CN102556654A - Automatic feeding device for rotary parts - Google Patents
Automatic feeding device for rotary parts Download PDFInfo
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- CN102556654A CN102556654A CN2011100004526A CN201110000452A CN102556654A CN 102556654 A CN102556654 A CN 102556654A CN 2011100004526 A CN2011100004526 A CN 2011100004526A CN 201110000452 A CN201110000452 A CN 201110000452A CN 102556654 A CN102556654 A CN 102556654A
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Abstract
The invention discloses an automatic feeding device for rotary parts, which comprises a bin sequencing mechanism, a pneumatic pushing device, a PLC (programmable logic controller) control system and a man-machine interaction module, wherein the bin sequencing mechanism is used for sequencing the rotary parts into a row and conveying the rotary parts in one row into a Y-shaped feeding wait area; the pneumatic pushing device is used for pushing and carrying the parts in the Y-shaped feeding wait area to a feeding completion area one by one through air cylinders and an air chuck; the PLC control system is used for ensuring orderly feeding of the parts by controlling coordinated movement of a feeding alternating-current motor, the pushing air cylinders and the feeding air chuck, and the man-machine interaction module is used for a user to input control commands and set parameters and used for displaying the parameters such as feeding quantity and the like. By means of reciprocation rubbing feeding, blockage of the parts in feeding is avoided, the parts are quickly and accurately pushed and carried by the aid of pneumatic technology, and feeding efficiency is greatly improved.
Description
Technical field
The present invention relates to the feeding device of slewing parts, particularly the automatic charging device of slewing parts in measurement and the field tests.
Background technology
Along with the legalization of safety in production and the standardization of product design; In commercial production; Adopt artificial material loading to have shortcomings such as labour power is nervous, labour intensity is big, the easy generation of job order mediation maloperation; And automatic charging device has obtained popularizing and application more and more widely aborning owing to advantages such as safety of operation with reduction labor strength, assurance workman and raising production efficient.
Automatic charging for middle-size and small-size part; Material-uploading style mainly comprises electromagnetic type and piezoelectric type vibrating bunker material loading; Directionality is good though vibrating bunker has, feeding steadily and advantage such as highly versatile; And in the material loading process, can not damage the finished surface of workpiece, but the feeding object of vibrating bunker is generally the middle-size and small-size part of lighter weight.For the bigger slewing parts of quality; Existing feeding device often adopts belt or conveyer chain that part is carried; Through baffle plate or track part is carried out auto arrangement again, but part when the baffle plate because friction each other, blockage phenomenon easily.
Summary of the invention
The objective of the invention is to for the bigger slewing parts of quality provides a kind of reciprocal rolling type automatic charging device, this device has not only been avoided the incident latch up phenomenon of slewing parts material loading, and commonality is good, is applicable to the slewing parts of plurality of specifications.
For achieving the above object, the present invention adopts following technical scheme: a kind of automatic charging device towards slewing parts comprises feed bin ordering mechanism, pneumatic pusher, PLC control system and human-computer interaction module.Described feed bin ordering mechanism forms a line slewing parts and is transported in the Y shape material loading Accreditation Waiting Area according to precedence; Described pneumatic pusher pushes and is transported to the feeding end zone through cylinder and feeding gas pawl with the slewing parts in the Y shape material loading Accreditation Waiting Area one by one; Described PLC control system is judged slewing parts and is pushed the residing position of cylinder according to position transduser, and guarantees the material loading that slewing parts is orderly through the coordinated movement of various economic factors of control material loading alternating current dynamo, propelling movement cylinder and feeding gas pawl; Described human-computer interaction module is used for user's input control order, setup parameter, and shows parameters such as material loading quantity simultaneously.
Described feed bin ordering mechanism comprises material loading guipure, Y shape feeding device, the cylinder that reciprocatingly slides, driven V belt wheel, V band, initiatively V belt wheel, material loading alternating current dynamo, frequency converter and chain-driving power drum; The motor shaft of wherein said active V belt wheel and material loading alternating current dynamo is connected; Described driven V belt wheel is connected with active V belt wheel through the V band; One side of described chain-driving power drum main shaft is connected with driven V belt wheel; Described material loading guipure is connected with the chain-driving power drum through the sprocket wheel on the chain-driving power drum; Described Y shape feeding device is installed on the baffle plate of material loading guipure both sides, and the described cylinder that reciprocatingly slides is installed on the hypotenuse of Y shape feeding device, and is distributed in the both sides of Y shape material loading Accreditation Waiting Area inlet symmetrically; Described pneumatic pusher comprise source of the gas, filter, reducing valve, solenoid directional control valve, Y direction push cylinder, Y direction magnetic switch, directions X near switch, directions X magnetic switch, directions X push cylinder, Y direction near switch, Y direction move hold-down arm, feeding gas pawl near switch, feeding cylinder, feeding magnetic switch, feeding gas pawl and feeding Accreditation Waiting Area near switch; Described Y direction pushes the end that cylinder is installed in Y shape feeding device; Its piston can be pushed to the piston place that directions X pushes cylinder through feed channel by the slewing parts that Y shape feeding device is terminal; Described directions X pushes cylinder and is installed in the end that the Y direction pushes the cylinder stroke; Its piston can be pushed to slewing parts the crawl position of feeding gas pawl through feed channel; Described feeding gas pawl is positioned at the end that directions X pushes the cylinder stroke; It is installed on the guide rail that the Y direction moves hold-down arm; Described feeding cylinder is installed in the Y direction and moves on the hold-down arm, and its piston is through connecting and can the slewing parts that grasp in the feeding gas pawl be pushed in the feeding end zone with feeding gas pawl; Described PLC control system comprises digital quantity input module, central process unit and digital quantity output module, wherein saidly is connected with digital quantity input module near switch, magnetic switch and button; Described digital quantity input module is connected with central process unit; Described central process unit is connected with the digital quantity output module with telltale in the human-computer interaction module; Described digital quantity output module is connected with Warning light with frequency converter in the human-computer interaction module.
As to the improving and replenishing of technique scheme, the present invention also comprises following additional technical characterictic:
The hypotenuse alignment of the outside of the described cylinder that reciprocatingly slides and Y shape feeding device, and direction of slip is parallel with the hypotenuse of Y shape feeding device.
The described end that is used for detecting Y shape feeding device whether have the approaching directions X of slewing parts near switch, described be used to detect piston end that directions X pushes cylinder whether have the approaching Y direction of slewing parts near switch, describedly be used to detect the feeding Accreditation Waiting Area and whether have the approaching feeding Accreditation Waiting Area of part to be installed in the side plate of feed channel near switch, describedly be used for detecting feeding gas pawl and whether have the approaching feeding gas pawl of part to be installed in the gas pawl of feeding gas pawl near switch.
Described be used to judge push cylinder piston whether near magnetic switch be installed in the two ends of cylinder barrel.
Described human-computer interaction module comprises button, Warning light and human-computer interaction interface telltale.
Job procedure flow process of the present invention mainly may further comprise the steps:
1, program initialization
After system power supply was opened, PLC carried out initialization to state variable in each register and zone bit.
2, material loading alternating current dynamo startup, the cylinder that reciprocatingly slides start
After the initialize routine; Whether PLC detects through digital quantity input module has button to press; When detecting start button and press; The digital quantity output module is controlled the rotating speed of material loading alternating current dynamo to the PWM waveform of frequency converter transmission certain frequency; The material loading alternating current dynamo drives the chain-driving power drum and rotates through active V belt wheel, V band, driven V belt wheel again, and the chain-driving power drum drives the material loading guipure through the sprocket wheel on it and rotates, when part arrives Y shape feeding device through the material loading mesh-belt conveying; Reciprocatingly slide cylinder through the part that gets in the Y shape material loading Accreditation Waiting Area is carried out reciprocal rubbing, part is formed a line according to precedence one by one get in the Y shape material loading Accreditation Waiting Area.
3, the Y direction pushes cylinder and pushes part
Directions X has or not part near having judged whether that part pushes near switch through detection, when digital quantity input module receives the material loading signal, and directions X near switch detect have part near the time; The Y direction pushes cylinder and pushes part immediately; And judge whether part is pushed to the residing position of piston that directions X pushes cylinder through Y direction magnetic switch, push finish after, the Y direction pushes cylinder and begins to return; And judge whether to turn back to initial position through Y direction magnetic switch; If can not turn back to initial position, then equipment shuts down immediately, and carries out sound and light alarm through alarm lamp.
4, directions X pushes cylinder and pushes part
The Y direction pushes after cylinder turns back to initial position, and whether the Y direction detects near switch has part approaching, when detect part near the time; Directions X pushes cylinder and pushes part immediately; And judge whether part is pushed to the crawl position of feeding gas pawl through the directions X magnetic switch, push finish after, directions X pushes cylinder to begin to return; And judge whether to turn back to initial position through the directions X magnetic switch; If can not turn back to initial position, then equipment shuts down immediately, and carries out sound and light alarm through alarm lamp.
5, feeding gas pawl is firmly grasped part
The feeding Accreditation Waiting Area has or not part near having judged whether that part gets into the feeding Accreditation Waiting Area near switch through detection, when feeding gas pawl near switch also detect part near the time, feeding gas pawl is firmly grasped part.
6, feeding cylinder pushes the gas pawl and moves to the feeding end zone
Feeding gas pawl with part promptly after, feeding cylinder moves through the Y direction that guide rail on the hold-down arm pushes feeding gas pawl and part moves on the Y direction, and judges whether part is transported to the feeding end zone through the feeding magnetic switch.
7, feeding cylinder pushes the gas pawl and is back to the feeding Accreditation Waiting Area
Feeding gas pawl detects part near switch and whether shifts out the feeding end zone; After part shifts out the feeding end zone; Feeding cylinder moves guide rail on the hold-down arm through the Y direction again and pushes feeding gas pawl and be back to the feeding Accreditation Waiting Area, and program turns back to circular flow in the step 2 more afterwards.
Compared with prior art; The present invention adopts reciprocal rolling type material loading; Part is formed a line according to precedence one by one get in the Y shape material loading Accreditation Waiting Area, blockage phenomenon when having avoided the part material loading, and reciprocal rolling type material-uploading style can be applicable to the slewing parts of plurality of specifications; Adopt pneumatics that part is pushed, can realize slewing parts material loading fast and accurately, can enhance productivity greatly.
Description of drawings
Fig. 1 is the front view of product of the present invention;
Fig. 2 is the birds-eye view of product of the present invention;
Fig. 3 is a product principle of work scheme drawing of the present invention;
Fig. 4 is a product job procedure diagram of circuit of the present invention;
Among the figure: 1, material loading guipure; 2, button switch; 3, slewing parts; 4, Y shape feeding device; 5, the cylinder that reciprocatingly slides; 6, the Y direction pushes cylinder; 7, Y direction magnetic switch; 8, driven V belt wheel; 9, V band; 10, active V belt wheel; 11, material loading alternating current dynamo; 12, feed channel; 13, directions X is near switch; 14, chain-driving power drum; 15, directions X magnetic switch; 16, directions X pushes cylinder; 17, the Y direction is near switch; 18, the Y direction moves hold-down arm; 19, feeding gas pawl is near switch; 20, feeding cylinder; 21, feeding magnetic switch; 22, feeding gas pawl; 23, feeding end zone; 24, feeding Accreditation Waiting Area; 25, the feeding Accreditation Waiting Area is near switch; 26, Y shape material loading Accreditation Waiting Area; 27, reference for installation base plate.
The specific embodiment
The product structure scheme drawing of a kind of automatic charging device towards slewing parts of the present invention is as depicted in figs. 1 and 2, comprises feed bin ordering mechanism, pneumatic pusher, PLC control system and human-computer interaction module.Described feed bin ordering mechanism forms a line slewing parts (3) and is transported in the Y shape material loading Accreditation Waiting Area (26) according to precedence; Described pneumatic pusher pushes and is transported to feeding end zone (23) through cylinder (6,16,20) and feeding gas pawl (22) with the slewing parts (3) in the Y shape material loading Accreditation Waiting Area (26) one by one; Described PLC control system is judged slewing parts (3) and is pushed the residing position of cylinder (6,16,20) according to position transduser (7,13,15,17,19,21,25), and guarantees the orderly material loading of slewing parts (3) through the coordinated movement of various economic factors of control material loading alternating current dynamo (11), propelling movement cylinder (6,16,20) and feeding gas pawl (22); Described human-computer interaction module is used for user's input control order, setup parameter, and shows parameters such as material loading quantity simultaneously.
Described feed bin ordering mechanism comprises material loading guipure (1), Y shape feeding device (4), the cylinder that reciprocatingly slides (5), driven V belt wheel (8), V band (9), initiatively V belt wheel (10), material loading alternating current dynamo (11), frequency converter and chain-driving power drum (14); Wherein said active V belt wheel (10) is connected with the motor shaft of material loading alternating current dynamo (11); Described driven V belt wheel (8) is connected with active V belt wheel (10) through V band (9); One side of described chain-driving power drum (14) main shaft is connected with driven V belt wheel (8); Described material loading guipure (1) is connected with chain-driving power drum (14) through the sprocket wheel on the chain-driving power drum (14); Described Y shape feeding device (4) is installed on the baffle plate of material loading guipure (1) both sides; The described cylinder that reciprocatingly slides (5) is installed on the hypotenuse of Y shape feeding device (4), and is distributed in the both sides of Y shape material loading Accreditation Waiting Area (26) inlet symmetrically; Described pneumatic pusher comprise source of the gas, filter, reducing valve, solenoid directional control valve, Y direction push cylinder (6), Y direction magnetic switch (7), directions X near switch (13), directions X magnetic switch (15), directions X push cylinder (16), Y direction near switch (17), Y direction move hold-down arm (18), feeding gas pawl near switch (19), feeding cylinder (20), feeding magnetic switch (21), feeding gas pawl (22) and feeding Accreditation Waiting Area near switch (25); Described Y direction pushes the end that cylinder (6) is installed in Y shape feeding device (4); Its piston can be pushed to the piston place that directions X pushes cylinder (16) through feed channel (12) by the slewing parts (3) that Y shape feeding device (4) is terminal; Described directions X pushes cylinder (16) and is installed in the end that the Y direction pushes cylinder (6) stroke; Its piston can be pushed to slewing parts (3) crawl position of feeding gas pawl (22) through feed channel (12); Described feeding gas pawl (22) is positioned at the end that directions X pushes cylinder (16) stroke; It is installed on the guide rail that the Y direction moves hold-down arm (18); The Y direction that is installed in described feeding cylinder (20) moves on the hold-down arm (18), and its piston is through connecting and can the slewing parts (3) that grasp in the feeding gas pawl (22) be pushed in the feeding end zone (23) with feeding gas pawl (22); Described PLC control system comprises digital quantity input module, central process unit and digital quantity output module, wherein saidly is connected with digital quantity input module with button (2) near switch (13,17,19,25), magnetic switch (7,15,21); Described digital quantity input module is connected with central process unit; Described central process unit is connected with the digital quantity output module with telltale in the human-computer interaction module; Described digital quantity output module is connected with Warning light with frequency converter in the human-computer interaction module.
As to the improving and replenishing of technique scheme, the present invention also comprises following additional technical characterictic:
The hypotenuse alignment of the outside of the described cylinder that reciprocatingly slides (5) and Y shape feeding device (4), and direction of slip is parallel with the hypotenuse of Y shape feeding device (4).
The described end that is used for detecting Y shape feeding device (4) whether have the approaching directions X of slewing parts (3) near switch (13), described be used to detect piston end that directions X pushes cylinder (16) whether have the approaching Y direction of slewing parts (3) near switch (17), describedly be used to detect feeding Accreditation Waiting Area (24) and whether have the approaching feeding Accreditation Waiting Area of part to be installed in the side plate of feed channel (12) near switch (25), describedly be used for detecting feeding gas pawl (22) and whether have the approaching feeding gas pawl of part to be installed in the gas pawl of feeding gas pawl (22) near switch (19).
The described piston that is used for judge pushing cylinder (6,16,20) whether near magnetic switch (7,15,21) be installed in the two ends of cylinder (6,16,20) cylinder barrel.
Described human-computer interaction module comprises button, Warning light and human-computer interaction interface telltale.
The principle of work scheme drawing of a kind of automatic charging device towards slewing parts of the present invention is as shown in Figure 3, and system comprises position transduser (7,13,15,17,19,21,25), PLC control system, power system and human-computer interaction module.Described position transduser comprises near switch (13,17,19,25) and cylinder magnetic switch (7,15,21); Wherein be used to judge whether that near switch (13,17,19,25) part is approaching, cylinder magnetic switch (7,15,21) be used to judge piston whether near; Described power system comprises electric system and pneumatic system, and electric system comprises frequency converter and material loading alternating current dynamo (11), and pneumatic system comprises source of the gas, filter, reducing valve, solenoid directional control valve, cylinder (6,16,20) and feeding gas pawl (22).Described human-computer interaction module comprises human-computer interaction interface telltale, button and Warning light.The PLC control system is carried out the judgement of slewing parts (3) present position through the signal of detection position sensor (7,13,15,17,19,21,25) circularly, and guarantees the completion material loading that slewing parts (3) is orderly through the coordinated movement of various economic factors of control material loading alternating current dynamo (11), cylinder (6,16,20) and feeding gas pawl (22); Human-computer interaction module is used for the user and imports startup, stops and anxious instruction such as stop through button (2); Come input control order and revise parameter through the human-computer interaction interface telltale; And showing parameters such as material loading quantity simultaneously, Warning light reflects the equipment current working state through the form of sound and light alarm.
Job procedure diagram of circuit of the present invention is as shown in Figure 4, mainly may further comprise the steps:
1, program initialization
After system power supply was opened, PLC carried out initialization to state variable in each register and zone bit.
2, material loading alternating current dynamo startup, the cylinder that reciprocatingly slides start
After the initialize routine; Whether PLC detects through digital quantity input module has button to press; When detecting start button and press; The digital quantity output module is controlled the rotating speed of material loading alternating current dynamo (11) to the PWM waveform of frequency converter transmission certain frequency; Material loading alternating current dynamo (11) drives chain-driving power drum (14) and rotates through active V belt wheel (10), V band (9), driven V belt wheel (8) again, and the sprocket wheel that chain-driving power drum (14) passes through on it drives material loading guipure (1) rotation, when slewing parts (3) is carried arrival Y shape feeding device (4) through material loading guipure (1); Reciprocatingly slide cylinder (5) through the slewing parts (3) that gets in the Y shape material loading Accreditation Waiting Area (26) is carried out reciprocal rubbing, part is formed a line according to precedence one by one get in the Y shape material loading Accreditation Waiting Area (26).
3, the Y direction pushes cylinder and pushes part
Directions X has or not part near having judged whether that part pushes near switch (13) through detection, when digital quantity input module receives the material loading signal, and directions X near switch (13) detect have part near the time; The Y direction pushes cylinder (6) and pushes part immediately; And judge whether part is pushed to the residing position of piston that directions X pushes cylinder (6) through Y direction magnetic switch (7), push finish after, the Y direction pushes cylinder (6) and begins to return; And judge whether to turn back to initial position through Y direction magnetic switch (7); If can not turn back to initial position, then equipment shuts down immediately, and carries out sound and light alarm through alarm lamp.
4, directions X pushes cylinder and pushes part
The Y direction pushes after cylinder (6) turns back to initial position, and whether the Y direction detects near switch (17) has part approaching, when detect part near the time; Directions X pushes cylinder (16) and pushes part immediately; And judge whether part is pushed to the crawl position of feeding gas pawl (22) through directions X magnetic switch (15), push finish after, directions X pushes cylinder (16) to begin to return; And judge whether to turn back to initial position through directions X magnetic switch (15); If can not turn back to initial position, then equipment shuts down immediately, and carries out sound and light alarm through alarm lamp.
5, feeding gas pawl is firmly grasped part
The feeding Accreditation Waiting Area has or not part near having judged whether that part gets into feeding Accreditation Waiting Area (24) near switch (25) through detection, when feeding gas pawl near switch (19) also detect part near the time, feeding gas pawl (22) is firmly grasped part.
6, feeding cylinder pushes the gas pawl and moves to the feeding end zone
After feeding gas pawl (22) is firmly grasped part; Feeding cylinder (20) moves through the Y direction that guide rail on the hold-down arm pushes feeding gas pawl and part moves on the Y direction, and judges whether part is transported to feeding end zone (23) through feeding magnetic switch (21).
7, feeding cylinder pushes the gas pawl and is back to the feeding Accreditation Waiting Area
Feeding gas pawl detects part near switch (19) and whether shifts out feeding end zone (23); After part shifts out feeding end zone (23); Feeding cylinder (20) moves guide rail on the hold-down arm (18) through the Y direction again and pushes feeding gas pawl (22) and be back to feeding Accreditation Waiting Area (24), and program turns back to circular flow in the step 2 more afterwards.
Claims (4)
1. automatic charging device towards slewing parts; Comprise feed bin ordering mechanism, pneumatic pusher, PLC control system and human-computer interaction module; It is characterized in that described feed bin ordering mechanism comprises material loading guipure (1), Y shape feeding device (4), the cylinder that reciprocatingly slides (5), driven V belt wheel (8), V band (9), initiatively V belt wheel (10), material loading alternating current dynamo (11), frequency converter and chain-driving power drum (14); Wherein said active V belt wheel (10) is connected with the motor shaft of material loading alternating current dynamo (11); Described driven V belt wheel (8) is connected with active V belt wheel (10) through V band (9); One side of described chain-driving power drum (14) main shaft is connected with driven V belt wheel (8); Described material loading guipure (1) is connected with chain-driving power drum (14) through the sprocket wheel on the chain-driving power drum (14); Described Y shape feeding device (4) is installed on the baffle plate of material loading guipure (1) both sides, and the described cylinder that reciprocatingly slides (5) is installed on the hypotenuse of Y shape feeding device (4), and is distributed in the both sides of Y shape material loading Accreditation Waiting Area (26) inlet symmetrically; Described pneumatic pusher comprise source of the gas, filter, reducing valve, solenoid directional control valve, Y direction push cylinder (6), Y direction magnetic switch (7), directions X near switch (13), directions X magnetic switch (15), directions X push cylinder (16), Y direction near switch (17), Y direction move hold-down arm (18), feeding gas pawl near switch (19), feeding cylinder (20), feeding magnetic switch (21), feeding gas pawl (22) and feeding Accreditation Waiting Area near switch (25); Described Y direction pushes the end that cylinder (6) is installed in Y shape feeding device (4); Its piston can be pushed to the piston place that directions X pushes cylinder (16) through feed channel (12) by the slewing parts (3) that Y shape feeding device (4) is terminal; Described directions X pushes cylinder (16) and is installed in the end that the Y direction pushes cylinder (6) stroke; Its piston can be pushed to slewing parts (3) crawl position of feeding gas pawl (22) through feed channel (12); Described feeding gas pawl (22) is positioned at the end that directions X pushes cylinder (16) stroke; It is installed on the guide rail that the Y direction moves hold-down arm (18); The Y direction that is installed in described feeding cylinder (20) moves on the hold-down arm (18), and its piston is through connecting and can the slewing parts (3) that grasp in the feeding gas pawl (22) be pushed in the feeding end zone (23) with feeding gas pawl (22); Described PLC control system comprises digital quantity input module, central process unit and digital quantity output module, wherein saidly is connected with digital quantity input module with button (2) near switch (13,17,19,25), magnetic switch (7,15,21); Described digital quantity input module is connected with central process unit; Described central process unit is connected with the digital quantity output module with telltale in the human-computer interaction module; Described digital quantity output module is connected with Warning light with frequency converter in the human-computer interaction module.
2. a kind of automatic charging device according to claim 1 towards slewing parts; It is characterized in that the outside of the described cylinder that reciprocatingly slides (5) and the hypotenuse alignment of Y shape feeding device (4), and the direction of slip of cylinder is parallel with the hypotenuse of Y shape feeding device (4).
3. a kind of automatic charging device according to claim 1 towards slewing parts; It is characterized in that the described end that is used for detecting Y shape feeding device (4) whether have the approaching directions X of slewing parts (3) near switch (13), described be used to detect piston end that directions X pushes cylinder (16) whether have the approaching Y direction of slewing parts (3) near switch (17), describedly be used to detect feeding Accreditation Waiting Area (24) and whether have the approaching feeding Accreditation Waiting Area of part to be installed in the side plate of feed channel (12) near switch (25), describedly be used for detecting feeding gas pawl (22) and whether have the approaching feeding gas pawl of part to be installed in the gas pawl of feeding gas pawl (22) near switch (19).
4. a kind of automatic charging device according to claim 1 towards slewing parts, it is characterized in that the described piston that is used for judge pushing cylinder (6,16,20) whether near magnetic switch (7,15,21) be installed in the two ends of cylinder (6,16,20) cylinder barrel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110000452.6A CN102556654B (en) | 2011-01-04 | 2011-01-04 | A kind of slewing parts automatic charging equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110000452.6A CN102556654B (en) | 2011-01-04 | 2011-01-04 | A kind of slewing parts automatic charging equipment |
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| CN105346874A (en) * | 2015-11-09 | 2016-02-24 | 长兴佳瑞清洁用品有限公司 | Anti-blocking feeding device |
| CN105366338A (en) * | 2015-11-27 | 2016-03-02 | 金锋馥（滁州）输送机械有限公司 | Device for conveying square cans from wide to narrow |
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| CN110385271A (en) * | 2019-08-06 | 2019-10-29 | 兰州理工大学 | The plane rack and automated control experimental apparatus of automated control experimental apparatus |
| CN111169977A (en) * | 2020-02-27 | 2020-05-19 | 合肥和安机械制造有限公司 | Strip steel part feeding mechanism |
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| CN103722311A (en) * | 2013-11-14 | 2014-04-16 | 苏州昌飞自动化设备厂 | Reversing and pushing independent mechanism of machine for welding edges of two sides of electronic element |
| CN105346874A (en) * | 2015-11-09 | 2016-02-24 | 长兴佳瑞清洁用品有限公司 | Anti-blocking feeding device |
| CN105366338A (en) * | 2015-11-27 | 2016-03-02 | 金锋馥（滁州）输送机械有限公司 | Device for conveying square cans from wide to narrow |
| CN106945978A (en) * | 2017-03-21 | 2017-07-14 | 华南理工大学 | A kind of intelligence beats dish method and its device |
| CN110385271A (en) * | 2019-08-06 | 2019-10-29 | 兰州理工大学 | The plane rack and automated control experimental apparatus of automated control experimental apparatus |
| CN111169977A (en) * | 2020-02-27 | 2020-05-19 | 合肥和安机械制造有限公司 | Strip steel part feeding mechanism |
| CN113291788A (en) * | 2021-05-13 | 2021-08-24 | 成都华远焊割设备有限公司 | Automatic robot carrying system and operation method thereof |
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|---|---|
| CN102556654B (en) | 2016-04-13 |
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