CN103920826A - Automatic conveying device for workpieces - Google Patents
Automatic conveying device for workpieces Download PDFInfo
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- CN103920826A CN103920826A CN201410135514.8A CN201410135514A CN103920826A CN 103920826 A CN103920826 A CN 103920826A CN 201410135514 A CN201410135514 A CN 201410135514A CN 103920826 A CN103920826 A CN 103920826A
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Abstract
The invention discloses an automatic conveying device for workpieces. The automatic conveying device comprises a fixing support, a transmission case, a feed-in swing arm, a lifting swing arm, a telescopic swing arm, a feeding swing arm and a workpiece grabber. A supporting plate is arranged above the fixing support while the transmission case is arranged below the fixing support. The feed-in swing arm is of a box structure and internally provided with gears or a synchronous belt, the lower end of the feed-in swing arm is connected with an output gear of the transmission gear while the upper end of the same is hinged to one end the lifting swing arm, power of the transmission case is transmitted to the lifting swing arm through the gears or synchronous belt of the feeding swing arm, and the other end of the lifting swing arm is hinged to the middle pivot of the telescopic swing arm. The telescopic swing arm comprises a swing rod and a sliding plate, the upper end of the swing rod is hinged to the supporting plate on the fixing support, the lower end of the sliding plate is connected with the feeding swing arm, the other end of the feeding swing arm is provided with a transmission mechanism, and the workpiece grabber is connected with the transmission mechanism. Workpiece grabbing can be performed rapidly and conveniently under the condition that space of upper and lower dies are small, manufacturing cost of press equipment is lowered, part conveying time is shortened, and production efficiency is improved.
Description
Technical field
The present invention relates in a kind of forcing press loading and unloading, particularly punch line for the workpiece transfer device from a upper order to next order.Also the workpiece that can be used for separate unit forcing press or similar machine picks and places and transmits.
Background technology
Need multiple operations by metal tablet to the manufacture of shaping workpiece, wherein most important operation is punch forming.Metal tablet needs, through multiple continuous forming step such as drawing, bending, perforate, deburrings, finally to obtain needed shape in forcing press.The form of mould has determined the shape of workpiece, and the mould of forcing press generally includes a patrix and a corresponding counterdie, and described mould moves relative to each other, and makes to be placed on the workpiece stretch forming between upper/lower die.Because the moulding of a workpiece need to complete through the continuous molding procedure of multiple moulds, therefore need to arrange continuously that multiple forcing presses form punch line, or adopt the forcing press that comprises multiple moulds.On the one hand, the production capacity of punch line or multimode stamping machine is to realize a needed Time dependent of shaping operation by the production capacity of forcing press.But on the other hand, described ability depends on again the conevying efficiency of workpiece from a forcing press station to the next stop to a great extent.Therefore, importantly adopt the rapid transit system that workpiece is automatically transported to the next stop from a forcing press station.
In punch line, the workpiece Transfer method between adjacent forcing press, has robot method of shipment or conveyer mode.So-called robot method of shipment, is the carrier robot that joint type is set between adjacent forcing press, utilizes this carrier robot in the forcing press of a procedure, to take out workpiece in the past, this workpiece is sent into the forcing press of next operation simultaneously.But robot method of shipment must be followed the intermittently moving separately of adjacent forcing press and be transported workpiece, and must in the time that transporting, workpiece avoid and the interference of metal die etc.Therefore, the shortcoming of existence is the travelling speed high speed that can not make workpiece, thereby has limited the raising of whole line productive temp.In addition, while adopting robot method of shipment, teaching transport aspect track its teaching difficulty and debug time long.Conveyors carry mode is divided into single armed feeding and two kinds of modes of both arms feeding, single armed feeding is between adjacent forcing press, to arrange a set of pay-off, arm for taking material extend into forcing press die cavity and takes out workpiece from press ram dead ahead, this workpiece is sent into the forcing press die cavity of next operation simultaneously.Both arms feeding is that a set of feeding arm is arranged respectively in the left and right sides between adjacent forcing press, and two cover feeding arms connect by a cross bar, and feeding arm drives cross bar to complete transporting of workpiece.
Summary of the invention
Technical problem to be solved by this invention is the defect existing for prior art, and providing a kind of can carry out the automatic conveying device that workpiece transports quickly and easily, enhances productivity.
For solving this technical problem, the invention provides a kind of automatic conveying device for workpieces, comprise fixed support, transmission case, send swing arm to, promote swing arm, flexible swing arm, feeding swing arm, workpiece grabbing device; Described fixed support top is provided with supporting plate, and below is transmission case; It is described that to send swing arm to be box-type drive mechanism, inside arranges gear drive or Timing Belt, send the lower end of swing arm to and the output gear of transmission case is connected, its upper end is hinged with the one end that promotes swing arm, the power of transmission case is passed to lifting swing arm by gear or the Timing Belt of sending swing arm to, promotes the other end of swing arm and the stage casing of flexible swing arm and prop up point articulated; Described flexible swing arm comprises fork and the slide plate that can slide along fork, supporting plate on fork upper end and fixed support is hinged, the lower end of slide plate is connected with feeding swing arm and can be flexible with slide plate, the other end of described feeding swing arm is provided with synchronous belt drive mechanism, and workpiece grabbing device is connected with synchronous belt drive mechanism.
Be located at motor one, reductor one driven wheel one of transmission case top, gear one driven wheel two, gear and the lower end of sending swing arm to are fixedly connected with and then drive sends swing arm swing to; Motor two, reductor two driving shafts of being located at transmission case below, axle is connected with gear three, and gear three is travelling gear four, gear five and gear six successively, and gear is fixedly connected with and then drives lifting swing arm with lifting swing arm.
The fork of described flexible swing arm is provided with line slide rail and Timing Belt one, and line slide rail is provided with sliding shoe, and slide plate is connected with sliding shoe and is fixedly connected with Timing Belt one by clamping plate; Motor three and reductor three driving pulleys one are set above described flexible swing arm and then drive slide plate to make back and forth movement along line slide rail by driving Timing Belt one, thereby the length of flexible swing arm is changed.
Described feeding swing arm comprises motor four, reductor four and swing arm, the standing part of reductor four is fixedly connected with the lower end of telescopic arm slide plate, its rotating part is fixedly connected with the upper end of swing arm, and power is delivered to reductor five and reductor six by driving pulley three, Timing Belt two and belt wheel four to be successively located at the motor five that the synchronous belt drive mechanism of the feeding swing arm other end comprises.
Described workpiece grabbing device comprises left and right cross bar and is fixed on the terminal-collecting machine composition that grasps function on cross bar with workpiece, left and right two parts cross bar is connected on the reductor five, reductor six of the synchronous belt drive mechanism of feeding swing arm lower end, described cross bar can swing along the direction of vertical work piece delivery along with feeding swing arm, terminal-collecting machine can be along cross bar transversely moving at part direction of transfer.
Beneficial effect: the present invention can put into or take out workpiece can be less at the free space between upper/lower die, can carry out quickly and easily workpiece picks and places, both reduced the manufacturing cost of press equipment, shorten again the delivery time of part, make stamped workpieces transfer rate high speed, thereby enhance productivity.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is feeding positional structure schematic diagram of the present invention;
Fig. 3 is blowing positional structure schematic diagram of the present invention;
Fig. 4 is the structural representation cutaway view of transmission case of the present invention;
Fig. 5 is the structural representation front view of the flexible swing arm of the present invention;
Fig. 6 is the structural representation front view of feeding swing arm of the present invention;
Fig. 7 a is the structural representation front view of workpiece grabbing device of the present invention;
Fig. 7 b is the structural representation top view of workpiece grabbing device of the present invention;
Fig. 8 is the structural representation of the embodiment of the present invention.
In figure: 1 tandem punch line, 2 cross bearers, 3 slide blocks, 4 molds, 5 bed dies, 6 travelling tables, 7 forcing press columns, 8 fixed supports, 9 transmission cases, 10 are sent swing arm, 11 to and promoted swing arm, 12 flexible swing arms, 13 slide plates, 14 feeding swing arms, 15 workpiece grabbing devices, 16 transmitting devices one, 17 transmitting devices two, 18 transmitting devices three, 19 transmitting devices four, 20 geometric locuses, 21 crossbeams, 22 cantilever beams, 23 dampers, 24 parallel sliding tracks, 25 supporting plates, 26 forks, 27 motors one, 28 reductors one, 29 gears one, 30 gears two, 31 motors two, 32 reductors two, 33 axles, 34 gears three, 35 gears four, 36 gears five, 37 gears six, 38 motors three, 39 reductors three, 40 belt wheels one, 41 Timing Belts one, 42 line slide rails, 43 clamping plate, 44 belt wheels two, 45 motors four, 46 reductors four, 47 swing arms, 48 motors five, 49 belt wheels three, 50 Timing Belts two, 51 reductors five, 52 belt wheels four, 53 reductors six, 54 motors six, 55 leading screws, 56 cross bars, 57 slide rails, 58 terminal-collecting machines.
Detailed description of the invention
The present invention adopts the swing arm of several different lengths to be hinged, by swinging and stretching motion is realized lifting, the translation of workpiece in transmitting procedure and rotatablely moves, and can be according to the difformity of workpiece the hoisting depth to grabber and running orbit programme, its version has at the more favourable barrier of keeping away aspect press ram motion, therefore press ram open stroke relatively a hour feeding arm just can stretch between upper and lower mould so that take out part.
Below in conjunction with drawings and Examples, the present invention is specifically described.
Figure 1 shows that structural representation of the present invention.
Described automatic conveying device comprises fixed support 8, transmission case 9, sends swing arm 10 to, promotes swing arm 11, flexible swing arm 12, feeding swing arm 14, workpiece grabbing device 15.
Described fixed support 8 tops are provided with supporting plate 25, and below is transmission case 9.
Described fixed support 8 is provided with two vertical parallel sliding tracks 24, supporting plate 25 is fixedly connected with the sliding shoe on slide rail, its below transmission case 9 arranges motor and speed reducer driving and sends swing arm 10 to and promote swing arm 11, making to send to swing arm 10 is arranged on the casing being connected with fixed support 8 with the transmission that promotes swing arm 11, be very beneficial for reducing the rotary inertia of movement parts, and can make workpiece travelling speed high speed.
Figure 4 shows that the structural representation cutaway view of transmission case of the present invention.
Motor 1, reductor 1 driven wheel 1, gear 2 30 successively that the top of described transmission case 9 arranges, gear 30 is concentric with the swing fulcrum of sending swing arm 10 lower ends to, and both are fixedly connected with, and gear 2 30 and then driving are sent swing arm 10 to and are swung; Be located at motor 2 31, reductor 2 32 driving shafts 33 of transmission case 9 belows, axle 33 is connected with gear 3 34, gear 3 34 is travelling gear 4 35, gear 5 36 and gear 6 37 successively, and gear 6 37 is fixedly connected with lifting swing arm 11 and then power is delivered to and promotes swing arm 11.
The described lower end of sending swing arm 10 to is connected with the output gear of transmission case 9, its upper end is hinged with the one end that promotes swing arm 11, send swing arm 10 to for box-type drive mechanism, gear drive is set in inside or toothed belt transmission is used for the power of transmission case 9 to pass to and promote swing arm 11, sends swing arm 10 to and realize workpiece from a upper station moving horizontally to next station by swing.
The described casing of sending swing arm 10 to is high strength aluminum casting or Steel Thin-Wall weldment, makes to send to swing arm 10 and has both possessed enough rigidity, lightweight as far as possible again.
One end of described lifting swing arm 11 is with to send swing arm to hinged, the stage casing of the other end and flexible swing arm 12 is propped up point articulated, the swing that promotes swing arm 11 on the one hand realizes workpiece grabbing device and picks and places in die cavity fast lifting and the decline of workpiece, adapts on the other hand different counterdie height and the workpiece transmission height from a upper station to next station.
Figure 5 shows that the structural representation front view of the flexible swing arm of the present invention.
Described flexible swing arm 12 comprises fork 26 and slide plate 13.
Described fork 26 is standing parts of flexible swing arm 12, fork 26 is provided with line slideway and Timing Belt, line slide rail 42 is provided with sliding shoe, the supporting turning point of supporting plate 25 lower ends on fork 26 upper ends and fixed support 8 is hinged, when flexible swing arm swings, can carry out vertical displacement movement along the guide rail on fixed support together with supporting plate.
The fork 26 of flexible swing arm 12 is high strength aluminum casting or Steel Thin-Wall weldment, has both possessed enough rigidity, reduces as far as possible again the rotary inertia of telescopic arm.
Described slide plate 13 is slippers of flexible swing arm 12, slide plate 13 is connected with sliding shoe and is fixedly connected with Timing Belt 1 by clamping plate 43, motor 3 38 and reductor 3 39 driving pulleys 1, belt wheel 2 44 and Timing Belt 1 are set above flexible swing arm 12, slide plate 13 is made back and forth movement with the driving of Timing Belt 1 along line slide rail 42, thereby the length of flexible swing arm 12 is changed.
The lower end of described slide plate 13 is connected with feeding swing arm 14 and is flexible with slide plate 13, the other end of described feeding swing arm 14 is provided with synchronous belt drive mechanism, workpiece grabbing device 15 is connected with synchronous belt drive mechanism, in the time that feeding swing arm 14 passes in and out mould district, can swing on one side, flexible with slide plate 13 on one side, this version is opened stroke relatively hour at press ram, feeding swing arm 14 just can extend between mold 4 and bed die 5 and pick and place workpiece in more favourable mode, this motion mode both can shorten the delivery time of part, also reduce the manufacturing cost of press equipment simultaneously.
Figure 6 shows that the structural representation front view of feeding swing arm of the present invention.
Described feeding swing arm 14 is arranged on the top of work piece delivery plane, comprise motor 4 45, reductor 4 46 and swing arm 47, the standing part of reductor 4 46 is fixedly connected with the lower end of telescopic arm slide plate 13, and reductor 46, swing arm 47 are same center with the lower end of telescopic arm slide plate 13; Its rotating part is fixedly connected with the upper end of swing arm 47, and the swing of feeding swing arm 14 is to drive swing arm 47 to complete by the motor 4 45 that is connected to self, reductor 4 46.
Be connected with workpiece grabbing device 15 by synchronous belt drive mechanism at feeding swing arm 14 other ends, described synchronous belt drive mechanism comprises motor 5 48, driving pulley 3 49, Timing Belt 2 50 and belt wheel 4 52 successively, is delivered to reductor 5 51 and reductor 6 53 by Timing Belt 2 50 by power.
When feeding swing arm 14 passes in and out mould district, can swing on one side, flexible with slide plate 13 on one side.This version is advantageous particularly for utilizing the turnover mould district, space that has free passage less between mold 4 and bed die 5, the interference of having avoided feeding swing arm 14, workpiece grabbing device 15 and workpiece to move with slide block 3 in motion process, open stroke relatively hour at slide block 3, feeding swing arm 14 just can extend between mold 4 and bed die 5 and pick and place workpiece in more favourable mode.The structure of this transmitting device and its compound motion process have determined that it has and have kept away preferably barrier, and single axle does not need very high speed and acceleration just can complete at a high speed the transmission of workpiece from a upper operation to subsequent processing, both shortened the delivery time of workpiece, reduce again the shake that workpiece is in operation, transmitted steadily.Also reduce the manufacturing cost of press equipment and transmitting device simultaneously.
Fig. 7 a is depicted as the structural representation front view of workpiece grabbing device of the present invention.
Fig. 7 b is depicted as the structural representation top view of workpiece grabbing device of the present invention.
15 points of left and right two parts of described workpiece grabbing device and being arranged symmetrically, comprise left and right cross bar 56 and are fixed on the terminal-collecting machine 58 that grasps function on cross bar 56 with workpiece, cross bar 56 is fixedly connected with the rotating part of reductor 6 53.
Described cross bar 56 has the additional free degree, can be along with feeding swing arm 14 swings along vertical work piece delivery direction, for example, in the time carrying dual-workpiece and need to change the centre-to-centre spacing of two workpiece, terminal-collecting machine 58 on two ends cross bar 56 can be along cross bar 56 transversely moving at part direction of transfer, this function is that the motor 6 54 self being connected by cross bar 56 drives leading screw 55 to complete, on the cross bar 56 at two ends, two parallel sliding tracks 57 of each layout, play the guiding role during for terminal-collecting machine 58 and workpiece transverse translation.
Due in workpiece course of conveying, the lower surface of terminal-collecting machine 58 substantially all the time with ground keeping parallelism, so workpiece grabbing device need to be followed feeding swing arm 14 and be rotated in real time, motor 5 48 and toothed belt transmission thereof are for driving rotatablely moving of workpiece grabbing device 15.
The workpiece that the present invention can be used for separate unit forcing press or similar machine picks and places and transmits, and also can be applicable to tandem press production line.This swing type automatic conveying device for workpieces is placed in press ram front upper place, do not need between press ram and column more additional free space, Telescopic hinge joint arm configuration can and just can put into or take out workpiece in the case of the free space between upper/lower die is less, and the operation curve that this transmitting device can be followed stamping machine in the time of stamping machine continuous operation transmits workpiece.
Figure 8 shows that the structural representation of the embodiment of the present invention on series connection punch line 1.
This embodiment comprises the series connection punch line 1 of many forcing press compositions, forcing press is topmost crossbeam 2, mold 4 is clamped at slide block 3 lower surfaces, bed die 5 is fixed on press bench 6, on every forcing press, automatic conveying device for workpieces is installed, this automatic conveying device for workpieces is located at the top of work piece delivery plane, be arranged on forcing press column 7 by crossbeam 21 and cantilever beam 22, automatic conveying device for workpieces send swing arm 10 to, promote swing arm 11, flexible swing arm 12, feeding swing arm 14 and workpiece grabbing device 15 are hinged, realize the lifting of workpiece in transmitting procedure by swing and stretching motion, translation and rotatablely moving, and can be according to the difformity of workpiece the hoisting depth to workpiece grabbing device 15 and running orbit programme and form geometric locus 20, feeding swing arm 14 can be stretched between the mold 4 of forcing press and bed die 5 and pick and place out the workpiece of being located on bed die 5.
Described fixed support 8 is in order to carry a whole set of transmitting device, cross-over connection crossbeam 21 on two forcing press columns 7, on forcing press column 7, go back connecting cantilever crossbeam 22, the fixed support 8 that carries a whole set of transmitting device is suspended in crossbeam 21 and cantilever beams 22, be positioned at the positive front upper place of press ram 3, be provided with damper 23 in crossbeam 21 and cantilever beams 22 and forcing press column 7 junctions, the impact of the vibrations of forcing press on transmitting device when reducing workpiece punch forming.
Each automatic conveying device for workpieces is showed with different duties:
Figure 2 shows that feeding positional structure schematic diagram of the present invention.
Figure 3 shows that blowing positional structure schematic diagram of the present invention.
Transmitting device 16 represents in feeding position (as shown in Figure 3); Transmitting device 17 represents the holding fix during Workpiece shaping; Transmitting device 18 represents in workpiece being taken out and along geometric locus 20, this work piece delivery being arrived to next station; Transmitting device 19 represents, in blowing position (as shown in Figure 4), workpiece to be put into bed die 5.
Geometric locus 20 sweep is below the track that 15 zero loads of workpiece grabbing device are returned, and sweep is above the track of workpiece grabbing device 15 bringing onto load operations.The height of geometric locus 20 can freely be programmed according to the degree of depth of Workpiece shaping and the height that need to mention.Part outside geometric locus 20Mo district, is that track or the unloaded track returning of bringing onto load operation is all very level and smooth curve, does not need to rise or decline, and succinct running orbit is conducive to shorten the workpiece transfer time.
The invention reside in its motion process and version, it does not need the additional free space between press ram and column, and in the case of the free space between upper/lower die is less, just can puts into or take out workpiece, can be quick, carry out easily workpiece and transport track teaching, and can make the Work conveying apparatus of the tandem continuous punching line ball of workpiece travelling speed high speed, both reduced the manufacturing cost of press equipment, shorten again the delivery time of part, make the work piece delivery speed high speed of tandem continuous punching line ball, thereby improve the production efficiency of whole line.
The present invention be not limited to describe and illustrated embodiment, it also comprises all configurations that in the scope of current claim, professional can make.
Claims (5)
1. an automatic conveying device for workpieces, is characterized in that: comprise fixed support (8), transmission case (9) and send swing arm (10), lifting swing arm (11), flexible swing arm (12), feeding swing arm (14) and workpiece grabbing device (15) to; Described fixed support (8) top is provided with supporting plate (25), and below is transmission case (9); Describedly send swing arm (10) to for box-type drive mechanism, inside arranges gear drive or Timing Belt, (10 lower end is connected with the output gear of transmission case (9) to send swing arm to, its upper end is hinged with the one end that promotes swing arm (11), gear or the Timing Belt of sending swing arm (10) to pass to the power of transmission case (9) to promote swing arm (11), promote the other end of swing arm (11) and the stage casing of flexible swing arm (12) and prop up point articulated; Described flexible swing arm (12) comprises fork (26) and the slide plate (13) that can slide along fork (26), supporting plate (25) on fork (26) upper end and fixed support (8) is hinged, the lower end of slide plate (13) is connected with feeding swing arm (14) and can be flexible with slide plate (13), the other end of described feeding swing arm (14) is provided with synchronous belt drive mechanism, and workpiece grabbing device (15) is connected with synchronous belt drive mechanism.
2. automatic conveying device for workpieces according to claim 1, it is characterized in that: motor one (27), reductor one (28) driven wheel one (29) of being located at transmission case (9) top, gear one (29) driven wheel two (30), gear (30) and the lower end of sending swing arm (10) to are fixedly connected with and then drive to be sent swing arm (10) to and swings; Be located at motor two (31), reductor two (32) driving shafts (33) of transmission case (9) below, axle (33) is connected with gear three (34), gear three (34) is travelling gear four (35), gear five (36) and gear six (37) successively, and gear (37) is fixedly connected with and then drives lifting swing arm (11) with lifting swing arm (11).
3. automatic conveying device for workpieces according to claim 1, it is characterized in that: the fork (26) of described flexible swing arm (12) is provided with line slide rail (42) and Timing Belt one (41), line slide rail (42) is provided with sliding shoe, and slide plate (13) is connected with sliding shoe and passes through clamping plate (43) and is fixedly connected with Timing Belt one (41); Motor three (38) and reductor three (39) driving pulleys one (40) are set above described flexible swing arm (12) and then drive slide plate (13) to make back and forth movement along line slide rail (42) by driving Timing Belt one (41), thereby the length of flexible swing arm (12) is changed.
4. automatic conveying device for workpieces according to claim 1, it is characterized in that: described feeding swing arm (14) comprises motor four (45), reductor four (46) and swing arm (47), the standing part of reductor four (46) is fixedly connected with the lower end of telescopic arm slide plate (13), its rotating part is fixedly connected with the upper end of swing arm (47), be located at motor five (48) driving pulley three (49) successively that the synchronous belt drive mechanism of feeding swing arm (14) other end comprises, power is delivered to reductor five (51) and reductor six (53) by Timing Belt two (50) and belt wheel four (52).
5. according to the automatic conveying device for workpieces described in claim 1-4 any one, it is characterized in that: described workpiece grabbing device (15) comprises left and right cross bar (56) and is fixed on upper terminal-collecting machine (58) composition that grasps function with workpiece of cross bar (56), left and right two parts cross bar (56) is connected to the reductor five (51) of the synchronous belt drive mechanism of feeding swing arm (14) lower end, reductor six (on 53), described cross bar (56) can swing along vertical work piece delivery direction along with feeding swing arm (14), terminal-collecting machine (58) can be along cross bar (56) transversely moving at part direction of transfer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410135514.8A CN103920826B (en) | 2014-04-04 | 2014-04-04 | A kind of automatic conveying device for workpieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410135514.8A CN103920826B (en) | 2014-04-04 | 2014-04-04 | A kind of automatic conveying device for workpieces |
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| Publication Number | Publication Date |
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| CN103920826A true CN103920826A (en) | 2014-07-16 |
| CN103920826B CN103920826B (en) | 2015-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410135514.8A Active CN103920826B (en) | 2014-04-04 | 2014-04-04 | A kind of automatic conveying device for workpieces |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877494A (en) * | 2017-12-06 | 2018-04-06 | 济南二机床集团有限公司 | A kind of device and method for rotating and separating automatically for robot end's terminal-collecting machine |
| CN108115649A (en) * | 2016-11-29 | 2018-06-05 | 孟晋科技股份有限公司 | Handling device |
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| CN103286235A (en) * | 2013-04-18 | 2013-09-11 | 重庆市科学技术研究院 | Automatic production line for hot stamping formation of magnesium alloy boards |
| CN103624125A (en) * | 2013-11-08 | 2014-03-12 | 四川长虹电器股份有限公司 | Unit type automatic punching robot flexible connection mode |
| CN203764827U (en) * | 2014-04-04 | 2014-08-13 | 济南二机床集团有限公司 | Automatic workpiece conveying system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6125683A (en) * | 1999-02-19 | 2000-10-03 | Tesco Engineering, Inc. | Closure panel hemming system |
| CN202921804U (en) * | 2012-11-07 | 2013-05-08 | 南通锻压设备股份有限公司 | Automatic feeding/discharging device for hydraulic presses |
| CN103286235A (en) * | 2013-04-18 | 2013-09-11 | 重庆市科学技术研究院 | Automatic production line for hot stamping formation of magnesium alloy boards |
| CN103624125A (en) * | 2013-11-08 | 2014-03-12 | 四川长虹电器股份有限公司 | Unit type automatic punching robot flexible connection mode |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108115649A (en) * | 2016-11-29 | 2018-06-05 | 孟晋科技股份有限公司 | Handling device |
| CN107877494A (en) * | 2017-12-06 | 2018-04-06 | 济南二机床集团有限公司 | A kind of device and method for rotating and separating automatically for robot end's terminal-collecting machine |
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|---|---|
| CN103920826B (en) | 2015-12-02 |
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