CN101289141A - Clamping system and method for anti-collision machine - Google Patents
Clamping system and method for anti-collision machine Download PDFInfo
- Publication number
- CN101289141A CN101289141A CNA200810038876XA CN200810038876A CN101289141A CN 101289141 A CN101289141 A CN 101289141A CN A200810038876X A CNA200810038876X A CN A200810038876XA CN 200810038876 A CN200810038876 A CN 200810038876A CN 101289141 A CN101289141 A CN 101289141A
- Authority
- CN
- China
- Prior art keywords
- crawled thing
- thing
- crawled
- drops
- order
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012546 transfer Methods 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000012806 monitoring device Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 abstract description 19
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 238000004140 cleaning Methods 0.000 description 10
- 208000033999 Device damage Diseases 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000008520 organization Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000010453 quartz Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
Images
Landscapes
- Specific Conveyance Elements (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention provides an anti-collision machine clamping system and an anti-collision machine clamping method. The clamping mechanism is used for grabbing and transferring the grabbed objects. Each clamping mechanism further comprises a plurality of clamping heads and a plurality of sensors. The equipment controller is used for immediately stopping the operation of relevant equipment on the production line when the sensor monitors that the grabbed object or the part of the grabbed object clamped by the clamping head falls off so as to prevent the grabbed object or the part of the grabbed object from interfering with other mechanisms to cause collision when falling off from the clamping mechanism. Each interface terminal table corresponds to at least one sensor, the sensors are connected with the corresponding sensors, and the interface terminal tables and the equipment controller are connected through a control and communication link bus. The invention can effectively avoid the equipment damage caused by the falling of the grabbed objects and can more safely clamp and transfer the objects with damaged edges.
Description
Technical field
The present invention relates to the extracting and the handover of product on the conveyor line, particularly anti-collision machine grasping system anti-collision machine clamp method.
Background technology
Along with the raising of automatization level in the modern factories, the extracting of usually using mechanical grip mechanism to finish certain article on the conveyor line reaches mobile.Pallet is to use very frequent a kind of utensil in the factory, and it usually is used to hold various article.It is clean that but some article need also will keep when mobile, institute so that pallet need to clean just and can reuse later using.But and, need sometimes pallet is cleaned in order to make the pallet repeated use.
As shown in Figure 1, it is the scheme drawing of existing a kind of pallet cleaning way.In the process of cleaning trays, when pallet supplied to first detent mechanism 103, clamping device 105 came to grasp pallet, and was transplanted on the load-transfer device 107.Pallet is driven and is cleaned through wiper mechanism 109 by load-transfer device 107.After the pallet cleaning finishes, by load-transfer device 107 pallet to be derived from wiper mechanism 109, this moment, clamping device 105 grasped pallet from load-transfer device 107 again, was transplanted on second detent mechanism 113, and carried out follow-up work.So just finished the process that whole pallet cleans.
In whole pallet cleaning process, the handover of pallet is finished by clamping device fully.But tray edge is through regular meeting's appearance breakage in various degree in manufacturing process; if and clamping device is when grasping pallet; just in time catch damaged position; it is insecure to make that like this clamping device grasps; an end that makes pallet breakage accident from the clamping device falls down; collide with other mechanism's interference, cause device damage.
In the pallet cleaning process of Fig. 1, its load-transfer device 107 is made up of a plurality of cylinders, has certain spacing between the cylinder.When tray edge had breakage, an end of its breakage can drop and is stuck between the cylinder of load-transfer device 107 from clamping device, and the other end of pallet then still is connected on the clamping device.Can not learn that pallet drops and walk on owing to clamping device, cause clamping device in the middle of walking, be subjected to the dropping influence of pallet external force, near and make the impaired distortion of jaw of clamping device, jaw
ServomotorSeriously scrap.In present specification, the applicant drops this crawled thing and the phenomenon of the equipment mal-operation that causes calls and collides.
Above-mentioned is a kind of common device damage situation that pallet causes when dropping.In addition, be not only pallet, fall down in any products on the automatic production line or utensil accident from the clamping device and all may take place to interfere with other mechanism and collide, and cause the situation of multi-form device damage.
Summary of the invention
The purpose of this invention is to provide a kind of anti-collision machine grasping system, crawled thing accident drops and collides on the existing conveyor line to solve, and causes the problem of device damage.
Another object of the present invention provides a kind of anti-collision machine clamp method, and crawled thing accident drops and collides on the existing conveyor line to solve, and causes the problem of device damage.
The present invention proposes a kind of anti-collision machine grasping system, in order to grasping on conveyor line and to transfer crawled thing, and prevents that crawled thing from dropping and colliding, and it comprises at least one clamping device, device control unit and at least one Interface Terminal platform.Clamping device is in order to grasp and to transfer crawled thing.Each clamping device comprises a plurality of chucks and a plurality of sensor again.Chuck is in order to grasp crawled thing.Sensor is arranged on chuck bottom, and the corresponding chuck of each sensor, in order to monitoring the crawled thing part of its pairing chuck clamping, and sends monitor signal when the crawled thing of its monitoring partly drops.Device control unit in order to when sensor monitors when the part of the crawled thing of chuck clamping or crawled thing drops, stop the operation of relevant device on the conveyor line at once, when clamping device drops, collide with the part that prevents crawled thing or crawled thing.Corresponding at least one sensor of each Interface Terminal platform, it links to each other with pairing sensor, and link to each other with the communication link bus by controlling between the Interface Terminal platform and between Interface Terminal platform and the device control unit, the monitor signal that the Interface Terminal platform sends in order to receiving sensor, and monitor signal is converted to the discernible signal of device control unit, and be sent to device control unit.
According to the described anti-collision machine grasping system of preferred embodiment of the present invention, each clamping device also comprises the plurality of fixed device, it links to each other with the support of sensor and chuck bottom position respectively, and the corresponding sensor of each anchor fitting is in order to connect sensor and to be fixed on the bottom bracket of clamping device.
According to the described anti-collision machine grasping system of preferred embodiment of the present invention, each sensor is provided with signal emission module, receiver module and monitoring device.Signal emission module is in order to emit beam.Receiver module is in order to receive through being grabbed the light that thing reflects.Monitoring device judges that in order to the light signal strength that receives according to receiver module whether the crawled thing part of the pairing chuck clamping of this sensor drops, if crawled thing partly drops, then sends this monitor signal to device control unit at once.
The present invention proposes a kind of anti-collision machine clamp method in addition, in order to grasping on conveyor line and to transfer crawled thing, and prevents that crawled thing from dropping and colliding with miscellaneous equipment, and it may further comprise the steps: at first, grasp crawled thing.Secondly, monitor crawled thing and whether drop.At last, if crawled thing drops, then stop the action of each equipment on the conveyor line at once.
According to the described anti-collision machine clamp method of preferred embodiment of the present invention, monitor when whether crawled thing drops and may further comprise the steps: at first, to crawled thing emission light.Secondly, receive the light that reflects through crawled thing.Then, according to the light power that reflects, judge whether crawled thing drops.
According to the described anti-collision machine clamp method of preferred embodiment of the present invention, according to the light power that reflects, judge crawled thing may further comprise the steps when whether dropping: at first, preestablish a light intensity threshold values.Then, will compare through light intensity and light intensity threshold values that crawled thing reflects.At last, judge according to comparison result whether crawled thing drops.
According to the described anti-collision machine clamp method of preferred embodiment of the present invention, when detecting crawled thing and drop, stop action by each equipment on the programming control conveyor line.
The present invention compared with prior art has the following advantages: in the process of the object of the present invention on grasping conveyor line, remain the monitoring to crawled thing.And when the part of crawled thing or crawled thing when clamping device drops, make equipment relevant on the conveyor line stop action at once, therefore can effectively avoid colliding because of the crawled thing equipment that causes that drops, also reduced the maintenance of equipment cost simultaneously.
Description of drawings
Fig. 1 is the scheme drawing of existing a kind of pallet cleaning way;
Fig. 2 is a kind of anti-collision machine grasping system Organization Chart of the embodiment of the invention;
Scheme drawing when Fig. 3 is the crawled thing of a kind of clamping device clamping of the embodiment of the invention;
Fig. 4 is the right elevation of a kind of anchor fitting of embodiment among Fig. 3;
Fig. 5 is the front view of a kind of anchor fitting of embodiment among Fig. 3;
Scheme drawing when Fig. 6 is applied to pallet cleaning conveyor line for a kind of anti-collision machine grasping system of the embodiment of the invention;
Fig. 7 is the another kind of anti-collision machine grasping system Organization Chart of the embodiment of the invention;
Fig. 8 is a kind of anti-collision machine clamp method diagram of circuit of the embodiment of the invention;
Fig. 9 is the another kind of anti-collision machine clamp method diagram of circuit of the embodiment of the invention.
The specific embodiment
Principle of the present invention is: add sensor on the clamping device that uses in conveyor line, thereby can monitor the position of gripped object on the clamping device, when gripped object drops, stop the action of relevant device on the conveyor line at once by device control unit, thereby avoid colliding and the device damage that causes.
Below in conjunction with accompanying drawing, specify the present invention.
See also Fig. 2, it is a kind of anti-collision machine grasping system Organization Chart of the embodiment of the invention.This anti-collision machine grasping system in order to grasping on conveyor line and to transfer crawled thing, and prevents that crawled thing from dropping and interferes with other mechanism and collide.It comprises clamping device 201, Interface Terminal platform 203 and device control unit 205.Clamping device 201 is in order to grasp and to transfer crawled thing, and clamping device 201 comprises a plurality of chucks 207 and a plurality of sensor 209 again, and clamping device 201 is provided with two sensors 209 and two chucks in the present embodiment.Chuck 207 is in order to grasp crawled thing.Sensor 209 is arranged on chuck 207 bottoms, and each sensor 209 corresponding chuck 207.Interface Terminal platform 203 links to each other with sensor 209, and it is by CC-LINK (Control Communication Link, control and communication link) bus is connected to device control unit 205, and wherein, Interface Terminal platform 203 can be the CC-LINK terminal board that meets CC-LINK interface module standard.The CC-LINK bus is a kind of open fieldbus, and it has advantages such as speed of transmission is fast, cost is low, compatibility is strong.
See also Fig. 3, the scheme drawing when it is the crawled thing of a kind of clamping device clamping of the embodiment of the invention.Clamping device 201 in the present embodiment has two chucks 207 and two sensors 209, and sensor 209 is connected on the support of chuck 207 bottoms by anchor fitting 307, and a sensor 209 is corresponding to a chuck 207.Before chuck 207 grasped crawled thing 309, sensor 209 was set one earlier apart from threshold values.When chuck 207 grasps and transfers in the process of crawled thing 309, the any end at two ends, the left and right sides that grasps thing 309 is former thereby drop from chuck 207 because of breakage etc., and make the end that drops to the distance of its pairing sensor 209 greater than predefined during apart from threshold values, sensor 209 just can send is grabbed the monitor signal that thing drops.Clamping device also can be provided with a plurality of chucks and a plurality of sensor according to the shape and the weight of crawled thing except two chucks 207 and two sensors 209 are set.
See also Fig. 4 and Fig. 5, it is the right elevation and the front view of a kind of anchor fitting of embodiment among Fig. 3.Two fixed orifices 403 of its lower end are in order to connect sensor 209 and to be fixed on the anchor fitting 307, and two fixed orifices 405 of its upper end are in order to connect anchor fitting 307 and to be fixed on the support of clamping device bottom.
Be that example illustrates anti-collision machine grasping system of the present invention now with the pallet cleaning.When anti-collision machine grasping system of the present invention is used on the conveyor line of cleaning trays, as shown in Figure 6, at first sensor 209 is set one apart from threshold values.During system works, pallet is fed into the 3rd detent mechanism 603, and the clamping device 201 of present embodiment comes to grasp pallet, and is transplanted on the load-transfer device 607.Pallet is driven and is cleaned through wiper mechanism 609 by load-transfer device 607.After the pallet cleaning finishes, by load-transfer device 607 pallet to be derived from wiper mechanism 609, this moment, clamping device 201 grasped pallet from load-transfer device 607 again, was transplanted on the 4th detent mechanism 613, and carried out follow-up work.If the edge breakage of pallet, and when clamping device 201 grasped pallet, its chuck 207 was just in time caught the edge of pallet breakage, an end of pallet breakage may fall down because of chuck 207 can't clamp from clamping device 201.An end that drops when pallet and the distance of the sensor above it 209 surpass predefined during apart from threshold values, and sensor 209 can send the monitor signal that pallets drop to Interface Terminal platform 203 at once.Interface Terminal platform 203 is converted to monitor signal the signal that device control unit 205 can be discerned at once, and sends to device control unit 205 by the CC-LINK bus after receiving the monitor signal that pallet drops.After device control unit 205 receives the signal that Interface Terminal platform 203 sends, load-transfer device 607 and wiper mechanism 609 are quit work, prevent that pallet one from making a clean sweep of and fall behind between the roller that is stuck in load-transfer device 607 and cause device damage.Wherein, Interface Terminal platform 203 signal that signal conversion equipment controller 205 can be discerned can be: coordinate time sequence difference, information format conversion (as serial and parallel conversion), the type of depositing and cushion logic, harmony messages of data and the difference of level etc. are set.In addition, the control of relevant device can realize by the PLC program is set on 205 pairs of conveyor lines of device control unit.
The described sensor 209 of present embodiment can be laser sensor, and it is provided with signal emission module, receiver module and monitoring device.Signal emission module is in order to emit beam.Receiver module is in order to receive through being grabbed the light that thing reflects.Monitoring device judges in order to the light signal strength that receives according to receiver module whether the crawled thing at the pairing chuck of sensor place drops, and sends detection signal according to judged result to the Interface Terminal platform.A threshold values button can also be set, in order to be provided with one, as the benchmark of judging whether crawled thing drops on the sensor 209 apart from threshold values.When the distance between crawled thing and the sensor 209 surpassed the threshold values that sets, sensor 209 just sent the signal that drops to Interface Terminal platform 203 at once.
See also Fig. 7, it is the another kind of anti-collision machine grasping system Organization Chart of the embodiment of the invention.This anti-collision machine grasping system in order to grasping on conveyor line and to transfer crawled thing, and prevents that crawled thing from dropping and interferes with other mechanism and collide.It comprises a plurality of clamping devices 201, a plurality of Interface Terminal platform 203 and device control unit 205.Clamping device 201 is in order to grasp and to transfer crawled thing, and it is connected to Interface Terminal platform 203.Each clamping device 201 comprises a plurality of chucks 207 and a plurality of sensor 209 again.Chuck 207 is in order to grasp crawled thing.Sensor 209 is arranged on chuck 207 bottoms, and each sensor 209 corresponding chuck 207.Interface Terminal platform 203 can be arranged on different conveyor lines and different workshop places, and link to each other by CC-LINK bus (Control Communication Link, control and communication link) 703 between the Interface Terminal platform 203 and between Interface Terminal platform 203 and the device control unit 205.Interface Terminal platform 203 meets the standard of CC-LINK interface module.Advantages such as the CC-LINK bus is a kind of open fieldbus, and it has, speed of transmission is fast, cost is low, compatibility is strong.Use when of the present invention in some integrated mills, because of having used the CC-LINK bus, thus can insert or pull out corresponding interface terminal board 203 at any time according to needs on the spot, so make the present invention when practical application, have more alerting ability.But do not limit the present invention herein with this.Also can otherwise be connected between the Interface Terminal platform 203 and between Interface Terminal platform 203 and the device control unit 205.
The present invention also proposes a kind of anti-collision machine clamp method, in order to grasping on conveyor line and to transfer crawled thing, and prevents that crawled thing from dropping and interferes with other mechanism and collide.See also Fig. 8, it is a kind of anti-collision machine clamp method diagram of circuit of the embodiment of the invention.
S801 grasps crawled thing.The modal object that is to use on extracting of mechanical grip arm and the handover conveyor line in factory.
Whether S803 monitors crawled thing and drops.Can realize by the position of the crawled thing of sensor monitors.
S805 if crawled thing drops, then stops the action of each equipment on the conveyor line at once.Can realize real-time control by the PLC program to each equipment on the conveyor line.
See also Fig. 9, it is the another kind of anti-collision machine clamp method diagram of circuit of the embodiment of the invention.
S901 grasps crawled thing.
S903 sets a light intensity threshold values.This light intensity threshold values is in order to be grabbed the benchmark whether thing drops as judging.
S905 is to crawled thing emission light.Can be used as light source with quartz conductor, make that being grabbed thing also can generate strong beam spot in far distance, thereby improve the light reflecting effect.
S907 receives the light that reflects through crawled thing.
S909 will compare through light intensity and light intensity threshold values that crawled thing reflects, and judge whether crawled thing drops.
S911 if drop, stops action by each equipment on the programming control conveyor line.
The present invention compared with prior art has the following advantages: in the process of the object of the present invention on grasping conveyor line, remain the monitoring to crawled object location.And when the part of crawled thing or crawled thing when clamping device drops, make equipment relevant on the conveyor line stop action at once, therefore can effectively avoid colliding because of the crawled thing equipment that causes that drops, also reduced the maintenance of equipment cost simultaneously.
More than disclosed only be several specific embodiment of the present invention, but the present invention is not limited thereto, any those skilled in the art can think variation, all should drop in protection scope of the present invention.
Claims (7)
1, a kind of anti-collision machine grasping system in order to grasping and to transfer crawled thing, and prevents that crawled thing from dropping and colliding on conveyor line, it is characterized in that, comprising:
At least one clamping device, in order to grasp and to transfer crawled thing, each clamping device comprises again:
A plurality of chucks are in order to grasp crawled thing;
A plurality of sensors, it is arranged on those chucks bottom, and the corresponding chuck of each sensor, in order to monitoring the crawled thing part of its pairing chuck clamping, and sends a monitor signal when the crawled thing of its monitoring partly drops;
One device control unit, in order to when those sensor monitors when the part of the crawled thing of those chuck clampings or crawled thing drops, stop the operation of relevant device on the conveyor line at once, when this clamping device drops, collide with the part that prevents crawled thing or crawled thing;
At least one Interface Terminal platform, and corresponding at least one sensor of each Interface Terminal platform, it links to each other with pairing sensor, and link to each other with the communication link bus by controlling between those Interface Terminal platforms and between those Interface Terminal platforms and this device control unit, those Interface Terminal platforms are in order to receive this monitor signal that those sensors send, and this monitor signal is converted to the discernible signal of this device control unit, and be sent to this device control unit.
2, anti-collision machine grasping system as claimed in claim 1, it is characterized in that, each clamping device also comprises the plurality of fixed device, it links to each other with the support of those sensors and this chuck bottom position respectively, and the corresponding sensor of each anchor fitting is in order to connect those sensors and to be fixed on the bottom bracket of this clamping device.
3, anti-collision machine grasping system as claimed in claim 1 is characterized in that, each sensor should have following functional device:
One signal emission module in order to emitting beam, and detects having or not of crawled thing;
One receiver module is in order to receive through being grabbed the light that thing reflects;
One monitoring device judges in order to the light signal strength that receives according to this receiver module whether the crawled thing part of the pairing chuck clamping of this sensor drops, if crawled thing partly drops, then sends this monitor signal to this device control unit at once.
4, a kind of anti-collision machine clamp method in order to grasping and to transfer crawled thing, and prevents that crawled thing from dropping and colliding on conveyor line, it is characterized in that, may further comprise the steps:
Grasp crawled thing;
Whether monitor crawled thing drops;
If crawled thing drops, then stop the action of relevant device on the conveyor line at once.
5, anti-collision machine clamp method as claimed in claim 4 is characterized in that, monitors when whether crawled thing drops may further comprise the steps:
To crawled thing emission light;
The light that reception reflects through crawled thing;
According to the light power that reflects, judge whether crawled thing drops.
6, anti-collision machine clamp method as claimed in claim 5 is characterized in that, according to the light power that reflects, judges crawled thing may further comprise the steps when whether dropping:
Preestablish a light intensity threshold values;
To compare through light intensity and this light intensity threshold values that crawled thing reflects;
Judge according to comparison result whether crawled thing drops.
7, anti-collision machine clamp method as claimed in claim 4 is characterized in that, when detecting crawled thing and drop, stops action by relevant device on the programming control conveyor line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200810038876XA CN101289141A (en) | 2008-06-12 | 2008-06-12 | Clamping system and method for anti-collision machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200810038876XA CN101289141A (en) | 2008-06-12 | 2008-06-12 | Clamping system and method for anti-collision machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101289141A true CN101289141A (en) | 2008-10-22 |
Family
ID=40033628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA200810038876XA Pending CN101289141A (en) | 2008-06-12 | 2008-06-12 | Clamping system and method for anti-collision machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101289141A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774173A (en) * | 2010-02-10 | 2010-07-14 | 中国电子科技集团公司第四十五研究所 | Sheet-grasping mechanical arm of full-automatic battery plate printing machine |
| CN105142043A (en) * | 2015-06-18 | 2015-12-09 | 中山市默拜尔网络科技有限公司 | Communication transmitter hanging device |
| CN109482327A (en) * | 2018-10-15 | 2019-03-19 | 山东中衡光电科技有限公司 | A kind of underground crusher front-end person who protection system and method |
| CN113335881A (en) * | 2021-07-06 | 2021-09-03 | 华电重工股份有限公司 | Anti-collision protection device of movable conveying machinery |
-
2008
- 2008-06-12 CN CNA200810038876XA patent/CN101289141A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774173A (en) * | 2010-02-10 | 2010-07-14 | 中国电子科技集团公司第四十五研究所 | Sheet-grasping mechanical arm of full-automatic battery plate printing machine |
| CN105142043A (en) * | 2015-06-18 | 2015-12-09 | 中山市默拜尔网络科技有限公司 | Communication transmitter hanging device |
| CN105142043B (en) * | 2015-06-18 | 2019-02-26 | 上海朋邦实业有限公司 | The hanging set of communications transmitter |
| CN109482327A (en) * | 2018-10-15 | 2019-03-19 | 山东中衡光电科技有限公司 | A kind of underground crusher front-end person who protection system and method |
| CN113335881A (en) * | 2021-07-06 | 2021-09-03 | 华电重工股份有限公司 | Anti-collision protection device of movable conveying machinery |
| CN113335881B (en) * | 2021-07-06 | 2024-05-03 | 华电重工股份有限公司 | Anti-collision protection device of mobile conveying machinery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101289141A (en) | Clamping system and method for anti-collision machine | |
| US20170185076A1 (en) | Manufacturing management apparatus correcting delay in operation of manufacturing cell | |
| CN108788630B (en) | Full-automatic processing device and process method for hub of gasoline engine | |
| CN111573198A (en) | Feeding and discharging control system, feeding and discharging equipment and feeding and discharging method | |
| CN109826660B (en) | System and method for remotely positioning communication error support by hydraulic support | |
| US20160054723A1 (en) | Robot controller of robot used with machine tool, and processing system | |
| CN110395549A (en) | The control method and device of hoisting mechanism, elevator system | |
| CN105252519A (en) | Grabbing system | |
| CN105537626A (en) | Automatic tensile test bar producing system and method | |
| CN107390652A (en) | Intelligent clothes hanger delivery system and its control method | |
| CN205240075U (en) | Glass substrate conveyer and glass substrate system of unloading | |
| CN109703172B (en) | Control method, device and equipment of automatic film tearing machine and storage medium | |
| CN111403548A (en) | On-line storing and supplementing method and system for glass substrate for glass processing production line | |
| CN114986502A (en) | Method, apparatus and computer-readable storage medium for controlling synchronization of multiple robots | |
| CN104016117A (en) | Forked plate capable of automatically adjusting position of base plate and adjustment method | |
| CN114248286A (en) | End effector, control method of end effector, and sorting system | |
| CN210765678U (en) | Intelligent weft yarn bobbin creel and textile system production line | |
| JP2022063822A (en) | Heterogeneous nut welding automation system of metal workpieces for automobile | |
| CN112173704A (en) | Feeding system and feeding detection method | |
| CN209737004U (en) | Automobile brake disc processing production line with high automation degree | |
| US20200024082A1 (en) | Post-processing method for workpiece, machining system, and management system | |
| CN109014637A (en) | Reciprocating white body method for carrying | |
| CN111545476B (en) | Circuit board separation system and control method thereof | |
| CN105438761B (en) | Production line control method and equipment for realizing the control method | |
| CN110371528A (en) | The pressure head automatic shift control system and method for vertical direct press type garbage compression station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Open date: 20081022 |