CN201346604Y - Single-set, multi-station transfer manipulator - Google Patents
Single-set, multi-station transfer manipulator Download PDFInfo
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- CN201346604Y CN201346604Y CNU2008201575203U CN200820157520U CN201346604Y CN 201346604 Y CN201346604 Y CN 201346604Y CN U2008201575203 U CNU2008201575203 U CN U2008201575203U CN 200820157520 U CN200820157520 U CN 200820157520U CN 201346604 Y CN201346604 Y CN 201346604Y
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Abstract
A single-set, multi-station transfer manipulator comprises a controller; wherein the controller controls a driving unit and a driven unit which are arranged on both sides of a punch; and through a lifting working platform and a horizontal shaped arm, the driving unit and the driven unit can drive holding heads to move along the directions of X axis and Z axis in order to grab or put down workpieces. Movements along the directions of X axis and Z axis and positioning are driven by alternate-current servomotors, which are controlled by the control core of the controller. The production tempo (speed) of the utility model can reach the highest of 6s, is the highest in the same industry of the country including Taiwan, and the utility model can substitute manpower to perform tasks such as punching, transportation, feeding and discharging on each punching station. For repetitive, dangerous and high-tempo machining industries such as punching, the manipulator has outstanding advantages in terms of saving manpower and labor costs, increasing output, quality and equipment safety and the like.
Description
Technical field
The utility model relates to the continuous production technical field that is used for multiple operation one-shot bed stamping parts, after each single operation punching press simultaneously of punch press is finished, simultaneously station of each operation workpiece handling is also started the automatic handover manipulator that punch press carries out punching press next time automatically especially for metal parts again.
Background technology
At present, known extrustion of metals is by the manually-operated punch press, carries out manual operation, and each punch press need be joined an operator, by the manual delivery workpiece, cause production accident easily, and production efficiency is low between the different operations.
In order to improve ram efficiency, the continuous stamping technology of multiple operation that has been useful at present the separate unit punch press occurs, as Chinese patent Granted publication number " the multiple operation progressive press tool unit that is used for punch press " for the CN2516291Y bulletin, this unit comprises last punch, movable slider, lower cavity die slide block, blanking piece and the die shank that driven by the punch press bent axle, the wedge post that can use as feeder is housed on the punch press head, the upper end of post is fixed on the punch, last punch is fixed on the punch press head by die shank, and the wedge that makes the folding of lower cavity die slide block is equipped with in the bottom; Be provided with a spring wall between last punch and the movable slider.Though this unit has improved production efficiency, it can only be the product of linear multiple working procedure at workpiece.
Also as Chinese patent Granted publication number " the punch press multistation automatic feeding " for the CN2728670Y bulletin, this device comprises drift, lower table, is installed in lower fan, the drive unit of the mould at workbench middle part; On the lower table of punch press, be equipped with and laterally move, again the vertical gripper of clamping and release.This device can be finished multiple working procedure successively on a punch press, blank is advanced on the right, and the left side goes out finished product, and work efficiency is greatly improved.
But up to the present, one-shot bed multiple operation is transferred and is controlled at automatically domestic still blank automatically.
The utility model content
The technical problem that the utility model solved is to provide a kind of automatic handover manipulator, should transfer manipulator automatically and be used for metal parts after the single operation punching press simultaneously on the separate unit punch press is finished, simultaneously a station of the workpiece handling on the multi-mould on the separate unit punch press (operation) and the automatic punch press that starts are carried out punching press next time again, improved efficient greatly.
Technical problem to be solved in the utility model can realize by the following technical solutions:
The separate unit multistation is transferred manipulator, comprising:
One cover is arranged at the drive unit of punch press one side, this drive unit is provided with the lifting moving workbench that an oscilaltion mechanism and is installed in the oscilaltion mechanism and is subjected to the driving of oscilaltion mechanism to carry out oscilaltion, and the lifting moving workbench is provided with horizontal mobile mechanism and is subjected to horizontal mobile mechanism to drive the horizontal type arm that carries out horizontal reciprocating movement; Described lifting moving workbench and horizontal type arm all outwards stretch;
One cover is arranged at the slave unit of punch press opposite side, the power that this slave unit accepts automatic drive device to transmit, mobile working platform and horizontal type arm are moved up and down, slave unit is provided with the driven oscilaltion mechanism that is used for float supporting the unsteady supporting mechanism of described lifting moving workbench and drives the oscilaltion of lifting moving workbench, and described driven oscilaltion mechanism accepts the power of automatic drive device by kinematic link;
Year head mechanism that is arranged on the horizontal type arm and arranges at interval wherein carries head mechanism, lays respectively at the both sides of corresponding mould;
One control device, this control device connect and control the oscilaltion mechanism and the horizontal mobile mechanism action of described drive unit by circuit, also connect by circuit and detecting element and the action of control punch press.
Also be provided with the rack-and-pinion driving mechanism that drives the slave unit action on the lifting moving workbench of drive unit of the present utility model, wherein initiatively tooth bar is vertically mounted on the lifting moving workbench; Driven oscilaltion mechanism on described each slave unit is the rack-and-pinion follower, and wherein driven tooth bar is vertically mounted on the lifting moving workbench, and driving gear and some driven gears are realized transmission of power by the kinematic link serial connection and be synchronized with the movement.
In the utility model, described horizontal type arm is installed on the lifting moving workbench by linear bearing.
In the utility model, oscilaltion mechanism on the described drive unit comprises that one is installed in the lifting servomotor on the drive unit, be installed in the gear reduction box on the drive unit, toggle, the input of gear reduction box connects with the motor shaft of lifting servomotor, the crank that the output of gear reduction box drives toggle rotates, and the connecting rod in the toggle connects with the lifting moving workbench.
Horizontal mobile mechanism in the drive unit of the present utility model comprises that one is installed in the servomotor that moves horizontally on the lifting moving workbench, by the synchronous belt drive mechanism that moves horizontally driven by servomotor, move horizontally gear with driven pulley in the synchronous belt drive mechanism rotates synchronously, and move horizontally gears engaged and be fixed on the horizontal type arm and drive the horizontal rack that the horizontal type arm carries out horizontal reciprocating movement.
Of the present utility model year head mechanism comprises that one is installed in the cantilevered beam members and the head that carries in order to extracting or release workpiece that is installed on the cantilevered beam members on the horizontal type arm.Described year head is vacuum cup or electromagnet.
Described control device comprises a power unit, be installed in the punching press motion detection sensor on the punch press, touch-screen input and display device, the PLC cyclelog, locating module, driver module, described power unit is powered to the The whole control device, be provided with the lifting servomotor in the described locating module and move horizontally the servomotor action data, punching press motion detection sensor, touch-screen input and display device are connected with the signal input part of PLC cyclelog, the PLC cyclelog is connected with locating module, data in the read-write locating module, locating module sends forward operation pulse and inverted running pulse to driver module, and driver module drives the lifting servomotor and moves horizontally servomotor and accept the lifting servomotor and move horizontally the servomotor feedback pulse.
Owing to adopted technical scheme as above, improved productive temp greatly, comprise that at home in the same industry of Taiwan be the highest, can replace manually and on each punching press station, carry out tasks such as material punching press, carrying, loading and unloading.Horizontal type arm of the present utility model is concentrated electricity, gas and is supplied with, and greatly simplifies the structure, and adopts cylinder floating to support, and moves up and down more steady.Adopt gear ﹠ rack structure, make move left and right more reliable.Adopt line slideway between horizontal type arm and the lifting moving workbench, make move left and right more steadily fast, greatly improved efficient.The utility model is being saved manpower labour cost for punching press repeatability, danger, processing industry that beat is high, improves aspects such as output, quality and device security and has outstanding advantage.
Description of drawings
Fig. 1 is installed in schematic diagram on the Sheet Metal Forming Technology line for the utility model.
Fig. 2 is the utility model part-structure schematic diagram.
Fig. 3 is the structural representation of the utility model drive unit.
Fig. 4 is the left view of Fig. 3.
Fig. 5 is the vertical view of Fig. 3.
Fig. 6 is an oscilaltion structural scheme of mechanism described in the utility model.
Fig. 7 is a horizontal mobile mechanism structural representation described in the utility model.
Fig. 8 is the structural representation of slave unit described in the utility model.
Fig. 9 is the left view of Fig. 8.
Figure 10 is the structural representation of described in the utility model year head mechanism.
Figure 11 is the left view of Figure 10.
Figure 12 is the vertical view of Figure 10.
Figure 13 is the theory diagram of control device described in the utility model.
Figure 14 is the part electrical schematic diagram of control device described in the utility model.
The specific embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the utility model.
Separate unit multistation shown in the accompanying drawing is transferred the device that manipulator cooperates punch press to use.Referring to Fig. 1 and Fig. 2, this separate unit multistation is transferred mechanical hand and is comprised a cover drive unit 2 that is installed in after the punch press 1, and this drive unit 2 also can be installed in before the punch press 1 certainly.The utility model is placed in drive unit 2 after the punch press 1, mainly is that the material-uploading style from whole manipulator goes to consider.
This separate unit multistation is transferred manipulator and is also comprised the slave unit 3 that is placed in position before the punch press 1.In general, slave unit 3 is placed in the front of drive unit 2.Certainly this slave unit 3 also can be installed in the back of punch press 1.
Top drive unit 2, slave unit 3 all fix on the ground.
Referring to Fig. 3, Fig. 4 and Fig. 5, drive unit 2 comprises a frame 21, be provided with the lifting moving workbench 22 that an oscilaltion mechanism and is installed in the oscilaltion mechanism and is subjected to the driving of oscilaltion mechanism to carry out oscilaltion in frame 21, lifting moving workbench 22 is provided with horizontal mobile mechanism and is subjected to horizontal mobile mechanism to drive the horizontal type arm 23 that carries out horizontal reciprocating movement; Lifting moving workbench 22 and horizontal type arm 23 all outwards stretch and extend to slave unit 3.Lifting moving workbench 22 and horizontal type arm 23 can adopt profile structure.
Referring to Fig. 6, oscilaltion mechanism on the drive unit 2 comprises that one is installed in lifting servomotor 24, the two-stage gear reduction box 25 on the frame 31, toggle 26, the input of two-stage gear reduction box 5 connects with the motor shaft of lifting servomotor 24, the crank that the output of two-stage gear reduction box 25 drives toggle 26 rotates, and the connecting rod in the toggle 26 connects with lifting moving workbench 22.
The compartment of terrain is equipped with linear bearing 27 on lifting moving workbench 22, and horizontal type arm 23 is installed on the linear bearing 27, and horizontal type arm 23 can move horizontally freely like this.
Referring to Fig. 7, horizontal mobile mechanism in the drive unit 2 comprise one be installed on the lifting moving workbench 22 move horizontally servomotor 24 ', by the synchronous belt drive mechanism 25 that moves horizontally servomotor 24 ' driving ', with synchronous belt drive mechanism 25 ' in driven pulley rotate synchronously move horizontally gear 25 ', with move horizontally gear 25 ' mesh and be fixed on the horizontal type arm 23 and drive the horizontal rack 26 that horizontal type arm 23 carries out horizontal reciprocating movement '.When moving horizontally servomotor 24 ' forward and reverse rotation, move horizontally gear 25 ' rotation like this by synchronous belt drive mechanism 25 ' driving, thus drive horizontal rack 26 ' and horizontal type arm 23 move horizontally, thereby the level that realizes workpiece is transferred.
When making whole lifting moving workbench 22 carry out oscilaltion reposefully, on the lifting moving workbench 22 of drive unit, also be provided with the rack-and-pinion driving mechanism that drives slave unit 23 actions, this rack-and-pinion driving mechanism comprises that one is vertically mounted on the active tooth bar 28 and the driving gear 29 that is installed on the frame 21 on the lifting moving workbench 22, driving gear 29 and initiatively tooth bar 28 engagements.
Referring to Fig. 8 and Fig. 9, slave unit 3 accepts automatic drive device 2 to transmit the lifting power mobile working platform 22 and the horizontal type arm 23 of coming, the driven oscilaltion mechanism that it comprises frame 21 and is installed in the unsteady supporting mechanism on the frame 21 and drives 22 oscilaltions of lifting moving workbench.Unsteady support mechanism is a cylinder 32, and this cylinder 32 supports lifting moving workbench 22 and makes it be in quick condition.Driven oscilaltion mechanism is the rack-and-pinion follower, it comprises driven tooth bar 33 and driven gear 34, driven tooth bar 33 is vertically mounted on the lifting moving workbench 22, driven gear 34 is installed on the frame 31, the driven gear 34 of each slave unit 3 is connected in series by kinematic link 35, realizes transmission of power and is synchronized with the movement.Like this when lifting moving workbench 22 carries out oscilaltion under oscilaltion mechanism drives, the active tooth bar 28 that is fixed on the lifting moving workbench 22 drives driving gear 29 rotations, the driven gear 34 that drives each slave unit 3 by kinematic link 35 synchronously rotates, and driven gear 34 drives driven tooth bar 33 and initiatively tooth bar 28 synchronous oscilaltions again.Thereby guaranteed the oscilaltion that whole lifting moving workbench 22 is stable.
Above-mentioned driving gear 29 and active tooth bar 28 and driven gear 34, driven tooth bar 33 adopt steel and nylon gear pairs, have greatly reduced noise.
Referring to Figure 10, Figure 11 and Figure 12, carry head mechanism comprise one by securing member be installed in the cantilevered beam members 36 on the horizontal type arm 23 and be installed on the cantilevered beam members 36 in order to grasp or discharge workpiece carry 37.Carry 37 and can adopt vacuum cup or electromagnet.Adopt vacuum cup need be equipped with vacuum equipment, the startup of vacuum equipment is controlled by control device.Adopt electromagnet need be equipped with corresponding circuit, the give electricity and the dead electricity of electromagnet are also controlled by control device.
Referring to Figure 13, control device comprises a power unit (not shown), be installed in the punching press motion detection sensor (not shown) on each punch press 1, touch-screen input and display device (not shown), PLC cyclelog 61, locating module 62, driver module 63, power unit is powered to the The whole control device, be provided with the lifting servomotor in the locating module 62 and move horizontally the servomotor action data, punching press motion detection sensor, touch-screen input and display device are connected with the signal input part of PLC cyclelog 61, PLC cyclelog 61 is connected with locating module 62, data in the read-write locating module 62, locating module 62 sends forward operation pulse and inverted running pulse to driver module 63, driver module 63 drives the lifting servomotor and moves horizontally servomotor, and accepts the lifting servomotor and move horizontally the servomotor feedback pulse.
Above-mentioned separate unit multistation transfer manipulator in punch press 1, be equipped with seven carry 37, the horizontal type arm 23 that X-direction moves, the lifting moving workbench 22 that Z-direction moves, carry 37 can be used to grasp/put down workpiece; Wherein X-direction moves, Z-direction moves moves and the location drives by AC servo motor and finishes, and servomotor is controlled by the control core of " Programmable Logic Controller (PLC)+positioning unit+servo amplifier ".
The extracting of workpiece/put down is finished by carrying 37; After workpiece is put on the mould of punch press 1 accurately, carry 37 and move to outside punch press 1 mould, start punch press 1 stamped workpieces, punch press 1 punching press finishes to get back to initial point, punching press motion detection sensor by control device detects, after detecting the punch press end-of-job as travel switch, move seven and carry 37 and enter punch press 1 simultaneously and grasp workpiece on punch press 1 mould, be put into down operation after, and withdraw from outside the mould, start punch press 1 and carry out processes; The action that reciprocation cycle is above just can be produced continuously; Whole production is controlled automatically by control device, has saved manually-operated, has stopped security incident, has improved productive temp.
Separate unit multistation handover manipulator of the present utility model is mainly used in multiple operation one-shot bed stamping parts and produces continuously, and the width of the workpiece is no more than 135mm, and length is no more than 500mm, and maximum workpiece weight is no more than 1Kg, and productive temp is no more than 8s.Its best user mode is that workpiece is no more than 0.6Kg, and productive temp is 5s, and class produces 5000.
More than show and described basic principle of the present utility model and principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present utility model; under the prerequisite that does not break away from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (10)
1, the separate unit multistation is transferred manipulator, it is characterized in that, comprising:
One cover is arranged at the drive unit of punch press one side, this drive unit is provided with the lifting moving workbench that an oscilaltion mechanism and is installed in the oscilaltion mechanism and is subjected to the driving of oscilaltion mechanism to carry out oscilaltion, and the lifting moving workbench is provided with horizontal mobile mechanism and is subjected to horizontal mobile mechanism to drive the horizontal type arm that carries out horizontal reciprocating movement; Described lifting moving workbench and horizontal type arm all outwards stretch;
One cover is arranged at the slave unit of punch press opposite side, the power that this slave unit accepts automatic drive device to transmit, mobile working platform and horizontal type arm are moved up and down, slave unit is provided with the driven oscilaltion mechanism that is used for float supporting the unsteady supporting mechanism of described lifting moving workbench and drives the oscilaltion of lifting moving workbench, and described driven oscilaltion mechanism accepts the power of automatic drive device by kinematic link;
Year head mechanism that is arranged on the horizontal type arm and arranges at interval wherein carries head mechanism, lays respectively at the both sides of corresponding mould;
One control device, this control device connect and control the oscilaltion mechanism and the horizontal mobile mechanism action of described drive unit by circuit, also connect by circuit and detecting element and control each punch press action.
2, separate unit multistation according to claim 1 is transferred manipulator, it is characterized in that, also be provided with the rack-and-pinion driving mechanism that drives the slave unit action on the lifting moving workbench of described drive unit, wherein initiatively tooth bar is vertically mounted on the lifting moving workbench; Driven oscilaltion mechanism on the described slave unit is the rack-and-pinion follower, and wherein driven tooth bar is vertically mounted on the lifting moving workbench, and driving gear and driven gear are realized transmission of power by the kinematic link serial connection and be synchronized with the movement.
3, separate unit multistation according to claim 1 is transferred manipulator, it is characterized in that described horizontal type arm is installed on the lifting moving workbench by linear bearing.
4, automatic handover manipulator according to claim 1, it is characterized in that, oscilaltion mechanism on the described drive unit comprises that one is installed in the lifting servomotor on the drive unit, be installed in the gear reduction box on the drive unit, toggle, the input of gear reduction box connects with the motor shaft of lifting servomotor, and the crank that the output of gear reduction box drives toggle rotates, and the connecting rod in the toggle connects with the lifting moving workbench.
5, automatic handover manipulator according to claim 1, it is characterized in that, horizontal mobile mechanism in the described drive unit comprises that one is installed in the servomotor that moves horizontally on the lifting moving workbench, by the synchronous belt drive mechanism that moves horizontally driven by servomotor, move horizontally gear with driven pulley in the synchronous belt drive mechanism rotates synchronously, and move horizontally gears engaged and be fixed on the horizontal type arm and drive the horizontal rack that the horizontal type arm carries out horizontal reciprocating movement.
6, automatic handover manipulator according to claim 1 is characterized in that, described year head mechanism comprises that one is installed in the cantilevered beam members and the head that carries in order to extracting or release workpiece that is installed on the cantilevered beam members on the horizontal type arm.
7, automatic handover manipulator according to claim 1, it is characterized in that, described control device comprises a power unit, be installed in the punching press motion detection sensor on each punch press, touch-screen input and display device, the PLC cyclelog, locating module, driver module, described power unit is powered to the The whole control device, be provided with the lifting servomotor in the described locating module and move horizontally the servomotor action data, punching press motion detection sensor, touch-screen input and display device are connected with the signal input part of PLC cyclelog, the PLC cyclelog is connected with locating module, data in the read-write locating module, locating module sends forward operation pulse and inverted running pulse to driver module, and driver module drives the lifting servomotor and moves horizontally servomotor and accept the lifting servomotor and move horizontally the servomotor feedback pulse.
8, automatic handover manipulator according to claim 1 is characterized in that, described lifting moving workbench and horizontal type arm are profile structure.
9, automatic handover manipulator according to claim 1 is characterized in that, described unsteady supporting mechanism is a cylinder, and this cylinder supports the lifting moving workbench and makes it be in quick condition.
10, automatic handover manipulator according to claim 6 is characterized in that, described year head is that vacuum cup carries head or electromagnet carries head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201575203U CN201346604Y (en) | 2008-12-22 | 2008-12-22 | Single-set, multi-station transfer manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201575203U CN201346604Y (en) | 2008-12-22 | 2008-12-22 | Single-set, multi-station transfer manipulator |
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| CN201346604Y true CN201346604Y (en) | 2009-11-18 |
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| CNU2008201575203U Expired - Lifetime CN201346604Y (en) | 2008-12-22 | 2008-12-22 | Single-set, multi-station transfer manipulator |
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| CN101829737A (en) * | 2010-05-20 | 2010-09-15 | 济南二机床集团有限公司 | Feeding device and feeding method thereof |
| CN102059298A (en) * | 2010-11-01 | 2011-05-18 | 金云康 | Manufacturing method of ABS shell |
| CN102107241A (en) * | 2009-12-28 | 2011-06-29 | 赛科隆股份有限公司 | Device for separating semiconductor package from packaging strap |
| CN102173097A (en) * | 2011-02-12 | 2011-09-07 | 中国农业大学 | Multi-station automatic feeding method and device |
| CN102357661A (en) * | 2011-09-22 | 2012-02-22 | 浙江大学 | Numerical control lathe mechanical hand suitable for production of disc type parts |
| CN102366804A (en) * | 2011-06-29 | 2012-03-07 | 苏州品翔电通有限公司 | Product pin cutting machine special for pin inserting machine |
| CN102490175A (en) * | 2011-11-19 | 2012-06-13 | 扬州锻压机床集团有限公司 | Manipulator conveying device mechanism |
| CN102540980A (en) * | 2010-12-31 | 2012-07-04 | 昆山威创精密机械有限公司 | On-line control system for manipulator and punch with detection unit |
| CN102527802A (en) * | 2011-12-31 | 2012-07-04 | 江苏凡润电子股份有限公司 | Processing method of back board light emitting component board of LED(light emitting diode) display |
| CN104511546A (en) * | 2013-10-08 | 2015-04-15 | 中山市东凤镇金荣峰精密模具厂 | Full-automatic high-speed stamping manipulator for scattered sheets |
| CN105665579A (en) * | 2016-01-25 | 2016-06-15 | 深圳市同川科技有限公司 | Stamping control system and stamping method |
| CN105901840A (en) * | 2016-06-17 | 2016-08-31 | 洛阳新思路电气股份有限公司 | Automatic shoe last loading and unloading device for automatic polyurethane shoe making production line |
| CN106379735A (en) * | 2016-09-09 | 2017-02-08 | 惠州Tcl移动通信有限公司 | Device and method for transmitting mobile phone between adjacent stations |
| CN104526693B (en) * | 2014-11-05 | 2017-06-13 | 东莞市承恩自动化设备有限公司 | Single-machine multi-station stamping manipulator |
| CN109249085A (en) * | 2018-09-25 | 2019-01-22 | 杜宗英 | It builds aluminum alloy pattern plate and automates the vertical save space blank material feed mechanism of discharging production line |
| CN109894504A (en) * | 2017-12-11 | 2019-06-18 | 江苏同和智能装备有限公司 | A kind of processing automobile parts intelligent device |
| TWI694915B (en) * | 2018-08-31 | 2020-06-01 | 鉅鋼機械股份有限公司 | Mould exchange mechanism of linear multi-station molding processing machine |
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2008
- 2008-12-22 CN CNU2008201575203U patent/CN201346604Y/en not_active Expired - Lifetime
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| CN102107241B (en) * | 2009-12-28 | 2014-05-14 | 细美事有限公司 | Device for separating semiconductor package from packaging strap |
| CN102107241A (en) * | 2009-12-28 | 2011-06-29 | 赛科隆股份有限公司 | Device for separating semiconductor package from packaging strap |
| CN101829737B (en) * | 2010-05-20 | 2012-05-23 | 济南二机床集团有限公司 | Feeding device and feeding method thereof |
| CN101829737A (en) * | 2010-05-20 | 2010-09-15 | 济南二机床集团有限公司 | Feeding device and feeding method thereof |
| CN102059298A (en) * | 2010-11-01 | 2011-05-18 | 金云康 | Manufacturing method of ABS shell |
| CN102540980A (en) * | 2010-12-31 | 2012-07-04 | 昆山威创精密机械有限公司 | On-line control system for manipulator and punch with detection unit |
| CN102173097A (en) * | 2011-02-12 | 2011-09-07 | 中国农业大学 | Multi-station automatic feeding method and device |
| CN102173097B (en) * | 2011-02-12 | 2014-07-30 | 中国农业大学 | Multi-station automatic feeding method and device |
| CN102366804A (en) * | 2011-06-29 | 2012-03-07 | 苏州品翔电通有限公司 | Product pin cutting machine special for pin inserting machine |
| CN102357661A (en) * | 2011-09-22 | 2012-02-22 | 浙江大学 | Numerical control lathe mechanical hand suitable for production of disc type parts |
| CN102490175A (en) * | 2011-11-19 | 2012-06-13 | 扬州锻压机床集团有限公司 | Manipulator conveying device mechanism |
| CN102527802B (en) * | 2011-12-31 | 2014-03-26 | 江苏凡润电子有限公司 | Processing method of back board light emitting component board of LED(light emitting diode) display |
| CN102527802A (en) * | 2011-12-31 | 2012-07-04 | 江苏凡润电子股份有限公司 | Processing method of back board light emitting component board of LED(light emitting diode) display |
| CN104511546A (en) * | 2013-10-08 | 2015-04-15 | 中山市东凤镇金荣峰精密模具厂 | Full-automatic high-speed stamping manipulator for scattered sheets |
| CN104511546B (en) * | 2013-10-08 | 2017-06-09 | 中山市东凤镇金荣峰精密模具厂 | Full-automatic high-speed stamping manipulator for scattered sheets |
| CN104526693B (en) * | 2014-11-05 | 2017-06-13 | 东莞市承恩自动化设备有限公司 | Single-machine multi-station stamping manipulator |
| CN105665579A (en) * | 2016-01-25 | 2016-06-15 | 深圳市同川科技有限公司 | Stamping control system and stamping method |
| CN105901840A (en) * | 2016-06-17 | 2016-08-31 | 洛阳新思路电气股份有限公司 | Automatic shoe last loading and unloading device for automatic polyurethane shoe making production line |
| CN106379735A (en) * | 2016-09-09 | 2017-02-08 | 惠州Tcl移动通信有限公司 | Device and method for transmitting mobile phone between adjacent stations |
| CN109894504A (en) * | 2017-12-11 | 2019-06-18 | 江苏同和智能装备有限公司 | A kind of processing automobile parts intelligent device |
| TWI694915B (en) * | 2018-08-31 | 2020-06-01 | 鉅鋼機械股份有限公司 | Mould exchange mechanism of linear multi-station molding processing machine |
| CN109249085A (en) * | 2018-09-25 | 2019-01-22 | 杜宗英 | It builds aluminum alloy pattern plate and automates the vertical save space blank material feed mechanism of discharging production line |
| CN109249085B (en) * | 2018-09-25 | 2020-07-03 | 广东邦展建筑模板科技有限公司 | Vertical space-saving blank feeding mechanism for automatic blanking production line of building aluminum template |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Single-set, multi-station transfer manipulator Effective date of registration: 20130312 Granted publication date: 20091118 Pledgee: China Merchants Bank, Limited by Share Ltd, Shanghai, Minhang branch Pledgor: Shanghai Tonsail Automation Equipment Co.,Ltd. Registration number: 2013310000011 |
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| PLDC | Enforcement, change and cancellation of contracts on pledge of patent right or utility model | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20150409 Granted publication date: 20091118 Pledgee: China Merchants Bank, Limited by Share Ltd, Shanghai, Minhang branch Pledgor: Shanghai Tonsail Automation Equipment Co.,Ltd. Registration number: 2013310000011 |
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| PLDC | Enforcement, change and cancellation of contracts on pledge of patent right or utility model | ||
| CX01 | Expiry of patent term |
Granted publication date: 20091118 |
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| CX01 | Expiry of patent term |