CN102689303A - Servo manipulator - Google Patents
Servo manipulator Download PDFInfo
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- CN102689303A CN102689303A CN2012101980154A CN201210198015A CN102689303A CN 102689303 A CN102689303 A CN 102689303A CN 2012101980154 A CN2012101980154 A CN 2012101980154A CN 201210198015 A CN201210198015 A CN 201210198015A CN 102689303 A CN102689303 A CN 102689303A
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Abstract
The invention provides a servo manipulator, and belongs to the technical field of machining, and the servo manipulator can be used for solving the problem that the machining equipment with an existing servo manipulator is low in efficiency and poor in precision. The servo manipulator comprises a bracket and a base, wherein the base is installed on the bracket; a spindle is installed on the base; the servo manipulator also comprises a material distributing platform for feeding materials and a material unloading mechanism for unloading the materials; a support frame is fixedly connected with the base; a transversely arranged main arm is fixedly connected with the support frame; a motor which can move along the main arm transversely is installed on the main arm; a connecting base is fixedly connected with the motor and a vertically-arranged first cylinder is installed on the connecting base; and a fixing block is fixedly connected with the end part of a piston rod of the first cylinder and a grabbing mechanism for grabbing and putting the materials is installed on the fixing block. The servo manipulator has the advantages of automation, high efficiency and high precision.
Description
Technical field
The invention belongs to field of mechanical technique, particularly a kind of servounit arm device.
Background technology
For precision and the automaticity that improves production; Existing many process equipments all are equipped with manipulator; In order to High Precision Automatic taking-up product, though these equipment can accomplish to grasp automatically material at present, but entire equipment can't be accomplished full-automatic degree; Thereby cause in process the process-cycle long, the problem that precision is not high.
Summary of the invention
The objective of the invention is to have the problems referred to above to existing technology, proposed a kind of full-automation, efficient is high, precision is high servounit arm device.
The object of the invention can be realized through following technical proposal: a kind of servounit arm device; Comprise frame and rack-mounted support; On the described support main shaft is installed; It is characterized in that; This device also comprises rack-mounted sub-material platform that is used for feed and the cutting agency that is used for blanking, is fixed with bracing frame on the described support and on bracing frame, is fixed with the principal arm of horizontally set, and the motor that can laterally move along principal arm is installed on the described principal arm; Be fixed with Connection Block on the described motor and vertically disposed first cylinder is installed on Connection Block, the described first cylinder piston boom end is fixed with fixed block and the grasping mechanism that is used for material grasping and blowing is installed on fixed block.
In above-mentioned servounit arm device; Described grasping mechanism comprises second cylinder that is installed on the fixed block, runs through the guide rail of fixed block and be installed in two manipulator grabbing assemblies on the guide rail; Described second cylinder piston rod links to each other with guide rail through contiguous block and described guide rail and second cylinder piston rod laterally arrange; Be equipped with on the described fixed block on back-up block and the described back-up block and be fixed with the liftout cylinder, the piston rod end of described liftout cylinder is fixed with ejection block and described ejection block over against one of them bell machines pawl.
In above-mentioned servounit arm device, be fixed with on the described fixed block on extension block and the described extension block and offer strip through-hole, described back-up block passes through hole and is fixed on the extension block through screw.
In above-mentioned servounit arm device; Described manipulator grabbing assembly comprises both arms material pawl seat, both arms gas blade tooth wheel, both arms gas pawl seat, both arms cylinder mounting plate, bell machines cylinder and bell machines pawl; Described both arms material pawl seat is installed on the guide rail and comprises upper plate and lower shoe; Described both arms gas blade tooth wheel is fixed between described upper plate and the lower shoe through the both arms gear shaft; Described both arms gas pawl seat cross section is the L type, and the vertical plate of described L type both arms gas pawl seat is provided with and the mutual meshing dentalation of described both arms gas blade tooth wheel, and described both arms cylinder mounting plate is connected with described both arms gas pawl seat through connecting rod; Described bell machines cylinder is installed on the described both arms cylinder mounting plate, and the transverse plate of described bell machines pawl and described L type both arms gas pawl seat is fastening each other.
In above-mentioned servounit arm device, described connecting rod is fastened on the transverse plate of described both arms gas pawl seat through nut.
In above-mentioned servounit arm device, cross section, described bell machines pawl top is that 1 template is provided with boss, and the transverse plate of said both arms gas pawl seat is installed on the said boss, and the transverse plate of said 1 template and said both arms gas pawl seat is fixed together through screw.
In above-mentioned servounit arm device, the cylinder rod of described bell machines cylinder passes said both arms cylinder mounting plate and is connected with said connecting rod.
In above-mentioned servounit arm device, described bell machines cylinder is fixed on the said both arms cylinder mounting plate through screw.
In above-mentioned servounit arm device, described both arms material pawl seat also comprises side plate, and said side plate is fixedly connected with lower shoe with described upper plate respectively.
In above-mentioned servounit arm device; Described sub-material platform comprises and is obliquely installed the defeated material passage that is fixed on the frame and is horizontally disposed with the cylinder of getting the raw materials ready that is fixed on the frame; The port of export of described defeated material passage vertically downward; The described cylinder piston rod of getting the raw materials ready is connected with slide block and described slide block and gets the raw materials ready that cylinder laterally arranges up and down and be fixed with the seat of getting the raw materials ready at slide block one end through connecting plate; Described defeated material channel outlet place is provided with the discharge flapper and described discharge flapper one end that can seal defeated material channel outlet and is resisted against on the seat of getting the raw materials ready, and is provided with the resetting-mechanism that when the blanking baffle plate moves, discharge flapper is resetted between described discharge flapper and the frame.
In above-mentioned servounit arm device, described resetting-mechanism comprises back-moving spring, and described back-moving spring one end is fixed on the discharge flapper, and the other end is fixed on the frame.
In above-mentioned servounit arm device; Described cutting agency comprises the holder, the blanking plate that are fixed on the frame, the blanking seat that is installed in the 3rd cylinder on the holder and is connected with the 3rd cylinder piston rod; On the blanking seat, be fixed with the blanking cylinder, described blanking seat bottom offers feed opening and under the promotion of blanking cylinder, rotates around pin joint being hingedly connected with the material blocking block and the described material blocking block that can seal feed opening on the blanking seat.
In above-mentioned servounit arm device, guide post also is installed on the described holder, described blanking cover for seat is located on the guide post.
In above-mentioned servounit arm device, laterally be fixed with on the described principal arm and lead tooth plate, described machine shaft through gear with lead tooth plate and link to each other.
Compared with prior art, the present invention has following some advantage:
1, through transfer passage is installed on frame; Below the transfer passage port of export, be provided with the discharge flapper that can seal defeated material channel outlet; Be provided with the slide block that moves by the cylinder control of getting the raw materials ready below the discharge flapper and the seat of getting the raw materials ready is being installed on slide block; Discharge flapper realized by moving of slide block the folding of defeated material channel outlet, and entire exercise is efficient and convenient, efficient is high, practical.
2, the spacing of two bell machines pawls be equal to when being on the same straight line get the raw materials ready the seat and the blanking seat between spacing; So can guarantee when the bell machines pawl move to the blanking seat and the seat of getting the raw materials ready directly over the time; Two bell machines pawls can be made from getting the raw materials ready a last grabbing workpiece and the workpiece on another bell machines pawl put into the action on the blanking seat simultaneously, increase work efficiency.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the structural representation at another visual angle of the present invention.
Fig. 3 is a side-looking structural representation of the present invention.
Fig. 4 is the structure for amplifying sketch map at A place among Fig. 1.
Fig. 5 is the structural representation of manipulator grabbing assembly among the present invention.
Fig. 6 is the decomposition texture sketch map of manipulator grabbing assembly among the present invention.
Among the figure, 1, frame; 2, support; 3, main shaft; 4, principal arm; 5, bracing frame; 6, motor; 7, defeated material passage; 8, the cylinder of getting the raw materials ready; 9, slide block; 10, the seat of getting the raw materials ready; 11, discharge flapper; 12, back-moving spring; 13, workpiece; 14, striker plate; 15, connecting plate; 16, both arms material pawl seat; 17, both arms gear shaft; 18, both arms gas blade tooth wheel; 19, bell machines cylinder; 20, bell machines pawl; 21, both arms cylinder mounting plate; 22, first cylinder; 23, second cylinder; 24, the 3rd cylinder; 25, lead tooth plate; 26, fixed block; 27, extension block; 28, through hole; 29, back-up block; 30, liftout cylinder; 31, ejection block; 32, blanking plate; 33, blanking seat; 34, blanking cylinder; 35, guide post; 36, guide rail; 37, Connection Block; 38, contiguous block; 39, both arms gas pawl seat; 391, transverse plate; 392, vertical plate; 40, holder; 41, material blocking block.
The specific embodiment
Below be specific embodiment of the present invention and combine accompanying drawing, technical scheme of the present invention is done further to describe, but the present invention is not limited to these embodiment.
Extremely shown in Figure 6 like Fig. 1; This servounit arm device comprises frame 1 and is installed in the support 2 on the frame 1 that main shaft 3 is installed, and this device also comprises the cutting agency that is installed in the sub-material platform that is used for feed on the frame 1 and is used for blanking on support 2; Be fixed with bracing frame 5 on the support 2 and on bracing frame 5, be fixed with the principal arm 4 of horizontally set; The motors 6 that can laterally move along principal arm 4 are installed on principal arm 4, laterally are fixed with on the principal arm 4 and lead tooth plate 25, motor 6 rotating shafts through gear with lead tooth plate 25 and link to each other; When motor 6 rotates, laterally move along leading tooth plate 25 like this through gear motor 6.
The sub-material platform comprises and is obliquely installed the defeated material passage that is fixed on the frame 17 and is horizontally disposed with the cylinder 8 of getting the raw materials ready that is fixed on the frame 1; The port of export of defeated material passage 7 vertically downward; Cylinder 8 piston rods of getting the raw materials ready are connected with slide block 9 and slide block 9 and get the raw materials ready that cylinder 8 laterally arranges up and down and be fixed with the seat 10 of getting the raw materials ready at slide block 9 one ends through connecting plate 15; Defeated material passage 7 port of export places are provided with the discharge flapper 11 and discharge flapper 11 1 ends that can seal defeated material passage 7 ports of export and are resisted against on the seat 10 of getting the raw materials ready, and are provided with the resetting-mechanism that when blanking baffle plate 11 moves, discharge flapper 11 is resetted between discharge flapper 11 and the frame 1.In the present embodiment, resetting-mechanism comprises back-moving spring 12, and back-moving spring 12 1 ends are fixed on the discharge flapper 11, and the other end is fixed on the frame 1.On defeated material passage 7, be fixed with striker plate 14, can prevent that through striker plate 14 workpiece 13 that is placed on the defeated material passage 7 from dropping out.
Be fixed with Connection Block 37 on the motor 6 and be fixed with fixed block 26 and the grasping mechanism that is used for material grasping and blowing is installed on fixed block 26 in that vertically disposed first cylinder, 22, the first cylinders 22 piston rod ends are installed on the Connection Block 37.Grasping mechanism comprises second cylinder 23 that is installed on the fixed block 26, runs through the guide rail 36 of fixed block 26 and be installed in two manipulator grabbing assemblies on the guide rail 36; Second cylinder, 23 piston rods link to each other with guide rail 36 through contiguous block 38 and guide rail 36 and second cylinder, 23 piston rods laterally arrange; Because fixed block 26 can not move horizontally; Through second cylinder 23 guide rail 36 is moved horizontally on fixed block 26, that is to say the manipulator grabbing assembly is moved horizontally.The manipulator grabbing assembly comprises both arms material pawl seat 16, both arms gas blade tooth wheel 18, both arms gas pawl seat 39, both arms cylinder mounting plate 21, bell machines cylinder 19 and bell machines pawl 20; Both arms material pawl seat 16 is installed on the guide rail 36 and comprises upper plate, lower shoe and side plate, and side plate is fixedly connected with lower shoe with upper plate respectively.Both arms gas blade tooth wheel 18 is fixed between upper plate and the lower shoe through both arms gear shaft 17; Both arms gas pawl seat 39 cross sections are the L type; The vertical plate 392 of L type both arms gas pawl seat 39 is provided with and both arms gas blade tooth wheel 18 mutual meshing dentalations; Both arms cylinder mounting plate 21 is connected with both arms gas pawl seat 39 through connecting rod; Connecting rod is fastened on the transverse plate 391 of both arms gas pawl seat 39 through nut, and bell machines cylinder 19 is installed on the both arms cylinder mounting plate 21, and the cylinder rod of bell machines cylinder 19 passes both arms cylinder mounting plate 21 and is connected with connecting rod.Cross section, bell machines pawl 20 top is that 1 template is provided with boss, and the transverse plate 391 of transverse plate 391,1 templates of installation both arms gas pawl seat 39 and said gas pawl seat is through mutual fastening being fixed together of screw on the boss.
Be fixed with on the fixed block 26 on extension block 27 and the extension block 27 and offer strip through-hole 28; Back-up block 29 and back-up block 29 are installed on the extension block 27 to be passed through hole 28 and is fixed on the extension block 27 through screw; Be fixed with liftout cylinder 30 on the back-up block 29, the piston rod end of liftout cylinder 30 is fixed with ejection block 31 and ejection block 31 over against one of them bell machines pawl 20.Through the adjustment position of back-up block 29 in through hole 28, can adjust the spacing of ejection block 31 and bell machines pawl 20, thereby applicable to the workpiece 13 of different length.
Cutting agency comprises the holder 40, the blanking plate 32 that are fixed on the frame 1, the blanking seat 33 that is installed in the 3rd cylinder 24 on the holder 40 and is connected with the 3rd cylinder 24 piston rods; On blanking seat 33, be fixed with blanking cylinder 34; Blanking seat 33 bottoms offer feed opening and under the promotion of blanking cylinder 34, rotate around pin joint being hingedly connected with the material blocking block 41 and the material blocking block 41 that can seal feed opening on the blanking seat 33; When the piston rod of blanking cylinder 34 is resisted against material blocking block 41 and continues propelling, thereby the material blocking block 41 that originally sealed feed opening makes feed opening be in open mode around the pin joint rotation.Guide post 35 also is installed on holder 40, and blanking seat 33 is set on the guide post 35, can guarantee that through guide post 35 blanking seat 33 can move horizontally in drive following time of the 3rd cylinder 24 stably on holder 40.The spacing of two bell machines pawls 20 be equal to when being on the same straight line get the raw materials ready the seat 10 and blanking seat 33 between spacing; So can guarantee when bell machines pawl 20 moves to blanking seat 33 and get the raw materials ready directly over 10; Two bell machines pawls 20 can be made from the seat 10 of getting the raw materials ready grabbing workpiece 13 simultaneously and the workpiece 13 on another bell machines pawl 20 put into the action on the blanking seat 33, increase work efficiency.
When using this device; Under original state; The port of export that discharge flapper 11 will be failed material passage 7 closes, and when the needs sub-material, the cylinder 8 of getting the raw materials ready is started working and promoted slide block 9 and moves horizontally; Thereby make the get the raw materials ready seat 10 of ground on the slide block 9 gradually near defeated material passage 7 ports of export, be resisted against discharge flapper 11 on the seat 10 of getting the raw materials ready simultaneously and also back away and make back-moving spring 12 be in extended state along with moving of discharge flapper 11; When the seat 10 of getting the raw materials ready be in defeated material passage 7 ports of export under the time; The cylinder 8 of getting the raw materials ready quits work; This moment, defeated material passage 7 ports of export were in full open position, and the workpiece 13 that is placed on the defeated material passage 7 drops on the seat 10 of getting the raw materials ready in defeated material passage 7 under the self gravitation effect; After workpiece 13 drops on the seat 10 of getting the raw materials ready; Get the raw materials ready cylinder 8 again task and making get the raw materials ready seat 10 away from defeated material passage 7 ports of export; Discharge flapper 11 reach under back-moving spring 12 effects simultaneously also will be failed material passage 7 ports of export again and close, and this moment, defeated material work finished.Because discharge flapper 11 is resisted against on the seat 10 of getting the raw materials ready all the time; When the seat 10 of therefore after workpiece 13 drops on the seat 10 of getting the raw materials ready, getting the raw materials ready is retreated; Discharge flapper 11 begins defeated material passage 7 ports of export are sealed immediately, thereby has guaranteed next workpiece 13 to be limited in the defeated material passage 7 and can not drop out.When the seat of getting the raw materials ready moves on to outside 10; Motor 6 drives first cylinder 22 and laterally moves directly over bell machines pawl 20 is positioned at the seat 10 of getting the raw materials ready, and then first cylinder 22 is started working and driven bell machines pawl 20 and moves down (bell machines pawl 20 is in open configuration under the original state); After bell machines pawl 20 moves into place; Bell machines pawl 20 closes up down and the workpiece 13 that will get the raw materials ready on 10 is caught in bell machines cylinder 19 effect; First cylinder 22 is worked once more and is driven bell machines pawl 20 and move up and make workpiece 13 break away from the seat 10 of getting the raw materials ready then; Last motor 6 drives first cylinder 22 and is back to initial position, and this moment, material grasping work finished.After grasping mechanism moves into place; Second cylinder 23 is started working and the manipulator grabbing assembly is moved until workpiece 13 and main shaft 3 along guide rail 36 be on the same axial line; Then liftout cylinder 30 promotion ejection block 31 are pushed into workpiece 13 on the main shaft 3, and this moment, the charger did to finish.In workpiece 13 process; After workpiece 13 has processed; By another bell machines pawl 20 workpiece 13 is grasped; Motor 6 drives first cylinder 22 once more and laterally moves directly over two bell machines pawls 20 lay respectively at get the raw materials ready seat 10 and blanking seat 33, wherein grasps the bell machines pawl 20 that the workpiece 13 that processes is arranged and is positioned at blanking seat 33 (being placed with workpiece to be processed 13 on the seat 10 of getting the raw materials ready this moment), and then first cylinder, 22 drives, two bell machines pawls 20 move down; After two bell machines pawls 20 move into place; Extracting has the bell machines pawl 20 of the workpiece 13 that processes to unclamp to make workpiece 13 to drop into (feed opening on the blanking this moment seat 33 is closed by material blocking block 41) on the blanking seat 33; Another bell machines pawl 20 closes up 13 extractings of the workpiece on the seat 10 of getting the raw materials ready are lived simultaneously; Motor 6 drives first cylinder 22 and is back to initial position then, and the seat of blanking simultaneously 33 is being moved horizontally under the drive of the 3rd cylinder 24 directly over the blanking plate 32, and last blanking cylinder 34 work promote material blocking blocks 41 makes the feed opening of blanking seat 33 be in open mode; Workpiece 13 drops on the blanking plate 32 through feed opening, and a whole set of work finishes.
Specific embodiment described herein only is that the present invention's spirit is illustrated.Person of ordinary skill in the field of the present invention can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (10)
1. servounit arm device; Comprise frame and rack-mounted support; On the described support main shaft is installed, it is characterized in that, this device also comprises the rack-mounted sub-material platform and the cutting agency that is used for blanking that is used for feed; Be fixed with bracing frame on the described support and on bracing frame, be fixed with the principal arm of horizontally set; Be equipped with on the described principal arm and can be fixed with Connection Block on the described motor and vertically disposed first cylinder is installed on Connection Block along the laterally mobile motor of principal arm, the described first cylinder piston boom end is fixed with fixed block and the grasping mechanism that is used for material grasping and blowing is installed on fixed block.
2. servounit arm device according to claim 1; It is characterized in that; Described grasping mechanism comprises second cylinder that is installed on the fixed block, runs through the guide rail of fixed block and be installed in two manipulator grabbing assemblies on the guide rail; Described second cylinder piston rod links to each other with guide rail through contiguous block and described guide rail and second cylinder piston rod laterally arrange; Be equipped with on the described fixed block on back-up block and the described back-up block and be fixed with the liftout cylinder, the piston rod end of described liftout cylinder is fixed with ejection block and described ejection block over against one of them bell machines pawl.
3. servounit arm device according to claim 2 is characterized in that, is fixed with on the described fixed block on extension block and the described extension block and offers strip through-hole, and described back-up block passes through hole and is fixed on the extension block through screw.
4. according to claim 2 or 3 described servounit arm devices; It is characterized in that; Described manipulator grabbing assembly comprises both arms material pawl seat, both arms gas blade tooth wheel, both arms gas pawl seat, both arms cylinder mounting plate, bell machines cylinder and bell machines pawl; Described both arms material pawl seat is installed on the guide rail and comprises upper plate and lower shoe; Described both arms gas blade tooth wheel is fixed between described upper plate and the lower shoe through the both arms gear shaft; Described both arms gas pawl seat cross section is the L type, and the vertical plate of described L type both arms gas pawl seat is provided with and the mutual meshing dentalation of described both arms gas blade tooth wheel, and described both arms cylinder mounting plate is connected with described both arms gas pawl seat through connecting rod; Described bell machines cylinder is installed on the described both arms cylinder mounting plate, and the transverse plate of described bell machines pawl and described L type both arms gas pawl seat is fastening each other.
5. servounit arm device according to claim 4; It is characterized in that; Cross section, described bell machines pawl top is that 1 template is provided with boss; The transverse plate of said both arms gas pawl seat is installed on the said boss, and the transverse plate of said 1 template and said both arms gas pawl seat is fixed together through screw.
6. according to claim 1 or 2 or 3 described servounit arm devices; It is characterized in that; Described sub-material platform comprises and is obliquely installed the defeated material passage that is fixed on the frame and is horizontally disposed with the cylinder of getting the raw materials ready that is fixed on the frame; The port of export of described defeated material passage vertically downward; The described cylinder piston rod of getting the raw materials ready is connected with slide block and described slide block and gets the raw materials ready that cylinder laterally arranges up and down and be fixed with the seat of getting the raw materials ready at slide block one end through connecting plate; Described defeated material channel outlet place is provided with the discharge flapper and described discharge flapper one end that can seal defeated material channel outlet and is resisted against on the seat of getting the raw materials ready, and is provided with the resetting-mechanism that when the blanking baffle plate moves, discharge flapper is resetted between described discharge flapper and the frame.
7. servounit arm device according to claim 6 is characterized in that described resetting-mechanism comprises back-moving spring, and described back-moving spring one end is fixed on the discharge flapper, and the other end is fixed on the frame.
8. according to claim 1 or 2 or 3 described servounit arm devices; It is characterized in that; Described cutting agency comprises the holder, the blanking plate that are fixed on the frame, the blanking seat that is installed in the 3rd cylinder on the holder and is connected with the 3rd cylinder piston rod; On the blanking seat, be fixed with the blanking cylinder, described blanking seat bottom offers feed opening and under the promotion of blanking cylinder, rotates around pin joint being hingedly connected with the material blocking block and the described material blocking block that can seal feed opening on the blanking seat.
9. servounit arm device according to claim 5 is characterized in that, guide post also is installed on the described holder, and described blanking cover for seat is located on the guide post.
10. according to claim 1 or 2 or 3 described servounit arm devices, it is characterized in that, laterally be fixed with on the described principal arm and lead tooth plate, described machine shaft through gear with lead tooth plate and link to each other.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210198015.4A CN102689303B (en) | 2012-06-12 | 2012-06-12 | Servo manipulator |
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| CN201210198015.4A CN102689303B (en) | 2012-06-12 | 2012-06-12 | Servo manipulator |
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| CN102689303A true CN102689303A (en) | 2012-09-26 |
| CN102689303B CN102689303B (en) | 2014-11-05 |
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| CN103506886A (en) * | 2013-10-08 | 2014-01-15 | 大同齿轮(昆山)有限公司 | Automatic feeding device |
| CN103691971A (en) * | 2013-12-16 | 2014-04-02 | 宁波李氏实业有限公司 | Spray gun processor |
| CN103752860A (en) * | 2013-12-16 | 2014-04-30 | 宁波李氏实业有限公司 | Spray gun processing discharge device |
| CN105171721A (en) * | 2015-10-19 | 2015-12-23 | 无锡清杨机械制造有限公司 | Hydraulic drive clamping jaw |
| CN105312955A (en) * | 2014-07-24 | 2016-02-10 | 宁波宫铁精机有限公司 | Mechanical arm clamp feeding and ejecting device |
| CN105397555A (en) * | 2014-07-24 | 2016-03-16 | 宁波宫铁精机有限公司 | Special-shaped part machining equipment |
| CN106393173A (en) * | 2016-09-27 | 2017-02-15 | 无锡市明骥智能机械有限公司 | Unloading mechanism special for robot |
| CN106624967A (en) * | 2017-02-10 | 2017-05-10 | 嘉兴晟友机械科技有限公司 | Spindle feeding device of headstock moving type CNC automatic lathe |
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| CN107398772A (en) * | 2017-08-01 | 2017-11-28 | 宁波开浦智能科技有限公司 | A kind of manipulator rotary pneumatic jaw arrangement |
| CN107398771A (en) * | 2017-07-31 | 2017-11-28 | 宁波开浦智能科技有限公司 | A kind of swinging type rotary jaw device |
| CN108098437A (en) * | 2018-02-10 | 2018-06-01 | 西安巨浪精密机械有限公司 | One kind tightens feeding device |
| CN109290704A (en) * | 2018-10-16 | 2019-02-01 | 珠海市格润新纳电子有限公司 | A kind of door-hinge automatic soldering device |
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| CN103752860A (en) * | 2013-12-16 | 2014-04-30 | 宁波李氏实业有限公司 | Spray gun processing discharge device |
| CN103691971B (en) * | 2013-12-16 | 2015-10-28 | 宁波李氏实业有限公司 | A kind of Spray gun processor |
| CN103752860B (en) * | 2013-12-16 | 2016-04-13 | 宁波李氏实业有限公司 | A kind of spray gun processing device for discharging |
| CN105312955B (en) * | 2014-07-24 | 2018-08-17 | 宁波宫铁智能科技有限公司 | A kind of manipulator clamp feeding and Lifting Device |
| CN105312955A (en) * | 2014-07-24 | 2016-02-10 | 宁波宫铁精机有限公司 | Mechanical arm clamp feeding and ejecting device |
| CN105397555A (en) * | 2014-07-24 | 2016-03-16 | 宁波宫铁精机有限公司 | Special-shaped part machining equipment |
| CN105171721A (en) * | 2015-10-19 | 2015-12-23 | 无锡清杨机械制造有限公司 | Hydraulic drive clamping jaw |
| CN106393173A (en) * | 2016-09-27 | 2017-02-15 | 无锡市明骥智能机械有限公司 | Unloading mechanism special for robot |
| CN106624967A (en) * | 2017-02-10 | 2017-05-10 | 嘉兴晟友机械科技有限公司 | Spindle feeding device of headstock moving type CNC automatic lathe |
| CN107050658A (en) * | 2017-04-17 | 2017-08-18 | 宁波中哲医疗科技有限公司 | A kind of automatic more exchange device of carbon-point |
| CN107398771A (en) * | 2017-07-31 | 2017-11-28 | 宁波开浦智能科技有限公司 | A kind of swinging type rotary jaw device |
| CN107398772A (en) * | 2017-08-01 | 2017-11-28 | 宁波开浦智能科技有限公司 | A kind of manipulator rotary pneumatic jaw arrangement |
| CN108098437A (en) * | 2018-02-10 | 2018-06-01 | 西安巨浪精密机械有限公司 | One kind tightens feeding device |
| CN109290704A (en) * | 2018-10-16 | 2019-02-01 | 珠海市格润新纳电子有限公司 | A kind of door-hinge automatic soldering device |
| CN109290704B (en) * | 2018-10-16 | 2024-05-14 | 珠海市格润新纳电子有限公司 | Automatic welding device for door shaft |
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|---|---|
| CN102689303B (en) | 2014-11-05 |
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Owner name: NINGBO GONGTIE PRECISION MACHINERY CO., LTD. Free format text: FORMER NAME: NINGBO YIFA MACHINE TOOLS CO., LTD. Owner name: NINGBO YIFA MACHINE TOOLS CO., LTD. Free format text: FORMER NAME: NINGBO YINZHOU YIFA MACHINE TOOL CO., LTD. |
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Address after: 315191, Zhejiang, Ningbo province Yinzhou District Jiangshan town instrument door and wall village Patentee after: NINGBO GONGTIE PRECISION MACHINERY CO.,LTD. Address before: 315191, Zhejiang, Ningbo province Yinzhou District Jiangshan town instrument door and wall village Patentee before: Ningbo one machine tool Co.,Ltd. Address after: 315191, Zhejiang, Ningbo province Yinzhou District Jiangshan town instrument door and wall village Patentee after: Ningbo one machine tool Co.,Ltd. Address before: 315191, Zhejiang, Ningbo province Yinzhou District Jiangshan town instrument door and wall village Patentee before: Ningbo Yinzhou Yifa Machine Tool Co.,Ltd. |
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Effective date of registration: 20180607 Address after: 315191 16 high voltage Road, Jiangshan town science and Technology Park, Yinzhou District, Ningbo, Zhejiang Patentee after: NINGBO GONGTIE SMART TECHNOLOGY Co.,Ltd. Address before: 315191 Zhejiang, Ningbo, Yinzhou District, Jiangshan Town, Yee men, wall Lane Village Patentee before: NINGBO GONGTIE PRECISION MACHINERY CO.,LTD. |