CN207930699U - A kind of hole location detecting automatic feeding of view-based access control model sensor - Google Patents
A kind of hole location detecting automatic feeding of view-based access control model sensor Download PDFInfo
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- CN207930699U CN207930699U CN201820365294.1U CN201820365294U CN207930699U CN 207930699 U CN207930699 U CN 207930699U CN 201820365294 U CN201820365294 U CN 201820365294U CN 207930699 U CN207930699 U CN 207930699U
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Abstract
The utility model discloses a kind of hole location detecting automatic feedings of view-based access control model sensor, including:Fixed pedestal;The continuous conveying mechanism that self-clinching nut is provided;It is movably arranged on fixed pedestal, the self-clinching nut from conveying mechanism is transferred to the nut material grabbing mechanism of workpiece riveting point;Acquire workpiece riveting dot position information and the vision detection system of corresponding adjusting nut material grabbing mechanism position.The hole location detecting automatic feeding of view-based access control model sensor provided by the utility model, pass through visual sensor detection hole position, signal according to visual sensor, pass through the position of regulating mechanism adjusting nut material grabbing mechanism, clamping manipulator in nut material grabbing mechanism is clamped self-clinching nut and is moved to target hole position, realizes the accurate placement of self-clinching nut.
Description
Technical field
The utility model is related to riveting technology fields, and in particular to a kind of hole location detecting of view-based access control model sensor is sent automatically
Expect device.
Background technology
Panel beating includes the basic processing technology such as cutting, rolling over, rush, further include subsequently weld, without riveting, staking, pressing etc. adds
Work technique, these processing technologys are constantly ripe to be expanded, and by being used cooperatively for various automatic mechanisms, forms various automatic metaplasias
Producing line improves production capacity, meets social development demand.
In the prior art, the equipment that partly presses carries automatic feeding, but has limitation in use, such as cannot be
It is used in the smaller range in space, feed device feeding point is fixed from according to accumulation fabrication error adjust automatically, and it is artificial right to need
Quasi- feeding, cannot achieve automated production.
Utility model content
The utility model provides a kind of hole location detecting automatic feeding of view-based access control model sensor, disclosure satisfy that smaller
Feeding demand under space realizes accurate feeding by visual sensor detection hole position, and based on hole position, meets automated production
Demand.
A kind of hole location detecting automatic feeding of view-based access control model sensor, including:
Fixed pedestal;
The continuous conveying mechanism that self-clinching nut is provided;
It is movably arranged on fixed pedestal, nut that the self-clinching nut from conveying mechanism is transferred to workpiece riveting point is grabbed
Expect mechanism;
Acquire workpiece riveting dot position information and the vision detection system of corresponding adjusting nut material grabbing mechanism position.
Automatic feeding provided by the utility model is suitable on automation production flow line, is put on panel hole position
Set self-clinching nut.
On automation production flow line, using assembly line transplanter or robot grabbing workpiece, preceding road processing and crawl work
The accumulation such as part position error is bigger, and maximum possible, in order to ensure the accurate placement of self-clinching nut, needs feeding at 2-3 millimeters
Device can compensate the position deviation of self-clinching nut position automatically.The utility model is using visual sensor to the hole position on plate
It is measured in real time, self-clinching nut is moved to target by the location information that nut material grabbing mechanism is detected according to visual sensor
Kong Wei.
Sheet metal work is needed when carrying out each self-clinching nut placement for the sheet metal work containing multiple self-clinching nut holes position
Itself command displacement is to realize the placement of different Kong Weizhong self-clinching nuts, after sheet metal work movement in place, for wherein some
Self-clinching nut hole position may be used automatic feeding provided by the utility model and overcome sheet metal work because making precision and crawl
The error of precision accumulation, realizes the accurate placement of self-clinching nut.
Preferably, fixed pedestal is equipped with the adjusting for being controlled by vision detection system, changing nut material grabbing mechanism position
Mechanism, the regulating mechanism include:
The lateral movement plate being slidably mounted on fixed pedestal;
On fixed pedestal, the transversal driving mechanism of driving lateral movement plate straight reciprocating motion;
The longitudinal movement plate being slidably mounted on lateral movement plate;
On lateral movement plate, drive the longitudinal driving mechanism for vertically moving plate straight reciprocating motion;
The direction of motion of lateral movement plate and longitudinal movement plate is horizontal direction and is mutually perpendicular to;Transversal driving mechanism and
Longitudinal driving mechanism is connected by circuit with vision detection system respectively.
After vision detection system detects hole position information, controls transversal driving mechanism and longitudinal driving mechanism driving is corresponding
Lateral movement plate and longitudinal movement plate movement, with the position of adjusting nut material grabbing mechanism.
Lateral movement plate and longitudinal movement plate can move successively, can also move simultaneously.Transversal driving mechanism and longitudinal direction
Driving mechanism only provides driving force, and is not subject to other load.
Preferably, the nut material grabbing mechanism includes:
The feeding mechanical hand mounting plate being slidably mounted on longitudinal movement plate;
The material feeding driving mechanism of feeding mechanical hand mounting plate straight reciprocating motion, feeding are driven on longitudinal movement plate
The direction of motion of manipulator mounting plate and lateral movement plate is mutually parallel;
Lift drive mechanism on feeding mechanical hand mounting plate is set;
The clamping manipulator for changing height is driven by lift drive mechanism.
Preferably, the clamping manipulator includes:The clamping jaw cylinder being connected with lift drive mechanism, and by clamping jaw gas
The clamping jaw manipulator of cylinder driving, the front end bending of clamping jaw manipulator simultaneously extend downwardly, and the end of extension is to match with self-clinching nut
The clamping part of conjunction.
Clamping jaw manipulator includes a pair of of gripping finger, and gripping finger front end is close to each other and downward bending extends, the clamping of extending end
Portion mutually embraces the arc or V-arrangement to be formed and be adapted with self-clinching nut periphery, realizes the positioning at self-clinching nut center.
Preferably, the conveying mechanism includes:
Self-clinching nut self-feeding vibrating disk on fixed pedestal;
The nut workbench being fixed on longitudinal movement plate, the nut workbench are equipped with to nut material grabbing mechanism and pass
Send the self-clinching nut guide groove of self-clinching nut;
The delivery hose being connected to each other with the discharge port of self-clinching nut self-feeding vibrating disk, the delivery hose outlet end are in
The top of the self-clinching nut guide groove.
The self-clinching nut self-feeding vibrating disk is mounted on fixed pedestal, avoids placing generation on the moving part altogether
It shakes, or because vibrations reason has an impact accuracy of detection.
Nut in self-clinching nut self-feeding vibrating disk is fallen by delivery hose in self-clinching nut guide groove, and nut is waited for
The minute movement of the crawl of clamping manipulator in material grabbing mechanism, nut material grabbing mechanism will not interfere self-clinching nut in conveying mechanism
Conveying.
It is grabbed along self-clinching nut guide groove push self-clinching nut with adapting to nut preferably, being additionally provided on the longitudinal movement plate
Expect the pusher of mechanism position.
Preferably, the vision detection system includes:
The visual sensor of dot position information is riveted on fixed pedestal, on acquisition workpiece;
It receives visual sensor signal and accordingly controls to adjust the industrial personal computer of mechanism and nut material grabbing mechanism.
Preferably, the side of fixed pedestal, which is workpiece, places position, visual sensor is in the lower section that workpiece places position, pushes away
The side that the neighbouring workpiece on longitudinal movement plate places position, and the push direction of pusher and feeding mechanical hand is arranged in material mechanism
The direction of motion of mounting plate is mutually perpendicular to.
Preferably, the pusher includes:Pusher manipulator and mounted on longitudinal movement plate on drive pusher
The pusher cylinder of tool hand straight reciprocating motion, the pusher of pusher manipulator are oriented parallel to the extending direction of self-clinching nut guide groove.
Signal is acquired by the sensor being accordingly arranged in place for the movement of each moving parts in the utility model, industrial personal computer foundation
Sensor signal sends out instruction to each driving mechanism, realizes automatic operating.
The hole location detecting automatic feeding of view-based access control model sensor provided by the utility model, is examined by visual sensor
Gaging hole position, according to the signal of visual sensor, by the position of regulating mechanism adjusting nut material grabbing mechanism, in nut material grabbing mechanism
Clamping manipulator clamping self-clinching nut and be moved to target hole position, realize the accurate placement of self-clinching nut.
Description of the drawings
Fig. 1 is the schematic diagram of the hole location detecting automatic feeding of the utility model view-based access control model sensor;
Fig. 2 is the A direction views in Fig. 1;
Fig. 3 is the vertical view of the hole location detecting automatic feeding of the utility model view-based access control model sensor;
Fig. 4 is each component on fixed pedestal in the hole location detecting automatic feeding of the utility model view-based access control model sensor
Schematic view of the mounting position;
Fig. 5 is each portion on lateral movement plate in the hole location detecting automatic feeding of the utility model view-based access control model sensor
The schematic view of the mounting position of part;
Fig. 6 be the utility model view-based access control model sensor hole location detecting automatic feeding in longitudinal movement plate on each portion
The schematic view of the mounting position of part.
In figure:1, fixed pedestal;2, the linear guide;3, sliding seat;4, longitudinal driving mechanism;5, lateral movement plate;6, it indulges
To movable plate;7, sliding block;8, feeding mechanical hand mounting plate;9, lift drive mechanism;10, clamping jaw cylinder;11, delivery hose;12、
Pusher cylinder;13, self-clinching nut self-feeding vibrating disk;14, visual sensor;15, bearing;16, transversal driving mechanism;17、
Angled seat;18, material feeding driving mechanism;19, workpiece;20, clamping manipulator;20a, clamping jaw finger;21, nut workbench;22, straight
Line guide rail;23, sliding seat;24, pusher manipulator;25, the linear guide.
Specific implementation mode
Below in conjunction with the accompanying drawings, the hole location detecting automatic feeding of the utility model view-based access control model sensor is done and is retouched in detail
It states.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of hole location detecting automatic feeding of view-based access control model sensor, including:It is fixed
Pedestal 1, the continuous conveying mechanism that self-clinching nut is provided, the nut material grabbing mechanism being movably arranged on fixed pedestal 1 and acquisition
Workpiece 19 rivets dot position information and the vision detection system of corresponding adjusting nut material grabbing mechanism position.
As shown in Figure 1, fixed pedestal 1 is plate, fixed pedestal 1, which is equipped with, to be controlled by vision detection system, changes nut
The regulating mechanism of material grabbing mechanism position.
As shown in Figure 1, Figure 2, Figure 4 shows, regulating mechanism includes:It is slidably mounted on lateral movement plate 5 on fixed pedestal 1, peace
The transversal driving mechanism 16 of 5 straight reciprocating motion of lateral movement plate is driven on fixed pedestal 1, is slidably mounted on transverse shifting
Longitudinal movement plate 6 on plate 5, the zigzag tread patterns machine that longitudinal movement 6 straight reciprocating motion of plate is driven on lateral movement plate 5
Structure 4.
The direction of motion of lateral movement plate 5 and longitudinal movement plate 6 is horizontal direction and is mutually perpendicular to;Transversal driving mechanism
16 and longitudinal driving mechanism 4 be connected respectively with vision detection system by circuit.
As Figure 1 and Figure 4, two the linear guides 2 being mutually parallel, every the linear guide 2 are fixed on fixed pedestal 1
On be slidably matched there are two sliding seat 3, each sliding seat 3 is fixedly mounted on the bottom of lateral movement plate 5, and lateral movement plate 5 passes through
Straight reciprocating is realized in the cooperation of sliding seat 3 and the linear guide 2.Two the linear guides 2 are located at 16 axis of transversal driving mechanism
Both sides.
As shown in figure 5, being fixed with two the linear guides 22 being mutually parallel, every the linear guide 22 on lateral movement plate 5
On be slidably matched there are two sliding seat 23, each sliding seat 23 is fixedly mounted on the bottom of longitudinal movement plate 6, and longitudinal movement plate 6 is logical
The cooperation of sliding seat 23 and the linear guide 22 is crossed, realizes straight reciprocating.Two the linear guides 22 are located at 4 axis of longitudinal driving mechanism
The both sides of line.
Self-clinching nut from conveying mechanism is transferred to 19 riveting point of workpiece by nut material grabbing mechanism, as shown in Figure 1 and Figure 2,
Nut material grabbing mechanism includes:It is slidably mounted on the feeding mechanical hand mounting plate 8 vertically moved on plate 6, is mounted on longitudinal movement plate 6
On drive the material feeding driving mechanism 18 of 8 straight reciprocating motion of feeding mechanical hand mounting plate (to be fixed on longitudinal movement by angled seat 17
On plate 6), the lift drive mechanism 9 that is arranged on feeding mechanical hand mounting plate 8 and driven change high by lift drive mechanism 9
The clamping manipulator 20 of degree, wherein feeding mechanical hand mounting plate 8 and the direction of motion of lateral movement plate 5 are mutually parallel.
As shown in fig. 6, being installed with two the linear guides being mutually parallel 25 on longitudinal movement plate 6, two straight lines are led
Sliding block 7 is sliding combined on rail 25 respectively, sliding block 7 is fixedly mounted on the bottom of feeding mechanical hand mounting plate 8.Material feeding driving mechanism
18 use cylinder, two the linear guides 25 to be located at the both sides of cylinder-bore axis.
The mobile route of feeding mechanical hand mounting plate 8 is limited by two the linear guides 25, and material feeding driving mechanism 18 passes through floating
Dynamic connector is connected with feeding mechanical hand mounting plate 8, i.e., the thrust direction of material feeding driving mechanism 18 can deviate feeding mechanical hand
The moving direction of mounting plate 8.
As shown in Fig. 2, Fig. 6, clamping manipulator 20 includes:The clamping jaw cylinder 10, Yi Jishou being connected with lift drive mechanism 9
The clamping jaw manipulator that clamping jaw cylinder 10 drives, the front end bending of clamping jaw manipulator simultaneously extend downwardly, and the end of extension is and presses
The matched clamping part of nut.
As shown in fig. 6, clamping jaw manipulator includes a pair of of clamping jaw finger 20a, clamping jaw finger 20a is controlled by clamping jaw cylinder 10
It mutually clamps or is located remotely from each other.The front end of two clamping jaw finger 20a is gradually drawn close and is downwardly extending clamping part.Clamping part phase
The arc or V-arrangement to be formed and be adapted with self-clinching nut periphery are mutually embraced, in order to the positioning at self-clinching nut center, keeps the spiral shell that presses
The stabilization of mother's clamping.
As shown in Figure 1, Figure 3, conveying mechanism includes:Self-clinching nut self-feeding vibrating disk on fixed pedestal 1
13, the nut workbench 21 being fixed on longitudinal movement plate 6 and the discharge port with self-clinching nut self-feeding vibrating disk 13
The delivery hose 11 being connected to each other.
Nut workbench 21 is equipped with self-clinching nut guide groove, the delivery hose that self-clinching nut is transmitted to nut material grabbing mechanism
11 outlet ends are in the top of self-clinching nut guide groove.The outlet end of delivery hose 11 is fixed on nut workbench 21 by corner fittings
On, and the outlet end of delivery hose 11 with self-clinching nut guide groove there is certain distance, self-clinching nut to be fallen into from delivery hose 11
In self-clinching nut guide groove, and it is no longer limited by the blocking of delivery hose 11 in the horizontal direction.
Self-clinching nut is pushed to adapt to nut material grasping along self-clinching nut guide groove as shown in fig. 6, being additionally provided on longitudinal movement plate 6
The pusher of mechanism position.
As shown in fig. 6, pusher includes:Pusher manipulator 24 and mounted on longitudinal movement plate 6 on drive pusher
The pusher cylinder 12 of 24 straight reciprocating motion of tool hand.The direction of motion of pusher manipulator 24 is parallel to the extension of self-clinching nut guide groove
Direction, the end of pusher manipulator 24, which is equipped with, pushes self-clinching nut with the matched groove of self-clinching nut, pusher manipulator 24
It is captured to appropriate location for nut material grabbing mechanism.
As shown in Figure 2 and Figure 3, vision detection system includes:It is mounted on fixed pedestal 1 by bearing 15 and acquires workpiece 19
It is upper riveting dot position information visual sensor 14 and receive 14 signal of visual sensor and accordingly control to adjust mechanism with
And the industrial personal computer of nut material grabbing mechanism.
Position is placed as shown in Fig. 2, the side of fixed pedestal 1 is workpiece, visual sensor 14 is in workpiece and places under position
The side that the neighbouring workpiece on longitudinal movement plate 6 places position, and the push direction of pusher and feeding is arranged in side, pusher
The direction of motion of manipulator mounting plate 8 is mutually perpendicular to.
The course of work of the utility model is as follows:
(1) transplanter or robot crawl sheet metal work 19 arrive operating position, and visual sensor 14 scans sheet metal work 19
On self-clinching nut hole position, and by industrial personal computer calculate control longitudinal driving mechanism 4 drive longitudinal movement plate 6 move, laterally drive
Motivation structure 16 drives lateral movement plate 5 to be moved to suitable position;
(2) self-clinching nut self-feeding vibrating disk 13 conveys nut by delivery hose 11 into self-clinching nut guide groove, pushes away
Self-clinching nut is pushed to the clamping manipulator 20 of nut material grabbing mechanism by material manipulator 24, and lift drive mechanism 9 drives clamping machine
Tool hand 20 declines, and clamping manipulator 20 clamps self-clinching nut;
(3) lift drive mechanism 9 drives clamping manipulator 20 to rise, and material feeding driving mechanism 18 drives clamping manipulator 20 to transport
Dynamic, self-clinching nut is moved to target self-clinching nut hole position by clamping manipulator 20, and lift drive mechanism 9 drives clamping manipulator 20
Decline, clamping manipulator 20 discharges self-clinching nut, and self-clinching nut falls into target self-clinching nut hole position, completes a feeding process.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying carries out change and modification appropriate.Therefore, the utility model is not limited to specific implementation disclosed and described above
Mode should also be as falling into the protection scope of the claims of the present utility model to some modifications and changes of the utility model.
In addition, although having used some specific terms in this specification, these terms are merely for convenience of description, not to this reality
With novel composition any restrictions.
Claims (9)
1. a kind of hole location detecting automatic feeding of view-based access control model sensor, which is characterized in that including:
Fixed pedestal;
The continuous conveying mechanism that self-clinching nut is provided;
It is movably arranged on fixed pedestal, the self-clinching nut from conveying mechanism is transferred to the nut materials-taking machine of workpiece riveting point
Structure;
Acquire workpiece riveting dot position information and the vision detection system of corresponding adjusting nut material grabbing mechanism position.
2. the hole location detecting automatic feeding of view-based access control model sensor as described in claim 1, which is characterized in that fixed base
Seat is equipped with the regulating mechanism for being controlled by vision detection system, changing nut material grabbing mechanism position, which includes:
The lateral movement plate being slidably mounted on fixed pedestal;
On fixed pedestal, the transversal driving mechanism of driving lateral movement plate straight reciprocating motion;
The longitudinal movement plate being slidably mounted on lateral movement plate;
On lateral movement plate, drive the longitudinal driving mechanism for vertically moving plate straight reciprocating motion;
The direction of motion of lateral movement plate and longitudinal movement plate is horizontal direction and is mutually perpendicular to;Transversal driving mechanism and longitudinal direction
Driving mechanism is connected by circuit with vision detection system respectively.
3. the hole location detecting automatic feeding of view-based access control model sensor as claimed in claim 2, which is characterized in that the spiral shell
Female material grabbing mechanism includes:
The feeding mechanical hand mounting plate being slidably mounted on longitudinal movement plate;
The material feeding driving mechanism of feeding mechanical hand mounting plate straight reciprocating motion, feeding mechanical are driven on longitudinal movement plate
The direction of motion of hand mounting plate and lateral movement plate is mutually parallel;
Lift drive mechanism on feeding mechanical hand mounting plate is set;
The clamping manipulator for changing height is driven by lift drive mechanism.
4. the hole location detecting automatic feeding of view-based access control model sensor as claimed in claim 3, which is characterized in that the folder
Holding manipulator includes:The clamping jaw cylinder being connected with lift drive mechanism, and by the clamping jaw manipulator of clamping jaw cylinder driving, clamping jaw
The front end bending of manipulator simultaneously extends downwardly, and the end of extension is and the matched clamping part of self-clinching nut.
5. the hole location detecting automatic feeding of view-based access control model sensor as claimed in claim 2, which is characterized in that described defeated
The mechanism is sent to include:
Self-clinching nut self-feeding vibrating disk on fixed pedestal;
The nut workbench being fixed on longitudinal movement plate, the nut workbench are equipped with to transmit to nut material grabbing mechanism and press
The self-clinching nut guide groove of riveting nut;
The delivery hose being connected to each other with the discharge port of self-clinching nut self-feeding vibrating disk, the delivery hose outlet end are in described
The top of self-clinching nut guide groove.
6. the hole location detecting automatic feeding of view-based access control model sensor as claimed in claim 5, which is characterized in that described vertical
It is additionally provided on movable plate and pushes self-clinching nut along self-clinching nut guide groove to adapt to the pusher of nut material grabbing mechanism position.
7. the hole location detecting automatic feeding of view-based access control model sensor as claimed in claim 6, which is characterized in that described to regard
Feel that detecting system includes:
The visual sensor of dot position information is riveted on fixed pedestal, on acquisition workpiece;
It receives visual sensor signal and accordingly controls to adjust the industrial personal computer of mechanism and nut material grabbing mechanism.
8. the hole location detecting automatic feeding of view-based access control model sensor as claimed in claim 7, which is characterized in that fixed base
The side of seat is that workpiece places position, and visual sensor is in the lower section that workpiece places position, and pusher setting is in longitudinal movement plate
Upper neighbouring workpiece places the side of position, and the push direction of pusher and the direction of motion of feeding mechanical hand mounting plate are mutually hung down
Directly.
9. the hole location detecting automatic feeding of view-based access control model sensor as claimed in claim 6, which is characterized in that described to push away
Expect that mechanism includes:Pusher manipulator and the pusher that pusher manipulator straight reciprocating motion is driven on longitudinal movement plate
Cylinder, the pusher of pusher manipulator are oriented parallel to the extending direction of self-clinching nut guide groove.
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109420728A (en) * | 2018-11-15 | 2019-03-05 | 宾科精密部件(中国)有限公司 | Rivet pulling device |
CN109550879A (en) * | 2018-12-24 | 2019-04-02 | 福建渃博特自动化设备有限公司 | A kind of metal plate riveting method of view-based access control model |
CN112828657A (en) * | 2021-02-09 | 2021-05-25 | 永康市勤亿工贸有限公司 | Feeding mechanism for automatic feeding and processing of straight-through and three-way connectors |
-
2018
- 2018-03-16 CN CN201820365294.1U patent/CN207930699U/en active Active
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109420728A (en) * | 2018-11-15 | 2019-03-05 | 宾科精密部件(中国)有限公司 | Rivet pulling device |
CN109550879A (en) * | 2018-12-24 | 2019-04-02 | 福建渃博特自动化设备有限公司 | A kind of metal plate riveting method of view-based access control model |
CN112828657A (en) * | 2021-02-09 | 2021-05-25 | 永康市勤亿工贸有限公司 | Feeding mechanism for automatic feeding and processing of straight-through and three-way connectors |
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