CN101559880A - Plate material conveying device - Google Patents
Plate material conveying device Download PDFInfo
- Publication number
- CN101559880A CN101559880A CNA2009101318754A CN200910131875A CN101559880A CN 101559880 A CN101559880 A CN 101559880A CN A2009101318754 A CNA2009101318754 A CN A2009101318754A CN 200910131875 A CN200910131875 A CN 200910131875A CN 101559880 A CN101559880 A CN 101559880A
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- CN
- China
- Prior art keywords
- sheet material
- holding element
- plate material
- residual materials
- clamper
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H35/00—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
- B26D7/0625—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form by endless conveyors, e.g. belts
- B26D7/0633—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form by endless conveyors, e.g. belts by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
- B65H29/24—Delivering or advancing articles from machines; Advancing articles to or into piles by air blast or suction apparatus
- B65H29/241—Suction devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2220/00—Function indicators
- B65H2220/09—Function indicators indicating that several of an entity are present
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/40—Type of handling process
- B65H2301/42—Piling, depiling, handling piles
- B65H2301/421—Forming a pile
- B65H2301/4212—Forming a pile of articles substantially horizontal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/40—Type of handling process
- B65H2301/42—Piling, depiling, handling piles
- B65H2301/421—Forming a pile
- B65H2301/4217—Forming multiple piles
- B65H2301/42172—Forming multiple piles simultaneously
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2405/00—Parts for holding the handled material
- B65H2405/50—Gripping means
- B65H2405/51—Gripping means oscillating in arcuate paths
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2405/00—Parts for holding the handled material
- B65H2405/50—Gripping means
- B65H2405/58—Means for achieving gripping/releasing operation
- B65H2405/581—Means for achieving gripping/releasing operation moving only one of the gripping parts towards the other
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2406/00—Means using fluid
- B65H2406/30—Suction means
- B65H2406/34—Suction grippers
- B65H2406/342—Suction grippers being reciprocated in a rectilinear path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2555/00—Actuating means
- B65H2555/30—Multi-axis
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Specific Conveyance Elements (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a plate material conveying device including a compact traveling member to enable an increase in plate material conveyance speed and a reduction in time required for acceleration and deceleration and to allow small plate materials to be more efficiently conveyed, the plate material conveying device further enabling one of a gripper and a suction type plate material holder to be selected for conveyance of a plate material. Traveling members (13, 14) are provided on respective tracks (11, 12) so as to travel freely along the respective tracks (11, 12). Each of the traveling members (13, 14) has a plate material holder support frame (21, 22) supporting suction type plate material holders (23A, 23B, 23C). The plate material holder support frame (21, 22) has a frame main body (21a, 22a), and a turning frame (21b, 22b) which is turnable in a substantially horizontal direction with respect to the frame main body (21a, 22a) and which is turnable to a position where the supported plate material planarly overlaps the adjacent track. Each of the turning frames (21b, 22b) has a gripper (60) gripping an end of the plate material. An opening of the gripper is configured to face a central side of the plate material.
Description
Technical field
The present invention relates to carry out raw MAT'L sheet material is moved into the plate material conveying device of taking out of operation that finished product sheet material after the moving into operation and will utilizing plate working machine processing of plate working machine and residual materials are taken out of.
Background technology
As this plate material conveying device, there is following device: a plurality of sheet material holding elements are arranged on the running body of the track travel of stipulating, utilize these sheet material holding elements maintenance sheet materials and carry out conveyance (for example patent documentation 1,2).The sheet material holding element for example is made of adsorbent pad etc., can carry out the maintenance of sheet material and the releasing of maintenance.Usually, described sheet material holding element is according to the sheet material configuration of the maximum in the sheet material of institute's conveyance.The plate material conveying device of record is a particular example in the patent documentation 2, and the interval that this plate material conveying device constitutes the sheet material holding element according to the size of sheet material or shape change freely.
[patent documentation 1] Japanese Patent spy opens the 2000-351032 communique
[patent documentation 2] Japanese Patent spy opens the 2000-117373 communique
For conveyance sheet material stably, expectation utilizes the sheet material holding element to keep in a big way near the ora terminalis of sheet material.Therefore, need dispose a lot of sheet material holding elements on a large scale, larger by the holding element arrange body that sheet material holding element and bearer frame thereof constitute.This situation is not limited to general plate material conveying device, and also there is this situation in the plate material conveying device of record in the patent documentation 2.If the holding element arrange body is bigger, the weight of then installing self becomes big, the time that is difficult to improve the speed of running body and shortens acceleration and deceleration.
Therefore, attempt being provided with a plurality of running bodies that have the holding element arrange body respectively, utilized these a plurality of running bodies to cooperate with conveyance sheet material.If this structure owing to can make the holding element arrange body miniaturization of each running body, therefore can improve the speed of running body and the time of shortening acceleration and deceleration.And, for smaller sheet material, distinguish conveyance sheet material individually by each running body, can improve conveyance efficient significantly.
In order to realize this trial, require each running body on the different track that is parallel to each other, to walk, two adjacent running bodies can make the holding element arrange body not interlock each other with interfering, and can utilize the holding element arrange body of each running body stably to keep common bigger sheet material.And, respectively individually under the situation of conveyance sheet material, require no matter which sheet material can both utilize each running body to keep, and the control of running body is simple at each running body.Which kind of technology is problem be to adopt reach above-mentioned requirements.
And, under the situation of workpiece being downcut from raw MAT'L sheet material and remaining residual materials being taken out of, the situation that existence can't utilize the holding element of absorption type to keep, therefore, cooperate with in the plate material conveying device of conveyance sheet material at a plurality of running bodies, seek the function that to utilize clamper to control sheet material and carry out conveyance.
Summary of the invention
The objective of the invention is to solve above-mentioned problem, provide and can make the running body miniaturization, can improve sheet material conveyance speed and shorten acceleration and deceleration time, can improve the conveyance efficient of less sheet material and can distinguish sheet material holding element that uses absorption type and the plate material conveying device that clamper comes conveyance sheet material.
Other purposes of the present invention are can conveyance inner cut residual materials and the residual materials of institute's conveyance can be placed on the residual materials place to place swimmingly.
Even further purpose of the present invention is that the size of above-mentioned residual materials etc. is very big and also can stably carries out conveyance.
First, second running body that plate material conveying device of the present invention has many tracks and is provided with in walking mode freely along these each tracks.Above-mentioned each running body has the sheet material holding element bearer frame that the sheet material holding element is supported respectively, and described sheet material holding element adsorbs sheet material and keeps, and this sheet material holding element bearer frame has: chassis body; And rotating frame, it can freely approximately horizontally rotate and can turn to freely the position that the sheet material that supported and adjacent track overlap in the plane with respect to this chassis body.Described each rotating frame has the clamper of the end of controlling sheet material.The grasp opening of the clamper of first running body and second running body can be mutually towards the sheet material center side.
According to this structure, being arranged on two tracks between plate working machine and the sheet material mounting portion abreast is provided with and can distinguishes two running bodies of walking independently, for bigger sheet material, utilize the sheet material holding element cooperation conveyance of two running bodies, for less sheet material, utilize each running body sheet material holding element separately to keep separately and conveyance.By forming this structure, can make the running body miniaturization and can improve the speed of running body and the time of shortening acceleration and deceleration.And,, can improve conveyance efficient by making each running body difference conveyance sheet material individually.
And, owing to have clamper, therefore, not only can utilize the sheet material holding element of absorption type to keep sheet material, also can utilize clamper to control the transfer direction both ends of sheet material and carry out conveyance.Therefore, even being inner cut residual materials, described sheet material also can carry out conveyance.Because described clamper is arranged on the described rotating frame of two running bodies, even therefore the residual materials of large-size etc. also can be carried out conveyance.
In the present invention, described sheet material is inner cut residual materials, will pile up to the residual materials place to place and from the top as the sheet material conveyance of this residual materials by the walking of described first, second running body.
If sheet material is residual materials, then existence utilizes the situation that the sheet material holding element of absorption type can't keep, in this case, control the transfer direction both ends of sheet material, just can easily residual materials be taken out of to the residual materials place to place by utilizing clamper.And owing to utilize clamper to control the transfer direction both ends of residual materials and take out of, therefore the residual materials of taking out of can not be hooked on the residual materials that has been placed on the residual materials place to place, can swimmingly residual materials be taken out of.
In the present invention, be provided with clamper on the chassis body in the sheet material holding element bearer frame of described each running body, utilize chassis body and four clampers of the total at least on the rotating frame in the sheet material holding element bearer frame that is separately positioned on each running body to control described sheet material.
Like this, control described sheet material if utilize chassis body and the clamper of the total on the rotating frame more than four in the sheet material holding element bearer frame that is separately positioned on each running body, bigger sheet material then can utilize at least two clampers fully to guarantee to control the both ends of sheet material respectively, even therefore also can stably carry out conveyance with leaving distance.And, even the cut bigger residual materials in the inside of raw MAT'L sheet material also can be carried out conveyance.
The invention effect
Work sheet conveying device of the present invention has many tracks and is arranged on first, second running body on them along these each tracks in freely mode of walking, above-mentioned each running body has the sheet material holding element bearer frame that the sheet material holding element is supported respectively, described sheet material holding element adsorbs sheet material and keeps, and this sheet material holding element bearer frame has: chassis body; And rotating frame, it can freely approximately horizontally rotate and can turn to freely the position that the sheet material that supported and adjacent track overlap in the plane with respect to this chassis body, described each rotating frame has the clamper of the end of controlling sheet material, the grasp opening of the clamper of first running body and second running body can be mutually towards the sheet material center side, therefore, can make running body the miniaturization of holding element arrange body, can improve sheet material conveyance speed and shorten the acceleration and deceleration time, and, can improve the conveyance efficient of less sheet material.And, can distinguish and use the sheet material holding element and the clamper of absorption type to come conveyance sheet material, even being inner cut residual materials, described sheet material also can carry out conveyance.
Described sheet material is inner cut residual materials, walking by described first, second running body will be piled up to the residual materials place to place and from the top as the sheet material conveyance of this residual materials, in this case, the residual materials of taking out of can not be hooked on the residual materials that has been placed on the residual materials place to place, can swimmingly residual materials be placed on the residual materials place to place.
Be provided with clamper on the chassis body in the sheet material holding element bearer frame of described each running body, utilization be separately positioned on chassis body in the sheet material holding element bearer frame of each running body and the rotating frame, amount to four clampers at least and control described sheet material, in this case, even the size of above-mentioned residual materials etc. more also can stably be carried out conveyance.
Description of drawings
Fig. 1 is the block diagram with sheet processing system of the related plate material conveying device of embodiments of the present invention.
Fig. 2 is the running body of this plate material conveying device and the lateral plan of holding element arrange body.
Fig. 3 is the running body of this plate material conveying device rear side and the front view of holding element arrange body.
Fig. 4 (A) is the birds-eye view of a state of this holding element arrange body, and Fig. 4 (B) is the birds-eye view of the different conditions of this holding element arrange body.
Fig. 5 (A), Fig. 5 (B), Fig. 5 (C) are the instruction diagrams that different types of sheet material holding element is shown respectively.
Fig. 6 (A) illustrates the lateral plan that sheet material separates a state using sheet material holding element and periphery thereof, and Fig. 6 (B) illustrates the lateral plan that this sheet material separates the different conditions of using sheet material holding element and periphery thereof.
Fig. 7 illustrates the upward view of location with the supporting construction of sheet material holding element.
Fig. 8 (A) is the lateral plan of a configuration example of clamper, and Fig. 8 (B) is the front view of this clamper, and Fig. 8 (C), Fig. 8 (D) are the action specification figure of this clamper.
Fig. 9 (A)～Fig. 9 (C) is the birds-eye view of holding element arrange body, and the state of the sheet material that keeps different is shown respectively.
Figure 10 (A) illustrates to utilize clamper to control the birds-eye view of the state of residual materials, and Figure 10 (B) is a lateral plan.
Figure 11 illustrates to utilize four clampers to control the birds-eye view of state of an example of residual materials.
Figure 12 illustrates to utilize four clampers to control the birds-eye view of state of a plurality of examples of residual materials.
Figure 13 utilizes clamper only to control an end of residual materials and the instruction diagram of the situation of taking out of.
Label declaration is as follows:
11,12... track; 13,14... running body; 21,22... sheet material holding element bearer frame; 21a, 22a... chassis body; 21b, 22b... rotating frame; 23A, 23B, 23C... sheet material holding element; 60... clamper; W... sheet material; Ws... residual materials.
The specific embodiment
With Fig. 1～Figure 13 embodiments of the present invention are described.Fig. 1 is the overall perspective view of sheet processing system, and described sheet processing system has: plate working machine 1; Plate material conveying device 2; Supporting plate 9 and sheet material conveying trolley 3 as sheet material mounting portion; And plate material stocker 4.In addition this sheet processing system also has the sheet material of moving into raw MAT'L sheet material WO with respect to plate working machine 1 and moves into device (not shown), but omits the explanation of sheet material being moved into device.Plate working machine 1 and plate material conveying device 2 respectively the processing machine control setup by the automatic computer formula and conveyance control setup (not shown) according to each control program Be Controlled.
Plate material stocker 4 is to be layered in device on the supporting plate 9, the shelf 4a with multilayer of mounting supporting plate 9 with layered laminate by the finished product sheet material W of plate working machine 1 processing.Plate material stocker 4 can and advance and retreat supporting plate 9 in the sheet material mounting position of graphic rear side among the one-level shelf 4a arbitrarily between this sheet material mounting position storage location after move in the place ahead.
In this embodiment, plate material conveying device 2 will utilize the finished product sheet material W of plate working machine 1 processing to take out of to supporting plate 9 or sheet material conveying trolley 3, and, will take out of by the residual materials Ws (Figure 11) of residual processing to for example be arranged on the position of readiness adjoining position of described sheet material conveying trolley 3 or with the residual materials place to place of the shared position of sheet material conveying trolley 3.Plate material conveying device 2 has: be arranged on two tracks 11,12 towards left and right directions between the stop position of plate working machine 1 and sheet material conveying trolley 3 abreast; And first and second running bodies 13,14 that can walk independently along these tracks 11,12 respectively.
Article two, track 11,12 interconnects at two ends, the left and right sides and forms one, and is bearing in pair of right and left and moves forward and backward on the framework 16.Any that respectively moves forward and backward in the framework 16 all moves freely and can move forward and backward by the not shown drive source that moves forward and backward along moving forward and backward with guide rail 18.Moving forward and backward drive source for example constitutes by servomotor torque constant with the switching mechanisms such as ball-screw that the rotation of this servomotor torque constant is converted to linearly operating.
Fig. 2 is the lateral plan of running body 13,14, and Fig. 3 is the front view of running body 14.Each running body 13,14 is arranged to walk freely on track 11,12 via guide member (not shown) respectively, and by the walking automatically of walking drive sources (not shown) such as servomotor torque constant.Guide member for example is linear roller bearing or guide reel etc., is installed between the base portion 24 and track 11,12 of running body 13,14.
Each running body 13,14 has the holding element arrange body 19,20 that keeps sheet material respectively.Holding element arrange body 19,20 has: sheet material holding element bearer frame 21,22; Be bearing in a plurality of sheet material holding element 23A, 23B, 23C and clamper 60 on this sheet material holding element bearer frame 21,22.
Holding element arrange body 19 (20) with respect to base portion 24 liftings of running body 13 (14) freely.In this embodiment, the long lifting body 25 of above-below direction is entrenched on the base portion 24 in lifting mode freely, lower end at this lifting body 25 is equipped with sheet material holding element bearer frame 21 (22) via leaning device 26, and utilizes lifting drive source (not shown) to make lifting body 25 liftings.The lifting drive source can divide with running body 13 (14) and be arranged, perhaps also can be with base portion 24 self as the lifting drive source.
Described leaning device 26 is to make holding element arrange body 19,20 center on the rotary middle spindle 27 (Fig. 3) of towards front and back (Y direction) thereby rotate to make holding element arrange body 19,20 bevelled mechanisms.As shown in Figure 3, described rotary middle spindle 27 is bearing in the lower end of lifting body 25 by bearing (not shown) in freely the mode of rotating, and sheet material holding element bearer frame 22 (21) is fixed on this rotary middle spindle 27.Quadrant gear 28 is installed on rotary middle spindle 27 integratedly, on this quadrant gear 28, is engaged with circular gear 29.Circular gear 29 is arranged on the lifting body 25.By utilizing source of rotational drive (not shown) that circular gear 29 is rotated, holding element arrange body 20 (19) is rotated around rotary middle spindle 27.In Fig. 3, only show the leaning device 26 of holding element arrange body 20, the leaning device 26 of holding element arrange body 19 also is identical structure.
As shown in Figure 4, holding element arrange body 19,20 is made of fixed part 19a, 20a and movable part 19b, 20b, and movable part 19b, 20b leave between the position location change freely with respect to fixed part 19a, 20a leaving shown in the approaching approximated position shown in Fig. 4 (A) and Fig. 4 (B).Particularly, described sheet material holding element bearer frame 21,22 has: chassis body 21a, 22a; And approximately horizontally rotating freely rotating frame 21b, 22b with respect to this chassis body 21a, 22a, this chassis body 21a, 22a become fixed part 19a, the 20a of described holding element arrange body 19,20.And rotating frame 21b, the 22b of sheet material holding element bearer frame 21,22 becomes movable part 19b, the 20b of described holding element arrange body 19,20.On chassis body 21a, the 22a of these sheet material holding element bearer frames 21,22 and rotating frame 21b, 22b, be supported with sheet material holding element 23A, 23B, 23C respectively.
As the rotating frame 21b of the sheet material holding element bearer frame 21 of the movable part 19b of holding element arrange body 19 in the state inside that is in the approximated position in holding element arrange body 19 single-piece rear sides and be positioned at left part, be supported to its left part and rotate freely, make it center on described rotating fulcrum 31 rotations by the movable part rotation is stretched with cylinder 32 as rotating fulcrum 31.From the state of state after the direction of arrow A 1 is rotated 90 degree that is in approximated position (Fig. 4 (A)) is to leave position (Fig. 4 (B)).And, as the rotating frame 22b of the sheet material holding element bearer frame 22 of the movable part 20b of holding element arrange body 20 in the state inside that is in the approximated position in holding element arrange body 20 single-piece front sides and be positioned at the right side part, be supported to its right part and rotate freely, make it center on described rotating fulcrum 33 rotations by the movable part rotation is stretched with cylinder 34 as rotating fulcrum 33.From the state of state after the direction of arrow A 2 is rotated 90 degree that is in approximated position (Fig. 4 (A)) is to leave position (Fig. 4 (B)).
Sheet material holding element 23A～23C is absorption and the parts that keep sheet material, and 23A, 23B are the parts of air aspiration-type, and 23C is the parts of magnet-type.Shown in Fig. 5 (A), the parts of representing with label 23A in the air aspiration-type sheet material holding element are made of the tube bank of a plurality of adsorption tube 23b, and described a plurality of adsorption tube 23b are connected with vacuum source via the air path that is made of air hose 23a etc. separately respectively.Even having a part, this sheet material holding element 23A leaves the advantage that also can adsorb maintenance from absorption objects such as sheet materials.Shown in Fig. 5 (B), the parts of representing with label 23B in the air aspiration-type sheet material holding element possess the liner 23c that is formed by the rubber-like material, and the inside of this liner 23c is connected with vacuum source via the air path that is made of air hose 23a etc.This sheet material holding element 23B has adsorption affinity than the strong advantage of sheet material holding element 23A.These sheet material holding elements 23A, 23B are by opening and closing the maintenance of carrying out sheet material and the releasing of this maintenance to being arranged on necking part in the air path.Shown in Fig. 5 (C), the sheet material holding element 23C of magnet-type has the adsorption section 23d that is made of electromagnet, utilizes sheet materials such as this adsorption section 23d absorption iron plate.By adsorption section 23d is switched on, cuts off the power supply, carry out the maintenance of sheet material and the releasing of this maintenance.
And sheet material holding element 23A～23C also can distinguish according to the configuration position of holding element arrange body 19,20.That is, sheet material holding element 23A, 23B, the 23C in the scope of representing with label 35 in Fig. 4 (A) is the common sheet material holding element that disposes accordingly mutually in two holding element arrange bodies 19,20.Sheet material holding element 23B in the scope of representing with label 36 is the intrinsic sheet material holding element that only is arranged in each holding element arrange body 19,20.
Under as the rotating frame 21b of the sheet material holding element bearer frame 21,22 of movable part 19b, the 20b of holding element arrange body 19,20, state (Fig. 4 (A)) that 22b is positioned at the approximated position, in two holding element arrange bodies 19,20, relative position and the kind of common sheet material holding element 23A, 23B, 23C all are identical configurations.In detail, two holding element arrange bodies 19,20 all are that common sheet material holding element 23A, 23B, 23C front and back are provided with two row, each row is respectively equipped with a plurality of formations.Stretch out slightly to the left than rank rear in the prostatitis, and this sponson forms little article maintaining part 37.On this little article maintaining part 37, be provided with the sheet material holding element 23A of the air aspiration-type that the above-mentioned tube bank by a plurality of adsorption tube 23b constitutes and the sheet material holding element 23C of magnet-type.Shown in Fig. 4 (A), for movable part 19b, 20b were positioned at each holding element arrange body 19,20 under the state of approximated position, it serve as the approximate oblong of overlooking of growing the limit that the imaginary peripheral shape (not shown) of surrounding its periphery forms with directions X (direction of travel).
Be under the state (Fig. 4 (B)) that leaves the position at rotating frame 21b, 22b as the sheet material holding element bearer frame 21,22 of movable part 19b, the 20b of holding element arrange body 19,20, the part of movable part 19b, 20b is arranged in walking region R 1, the R2 of adjacent holding element arrange body 19,20.Said herein walking region R 1, R2 refer at movable part 19b, 20b and are positioned at the zone that the holding element arrange body 19,20 under the state of approximated position passes through by walking.Shown in Fig. 4 (B), under this state, it serve as the approximate oblong of overlooking of growing the limit that the imaginary peripheral shape (not shown) of periphery of surrounding the arrangement of two holding element arrange bodies 19,20 forms with directions X (direction of travel).Compare with the above-mentioned imaginary oblong of holding element arrange body 19,20 under surrounding the state that movable part 19b, 20b be positioned at the approximated position respectively individually, surrounding movable part 19b, 20b, to be positioned at this imaginary rectangular long limit and the minor face of periphery of two the holding element arrange bodies 19,20 under the state that leaves the position bigger.The imaginary peripheral shape of the periphery of the arrangement of two holding element arrange bodies 19,20 of so-called encirclement is approximate oblong, and in other words, configuration that we can say sheet material holding element 23A, 23B, 23C is to be the point symmetry at center with center of symmetry point O.Center of symmetry point O is between two holding element arrange bodies 19,20.
The intrinsic sheet material holding element 23B that is endowed label (1) among the intrinsic sheet material holding element 23B of holding element arrange body 19 is with the sheet material separation sheet material holding element of uppermost sheet material from other sheet material separation when absorption keeps uppermost sheet material from stacked sheet material.As shown in Figure 6, this sheet material separation is bearing on the support unit 41 via cramp bar 40 with sheet material holding element 23B (1).Be extruded with pin 42 from the left and right sides of support unit 41, this pin 42 is entrenched in the slotted hole 43 on the chassis body 21a that is formed at sheet material holding element bearer frame 21 in freely the mode of sliding.Slotted hole 43 is bevelled holes that the front side is in low level.Tilting member 44 is installed on the pin 42 in swing mode freely, is fixed with sheet material and separates the piston rod 45a that uses cylinder 45 on this tilting member 44.
In addition, cramp bar 40 haunts freely with respect to support unit 41, and passes through retracing spring 46 quilts towards the outstanding side application of force.When sheet material holding element 23B (1) keeps sheet material W, be subjected to from sheet material W under the situation of counter-force, the elastic reaction that cramp bar 40 overcomes retracing spring 46 submerges in the support unit 41, absorbs this counter-force thus.In other sheet material holding element, also be provided with the buffer gear that constitutes by this cramp bar 40 and retracing spring 46.
When holding element arrange body 19 adsorb from stacked sheet material when keeping uppermost sheet material separately or by the cooperation of holding element arrange body 19,20, in the following manner with of the sheet material separation of uppermost sheet material from other.At first, shown in Fig. 6 (A), utilize the leading section of the uppermost sheet material W of sheet material holding element 23B (1) absorption.Piston rod 45a with cylinder 45 under this state retracts, and pin 42 is guided by slotted hole 43, and support unit 41 tilts to move oblique upward mobile towards the rear towards the rear thus on one side.Thus, shown in Fig. 6 (B), the attitude that sheet material holding element 23B (1) floats with the front side is lifted, and the sheet material W from other draws back with the leading section of uppermost sheet material W.
The intrinsic sheet material holding element that is endowed label (2) in the intrinsic sheet material holding element of holding element arrange body 19 is the location sheet material holding element that is used to carry out the location of sheet material W on the bench board 5 that sheet material W is positioned in plate working machine 1 time.Shown in Figure 7 as the upward view of wanting portion of holding element arrange body 19, support this location with first support unit 47 of sheet material holding element 23B (2) by 48 supportings of a pair of front and back sliding bar, and absorb spring 49 by towards the place ahead application of force by front and back.And second support unit 50 that supports described front and back sliding bar 48 and front and back absorption spring 49 is supported by a pair of bar 51 that horizontally slips, and absorbs spring 52 quilts about passing through towards the left application of force.Horizontally slip bar 51 and about absorb spring 52 and be bearing on the chassis body 21a of sheet material holding element bearer frame 21.
On chassis body 21a, the 22a and rotating frame 21b, 22b of described sheet material holding element bearer frame 21,22, except described sheet material holding element 23A, 23B, 23C, also be provided with the clamper 60 of the end of controlling sheet material.Particularly, as shown in Figure 4, on the chassis body 21a in the sheet material holding element bearer frame 21 of first running body, 13 sides, be provided with a clamper 60 in its left end side, this clamper opening is set as the attitude towards the center side of sheet material.On the rotating frame 21b in same sheet material holding element bearer frame 21, under the state that leaves the position after the rotation of being positioned at shown in Fig. 4 (B), be provided with a clamper 60 in second running body, 14 sides and the position of leaving clamper 60 predetermined distances of chassis body 21a, this clamper opening is set as the attitude towards the center side of sheet material.And, on the chassis body 22a in the sheet material holding element bearer frame 22 of second running body, 14 sides, and being provided with a clamper 60 in its right-hand member side, this clamper opening is set as the attitude towards the center side of sheet material.On the rotating frame 22b in same sheet material holding element bearer frame 22, under the state that leaves the position after the rotation of being positioned at shown in 4 (B), be provided with a clamper 60 in first running body, 13 sides and the position of leaving clamper 60 predetermined distances of chassis body 22a, this clamper opening is set as the attitude towards the center side of sheet material.In this case, the clamper opening of each clamper 60 towards necessarily, but as long as at least can be towards the center side of sheet material, then towards also changing.And, utilize 4 clampers 60 of total to control the end of sheet material W herein, clamper 60 also can be more than 4, for example more than 5 or more than 6.And, also can omit the supporting to clamper 60 by described each chassis body 21a, 22a, only utilize described each rotating frame 21b, 22b to support and for example amount to 4 clampers 60.
The lateral plan and the front view of a configuration example of clamper 60 as described in illustrating as Fig. 8 (A), (B).This clamper 60 has: the subcapitulum 61 of L word shape, and it is arranged on the sheet material holding element bearer frame 21,22 by lift cylinder 64 is liftably sagging; And go up gnathosoma 62, the opposed and lifting of the 61a of horizontal plate portion of itself and subcapitulum 61 is freely.On the vertical sheet 61b of portion of subcapitulum 61, be provided with the framework 65 of gnathosoma lift cylinder 63 in the supporting, last gnathosoma 62 by last gnathosoma lift cylinder 63 by with the 61a of horizontal plate portion of subcapitulum 61 opposed to each other the mode of lifting drive.Thus, shown in Fig. 8 (C), (D), the 61a of horizontal plate portion of gnathosoma 62 and subcapitulum 61 controls the end of sheet material Ws in the utilization.And, be provided with in the projected direction advance and retreat of the 61a of this horizontal plate portion at the sidepiece of the vertical sheet 61b of portion of subcapitulum 61 and regulate freely stop part 66, the inlet of utilizing this stop part 66 restriction sheet material Ws to enter the opening of clamper 60.In addition, under the situation of the maintenance that utilizes above-mentioned sheet material holding element 23A, 23B, 23C to carry out sheet material, utilize described lift cylinder 64 that clamper 60 is risen and keep out of the way to the height and position that does not hinder this maintenance operation.As the sheet material of controlling object of clamper 60 is to downcut the remaining the sort of residual materials Ws of Figure 11 (Figure 11) behind the finished product W from raw MAT'L sheet material WO.Because residual materials Ws has the hole after the finished product W cutting-out, can't keep by the absorption of sheet material holding element 23A, 23B, 23C under therefore a lot of situations, even but if 60 residual materials Ws of clamper also can control reliably.In addition, also can utilize clamper 60 to control finished product W and raw MAT'L sheet material WO.
The location of sheet material be utilize be arranged on the bench board 5, carry out as the workpiece retainer (not shown) of the location benchmark of the fore-and-aft direction of sheet material and as the end steady arm (not shown) that is decided to be benchmark of left and right directions.After moving into sheet material on the bench board 5, remove all sheet material holding element 23A, the absorption of 23B, 23C, temporarily sheet material is positioned on the bench board 5.And then, only utilize the location to keep sheet material, and make pair of right and left move forward and backward framework 16 to move towards the place ahead with sheet material holding element 23B (2), after sheet material and above-mentioned workpiece retainer butt, make to move forward and backward the mobile of framework 16 and stop.Moving forward and backward under the framework 16 excessive mobile situations, absorbing spring 49 before and after utilizing and absorb.Thus, the location of the front and back of sheet material (directions X) finishes.Then, make running body 13 towards left to moving, after sheet material and above-mentioned end steady arm butt, the mobile of running body 13 stopped.In running body 13 excessive mobile situations, absorb spring 52 about utilization and absorb.Thus, sheet material about the location of (Y direction) finish.The location of (directions X) before and after also can be about carrying out carrying out after the location of (Y direction), the location of (Y direction) and front and back (directions X) about perhaps carrying out simultaneously.
The intrinsic sheet material holding element 23B (3) of holding element arrange body 20 is the sheet material holding elements that use when the larger-size sheet material of conveyance.Intrinsic sheet material holding element 23B (1), the 23B (2) of holding element arrange body 19 also are used for the larger-size sheet material of conveyance.
Plate material conveying device 2 according to this structure, moving forward and backward framework 16 moves forward and backward along moving forward and backward with guide rail 18, running body 13,14 is along track 11,12 walkings, 19,20 liftings of holding element arrange body, thus, holding element arrange body 19, the 20 finished product sheet material W conveyance that will keep on plate working machine 1 is to supporting plate 9 or sheet material conveying trolley 3 as sheet material mounting portion.Maintenance by 19,20 couples of finished product sheet material W of holding element arrange body is carried out in the mode of Fig. 9 (A), (B), (C).
That is,, shown in Fig. 9 (A), utilize sheet material holding element 23A, the 23C of the little article maintaining part 37 of holding element arrange body 19 (20) to keep finished product sheet material W for less finished product sheet material W1.Its reason is if use sheet material holding element 23A, the 23C of the little article maintaining part 37 that is positioned at the left part, prostatitis, is convenient to prevent holding element arrange body 20 and plate working machine 1 interference.For the finished product sheet material W2 of moderate size, shown in Fig. 9 (B), utilize part or all sheet material holding element 23A, 23B, 23C of the holding element arrange body 19 (20) make movable part 19b (20b) be positioned at the approximated position to keep finished product sheet material W2.In Fig. 9 (A), (B), only show the situation of utilizing holding element arrange body 19 to keep finished product sheet material W1, W2, but utilize holding element arrange body 19 to keep the situation of finished product sheet material W1, W2 also identical.
And, for bigger finished product sheet material W3, shown in Fig. 9 (C), make two running bodies 13,14 on track 11,12, stop (only illustrating the base portion 24 of running body 13,14) side by side, the location change of movable part 19b, 20b that makes each holding element arrange body 19,20 utilizes two holding element arrange bodies 19,20 to keep finished product sheet material W3 to leaving the position.Keep common sheet material W3 by the holding element arrange body 19,20 that utilizes two running bodies 13,14 like this, even bigger sheet material W3 also can utilize sheet material holding element 23A, 23B, 23C to keep near the ora terminalis of sheet material, stably conveyance sheet material W3.Be positioned under the state that leaves the position at movable part 19B, 20B, each sheet material holding element 23A of two holding element arrange bodies 19,20, the arrangement of 23B, 23C are approximate oblong, therefore are fit to the rectangular finished product sheet material of conveyance W3.Relative position by making running body 13,14 direction of travel stagger can be with finished product sheet material W3 big or small corresponding.
Like this, by optionally carrying out following two actions: each running body 13,14 utilizes holding element arrange body 19,20 to keep less sheet material W1, W2 and carries out the independent conveyance action of conveyance individually; And two running bodies 13,14 utilize holding element arrange body 19,20 to keep common bigger sheet material W3 and carry out the cooperation conveyance action of conveyance, thus the various sheet materials that vary in size of conveyance efficiently.
This plate material conveying device 2 is the structures of coming the bigger sheet material W3 of conveyance by 13,14 cooperations of two running bodies, can make holding element arrange body 19,20 miniaturizations of each running body 13,14 thus.Therefore, can improve the speed of running body 13,14 and the time of shortening acceleration and deceleration.And, the distance between the track 11,12 is narrowed down, can make Work sheet conveying device 2 integral miniaturization.Under the movable part 19b of holding element arrange body 19,20, state that 20b is positioned at the approximated position, two running bodies 13,14 can make holding element arrange body 19,20 not interlock each other with interfering.Therefore, each running body 13,14 can be individually or two less sheet material W1, W2 of running body 13,14 conveyances simultaneously, can improve the conveyance efficient of less sheet material W1, W2.
In addition, it is all identical that movable part 19b, 20b are positioned at the relative position and the kind of arrangement of common sheet material holding element 23A, 23B, 23C of two the holding element arrange bodies 19,20 under the state of approximated position, therefore, for the sheet material of same size and shape, each holding element arrange body 19,20 can keep with identical condition.Therefore, carry out at each running body 13,14 under the situation of independent conveyance action, whichever sheet material can keep conveyance efficient height by the holding element arrange body 19,20 of each running body 13,14.And, if the arrangement of sheet material holding element 23A, 23B, 23C is identical, then can make relevant with the action of each sheet material holding element 23A, 23B, 23C to be controlled in each holding element arrange body 19,20 generally, holding element arrange body 19,20 and the control of plate material conveying device 2 single-pieces are comparatively simple.
Because movable part 19b, 20b by making holding element arrange body 19,20 be that the center is rotated and carried out location change with rotating fulcrum 31,33, therefore can make movable part 19b, 20b in the approximated position with leave switching easily between the position.And, because movable part 19b, the 20b of holding element arrange body 19,20 are arranged on mutual direction of travel opposition side, therefore wide in the configuration scope that movable part 19b, 20b is positioned at leave sheet material holding element 23A, 23B, 23C under the state of position, can utilize two holding element arrange bodies 19,20 to keep bigger sheet material.
In this embodiment, at the movable part 19b of holding element arrange body 19,20, the state that 20b is arranged in the approximated position, the common sheet material holding element 23A of two holding element arrange bodies 19,20, the configuration of 23B, 23C forms relative position and kind is all identical, but also can be approximate identical, can have difference slightly.For example, the sum of sheet material holding element 23A, 23B, 23C can be different slightly.If difference for the quantity of sheet material holding element in proportion, getting final product below 2/10ths of all numbers, is more preferably below 1/10th.If by number, the quantity of sheet material holding element can have the difference of 1～2 degree.And the kind of sheet material holding element 23A, 23B, 23C also can be different slightly with configuration.In this case, if the quantity for the kind sheet material holding element different with configuration in proportion, getting final product below 2/10ths of all numbers, is more preferably below 1/10th, if by number, 1～2 difference can be arranged.
And in this embodiment, constitute and utilize two running bodies 13,14 to come the bigger sheet material W3 of conveyance, but also can utilize the running body more than three to carry out conveyance.In this case, the quantity of track can be more than three, and the running body more than two is walked on a track.
In addition, in this embodiment, plate material conveying device 2 is used for finished product sheet material W is taken out of from plate working machine 1, but also can be used for raw MAT'L sheet material WO is moved into plate working machine 1.
For remaining residual materials Ws after raw MAT'L sheet material WO cutting-out finished product sheet material W, can utilize above-mentioned sheet material holding element 23A, 23B, 23C to take out of, but have the situation of utilizing sheet material holding element 23A, 23B, 23C to adsorb to the residual materials place to place.In this case, as shown in figure 10, can control the transfer direction both ends of residual materials Ws and take out of by clamper 60.Promptly, in this case, with utilize the sheet material holding element 23A shown in Fig. 9 (C), 23B, 23C is identical to the situation that finished product sheet material W3 carries out conveyance, make two running bodies 13,14 at track 11, stop side by side on 12, and make each holding element arrange body 19,20 movable part 19b, 20b (rotating frame 21b, location change 22b) is to leaving the position, utilize four clampers 60 to control the transfer direction both ends of residual materials Ws thus, by two holding element arrange bodies 19,20 cooperation operation just can be taken out of residual materials Ws to the supporting plate 70 of residual materials place to place.
Control common residual materials Ws if utilize four clampers 60 of total of two running bodies 13,14 like this, then can utilize at least two clampers 60 fully to guarantee to leave distance ground respectively the transfer direction both ends of residual materials Ws are controlled, therefore can stably bigger residual materials Ws be taken out of.Be positioned under the state that leaves the position at movable part 19b, 20b (rotating frame 21b, 22b), four clampers 60 roughly are positioned at four bights of bigger residual materials Ws, therefore are fit to take out of oblong and bigger residual materials Ws.In addition, under the less situation of the width dimensions of residual materials Ws, can utilize clamper 60 these two clampers of the rotating frame 22b in the sheet material holding element framework 22 of the clamper 60 of the chassis body 21a in the sheet material holding element framework 21 of first running body, 13 sides for example and second running body, 14 sides to control the transfer direction both ends of residual materials Ws and it is taken out of to the residual materials place to place.
Under the situation with the residual materials Ws after the cutting-out of inside, if utilizing clamper 60 as shown in figure 13 only controls the end of residual materials Ws and takes out of, especially as shown in figure 12 on the lattice bar Wsa of residual materials Ws, have under the situation of the Wsa1 of portion, with its conveyance to the residual materials place to place and from above under the situation of piling up, residual materials Ws can be hooked on the residual materials Ws that has taken out of.In this embodiment, owing to can utilize four clampers 60 to control the transfer direction both ends of residual materials Ws and take out of, therefore can not take place above-mentioned collude extension and can take out of swimmingly.
In addition, the walking by first, second running body 13,14 is that control program according to setting conveyance control setup (not shown) carries out with residual materials Ws conveyance to the residual materials place to place and from the action that pile up the top in the manner described above.
Claims (3)
1, a kind of plate material conveying device is characterized in that,
First, second running body that described plate material conveying device has many tracks and is provided with in walking mode freely along these each tracks,
Above-mentioned each running body has the sheet material holding element bearer frame that the sheet material holding element is supported respectively, and described sheet material holding element adsorbs sheet material and keeps, and this sheet material holding element bearer frame has: chassis body; And rotating frame, it can freely approximately horizontally rotate and can turn to freely the position that the sheet material that supported and adjacent track overlap in the plane with respect to this chassis body, described each rotating frame has the clamper of the end of controlling sheet material, and the grasp opening of the clamper of first running body and second running body can be mutually towards the sheet material center side.
2, plate material conveying device according to claim 1 is characterized in that,
Described sheet material is inner cut residual materials, will pile up to the residual materials place to place and from the top as the sheet material conveyance of this residual materials by the walking of described first, second running body.
3, plate material conveying device according to claim 1 is characterized in that,
Be provided with clamper on the chassis body in the sheet material holding element bearer frame of described each running body, utilize on chassis body in the sheet material holding element bearer frame be separately positioned on each running body and the rotating frame, amount to four clampers at least and control described sheet material.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008109007 | 2008-04-18 | ||
| JP2008109007A JP5067250B2 (en) | 2008-04-18 | 2008-04-18 | Plate material transfer device |
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| Publication Number | Publication Date |
|---|---|
| CN101559880A true CN101559880A (en) | 2009-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNA2009101318754A Pending CN101559880A (en) | 2008-04-18 | 2009-04-08 | Plate material conveying device |
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| Country | Link |
|---|---|
| US (1) | US20090263218A1 (en) |
| JP (1) | JP5067250B2 (en) |
| CN (1) | CN101559880A (en) |
| DE (1) | DE102009017762B4 (en) |
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| CN103128186A (en) * | 2011-12-01 | 2013-06-05 | 现代自动车株式会社 | Panel hanger apparatus for roller hemming |
| US9457855B2 (en) | 2011-12-01 | 2016-10-04 | Hyundai Motor Company | Panel hanger apparatus for roller hemming |
| CN102528533A (en) * | 2012-01-17 | 2012-07-04 | 柳州高华机械有限公司 | Electromagnetic feeding device |
| CN102672072A (en) * | 2012-05-18 | 2012-09-19 | 吕彬 | Plate processing feeding system |
| CN102849461A (en) * | 2012-08-16 | 2013-01-02 | 深圳职业技术学院 | Electromagnetic adsorption device and object moving system |
| CN102849461B (en) * | 2012-08-16 | 2015-11-11 | 深圳职业技术学院 | Electromagnetic absorption device and object shift system |
| CN103223447A (en) * | 2013-04-13 | 2013-07-31 | 南京星乔威泰克汽车零部件有限公司 | Thermal forming part storage rack |
| CN104176493A (en) * | 2013-05-27 | 2014-12-03 | 珠海格力电器股份有限公司 | Board moving device and PCB (printed circuit board) production line comprising same |
| CN103287864A (en) * | 2013-05-28 | 2013-09-11 | 沈阳市佑铭自动化科技有限公司 | Plate transporter |
| CN103287864B (en) * | 2013-05-28 | 2015-09-30 | 沈阳市佑铭自动化科技有限公司 | Plate transporter |
| CN103753523A (en) * | 2013-12-20 | 2014-04-30 | 江苏大学 | Thermoformed loading and unloading mechanical arm |
| CN104117600A (en) * | 2014-07-18 | 2014-10-29 | 杭州集普科技有限公司 | Automatic fault-tolerant and beat fixing feeding system of stacked aluminum sheets and feeding method thereof |
| CN104117600B (en) * | 2014-07-18 | 2016-08-31 | 杭州集普科技有限公司 | Heaped-up aluminium flake automatic fault tolerant and determine beat feeding system and charging method thereof |
| CN107207166A (en) * | 2015-01-19 | 2017-09-26 | 克朗斯股份公司 | Method and apparatus for being manipulated to intermediate layer |
| CN107207166B (en) * | 2015-01-19 | 2019-07-05 | 克朗斯股份公司 | Method and apparatus for being manipulated to middle layer |
| CN104576030A (en) * | 2015-02-03 | 2015-04-29 | 太仓益鑫机床有限公司 | Magnetic core layering machine |
| CN104692136A (en) * | 2015-02-03 | 2015-06-10 | 太仓益鑫机床有限公司 | Magnetic core layering method |
| CN104576030B (en) * | 2015-02-03 | 2016-12-28 | 太仓益鑫机床有限公司 | A kind of magnetic core laminating machine |
| CN108367450A (en) * | 2015-12-18 | 2018-08-03 | 村田机械株式会社 | Work conveyance system and work carrying method |
| CN105692095A (en) * | 2016-03-11 | 2016-06-22 | 鹤山市吉鼎机械有限公司 | Double-station board transmission mechanism |
| CN106064728A (en) * | 2016-07-26 | 2016-11-02 | 巨石集团成都有限公司 | A kind of for yarn group automatic transferring equipment |
| CN106064728B (en) * | 2016-07-26 | 2018-04-17 | 巨石集团成都有限公司 | One kind is used for yarn group automatic transferring equipment |
| CN106115259A (en) * | 2016-08-16 | 2016-11-16 | 振石集团华美新材料有限公司 | PP cloth surface trimming takes piece putting equipment |
| CN106044205A (en) * | 2016-08-24 | 2016-10-26 | 王婷 | Medical appliance carrying apparatus |
| CN106044205B (en) * | 2016-08-24 | 2018-04-20 | 青岛市中心医院 | A kind of medical supplies handling device |
| CN107867431A (en) * | 2016-09-23 | 2018-04-03 | 广东科达洁能股份有限公司 | A kind of ceramic tile quickly goes up brick device |
| WO2018098835A1 (en) * | 2016-12-02 | 2018-06-07 | 盐城市盐龙包装印刷厂 | Finished product slitting and collecting device of printer |
| CN107962618A (en) * | 2017-07-10 | 2018-04-27 | 常州信息职业技术学院 | Plate adsorbs feed device |
| CN108328235A (en) * | 2018-02-28 | 2018-07-27 | 浙江粤强家具科技有限公司 | A kind of driving device on furniture delivery track |
| CN111515983A (en) * | 2020-03-25 | 2020-08-11 | 江阴兴澄特种钢铁有限公司 | Grabbing manipulator |
| CN112692809A (en) * | 2020-12-25 | 2021-04-23 | 沈纪云 | Intelligent transportation robot based on Internet of things |
| CN115741763A (en) * | 2023-01-09 | 2023-03-07 | 南通臣昊机电设备有限公司 | Clamping head structure for industrial robot |
| CN115741763B (en) * | 2023-01-09 | 2023-07-14 | 珠海市晨兴机械科技有限公司 | Clamping head structure for industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102009017762A1 (en) | 2009-11-05 |
| DE102009017762B4 (en) | 2012-05-24 |
| US20090263218A1 (en) | 2009-10-22 |
| JP5067250B2 (en) | 2012-11-07 |
| JP2009255143A (en) | 2009-11-05 |
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Application publication date: 20091021 |