CN206153427U - Material high stability manipulator is got in punching press - Google Patents
Material high stability manipulator is got in punching press Download PDFInfo
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- CN206153427U CN206153427U CN201621119151.XU CN201621119151U CN206153427U CN 206153427 U CN206153427 U CN 206153427U CN 201621119151 U CN201621119151 U CN 201621119151U CN 206153427 U CN206153427 U CN 206153427U
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- module
- servomotor
- axle
- level
- actuating station
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The utility model discloses a material high stability manipulator is got in punching press, revolve rotary die piece, horizontal mobile module, carry out end rotation rotary die piece including base portion, upper and lower mobile module, swing arm, upper and lower mobile module fix on the bottom plate, drive all the other movement module and reciprocate, the swing arm revolve the rotary die piece and install on initiative mounting panel and driven mounting panel, drive the horizontal migration module and carry out end rotation rotary die piece and be rotary motion, the horizontal migration module connect the harmonic speed reducer machine, drive and carry out the translation of end rotation rotary die piece, execution end rotation rotary die piece install on second initiative slider, drive the execution end rotation axis and rotate with the sucking disc. The utility model provides a transmission is steady, stability height, compact structure, movement accuracy height, material high stability manipulator is got in punching press that the load is big.
Description
Technical field
The utility model is related to industrial robot, and especially punching press feeding high stability manipulator, belongs to technical field.
Background technology
At present, the punching press such as panel beating of China industry also highly relies on artificial, labour intensity height, inefficiency, high cost；
And frequently repeating blowing, punching press, feeding work, workman is very easy to produce fatigue, reduces the notice of workman, easily produces peace
Often there is disability event in full hidden danger, a line workshop Jing.
For the problems referred to above, some enterprises replace manually carrying out blowing feeding using manipulator, are lifted to a certain extent
The automation of Sheet Metal Forming Technology, improves the production efficiency of Sheet Metal Forming Technology processing, reduces the frequency of work safety accident generation；
However, stamping mechanical arm generally existing present on market is driven the poor problem of unstable, stability, strong influence machinery
Chirokinesthetic precision and service life；Therefore, it is badly in need of a set of punching press feeding high stability manipulator of exploitation.
Utility model content
The purpose of this utility model is to solve the defect of above-mentioned prior art, there is provided a kind of stable drive, stability
Height, compact conformation, kinematic accuracy are high, load big punching press feeding high stability manipulator.
The purpose of this utility model can be reached by adopting the following technical scheme that：
Punching press feeding high stability manipulator, including base portion, move up and down module, swing arm rotary module, level move
Dynamic model block, actuating station rotary module, the described module that moves up and down is fixed on base plate, is driven and moved down in remaining motion module
Dynamic, described swing arm rotary module is arranged on active installing plate and driven installing plate, and drive moves horizontally the rotation of module actuating station
Revolving die block rotates, and described moves horizontally module connection harmonic wave speed reducing machine, drives the translation of actuating station rotary module, described
Actuating station rotary module be arranged on the second active sliding block on, drive actuating station rotary shaft and sucker rotation, it is characterised in that：Institute
The base portion stated is made up of base plate, castor and pin cup, and castor and pin cup are located at bottom base plate, it is described move up and down module by
First servomotor, the first screw mandrel, the first feed screw nut, transmission system composition, the first described servomotor passes through power train
System the first screw mandrel of connection, the first described screw mandrel is socketed on the first feed screw nut, and described swing arm rotary module includes second
Axle mounting seat, harmonic wave speed reducing machine, the second servomotor, the second described servomotor is located in the second axle mounting seat, described
Harmonic wave speed reducing machine connects the second servomotor, it is described move horizontally module by the 3rd axle mounting seat, the 3rd servomotor, drag
Chain, the second screw mandrel, the second feed screw nut, left and right bearing block, left and right elastic spacing block, the second active sliding block, the second active guide rail
With double reduction system composition, in the 3rd axle mounting seat, the 3rd servomotor passes through two to the 3rd described servomotor
Level deceleration system connects the second screw mandrel, and the second described screw mandrel two ends are socketed on left shaft holder and right axle bearing, centre socket
Second feed screw nut, the second described feed screw nut connects the second active sliding block, and the second active sliding block is socketed in the second active and leads
On rail, described left shaft holder and right axle bearing is provided with left elastic spacing block and right elastic spacing block, described actuating station rotation
Module is by the 4th servomotor, the 4th axle installing plate, the second driven guide rail, the second driven sliding block, actuating station, deceleration system group
Into, described the 4th servomotor is arranged in the 4th axle installing plate, and by deceleration system actuating station is connected, described second from
Dynamic guide rails assembling is socketed on the second driven guide rail in the lower section of the 4th axle installing plate, the second described driven sliding block.
Used as a kind of preferred version, the described transmission system for moving up and down module includes principal and subordinate's movable slider, guide rail, installation
Plate and upper and lower axle bearing, elastic spacing block composition, described driven installing plate is fixed on driven sliding block, driven sliding block be socketed in from
On dynamic guide rail, driven guide rail is fixed on base plate by reinforcement, and described active installing plate is fixed in active sliding block, actively
Slide block is socketed on active guide rail, and described active installing plate connects the first feed screw nut, and the first feed screw nut is socketed in first
On screw mandrel, described first screw mandrel two ends socket top chock and step, between described top chock and step
Elastic spacing block and lower elastic spacing block are provided with, the first described screw mandrel upper end connects big synchronizing wheel, and big synchronizing wheel is by same
The little synchronizing wheel of step band connection, little synchronizing wheel is fixed in the rotary shaft of the first servomotor, and by described Timing Belt needle roller is provided with
Bearing.
Used as a kind of preferred version, the described double reduction system for moving horizontally module includes described power transmission shaft two ends
Connection one-level shaft coupling and two grades of shaft couplings, one-level shaft coupling connects the big synchronizing wheel of one-level by bearing, and the big synchronizing wheel of one-level is led to
Cross the level synchronization band connection little synchronizing wheel of one-level, described one-level bearing block be located at one-level shaft coupling and the big synchronizing wheel of one-level it
Between, described one-level needle bearing is located at by level synchronization band, two grades of shaft couplings by bearing connect two grades of little synchronizing wheels, two grades
Little synchronizing wheel connects two grades big synchronizing wheels by secondary synchronization band, and it is little with two grades that described secondary bearing seat is located at two grades of shaft couplings
Between synchronizing wheel.
Used as a kind of preferred version, the actuating station of described actuating station rotary module is fixed on comprising actuating station rotary shaft to be held
On row end bearing block, connecting sucker.
Used as a kind of preferred version, the deceleration system of described actuating station rotary module passes through comprising the little synchronizing wheel of the 4th axle
4th axle Timing Belt connects the big synchronizing wheel of the 4th axle.
The utility model has following beneficial effect relative to prior art：
1st, manipulator of the present utility model adopts absolute type servomotor, can by pilot teaching program etc. mode realize it is predetermined
Movement locus, the versatility for enhancing manipulator；
2nd, the first servomotor for moving up and down module of the present utility model is slowed down by the Timing Belt of transmission system and is driven
First screw mandrel moves vertically, and improves the load force for moving up and down module；
3rd, swing arm rotary module both sides of the present utility model are mounted on guide rail, slide block so that the mounting means of the structure
It is changed into simply supported beam, improves born load and the stability of mechanism；Swing arm rotary module selects harmonic wave speed reducing machine, it is ensured that machine
The rigidity and precision of structure rotation；
4th, the module that moves horizontally of the present utility model is using guide rail and the second screw structure, stable drive, high precision；3rd
Servomotor increases the speed reducing ratio of the 3rd servo motor transmission, double reduction system intermediate bearing by double reduction system
It is connected with two ends from shaft coupling, serves the effect of buffer shock-absorbing, improves the dynamic property of shafting transmission；
5th, actuating station rotary module one end of the present utility model is connected with the second feed screw nut for moving horizontally module, another
Guide rail is installed at end, by slider guide so that actuating station rotary module is moved horizontally module and drives the process for doing translational motion
In have two ends to support, improve the stationarity of mechanism kinematic.
Description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model.
Fig. 2 is base portion schematic diagram of the present utility model.
Fig. 3, Fig. 4 move up and down module diagram for of the present utility model.
Fig. 5, Fig. 6 are swing arm rotary module schematic diagram of the present utility model.
Fig. 7, Fig. 8, Fig. 9 move horizontally module and actuating station rotary module schematic diagram for of the present utility model.
Figure 10 is pendulum actuating station rotary module partial schematic diagram of the present utility model.
Wherein, 1- base portions, 101- bases, 102- pin cups, 103- castors, 2- moves up and down module, 201-
Reinforcement, 202- driven sliding blocks, the driven guide rails of 203-, the driven installing plates of 204-, the servomotors of 205- first, 206- is little
Synchronizing wheel, 207- Timing Belts, 208- needle bearings, the big synchronizing wheels of 209-, 210- top chocks, the upper elastic spacings of 211-
Block, the screw mandrels of 212- first, the feed screw nuts of 213- first, 214- active installing plates, elastic spacing block under 215-, under 216-
Bearing block, 217- active guide rails, 218- active sliding blocks, 3- swing arm rotary modules, 301- the second axle mounting seats, 302- is humorous
Ripple reductor, the servomotors of 303- second, 4- moves horizontally module, the axle mounting seats of 401- the 3rd, the servos of 402- the 3rd electricity
Machine, the little synchronizing wheel of 403- one-levels, 404- level synchronization bands, the big synchronizing wheel of 405- one-levels, 406- one-level needle bearings,
407- one-level bearing blocks, 408- one-level shaft couplings, 409- power transmission shafts, bis- grades of shaft couplings of 410-, 411- secondary bearing seats,
Bis- grades of little synchronizing wheels of 412-, 413- secondary synchronization bands, the big synchronizing wheels of bis- grades of 414-, bis- grades of left shaft holders of 415-, 416- bis-
The left elastic spacing block of level, the right elastic spacing blocks of bis- grades of 417-, bis- grades of right axle bearings of 418-, 419- drag chains, 420- second
Bar, the feed screw nuts of 421- second, the active sliding blocks of 422- second, 423- the second active guide rails, 5- actuating station rotary modules,
The servomotors of 501- the 4th, the little synchronizing wheel of the axles of 502- the 4th, the axle installing plates of 503- the 4th, the axle Timing Belts of 504- the 4th,
The big synchronizing wheel of the axles of 505- the 4th, 506- actuating station rotary shafts, 507- perform end bearing block, 508- suckers, 509- second from
Dynamic guide rail, the driven sliding blocks of 510- second.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to punching press feeding high stability manipulator.It should be appreciated that specific embodiment described herein
Only to explain the utility model, it is not used to limit the utility model.
Embodiment 1：
As shown in Figures 1 to 10, the punching press feeding high stability manipulator of the present embodiment, including base portion 1, on move down
Dynamic model block 2, swing arm rotary module 3, module 4, actuating station rotary module 5 are moved horizontally, the described module 2 that moves up and down is fixed on
On base plate 101, drive remaining motion module to move up and down, described swing arm rotary module 3 be arranged on active installing plate 214 and from
On dynamic installing plate 204, drive moves horizontally the actuating station rotary module 5 of module 4 and rotates, and described moves horizontally module 4
Connection harmonic wave speed reducing machine 302, drives actuating station rotary module 5 to translate, and described actuating station rotary module 5 is arranged on second actively
On slide block 422, actuating station rotary shaft 506 and sucker 508 is driven to rotate, it is characterised in that：Described base portion 1 is by base plate
101st, castor 102 and pin cup 103 are constituted, and castor 102 and pin cup 103 are located at the bottom of base plate 101, and described moves up and down module 2
It is made up of the first servomotor 205, the first screw mandrel 212, the first feed screw nut 213, transmission system, the first described servomotor
205 connect the first screw mandrel 212 by transmission system, and the first described screw mandrel 212 is socketed on the first feed screw nut 213, described
Swing arm rotary module 3 include the second axle mounting seat 301, harmonic wave speed reducing machine 302, the second servomotor 303, described second watches
Take motor 303 to be located in the second axle mounting seat 301, described harmonic wave speed reducing machine 302 connects the second servomotor 303, swing arm rotation
The both sides of revolving die block 3 are mounted on guide rail, slide block so that the mounting means of the structure is changed into simply supported beam, improve holding for mechanism
Loaded and stability；Swing arm rotary module 3 selects harmonic wave speed reducing machine 302, it is ensured that the rigidity and precision of mechanism's rotation.It is described
Move horizontally module 4 by the 3rd axle mounting seat 401, the 3rd servomotor 402, drag chain 419, the second screw mandrel 420, the second screw mandrel
Nut 421, left and right bearing block, left and right elastic spacing block, the second active sliding block 422, the second active guide rail 423 and double reduction system
System composition, the 3rd described servomotor 402 is arranged in the 3rd axle mounting seat 401, and the 3rd servomotor 402 passes through two-stage
Deceleration system connects the second screw mandrel 420, and the described two ends of the second screw mandrel 420 are socketed in left shaft holder 415 and right axle bearing 418
On, the second feed screw nut 421 of centre socket, described the second feed screw nut 421 connects the second active sliding block 422, and second actively
Slide block 422 is socketed on the second active guide rail 423, and described left shaft holder 415 and right axle bearing 418 is provided with left elastic spacing block
416 and right elastic spacing block 417, described actuating station rotary module 5 by the 4th servomotor 501, the 4th axle installing plate 503,
Second driven guide rail 509, the second driven sliding block 510, actuating station, deceleration system composition, the 4th described servomotor 501 is installed
In the 4th axle installing plate 503, actuating station is connected by deceleration system, the second described driven guide rail 509 is arranged on the 4th axle
The lower section of installing plate 503, the second described driven sliding block 510 is socketed on the second driven guide rail 509.
As shown in Figures 2 to 4, the described transmission system for moving up and down module 2 includes principal and subordinate's movable slider, guide rail, installation
Plate and upper and lower axle bearing, elastic spacing block composition, described driven installing plate 204 is fixed on driven sliding block 202, driven sliding block
202 are socketed on driven guide rail 203, and driven guide rail 203 is fixed on base plate 101 by reinforcement 201, and described active is installed
Plate 214 is fixed in active sliding block 218, and active sliding block 218 is socketed on active guide rail 217, and described active installing plate 214 connects
The first feed screw nut 213 is met, the first feed screw nut 213 is socketed on the first screw mandrel 212, the described two ends of the first screw mandrel 212 set
Connect bearing block 210 and step 216, between described top chock 210 and step 216 elastic spacing block is provided with
211 and lower elastic spacing block 215, the described upper end of the first screw mandrel 212 connects big synchronizing wheel 209, and big synchronizing wheel 209 is by synchronous
The little synchronizing wheel 206 of the connection of band 207, little synchronizing wheel 206 is fixed in the rotary shaft of the first servomotor 205, described Timing Belt
Needle bearing 207 is provided with by the of 207.The first servomotor 205 for moving up and down module 2 of the present utility model is by transmission system
Timing Belt 207 slows down and drives the first screw mandrel 212 to move vertically, and improves the load force for moving up and down module 2.
As shown in Fig. 7 to Fig. 8, the described double reduction system for moving horizontally module 4 includes 409 liang described of power transmission shaft
End connects one-level shaft coupling 408 and two grades of shaft couplings 410, and one-level shaft coupling 408 connects the big synchronizing wheel 405 of one-level by bearing,
The big synchronizing wheel 405 of one-level connects the little synchronizing wheel 403 of one-level by level synchronization band 404, and described one-level bearing block 407 is located at one
Between level shaft coupling 408 and the big synchronizing wheel 405 of one-level, described one-level needle bearing 406 is located at by level synchronization band 404, and two
Level shaft coupling 410 connects two grades of little synchronizing wheels 412 by bearing, and two grades of little synchronizing wheels 412 are by the connection two of secondary synchronization band 413
The big synchronizing wheel 414 of level, described secondary bearing seat 411 is located between two grades of shaft couplings 410 and two grades of little synchronizing wheels 412.This reality
With new module 4 is moved horizontally using guide rail and the structure of the second screw mandrel 420, stable drive, high precision；3rd servomotor
402 by double reduction system, increases the speed reducing ratio of the transmission of the 3rd servomotor 402, the choosing of double reduction system intermediate bearing
It is connected with two ends with shaft coupling, serves the effect of buffer shock-absorbing, improves the dynamic property of shafting transmission.
As shown in Figure 10, the actuating station of described actuating station rotary module 5 is fixed on execution comprising actuating station rotary shaft 506
On end bearing block 507, connecting sucker 509.One end of actuating station rotary module 5 of the present utility model with move horizontally the of module 4
Two feed screw nuts 421 are connected, and the other end installs guide rail, by slider guide so that actuating station rotary module 5 is moved horizontally mould
Block 4 is driven during doing translational motion has two ends to support, and improves the stationarity of mechanism kinematic.
As shown in Figure 8, Figure 9, the deceleration system of described actuating station rotary module 5 is logical comprising the little synchronizing wheel 502 of the 4th axle
Cross the 4th axle Timing Belt 504 and connect the big synchronizing wheel 505 of the 4th axle.
Manipulator of the present utility model adopts absolute type servomotor, the mode such as can program by pilot teaching and realize predetermined fortune
Dynamic rail mark, the versatility for enhancing manipulator.
The above, the protection domain of only the utility model patent preferred embodiment, but the utility model patent is simultaneously
Be not limited to this, any those familiar with the art in the scope disclosed in the utility model patent, according to this
The technical scheme of utility model patent and its utility model patent design in addition equivalent or change, belong to the utility model
The protection domain of patent.
Claims (5)
1. punching press feeding high stability manipulator, including base portion（1）, move up and down module（2）, swing arm rotary module（3）、
Move horizontally module（4）, actuating station rotary module（5）, described moves up and down module（2）It is fixed on base plate（101）On, drive
Remaining motion module is moved up and down, described swing arm rotary module（3）Installed in active installing plate（214）With driven installing plate
（204）On, drive moves horizontally module（4）Actuating station rotary module（5）Rotate, described moves horizontally module（4）
Connection harmonic wave speed reducing machine（302）, drive actuating station rotary module（5）Translation, described actuating station rotary module（5）Installed in
Two active sliding blocks（422）On, drive actuating station rotary shaft（506）And sucker（508）Rotation, it is characterised in that：Described base
Part（1）By base plate（101）, castor（102）With pin cup（103）Composition, castor（102）With pin cup（103）It is located at base plate（101）
Bottom, described moves up and down module（2）By the first servomotor（205）, the first screw mandrel（212）, the first feed screw nut
（213）, transmission system composition, the first described servomotor（205）First screw mandrel is connected by transmission system（212）, it is described
The first screw mandrel（212）It is socketed in the first feed screw nut（213）On, described swing arm rotary module（3）Install including the second axle
Seat（301）, harmonic wave speed reducing machine（302）, the second servomotor（303）, described the second servomotor（303）It is located at the second axle peace
Dress seat（301）Interior, described harmonic wave speed reducing machine（302）Connect the second servomotor（303）, described moves horizontally module（4）
By the 3rd axle mounting seat（401）, the 3rd servomotor（402）, drag chain（419）, the second screw mandrel（420）, the second feed screw nut
（421）, left and right bearing block, left and right elastic spacing block, the second active sliding block（422）, the second active guide rail（423）And double reduction
System is constituted, the 3rd described servomotor（402）Installed in the 3rd axle mounting seat（401）On, the 3rd servomotor（402）
Second screw mandrel is connected by double reduction system（420）, described the second screw mandrel（420）Two ends are socketed in left shaft holder（415）
With right axle bearing（418）On, the second feed screw nut of centre socket（421）, described the second feed screw nut（421）Connection second is led
Movable slider（422）, the second active sliding block（422）It is socketed in the second active guide rail（423）On, described left shaft holder（415）With
Right axle bearing（418）It is provided with left elastic spacing block（416）With right elastic spacing block（417）, described actuating station rotary module（5）
By the 4th servomotor（501）, the 4th axle installing plate（503）, the second driven guide rail（509）, the second driven sliding block（510）, hold
Row end, deceleration system composition, the 4th described servomotor（501）Installed in the 4th axle installing plate（503）On, by reduction train
System connection actuating station, the second described driven guide rail（509）Installed in the 4th axle installing plate（503）Lower section, described second
Driven sliding block（510）It is socketed in the second driven guide rail（509）On.
2. punching press feeding high stability manipulator according to claim 1, it is characterised in that：Described moves up and down module
（2）Transmission system comprising principal and subordinate's movable slider, guide rail, installing plate and upper and lower axle bearing, elastic spacing block constitute, described is driven
Installing plate（204）It is fixed on driven sliding block（202）, driven sliding block（202）It is socketed in driven guide rail（203）On, driven guide rail
（203）By reinforcement（201）It is fixed on base plate（101）On, described active installing plate（214）It is fixed on active sliding block
（218）On, active sliding block（218）It is socketed in active guide rail（217）On, described active installing plate（214）Connect the first screw mandrel
Nut（213）, the first feed screw nut（213）It is socketed in the first screw mandrel（212）On, the first described screw mandrel（212）Two ends are socketed
Top chock（210）And step（216）, described top chock（210）And step（216）Between be provided with elasticity
Limited block（211）With lower elastic spacing block（215）, described the first screw mandrel（212）Upper end connects big synchronizing wheel（209）, Datong District
Step wheel（209）By Timing Belt（207）Connect little synchronizing wheel（206）, little synchronizing wheel（206）It is fixed on the first servomotor
（205）Rotary shaft on, described Timing Belt（207）Side is provided with needle bearing（208）.
3. punching press feeding high stability manipulator according to claim 1, it is characterised in that：Described moves horizontally module
（4）Double reduction system include described power transmission shaft（409）Two ends connect one-level shaft coupling（408）With two grades of shaft couplings
（410）, one-level shaft coupling（408）The big synchronizing wheel of one-level is connected by bearing（405）, the big synchronizing wheel of one-level（405）By one-level
Timing Belt（404）The little synchronizing wheel of connection one-level（403）, described one-level bearing block（407）It is located at one-level shaft coupling（408）With one
The big synchronizing wheel of level（405）Between, described one-level needle bearing（406）It is located at level synchronization band（404）Side, two grades of shaft couplings
（410）Two grades of little synchronizing wheels are connected by bearing（412）, two grades of little synchronizing wheels（412）By secondary synchronization band（413）Connection two
The big synchronizing wheel of level（414）, described secondary bearing seat（411）It is located at two grades of shaft couplings（410）With two grades of little synchronizing wheels（412）It
Between.
4. punching press feeding high stability manipulator according to claim 1, it is characterised in that：Described actuating station rotating mould
Block（5）Actuating station include actuating station rotary shaft（506）It is fixed on execution end bearing block（507）On, connecting sucker（508）.
5. punching press feeding high stability manipulator according to claim 1, it is characterised in that：Described actuating station rotating mould
Block（5）Deceleration system include the little synchronizing wheel of the 4th axle（502）By the 4th axle Timing Belt（504）Connect the big synchronizing wheel of the 4th axle
（505）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621119151.XU CN206153427U (en) | 2016-10-13 | 2016-10-13 | Material high stability manipulator is got in punching press |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621119151.XU CN206153427U (en) | 2016-10-13 | 2016-10-13 | Material high stability manipulator is got in punching press |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206153427U true CN206153427U (en) | 2017-05-10 |
Family
ID=58653109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621119151.XU Expired - Fee Related CN206153427U (en) | 2016-10-13 | 2016-10-13 | Material high stability manipulator is got in punching press |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206153427U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107159810A (en) * | 2016-10-13 | 2017-09-15 | 广州市吉峰金属塑胶制品有限公司 | Punching press feeding high stability manipulator |
| CN111037087A (en) * | 2019-12-27 | 2020-04-21 | 苏州凯尔博精密机械有限公司 | Intelligent assembly line for buckle screws |
-
2016
- 2016-10-13 CN CN201621119151.XU patent/CN206153427U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107159810A (en) * | 2016-10-13 | 2017-09-15 | 广州市吉峰金属塑胶制品有限公司 | Punching press feeding high stability manipulator |
| CN111037087A (en) * | 2019-12-27 | 2020-04-21 | 苏州凯尔博精密机械有限公司 | Intelligent assembly line for buckle screws |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170510 Termination date: 20171013 |