CN111421040B - Automatic stamping production line is with towards arm coupling manipulator - Google Patents
Automatic stamping production line is with towards arm coupling manipulator Download PDFInfo
- Publication number
- CN111421040B CN111421040B CN202010346286.4A CN202010346286A CN111421040B CN 111421040 B CN111421040 B CN 111421040B CN 202010346286 A CN202010346286 A CN 202010346286A CN 111421040 B CN111421040 B CN 111421040B
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- pressing
- mounting seat
- seat
- driven shaft
- rectangular
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- 230000008878 coupling Effects 0.000 title claims abstract description 11
- 238000010168 coupling process Methods 0.000 title claims abstract description 11
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 11
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 11
- 238000003825 pressing Methods 0.000 claims abstract description 137
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000004080 punching Methods 0.000 claims abstract description 19
- 238000001125 extrusion Methods 0.000 claims description 20
- 210000000078 claw Anatomy 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000010959 steel Substances 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
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Press Drives And Press Lines (AREA)
- Mounting, Exchange, And Manufacturing Of Dies (AREA)
Abstract
The invention discloses a punching arm coupling manipulator for an automatic punching production line, which comprises a mechanical arm and a pressing mechanism, wherein one end of the mechanical arm is fixedly provided with a mounting seat, the mounting seat is provided with a driven shaft at one time, one end of the driven shaft is fixedly provided with a pressing sliding seat, the pressing sliding seat is provided with a pressing die mounting seat in sliding connection, the pressing die mounting seat is provided with a pressing die, the lower end of the pressing sliding seat is fixedly provided with a reset supporting block, and a reset spring is arranged between the reset supporting block and the pressing die mounting seat; according to the invention, the driven shaft rotates, so that the driven shaft drives the pressing sliding seat to move to the lower end part of the mounting seat, the pressing mechanism is used for pressing the pressing die mounting seat downwards, so that the pressing die on the pressing die mounting seat punches a workpiece below the mounting seat, after punching is finished, the pressing mechanism restores to the initial position, and meanwhile, the reset spring drives the pressing die mounting seat to reset, so that the pressing die on the pressing die mounting seat restores to the initial position and is ready for next punching.
Description
Technical Field
The invention belongs to the field of stamping, and particularly relates to a stamping arm coupling manipulator for an automatic stamping production line.
Background
The stamping is a forming processing method for obtaining a workpiece (stamping part) with a required shape and size by applying external force to plates, strips, pipes, sectional materials and the like by using a press machine and a die to enable the plates, the strips, the pipes, the sectional materials and the like to generate plastic deformation or separation. Among the steels in the world, 60-70% are sheet materials, most of which are punched into finished products. The body, chassis, oil tank, radiator fin, housing of home appliances, etc. of the automobile are all press-worked. The stamping process is a production technology of product parts with certain shapes, sizes and performances by directly receiving deformation force in a pressing and stamping die of conventional or special stamping equipment, and the stamping machine is important processing equipment in the stamping process, so that a stamping arm coupling manipulator for an automatic stamping production line is provided for stamping workpieces.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the punching arm coupling manipulator for the automatic punching production line, which solves the problems proposed by the background technology.
The aim of the invention can be achieved by the following technical scheme:
The utility model provides an automatic stamping production line is with punching arm coupling manipulator, includes robotic arm and pressing mechanism, robotic arm one end fixed mounting has the mount pad, and the one-time installation of mount pad has the driven shaft of swivelling joint, and driven shaft one end fixed mounting has the pressure to move the slide, has seted up on the pressure moves the slide and has moved the spout, installs sliding connection's moulding-die mount pad on the pressure moves the spout, and wherein the moulding-die mount pad slides along pressing the spout, installs the moulding-die on the moulding-die mount pad.
A reset supporting block is fixedly arranged at the lower end of the pressing sliding seat, a reset spring is arranged between the reset supporting block and the pressing die mounting seat, and two ends of the reset spring are fixedly connected with the reset supporting block and the pressing die mounting seat respectively;
the pressing mechanism is used for pressing down the pressing die mounting seat.
Further, the lower end of the mounting seat is provided with a vertical guide bar, one side of the guide bar of the compression mold mounting seat is provided with a guide block, the guide block is provided with a guide groove, and the lower end opening of the guide groove is in a horn shape.
Further, the pressing mechanism comprises a rotating motor, wherein the rotating motor is fixedly arranged on a mounting seat, the output end of the rotating motor is provided with a rotating shaft, a rotating support is fixedly arranged at the lower end of the rotating shaft, a guide rail is arranged at the upper end of the rotating support, a lower motor supporting seat is fixedly arranged at the top end of the guide rail, a lower motor is fixedly arranged on the lower motor supporting seat, a lower driving rod is fixedly arranged at the output end of the lower motor, an external thread is arranged on the lower driving rod, a lower pressing plate in threaded fit is arranged on the lower driving rod, the lower pressing plate is in sliding connection with the guide rail, and a pressing head is arranged at the lower end of the lower pressing plate.
Further, a first rectangular sliding groove is formed in one end, deviating from the pressing sliding seat, of the driven shaft, meanwhile, a driving motor installation frame is fixedly installed on the installation seat, a driving motor is fixedly installed on the driving motor installation frame, a driving shaft is fixedly installed at the output end of the driving motor, a second rectangular sliding groove is formed in one end of the driving shaft, and the first rectangular sliding groove and the second rectangular sliding groove are connected through a clamping mechanism.
Further, the clamping mechanism comprises a first rectangular bar, a connecting shaft and a second rectangular bar, wherein the first rectangular bar is located in the first rectangular sliding groove, the first rectangular bar slides along the extending direction of the first rectangular sliding groove, the second rectangular bar is located in the second rectangular sliding groove, the second rectangular bar slides along the extending direction of the second rectangular sliding groove, and the first rectangular bar and the second rectangular bar are connected through the connecting shaft.
Further, one end of the driven shaft deviating from the pressing sliding seat is hinged with a first connecting rod distributed on the periphery, meanwhile, an extrusion sleeve is fixedly installed on the first rectangular strip, one end of the extrusion sleeve, located on the driven shaft, is hinged with a second connecting rod distributed on the periphery, the second connecting rods are in one-to-one correspondence with the first connecting rods, and the second connecting rods are hinged with the corresponding first connecting rods.
The mounting seat is provided with spacing snap ring in screens mechanism one side, and spacing snap ring inboard is provided with the spacing rack of week side distribution, and second connecting rod upper end fixed mounting has spacing jack catch simultaneously, and when first connecting rod and second connecting rod were close to each other, spacing jack catch imbeds gradually in the spacing rack of spacing snap ring.
The connecting shaft is sleeved with an extrusion block, wherein the upper end of the extrusion block is provided with an extrusion bracket, and the extrusion bracket is fixedly connected with the top end of a contraction rod of the hydraulic cylinder.
The invention has the beneficial effects that:
According to the invention, the driven shaft rotates, so that the driven shaft drives the pressing sliding seat to move to the lower end part of the mounting seat, the pressing mechanism is used for pressing the pressing die mounting seat downwards, so that the pressing die on the pressing die mounting seat punches a workpiece below the mounting seat, after punching is finished, the pressing mechanism restores to the initial position, and meanwhile, the reset spring drives the pressing die mounting seat to reset, so that the pressing die on the pressing die mounting seat restores to the initial position and is ready for next punching.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to those skilled in the art that other drawings can be obtained according to these drawings without inventive effort.
FIG. 1 is a schematic overall structure of an embodiment of the present invention;
FIG. 2 is a schematic view of a structure with different viewing angles according to an embodiment of the present invention;
FIG. 3 is a partial structural use schematic of an embodiment of the present invention;
FIG. 4 is a schematic perspective view of a partial structure of an embodiment of the present invention;
fig. 5 is an enlarged schematic view of the structure of fig. 4 at a according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 5, a punching arm coupling manipulator for an automatic punching production line comprises a mechanical arm 1 and a pressing mechanism, wherein an installation seat 2 is fixedly installed at one end of the mechanical arm 1, a driven shaft 3 which is in rotary connection is installed on the installation seat 2 at one time, the driven shaft 3 can rotate around the driven shaft 3, a pressing sliding seat 4 is fixedly installed at one end of the driven shaft 3, a pressing sliding groove 41 is formed in the pressing sliding seat 4, a pressing die installation seat 42 in sliding connection is installed on the pressing sliding groove 41, the pressing die installation seat 42 slides along the pressing sliding groove 41, and a pressing die 43 is installed on the pressing die installation seat 42;
A reset supporting block 44 is fixedly arranged at the lower end of the pressing sliding seat 4, a reset spring 45 is arranged between the reset supporting block 44 and the pressing die mounting seat 42, and two ends of the reset spring 45 are fixedly connected with the reset supporting block 44 and the pressing die mounting seat 42 respectively;
the pressing mechanism is used for pressing down the die mount 42 so that the die 43 on the die mount 42 completes the punching.
When the pressing device is used, the driven shaft 3 is driven to rotate, the driven shaft 3 drives the pressing sliding seat 4 to move to the lower end part of the mounting seat 2, the pressing mechanism is used for pressing the pressing die mounting seat 42 downwards, the pressing die 43 on the pressing die mounting seat 42 punches a workpiece below the mounting seat 2, after the punching is finished, the pressing mechanism is restored to the initial position, and meanwhile the reset spring 45 drives the pressing die mounting seat 42 to reset, so that the pressing die 43 on the pressing die mounting seat 42 is restored to the initial position to prepare for the next punching.
In the embodiment, the lower end of the mounting seat 2 is provided with a vertical guide bar 21, meanwhile, one side of the die mounting seat 42, which is positioned on the guide bar 21, is provided with a guide block 421, the guide block 421 is provided with a guide groove 422, and the lower end opening of the guide groove 422 is in a horn shape.
When the pressing mechanism is used, the guide groove 422 of the guide block 421 on the pressing seat 42 is gradually sleeved on the guide bar 21 in the pressing process of the pressing seat 42 until the guide bar 21 vertically slides, so that the pressing mechanism is used for vertically moving the pressing seat 42 in the pressing process of the pressing seat 42, the pressing seat 42 keeps the set position, the pressing mold 43 can vertically press down, and the problem that the pressing seat 42 of the pressing sliding seat 4 is caused to press down the position precision deviation due to the precision of the rotating angle position of the driven shaft 3 or the shaking/position deviation is caused in the pressing process of the pressing seat 42 of the pressing sliding seat 4 due to insufficient locking force on the driven shaft 3 is avoided.
The pressing mechanism comprises a rotating motor 50, wherein the rotating motor 50 is fixedly arranged on a mounting seat 2, a rotating shaft 51 is arranged at the output end of the rotating motor 50, a rotating support 52 is fixedly arranged at the lower end of the rotating shaft 51, a guide rail 53 is arranged at the upper end of the rotating support 52, a lower motor support seat 54 is fixedly arranged at the top end of the guide rail 53, a lower motor 55 is fixedly arranged on the lower motor support seat 54, a lower driving rod 56 is fixedly arranged at the output end of the lower motor 55, an external thread is arranged on the lower driving rod 56, a lower pressing plate 57 in threaded fit is arranged on the lower driving rod 56, the lower pressing plate 57 is in sliding connection with the guide rail 53, and a pressing head 58 is arranged at the lower end of the lower pressing plate 57.
When the pressing device is used, the rotating motor 50 drives the rotating support 52 to rotate through the rotating shaft 51, the rotating support 52 drives the lower pressing plate 57 on the rotating support to rotate to be right above the pressing die mounting seat 42, the lower pressing motor 55 drives the lower pressing driving rod 56 to rotate, the rotating lower pressing driving rod 56 drives the lower pressing plate 57 to move downwards, the pressing head 58 on the lower pressing plate 57 presses the pressing die mounting seat 42, the pressing mechanism is used for pressing the pressing die mounting seat 42, and after the pressing action is finished, the lower pressing motor 55 drives the lower pressing driving rod 56 to reversely rotate, so that the lower pressing plate 57 is reset.
In this embodiment, a first rectangular chute 31 is provided at one end of the driven shaft 3 facing away from the pressing slide seat 4, meanwhile, a driving motor mounting frame 22 is fixedly mounted on the mounting seat 2, a driving motor 6 is fixedly mounted on the driving motor mounting frame 22, a driving shaft 61 is fixedly mounted at the output end of the driving motor 6, a second rectangular chute 611 is provided at one end of the driving shaft 61, and the first rectangular chute 31 and the second rectangular chute 611 are connected through a clamping mechanism.
When the driving motor 6 is used, the driving shaft 61 is driven to rotate by the driving motor 6, and the driven shaft 3 is driven to rotate by the rotating driving shaft 61 through the clamping mechanism, so that the driven shaft 3 is driven.
In the present embodiment, the detent mechanism includes a first rectangular bar 70, a connecting shaft 71 and a second rectangular bar 72, wherein the first rectangular bar 70 is located in the first rectangular chute 31, the first rectangular bar 70 slides along the extending direction of the first rectangular chute 31, the second rectangular bar 72 is located in the second rectangular chute 611, and the second rectangular bar 72 slides along the extending direction of the second rectangular chute 611, and the first rectangular bar 70 and the second rectangular bar 72 are connected through the connecting shaft 71.
In use, the driving shaft 61 is driven to rotate by the second rectangular bar 72, the connecting shaft 71 and the first rectangular bar 70 in turn, so that the driving shaft 61 can drive the driven shaft 3 to rotate.
In this embodiment, one end of the driven shaft 3 facing away from the pressing sliding seat 4 is hinged with a first connecting rod 32 distributed on the circumference, meanwhile, an extrusion sleeve 80 is fixedly installed on the first rectangular bar 70, the extrusion sleeve 80 is positioned at one end of the driven shaft 3 and is hinged with a second connecting rod 81 distributed on the circumference, the second connecting rods 81 are in one-to-one correspondence with the first connecting rods 32, and the second connecting rods 81 are hinged with the corresponding first connecting rods 32;
A limiting clamping ring 82 is arranged on one side of the mounting seat 2, a limiting rack 83 distributed on the periphery is arranged on the inner side of the limiting clamping ring 82, meanwhile, a limiting claw 801 is fixedly arranged at the upper end of the second connecting rod 81, and when the first connecting rod 32 and the second connecting rod 81 are mutually close, the limiting claw 801 is gradually embedded into the limiting rack 83 of the limiting clamping ring 82;
The connecting shaft 71 is sleeved with an extrusion block 90, wherein the upper end of the extrusion block 90 is provided with an extrusion bracket 91, and the extrusion bracket 91 is fixedly connected with the top end of a contraction rod of a hydraulic cylinder 92.
During the use, pneumatic cylinder 92 drives extrusion piece 90 through extrusion support 91 and drives whole screens mechanism to the mount pad 2 orientation and remove, and second connecting rod 81 is close to first connecting rod 32 this moment, and spacing jack catch 801 imbeds gradually in spacing rack 83 to spacing snap ring 82 for screens mechanism rotates and is the dead state, and then driven shaft 3 and driving shaft 61 are the dead state this moment, and when driven shaft 3 is the dead state, the stability of pressing the moulding-die mount pad 42 in-process of moving slide 4 has been guaranteed.
Working principle:
When the pressing device is used, the driven shaft 3 is driven to rotate, the driven shaft 3 drives the pressing sliding seat 4 to move to the lower end part of the mounting seat 2, the pressing mechanism is used for pressing the pressing die mounting seat 42 downwards, the pressing die 43 on the pressing die mounting seat 42 punches a workpiece below the mounting seat 2, after the punching is finished, the pressing mechanism is restored to the initial position, and meanwhile the reset spring 45 drives the pressing die mounting seat 42 to reset, so that the pressing die 43 on the pressing die mounting seat 42 is restored to the initial position to prepare for the next punching.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims.
Claims (3)
1. The utility model provides an automatic stamping production line is with punching arm coupling manipulator, includes robotic arm (1) and pressing mechanism, its characterized in that, robotic arm (1) one end fixed mounting has mount pad (2), and driven shaft (3) of swivelling joint are installed to mount pad (2) one side, and driven shaft (3) one end fixed mounting has to press and moves slide (4), has seted up on pressing slide (4) and has pressed movable chute (41), installs sliding connection's moulding-die mount pad (42) on pressing movable chute (41), and wherein moulding-die mount pad (42) are slided along pressing movable chute (41), installs moulding-die (43) on moulding-die mount pad (42);
A reset supporting block (44) is fixedly arranged at the lower end of the pressing sliding seat (4), a reset spring (45) is arranged between the reset supporting block (44) and the pressing die mounting seat (42), and two ends of the reset spring (45) are fixedly connected with the reset supporting block (44) and the pressing die mounting seat (42) respectively;
The pressing mechanism is used for pressing down the pressing die mounting seat (42);
The lower end of the mounting seat (2) is provided with a vertical guide bar (21), one side of the die mounting seat (42) positioned on the guide bar (21) is provided with a guide block (421), the guide block (421) is provided with a guide groove (422), and the lower end opening of the guide groove (422) is horn-shaped;
The pressing mechanism comprises a rotating motor (50), wherein the rotating motor (50) is fixedly arranged on a mounting seat (2), a rotating shaft (51) is arranged at the output end of the rotating motor (50), a rotating support (52) is fixedly arranged at the lower end of the rotating shaft (51), a guide rail (53) is arranged at the upper end of the rotating support (52), a lower motor support seat (54) is fixedly arranged at the top end of the guide rail (53), a lower motor (55) is fixedly arranged on the lower motor support seat (54), a lower driving rod (56) is fixedly arranged at the output end of the lower motor (55), external threads are formed in the lower driving rod (56), a lower pressing plate (57) in threaded fit is arranged on the lower driving rod (56), the lower pressing plate (57) is in sliding connection with the guide rail (53), and a pressing head (58) is arranged at the lower end of the lower pressing plate (57);
The utility model discloses a motor drive mechanism, including driven shaft (3), fixed mounting seat (2), driving motor (6), driving shaft (61), second rectangle spout (611) has been seted up to driven shaft (3), first rectangle spout (31) has been seted up to one end that deviates from to press slide (4), fixed mounting has driving motor mounting bracket (22) on mount pad (2) simultaneously, fixed mounting has driving motor (6) on driving motor mounting bracket (22), driving motor (6) output fixed mounting has driving shaft (61), second rectangle spout (611) are connected through screens mechanism between first rectangle spout (31) and the second rectangle spout (611).
2. The arm coupling manipulator for an automatic stamping line according to claim 1, wherein the positioning mechanism comprises a first rectangular bar (70), a connecting shaft (71) and a second rectangular bar (72), wherein the first rectangular bar (70) is located in the first rectangular chute (31), the first rectangular bar (70) slides along the extending direction of the first rectangular chute (31), the second rectangular bar (72) is located in the second rectangular chute (611), and the second rectangular bar (72) slides along the extending direction of the second rectangular chute (611), and the first rectangular bar (70) and the second rectangular bar (72) are connected through the connecting shaft (71).
3. The punching arm coupling manipulator for the automatic punching production line according to claim 2, wherein one end of the driven shaft (3) deviating from the pressing sliding seat (4) is hinged with a first connecting rod (32) distributed on the periphery, meanwhile, an extrusion sleeve (80) is fixedly arranged on the first rectangular strip (70), one end of the extrusion sleeve (80) positioned on the driven shaft (3) is hinged with a second connecting rod (81) distributed on the periphery, the second connecting rods (81) are in one-to-one correspondence with the first connecting rods (32), and the second connecting rods (81) are hinged with the corresponding first connecting rods (32);
The mounting seat (2) is provided with a limiting snap ring (82) on one side of the clamping mechanism, limiting racks (83) distributed on the periphery are arranged on the inner side of the limiting snap ring (82), meanwhile, the upper end of the second connecting rod (81) is fixedly provided with a limiting claw (801), and when the first connecting rod (32) and the second connecting rod (81) are mutually close, the limiting claw (801) is gradually embedded into the limiting racks (83) of the limiting snap ring (82);
The connecting shaft (71) is sleeved with an extrusion block (90), wherein an extrusion bracket (91) is arranged at the upper end of the extrusion block (90), and the extrusion bracket (91) is fixedly connected with the top end of a contraction rod of the hydraulic cylinder (92).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010346286.4A CN111421040B (en) | 2020-04-27 | 2020-04-27 | Automatic stamping production line is with towards arm coupling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010346286.4A CN111421040B (en) | 2020-04-27 | 2020-04-27 | Automatic stamping production line is with towards arm coupling manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111421040A CN111421040A (en) | 2020-07-17 |
| CN111421040B true CN111421040B (en) | 2024-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010346286.4A Active CN111421040B (en) | 2020-04-27 | 2020-04-27 | Automatic stamping production line is with towards arm coupling manipulator |
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| CN102848168A (en) * | 2012-08-16 | 2013-01-02 | 慈溪市信跃电器有限公司 | Press fitting apparatus for connecting sheet in automotive air damper cover plate assembly |
| CN106238558A (en) * | 2016-08-16 | 2016-12-21 | 无锡百禾工业机器人有限公司 | A kind of hardware processing mechanical arm |
| CN212168673U (en) * | 2020-04-27 | 2020-12-18 | 安徽科技学院 | Punching arm coupling manipulator for automatic punching production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106141063A (en) * | 2016-06-30 | 2016-11-23 | 苏州塞默机械有限公司 | A kind of method of work of intelligent riveting machine hand |
| CN106003086A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | Working method for joint robot for assembly |
| CN109261775A (en) * | 2017-07-17 | 2019-01-25 | 盱眙华新众强智能科技有限公司 | A kind of Intelligent swing type pressing robot manipulator punching device |
| CN208321980U (en) * | 2018-06-25 | 2019-01-04 | 宁波丞达精机有限公司 | A kind of manipulator staking mechanism |
| CN209577945U (en) * | 2018-12-05 | 2019-11-05 | 诺伯特智能装备（山东）有限公司 | A kind of four axis pressing robots |
| CN110328271A (en) * | 2019-07-03 | 2019-10-15 | 张晓卫 | A kind of continuous punching machine people |
| CN110586836B (en) * | 2019-08-06 | 2020-11-27 | 广州创研智能科技有限公司 | Volute motor support riveting system |
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2020
- 2020-04-27 CN CN202010346286.4A patent/CN111421040B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102848168A (en) * | 2012-08-16 | 2013-01-02 | 慈溪市信跃电器有限公司 | Press fitting apparatus for connecting sheet in automotive air damper cover plate assembly |
| CN106238558A (en) * | 2016-08-16 | 2016-12-21 | 无锡百禾工业机器人有限公司 | A kind of hardware processing mechanical arm |
| CN212168673U (en) * | 2020-04-27 | 2020-12-18 | 安徽科技学院 | Punching arm coupling manipulator for automatic punching production line |
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| CN111421040A (en) | 2020-07-17 |
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