CN206200534U - Manipulator automatic screw nailing mechanism - Google Patents
Manipulator automatic screw nailing mechanism Download PDFInfo
- Publication number
- CN206200534U CN206200534U CN201621249009.7U CN201621249009U CN206200534U CN 206200534 U CN206200534 U CN 206200534U CN 201621249009 U CN201621249009 U CN 201621249009U CN 206200534 U CN206200534 U CN 206200534U
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- screw
- bridge arm
- servomotor
- tool
- axle system
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- Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)
Abstract
The utility model provides a kind of manipulator automatic screw nailing mechanism, including board, six axis robot, pneumatic screw driver and screw feed appliance, and the table top of board is provided with tool base plate, and tool base plate is provided with tool, and vacuum suction layer is provided with board；Six axis robot drives pneumatic screw driver, screw feed appliance to be moved to directly over target screw hole position, and screw feed appliance includes storing pipe, screw guide cup and feeding mouth.Automatic screw nailing mechanism of the present utility model, can high-quality, efficient need the position that screws to be sent screw automatically in electronic component, screw, with novel in structural design, it is easy to install the characteristics of, the processing that screws that can be used for batch electronic component is used, the efficiency that screws of electronic component can be improved after use, beneficial to the high-quality management and control of the whole processing procedure of the product using the electronic component, the production efficiency using the product of the electronic component is improved, while also reducing the labour intensity of producers.
Description
Technical field
The utility model belongs to automatic jig technical field, and in particular to a kind of manipulator automatic screw nailing mechanism.
Background technology
Part electronic component on electronic product needs to screw in procedure for producing, such as between radiator and chip,
Between radiator and PCB substrate etc., in the prior art, electronic component is difficult to accomplish to beat spiral shell automatically in the procedure for producing of electronic product
Silk, is substantially by manually being operated, and artificial operation has a strong impact on production efficiency, and subjective factor is more, is unfavorable for whole
The high-quality management and control of processing procedure, needs to be improved.
The content of the invention
In order to solve the above technical problems, the utility model provides a kind of manipulator automatic screw nailing mechanism, being capable of Gao Pin
Matter, it is efficient need the position that screws to be sent screw automatically in electronic component, screw, with novel in structural design,
Easy to install the characteristics of, the processing that screws that can be used for batch electronic component is used, and electronics unit can be improved after use
The efficiency that screws of part, beneficial to the high-quality management and control of the whole processing procedure of the product using the electronic component, improves and uses the electronics
The production efficiency of the product of element, while also reducing the labour intensity of producers.
To reach above-mentioned purpose, the technical solution of the utility model is as follows：A kind of manipulator automatic screw nailing mechanism, including
Board, it is characterised in that：The table top of the board is provided with tool base plate, and the tool base plate is provided with for positioning spiral shell to be beaten
The tool of silk product, is provided with the vacuum suction layer for adsorbing product to be screwed in the board；
It also includes pneumatic screw driver, drives pneumatic screw driver to be moved to six shaft mechanicals directly over target screw hole position
Hand, the screw feed appliance for being arranged on six axis robot action executing end, the six axis robot are arranged on board；
- screw the feed appliance, its screw for including storing pipe and storing the pipe connection for housing multiple screws is oriented to
Cup and the feeding mouth being connected with screw guide cup；
- storing the pipe, its end is provided with the valve for being blown into the screw in it in screw guide cup；
- screw the guide cup, it has the blanking port fallen one by one for screw, and the blanking port has for adjusting spiral shell
Silk is to nut towards screwing funnel-shaped structure directed downwardly；
- the feeding mouth, it has the material mouth body one and material mouth body two that split is set, material mouth body one and material mouth sheet
Both can in opposite directions close up or dorsad separate body two under the driving of motor, being internally formed and screw both when both close up
The cavity volume that shape matches, screw when both close up from the blanking port vertical drop is housed in the cavity volume；Both
In the target screw hole position that screw when separating in the cavity volume is fallen on the tool；It is also formed with inside it when both close up
For the cutter head jack that the cutter head of the driving screwdriver is passed through from top to bottom.
In one preferred embodiment of the utility model, further include that the action executing end of the six axis robot is additionally provided with
Detection execution unit, the detection execution unit includes both CCD camera and light source, the light source, camera of CCD camera
Center on same straight line, and camera, light source and shooting direction of the product three along camera that screw to be detected
Set gradually.
In one preferred embodiment of the utility model, further include to be provided with turntable in the board, the tool bottom
Plate is installed on a spinstand.
In one preferred embodiment of the utility model, further include that the tool base plate is circle, the tool base plate
Shang Yiqi centers are several tools that are arranged with of symmetrical centre, and the turntable is rotated and caused described in one of those
Tool is located at the underface of gluing execution unit.
In one preferred embodiment of the utility model, further include that the tool base plate is provided with least provided with two institutes
State tool, be equipped with each described tool several for position treat the locating slot of gluing product.
In one preferred embodiment of the utility model, further include that the six axis robot includes,
- first order axle system, its first servomotor and the first servo motor output shaft for including being arranged in board turn
First rotating seat of dynamic connection；
- second level axle system, it includes that the second servomotor being arranged in the first rotating seat and the second servomotor are defeated
Shaft rotates the first rotation bridge arm of connection, and the first rotation bridge arm is connected on the first rotating seat；
- third level axle system, it includes that the 3rd servomotor being arranged in the first rotating seat and the 3rd servomotor are defeated
Shaft rotates the second rotation bridge arm of connection, and the second rotation bridge arm is connected on the first rotation bridge arm；
- fourth stage axle system, it includes the 4th servomotor and the 4th servomotor that are arranged on the second rotation bridge arm
3rd rotation bridge arm of output shaft rotation connection, the 3rd rotation bridge arm is connected on the second rotation bridge arm；
- level V axle system, it includes the 5th servomotor and the 5th servomotor that are arranged on the 3rd rotation bridge arm
First rotating disk of output shaft rotation connection, first rotating disk is connected on the 3rd rotation bridge arm；
- the six grade of axle system, it includes the 6th servomotor and the 6th servomotor that are arranged on the 3rd rotation bridge arm
Second rotating disk of output shaft rotation connection, second rotating disk is connected in the first rotating disk；
The screw feed appliance and detection execution unit are arranged in the second rotating disk.
In one preferred embodiment of the utility model, the first order axle system, second level axle system, are further included
Three-level axle system, fourth stage axle system, level V axle system, the 6th grade of axle system coordinate the driving screw feed appliance, detection
Any one direction in X-direction, Y direction, Z-direction, A direction of principal axis, B axle direction, C direction of principal axis of execution unit, appoint
The rotation of meaning both direction or any number of directional combinations.
The beneficial effects of the utility model are:
One, manipulator automatic screw nailing mechanism of the present utility model, can high-quality, it is efficient to electronic component need
The position to be screwed is sent screw, is screwed automatically, with novel in structural design, it is easy to install the characteristics of, can be with
The processing that screws for batch electronic component is used, and the efficiency that screws of electronic component can be improved after use, beneficial to application
The high-quality management and control of the whole processing procedure of the product of the electronic component, improves the production efficiency using the product of the electronic component, together
When also reduce the labour intensity of producers；
Secondly, the screw feed appliance of optimizing structure design, can simultaneously complete the feeding of screw and lock, and feeding is accurate
Really, send position accurate.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the utility model embodiment technology, embodiment technology will be retouched below
The accompanying drawing to be used needed for stating is briefly described, it should be apparent that, drawings in the following description are only the utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is the structural representation of the utility model preferred embodiment；
Fig. 2 is the structural representation of the utility model preferred embodiment screw feed appliance；
Fig. 3 is the structural representation of the utility model preferred embodiment six axis robot.
Wherein：2- boards, 4- tool base plates, 6- tools, 7- screw feed appliances, 8- six axis robots, 10- pneumatic screws
Knife, 12-CCD cameras, 13- cameras, 14- light sources；
The rotating seats of 81- first, 82- first rotates bridge arm, and 83- second rotates bridge arm, and 84- the 3rd rotates bridge arm, 85- first
Rotating disk, the rotating disks of 86- second；
71- storing pipes, 72- screw guide cups, 73- valves, 74- material mouths body one, 75- material mouths body two, 76- cutter heads are inserted
Hole.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
Embodiment
As shown in figure 1, disclose a kind of manipulator automatic screw nailing mechanism in the present embodiment, including board 2, it is arranged on machine
Six axis robot 8 on platform 2, the screw feed appliance 7 for being arranged on the action executing end of six axis robot 8 and detection execution unit, with
And pneumatic screw driver 10.
The table top of above-mentioned board 2 is provided with tool base plate 4, and above-mentioned tool base plate 4 is provided with tool 6, and tool 6 is provided with many
The vacuum suction for adsorbing product to be screwed is provided with the individual locating slot for positioning product to be screwed, above-mentioned board 2
Layer.Product to be screwed is adsorbed positioning while both locating slot and vacuum suction layer under effect, and absorption positions fixed
Mode fixes time saving and energy saving compared to traditional screw, eliminates and screws, loosens the screw a little exhausted man-hour, to entirely screwing
The raising of efficiency has very important significance.
After the product for screwing is positioned and is fixed on tool 6, six axis robot 8 drives pneumatic screw driver 10, screw
Feed appliance 7 and detection execution unit are moved to the surface of target screw hole position, and screw feed appliance 7 of the present utility model coordinates gas
Dynamic screwdriver 10 can complete it is full automatic send screw and the action that screws, the concrete structure of screw feed appliance 7 is as follows：
Above-mentioned screw feed appliance 7 includes that the screw of storing pipe 71 and storing pipe 71 connection for housing multiple screws is led
To cup 72 and the feeding mouth being connected with screw guide cup 72；The end of above-mentioned storing pipe 71 is provided with for the screw in it to be blown
Enter in screw guide cup 72 valve 73；Above-mentioned screw guide cup 72 has the blanking port fallen one by one for screw, above-mentioned blanking
Mouthful have for adjusting screw to nut towards screwing funnel-shaped structure directed downwardly；Above-mentioned feeding mouth has the material mouth that split is set
Body 1 and material mouth body 2 75, both can close material mouth body 1 in opposite directions under the driving of motor with mouth body 2 75 is expected
Hold together or dorsad separate, be internally formed the cavity volume matched with screw shape both when both close up, from upper when both close up
The screw for stating blanking port vertical drop is housed in above-mentioned cavity volume；Screw when both separate in above-mentioned cavity volume falls into above-mentioned controlling
In target screw hole position on tool 6；Both are also formed with cutter head for above-mentioned driving screwdriver 10 when closing up inside it from upper
Under through cutter head jack 76.
The screw feed appliance 7 of the utility model optimizing structure design, can complete full-automatic under the driving effect of motor
Send screw action；Coordinating pneumatic screw driver 10 simultaneously can complete to send screw and lock screw two actions, be truly realized conjunction two
It is one.
Screw feed appliance 7 coordinates pneumatic screw driver 10 to complete to send the process of screw and lock screw action as follows：By six axle machines
Behind position to the target location of the adjustment pneumatic screw driver 10 of tool hand 8, material mouth body 1 and material mouth body 2 75 close up, and cavity volume is received
Hold the screw that screw guide cup 18 falls from its blanking port, then drive 2 75 points of material mouth body 1 and material mouth body to open spiral shell
Silk is fallen into target screw hole, and material mouth body 1 and material mouth 2 75 points of screws being housed in cavity volume after opening of body can be rapid
Fall into target screw hole, screw action is sent in completion；Subsequent start-up pneumatic screw driver 10 passes through screw feeding from cutter head jack 76
Locked at device 7 to target screw hole position and screwed, complete lock screw action, finally realize that two actions are completed by a part.Its
In, the setting of valve 73 is rapidly entered in screw guide cup 72 beneficial to screw.
Further, above-mentioned detection execution unit includes CCD camera 12 and light source 14, above-mentioned light source 14, CCD camera 12
Both center of camera 13 on same straight line, and camera 13, light source 14 and the product three that screws to be detected
Set gradually along the shooting direction of camera 13.After the product orientation for screwing is good, the CCD camera 12 with camera 13 is clapped
The photo for treating gluing product fixed position is taken the photograph, and returns to six axis robot 8, six axis robot 8 feeds back according to CCD camera 12
Product space information adjust automatically is exported, to drive pneumatic screw driver 10, screw feed appliance 7 and detection execution unit to be moved to product
The position screwed the need for product, that is, be moved to target screw hole position and carry out the action that screws, high-quality, height are completed with this
The position that needs to screw to electronic component of efficiency carries out automatic screw nailing.
As further improvement of the utility model, turntable is provided with above-mentioned board 2, above-mentioned tool base plate 4 is arranged on
On turntable, above-mentioned tool base plate 4 is circle, and the Shang Yiqi centers of above-mentioned tool base plate 4 are some for being arranged with for symmetrical centre
Individual above-mentioned tool 6, above-mentioned turntable rotates the underface for one of those above-mentioned tool 6 is located at screw feed appliance 7.It is preferred that
Two tools 6 are set on tool base plate 4, and the tool base plate 4 of circular configuration rotates under the driving of turntable so that have all the time
The underface that one tool 6 is located at screw conveying feed appliance 7 carries out the action that screws, and the tool base plate 4 of the release that screws
Rotation to discharge station, so can with while screwing, while will accomplish fluently the workpiece of screw and unloaded down from locating slot, needed with fashionable dress
The workpiece for screwing, further improves the efficiency that screws；The tool base plate 4 of circular configuration is beneficial to the control anglec of rotation.Certainly, root
According to actually used needs, more tools 6 can be set on same tool base plate 4, it is not limited to two.
Six axis robot of the present utility model can drive pneumatic screw driver 10, screw feed appliance 7 and detection execution unit
Comprehensive mobile gluing is completed, is made up of six grades of axle systems, the concrete structure of axle systems at different levels is as follows：
First order axle system, its first servomotor and the first servo motor output shaft for including being arranged in board turn
First rotating seat 81 of dynamic connection；
Second level axle system, it includes that the second servomotor being arranged in the first rotating seat and the second servomotor are defeated
Shaft rotates the first rotation bridge arm 82 of connection, and above-mentioned first rotation bridge arm 82 is connected on the first rotating seat 81；
Third level axle system, it includes the 3rd servomotor and the 3rd servomotor that are arranged in the first rotating seat 81
Second rotation bridge arm 83 of output shaft rotation connection, above-mentioned second rotation bridge arm 83 is connected on the first rotation bridge arm 82；
Fourth stage axle system, it includes the 4th servomotor being arranged on the second rotation bridge arm 83 and the 4th servo electricity
3rd rotation bridge arm 84 of machine output shaft rotation connection, above-mentioned 3rd rotation bridge arm 84 is connected on the second rotation bridge arm 83；
Level V axle system, it includes the 5th servomotor and the 5th servo electricity that are arranged on the 3rd rotation bridge arm 84
First rotating disk 85 of machine output shaft rotation connection, above-mentioned first rotating disk 85 is connected on the 3rd rotation bridge arm 84；
6th grade of axle system, it includes the 6th servomotor and the 6th servo electricity that are arranged on the 3rd rotation bridge arm 84
Second rotating disk 86 of machine output shaft rotation connection, above-mentioned second rotating disk 86 is connected in the first rotating disk 85；
Above-mentioned gluing execution unit is arranged in the second rotating disk 86.
Above-mentioned first order axle system, second level axle system, third level axle system, fourth stage axle system, level V axle system,
6th grade of axle system coordinates the above-mentioned gluing execution unit of driving in X-direction, Y direction, Z-direction, A direction of principal axis, B axle side
To the rotation in any one direction, any two direction or any number of directional combinations in, C direction of principal axis, complete one and control
The automatic screw nailing action of multiple workpiece to be screwed on tool 6.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or new using this practicality
Type.Various modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can in other embodiments be realized in the case where spirit or scope of the present utility model are not departed from.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (7)
1. a kind of manipulator automatic screw nailing mechanism, including board, it is characterised in that：The table top of the board is provided with tool bottom
Plate, the tool base plate is provided with the tool for positioning product to be screwed, and is provided with the board for adsorbing spiral shell to be beaten
The vacuum suction layer of silk product；
It also includes pneumatic screw driver, drives pneumatic screw driver to be moved to six axis robot directly over target screw hole position, set
The screw feed appliance at six axis robot action executing end is put, the six axis robot is arranged on board；
- screw the feed appliance, screw guide cup that it includes storing pipe for housing multiple screws and the connection of storing pipe,
And the feeding mouth being connected with screw guide cup；
- storing the pipe, its end is provided with the valve for being blown into the screw in it in screw guide cup；
- screw the guide cup, it has the blanking port fallen one by one for screw, and the blanking port has for adjusting screw extremely
Nut is towards screwing funnel-shaped structure directed downwardly；
- the feeding mouth, it has the material mouth body one and material mouth body two that split is set, material mouth body one and material mouth body two
Both can in opposite directions close up under the driving of motor or dorsad separate, being internally formed and screw shape both when both close up
The cavity volume for matching, screw when both close up from the blanking port vertical drop is housed in the cavity volume；Both separate
In the target screw hole position that screw in Shi Suoshu cavity volumes is fallen on the tool；It is also formed with supplying institute inside it when both close up
State the cutter head jack for driving the cutter head of screwdriver to pass through from top to bottom.
2. manipulator automatic screw nailing mechanism according to claim 1, it is characterised in that：The action of the six axis robot
Actuating station is additionally provided with detection execution unit, and the detection execution unit includes CCD camera and light source, the light source, CCD camera
Both cameras center on same straight line, and camera, light source and the product three that screws to be detected are along shooting
The shooting direction of head sets gradually.
3. manipulator automatic screw nailing mechanism according to claim 1 and 2, it is characterised in that：Rotation is provided with the board
Turntable, the tool base plate is installed on a spinstand.
4. manipulator automatic screw nailing mechanism according to claim 3, it is characterised in that：The tool base plate is circle,
The tool base plate Shang Yiqi centers are several tools that are arranged with of symmetrical centre, and the turntable is rotated and causes it
In a tool be located at gluing execution unit underface.
5. manipulator automatic screw nailing mechanism according to claim 4, it is characterised in that：The tool base plate be provided with to
Be provided with two tools less, be equipped with each described tool several for position treat the locating slot of gluing product.
6. manipulator automatic screw nailing mechanism according to claim 1, it is characterised in that：The six axis robot includes,
- first order axle system, its first servomotor and the first servo motor output shaft for including being arranged in board are rotated and connected
The first rotating seat for connecing；
- second level axle system, it includes the second servomotor being arranged in the first rotating seat and the second servo motor output shaft
The first rotation bridge arm of connection is rotated, the first rotation bridge arm is connected on the first rotating seat；
- third level axle system, it includes the 3rd servomotor being arranged in the first rotating seat and the 3rd servo motor output shaft
The second rotation bridge arm of connection is rotated, the second rotation bridge arm is connected on the first rotation bridge arm；
- fourth stage axle system, it includes the 4th servomotor being arranged on the second rotation bridge arm and the output of the 4th servomotor
Axle rotates the 3rd rotation bridge arm of connection, and the 3rd rotation bridge arm is connected on the second rotation bridge arm；
- level V axle system, it includes the 5th servomotor and the output of the 5th servomotor that are arranged on the 3rd rotation bridge arm
Axle rotates the first rotating disk of connection, and first rotating disk is connected on the 3rd rotation bridge arm；
- the six grade of axle system, it includes the 6th servomotor and the output of the 6th servomotor that are arranged on the 3rd rotation bridge arm
Axle rotates the second rotating disk of connection, and second rotating disk is connected in the first rotating disk；
The screw feed appliance and detection execution unit are arranged in the second rotating disk.
7. manipulator automatic screw nailing mechanism according to claim 6, it is characterised in that：The first order axle system,
Two grades of axle systems, third level axle system, fourth stage axle system, level V axle system, the 6th grade of axle systems coordinate the driving spiral shell
Silk feed appliance, detection execution unit appointing in X-direction, Y direction, Z-direction, A direction of principal axis, B axle direction, C direction of principal axis
One rotation of direction, any two direction or any number of directional combinations of meaning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621249009.7U CN206200534U (en) | 2016-11-17 | 2016-11-17 | Manipulator automatic screw nailing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621249009.7U CN206200534U (en) | 2016-11-17 | 2016-11-17 | Manipulator automatic screw nailing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206200534U true CN206200534U (en) | 2017-05-31 |
Family
ID=58749719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621249009.7U Expired - Fee Related CN206200534U (en) | 2016-11-17 | 2016-11-17 | Manipulator automatic screw nailing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206200534U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107416514A (en) * | 2017-06-02 | 2017-12-01 | 珠海格力智能装备有限公司 | Nut grasping mechanism and there is its air conditioner processing unit (plant) |
| CN107813130A (en) * | 2017-11-24 | 2018-03-20 | 苏州弘瀚自动化科技有限公司 | One kind lock screw device |
| CN107855763A (en) * | 2017-11-29 | 2018-03-30 | 苏州弘瀚自动化科技有限公司 | A kind of portable lock screw frock |
| CN108555578A (en) * | 2017-11-29 | 2018-09-21 | 晓视自动化科技（上海）有限公司 | A kind of side automatic screw nailing equipment |
| CN109702470A (en) * | 2019-01-23 | 2019-05-03 | 浙江茗熔电器保护系统有限公司 | A kind of automatic screw nailing equipment for bar shaped fuse disconnecting switch |
| CN109834638A (en) * | 2017-11-27 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of space fastening high torch bolt device |
| CN110653598A (en) * | 2019-10-08 | 2020-01-07 | 苏州华维乐自动化科技有限公司 | Six-axis robot multi-surface automatic lock rack equipment |
| CN113172404A (en) * | 2021-06-03 | 2021-07-27 | 苏州华维乐自动化科技有限公司 | Printer screw tightening equipment |
| CN113399992A (en) * | 2021-07-01 | 2021-09-17 | 湖南炬神电子有限公司 | Novel six auto-screwdriving machines of robotic arm |
-
2016
- 2016-11-17 CN CN201621249009.7U patent/CN206200534U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107416514A (en) * | 2017-06-02 | 2017-12-01 | 珠海格力智能装备有限公司 | Nut grasping mechanism and there is its air conditioner processing unit (plant) |
| CN107813130A (en) * | 2017-11-24 | 2018-03-20 | 苏州弘瀚自动化科技有限公司 | One kind lock screw device |
| CN109834638A (en) * | 2017-11-27 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of space fastening high torch bolt device |
| CN107855763A (en) * | 2017-11-29 | 2018-03-30 | 苏州弘瀚自动化科技有限公司 | A kind of portable lock screw frock |
| CN108555578A (en) * | 2017-11-29 | 2018-09-21 | 晓视自动化科技（上海）有限公司 | A kind of side automatic screw nailing equipment |
| CN109702470A (en) * | 2019-01-23 | 2019-05-03 | 浙江茗熔电器保护系统有限公司 | A kind of automatic screw nailing equipment for bar shaped fuse disconnecting switch |
| CN109702470B (en) * | 2019-01-23 | 2021-06-25 | 浙江茗熔电器保护系统有限公司 | Automatic screw driving equipment for strip fuse type isolating switch |
| CN110653598A (en) * | 2019-10-08 | 2020-01-07 | 苏州华维乐自动化科技有限公司 | Six-axis robot multi-surface automatic lock rack equipment |
| CN113172404A (en) * | 2021-06-03 | 2021-07-27 | 苏州华维乐自动化科技有限公司 | Printer screw tightening equipment |
| CN113399992A (en) * | 2021-07-01 | 2021-09-17 | 湖南炬神电子有限公司 | Novel six auto-screwdriving machines of robotic arm |
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| 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: 20170531 Termination date: 20211117 |