CN104139290B - A kind of automatic arranging, the method for assembling - Google Patents
A kind of automatic arranging, the method for assembling Download PDFInfo
- Publication number
- CN104139290B CN104139290B CN201410356149.3A CN201410356149A CN104139290B CN 104139290 B CN104139290 B CN 104139290B CN 201410356149 A CN201410356149 A CN 201410356149A CN 104139290 B CN104139290 B CN 104139290B
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- partition
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
-
- 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
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to automatic arranging, the technical field of assembling, including vibrating disk, mould conveyer belt, manipulator, fitting box and fitting box rotating disk, positive and negative arrangement part is provided between vibrating disk and mould conveyer belt, photoelectric device is provided with before manipulator；Described vibrating disk can select the part in 2 directions to send out automatically according to the asymmetry of part from 4 directions；Described mould conveyer belt is provided with the mould mutually agreed with part tooth form, and the part being coincide with mould tooth form can fall into mould, and opposite direction and tooth form misfit part and will not be embedded in mould；Described positive and negative arrangement part can misfit part by opposite direction, with tooth form and sweep from mould conveyer belt, it is ensured that the part behind mould conveyer belt is all in same direction；Described manipulator is provided with conveyer belt, and manipulator uses Pneumatic vacuum nozzle pick part；Described photoelectric device is it can be found that part is reached, and control machinery hands movement captures part；Described fitting box is installed on fitting box rotating disk, using oblique open shape, and divides into float partition；The present invention is using the method for machinery come automatic arranging, a variety of tiny flat parts of assembling, and with low cost, efficiency is superb.
Description
Technical field
The present invention relates to a kind of automatic arranging, the robot device of assembling, more particularly to a variety of small sizes, sheet-like workpiece
The robot device sequentially assembled automatically, can arrange workpiece orientation, self-feeding using the method for machinery, be not picked up workpiece time
Receive, the separating of fine or not workpiece, the select separation, the unified of imperfect workpiece of imperfect workpiece such as reclaim at a variety of functions, improve and give birth to
Efficiency is produced, production cost is reduced.
Background technology
Manipulator is in the industry-by-industry popularization and application such as agricultural, automobile, transport, medical treatment, military affairs.But pick and place it is tiny,
Laminar workpiece and to various workpieces automatic assembling, there is presently no effective mechanical means, mainly has any problem and is:(1) it is difficult
In selecting required unique direction from 4 directions of workpiece with the method for machinery, the usual use of vibration feeding can select one
The direction of big one small taper workpiece, but do not handle sheet-like workpiece；(2) in manipulator pass through frequently with three valve chucks
It is difficult to capture tiny laminar workpiece；(3) no matter tiny laminar workpiece picks and places, and is required for higher positioning precision；(4) exist
In electronics industry, generally using camera imaging, task is completed with the intelligent method of image recognition, cost is high.
In manipulator pass through frequently with three valve chucks be not particularly suited for tiny laminar workpiece because three valve chucks be difficult folder
Hold, and it is whard to control in dynamics, and excessive tiny sheet-like workpiece can turn into waste product because stress is excessive, cross small workpiece and be difficult to step up,
Easily come off；Wanting to take down the tiny workpiece of clamping is needed nut counter-rotating, and three valve chucks of the clamping are discharged,
It is unfavorable for high-volume automation processing, it is cumbersome and time-consuming.If using magnetic suction disc, workpiece can be magnetized, the later stage is influenceed
Performance.If using vacuum cup, because workpiece is relatively fine, it is necessary to which higher positioning precision, otherwise can not hold workpiece.
The content of the invention
It is an object of the present invention to provide a kind of automatic arranging, the robot device of assembling, it can come by hopper for vibrating disk
Charging, the workpiece in two directions is selected using notched vibrating disk, using the transmission belt of belt shape mould from four direction
The workpiece in a direction is selected from two directions, workpiece is picked and placeed using the vacuum slot for there are multiple suckers, pneumatic machinery is utilized
Hand transports complete workpiece to specified fitting box to realize, automatically collects damaged workpiece in scrap heap.
In order to solve the above technical problems, the technical scheme that the present invention takes is：Including vibrating disk, mould conveyer belt, machinery
Hand, fitting box and fitting box rotating disk, positive and negative arrangement part is provided between vibrating disk and mould conveyer belt, is provided with before manipulator
Photoelectric device；Described vibrating disk can select the workpiece in 2 directions to send automatically according to the asymmetry of workpiece from 4 directions
Go out；Described mould conveyer belt is provided with the mould mutually agreed with workpiece tooth form, and the workpiece being coincide with mould tooth form can fall into mould
Son, and opposite direction and tooth form misfit workpiece and will not be embedded in mould；Described positive and negative arrangement part can be by opposite direction and tooth
Shape misfits workpiece sweeps from mould conveyer belt, it is ensured that the workpiece behind mould conveyer belt is all in same direction；Described machine
Tool hand is provided with conveyer belt, and manipulator uses Pneumatic vacuum nozzle pick workpiece；Described photoelectric device is it can be found that workpiece is arrived
Reach, control machinery hands movement, grabbing workpiece；Described fitting box is installed on fitting box rotating disk, using oblique open shape, and
Divide into float partition.
Described vibrating disk includes spiral transmission track part, spine's breach rail portion and Linear transmission rail portion.
Position of centre of gravity is different when the breach rail portion of described vibrating disk is placed according to workpiece positive and negative, and two are selected from four direction
The outside feeding of workpiece in individual direction, and the workpiece in another two direction drops back vibrating disk.
The transmission belt of described belt shape mould selects the workpiece in a direction from two directions, and another direction
Workpiece can be swept into recovery bin by positive and negative arrangement part；
The vacuum slot that described use has multiple suckers picks and places workpiece, and minimum only needs to a hole and blocked by workpiece with regard to energy
Picking up work piece is not high to the positioning accuracy request of workpiece；
Described Pneumatic vacuum suction nozzle is provided with conveyer belt, and conveyer belt is installed by second support and first support and supported,
Fitting box is provided with the extreme position of Pneumatic vacuum suction nozzle activity, fitting box is arranged on fitting box rotating disk, Pneumatic vacuum suction nozzle
The placement of another tiny sheet-like workpiece is completed while pickup.
Described mould conveyer belt is driven by buncher and conveyer belt and rotated, and is set below the end of mould conveyer belt
There is waste outlet.
Described various workpieces are collocated with this direction rectifying machine by multiple vibrating disk feedings, the output end of each vibrating disk
Structure, Pneumatic vacuum suction nozzle and manipulator, under control of a computer program automatic sequential assemble a variety of small sizes, sheet-like workpiece；
Described each vibrating disk can mix corresponding Pneumatic vacuum suction nozzle with multiple-channel output on each road, improve efficiency；
Described Pneumatic vacuum suction nozzle is directed to the problem of check and correction of single hole position is forbidden and do not pick up workpiece in suction nozzle portion
Set up separately and be equipped with multiple holes, as long as having a suction nozzle to hold workpiece can just pick up, the position accuracy to Pneumatic vacuum suction nozzle will
Ask not high；
The gear piece workpiece screened according to described mould conveyer belt, controls Pneumatic vacuum suction nozzle sequentially folding multiple workpiece
Put；
According to position of centre of gravity of the breach rail portion of described vibrating disk according to workpiece, the shape size of breach is determined；
It is transparent according to described mould conveyer belt material therefor, light source generator is arranged in front of a manipulator,
Whether light source is received by photoelectric device, judges whether workpiece reaches specified location, the motion of a manipulator is controlled；
Conveying end of tape is placed according to described photoelectric device, it can be found that workpiece is reached, control machinery hands movement is grabbed
Workpiece is taken, the leakage for not resulting in workpiece is grabbed and caused upsetting for work piece order；
Compared with prior art, beneficial effects of the present invention are：Mould conveyer belt of the present invention can screen the qualified work in front
Part, prevents the workpiece of substandard products and offset from entering next procedure, saves labor；The vacuum slot of Pneumatic vacuum suction nozzle is using more
Hole is set, and high-precision requirement is not needed to the take-off location of Pneumatic vacuum suction nozzle；Pneumatic vacuum suction nozzle can pass through vacuum slot
Part is put in suction, will not be had an impact to workpiece；The ingenious setting of vibrating disk, can realize that the 4 of direction selects 2, carry out the preliminary sieve of workpiece
Choosing；With the transmission belt collocation hairbrush of belt shape mould, one can be selected from two directions, and overlapping portion can be arranged
Part；Solve over and be difficult to realize the problem of a variety of small sizes, sheet-like workpiece are sequentially assembled automatically, can continuously work, can
Improve production efficiency reduction production cost.Present device can use pure mechanic structure, can continuously work, it is possible to increase production effect
Rate reduces production cost.
Brief description of the drawings
Fig. 1 is the overall structure diagram of apparatus of the present invention embodiment；
Fig. 2 is the structural representation of the vibrating disk of apparatus of the present invention embodiment；
Fig. 3 is the structural representation of the mould conveyer belt of apparatus of the present invention embodiment；
Fig. 4 is the partition feed status schematic diagram of apparatus of the present invention embodiment；
Fig. 5 is the gear piece feed status schematic diagram of apparatus of the present invention embodiment；
Fig. 6 is the structural representation of the first manipulator of apparatus of the present invention embodiment；
Fig. 7 is the structural representation of the second manipulator of apparatus of the present invention embodiment；
Fig. 8 drops view for the partition of apparatus of the present invention embodiment；
Fig. 9 is the normal feed status schematic diagram of partition of apparatus of the present invention embodiment；
Figure 10 drops view for the gear piece of apparatus of the present invention embodiment；
Figure 11 is the normal feed status schematic diagram of gear piece of apparatus of the present invention embodiment；
Figure 12 is a robot work schematic flow sheet of apparatus of the present invention embodiment；
Figure 13 is No. two robot work schematic flow sheets of apparatus of the present invention embodiment；
In figure,
1st, vibrating disk；2nd, positive and negative arrangement part；3rd, overlapping arrangement part；4th, Pneumatic vacuum suction nozzle；5th, a manipulator；6、
Mould conveyer belt；7th, conveyer belt；8th, second support；9th, fitting box；10th, fitting box rotating disk；11st, waste outlet；12nd, first
Frame；13rd, buncher；14th, belt；15th, partition；16th, gear piece；17th, side plate；18th, flow control member；19th, position adjustment block；
20th, No. two manipulators；21st, light source generator；22nd, photoelectric device.
Embodiment
For two kinds of small sizes, sheet-like workpieces, such as gear piece, partition, carried out certainly by a piece of partition fixed-direction of a piece of gear piece
It is dynamic to take dress to illustrate robot device that a variety of small sizes, sheet-like workpiece are sequentially assembled automatically.It is the present invention with reference to Fig. 1-Figure 11
Implementation structural representation, described robot device includes the vibrating disk of automatic material taking, screening arrangement tiny sheet-like workpiece
The Pneumatic vacuum suction nozzle 4 of mould conveyer belt 6 and picking up work piece, is provided with positive and negative arrangement portion between vibrating disk 1 and mould conveyer belt 6
Part 2, provided with overlapping arrangement part 3 on mould conveyer belt 6；Workpiece is conveyed after certain distance on the conveyor belt, into rolling hair
The overlapping arrangement part of brush, realizes that monolithic is conveyed on the conveyor belt for gear piece or partition；Described vibrating disk includes spine's breach rail
Road part；Described mould conveyer belt 6 is provided with the mould of the specific tooth form of workpiece, can be according to 2 directions of asymmetry of workpiece
In select the workpiece in 1 direction, the screening again of travel direction；It is located in described Pneumatic vacuum suction nozzle 4 on conveyer belt 7, it is defeated
Send band 7 to install by second support 8 and first support 12 to support, fitting is provided with the extreme position of the activity of Pneumatic vacuum suction nozzle 4
Box 9, fitting box 9 is arranged on fitting box rotating disk 10, and Pneumatic vacuum suction nozzle 4 completes another tiny sheet-like workpiece while pickup
Lay；
Described vibrating disk 1 can select the workpiece in 2 directions according to the asymmetry of workpiece from 4 directions, carry out work
The preliminary screening of part, vibrating disk can be dropped back automatically by not meeting the workpiece of direction requirement；, can in the case of 2 described vibrating disks 1
With multiple-channel output, corresponding Pneumatic vacuum suction nozzle 4 is mixed on each road, efficiency is improved；Described Pneumatic vacuum suction nozzle 4 is provided with
Multiple suckers, it is only necessary to which having a hole to be blocked by workpiece just can picking up work piece, control gas not high to the positioning accuracy request of workpiece
The operation range of dynamic manipulator.
Automatic arranging of the present invention, the robot device of assembling, are related to a variety of small sizes, flat parts and sequentially assemble automatically
Robot device.It includes：Two hoppers, two vibrating disks, two mould conveyer belts, two suction nozzle main bodies, multiple small cylinders, multiple take out
Device of air, multiple rolling hairbrush etc..
Wherein, vibrating disk includes vibrating device, track, flow control member 18 and position adjustment block 19, and track is divided into circle
Arcuation, linear, tiny spine breach, three sections of tracks are connected, and the 3rd section of track --- tiny spine's indentation, there is provided with specific
Breach, the breach draws the given shape and size by practice many times, when workpiece (gear piece or dividing plate) front is conveyed,
Workpiece is not dropped by tiny indentation, there, on the contrary then drop back into vibrating disk and convey again in tiny indentation, there, according to workpiece not
Symmetry selects the workpiece in 2 directions from the workpiece in 4 directions, the preliminary screening of workpiece is carried out, for carrying out positive and negative arrangement；
The flow control member 18 on the first arc-shaped track is arranged on, can in time be moved to outside delivery track, make this section of delivery track
Narrowed width, or even be only capable of for single material by position adjustment block 19, while adjustable position adjustment block 19, changes track
Spacing, make workpiece parallel through the seam of position adjustment block 19 and track edges.Pass through flow control member 18, position adjustment block
19 two procedures, can make workpiece single and pass through parallel to track, be easy to the whole of positive and negative at the tiny carinate breach track in rear
Reason.
Each manipulator is using 1 small cylinder, 2 suction nozzle disc main bodies, small cylinder horizontal positioned.
Manipulator is arranged on whole device side plate 17, original state：No. 1 suction nozzle disc main body send positioned at partition dress and taken, and 2
Number suction nozzle disc main body is located on conveyer belt.
Described mould conveyer belt is driven by buncher 13 and belt 14 and rotated, below the end of mould conveyer belt
Provided with waste outlet.
The piston of selected double-rod cylinder all bands are magnetic, and can use supporting magnetic switch as detection means.
According to the operation principle of this kind of magnetic switch, when cylinder piston is moved, piston turnover magnetic switch position, magnetic switch
Different on-off models will be exported, manipulator control is realized.
Arm-and-hand system has 4 magnetic switch to produce position signalling, altogether 4 position input/output signals.Set 2
Individual switch, for beginning and jerk；2 output ports, control the break-make of 2 magnetic valves.
Vacuum slot 4 includes fixed seat, vacuum tube, the sucker mouth of soft rubber, and vacuum tube passes through fixed seat, positioned at fixation
Seat lower section, vacuum tube is fixedly connected with the sucker mouth of lower section again.
Pneumatic vacuum suction nozzle is provided with multiple suckers, it is only necessary to have a hole to block just energy picking up work piece by workpiece, to work
The positioning accuracy request of part is not high；
Vacuum slot 4 is connected by the screwed hole in fixed seat with the support on two telescopic cylinders placed vertically.Suction nozzle
Disc main body is connected by vacuum tube with air extractor, when picking up tiny sheet-like workpiece, and air extractor pumping makes suction nozzle disc main body
Negative pressure is internally formed, is close to the suction nozzle disk of soft rubber comprehensively by the tiny sheet-like workpiece of air pressure official post, and then adsorb
On the sucker mouth of soft rubber；When reaching specified fitting box, air extractor changes pumping to blow, by tiny sheet-like workpiece not
Separate, be placed in fitting box with sucker mouth under big wind-force.It is flat work pieces this device resolves tiny sheet-like workpiece, carefully
Small workpiece, the difficult point for being difficult to grip and being not easily disconnected from after adsorbing.
Fitting box 9 is placed on suction nozzle disc main body extreme position, is completed while for realizing a tiny sheet small workpiece pickup
The placement of another tiny sheet-like workpiece, reduces the time, improves production efficiency.
Fitting box 9 divides into float partition using tiltedly open shape, is set to the internal diameter hollow tube more bigger than workpiece
Road, rather than solid cylindrical.Often be put into a workpiece can sinking associated workpiece automatically thickness so that will not be danced in the air when placing workpiece
Wave, it is not required that using the high core bar of positioning precision, reduce required precision；
Described vibrating disk includes spiral transmission track part, spine's breach rail portion and Linear transmission rail portion.
Position of centre of gravity A is different when the breach rail portion of described vibrating disk is placed according to workpiece positive and negative, is selected from four direction
The outside feeding of workpiece of both direction, and the workpiece in another two direction drops back vibrating disk.
Manipulator control system possesses two kinds of the origin pattern that returns to, automatic running pattern.
Returning to origin mode capabilities is：Aligning control button is pressed, telescopic cylinder returns to retraction extreme position, and small cylinder is returned
Retraction extreme position is returned to, air extractor decommissions；
Automatic mode function is：After completing to return to origin operation, continuous working cycles can be realized by pressing automatic button,
After stop button is pressed, manipulator will just stop after 1 working cycles, return to reset position.
It is the specific implementation flow of apparatus of the present invention with reference to Figure 12.
Step 1：Running water part, the position of position adjustment block are adjusted, reduces and change track, enables workpiece by single successively
It is individual to deliver to elongated carinate gap segments rail portion parallel to track；
Step 2：Processing of the vibrating disk Jing Guo early stage, realizes that gear piece or partition monolithic are slowly conveyed, when gear piece or partition with
When front is by elongated carinate breach track, gear piece or partition are normally conveyed, when gear piece or partition passed through with reverse side it is elongated carinate
During breach track, gear piece or partition are fallen into vibrating disk, again in the presence of vibrating disk vibrating device from elongated carinate breach
Conveying；Face-up gear piece or partition enters conveyer belt by the positive and negative arrangement of elongated carinate breach；
Step 3：Gear piece or partition are conveyed after certain distance on the conveyor belt, into the overlapping arrangement part for rolling hairbrush,
Realize that monolithic is conveyed on the conveyor belt for gear piece or partition.
Step 4：Partition reaches specified location, and photoelectric device senses and sends signal, and a suction nozzle disc main body changes air blowing and is
Air-breathing, picks up partition；
Step 5：A number manipulator is connected to instruction, and magnetic valve is opened, and small cylinder extends to the limit, touches magnetic and open
Close, small cylinder stop motion；
Step 6：It is air blowing that a number suction nozzle disc main body, which changes air-breathing, places partition on conveyer belt；Meanwhile, gear piece, which is reached, specifies
Position, photoelectric device senses and sends signal, and it is air-breathing that No. two suction nozzle disc main bodies, which change air blowing, picks up gear piece；
Step 7：Magnetic valve disconnects, and small cylinder is contracted to original state, and touching is positioned over the magnetic switch of original state,
A number manipulator stop motion；
Step 8：It is air blowing that No. two suction nozzle disc main bodies, which change air-breathing, gear piece is positioned on conveyer belt, a suction nozzle disc main body
It is air-breathing to change air blowing, picks up partition；Step 5 is skipped to, so circulation；
Step 9:Workpiece (partition 15, gear piece 16) is moved to conveying tail by conveyer belt simultaneously, and No. two magnetic valves are opened,
Small cylinder extends to the limit, touches magnetic switch, closed electromagnetic valve, No. two manipulator stop motions to extension limit；Inhale
It is air-breathing, picking up work piece that mouth disc main body, which changes air blowing,；
Step 10:Magnetic valve is opened, and small cylinder is contracted to the limit, touches magnetic switch, closed electromagnetic valve, No. two machines
Tool hand stops at original state；It is air blowing that suction nozzle disc main body, which changes air-breathing, places partition or gear piece in fitting box 9；
Step 11：Multiple circulation step 9,10.
Claims (1)
1. a kind of automatic arranging, the method for assembling, it is characterised in that
Step 1：Running water part, the position of position adjustment block are adjusted, reduces and changes track, enable gear piece or partition by successively
It is single to deliver to elongated carinate gap segments rail portion parallel to track；
Step 2：Processing of the vibrating disk Jing Guo early stage, realizes that gear piece or partition monolithic are slowly conveyed, when gear piece or partition are with front
During by elongated carinate breach track, gear piece or partition are normally conveyed, when gear piece or partition with reverse side pass through elongated carinate breach
During track, gear piece or partition are fallen into vibrating disk in the presence of vibrating disk vibrating device from elongated carinate breach, again defeated
Send；Face-up gear piece or partition enters conveyer belt by the positive and negative arrangement of elongated carinate breach；
Step 3：Gear piece or partition are conveyed after certain distance on mould conveyer belt, into the overlapping arrangement part for rolling hairbrush,
Realize that monolithic is conveyed on the conveyor belt for gear piece or partition；
Step 4：Partition reaches specified location, and photoelectric device senses and sends signal, and it is air-breathing that a suction nozzle disc main body, which changes air blowing,
Pick up partition；
Step 5：A number manipulator is connected to instruction, and magnetic valve is opened, and small cylinder extends to the limit, touches magnetic switch, small
Type cylinder stop motion；
Step 6：It is air blowing that a number suction nozzle disc main body, which changes air-breathing, places partition on conveyer belt；Meanwhile, gear piece reaches specific bit
Put, photoelectric device senses and sends signal, it is air-breathing that No. two suction nozzle disc main bodies, which change air blowing, picks up gear piece；
Step 7：Magnetic valve disconnects, and small cylinder is contracted to original state, and touching is positioned over the magnetic switch of original state, No. one
Manipulator stop motion；
Step 8：It is air blowing that No. two suction nozzle disc main bodies, which change air-breathing, gear piece is positioned on conveyer belt, a suction nozzle disc main body, which changes, to be blown
Gas is air-breathing, picks up partition；Step 5 is skipped to, so circulation；
Step 9:Conveyer belt opens workpiece motion s to tail, No. two magnetic valves are conveyed simultaneously, and small cylinder extends to the limit,
Touch magnetic switch, closed electromagnetic valve, No. two manipulator stop motions to extension limit；Suction nozzle disc main body changes air blowing to inhale
Gas, picking up work piece；
Step 10:Magnetic valve is opened, and small cylinder is contracted to the limit, touches magnetic switch, closed electromagnetic valve, No. two manipulators
Stop at original state；It is air blowing that suction nozzle disc main body, which changes air-breathing, places partition or gear piece in fitting box；
Step 11：Multiple circulation step 9,10.
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| CN201410356149.3A CN104139290B (en) | 2014-07-18 | 2014-07-18 | A kind of automatic arranging, the method for assembling |
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|---|---|---|---|
| CN201410356149.3A CN104139290B (en) | 2014-07-18 | 2014-07-18 | A kind of automatic arranging, the method for assembling |
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| CN104139290B true CN104139290B (en) | 2017-08-29 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106425471A (en) * | 2016-12-06 | 2017-02-22 | 江苏理工学院 | Automatic assembly production line of screws, plastic sheets and fan heat pipe assemblies |
| CN109352293B (en) * | 2018-08-13 | 2020-05-26 | 厦门强力巨彩光电科技有限公司 | Automatic manipulator assembly line of LED display screen module |
| CN109516133A (en) * | 2019-01-08 | 2019-03-26 | 慈溪宏康汽车零部件有限公司 | Pneumatic device and processing workpiece method for the partition of conveyer belt workpiece |
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| GB1050473A (en) * | 1900-01-01 | |||
| JP4569978B1 (en) * | 2009-03-23 | 2010-10-27 | キヤノン株式会社 | Color electrophotographic image forming apparatus |
| CN102180276A (en) * | 2011-04-15 | 2011-09-14 | 广东粤东机械实业有限公司 | Pipe sealing and bag manufacturing filling machine |
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| CN202726463U (en) * | 2012-07-13 | 2013-02-13 | 朱云青 | Magnetic core screening vibration disc and device for automatically assembling magnetic core and solenoid |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100028870A (en) * | 2008-09-05 | 2010-03-15 | 서종인 | Apparatus for automatically feeding and fitting bolt and washer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1050473A (en) * | 1900-01-01 | |||
| JP4569978B1 (en) * | 2009-03-23 | 2010-10-27 | キヤノン株式会社 | Color electrophotographic image forming apparatus |
| CN102376904A (en) * | 2010-08-12 | 2012-03-14 | 中山天贸电池有限公司 | Automatic assembling machine of battery cover and assembling method therefor |
| CN102180276A (en) * | 2011-04-15 | 2011-09-14 | 广东粤东机械实业有限公司 | Pipe sealing and bag manufacturing filling machine |
| CN202726463U (en) * | 2012-07-13 | 2013-02-13 | 朱云青 | Magnetic core screening vibration disc and device for automatically assembling magnetic core and solenoid |
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| CN104139290A (en) | 2014-11-12 |
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