CN105598312A - Door plate bending and bidirectional feeding clamp based on robot - Google Patents
Door plate bending and bidirectional feeding clamp based on robot Download PDFInfo
- Publication number
- CN105598312A CN105598312A CN201610094592.7A CN201610094592A CN105598312A CN 105598312 A CN105598312 A CN 105598312A CN 201610094592 A CN201610094592 A CN 201610094592A CN 105598312 A CN105598312 A CN 105598312A
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- cylinder
- fixing
- robot
- mounting bracket
- piston rod
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- 238000005452 bending Methods 0.000 title claims abstract description 60
- 230000002457 bidirectional effect Effects 0.000 title abstract 4
- 230000000694 effects Effects 0.000 claims abstract description 7
- 239000007788 liquid Substances 0.000 claims description 24
- 230000006698 induction Effects 0.000 claims description 6
- 230000007547 defect Effects 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000004080 punching Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a door plate bending and bidirectional feeding clamp based on a robot and relates to the technical field of door plate bending. The door plate bending and bidirectional feeding clamp comprises a fixing plate, a fixed mounting rack, a movable mounting rack, first air cylinders and guide rails, wherein the fixed mounting rack and the movable mounting rack are arranged on the fixing plate, the first air cylinders are arranged on the fixed mounting rack, the guide rails extend in the width direction of the fixed mounting rack, and a slide block in sliding fit with the guide rails is mounted on the guide rails; the movable mounting rack is arranged on the slide block, connected with piston rods of the first air cylinders and provided with a vacuum sucking disc used for sucking a door plate. The door plate bending and bidirectional feeding clamp is driven by the air cylinders, the movable mounting rack drives the door plate to be bent to be fed in the direction of a bending machine relative to the tail end of the robot, the effect that a fifth shaft of the robot is shifted outward for door plate bending is achieved, and the defect that interference is generated between the tail end of the robot and the bending machine, so that the short edge, smaller than 420mm in width, of the door plate cannot be bent is overcome.
Description
Technical field
The present invention relates to the technical field of door panel bending, be specifically related to a kind of door panel bending two-way feed fixture based on robot.
Background technology
In recent years, along with domestic economy development, labor cost goes up thereupon, and no longer, under the overall background of manufacturing industry upgrading, " machine substitution " improves the intelligent degree of manufacturing industry and become new trend China's manufacturing industry man advantage. robot end's fixture in door panel bending Automation workstation, as one of critical component of door panel bending, it is a pith of robot door panel bending, in prior art, there are two obvious shortcomings about robot door panel bending: the fixed sucker fixture of (1) existing process using, after can only bending completing on one side, robot is placed on door-plate on revolving platform and locates, then robot is partial to the general crawl door-plate of bending again, carry out bending Second Edge, so no matter on the bending time, extend, or in the error causing due to multiple bearing, all seriously affect precision and the efficiency of door panel bending, (2) in existing technique, robot and bender support the use end of door plate and carry out bending, but the execution end of robot often produces and interferes with bender, cause carrying out bending with the platelet that robot and the matching used automated system of bender are less than 420mm to width, and the conventional door-plate that is similar to door of elevator can only carry out the broadside that bending cannot be less than 420mm to width to long limit and carries out automation bending, these parts that cannot carry out automatic bending need to manually be carried out bending, hinder the raising of production efficiency, and in order to ensure the clamping degree of stability to bending door-plate of robot, unlikely solve this difficult problem by the structure of simplifying robot.
Chinese patent application CN201320113119.0 discloses a kind of minor face brake forming mechanism, comprise upper bolster, upper padding plate, train wheel bridge, baffle plate, stripper plate, lower bolster, lower bolster, die shoe, bending punching pin is fixed on train wheel bridge by a rotating shaft, and described bending punching pin can rotate around rotating shaft, de-plate enters son and is fixed on stripper plate, counterdie bent insert and counterdie backstop enter son and are fixed on lower bolster, product is placed on described counterdie bent insert upper surface, described bending punching pin respectively with described train wheel bridge, described stripper plate, described de-plate enters between son, to be provided with gap, described counterdie backstop enters sub-upper surface one side and has boss, and described boss is provided with inclined-plane. this patent application can realize minor face bending one-shot forming, but can only carry out bending for short slab, for carrying out the automation door panel bending system of repeatedly bending inapplicable to a door-plate, does not solve door panel bending problems of the prior art.
Summary of the invention
For the deficiencies in the prior art, object of the present invention aims to provide a kind of door panel bending two-way feed fixture based on robot, and the platelet that realization is less than 420mm to width carries out automation bending, is conducive to enhance productivity.
For achieving the above object, the present invention adopts following technical scheme:
Door panel bending two-way feed fixture based on robot, comprising:
For connecting the fixed head of robot the 6th shaft flange dish;
Be arranged at the fixing and mounting bracket on fixed head, on this fixing and mounting bracket, be provided with the guide rail that piston rod activity direction is parallel to the first cylinder of fixing and mounting bracket width and extends along fixing and mounting bracket width, the slide block being slidably matched with guide rail is installed on this guide rail;
Be arranged at the Mobile mounting rack on slide block, the length of this Mobile mounting rack is greater than the length of fixing and mounting bracket, and this Mobile mounting rack connects the piston rod of the first cylinder through cylinder mounting plate, is provided with to draw the vacuum cup of door-plate on this Mobile mounting rack.
Preferably, door panel bending two-way feed fixture based on robot provided by the invention also comprises the second cylinder, the cylinder body of the cylinder body of this second cylinder and the first cylinder is crisscross arranged on fixing and mounting bracket along the width of fixing and mounting bracket, the bearing of trend of this second cylinder piston rod is contrary with the bearing of trend of the first cylinder piston rod, and the piston rod of this second cylinder connects Mobile mounting rack through cylinder mounting plate.
Preferably, on fixing and mounting bracket, be provided with the four-cylinder that is listed in the 3rd cylinder of the first cylinder and cylinder body and is listed in the second cylinder along fixing and mounting bracket length direction cylinder body, the piston rod of the 3rd cylinder and four-cylinder is connected Mobile mounting rack through cylinder mounting plate respectively, the bearing of trend of the 3rd cylinder piston rod is identical with the bearing of trend of the first cylinder piston rod, and the bearing of trend of this four-cylinder piston rod is identical with the bearing of trend of the second cylinder piston rod.
Preferably, the first cylinder, the second cylinder, the 3rd cylinder and four-cylinder are and include the liquid oil pocket spaced apart by piston and the airdraulic actuator of compressed air cell, wherein piston rod one end of the first cylinder and the second cylinder is all connected in piston and is positioned at a side of liquid oil pocket, piston rod one end of the 3rd cylinder and four-cylinder is all connected in piston and is positioned at a side of compressed air cell, and source of the gas is successively through the first magnetic valve, the first one-way throttle valve is communicated with the first compressed air cell of the first cylinder, the first liquid oil pocket of this first cylinder is connected with the 3rd liquid oil pocket of the 3rd cylinder, the 3rd compressed air cell of the 3rd cylinder is successively through the second one-way throttle valve, after the second magnetic valve, be communicated with source of the gas, source of the gas is communicated with the second compressed air cell of the second cylinder successively through the 3rd magnetic valve, the 3rd one-way throttle valve, the second liquid oil pocket of this second cylinder is connected with the 4th liquid oil pocket of four-cylinder, and the 4th compressed air cell of four-cylinder is communicated with source of the gas successively after the 4th one-way throttle valve, the 4th magnetic valve.
Preferably, on one end of fixing and mounting bracket, be provided with three approach switchs of equidistantly arranging along fixing and mounting bracket width, one is arranged on Mobile mounting rack through dog plate towards the induction block of approach switch, the dog plate that length direction is parallel to fixing and mounting bracket width be positioned at approach switch directly over.
Preferably, three approach switchs connect respectively PLC control system, and this PLC control system connects respectively the first magnetic valve, the second magnetic valve, the 3rd magnetic valve and the 4th magnetic valve.
Beneficial effect of the present invention is: 1) vacuum cup on Mobile mounting rack will treat that bending door-plate carries out centering absorption, air cylinder driven Mobile mounting rack moves relative to fixed head and fixing and mounting bracket, Mobile mounting rack drives and treats that the relative robot end of bending door-plate is toward the feeding of bender direction, has overcome between robot the 5th axle and bender lower die to produce to interfere to cause being less than the difficult problem that the door-plate minor face of 420mm carries out bending to width; 2) support the use with the rotating mechanism of robot the 6th shaft flange dish, utilize fixture provided by the invention can realize the continuous bending on end of door plate four limits, improved the automaticity of door panel bending, saved cost of labor; 3) within one hour, can complete 36 door-plate four Edge Bends, completing three compared to one hour of the prior art is part door-plate two Edge Bends (and need to adopt the method for welding to process minor face in follow-up technique), has greatly improved production efficiency; 4) two groups of contrary cylinders of piston rod bearing of trend are worked simultaneously, the piston rod activity direction of these two groups of cylinders is parallel to each other, when one group of cylinder extends, another group cylinder shrinks, Mobile mounting rack is moved relative to fixing and mounting bracket, two groups of contrary but parallel cylinders of the direction of motion make the moving direction level more of Mobile mounting rack, are conducive to improve door panel bending quality; 5) it is a loop that the cylinder that piston rod bearing of trend is identical is communicated with source of the gas, is filled with between the liquid oil pocket of liquid and is communicated with, and utilizes the Incoercibility of liquid to realize being synchronized with the movement between the cylinder that piston rod is identical; 6) approach switch supports the use with induction block, displacement installing rack is passed to PLC control system with respect to the positional information of fixing and mounting bracket, PLC control system is to the order of magnetic valve issuing control, thereby the motion of control cylinder has further improved the automaticity of door panel bending.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is part-structure schematic diagram of the present invention;
Fig. 3 is the connection diagram of cylinder portion of the present invention;
Fig. 4 is the structured flowchart of control section of the present invention.
Reference numeral: 1, fixed head; 2, fixing and mounting bracket; 30, piston rod; 31, the first cylinder; 32, the second cylinder; 33, the 3rd cylinder; 34, four-cylinder; 4, cylinder mounting plate; 5, guide rail; 6, slide block; 7, Mobile mounting rack; 80, sucker mount pad; 8, vacuum cup; 90, switch installation seat; 9, approach switch; 10, dog plate; 11, induction block.
Detailed description of the invention
Below, by reference to the accompanying drawings and detailed description of the invention, the present invention is described further:
As shown in Figures 1 and 2, door panel bending two-way feed fixture based on robot, comprise the fixed head 1 for connecting robot the 6th shaft flange dish, be arranged at fixing and mounting bracket 2 and Mobile mounting rack 7 on fixed head 1, on fixing and mounting bracket 2, be provided with the guide rail 5 extending along fixing and mounting bracket 2 widths and the air cylinder group that plays driving effect, the slide block 6 being slidably matched with guide rail 5 is installed on this guide rail 5, this cylinder assembly includes the first cylinder 31 that piston rod 30 activity directions are parallel to fixing and mounting bracket 2 widths, the second cylinder 32, the 3rd cylinder 33 and four-cylinder 34, on one end of fixing and mounting bracket 2, be provided with approach switch 9, the cylinder body of the cylinder body of the first cylinder 31 and the second cylinder 32 is crisscross arranged along the width of fixing and mounting bracket 2, and the bearing of trend of the bearing of trend of the first cylinder 31 piston rods 30 and the second cylinder 32 piston rods 30 is contrary, be listed in the cylinder body of the first cylinder 31 along the cylinder body of length direction the 3rd cylinder 33 of fixing and mounting bracket 2, the cylinder body of four-cylinder 34 is listed in the cylinder body of the second cylinder 32, the bearing of trend of the 3rd cylinder 33 piston rods 30 is identical with the bearing of trend of the first cylinder 31 piston rods 30, the bearing of trend of four-cylinder 34 piston rods 30 is identical with the bearing of trend of the second cylinder 32 piston rods 30, the first cylinder 31, the second cylinder 32, the piston rod 30 of the 3rd cylinder 33 and four-cylinder 34 is connected Mobile mounting rack 7 through cylinder mounting plate 4 respectively, the first cylinder 31 and the second cylinder 32 are arranged at one end of fixing and mounting bracket 2, the 3rd cylinder 33 and four-cylinder 34 are arranged at other one end of fixing and mounting bracket 2, the first cylinder 31, the second cylinder 32, the 3rd cylinder 33 and four-cylinder 34 are and include the liquid oil pocket spaced apart by piston and the airdraulic actuator of compressed air cell, wherein piston rod 30 one end of the first cylinder 31 and the second cylinder 32 are all connected in piston and are positioned at a side of liquid oil pocket, piston rod 30 one end of the 3rd cylinder 33 and four-cylinder 34 are all connected in piston and are positioned at a side of compressed air cell, as shown in Figure 3, for the source of the gas of cylinder air feed is successively through the first 3 position-5 way valve, the first one-way throttle valve is communicated with the first compressed air cell of the first cylinder 31, the first liquid oil pocket of this first cylinder 31 is connected with the 3rd liquid oil pocket of the 3rd cylinder 33, the 3rd compressed air cell of the 3rd cylinder 33 is communicated with respectively the first 2/2-way reversal valve and the second 2/2-way reversal valve after the second one-way throttle valve, first liang of logical reversal valve is communicated with source of the gas, source of the gas is communicated with the second compressed air cell of the second cylinder 32 successively through the second 3 position-5 way valve, the 3rd one-way throttle valve, the second liquid oil pocket of this second cylinder 32 is connected with the 4th liquid oil pocket of four-cylinder 34, the 4th compressed air cell of four-cylinder 34 is communicated with respectively the 3rd 2/2-way reversal valve and the 4th 2/2-way reversal valve after the 4th one-way throttle valve, and the 3rd 2/2-way reversal valve is communicated with source of the gas, three approach switchs 9 are arranged on one end of fixing and mounting bracket 2 through switch installation seat 90 equally spacedly along the width of fixing and mounting bracket 2, the one induction block 11 towards approach switch 9 is arranged on Mobile mounting rack 7 through dog plate 10, the dog plate 10 that length direction is parallel to fixing and mounting bracket 2 widths be positioned at approach switch 9 directly over, as shown in Figure 4, three approach switchs 9 connect respectively PLC control system, and this PLC control system connects respectively two 3 position-5 way valves and four 2/2-way reversal valves, Mobile mounting rack 7 is arranged on slide block 6, the length of this Mobile mounting rack 7 is greater than the length of fixing and mounting bracket 2, the width of this Mobile mounting rack 7 equals the width of fixing and mounting bracket 2, treats that in order to draw the vacuum cup 8 of bending door-plate is arranged on Mobile mounting rack 7 through sucker mount pad 80.
Because the pneumatic element speed that performs an action is fast, adopt one-way throttle valve to realize the control to speed in order to slow down the present invention of its speed, when the first 3 position-5 way valve and the second 2/2-way reversal valve conducting, when the first 2/2-way reversal valve cut-off, source of the gas enters into the first compressed air cell of the first cylinder 31 through the first one-way throttle valve, promote the 3rd liquid oil pocket that liquid that piston pushes the first liquid oil pocket enters into the 3rd cylinder 33, the first cylinder 31 and the 3rd cylinder 33 move simultaneously, the air of the 3rd compressed air cell is extruded and flows to the second one-way throttle valve, gas speed after one-way throttle valve slows down and reaches the effect of deceleration. in the time of the stop motion of needs cylinder, the first 3 position-5 way valve and the second 2/2-way reversal valve switch to cut-off, in like manner can control the gas flow loop of the second cylinder 32 and four-cylinder 34.
Air cylinder driven Mobile mounting rack 7 moves, in the time that induction block 11 moves to the top of arbitrary approach switch 9, this approach switch 9 sends induced signal to PLC control system, this induced signal has reflected the position of Mobile mounting rack 7 with respect to fixing and mounting bracket 2, PLC according to this induced signal to the order of corresponding magnetic valve issuing control, thereby the position of the motion of control cylinder and Mobile mounting rack 7.
When the present invention uses, vacuum cup 8 is treated bending door-plate and is carried out centering absorption, Mobile mounting rack 7 will treat that by cylinder bending door-plate advances to bender edge of a knife direction, avoid the difficult point that robot and bender are interfered, complete after first side bending, fixture advances backward, robot drives fixture to turn after 180 °, fixture advances toward treating bending door-plate with contrary before direction, carries out Second Edge bending, and the bending on the 4th limit is drunk in so same realization to the 3rd limit.
To one skilled in the art, can be according to technical scheme described above and design, make other various corresponding changes and deformation, and within these all changes and deformation all should belong to the protection domain of the claims in the present invention.
Claims (6)
1. the door panel bending two-way feed fixture based on robot, is characterized in that, comprising:
For connecting the fixed head of robot the 6th shaft flange dish;
Be arranged at the fixing and mounting bracket on fixed head, on this fixing and mounting bracket, be provided with the guide rail that piston rod activity direction is parallel to the first cylinder of fixing and mounting bracket width and extends along fixing and mounting bracket width, the slide block being slidably matched with guide rail is installed on this guide rail;
Be arranged at the Mobile mounting rack on slide block, the length of this Mobile mounting rack is greater than the length of fixing and mounting bracket, and this Mobile mounting rack connects the piston rod of the first cylinder through cylinder mounting plate, is provided with to draw the vacuum cup of door-plate on this Mobile mounting rack.
2. the door panel bending two-way feed fixture based on robot as claimed in claim 1, it is characterized in that, also comprise the second cylinder, the cylinder body of the cylinder body of this second cylinder and the first cylinder is crisscross arranged on fixing and mounting bracket along the width of fixing and mounting bracket, the bearing of trend of this second cylinder piston rod is contrary with the bearing of trend of the first cylinder piston rod, and the piston rod of this second cylinder connects Mobile mounting rack through cylinder mounting plate.
3. the door panel bending two-way feed fixture based on robot as claimed in claim 2, it is characterized in that, on fixing and mounting bracket, be provided with the four-cylinder that is listed in the 3rd cylinder of the first cylinder and cylinder body and is listed in the second cylinder along fixing and mounting bracket length direction cylinder body, the piston rod of the 3rd cylinder and four-cylinder is connected Mobile mounting rack through cylinder mounting plate respectively, the bearing of trend of the 3rd cylinder piston rod is identical with the bearing of trend of the first cylinder piston rod, and the bearing of trend of this four-cylinder piston rod is identical with the bearing of trend of the second cylinder piston rod.
4. the door panel bending two-way feed fixture based on robot as claimed in claim 3, it is characterized in that, the first cylinder, the second cylinder, the 3rd cylinder and four-cylinder are and include the liquid oil pocket spaced apart by piston and the airdraulic actuator of compressed air cell, wherein piston rod one end of the first cylinder and the second cylinder is all connected in piston and is positioned at a side of liquid oil pocket, piston rod one end of the 3rd cylinder and four-cylinder is all connected in piston and is positioned at a side of compressed air cell, and source of the gas is successively through the first magnetic valve, the first one-way throttle valve is communicated with the first compressed air cell of the first cylinder, the first liquid oil pocket of this first cylinder is connected with the 3rd liquid oil pocket of the 3rd cylinder, the 3rd compressed air cell of the 3rd cylinder is successively through the second one-way throttle valve, after the second magnetic valve, be communicated with source of the gas, source of the gas is communicated with the second compressed air cell of the second cylinder successively through the 3rd magnetic valve, the 3rd one-way throttle valve, the second liquid oil pocket of this second cylinder is connected with the 4th liquid oil pocket of four-cylinder, and the 4th compressed air cell of four-cylinder is communicated with source of the gas successively after the 4th one-way throttle valve, the 4th magnetic valve.
5. the door panel bending two-way feed fixture based on robot as claimed in claim 4, it is characterized in that, on one end of fixing and mounting bracket, be provided with three approach switchs of equidistantly arranging along fixing and mounting bracket width, one is arranged on Mobile mounting rack through dog plate towards the induction block of approach switch, the dog plate that length direction is parallel to fixing and mounting bracket width be positioned at approach switch directly over.
6. the door panel bending two-way feed fixture based on robot as claimed in claim 5, it is characterized in that, three approach switchs connect respectively PLC control system, and this PLC control system connects respectively the first magnetic valve, the second magnetic valve, the 3rd magnetic valve and the 4th magnetic valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610094592.7A CN105598312B (en) | 2016-02-22 | 2016-02-22 | Door panel bending two-way feed fixture based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610094592.7A CN105598312B (en) | 2016-02-22 | 2016-02-22 | Door panel bending two-way feed fixture based on robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105598312A true CN105598312A (en) | 2016-05-25 |
| CN105598312B CN105598312B (en) | 2017-09-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610094592.7A Active CN105598312B (en) | 2016-02-22 | 2016-02-22 | Door panel bending two-way feed fixture based on robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105598312B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106736602A (en) * | 2017-01-23 | 2017-05-31 | 浙江钱豹精工装备有限公司 | Integral type door of elevator produces swinging cross automatically |
| CN107030631A (en) * | 2017-04-06 | 2017-08-11 | 佛山市南海区广工大数控装备协同创新研究院 | One kind is based on robot door of elevator component assembling flexible fixture |
| CN113385557A (en) * | 2021-06-11 | 2021-09-14 | 江苏铭瀚智能科技有限公司 | Sheet metal part multi-point bending device |
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| CN202174584U (en) * | 2011-07-08 | 2012-03-28 | 武汉人天包装技术有限公司 | Absorption type clamping handgrip |
| CN202864454U (en) * | 2012-10-09 | 2013-04-10 | 宁波江宸自动化装备有限公司 | Adjustable clamping mobile manipulator |
| CN204430050U (en) * | 2015-01-28 | 2015-07-01 | 湖南大捷智能装备有限公司 | A kind of manipulator being applicable to the transfer of Press Automatic Produce Line workpiece |
| CN204912376U (en) * | 2015-07-31 | 2015-12-30 | 苏州富士制御电梯有限公司 | Bender |
-
2016
- 2016-02-22 CN CN201610094592.7A patent/CN105598312B/en active Active
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| JPH0238138U (en) * | 1988-08-26 | 1990-03-14 | ||
| JPH0747154Y2 (en) * | 1988-08-26 | 1995-11-01 | 鋼鈑工業株式会社 | Material gripping mechanism for robots |
| JPH07204746A (en) * | 1994-01-24 | 1995-08-08 | Nisshinbo Ind Inc | Robot hand for handling material in sheet metal bending machine |
| CN202174584U (en) * | 2011-07-08 | 2012-03-28 | 武汉人天包装技术有限公司 | Absorption type clamping handgrip |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106736602A (en) * | 2017-01-23 | 2017-05-31 | 浙江钱豹精工装备有限公司 | Integral type door of elevator produces swinging cross automatically |
| CN106736602B (en) * | 2017-01-23 | 2019-07-12 | 浙江钱豹精工装备有限公司 | Integral type door of elevator produces swinging cross automatically |
| CN107030631A (en) * | 2017-04-06 | 2017-08-11 | 佛山市南海区广工大数控装备协同创新研究院 | One kind is based on robot door of elevator component assembling flexible fixture |
| CN107030631B (en) * | 2017-04-06 | 2018-10-30 | 佛山市南海区广工大数控装备协同创新研究院 | One kind assembling flexible fixture based on robot door of elevator component |
| CN113385557A (en) * | 2021-06-11 | 2021-09-14 | 江苏铭瀚智能科技有限公司 | Sheet metal part multi-point bending device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105598312B (en) | 2017-09-22 |
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Denomination of invention: Bi directional feeding fixture for door panel bending based on Robot Effective date of registration: 20201224 Granted publication date: 20170922 Pledgee: Guangdong Nanhai Rural Commercial Bank branch branch of Limited by Share Ltd. Pledgor: Guangdong fozhixin microelectronics technology research Co.,Ltd. Registration number: Y2020980009995 |
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