CN201952046U - Automatic manipulator device for punching machine - Google Patents
Automatic manipulator device for punching machine Download PDFInfo
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- CN201952046U CN201952046U CN2010206983051U CN201020698305U CN201952046U CN 201952046 U CN201952046 U CN 201952046U CN 2010206983051 U CN2010206983051 U CN 2010206983051U CN 201020698305 U CN201020698305 U CN 201020698305U CN 201952046 U CN201952046 U CN 201952046U
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Abstract
The utility model relates to an automatic manipulator device for a punching machine. The automatic manipulator device comprises a base, Y-axis movement mechanisms, an X-axis movement mechanism, a Y-axis drive source and an X-axis drive source, wherein the Y-axis movement mechanisms, the X-axis movement mechanism, the Y-axis drive source and the X-axis drive source are mounted on the base; the Y-axis drive source is used for driving the Y-axis movement mechanisms; the X-axis drive source is used for driving the X-axis movement mechanism; the X-axis movement mechanism is mounted on a sliding cross beam that is driven by the Y-axis movement mechanisms and moves in the Y-axis direction; a seat body that is driven by the X-axis movement mechanism and moves in the X-axis direction is arranged below the sliding cross beam; a tray used for fixing a to-be-punched plate is arranged below the seat body; springs are arranged between the seat body and the tray; the two ends of the spring are respectively and fixedly connected with the seat body and the tray; an armature fixedly connected with the tray is arranged on the tray; and an electromagnet for attracting or releasing the armature is arranged in the seat body. With the structure, the to-be-punched plate is rapidly and accurately delivered in the assigned position, and the action requirement of the punching machine in punching can be met better, so that the production efficiency is improved, and the labor cost is reduced.
Description
Technical field
The utility model relates to a kind of mechanical feeding device, specifically is a kind of matching used automation arm device of punch that is.
Background technology
In FPC and film printing industry, generally all adopt machining process to realize to the baseline positioning hole of wiring board and printing film.Existing traditional job operation generally adopts S. A. knock hole punch, promptly at first need the operator to move machining sheet with hand, make the shooting orientation for the treatment of to enter punch towards target, punch calculates the target center position according to taking in the target video image, carry out image recognition, result according to image recognition drags sheet material then, makes target center aim at punching position, carries out the punching of high precision.As the patent No. is that the Chinese invention patent of CN02136287.4 (notification number is CN1143763) discloses a kind of image and finds the numerical control punching machine automatically accurately, and it comprises the astigmatic system of body, punching cylinder, punching lever and engine installation thereof, drift guide runner, drift kinematic scheme, lever floating fulcrum regulating mechanism, image capturing system, oblique movement.The working process of this invention is as follows: power supply and source of the gas are connected during initial condition, and the numerical control punching machine that image is found accurately automatically is in the camera work state; After workpiece was put on the workpiece panel, light source saw through the workpiece target center equably by scattering sheet, and light enters image production system, and is imaged on the telltale by the reflection of two Reflector; After the operator moves into target center with the hand travelling workpiece in the scope of telltale regulation, step on foot-operated switch and workpiece and table top are firmly held by a special entity, meanwhile, computer automatically identifies the target center error, and give stepping motor with the feeding signal that error signal is changed X, two coordinates of Y and carry out, realize that promptly the workpiece panel does the feed motion of X, two coordinates of Y with workpiece, and workpiece is corrected to the tram automatically, realize the accurate location of workpiece.The invention has the advantages that by the workpiece behind the coarse positioning being carried out the target center error image and discern, and then realize accurate punching, the punching out precision is higher.
But in above-mentioned punch process, owing to be by operator's manually operated mode conveying workpieces, therefore such mode of operation is not only wasted time and energy, and causes inefficiency, recruitment cost height; And can not rapidly and accurately workpiece be transported and put in place, making that the coarse positioning error of punch is big, sheet material miles of relative movement is excessive when causing subsequent fine to determine the position, has finally reduced the punching speed of punch.
The utility model content
Technical problem to be solved in the utility model is at above-mentioned prior art, provides a kind of energy will treat that the punching material is transported to assigned address quickly and accurately, and can improve the automation arm device of the punch of punching efficient.
The utility model solves the problems of the technologies described above the technical scheme that is adopted: the automation arm device of this punch comprises pedestal, be installed in the y-axis shift actuation mechanism on this pedestal, X-axis travel mechanism and in order to the Y-axis drive source that drives the y-axis shift actuation mechanism and in order to drive the X-axis drive source of X-axis travel mechanism, it is characterized in that: described X-axis travel mechanism is installed on the sliding beam that driven by described y-axis shift actuation mechanism and can move along Y direction, below described sliding beam, then be provided with the pedestal that driven by described X-axis travel mechanism and can move along X-direction, have in order to fixedly to treat the pallet of punching material in this pedestal arranged beneath, between described pedestal and pallet, be provided with two ends respectively with pedestal, the spring that pallet is connected mutually, described pallet is provided with the armature of captiveing joint with pallet, is provided with the electromagnet that described armature is kept adhesive or release position in the described pedestal.Before the punching, electromagnet and armature adhesive, assurance is treated that punching material target center can quick and precisely move and is put in place, avoids treating that shake appears in the punching material in moving process, during punching, electromagnet discharges, punch further moves target center more accurate position, after punching finishes, and spring reset, electromagnet keeps attracting state to armature again, prepares punching next time.So not only realize the fast accurate location of sheet material but also obtained higher punching precision.
Further, described foundation design becomes U-shaped, and described y-axis shift actuation mechanism has two, is installed in respectively on the two side of this pedestal.Like this, make the y-axis shift actuation mechanism of pedestal both sides that sliding beam is had support preferably on the one hand, move along Y direction thereby drive sliding beam more reposefully.On the other hand, punch is seated in this pedestal, promptly pedestal is enclosed in the lateral surface of punch, makes between pedestal and the punch to be cooperated preferably, to make things convenient for the robot device conveying workpieces.
As the further improvement of such scheme, described pedestal top also is provided with to be complementary with pedestal and can be covered with the U-shaped cover that the y-axis shift actuation mechanism is stated in the residence.The U-shaped cover both can have been avoided outside the y-axis shift actuation mechanism is exposed to, and prevented the bonding of dirt such as dust, parts such as man-machine interface such as liquid crystal touch screen and instruction button also can be set in the above, to make things convenient for the man machine communication operation.
Further, the both ends of the both ends of described U-shaped cover and described pedestal are hinged.Like this, the U-shaped cover can upwards start easily, conveniently the parts of base interior is safeguarded, is repaired.
As preferably, described y-axis shift actuation mechanism comprises that the Y-axis line slideway that is laid on the described pedestal side arm, the Y-axis active synchronization belt wheel that is positioned at Y-axis line slideway two ends, the driven synchronous pulley of Y-axis and the Y-axis that is set on above-mentioned Y-axis active synchronization belt wheel, the driven synchronous pulley of Y-axis be with synchronously, other is provided with a Y-axis slide block that slides along described Y-axis line slideway and is connected mutually with the synchronous band of described Y-axis, and the two ends of above-mentioned sliding beam then fix with the Y-axis slide block of respective side respectively; Described Y-axis drive source is a y-axis stepper motor, and this y-axis stepper motor then links by a transmission device and described Y-axis active synchronization belt wheel.
Described transmission device can adopt multiple type of drive such as gear cluster, preferably, described transmission device by be installed in first synchronous pulley on the y-axis stepper motor output shaft, with second synchronous pulley of the coaxial setting of Y-axis active synchronization belt wheel be set in master on first synchronous pulley, second synchronous pulley and be with synchronously and form.
Preferred as above-mentioned arbitrary scheme, described X-axis drive source is the X-axis stepping motor, described X-axis travel mechanism comprises the X-axis line slideway that is installed in described sliding beam side, being positioned at the X-axis active synchronization belt wheel at X-axis line slideway two ends and the driven synchronous pulley of X-axis and X-axis is with synchronously, wherein X-axis active synchronization belt wheel is fixed on the output shaft of described X-axis stepping motor, described X-axis band synchronously is set on X-axis active synchronization belt wheel and the driven synchronous pulley of X-axis, described X-axis line slideway be provided with described X-axis synchronously with the X-axis slide block of captiveing joint, this X-axis slide block also fixes by a contiguous block and described pedestal.Like this, the X-axis stepping motor drives the synchronous Tape movement of X-axis, and X-axis moves with driving with its fixing X-axis slide block synchronously, and then the pedestal that drive is captiveed joint with the X-axis slide block is done equidirectional moving.Place again and treat that the pallet of punching material and pedestal are fixed together, so, finally driven and treated that the punching material moves along X-direction.The same with the y-axis shift actuation mechanism, the type of drive transmission of this employing stepping motor and synchronous band is comparatively smooth-going and transmission accuracy is higher, is convenient to treat the punching material and accurately locatees.
Further, described pedestal is provided with the cavity of the ccontaining described electromagnet of energy.As preferably, described cavity is two, is located at the inboard at pedestal two ends respectively, and accordingly, described armature also is two, is located at the below of cavity respectively.Like this, can guarantee that electromagnet has enough the suction-combining forces to armature.
Further, described spring has four, and two two two ends that are distributed in described pedestal, and each spring respectively are respectively seated in the mounting hole that is arranged on the described pedestal, and the two ends of spring fix by screw and pedestal and pallet respectively.Like this, spring is done deformation slightly, and pallet just can be done trickle move with respect to pedestal, the accurate location that helps treating the punching material, treat that punching finishes after, but the spring at high speed resets.
Preferably, the middle part of described pallet has lightening hole, and lightening hole can alleviate the weight of pallet; The front end both sides of pallet have extension arm respectively, between this two extension arm, be provided with the bonding paper for the treatment of the punching material in order to bonding, treat that the punching material is placed on the bonding paper between the extension arm, helps finishing punching whole treating on the punching material, and cost is low, fixedly treats the punching material easily and fast.Can certainly fixedly treat the punching material by alternate manners such as clips, just punching can't be realized in the clip position of this moment.
Compared with prior art, advantage of the present utility model is: can be by control X-axis drive source, Y-axis drive source, through X-axis travel mechanism, y-axis shift actuation mechanism mobile pallet on demand, the punching material for the treatment of on the pallet is transported to assigned address quickly and accurately; Cooperate with armature by means of spring, electromagnet simultaneously, satisfy the action demand in the punching machine punch process well, thereby the utility model is compared with manual operation, not only moving velocity is significantly improved, and, the target center for the treatment of the punching material all can accurately move to punching position at every turn, thereby reduced the distance that punch drags sheet material, whole punching speed has been improved about half, and behind use the utility model, can reduce operator's labour intensity and recruitment quantity, when reducing the recruitment cost, improve production efficiency greatly.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment;
Fig. 2 is the structural representation at another visual angle of Fig. 1;
Fig. 3 is for adding the structural representation behind the U-shaped cover among Fig. 2;
Fig. 4 removes structural representation behind the pedestal for Fig. 1;
Fig. 5 removes structural representation after the y-axis shift actuation mechanism for Fig. 4;
Fig. 6 is the three-dimensional exploded view of Fig. 5;
Fig. 7 is at the cross-sectional plane three-dimensional cutaway view at spring, electromagnet place among Fig. 5;
Fig. 8 is the controlling party block diagram of the utility model embodiment.
The specific embodiment
Embodiment describes in further detail the utility model below in conjunction with accompanying drawing.
As shown in Figure 1 to Figure 3, the pedestal 1 of the automation arm device of this punch takes the shape of the letter U, be separately installed with y-axis shift actuation mechanism 2 on the left and right sides wall of pedestal 1, X-axis travel mechanism 3 and the corresponding setting of the front side wall of pedestal 1, pedestal 1 top is provided with and is complementary with pedestal 1 and can be covered with the U-shaped cover 17 of y-axis shift actuation mechanism 2, the both ends of U-shaped cover 17 then are hinged with the both ends of pedestal 1 respectively, can easily U-shaped cover 17 be started when needing, man-machine interface such as liquid crystal touch screen and instruction button etc. can be located on the U-shaped cover 17.Be positioned at pedestal 1 inside as the punch with this automatic manipulator matched with devices use, hole punched device then stretches out in the top of pedestal 1, and y-axis shift actuation mechanism 2 and X-axis travel mechanism 3 can treat that the punching material is transported to the drift below of hole punched device exactly.
To shown in Figure 7, y-axis shift actuation mechanism 2 comprises that Y-axis line slideway 2h, the Y-axis active synchronization belt wheel 2e that is positioned at Y-axis line slideway 2h two ends, driven synchronous pulley 2f of Y-axis that is laid on pedestal 1 side arm and the Y-axis that is set on above-mentioned Y-axis active synchronization belt wheel 2e, the driven synchronous pulley 2f of Y-axis be with 2g synchronously as Fig. 4; Other has with this Y-axis and can slide along Y-axis line slideway 2h with the Y-axis slide block 2i that 2g is fixedly connected synchronously, X-direction is provided with a sliding beam 4, this sliding beam 4 is square aluminum pipe, two ends fix with the Y-axis slide block 2i of respective side respectively, and Y-axis slide block 2i slides along Y-axis line slideway 2h and can drive this sliding beam 4 and move along Y direction synchronously.In the present embodiment, the preferred y-axis stepper motor 2a that adopts drives 2 operations of y-axis shift actuation mechanism as the Y-axis drive source, the first synchronous pulley 2b is installed on the output shaft of y-axis stepper motor 2a, with the supporting second synchronous pulley 2c and the coaxial setting of Y-axis active synchronization belt wheel 2e of the first synchronous pulley 2b, the first synchronous pulley 2b and the second synchronous pulley 2c go up sheathed master and are with 2d synchronously, like this, y-axis stepper motor 2a rotates the Y-axis active synchronization belt wheel 2e rotation that drives with the coaxial setting of the second synchronous pulley 2c by driving the first synchronous pulley 2b and the second synchronous pulley 2c, and then drive and to be fixed on Y-axis and to move along Y direction with the Y-axis slide block 2i on the 2g synchronously, reach and drive the purpose that sliding beam 4 moves along Y direction.
To shown in Figure 7, X-axis travel mechanism 3 comprises that the X-axis line slideway 3e that is installed in sliding beam 4 sides, the X-axis active synchronization belt wheel 3b that is positioned at X-axis line slideway 3e two ends and the driven synchronous pulley 3c of X-axis and X-axis are with 3d synchronously as Fig. 4.In the present embodiment, the preferred X-axis stepping motor 3a that adopts moves to drive X-axis travel mechanism 3 as the X-axis drive source, X-axis stepping motor 3a is installed in an end of sliding beam 4, X-axis active synchronization belt wheel 3b is installed on the output shaft of X-axis stepping motor 3a, the driven synchronous pulley 3c of X-axis is installed in the other end of sliding beam 4, and X-axis is with 3d to be set on X-axis active synchronization belt wheel 3b and the driven synchronous pulley 3c of X-axis synchronously.Be provided with two X-axis slide block 3f that can slide in the above on X-axis line slideway 3e, X-axis slide block 3f is with 3d to captive joint with X-axis synchronously.In addition, X-axis slide block 3f is also captiveed joint with pedestal 5 by contiguous block 3g.Like this, X-axis stepping motor 3a drives X-axis and slides with the X-axis slide block 3f that 3d moves to drive fixed thereon synchronously, and then the drive pedestal of captiveing joint with X-axis slide block 3f 5 moves along X-direction.Link together with pedestal 5 owing to placing the pallet 8 for the treatment of the punching material again, treat that the punching material moves around along X-direction so X-axis stepping motor 3a finally can drive.Identical with the type of drive of y-axis shift actuation mechanism 2, adopt this stepping motor and synchronously the type of drive of band can guarantee to move smooth and easy, and can realize higher transmission accuracy, be convenient to treat the punching material and accurately locate.
As shown in Figure 6 and Figure 7, pedestal 5 is positioned at the below of sliding beam 4, be respectively equipped with two mounting holes 7 at the two ends of pedestal 5, spring 6 is arranged in the mounting hole 7, the two ends of pallet 8 also are respectively equipped with and mounting hole 7 cooresponding two through holes 11, the two ends of spring 6 all fix with pedestal 5 and pallet 8 respectively by tightening screw 12, and pallet 8 and pedestal 5 can be moved along X-direction simultaneously.Be provided with two cavitys 13 in the inboard of pedestal 5 two ends mounting holes 7, be placed with electromagnet 10 in the cavity 13, two armature 9 also are installed on the pallet 8, and armature 9 is positioned at the below of cavity 13, under the control of the master controller of robot device, 10 pairs of armature 9 of electromagnet can keep adhesive or release position.The pallet 8 of present embodiment adopts stainless steel, in addition, and for alleviating the weight of pallet 8, have lightening hole 14 at the middle part of pallet 8, for making things convenient for punching, have extension arm 15 respectively in the front of pallet 8, between extension arm 15, then be provided with and be used for the bonding bonding paper (not shown) for the treatment of the punching material.
Present embodiment can be applicable to the knock hole punching of flexible circuitry board industry and film printing industry, the supporting use of punch with the knock hole of FPC, printing film, Fig. 8 has provided the control principle figure when present embodiment and punch are supporting to be used, master controller adopts conventional micro controller system, relevant device in it and target center coordinate database, liquid crystal touch screen, the punch is electrically connected, and its concrete working process is as follows:
At first, treating to treat on the punching material that the two-dimensional coordinate data towards the target center position is input in the target center coordinate database in advance.Then, treat that the punching material sticks on the bonding paper on the pallet 8, press start button, the master controller of present embodiment is started working, and master controller sends control signal, makes armature 9 adhesive mutually on electromagnet 10 and the pallet 8 in the pedestal 5.At last, master controller drives y-axis stepper motor 2a and X-axis stepping motor 3a synchronized operation, carries to be fixed on and treats the punching material on the pallet 8, makes and treats to move on the punching position towards target center.In the above-mentioned course of conveying for the treatment of the punching material, electromagnet 10 remains at attracting state with armature 9, can guarantee like this to treat that the punching material can quick and precisely move puts in place, avoids occurring in motion process shake.When treat the punching material carry put in place after, the pressing plate on the punch will treat that the punching material pushes down, at this moment, master controller sends control signal, release magnet 10, master controller sends the punching signal to punch, punching begins.Punch receives the punching signal, calculates the target center position according to taking in the target video image, carries out image recognition, and the result according to image recognition drags sheet material then, makes target center aim at punching position.Because pallet 8 is connected with pedestal 5 by spring 6, so spring 6 is done deformation slightly can realize that just pallet 8 moves with respect to the trickle of pedestal 5.After treating to move to more accurate position towards target center, punch drives drift and carries out punching.After punching finished, spring 6 resetted, and master controller sends control signal and makes electromagnet 10 and armature 9 adhesive again, prepared the secondary punch process of beginning.In the entire work process, the operator can carry out man machine communication by liquid crystal touch screen and master controller, to realize that simultaneously, liquid crystal touch screen also can be used to show current working state to the controlling of punch process.
The above only is a preferred implementation of the present utility model, should be understood that, for the ordinary skill in the art, do not breaking away under the principle prerequisite of the present utility model, can also make various deformation and improvement, as Y-axis drive source, X-axis drive source being adopted the form of cylinder, the piston rod by cylinder promotes corresponding slide block and slides on line slideway; Perhaps X-axis travel mechanism, y-axis shift actuation mechanism are adopted feed screw nut's structure.Adopt such driving, type of drive, also should be considered as protection domain of the present utility model.The technical scheme of all employing equivalents or equivalent substitute mode formation simultaneously all should fall within the protection domain of the utility model claim.
Claims (10)
1. the automation arm device of a punch, comprise pedestal (1), be installed in the y-axis shift actuation mechanism (2) on this pedestal (1), X-axis travel mechanism (3) and in order to the Y-axis drive source that drives y-axis shift actuation mechanism (2) and in order to drive the X-axis drive source of X-axis travel mechanism (3), it is characterized in that: described X-axis travel mechanism (3) is installed on the sliding beam (4) that driven by described y-axis shift actuation mechanism (2) and can move along Y direction, then be provided with the pedestal (5) that driven by described X-axis travel mechanism (3) and can move along X-direction in described sliding beam (4) below, in this pedestal (5) arranged beneath pallet (8) in order to fixedly to treat the punching material is arranged, between described pedestal (5) and pallet (8), be provided with two ends respectively with pedestal (5), the spring (6) that pallet (8) is connected mutually, described pallet (8) is provided with the armature (9) of captiveing joint with pallet (8), is provided with the electromagnet (10) that described armature (9) is kept adhesive or release position in the described pedestal (5).
2. the automation arm device of punch according to claim 1, it is characterized in that: the U type that is designed to of described pedestal (1), described y-axis shift actuation mechanism (2) has two, is installed in respectively on the two side arms of this pedestal (1).
3. the automation arm device of punch according to claim 2 is characterized in that: described pedestal (1) top also is provided with to be complementary with pedestal (1) and can be covered with the U-shaped cover (17) that y-axis shift actuation mechanism (2) is stated in the residence.
4. the automation arm device of punch according to claim 3, it is characterized in that: the both ends of the both ends of described U-shaped cover (17) and described pedestal (1) are hinged.
5. the automation arm device of punch according to claim 2, it is characterized in that: described y-axis shift actuation mechanism (2) comprises the Y-axis line slideway (2h) that is laid on described pedestal (1) side arm, be positioned at the Y-axis active synchronization belt wheel (2e) at Y-axis line slideway (2h) two ends, the driven synchronous pulley of Y-axis (2f) and be set in above-mentioned Y-axis active synchronization belt wheel (2e), Y-axis on the driven synchronous pulley of Y-axis (2f) is with (2g) synchronously, other is provided with a Y-axis slide block (2i) that slides along described Y-axis line slideway (2h) and is with (2g) to be connected mutually synchronously with described Y-axis, and the two ends of above-mentioned sliding beam (4) then fix with the Y-axis slide block (2i) of respective side respectively; Described Y-axis drive source is y-axis stepper motor (2a), and this y-axis stepper motor (2a) then links by a transmission device and described Y-axis active synchronization belt wheel (2e).
6. the automation arm device of punch according to claim 5 is characterized in that: described transmission device is by being installed in first synchronous pulley (2b) on y-axis stepper motor (2a) output shaft, being with (2d) to form synchronously with second synchronous pulley (2c) of the coaxial setting of Y-axis active synchronization belt wheel (2e) and the master who is set on first synchronous pulley (2b), second synchronous pulley (2c).
7. according to the automation arm device of the described punch of the arbitrary claim of claim 1 to 6, it is characterized in that: described X-axis drive source is X-axis stepping motor (3a), described X-axis travel mechanism (3) comprises the X-axis line slideway (3e) that is installed in described sliding beam (4) side, be positioned at the X-axis active synchronization belt wheel (3b) at X-axis line slideway (3e) two ends and the driven synchronous pulley of X-axis (3c) and X-axis and be with (3d) synchronously, wherein X-axis active synchronization belt wheel (3b) is fixed on the output shaft of described X-axis stepping motor (3a), described X-axis is with (3d) to be set on X-axis active synchronization belt wheel (3b) and the driven synchronous pulley of X-axis (3c) synchronously, described X-axis line slideway (3e) is provided with the X-axis slide block (3f) of captiveing joint with (3d) synchronously with described X-axis, and this X-axis slide block (3f) also fixes by a contiguous block (3g) and described pedestal (5).
8. the automation arm device of punch according to claim 7 is characterized in that: described pedestal (5) be provided with can ccontaining described electromagnet (10) cavity (13).
9. the automation arm device of punch according to claim 7, it is characterized in that: described spring (6) has four, two two two ends that are distributed in described pedestal (5) respectively, and each spring (6) is respectively seated in the mounting hole (7) that is arranged on the described pedestal (5).
10. according to the automation arm device of the described punch of the arbitrary claim of claim 1 to 6, it is characterized in that: the middle part of described pallet (8) has lightening hole (14), the front end both sides have extension arm (15) respectively, are provided with the bonding paper for the treatment of the punching material in order to bonding between this two extension arm (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206983051U CN201952046U (en) | 2010-12-29 | 2010-12-29 | Automatic manipulator device for punching machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206983051U CN201952046U (en) | 2010-12-29 | 2010-12-29 | Automatic manipulator device for punching machine |
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| Publication Number | Publication Date |
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| CN201952046U true CN201952046U (en) | 2011-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206983051U Expired - Lifetime CN201952046U (en) | 2010-12-29 | 2010-12-29 | Automatic manipulator device for punching machine |
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| CN (1) | CN201952046U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102070040A (en) * | 2010-12-29 | 2011-05-25 | 宁波东钱湖旅游度假区润群机械有限公司 | Automatic manipulator device for punching machine |
| WO2013063847A1 (en) * | 2011-10-31 | 2013-05-10 | 深圳市麦肯机电有限公司 | Fully automated punching mechanical hand |
| CN107986005A (en) * | 2017-12-13 | 2018-05-04 | 广州明森科技股份有限公司 | A kind of smart card plate draw-gear |
| CN113180385A (en) * | 2021-06-23 | 2021-07-30 | 民乐县奥星农业科技有限公司 | Automatic traditional Chinese medicine taking and storing cabinet and using method thereof |
-
2010
- 2010-12-29 CN CN2010206983051U patent/CN201952046U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102070040A (en) * | 2010-12-29 | 2011-05-25 | 宁波东钱湖旅游度假区润群机械有限公司 | Automatic manipulator device for punching machine |
| CN102070040B (en) * | 2010-12-29 | 2012-12-12 | 宁波东钱湖旅游度假区润群机械有限公司 | Automatic manipulator device for punching machine |
| WO2013063847A1 (en) * | 2011-10-31 | 2013-05-10 | 深圳市麦肯机电有限公司 | Fully automated punching mechanical hand |
| CN107986005A (en) * | 2017-12-13 | 2018-05-04 | 广州明森科技股份有限公司 | A kind of smart card plate draw-gear |
| CN113180385A (en) * | 2021-06-23 | 2021-07-30 | 民乐县奥星农业科技有限公司 | Automatic traditional Chinese medicine taking and storing cabinet and using method thereof |
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