CN212682256U - Dual manipulator detection device capable of sensing in-place and self-positioning of stamping part - Google Patents
Dual manipulator detection device capable of sensing in-place and self-positioning of stamping part Download PDFInfo
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- CN212682256U CN212682256U CN202021273644.5U CN202021273644U CN212682256U CN 212682256 U CN212682256 U CN 212682256U CN 202021273644 U CN202021273644 U CN 202021273644U CN 212682256 U CN212682256 U CN 212682256U
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- 238000000034 method Methods 0.000 claims description 11
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- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000004080 punching Methods 0.000 abstract description 2
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Abstract
The utility model provides a can respond to dual manipulator detection device that stamping workpiece target in place and self-align belongs to mechanical technical field. The problem that the stretching shell cannot be accurately positioned and processed in the existing production line is solved. This dual manipulator detection device that can respond to stamping workpiece target in place and self-align, this detection device includes the base and sets up in the stand at base both ends, turn right by a left side in proper order the interval and be provided with triangle sucking disc one, triangle sucking disc two and triangle sucking disc three, distance between triangle sucking disc two and the triangle sucking disc three is the twice of distance between triangle sucking disc two and the triangle sucking disc one, be located triangle sucking disc two and be provided with anchor clamps one under, the bottom of anchor clamps one sets up bottom plate one, bottom plate one facial make-up is equipped with photoelectric sensor, bottom plate one facial make-up is equipped with three optical fiber sensor. The utility model has the advantages of whether the direction position that can detect before the punching press of tensile casing is accurate can respond to the stamping workpiece and target in place and from the location.
Description
Technical Field
The utility model belongs to the technical field of machinery, a can respond to stamping workpiece and target in place and self-align dual manipulator detection device is related to.
Background
In order to realize the automation continuity and accuracy of a plurality of stamping processes, particularly when the stamping stretching shell has stamping processing positions and direction requirements, the problem of disordered arrangement of the stretching shell in the previous process must be solved, otherwise, the die and the stamping equipment are damaged during stamping in the next process, and personal safety accidents can be caused seriously.
Disclosure of Invention
The utility model aims at the above-mentioned problem that exists among the prior art, provide one kind can detect the direction position before the punching press of tensile casing whether accurate can respond to the stamping workpiece and target in place and from the dual manipulator detection device of locating.
The purpose of the utility model can be realized by the following technical proposal: the utility model provides a can respond to stamping workpiece and target in place and self-align dual manipulator detection device, its characterized in that, this detection device include the base and set up in the stand at base both ends, two be connected through the crossbeam between the top of stand, the crossbeam on turn right in proper order the interval by a left side and be provided with triangle sucking disc one, triangle sucking disc two and triangle sucking disc three that are used for absorbing tensile casing, triangle sucking disc one, triangle sucking disc two and triangle sucking disc two along crossbeam front end synchronous motion, crossbeam tip be close to position department of triangle sucking disc one and install the servo motor who is used for controlling triangle sucking disc one, triangle sucking disc two and triangle sucking disc two along crossbeam front end synchronous motion, triangle sucking disc one be located the left end of crossbeam and be used for absorbing the tensile casing in one process, triangle sucking disc three in the right-hand member of crossbeam, triangle sucking disc two be located triangle sucking disc one and triangle sucking disc three before and pass through the dead lever with triangle sucking disc three and link to each other The distance between the second triangular sucker and the third triangular sucker is twice as long as the distance between the second triangular sucker and the first triangular sucker, a first rotatable clamp for installing a stretching shell is arranged under the second triangular sucker, a second clamp for installing the stretching shell is arranged under the third triangular sucker, a first bottom plate for installing the first clamp is arranged at the bottom of the first clamp, the first bottom plate is fixedly connected with the cross beam through a first support, a second bottom plate for installing the second clamp is arranged at the bottom of the second clamp, the second bottom plate is fixedly connected with the cross beam through a second support, a photoelectric sensor for detecting whether the stretching shell is accurately placed and installed on a rotating platform is arranged on the first bottom plate, three optical fiber sensors are arranged at positions, close to the photoelectric sensors, on the first bottom plate, three corresponding holes which correspond to the optical fiber sensors one by one are formed in the stretching shell, when the first rotatable clamp drives the stretching shell to rotate to the designated position, the three corresponding holes in the stretching shell correspond to the three optical fiber sensors one by one, and then the stretching shell located at the position is sucked through the two pairs of triangular suckers.
In the above dual manipulator detection device capable of sensing the in-place and self-positioning of the stamping part, a stepping motor for controlling the rotation of the clamp is arranged below the bottom plate.
In the above-mentioned dual manipulator detection device that can respond to the stamping workpiece and put in place and self-align, the crossbeam on be provided with and be used for controlling the drive actuating cylinder that a triangle sucking disc goes up and down.
In the above-mentioned dual manipulator detection device that can respond to the stamping workpiece and put in place and self-align, the crossbeam on and be located the top of triangle sucking disc two and be provided with the triaxial cylinder that is used for controlling triangle sucking disc two and triangle sucking disc trisynchronous lift.
In the above-mentioned dual manipulator detection device that can respond to the stamping workpiece and target in place and self-align, servo motor pass through synchronous pulley subassembly and drive triangle sucking disc one, triangle sucking disc two and triangle sucking disc three along crossbeam front end synchronous motion.
In foretell can respond to the stamping workpiece and put in place and from dual manipulator detection device of locating, drive between actuating cylinder and the crossbeam and link to each other through supply triangle sucking disc one about lateral shifting's linear guide, triaxial cylinder and crossbeam between link to each other through supply triangle sucking disc two about lateral shifting's linear guide.
In foretell can respond to dual manipulator detection device that stamping workpiece put in place and self-align, step motor open by the control of PLC system and stop, when three on the tensile casing correspond one with three optical fiber sensor one, this PLC system control step motor stop work, by step motor control rotatory anchor clamps one and place the tensile casing of installing on anchor clamps one and all stop rotating, absorb to this tensile casing through the triangle sucking disc.
In the above dual manipulator detection device capable of sensing in-place and self-positioning of the stamping part, the first base plate is provided with a first mounting seat for mounting three optical fiber sensors and a second mounting seat for mounting a photoelectric sensor.
In foretell dual manipulator detection device that can respond to stamping workpiece target in place and self-align, connect the linear guide top between driving actuating cylinder and crossbeam and be provided with movable block one, the linear guide top of connecting between triaxial cylinder and crossbeam is provided with movable block two, movable block one and movable block two all link to each other as an organic wholely with the hold-in range wheel subassembly through the hold-in range clamp splice, the top of movable block one and movable block two is equallyd divide and is provided with respectively and is used for the on-off sensor that induction control triangle sucking disc one and triangle sucking disc two and triangle sucking disc three reset.
Compared with the prior art, this can respond to dual manipulator detection device that stamping workpiece targets in place and self-align has following advantage:
1. the transportation is convenient, the triangular sucker I, the triangular sucker II and the triangular sucker III are used for sucking the corresponding stretching shells, and the triangular sucker I, the triangular sucker II and the triangular sucker III are controlled by the servo motor to synchronously move transversely for transporting the stretching shells, so that the problem of low transportation efficiency in the existing production line is solved, the processing time of parts is shortened while the transportation efficiency is improved, and the working production efficiency is improved;
2. whether the position of the tensile shell when being absorbed is in place or not and whether the position of the tensile shell when being installed in the first upper clamp of the base plate is accurate or not is detected through the optical fiber sensors and the photoelectric sensors, and the smoothness, the accuracy and the convenience of the production line are improved.
Drawings
Fig. 1 is a schematic structural diagram of the double manipulator detection device capable of sensing the in-position and self-position of the stamping part.
Fig. 2 is a schematic perspective view of a stretching shell in the dual manipulator detection device capable of sensing the in-position and self-positioning of the stamping part.
In the figure, 1, a base; 2. a column; 3. a cross beam; 4. a first triangular sucker; 5. a triangular sucking disc II; 6. a triangular sucker III; 7. a servo motor; 8. stretching the shell; 9. fixing the rod; 10. a first clamp; 11. a second clamp; 12. a first bottom plate; 13. a first bracket; 14. a second bottom plate; 15. a second bracket; 16. a photosensor; 17. an optical fiber sensor; 18. a corresponding hole; 19. a stepping motor; 20. a driving cylinder; 21. a three-axis cylinder; 22. a synchronous pulley assembly; 23. a linear guide rail; 24. a first mounting seat; 25. a second mounting seat; 26. moving a first block; 27. a second moving block; 28. a switch sensor; 29. and a synchronous belt clamping block.
Detailed Description
The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.
As shown in figures 1 and 2, the double-manipulator detection device capable of sensing the in-place and self-positioning of the stamping part comprises a base 1 and upright posts 2 arranged at two ends of the base 1, the tops of the two upright posts 2 are connected through a cross beam 3, a first triangular sucker 4, a second triangular sucker 5 and a third triangular sucker 6 for sucking a stretching shell 8 are sequentially arranged on the cross beam 3 from left to right at intervals, the first triangular sucker 4, the second triangular sucker 5 and the second triangular sucker 5 synchronously move along the front end part of the cross beam 3, a servo motor 7 for controlling the first triangular sucker 4, the second triangular sucker 5 and the second triangular sucker 5 to synchronously move along the front end part of the cross beam 3 is arranged at a position, close to the first triangular sucker 4, of the end part of the cross beam 3, the first triangular sucker 4 is arranged at the left end of the cross beam 3 and used for sucking the stretching shell 8 in the previous process, and the third triangular sucker 6 is arranged at, the triangular sucker II 5 is positioned in front of the triangular sucker I4 and the triangular sucker III 6 and is connected with the triangular sucker III 6 through a fixing rod 9, the distance between the triangular sucker II 5 and the triangular sucker III 6 is twice of the distance between the triangular sucker II 5 and the triangular sucker I4, a clamp I10 which is used for installing and rotating the stretching shell 8 is arranged under the triangular sucker II 5, a clamp II 11 which is used for installing the stretching shell 8 is arranged under the triangular sucker III 6, a bottom plate I12 which is used for installing the clamp I10 is arranged at the bottom of the clamp I10, the bottom plate I12 is fixedly connected with the cross beam 3 through a support I13, a bottom plate II 14 which is used for installing the clamp II 11 is arranged at the bottom of the clamp II 11, the bottom plate II 14 is fixedly connected with the cross beam 3 through a support II 15, and a photoelectric sensor 16 which is used for detecting whether the stretching shell 8 is accurately placed and installed on a rotating platform, three optical fiber sensor 17 have been installed to the position department that is close to photoelectric sensor 16 on bottom plate 12, set up three and the corresponding hole 18 of above-mentioned optical fiber sensor 17 one-to-one on the tensile casing 8, when driving tensile casing 8 by rotatable anchor clamps 10 and rotate to assigned position department, three on this tensile casing 8 correspond hole 18 and three optical fiber sensor 17 one-to-one and then absorb the tensile casing 8 that is located this position department through triangle sucking disc two 5, triangle sucking disc one 4, constitute by sucking disc manipulator and triangle dish on triangle sucking disc two 5 and the triangle sucking disc three 6, a plurality of adjustment tank have been seted up on the triangle dish, the sucking disc manipulator can select suitable suction position according to the tensile casing 8 of different diameters size.
The conveying process in the dual manipulator detection device capable of sensing the in-place and self-positioning of the stamping part is as follows:
assuming that the distance between the position point A of the first triangular sucker 4 and the position point B of the second triangular sucker 5 is 400 units, and the distance between the position point B of the second triangular sucker 5 and the position point C of the third triangular sucker 6 is 800 units, when the device works, the three groups of suckers finish sucking materials at the same time, then the servo motor 7 is started, the servo motor 7 controls the synchronous pulley component 22 to drive the first triangular sucker 4, the second triangular sucker 5 and the third triangular sucker 6 to synchronously and transversely move for 400 units, at the moment, the first triangular sucker 4 moves to the position of the original second triangular sucker 5, the position of the existing second triangular sucker 5 is between the position of the original second triangular sucker 5 and the position of the original third triangular sucker 6, and the existing third triangular sucker 6 is positioned in the next process (in a die of a stamping device, but is not positioned in the position of the stamping die for placing the stretching shell 8), at the moment, the first triangular sucker 4 is fed, the stretching shell 8 sucked by the first triangular sucker 4 is fed onto the first clamp 10, but the second triangular sucker 5 and the second triangular sucker 5 are not fed, then the servo motor 7 controls the synchronous pulley component 22 to continue to drive and drive the first triangular sucker 4, the second triangular sucker 5 and the third triangular sucker 6 to synchronously and transversely move for 400 units again, the second triangular sucker 5 reaches the position of the third triangular sucker 6 in the initial state, the third triangular sucker 6 reaches the corresponding position in the next process (namely the position in a stamping die where the stretching shell 8 is placed), then the second triangular sucker 5 and the third triangular sucker 6 are fed, the stretching shell 8 sucked by the second triangular sucker 5 and the third triangular sucker 6 is respectively fed to the corresponding positions in the second clamp 11 and the next process, then reset is carried out, the reset distance is 800 units, all three return to the original position.
The detection process in the dual manipulator detection device capable of sensing the in-place and self-positioning of the stamping part is as follows:
when the first triangular sucker 4 is used for pulling the shell 8 down to the first clamp 10, before the second triangular sucker 5 is ready to suck the stretching shell 8, a detection is performed, the stretching shell 8 arranged on the first clamp 10 is placed to rotate, when the stretching shell 8 rotates to a corresponding position, three corresponding holes 18 in the stretching shell 8 correspond to three optical fiber sensors 17 one by one, then the second triangular sucker 5 is used for sucking the stretching shell 8 at the position, and the photoelectric sensor 16 is used for detecting whether the position of the first triangular sucker 4 sucking the stretching shell 8 to the first clamp 10 is in place or not, namely whether the position of the stretching shell 8 initially arranged on the first clamp 10 is in place or not.
Preferably, a stepping motor 19 for controlling the rotation of the clamp-holder 10 is arranged below the bottom plate 12.
Preferably, the driving cylinder 20 for controlling the first triangular sucker 4 to ascend and descend is arranged on the beam 3, the three-shaft cylinder 21 for controlling the second triangular sucker 5 and the third triangular sucker 6 to ascend and descend is arranged above the second triangular sucker 5 on the beam 3, and the three-shaft cylinder 21 drives the second triangular sucker 5 to ascend and descend and also drives the fixing rod 9 and the third triangular sucker 6 to ascend and descend as the third triangular sucker 6 is connected with the second triangular sucker 5 through the fixing rod 9.
Preferably, the servo motor 7 drives the first triangular sucker 4, the second triangular sucker 5 and the third triangular sucker 6 to synchronously move along the front end part of the cross beam 3 through the synchronous pulley component 22.
Preferably, the driving cylinder 20 is connected with the beam 3 through a linear guide rail 23 for the first triangular suction cup 4 to move transversely leftwards and rightwards, and the triaxial cylinder 21 is connected with the beam 3 through a linear guide rail 23 for the second triangular suction cup 5 to move transversely leftwards and rightwards.
Preferably, the stepping motor 19 is controlled by a PLC system to start and stop, when the three corresponding holes 18 on the stretching housing 8 correspond to the three optical fiber sensors 17 one by one, the PLC system controls the stepping motor 19 to stop working, the first fixture 10 controlled to rotate by the stepping motor 19 and the stretching housing 8 placed on the first fixture 10 both stop rotating, and the stretching housing 8 is sucked by the triangular suction cup two 5.
Preferably, the first base plate 12 is provided with a first mounting seat 24 for mounting the three optical fiber sensors 17 and a second mounting seat 25 for mounting the photoelectric sensor 16.
Preferably, a first moving block 26 is arranged at the top of the linear guide rail 23 connected between the driving cylinder 20 and the cross beam 3, a second moving block 27 is arranged at the top of the linear guide rail 23 connected between the triaxial cylinder 21 and the cross beam 3, the first moving block 26 and the second moving block 27 are connected with the synchronous pulley assembly 22 into a whole through a synchronous belt clamping block 29, and switch sensors 28 for inductively controlling the first triangular sucker 4, the second triangular sucker 5 and the third triangular sucker 6 to reset are respectively arranged at the tops of the first moving block 26 and the second moving block 27.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (9)
1. A double-manipulator detection device capable of sensing that a stamping part is in place and self-positioned is characterized by comprising a base (1) and stand columns (2) arranged at two ends of the base (1), wherein the tops of the two stand columns (2) are connected through a cross beam (3), a first triangular sucker (4), a second triangular sucker (5) and a third triangular sucker (6) for sucking a stretching shell (8) are sequentially arranged on the cross beam (3) from left to right at intervals, the first triangular sucker (4), the second triangular sucker (5) and the second triangular sucker (5) synchronously move along the front end part of the cross beam (3), a servo motor (7) for controlling the first triangular sucker (4), the second triangular sucker (5) and the second triangular sucker (5) to synchronously move along the front end part of the cross beam (3) is arranged at a position, close to the first triangular sucker (4), of the end part of the cross beam (3), the triangular sucker I (4) is positioned at the left end of the cross beam (3) and used for sucking a stretching shell (8) in the previous process, the triangular sucker III (6) is positioned at the right end of the cross beam (3), the triangular sucker II (5) is positioned in front of the triangular sucker I (4) and the triangular sucker III (6) and is connected with the triangular sucker III (6) through a fixing rod (9), the distance between the triangular sucker II (5) and the triangular sucker III (6) is twice as long as the distance between the triangular sucker II (5) and the triangular sucker I (4), a clamp I (10) for installing the stretching shell (8) and rotating is arranged under the triangular sucker II (5), a clamp II (11) for installing the stretching shell (8) is arranged under the triangular sucker III (6), and a bottom plate I (12) for installing the clamp I (10) is arranged at the bottom of the clamp I (10), and the first bottom plate (12) is fixedly connected with the cross beam (3) through the first support (13), the second bottom plate (14) for mounting the second clamp (11) is arranged at the bottom of the second clamp (11), the second bottom plate (14) is fixedly connected with the cross beam (3) through the second support (15), the first bottom plate (12) is provided with a photoelectric sensor (16) for detecting whether the stretching shell (8) is accurately placed and mounted on a rotary platform, the first bottom plate (12) is provided with three optical fiber sensors (17) at positions close to the photoelectric sensor (16), the stretching shell (8) is provided with three corresponding holes (18) corresponding to the optical fiber sensors (17), and when the stretching shell (8) is driven by the first rotatable clamp (10) to rotate to a specified position, the three corresponding holes (18) on the stretching shell (8) and the three optical fiber sensors (17) are in one-to-one correspondence so as to be aligned to the position through the second triangular sucker (5) The stretching shell (8) at the position absorbs the waste water.
2. A double robot detection device capable of sensing the in-position and self-position of a stamping part according to claim 1, characterized in that a stepping motor (19) for controlling the rotation of the first clamp (10) is arranged below the first base plate (12).
3. The double-manipulator detection device capable of sensing the in-place and self-positioning of the stamped part according to claim 1, wherein a driving cylinder (20) for controlling the lifting of the triangular sucker I (4) is arranged on the cross beam (3).
4. The double-manipulator detection device capable of sensing in-place and self-positioning of the stamped part according to claim 3, wherein a three-axis cylinder (21) used for controlling synchronous lifting of the triangular sucker II (5) and the triangular sucker III (6) is arranged on the cross beam (3) and above the triangular sucker II (5).
5. The double-manipulator detection device capable of sensing the in-place and self-positioning of the stamping part according to claim 1, wherein the servo motor (7) drives the first triangular sucker (4), the second triangular sucker (5) and the third triangular sucker (6) to synchronously move along the front end part of the cross beam (3) through a synchronous pulley component (22).
6. The double-manipulator detection device capable of sensing the in-place and self-positioning of the stamped part according to claim 4, wherein the driving cylinder (20) is connected with the cross beam (3) through a linear guide rail (23) for the left and right transverse movement of the first triangular sucker (4), and the three-axis cylinder (21) is connected with the cross beam (3) through a linear guide rail (23) for the left and right transverse movement of the second triangular sucker (5).
7. The double-manipulator detection device capable of sensing in-place and self-positioning of the stamped part according to claim 2, wherein the stepping motor (19) is controlled by a PLC system to start and stop, when three corresponding holes (18) in the stretching shell (8) correspond to three optical fiber sensors (17) one by one, the PLC system controls the stepping motor (19) to stop working, the rotating clamp I (10) controlled by the stepping motor (19) and the stretching shell (8) placed and installed on the clamp I (10) stop rotating, and the stretching shell (8) is sucked by the triangular sucking disc II (5).
8. A dual manipulator detection device capable of sensing punch in-place and self-positioning according to claim 1, wherein the first base plate (12) is provided with a first mounting seat (24) for mounting three optical fiber sensors (17) and a second mounting seat (25) for mounting a photoelectric sensor (16).
9. The double-manipulator detection device capable of sensing in-place and self-positioning of a stamped part according to claim 5, wherein a first moving block (26) is arranged at the top of a linear guide rail (23) connected between the driving cylinder (20) and the cross beam (3), a second moving block (27) is arranged at the top of the linear guide rail (23) connected between the three-axis cylinder (21) and the cross beam (3), the first moving block (26) and the second moving block (27) are connected with a synchronous belt wheel assembly (22) into a whole through a synchronous belt clamping block (29), and switch sensors (28) used for sensing and controlling the first triangular sucker (4), the second triangular sucker (5) and the third triangular sucker (6) to reset are respectively arranged at the tops of the first moving block (26) and the second moving block (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021273644.5U CN212682256U (en) | 2020-07-01 | 2020-07-01 | Dual manipulator detection device capable of sensing in-place and self-positioning of stamping part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021273644.5U CN212682256U (en) | 2020-07-01 | 2020-07-01 | Dual manipulator detection device capable of sensing in-place and self-positioning of stamping part |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212682256U true CN212682256U (en) | 2021-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021273644.5U Expired - Fee Related CN212682256U (en) | 2020-07-01 | 2020-07-01 | Dual manipulator detection device capable of sensing in-place and self-positioning of stamping part |
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| Country | Link |
|---|---|
| CN (1) | CN212682256U (en) |
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2020
- 2020-07-01 CN CN202021273644.5U patent/CN212682256U/en not_active Expired - Fee Related
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| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Hangzhou Zhande Enterprise Management Consulting Co.,Ltd. Assignor: HANGZHOU POLYTECHNIC Contract record no.: X2023980032623 Denomination of utility model: A dual-manipulator detection device that can sense the in-position and self-positioning of stamping parts Granted publication date: 20210312 License type: Common License Record date: 20230223 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Hangzhou Daochun Information Consulting Co.,Ltd. Assignor: HANGZHOU POLYTECHNIC Contract record no.: X2023980032774 Denomination of utility model: A dual-manipulator detection device that can sense the in-position and self-positioning of stamping parts Granted publication date: 20210312 License type: Common License Record date: 20230224 |
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Assignee: Hangzhou Puchang Technology Co.,Ltd. Assignor: HANGZHOU POLYTECHNIC Contract record no.: X2023980033210 Denomination of utility model: A dual robot detection device that can sense the positioning and self positioning of stamping parts Granted publication date: 20210312 License type: Common License Record date: 20230303 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Hangzhou Qinglanggan Management Consulting Co.,Ltd. Assignor: HANGZHOU POLYTECHNIC Contract record no.: X2023980033307 Denomination of utility model: A dual robot detection device that can sense the positioning and self positioning of stamping parts Granted publication date: 20210312 License type: Common License Record date: 20230306 |
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