CN103922139A - Automatic handling device for spools - Google Patents

Automatic handling device for spools Download PDF

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Publication number
CN103922139A
CN103922139A CN201410175546.0A CN201410175546A CN103922139A CN 103922139 A CN103922139 A CN 103922139A CN 201410175546 A CN201410175546 A CN 201410175546A CN 103922139 A CN103922139 A CN 103922139A
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CN
China
Prior art keywords
slave arm
mandrel
arm joint
sliding pawl
pawl
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.)
Granted
Application number
CN201410175546.0A
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Chinese (zh)
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CN103922139B (en
Inventor
张良安
谭玉良
解安东
王鹏
万俊
高鲁文
柏家峰
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Anhui Hiseed Robot Company Limited
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Anhui University of Technology AHUT
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Priority to CN201410175546.0A priority Critical patent/CN103922139B/en
Publication of CN103922139A publication Critical patent/CN103922139A/en
Application granted granted Critical
Publication of CN103922139B publication Critical patent/CN103922139B/en
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Abstract

The invention discloses an automatic handling device for spools. The automatic handling device is applicable to automatic grabbing and releasing of spools, wire coils and the like. The automatic handling device is composed of a supporting device, a drive device and a mechanical automatic clamping gripper. A motor on the drive device is installed on a supporting plate of the supporting device. The two ends of an installation rod of the drive device are matched with guide rail plates of the supporting device through bearings. The mechanical automatic clamping gripper is connected with the installation rod of the drive device through a connecting rod, and the connection between the mechanical automatic clamping gripper and the drive device is achieved. According to the automatic handling device, workpieces can be automatically grabbed and released in the handing process, and the automatic handling device is especially applicable to the heavy workpieces, such as the spools and the wire coils, with two big heads and small middles, which cannot be grabbed and released easily and automatically or cannot be handled easily and manually .

Description

Device for I-beam wheel automatic transporting
Technical field:
The present invention relates to a kind of automatic conveying device, be mainly applicable to the automatic capturing of I-beam wheel, drum etc. and the Handling device of input.
Background technology:
In prior art, robot has been widely used in, in the production, processing of every profession and trade, having improved work efficiency, has saved again cost of labor simultaneously.But, due to technical limitation, in the workpiece handling fields that large centre, two is little and quality is larger such as present I-beam wheel, drums, mostly still by the mode of operation of a dead lift, to be undertaken, the labor cost that this mode drops into is larger, and production efficiency is low.Workman is when taking out workpiece, and manual operation is inefficiency not only, and due to personnel directly with at product processed, contact, so also there is aborning certain potential safety hazard.
On the basis of present a kind of mechanical type Automatic-clamping handgrip, to large centre, the two such as I-beam wheel, drum, little and quality is difficult for more greatly realizing automatic capturing and the workpiece that puts down and be difficult for again realizing a dead lift, invent a kind of automatic conveying device, realize the automatic capturing of these parts and the handling process of automatically throwing in.
Summary of the invention:
The object of the invention is to overcome above-mentioned deficiency of the prior art, provide a kind of Automatic-clamping workpiece of can realizing can realize again the knock off automatic conveying device of part of automatic switching.
A kind of device for I-beam wheel automatic transporting provided by the present invention is comprised of bracing or strutting arrangement, actuating device and mechanical type Automatic-clamping handgrip:
Described bracing or strutting arrangement comprises frame plate 3, side link 4, stay bearing plate 10, guide-rail plate 8, cardan wheel 1, column 2 and pillar 11, described guide-rail plate 8 is connected on described frame plate 3, described frame plate 3 is connected by described side link 4, described column 2 is connected with described frame plate 3, described stay bearing plate 10, pillar 11 are connected on described column 2 by screw, and described cardan wheel 1 is arranged on described column 2 times.
Described actuating device comprises motor 9, retarder 7, master arm 6, slave arm 5, the first slave arm joint 15A, the second slave arm joint 15B, the 3rd slave arm joint 15C and mounting rod 14, described retarder 7 is arranged on described stay bearing plate 10, described motor 9 is arranged on described retarder 7, described master arm 6 connects the output shaft of described retarder 7, described slave arm 5 is " people " fonts, three external parts of described slave arm 5 by screw respectively with described the first slave arm joint 15A, the second slave arm joint 15B and the 3rd slave arm joint 15C are connected, described the first slave arm joint 15A is positioned at the external part of described slave arm 5 " people " font, described the first slave arm joint 15A connects with described master arm 6 by bearing, described slave arm joint 15B and slave arm joint 15C are positioned at the other two ends of described slave arm 5 " people " font, described slave arm joint 15B and slave arm joint 15C connect with described mounting rod 14 by bearing, match with the arc guide rail of described guide-rail plate 8 by bearing in described mounting rod 14 two ends.
Described mechanical type Automatic-clamping handgrip comprises retainer 13, slide cartridge 16, paw 17, snap ring 12, pipe link 18, coil tension spring 19, copper sheathing 20, Compress Spring 21, sliding pawl rotating cylinder 22, sliding pawl cover 23, mandrel 24 and copper top cover 27; Described pipe link 18 upper ends and described mounting rod 14 are connected by screw; The lower end of described pipe link 18 is connected with described retainer 13 by screw thread; Described copper sheathing 20 is connected in described mandrel 24 upper ends; Described mandrel 24 is arranged in described retainer 13, and described mandrel 24 is the bearing fit with described retainer 13 by described copper sheathing 20 realizations; Described coil tension spring 19 is arranged in described retainer 13, and the lower end of described pipe link 18 is withstood in one end of described coil tension spring 19, and the other end of described coil tension spring 19 withstands described mandrel 24 upper surfaces; Described Compress Spring 21, sliding pawl rotating cylinder 22, sliding pawl cover 23, slide cartridge 16 are sleeved on described mandrel 24 from top to bottom; Described Compress Spring 21 is enclosed within on described mandrel 24, and one end of described Compress Spring 21 withstands mandrel 24, and the other end withstands described sliding pawl rotating cylinder 22 upper surfaces; Described paw 17 connects with the extension arm of described slide cartridge 16 and the lower end of described mandrel 24 respectively by bolt 26 and turning hinge pin 25; Described snap ring 12 is connected with described paw 17; Rubber pad 28 is housed on the inside face of described snap ring 12; Described copper top cover 27 is fixedly set in described mandrel 24 bottom.
The outer wall of described slide cartridge 16 is provided with four boss and groove, and described boss and groove are staggered, and described boss is provided with two chutes, and there are two extension arms the lower end of described slide cartridge 16, and described two extension arm bottoms are respectively provided with a tapped bore; Described sliding pawl rotating cylinder 22 lower ends are provided with four sliding pawls and groove, and described sliding pawl and groove are staggered, and the end of described sliding pawl is inclined-plane; Four boss of described slide cartridge 16 and groove are realized bearing fit with described 22 4 grooves of sliding pawl rotating cylinder and sliding pawl respectively; The upper end of described sliding pawl cover 23 is provided with eight calibration pawls, the triangle of described calibration pawl for protruding, groove between described calibration pawl is recessed triangle, described calibration pawl pawl and groove are staggered, described sliding pawl overlaps 23 outsides and is provided with four boss, and four boss and 16 4 grooves of described slide cartridge of described sliding pawl cover 23 are realized bearing fit.
Described retainer 13 is notch cuttype cavity structure, and the top of described retainer 13 is provided with tapped bore.Described mandrel 24 is notch cuttype, and the lower end of axle is provided with hole.Described paw 17 is provided with an aperture and a slotted hole, and described aperture is connected by bolt 26 and the extension arm of described slide cartridge 16, and described slotted hole connects with the hole on described mandrel 24 by turning hinge pin 25.
Motor 9 on described actuating device is arranged on the stay bearing plate 10 of described bracing or strutting arrangement, matches with the guide-rail plate 8 of described bracing or strutting arrangement by bearing in mounting rod 14 two ends of described actuating device; Described mechanical type Automatic-clamping handgrip connects with the mounting rod 14 of described actuating device by pipe link 18, realizes connecting between mechanical type Automatic-clamping handgrip and actuating device.
Apparatus of the present invention can realize the handling process to the automatic capturing of workpiece and input, are particularly useful for the workpiece that centre as large in two such as I-beam section, drums is little and quality is difficult for more greatly realizing automatic capturing and input and is difficult for again realizing a dead lift.
Accompanying drawing explanation:
The structural representation of Fig. 1 apparatus of the present invention;
One of actuating device in Fig. 2 apparatus of the present invention and mechanical type Automatic-clamping handgrip structural representation;
Two of actuating device in Fig. 3 apparatus of the present invention and mechanical type Automatic-clamping handgrip structural representation;
One of mechanical type Automatic-clamping handgrip structural representation in Fig. 4 apparatus of the present invention;
Two of mechanical type Automatic-clamping handgrip structural representation in Fig. 5 apparatus of the present invention;
Retainer structure cutaway view in Fig. 6 apparatus of the present invention;
Slide cartridge structural representation in Fig. 7 apparatus of the present invention;
Core shaft structure schematic diagram in Fig. 8 apparatus of the present invention;
Sliding pawl barrel configuration schematic diagram in Fig. 9 apparatus of the present invention;
Sliding pawl nested structure schematic diagram in Figure 10 apparatus of the present invention;
Paw structural representation in Figure 11 apparatus of the present invention;
Snap ring structure schematic diagram in Figure 12 apparatus of the present invention.
Turning hinge latch structure schematic diagram in Figure 13 apparatus of the present invention.
In figure: 1, cardan wheel; 2, column; 3, frame plate; 4, side link; 5, slave arm; 6, master arm; 7, retarder; 8, guide-rail plate; 9, motor; 10, stay bearing plate; 11, pillar; 12, snap ring; 13, retainer; 14, mounting rod; 15A, the first slave arm joint; 15B, the second slave arm joint; 15C, the 3rd slave arm joint; 16, slide cartridge; 17, paw; 18, pipe link; 19, coil tension spring; 20, copper sheathing; 21, Compress Spring; 22, slide pawl rotating cylinder; 23, slide pawl cover; 24, mandrel; 25, turning hinge pin; 26, bolt; 27, copper top cover; 28, rubber pad.
The specific embodiment:
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of automatic conveying device provided by the present invention comprises bracing or strutting arrangement, actuating device, mechanical type Automatic-clamping handgrip; Described bracing or strutting arrangement comprises frame plate 3, side link 4, stay bearing plate 10, guide-rail plate 8, cardan wheel 1, column 2 and pillar 15; Described stay bearing plate 10, column 2, pillar 15 are channel-section steel; Described guide-rail plate 8 is connected and is formed by several sections of circular arc steel plates; Described guide-rail plate 8 is connected on described frame plate 3; Described bracing or strutting arrangement is comprised of two frame plates that are arranged symmetrically with 3, and described two frame plates 3 are connected by described side link 4; Described column 2 is supporting described frame plate 3; Described stay bearing plate 10 and described pillar 15 are connected on described column 2 by screw; Described cardan wheel 1 is arranged on below described column 2.
As shown in Figure 1, Figure 2, Figure 3 shows, described actuating device comprises motor 9, retarder 7, master arm 6, slave arm 5, the first slave arm joint 15A, the second slave arm joint 15B, the 3rd slave arm joint 15C and mounting rod 14; Described retarder 7 is arranged on the stay bearing plate 10 on described frame plate 3; Described motor 9 is arranged on described retarder 7; Described master arm 5 is arranged on described motor 9; Described slave arm 5 is " people " fonts, and three external parts of described slave arm 5 are connected by screw and described slave arm joint 15; Described slave arm joint 15A connects with described master arm 6 by bearing, two other external part of described slave arm 5: slave arm joint 15B and 15C connect with described mounting rod 14 by bearing; Match with the guide-rail plate 8 on described frame plate 3 by bearing in described mounting rod 14 two ends; Can realize master arm 6 under the drive of motor 9 and drive slave arm 5 motions, slave arm 5 drives mounting rod 14 to press the orbiting motion of the guide-rail plate 8 on frame plate 3.
As shown in figure Fig. 4, Fig. 5, mechanical type Automatic-clamping handgrip comprises retainer 13, slide cartridge 16, paw 17, snap ring 12, pipe link 18, coil tension spring 19, copper sheathing 20, Compress Spring 21, sliding pawl rotating cylinder 22, sliding pawl cover 23, mandrel 24, turning hinge pin 25, bolt 26, copper top cover 27 and rubber pad 28; Described pipe link 18 upper ends and mounting rod 14 are connected by screw; Described retainer 13 is cavitys of notch cuttype, and tapped bore is arranged at top; The outer wall of described slide cartridge 16 (seeing Fig. 7) has four boss and groove, and boss and groove are staggered, and has two chutes on each boss, and there are two extension arms the lower end of described slide cartridge 16, and a tapped bore is respectively arranged at two extension arm bottoms; Described slide cartridge 16 is connected in the described interior composition retainer of retainer 13 slide cartridge.
Described pipe link 18 is provided with screw thread and is connected with described retainer 13 tapped bore.There are four sliding pawls and groove in described sliding pawl rotating cylinder 22 (seeing Fig. 9) lower end, and sliding pawl and groove are staggered, and on each sliding pawl, is cut into inclined-plane; 16 4 boss of described slide cartridge and groove are realized bearing fit with 22 4 grooves of described sliding pawl rotating cylinder and sliding pawl respectively.
There are eight calibration pawls described sliding pawl cover 23 (seeing Figure 10) upper end, the triangle that calibration pawl becomes to protrude, groove between calibration pawl is also recessed triangle, pawl and groove are staggered, described sliding pawl cover 23 is outer has four boss, described sliding pawl to overlap four boss of 23 and described 16 4 grooves of slide cartridge are realized bearing fit.
Described mandrel 24 (seeing Fig. 8) is notch cuttype, and the lower end of axle is provided with hole; Described copper sheathing 20 is arranged on described mandrel 24, realizes the relative sliding of described mandrel 24 in described retainer slide cartridge; Described slide cartridge 16, sliding pawl rotating cylinder 22, sliding pawl cover 23, coil tension spring 19, Compress Spring 21 are all enclosed within on mandrel 24; The top face of described retainer 13 cavitys is withstood in described coil tension spring 19 one end, and the other end withstands described mandrel 24 upper surfaces; Described Compress Spring 21 is enclosed within on described mandrel 24, and one end of described Compress Spring 21 withstands mandrel 24, and the other end of described Compress Spring 21 withstands described sliding pawl rotating cylinder 22 upper surfaces; Described sliding pawl rotating cylinder 22, on described mandrel 24, and is contained in described retainer slide cartridge, realizes described 16 4 boss of slide cartridge and groove respectively with described 22 4 grooves of sliding pawl rotating cylinder with slide pawl bearing fit; Described sliding pawl cover 23 is enclosed within on described mandrel 24 and is contained in described slide cartridge 16, and make four boss of described sliding pawl cover 23 and described 16 4 grooves of slide cartridge realize bearing fit, described sliding pawl cover 23 is contained in described sliding pawl rotating cylinder 22 times, makes four sliding pawls of described sliding pawl rotating cylinder 22 and eight calibration pawls of described sliding pawl cover 23 realize pawl to pawl; Described copper top cover 27 is solidly set on described mandrel 24.
On described paw 17 (seeing Figure 11), have an aperture and a slotted hole; The interior inclined-plane of described snap ring 12 (seeing Figure 12) is one section of arc surface; Aperture on described paw 17 is connected by bolt 26 and the extension arm of described slide cartridge 16, and the slotted hole on described paw 17 connects with the hole on described mandrel 24 by described turning hinge pin 25 (seeing Figure 13); Two extension arms of slide cartridge 16 are respectively equipped with a paw 17, and two paws 17 are respectively contained in mandrel 24 both sides simultaneously; Described snap ring 12 is connected with described paw 17; Described rubber pad 28 is contained on described snap ring 12 inside faces.
The process that realizes automatic capturing of the present invention and input function is: under the drive of motor 9, master arm 6 drives slave arms 5 motions, slave arm 5 drives mounting rod 14 to press the orbiting motion of the guide-rail plate 8 on frame plate 3, and mounting rod 14 is realized the function that captures and throw in mechanical type Automatic-clamping handgrip; Copper top cover 27 on the mandrel 24 of mechanical type Automatic-clamping handgrip is withstood workpiece and is made snap ring 12 clamping work pieces, in the process upwards capturing, whether snap ring 12 can or not slip out Workpiece clamping, is that copper top cover 27 on mandrel 24 is withstood workpiece and snap ring 12 opened put down workpiece while putting down equally.

Claims (7)

1. for the device of I-beam wheel automatic transporting, this device is comprised of bracing or strutting arrangement, actuating device and mechanical type Automatic-clamping handgrip, described bracing or strutting arrangement comprises frame plate (3), side link (4), stay bearing plate (10), guide-rail plate (8), cardan wheel (1), column (2) and pillar (11), described guide-rail plate (8) is connected on described frame plate (3), described frame plate (3) is connected by described side link (4), described column (2) is connected with described frame plate (3), described stay bearing plate (10), pillar (11) are connected in described column (2) above by screw, and described cardan wheel (1) is arranged under described column (2), described actuating device comprises motor (9), retarder (7), master arm (6), slave arm (5), the first slave arm joint (15A), the second slave arm joint (15B), the 3rd slave arm joint (15C) and mounting rod (14), described retarder (7) is arranged on described stay bearing plate (10), described motor (9) is arranged on described retarder (7), described master arm (6) connects the output shaft of described retarder (7), described slave arm (5) is " people " font, three external parts of described slave arm (5) by screw respectively with described the first slave arm joint (15A), the second slave arm joint (15B) and the 3rd slave arm joint (15C) are connected, described the first slave arm joint (15A) is positioned at the external part of described slave arm 5 " people " font, described the first slave arm joint (15A) connects with described master arm (6) by bearing, described slave arm joint 15B and slave arm joint 15C are positioned at the other two ends of described slave arm (5) " people " font, described slave arm joint 15B and slave arm joint 15C connect with described mounting rod (14) by bearing, match with the arc guide rail of described guide-rail plate (8) by bearing in described mounting rod (14) two ends, described mechanical type Automatic-clamping handgrip comprises retainer (13), slide cartridge (16), paw (17), snap ring (12), pipe link (18), coil tension spring (19), copper sheathing (20), Compress Spring (21), sliding pawl rotating cylinder (22), sliding pawl cover (23), mandrel (24) and copper top cover (27), described pipe link (18) upper end and described mounting rod (14) are connected by screw, and the lower end of described pipe link (18) is connected with described retainer (13) by screw thread, described copper sheathing (20) is connected in described mandrel (24) upper end, described mandrel (24) is arranged in described retainer (13), and described mandrel (24) is the bearing fit with described retainer (13) by described copper sheathing (20) realization, described coil tension spring (19) is arranged in described retainer (13), the lower end of described pipe link (18) is withstood in one end of described coil tension spring (19), and the other end of described coil tension spring (19) withstands described mandrel (24) upper surface, described Compress Spring (21), sliding pawl rotating cylinder (22), sliding pawl cover (23), slide cartridge (16) are sleeved on described mandrel (24) from top to bottom, described copper top cover (27) is fixedly set in described mandrel (24) bottom, it is upper that described Compress Spring (21) is sleeved on described mandrel (24), and one end of described Compress Spring (21) withstands mandrel (24), and the other end of described Compress Spring (21) withstands described sliding pawl rotating cylinder (22) upper surface, described paw (17) connects with the extension arm of described slide cartridge (16) and the lower end of described mandrel (24) respectively by bolt (26) and turning hinge pin (25), described snap ring (12) is connected with described paw (17).
2. according to claim 1 for the device of I-beam wheel automatic transporting, the outer wall that it is characterized in that described slide cartridge (16) is provided with four boss and groove, described boss and groove are staggered, described boss is provided with two chutes, there are two extension arms the lower end of described slide cartridge (16), and described two extension arm bottoms are respectively provided with a tapped bore.
3. according to claim 1 for the device of I-beam wheel automatic transporting, it is characterized in that described sliding pawl rotating cylinder (22) lower end is provided with four sliding pawls and groove, described sliding pawl and groove are staggered, and the end of described sliding pawl is inclined-plane.
4. according to claim 1 for the device of I-beam wheel automatic transporting, the upper end that it is characterized in that described sliding pawl cover (23) is provided with eight calibration pawls, the triangle of described calibration pawl for protruding, groove between described calibration pawl is recessed triangle, described calibration pawl pawl and groove are staggered, and described sliding pawl cover (23) outside is provided with four boss.
5. a kind of device for I-beam wheel automatic transporting according to claim 1, is characterized in that being provided with rubber pad (28) on the inside face of described snap ring (12).
6. according to claim 1 for the device of I-beam wheel automatic transporting, it is characterized in that described retainer (13) is notch cuttype cavity structure, the top of described retainer (13) is provided with tapped bore.
7. according to claim 1 for the device of I-beam wheel automatic transporting, it is characterized in that described paw (17) is provided with an aperture and a slotted hole, described aperture is connected by bolt (26) and the extension arm of described slide cartridge (16), and described slotted hole connects with the hole on described mandrel (24) by turning hinge pin (25).
CN201410175546.0A 2014-04-28 2014-04-28 For the device of I-beam wheel automatic transporting Active CN103922139B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410175546.0A CN103922139B (en) 2014-04-28 2014-04-28 For the device of I-beam wheel automatic transporting

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Application Number Priority Date Filing Date Title
CN201410175546.0A CN103922139B (en) 2014-04-28 2014-04-28 For the device of I-beam wheel automatic transporting

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CN103922139B CN103922139B (en) 2015-12-30

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104386503A (en) * 2014-10-07 2015-03-04 江苏金龙新能源设备科技实业有限公司 Full-automatic stacking machine
CN105151781A (en) * 2015-09-07 2015-12-16 苏州莱测检测科技有限公司 Movable clamping jig for packing case
WO2016070645A1 (en) * 2014-11-08 2016-05-12 江苏新技机械有限公司 Wire coil conveying mechanical arm
CN111776588A (en) * 2020-07-10 2020-10-16 杭州德创能源设备有限公司 Truss-like electric energy meter off-line detection device
CN111880139A (en) * 2020-07-10 2020-11-03 杭州德创能源设备有限公司 Portable truss-like electric energy meter off-line measuring device
CN113120681A (en) * 2021-05-17 2021-07-16 张家港市瑞昌智能机器系统有限公司 Automatic disc changing system of spool wire winding machine

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CN201362546Y (en) * 2009-07-13 2009-12-16 河南通达电缆股份有限公司 Lifting hook used for loading and unloading wire coil
CN102616649A (en) * 2012-03-30 2012-08-01 无锡市盛力达机械工程有限公司 I-shaped wheel gripper
CN202985875U (en) * 2012-10-22 2013-06-12 桂林橡胶机械厂 Tire catching machine of tire forming vulcanizer
CN203358910U (en) * 2013-09-13 2013-12-25 扬州华声电子实业有限公司 Binding device for bundled cables

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201362546Y (en) * 2009-07-13 2009-12-16 河南通达电缆股份有限公司 Lifting hook used for loading and unloading wire coil
CN102616649A (en) * 2012-03-30 2012-08-01 无锡市盛力达机械工程有限公司 I-shaped wheel gripper
CN202985875U (en) * 2012-10-22 2013-06-12 桂林橡胶机械厂 Tire catching machine of tire forming vulcanizer
CN203358910U (en) * 2013-09-13 2013-12-25 扬州华声电子实业有限公司 Binding device for bundled cables

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104386503A (en) * 2014-10-07 2015-03-04 江苏金龙新能源设备科技实业有限公司 Full-automatic stacking machine
WO2016070645A1 (en) * 2014-11-08 2016-05-12 江苏新技机械有限公司 Wire coil conveying mechanical arm
CN105151781A (en) * 2015-09-07 2015-12-16 苏州莱测检测科技有限公司 Movable clamping jig for packing case
CN111776588A (en) * 2020-07-10 2020-10-16 杭州德创能源设备有限公司 Truss-like electric energy meter off-line detection device
CN111880139A (en) * 2020-07-10 2020-11-03 杭州德创能源设备有限公司 Portable truss-like electric energy meter off-line measuring device
CN111880139B (en) * 2020-07-10 2023-04-07 杭州德创能源设备有限公司 Portable truss-like electric energy meter off-line measuring device
CN113120681A (en) * 2021-05-17 2021-07-16 张家港市瑞昌智能机器系统有限公司 Automatic disc changing system of spool wire winding machine

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Effective date of registration: 20160825

Address after: 243000 Anhui city of Ma'anshan province high tech Zone Chihu Road No. 966 penholder

Patentee after: Anhui Hiseed Robot Company Limited

Address before: 243032 Anhui city in Ma'anshan Province town Ma Xianglu

Patentee before: Anhui University of Technology