CN203592108U - One-arm multi-machine automatic feeding mechanical arm - Google Patents
One-arm multi-machine automatic feeding mechanical arm Download PDFInfo
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- CN203592108U CN203592108U CN201320779138.7U CN201320779138U CN203592108U CN 203592108 U CN203592108 U CN 203592108U CN 201320779138 U CN201320779138 U CN 201320779138U CN 203592108 U CN203592108 U CN 203592108U
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Abstract
The utility model provides a one-arm multi-machine automatic feeding mechanical arm which comprises a plurality of pressing machines. An auxiliary work table is arranged between every two adjacent pressing machines, an auxiliary work table is arranged in front of the first pressing machine work table, an auxiliary work table is arranged behind the last pressing machine work table, cross beams are arranged on the front sides of the pressing machine work tables and the front sides of the auxiliary work tables, the cross beams achieve Z-axis drive in the vertical direction and X-axis drive in the horizontal direction through drive mechanisms, and tooling is further arranged on the cross beams and corresponds to the pressing machine work tables and the auxiliary work tables. Compared with the prior art, the one-arm multi-machine automatic feeding mechanical arm has the advantages of being simple in structure, convenient to use, ingenious in conception, high in practicability, wide in application range, and easy to popularize.
Description
Technical field
The utility model relates to forging and stamping automation equipment, relates in particular to a kind of single armed multimachine automatic feeder tool hand simple in structure, applied widely.
Background technology
Manipulator can imitate some holding function of staff and arm, is the automatic pilot in order to capture, to carry object or operation tool by fixed routine.Manipulator is the industrial robot occurring the earliest; also be the modern machines people who occurs the earliest; it can replace people's heavy work to realize mechanization and the automation of producing; can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.The manipulator speed of service of prior art is very high, and especially X-axis stroke is larger, and palpus is back and forth frequent, and to power original paper, the depth of parallelism requirement of---rack-and-pinion and the original paper that leads---line slideway is very high.Parallelism error can cause abnormal noise, chatter, greatly affects the service life of line slideway, slide block.Assembly precision is had relatively high expectations simultaneously, and in assembling process, slightly error will cause the loss of larger cost, thereby needs a kind of automatic mechanical hand effectively addressing this problem.
Summary of the invention
Technical assignment of the present utility model is to solve the deficiencies in the prior art, and a kind of simple in structure, energy consumption is low, assembly precision requirement is low single armed multimachine automatic feeder tool hand is provided.
The technical solution of the utility model is, a kind of single armed multimachine automatic feeder tool hand, for the automated handling production line of many press lines, this production line is made up of many press, between two adjacent press, be provided with auxiliary table, before first press bed, be also respectively provided with an auxiliary table after the press bed of end position, the auxiliary table before described first press bed is for place work piece blank.Auxiliary table and press bed spacing are the half of press spacing.Front side at press bed and auxiliary table is provided with crossbeam, and the Z axis that this crossbeam completes vertical direction by driving mechanism drives and the X-axis driving of horizontal direction, and on crossbeam, also corresponding press bed and auxiliary table are provided with terminal-collecting machine.
In technique scheme, press quantity is identical with auxiliary table quantity, and auxiliary table and press bed are equidistantly arranged; The quantity of the terminal-collecting machine arranging on crossbeam is main workbench and auxiliary table quantity sum, can guarantee that so each workbench can have terminal-collecting machine participation work, in practical operation, terminal-collecting machine is realized main workbench and the level of auxiliary table material and picking up of vertical direction, whole punching course flow process completes, automaticity is high, and high efficient and reliable effectively reduces production costs.
As preferably, described driving mechanism comprises a main driving mechanism and some auxiliary drive mechanisms, the quantity of this auxiliary drive mechanism is identical with press number of units, described main driving mechanism is arranged at the middle part of whole line, auxiliary drive mechanism is uniformly distributed in main driving mechanism both sides, and the spacing of adjacent two drive units equals press arrangement pitches.
Described main driving mechanism comprises Z axis drive unit and X-axis drive unit, auxiliary drive mechanism comprises Z axis drive unit, this main bogie comprises main bogie and main lifter plate, and wherein Z axis drive unit is arranged on main bogie, and X-axis drive unit is arranged on main lifter plate; Auxiliary drive mechanism is arranged in process auxiliary drive frame, the built-in assistance for lifting plate of this process auxiliary drive frame and process auxiliary drive support body, and Z axis drive unit is arranged on process auxiliary drive support body.
In technique scheme, main driving mechanism comprises that Z axis vertically drives and X-axis horizontal drive apparatus; The auxiliary drive mechanism of both sides only comprises the vertical drive unit of Z axis.Z axis drive unit and X-axis drive unit drive crossbeam along Z axis, X-axis do respectively vertically, horizontal motion, main driving mechanism and auxiliary drive mechanism cooperative cooperating, can complete Locating driver work accurately.
As preferably, X-axis accurate retarding machine that described X-axis drive unit comprises X-axis servomotor, be connected with this X-axis servo motor shaft, by the X-axis driven wheel of X-axis servomotor control connection, the line slideway of the compound tooth bar being used in conjunction with this X-axis driven wheel is rigidly attached to the downside of crossbeam by Connection Block, the corresponding auxiliary drive of described crossbeam downside position is also provided with X-axis auxiliary straight line guide rail and mount pad thereof; Described Z axis drive unit comprises Z axis servomotor, the Z axis accurate retarding machine that is connected with this Z axis servo motor shaft, by the Z axis driven wheel of Z axis servomotor control connection, and the tooth bar being used in conjunction with this Z axis driven wheel is rigidly attached on lifter plate.This technical scheme is described in detail X-axis drive unit and Z axis drive unit, wherein the line slideway of compound tooth bar refers to guide rail and tooth bar is compound is connected as a single entity, the structure of this technical scheme can further be simplified the structure of whole drive unit, the convenient linear reciprocating motion of realizing X-axis and Z axis.
Further, on described X axis, on the line slideway of compound tooth bar, be provided with X-axis straight-line guide rail slide block, on described X-axis auxiliary straight line guide rail, be provided with too straight-line guide rail slide block, wherein the X-axis line slideway of compound tooth bar and X-axis auxiliary straight line guide rail are arranged on crossbeam below in the position of corresponding main drive and auxiliary drive respectively; The slide block coordinating with it is separately fixed at main lifter plate and assistance for lifting plate top; Under the power set that form at the X-axis drive motors, reductor, the driven wheel that are arranged on main lift slab drive, crossbeam can be under X-axis straight-line guide rail slide block guiding, and lifter plate does rectilinear motion relatively.On described Z axis line slideway, be also provided with straight-line guide rail slide block, wherein the Z axis line slideway in main drive is fixed on main bogie, and the line slideway in auxiliary drive is fixed on process auxiliary drive frame; The slide block coordinating is with it rigidly connected with main lifter plate and assistance for lifting plate respectively; On lifter plate, between two groups of slide blocks, be provided with the Z axis tooth bar coordinating with Z axis gear.Under the power set that form at the Z axis drive motors, reductor, the driven wheel that are arranged in bogie drive, lifter plate can do upper and lower rectilinear motion along Z axis line slideway; Lifter plate is connected with the linear slide parafacies of its slide block composition by X line slideway with crossbeam, thereby lifter plate can drive crossbeam to do Z axis straight reciprocating motion.
As preferably, the two ends up and down of the line slideway of the compound tooth bar of described Z axis are separately installed with upper limit seat and lower limit seat, and Z axis straight-line guide rail slide block is relative sliding on the Z axis line slideway between upper limit seat and lower limit seat.The scope of activities that further restriction Z axis is set of this structure, accurately determines its positioning datum.
As preferably, described X-axis accurate retarding machine is arranged on X-axis reducer pedestal, and Z axis accurate retarding machine is arranged on Z axis reducer pedestal.
Further, in the interior vertical Z-direction of described driving mechanism, be respectively symmetrical arranged a pair of compensating cylinder, the piston rod of this compensating cylinder is connected with Connection Block by floating junction; This compensating cylinder cylinder body is fixed on bogie.This compensating cylinder Connection Block is arranged on lifter plate, and the compensating cylinder Connection Block of main bogie inner side is arranged on main lifter plate, and the compensating cylinder Connection Block of process auxiliary drive frame inner side is arranged on assistance for lifting plate.Because Z axis load is relatively large, thereby drive the power of servomotor to reduce energy consumption for realizing even running and the pinpoint Z axis that reduces of Z axis under high speed simultaneously as far as possible, cost-saving, therefore be respectively symmetrically arranged with a pair of compensating cylinder in main driving mechanism frame and auxiliary drive mechanism frame.
In sum, the beneficial effect that the utility model compared with prior art produced is:
The feature such as that single armed multimachine automatic feeder tool hand of the present utility model has is simple in structure, easy to use, be skillfully constructed, applied widely, can be widely used in the automated material induction system of forging equipment and metal cutting machine, can greatly improve device efficiency, efficiently, reliably, to take up an area space less, open type, enclosed press are all applicable, cost is lower, practical, be easy to promote.
Accompanying drawing explanation
Accompanying drawing 1 is overall structure schematic diagram of the present utility model.
Accompanying drawing 2 is overall structure top views of the present utility model.
Accompanying drawing 3 is main driving mechanism schematic diagrames of the present utility model.
Accompanying drawing 4 is main driving mechanism side views of the present utility model.
Accompanying drawing 5 is auxiliary drive schematic diagrames of the present utility model.
Accompanying drawing 6 is auxiliary drive side views of the present utility model.
Mark in accompanying drawing represents respectively:
1, No. 1 press, 2, No. 2 press, 3, terminal-collecting machine, 4, auxiliary drive mechanism, 5, auxiliary table, 6, main driving mechanism, 7, crossbeam, 8, position, end press, 9, press slide, 10, press bed, 11, the line slideway of compound tooth bar, 12, X-axis driven wheel, 13, X-axis servomotor, 14, X-axis reducer pedestal, 15, compensating cylinder, 16, main bogie, 17, Z axis servomotor, 18, Z axis accurate retarding machine, 19, main lifter plate, 20, floating junction, 21, compensating cylinder Connection Block, 22, Z axis straight-line guide rail slide block, 23, X-axis accurate retarding machine, 24, lower limit seat, 25, upper limit seat, 26, Z axis line slideway, 27, process auxiliary drive frame, 28, assistance for lifting plate, 29, X-axis auxiliary straight line guide rail slide block, 30, X-axis straight-line guide rail slide block, 31, the line slideway mount pad of compound tooth bar, 32, Z axis tooth bar, 33, Z axis driven wheel, 34, X-axis auxiliary straight line guide rail, 35, X-axis auxiliary guide rail mount pad, 36, Z axis reducer pedestal.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of a kind of single armed multimachine automatic feeder tool hand of the present utility model is described in detail below.
As shown in accompanying drawing 1～Fig. 6, a kind of single armed multimachine automatic feeder tool hand shown in the utility model, comprises many press, and every press slide 9 and workbench 10 are provided with station die.Described press both sides are provided with auxiliary table 5, be provided with crossbeam 7 in the front side of press bed and auxiliary table, the Z axis that this crossbeam completes vertical direction by driving mechanism drives and the X-axis driving of horizontal direction, and on crossbeam, also corresponding press bed and auxiliary table are provided with terminal-collecting machine 3.
Described driving mechanism comprises main driving mechanism 6 and several auxiliary drive mechanisms 4, and this main driving mechanism comprises Z axis drive unit and X-axis drive unit, and auxiliary drive mechanism comprises Z axis drive unit.Described main driving mechanism 6 comprises main bogie 16 and main lifter plate 19, and Z axis drive unit is arranged on main bogie 16, and X-axis drive unit is arranged on main lifter plate 19; Described auxiliary drive mechanism 4 comprises process auxiliary drive frame 27 and assistance for lifting plate 28, and Z axis drive unit is arranged on process auxiliary drive frame 27.Above-mentioned crossbeam 7 is aluminium section, and four sides all has T-shaped groove, can connect with other parts easily by specialized nut; Have lightweightly, linearity is good, rigidity advantages of higher.Described terminal-collecting machine 3 is arranged on crossbeam 7.On crossbeam 7 bottom installed surfaces, be also provided with the line slideway mount pad 31 that drives the compound tooth bar of the line slideway 11 of compound tooth bar for installation X-axis, and X-axis auxiliary straight line guide rail 34 and X-axis auxiliary guide rail mount pad 35.The line slideway 11 of described compound tooth bar and X-axis auxiliary straight line guide rail 34 are respectively by mount pad and described crossbeam 7 rigid attachment separately.Described X-axis drive unit comprises X-axis servomotor 13, X-axis accurate retarding machine 14, X-axis driven wheel 12, and the line slideway 11 of the compound tooth bar being used in conjunction with this X-axis driven wheel 12 is rigidly attached to the downside of crossbeam 7 by the line slideway mount pad 31 of its compound tooth bar; Described Z axis drive unit comprises Z axis servomotor 17, Z axis accurate retarding machine 18, Z axis driven wheel 33, is provided with the tooth bar 32 being used in conjunction with this Z axis driven wheel 33 on main drive lifter plate 19 and auxiliary drive lifter plate 28.
On described X axis, on the line slideway 11 of compound tooth bar, be provided with X-axis straight-line guide rail slide block 30, on the driven guide rail 34 of X-axis, be provided with X-axis auxiliary straight line guide rail slide block 29, on Z axis line slideway 26, be provided with slide block 22.Wherein the X-axis straight-line guide rail slide block 30 of main driving mechanism, Z axis straight-line guide rail slide block 22 are installed on main lifter plate 19, and X-axis auxiliary straight line guide rail slide block 29 and Z axis straight-line guide rail slide block 22 in auxiliary drive mechanism are arranged on assistance for lifting plate 28.
Tooth bar precision-fit composition rack-and-pinion kinematic pair on the line slideway 11 of described X-axis driven wheel 12 and compound tooth bar.Under X-axis servomotor 13 drives, under the sliding pair guide effect that the interior described driven line slideway 34 of the sliding pair that crossbeam 7 forms at line slideway 11 and the X-axis straight-line guide rail slide block 30 thereof of main drive 6 interior described compound tooth bars and auxiliary drive 4 and X-axis auxiliary straight line guide rail slide block 29 thereof form, drive terminal-collecting machine and workpiece can realize X-axis and move back and forth.
Described be arranged on Z axis driven wheel on bogie 33 with described in the Z axis that is arranged on lifter plate drive tooth bar 32 precision-fit composition rack-and-pinion kinematic pairs; Described be arranged on Z axis line slideway in frame 26 with described in be arranged on the Z axis straight-line guide rail slide block 22 precision-fit composition linear slide pairs on lifter plate.Under all Z axis servomotor 17 synchronously drives, can drive main lifter plate 19 and assistance for lifting plate 28 to realize Z axis reciprocating motion together with crossbeam 7 and terminal-collecting machine, workpiece.
The two ends up and down of described Z axis line slideway 26 are separately installed with upper limit seat 25 and lower limit seat 24, and Z axis straight-line guide rail slide block 22 is relative sliding on the Z axis line slideway 26 between upper limit seat 25 and lower limit seat 24.
Described X-axis accurate retarding machine 23 is arranged on X-axis reducer pedestal 14, and Z axis accurate retarding machine 18 is arranged on Z axis reducer pedestal 36.
Because Z axis load is relatively large, thereby drive the power of servomotor to reduce energy consumption for realizing even running and the pinpoint Z axis that reduces of Z axis under high speed simultaneously as far as possible, cost-saving, on main bogie 16 and process auxiliary drive frame 27, be respectively symmetrically arranged with a pair of compensating cylinder 15.The piston rod of this compensating cylinder is arranged on compensating cylinder Connection Block 21 by floating junction 20, and cylinder body is fixed on bogie; This compensating cylinder Connection Block 21 is arranged on lifter plate, and the compensating cylinder Connection Block 21 in main bogie is arranged on main lifter plate 19, and the compensating cylinder Connection Block 21 in process auxiliary drive frame is arranged on assistance for lifting plate 28.The setting of floating junction 20 is for avoiding mismachining tolerance to cause compensating cylinder 15 unbalance loadings, under suitable compressed air pressure, the thrust of compensating cylinder gets final product the weight of balance Z axis load, reduce the movement inertia of Z axis moving component, thereby guarantee that Z axis operates steadily, accurate positioning, play simultaneously and reduce energy consumption, cost-saving effect.
The manipulator speed of service is very high, and especially X-axis stroke is larger, and palpus is back and forth frequent, and to power original paper, the depth of parallelism requirement of---rack-and-pinion and the original paper that leads---line slideway is very high.Parallelism error can cause abnormal noise, chatter, greatly affects the service life of line slideway, slide block.Described section bar crossbeam 7 cannot Precision Machining tooth bar and installation, the positioning datum of line slideway.The line slideway 11 of compound tooth bar preferably resolves this problem, has greatly reduced assembly precision requirement, also helpful to reducing Z axis moving component weight.
Feeding mechanical hand comprises some press as shown in drawings, and adjacent two press are middle and line is first and line tail is respectively provided with an auxiliary table, and it is in order to reduce manipulator X-axis stroke to 1/2 of press spacing that auxiliary table is set.Concrete layout referred to Fig. 1, Fig. 2, and an accompanying drawing 1 end press only illustrates column and workbench, slide block, and Fig. 2 press only illustrates column and workbench, slide block; The not shown slide block of end position press
Main driving mechanism 6 is arranged on the auxiliary work platform rear side of the centre of whole line, and corresponding all the other auxiliary tables are respectively provided with an auxiliary drive mechanism 4 that structure is identical.Main driving mechanism 6 comprises Z axis drive unit and X-axis drive unit; Auxiliary drive mechanism 4 only comprises Z axis drive unit.Z axis drive unit and X-axis drive unit drive crossbeam 7 along Z axis, X-axis do respectively vertically, horizontal motion.On crossbeam 7, corresponding auxiliary table spaced set has some cover terminal-collecting machines.
Initial position is for waiting for station, and terminal-collecting machine is positioned at the centre position of press bed and auxiliary table, and line head and line tail auxiliary table outside are also respectively provided with a terminal-collecting machine.Terminal-collecting machine spacing equates with the spacing between press bed with auxiliary table, is 1/2 of press spacing.
In sum, auxiliary table quantity than press quantity many one; Auxiliary drive quantity equates with press quantity; Terminal-collecting machine quantity is than many one of press quantity and auxiliary work number of units amount sum.Line head also should be provided with storing stand or other apparatus for feeding, and line tail also should be provided with hopper or other discharging equipment.Described line servicing unit first and line tail is not shown.
When device power-up, terminal-collecting machine is positioned at wait station.After starting working, crossbeam 7 advances along X-axis, the first terminal-collecting machine of line moves to unshowned auxiliary feeding device top, crossbeam declines, after terminal-collecting machine grabbing workpiece, crossbeam rises and retreats along X-axis, and the first terminal-collecting machine of line stops and declining while being positioned at the first auxiliary table of line top, workpiece is placed on the first auxiliary table of line, and crossbeam rises and gets back to wait station; Repeat above action, second terminal-collecting machine sent into workpiece in No. 1 press die from the first auxiliary table of line, and line gran secretary assistant engineer platform put into by new workpiece by the first terminal-collecting machine of isochrone, and crossbeam rises and get back to wait station; Press slide 9 is descending, completes the work such as punching press or moulding; Slide block rises, and crossbeam repeats above action.The first terminal-collecting machine of line is sent into a blank the first auxiliary table of line at every turn, number terminal-collecting machine below is all sent into press from auxiliary table grabbing workpiece before press at every turn, or put into auxiliary table from press is transported to semi-finished product press, until complete all process steps.Line tail terminal-collecting machine is transported to the finished product of line tail auxiliary table hopper or the discharging machine (not shown) at line end.If press inner space allows, the auxiliary work platform of line head and the auxiliary table of line tail also can directly be helped the auxiliary discharging equipment at feed mechanism and line end to replace by line gran secretary.
Except the technical characterictic described in description, be the known technology of those skilled in the art.
Claims (8)
1. a single armed multimachine automatic feeder tool hand, comprise some press, it is characterized in that: between every two adjacent press, be provided with auxiliary table, before first press bed, be also respectively provided with an auxiliary table after the press bed of end position, front side at press bed and auxiliary table is provided with crossbeam, the Z axis that this crossbeam completes vertical direction by driving mechanism drives and the X-axis driving of horizontal direction, and on crossbeam, also corresponding press bed and auxiliary table are provided with terminal-collecting machine.
2. a kind of single armed multimachine automatic feeder tool hand according to claim 1, it is characterized in that: described driving mechanism comprises a main driving mechanism and some auxiliary drive mechanisms, the quantity of this auxiliary drive mechanism is identical with press number of units, described main driving mechanism is arranged at the middle part of whole line, auxiliary drive mechanism is uniformly distributed in main driving mechanism both sides, and the spacing of adjacent two drive units equals press arrangement pitches.
3. a kind of single armed multimachine automatic feeder tool hand according to claim 2, it is characterized in that: described main driving mechanism comprises the Z axis drive unit that is arranged on main bogie, is arranged on the X-axis drive unit on main lifter plate, and auxiliary drive mechanism comprises the Z axis drive unit being arranged on process auxiliary drive frame.
4. a kind of single armed multimachine automatic feeder tool hand according to claim 3, it is characterized in that: X-axis accurate retarding machine that described X-axis drive unit comprises X-axis servomotor, be connected with this X-axis servo motor shaft, by the X-axis driven wheel of X-axis servomotor control connection, the line slideway of the compound tooth bar being used in conjunction with this X-axis driven wheel is rigidly attached to the downside of crossbeam by Connection Block, the corresponding auxiliary drive of described crossbeam downside position is also provided with X-axis auxiliary straight line guide rail and mount pad thereof; Described Z axis drive unit comprises Z axis servomotor, the Z axis accurate retarding machine that is connected with this Z axis servo motor shaft, by the Z axis driven wheel of Z axis servomotor control connection, and the tooth bar being used in conjunction with this Z axis driven wheel is rigidly attached on lifter plate.
5. a kind of single armed multimachine automatic feeder tool hand according to claim 4, it is characterized in that: on described X axis, on the line slideway of compound tooth bar, be provided with the X-axis straight-line guide rail slide block being slidably matched with it, X-axis straight-line guide rail slide block is fixed on main lifter plate top; On X-axis auxiliary straight line guide rail, be provided with the X-axis auxiliary slider being slidably matched with it, X-axis auxiliary slider and assistance for lifting plate are rigidly connected, on Z-axis direction line slideway, be provided with Z axis straight-line guide rail slide block, the slide block and the main lifter plate that wherein coordinate with line slideway on main bogie are rigidly connected, and are rigidly connected with slide block and assistance for lifting plate that on process auxiliary drive frame, line slideway coordinates.
6. a kind of single armed multimachine automatic feeder tool hand according to claim 4, it is characterized in that: the two ends up and down of described Z-axis direction line slideway are separately installed with upper limit seat and lower limit seat, Z axis straight-line guide rail slide block is relative sliding on the Z axis line slideway between upper limit seat and lower limit seat.
7. a kind of single armed multimachine automatic feeder tool hand according to claim 4, is characterized in that: described X-axis accurate retarding machine is arranged on X-axis reducer pedestal, and Z axis accurate retarding machine is arranged on Z axis reducer pedestal.
8. according to arbitrary described a kind of single armed multimachine automatic feeder tool hand in claim 3～6, it is characterized in that: in the interior vertical Z-direction of described driving mechanism, be respectively symmetrical arranged a pair of compensating cylinder, the piston rod of this compensating cylinder is connected with Connection Block by floating junction; This compensating cylinder cylinder body is fixed on bogie, and this compensating cylinder Connection Block is arranged on lifter plate, and the compensating cylinder Connection Block of main bogie inner side is arranged on main lifter plate, and the compensating cylinder Connection Block of process auxiliary drive frame inner side is arranged on assistance for lifting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320779138.7U CN203592108U (en) | 2013-12-03 | 2013-12-03 | One-arm multi-machine automatic feeding mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320779138.7U CN203592108U (en) | 2013-12-03 | 2013-12-03 | One-arm multi-machine automatic feeding mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN203592108U true CN203592108U (en) | 2014-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320779138.7U Expired - Fee Related CN203592108U (en) | 2013-12-03 | 2013-12-03 | One-arm multi-machine automatic feeding mechanical arm |
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| Country | Link |
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| CN (1) | CN203592108U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308034A (en) * | 2014-09-19 | 2015-01-28 | 海盐县爱建汽车电器有限责任公司 | Automatic production equipment for ignition coil housing |
| CN114700417A (en) * | 2022-01-18 | 2022-07-05 | 广东捷瞬机器人有限公司 | Automatic feeding and stamping production line for guide rails |
-
2013
- 2013-12-03 CN CN201320779138.7U patent/CN203592108U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308034A (en) * | 2014-09-19 | 2015-01-28 | 海盐县爱建汽车电器有限责任公司 | Automatic production equipment for ignition coil housing |
| CN104308034B (en) * | 2014-09-19 | 2016-02-24 | 海盐县爱建汽车电器有限责任公司 | Ignition coil shell automatic producing device |
| CN114700417A (en) * | 2022-01-18 | 2022-07-05 | 广东捷瞬机器人有限公司 | Automatic feeding and stamping production line for guide rails |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140514 Termination date: 20211203 |