CN203438241U - Rapidly switching device for mechanical arm tool - Google Patents

Rapidly switching device for mechanical arm tool Download PDF

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Publication number
CN203438241U
CN203438241U CN201320527450.7U CN201320527450U CN203438241U CN 203438241 U CN203438241 U CN 203438241U CN 201320527450 U CN201320527450 U CN 201320527450U CN 203438241 U CN203438241 U CN 203438241U
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CN
China
Prior art keywords
tool
base plate
tong
instrument
manipulator
Prior art date
Application number
CN201320527450.7U
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Chinese (zh)
Inventor
赵盛宇
张松岭
田亮
钟辉
高硕�
Original Assignee
深圳市海目星激光科技有限公司
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Priority to CN201320527450.7U priority Critical patent/CN203438241U/en
Application granted granted Critical
Publication of CN203438241U publication Critical patent/CN203438241U/en

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Abstract

The utility model discloses a rapidly switching device for a machine arm tool. The rapidly switching device comprises a mechanical arm module and a tool module. The tool module comprises at least one tool device, each tool device is provided with machining tools independent of the other tool devices and driving devices for providing driving force for the machining tools, and the mechanical arm module is provided with a general joint assembly which is in matched connection with the tool devices. The rapidly switching device has the advantages of being long in service life and high in work efficiency.

Description

The quick switching device of a kind of robot tool
Technical field
The utility model relates to a kind of automation equipment, particularly the quick switching device of a kind of robot tool.
Background technology
Continuous progress along with the mankind, people have proposed more and more higher requirement to material, in order to meet the material requirement that the mankind are more and more higher, social production pattern changes the pattern of mass automatic production just gradually into, be accompanied by this historical trend, industry mechanical arm is applied in during current industrial automation produces just more and more, and manipulator is used in and in industrial production, has that production efficiency is high, the quality of production stable, save the not available advantages of traditional mode of production pattern such as human cost.At present, manipulator has been used in production line on a large scale, and in production line, each station has corresponding manipulator to process workpiece, has advantages of fast, efficient, safe.Manipulator will be realized and just machining tool need to be installed on manipulator to the process of workpiece processing, by machining tool on each station for the processing of processing work, finally complete a complete product.In order further to improve industrial production efficiency, conventionally can on a manipulator, be provided with a plurality of machining tools.But, be accompanied by the more and more of the machining tool installed on manipulator, in production process, manipulator just there will be unsurmountable defect, be mainly manifested in: first, after processing work increases, the suffered load of manipulator is excessive, and the suffered power of the various drive disk assemblies of manipulator is larger, it is larger to impact, and this situation can reduce the service life of manipulator; On the other hand, due to the space of machining tool can be installed on manipulator, be changeless, after the machining tool of installing on manipulator increases, machining tool between adjacent may cause overlapping on space in when operation, the free degree while having reduced machining tool work, instrument needs to walk some crooked routes to avoid other instruments in process, and this causes operating efficiency to reduce; Have again, when the machining tool of needs is very many, manipulator is these instruments under can all installing not, the quantity that at this time producer just need to increase manipulator is to meet Production requirement, increase along with manipulator quantity, production cost also increases simultaneously, and this is very disadvantageous for manufacturing enterprise.
Utility model content
In order to overcome the deficiencies in the prior art, the utility model provides a kind of robot tool quick switching device, the instrument that solved in the past in production process be arranged on shorten the service life bringing on manipulator, the technological deficiency such as flexibility ratio is low, efficiency is low, cost increase.
The utility model solves the technical scheme that its technical problem adopts:
The quick switching device of a kind of robot tool, this equipment comprises manipulator and tool model, on described tool model, at least include a tool device, each tool device is provided with and is independent of the machining tool of other tool devices and is provided with the universal joint assembly for being connected with described tool device for machining tool provides the drive unit of driving force, described manipulator.
Improvement as technique scheme, described manipulator comprises a manipulator, above-mentioned universal joint assembly is arranged on the free end end of this manipulator, described universal joint assembly comprises joint base plate, on described joint base plate, be fixedly installed and be useful on the connection boss being connected with above-mentioned robot end, being provided with for clamping the tool clamp of above-mentioned tool device in its corresponding both sides of described joint base plate.
Further improvement as technique scheme, described tool model comprises instrument loading plate, on this instrument loading plate, be provided with at least one instrument and place position, above-mentioned tool device is placed on instrument and places on position, described tool device comprises an instrument base plate, and described instrument base plate fixed installation is useful on the machining tool of converted products.
Further improvement as technique scheme, described tool clamp comprises and is hinged on joint sidewall of the bottom plate and curved left tong and right tong, the articulated position of left tong and right tong is medium position, left tong, the top of right tong is hinged with respectively left connector, right connector, described left connector, the free end of right connector is articulated and connected by hinged center pillar, described tool clamp also comprises the driving cylinder block being fixedly located on joint base plate, on this driving cylinder block, fixedly mount tong and drive cylinder, one end of above-mentioned hinged center pillar is connected to described joint base plate by fastening spring, the other end of hinged center pillar is pressed in the push rod end that above-mentioned tong drives cylinder, the corresponding both sides of described instrument base plate are provided with and left tong, right tong is used in conjunction with clamp.
As the further improvement of technique scheme, on described driving cylinder block, be provided with for left tong, right tong are carried out to spacing stop screw.
As the further improvement of technique scheme, described joint base plate middle position is provided with air feed delivery outlet, and described instrument base plate middle position is provided with the air feed input port matching with described air feed delivery outlet.
As the further improvement of technique scheme, on described joint base plate, be provided with porous power source jack, on described instrument base plate, be provided with the spininess attaching plug being used in conjunction with this porous power source jack.
As the further improvement of technique scheme, on described joint base plate, positioning guide column is set, described instrument base plate is provided with the positioning pilot hole matching with above-mentioned positioning guide column.
As the further improvement of technique scheme, on described joint base plate, locating hole is set, described instrument base plate is provided with the positioning boss matching with described locating hole.
As the further improvement of technique scheme, on described instrument base plate or the connecting plate that is fixedly connected with instrument base plate, be provided with placement positioning hole, on described instrument loading plate, be provided with the placement positioning boss matching with described placement positioning hole.
As the further improvement of technique scheme, this equipment also comprises bottom installing plate, and described manipulator and tool model are fixedly mounted on this bottom installing plate.
Further improvement as technique scheme, this equipment also comprises workpiece transportation module, described workpiece transportation module comprises that guide rail of workpiece carries wheels with being arranged on workpiece on described guide rail of workpiece, described workpiece carry wheels be provided with can be above this workpiece be carried wheels the Workpiece carrier plate of conveying workpieces.
The beneficial effects of the utility model are: the utility model provides a kind of robot tool quick switching device, the manipulator of this kind of equipment is not what be fixedly connected with tool model, tool model is provided with at least one tool device, and tool device can be connected to the manipulator in manipulator by the universal joint assembly in manipulator.In actual production process, the workpiece that need to process enters after processing stations, manipulator is processed workpiece after selecting the tool device of needs to be connected to universal joint assembly under the control of control system again, after completing this operation, manipulator sends back to relevant position by tool device, and universal joint assembly unclamps this work piece apparatus and selects other tool devices that need to carry out next manufacturing procedure again.The advantage of this equipment is: first, tool device is no longer fixedly mounted on manipulator, and during each processing work, manipulator only needs to bear the load of a tool device, and load is little, is conducive to extend the service life of whole equipment; Secondly, add at every turn and only have a tool device job man-hour, the instrument on this tool device is not subject to the position influence of other instruments, and flexibility ratio is high, and instrument does not need to walk too much crooked route, and working (machining) efficiency is high; Also have, this equipment can reduce the quantity of installation manipulator so that each manipulator can configure the abundant tool device of quantity, save production cost, has also saved space required in production process simultaneously.This kind of quick switching device of robot tool solved in the past in production process instrument and has been arranged on and the technological deficiency such as shortens, flexibility ratio is low, efficiency is low, cost is large the service life bringing on manipulator.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is the utility model assembling schematic diagram;
Fig. 2 is the assembling schematic diagram of another angle of the utility model;
Fig. 3 is the structural representation of universal joint assembly in the utility model;
Fig. 4 is the structural representation of universal joint assembly the second angle in the utility model;
Fig. 5 is the structural representation of universal joint assembly the 3rd angle in the utility model;
Fig. 6 is the top view of universal joint assembly in the utility model;
Fig. 7 is the upward view of universal joint assembly in the utility model;
Fig. 8 is the front view of universal joint assembly in the utility model;
Fig. 9 is the right view of universal joint assembly in the utility model;
Figure 10 is that in the utility model, tool clamp is arranged on the assembling schematic diagram on joint base plate;
Figure 11 is the assembling schematic diagram that in the utility model, tool clamp is arranged on another angle on joint base plate;
Figure 12 is the structural scheme of mechanism of tool model in the utility model;
Figure 13 is the right view of tool model in the utility model;
Figure 14 is the top view of tool model in the utility model;
Figure 15 is the structural representation of tool device in the utility model;
Figure 16 is the rearview of tool device in the utility model;
Figure 17 is the left view of tool device in the utility model;
Figure 18 is the top view of tool device in the utility model;
Figure 19 is the structural representation of instrument bogey in the utility model;
Figure 20 is the structural representation of workpiece transportation module in the utility model;
Figure 21 is the top view of workpiece transportation module in the utility model;
Figure 22 is the right view of workpiece transportation module in the utility model.
The specific embodiment
With reference to Fig. 1, Fig. 2, Figure 15, the quick switching device of a kind of robot tool, this equipment comprises manipulator 1 and tool model 3, on described tool model 3, at least include a tool device 4, each tool device 4 is provided with and is independent of the machining tool 40 of other tool devices 4 and is provided with the universal joint assembly 2 for being connected with described tool device 4 for machining tool 40 provides the drive unit of driving force, described manipulator 1.
Manipulator 1 and the tool model 3 of this equipment are not hard-wired, but connect by above-mentioned universal joint assembly 2, in production application, be, this equipment can couple together and workpiece is processed according to tool device different in different operation selection tool modules 34 and universal joint assembly 2, this structure has reduced the load of manipulator 1 on the one hand, is conducive to extend its service life; Also can improve on the other hand the running free degree of equipment processing work 40 in running, be conducive to raise the efficiency; Abundant tool device 4 can also be set on tool model 3.
Described manipulator 1 comprises a manipulator 11, above-mentioned universal joint assembly 2 is arranged on the free end end of this manipulator 11, with reference to Fig. 3-8, described universal joint assembly 2 comprises joint base plate 21, on described joint base plate 21, be fixedly installed and be useful on the connection boss 22 being connected with above-mentioned manipulator 11 ends, being provided with in its corresponding both sides for clamping the tool clamp 23 of above-mentioned tool device 4 of described joint base plate 21, described joint base plate 21 sidepieces are also provided with vision sensor 28, industrial camera 291 and lighting device 292, the sidepiece of described universal joint assembly 2 is provided with protective cover 20, this protective cover 20 covers the outside of tool clamp 23, prevent that tool clamp 23 from clipping to parts or operating personnel.
With reference to Figure 12, Figure 13, Figure 14, Figure 19, described tool model 3 comprises tool placing device 30, described tool placing device 30 comprises places base plate 34, on described placement base plate 34, be fixedly installed support post 35, instrument loading plate 31 has been set up in described support post 35 upper ends, on this instrument loading plate 31, be provided with at least one instrument and place position 32, above-mentioned tool device 4 is placed on instrument and places on position 32.With reference to Figure 15-18, described tool device 4 comprises an instrument base plate 41, and described instrument base plate 41 fixed installations are useful on the machining tool 40 of converted products.The machining tool 40 of installing on each work piece apparatus 4 can be identical also can be different, machining tool 40 specifically any instrument will need according to actual processing to determine.
With reference to Fig. 9, Figure 10, Figure 11, described tool clamp 23 comprises and is hinged on joint base plate 21 sidewalls and curved left tong 231 and right tong 232, the articulated position of left tong 231 and right tong 232 is medium position, left tong 231, the top of right tong 232 is hinged with respectively left connector 233, right connector 234, described left connector 233, the free end of right connector 234 is articulated and connected by hinged center pillar 235, described tool clamp 23 also comprises the driving cylinder block 236 being fixedly located on joint base plate 21, on this driving cylinder block 236, fixedly mount tong and drive cylinder 237, one end of above-mentioned hinged center pillar 235 is connected to described joint base plate 21 by fastening spring 238, the other end of hinged center pillar 235 is pressed in the push rod end that above-mentioned tong drives cylinder 237, with reference to Figure 15, Figure 16, the described corresponding both sides of instrument base plate 41 are provided with and left tong 231, right tong 232 is used in conjunction with clamp 42.
On described driving cylinder block 236, be provided with for left tong 231, right tong 232 are carried out to spacing stop screw 239.
The operation principle of above-mentioned tool clamp 23 is: fastening spring 238 is in elastic elongation state, under the elastic force effect of fastening spring 238, left tong 231, there is tong 232 in clamped condition, when tool clamp 23 needs clamping tool device 4, tong drives cylinder 237 to start, its push rod promotes hinged center pillar 235 and moves downward, make left tong 231, right tong 232 unclamps, mobile left tong 231, right tong 232 coordinates with clamp 42, at this time, tong drives cylinder 237 to quit work, left tong 231, right tong 232 returns to clamped condition clamping tool device 4 under the driving of fastening spring 238, tool clamp 23 just can complete the work of a clamping tool device 4.
With reference to Fig. 5, Fig. 7, Figure 15, Figure 18, described joint base plate 21 middle positions are provided with air feed delivery outlet 24, the sidewall of joint base plate 21 is provided with the gas delivery header 241 of coming round with this air feed delivery outlet 24, and described instrument base plate 41 middle positions are provided with the air feed input port 44 matching with described air feed delivery outlet 24.Tool device 4 is connected to after universal joint assembly 2, feeder is connected to after gas delivery header 241, high pressure gas just can be fed in tool device 4 by air feed delivery outlet 24 and coordinating of air feed input port 44, for providing driving force by the machining tool 40 of air cylinder driven in tool device 4.
On described joint base plate 21, be provided with porous power source jack 25, on described instrument base plate 41, be provided with the spininess attaching plug 45 being used in conjunction with this porous power source jack 25.Porous power source jack 25 can supply driven by power for work piece apparatus 4 bodies that are connected on universal joint assembly 2 with the mating reaction of spininess attaching plug 45, and in the present embodiment, porous power source jack 25 is 23 hole jacks, and spininess attaching plug 45 is 23 pin plugs.
On described joint base plate 21, positioning guide column 26 is set, described instrument base plate 41 is provided with the positioning pilot hole 46 matching with above-mentioned positioning guide column 26.
On described joint base plate 21, locating hole 27 is set, described instrument base plate 41 is provided with the positioning boss 47 matching with described locating hole 27.
Above-mentioned stating when positioning guide column 26 contributes to tool device 4 to be connected to universal joint assembly 2 with positioning pilot hole 46, locating hole 27 with positioning boss 47 can navigate to correct position better.
With reference to Figure 15, Figure 19, on described instrument base plate 41 or the connecting plate that is fixedly connected with instrument base plate 41, be provided with placement positioning hole 43, on described instrument loading plate 31, be provided with the placement positioning boss 33 matching with described placement positioning hole 43, placement positioning hole 43 facilitates tool device 4 to be placed into position suitable on instrument loading plate 31 with arranging of placement positioning boss 33.
With reference to this equipment of Fig. 1, Fig. 2, also comprise bottom installing plate 5, described manipulator 1 and tool model 3 are fixedly mounted on this bottom installing plate 5.
With reference to Figure 20, Figure 21, Figure 22, this equipment also comprises workpiece transportation module 6, described workpiece transportation module 6 comprises transportation module base plate 60, described transportation module base plate 60 is provided with post device 64 and guide rail of workpiece 61, workpiece is installed on described guide rail of workpiece 61 and carries wheels 62, above-mentioned guide rail of workpiece 61 comprises the movable guiding rail 612 that is fixedly connected with fixed guide 611 with transportation module base plate 60 and is set in the guide pillar on post device 64 and can slides along guide pillar, described workpiece carry wheels 62 be provided with can be above this workpiece be carried wheels 62 the Workpiece carrier plate 63 of conveying workpieces, during equipment work, the workpiece that workpiece is placed on Workpiece carrier plate 63 is placed on position.
More than that better enforcement of the present utility model is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement under the prerequisite without prejudice to the utility model spirit, and the distortion that these are equal to or replacement are all included in the application's claim limited range.

Claims (10)

1. the quick switching device of robot tool, it is characterized in that: this equipment comprises manipulator (1) and tool model (3), on described tool model (3), at least include a tool device (4), each tool device (4) is provided with and is independent of the machining tool (40) of other tool devices (4) and is provided with the universal joint assembly (2) for being connected with described tool device (4) for machining tool (40) provides the drive unit of driving force, described manipulator (1).
2. the quick switching device of a kind of robot tool according to claim 1, it is characterized in that: described manipulator (1) comprises a manipulator (11), above-mentioned universal joint assembly (2) is arranged on the free end end of this manipulator (11), described universal joint assembly (2) comprises joint base plate (21), on described joint base plate (21), be fixedly installed and be useful on the connection boss (22) being connected with above-mentioned manipulator (11) end, described joint base plate (21) in its corresponding both sides, be provided with the tool clamp (23) for clamping above-mentioned tool device (4).
3. the quick switching device of a kind of robot tool according to claim 2, it is characterized in that: described tool model (3) comprises instrument loading plate (31), on this instrument loading plate (31), be provided with at least one instrument and place position (32), above-mentioned tool device (4) is placed on instrument and places on position (32), described tool device (4) comprises an instrument base plate (41), and described instrument base plate (41) fixed installation is useful on the machining tool (40) of converted products.
4. the quick switching device of a kind of robot tool according to claim 3, it is characterized in that: described tool clamp (23) comprises and is hinged on joint base plate (21) sidewall and curved left tong (231) and right tong (232), the articulated position of left tong (231) and right tong (232) is medium position, left tong (231), the top of right tong (232) is hinged with respectively left connector (233), right connector (234), described left connector (233), the free end of right connector (234) is articulated and connected by hinged center pillar (235), described tool clamp (23) also comprises the driving cylinder block (236) being fixedly located on joint base plate (21), this drives the upper fixed installation of cylinder block (236) tong to drive cylinder (237), one end of above-mentioned hinged center pillar (235) is connected to described joint base plate (21) by fastening spring (238), the other end of hinged center pillar (235) is pressed in the push rod end that above-mentioned tong drives cylinder (237), the described corresponding both sides of instrument base plate (41) are provided with and left tong (231), right tong (232) is used in conjunction with clamp (42).
5. the quick switching device of a kind of robot tool according to claim 4, is characterized in that: on described driving cylinder block (236), be provided with for left tong (231), right tong (232) are carried out to spacing stop screw (239).
6. the quick switching device of a kind of robot tool according to claim 5, it is characterized in that: described joint base plate (21) middle position is provided with air feed delivery outlet (24), described instrument base plate (41) middle position is provided with the air feed input port (44) matching with described air feed delivery outlet (24).
7. the quick switching device of a kind of robot tool according to claim 6, it is characterized in that: on described joint base plate (21), be provided with porous power source jack (25), on described instrument base plate (41), be provided with the spininess attaching plug (45) being used in conjunction with this porous power source jack (25).
8. the quick switching device of a kind of robot tool according to claim 7, it is characterized in that: on described joint base plate (21), positioning guide column (26) is set, described instrument base plate (41) is provided with the positioning pilot hole (46) matching with above-mentioned positioning guide column (26), on described joint base plate (21), locating hole (27) is set, described instrument base plate (41) is provided with the positioning boss (47) matching with described locating hole (27).
9. the quick switching device of a kind of robot tool according to claim 8, it is characterized in that: on described instrument base plate (41) or the connecting plate that is fixedly connected with instrument base plate (41), be provided with placement positioning hole (43), on described instrument loading plate (31), be provided with the placement positioning boss (33) matching with described placement positioning hole (43).
10. according to the quick switching device of a kind of robot tool described in any one in claim 1-9, it is characterized in that: this equipment also comprises bottom installing plate (5), described manipulator (1) and tool model (3) are fixedly mounted on this bottom installing plate (5), this equipment also comprises workpiece transportation module (6), described workpiece transportation module (6) comprises guide rail of workpiece (61) and the workpiece conveying wheels (62) that are arranged on described guide rail of workpiece (61), described workpiece carries wheels (62) to be provided with can carry at this workpiece the Workpiece carrier plate (63) of wheels (62) top conveying workpieces.
CN201320527450.7U 2013-08-28 2013-08-28 Rapidly switching device for mechanical arm tool CN203438241U (en)

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Application Number Priority Date Filing Date Title
CN201320527450.7U CN203438241U (en) 2013-08-28 2013-08-28 Rapidly switching device for mechanical arm tool

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Application Number Priority Date Filing Date Title
CN201320527450.7U CN203438241U (en) 2013-08-28 2013-08-28 Rapidly switching device for mechanical arm tool

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Publication Number Publication Date
CN203438241U true CN203438241U (en) 2014-02-19

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103433928A (en) * 2013-08-28 2013-12-11 深圳市海目星激光科技有限公司 Mechanical arm and tool fast switching equipment
CN104044422A (en) * 2014-06-09 2014-09-17 北方民族大学 Robot for detecting safety of pressure-bearing equipment under sudden-onset disasters
CN104859091A (en) * 2014-02-21 2015-08-26 格力电器(石家庄)有限公司 Equipment for switching mechanical arm fixture
CN105619445A (en) * 2016-02-26 2016-06-01 东莞市速美达自动化有限公司 Robot with quick-changing device
CN110695746A (en) * 2019-09-24 2020-01-17 苏州鑫凯达精密机械有限公司 Automatic change processing tool device and modularization workstation that is applied to thereof

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103433928A (en) * 2013-08-28 2013-12-11 深圳市海目星激光科技有限公司 Mechanical arm and tool fast switching equipment
CN103433928B (en) * 2013-08-28 2016-12-28 深圳市海目星激光科技有限公司 A kind of robot tool is switched fast equipment
CN104859091A (en) * 2014-02-21 2015-08-26 格力电器(石家庄)有限公司 Equipment for switching mechanical arm fixture
CN104044422A (en) * 2014-06-09 2014-09-17 北方民族大学 Robot for detecting safety of pressure-bearing equipment under sudden-onset disasters
CN104044422B (en) * 2014-06-09 2016-05-11 北方民族大学 Bearing device safety detection robot under burst fire-disaster
CN105619445A (en) * 2016-02-26 2016-06-01 东莞市速美达自动化有限公司 Robot with quick-changing device
CN110695746A (en) * 2019-09-24 2020-01-17 苏州鑫凯达精密机械有限公司 Automatic change processing tool device and modularization workstation that is applied to thereof

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Effective date of registration: 20140520

Address after: 114000 Liaoning province Anshan laser hi tech Zone Industrial Park North Park Building No. 1

Patentee after: ANSHAN HYMSON TECHNOLOGIES CO., LTD.

Address before: 518000 Baoan District, Guanlan street, Shenzhen, Guanlan street, community building, No. 2, building 152, No.

Patentee before: Shenzhen Hymson Laser Technology Co., Ltd.

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Owner name: SHENZHEN HYMSON TECHNOLOGY CO., LTD.

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