilaltion mechanism accepts the power of automatic drive device by kinematic link;
Year head mechanism that is arranged on the horizontal type arm and arranges at interval, wherein each punch press is equipped with two covers and carries head mechanism, lays respectively at the both sides of corresponding punch press;
Plurality of fixed is at the intermediate stations transition mechanism of described drive unit or slave unit side, this intermediate stations transition mechanism comprise a workpiece transition gripper shoe at least and adjust workpiece transition gripper shoe up and down height up-down adjustment mechanism and be arranged on the workpiece transition gripper shoe spacing adjustment piece in order to the restriction location of workpiece;
One control device, this control device connect and control the oscilaltion mechanism horizontal mobile mechanism action of described drive unit by circuit, also connect by circuit and detecting element and control each punch press action.
2. automatic handover manipulator according to claim 1, it is characterized in that, also be provided with the rack-and-pinion driving mechanism that drives the slave unit action on the lifting moving workbench of described drive unit, wherein initiatively tooth bar is vertically mounted on the lifting moving workbench; Driven oscilaltion mechanism on described each slave unit is the rack-and-pinion follower, and wherein driven tooth bar is vertically mounted on the lifting moving workbench, and driving gear and some driven gears are realized transmission of power by the kinematic link serial connection and be synchronized with the movement.
3. automatic handover manipulator according to claim 1 is characterized in that described horizontal type arm is installed on the lifting moving workbench by linear bearing.
4. automatic handover manipulator according to claim 1, it is characterized in that, oscilaltion mechanism on the described drive unit comprises that one is installed in the lifting servomotor on the drive unit, be installed in the gear reduction box on the drive unit, toggle, the input of gear reduction box connects with the motor shaft of lifting servomotor, and the crank that the output of gear reduction box drives toggle rotates, and the connecting rod in the toggle connects with the lifting moving workbench.
5. automatic handover manipulator according to claim 1, it is characterized in that, horizontal mobile mechanism in the described drive unit comprises that one is installed in the servomotor that moves horizontally on the lifting moving workbench, by the synchronous belt drive mechanism that moves horizontally driven by servomotor, move horizontally gear with driven pulley in the synchronous belt drive mechanism rotates synchronously, and move horizontally gears engaged and be fixed on the horizontal type arm and drive the horizontal rack that the horizontal type arm carries out horizontal reciprocating movement.
6. automatic handover manipulator according to claim 1 is characterized in that, described year head mechanism comprises that one is installed in the cantilevered beam members and the head that carries in order to extracting or release workpiece that is installed on the cantilevered beam members on the horizontal type arm.
7. automatic handover manipulator according to claim 1, it is characterized in that, described control device comprises a power unit, be installed in the punching press motion detection sensor on each punch press, touch-screen input and display device, the PLC cyclelog, locating module, driver module, described power unit is powered to the The whole control device, be provided with the lifting servomotor in the described locating module and move horizontally the servomotor action data, punching press motion detection sensor, touch-screen input and display device are connected with the signal input part of PLC cyclelog, the PLC cyclelog is connected with locating module, data in the read-write locating module, locating module sends forward operation pulse and inverted running pulse to driver module, and driver module drives the lifting servomotor and moves horizontally servomotor and accept the lifting servomotor and move horizontally the servomotor feedback pulse.
8. automatic handover manipulator according to claim 1 is characterized in that described punch press is six, and described drive unit is installed between the 3rd and the 4th punch press, and described slave unit is placed in the both sides of drive unit 2; Placed six intermediate stations transition mechanisms between six punch presses, intermediate stations transition mechanism 4 is positioned at drive unit 2 or slave unit 3 sides.
9. automatic handover manipulator according to claim 1 is characterized in that described lifting moving workbench and horizontal type arm are profile structure.
10. automatic handover manipulator according to claim 1 is characterized in that described unsteady supporting mechanism is a cylinder, and this cylinder supports lifting moving workbench 22 and makes it be in quick condition.
11. automatic handover manipulator according to claim 1, it is characterized in that, described up-down adjustment mechanism comprises a frame and rack-mounted guide pin bushing, nut, guide pillar is installed in guide pin bushing, the upper end of guide pillar connects with workpiece transition gripper shoe by securing member, be rotary with the ladder type screw rod in nut, workpiece transition gripper shoe is withstood in the trapezoidal screw upper end.
12. automatic handover manipulator according to claim 6 is characterized in that, described year head is that vacuum cup carries head or electromagnet carries head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200689611U CN201036799Y (en) | 2007-04-13 | 2007-04-13 | Automatic transferring mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200689611U CN201036799Y (en) | 2007-04-13 | 2007-04-13 | Automatic transferring mechanical arm |
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| CN201036799Y true CN201036799Y (en) | 2008-03-19 |
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| CN119973436A (en) * | 2025-04-02 | 2025-05-13 | 安徽礌鸿智能装备有限公司 | A fully automatic pick-and-place integrated intelligent sheet metal laser cutting production line |
-
2007
- 2007-04-13 CN CNU2007200689611U patent/CN201036799Y/en not_active Expired - Fee Related
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| CN108788757A (en) * | 2018-08-01 | 2018-11-13 | 常熟市杜尼电子有限责任公司 | The full-automatic tapping die structure of high speed and precision and its tapping method in mould |
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| CN119973436A (en) * | 2025-04-02 | 2025-05-13 | 安徽礌鸿智能装备有限公司 | A fully automatic pick-and-place integrated intelligent sheet metal laser cutting production line |
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