CN105108739A - Multifunctional object taking and unloading mechanism and object taking and unloading scheme - Google Patents
Multifunctional object taking and unloading mechanism and object taking and unloading scheme Download PDFInfo
- Publication number
- CN105108739A CN105108739A CN201510620534.9A CN201510620534A CN105108739A CN 105108739 A CN105108739 A CN 105108739A CN 201510620534 A CN201510620534 A CN 201510620534A CN 105108739 A CN105108739 A CN 105108739A
- Authority
- CN
- China
- Prior art keywords
- adhesive sticker
- bonding plate
- unloading
- fixed
- plate
- 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
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 62
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000008859 change Effects 0.000 claims abstract description 11
- 239000000853 adhesive Substances 0.000 claims description 58
- 230000001070 adhesive effect Effects 0.000 claims description 56
- 238000010068 moulding (rubber) Methods 0.000 claims description 11
- 230000032258 transport Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 239000003292 glue Substances 0.000 abstract description 2
- 238000007599 discharging Methods 0.000 abstract 2
- 230000035699 permeability Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a multifunctional object taking and unloading mechanism and an object taking and unloading scheme. The side part of the connecting and fixing plate is vertically provided with a guide pillar, and the connecting and fixing plate is fixed with a telescopic rod cylinder body; the lower end of the die head is fixed with a discharging rod, the die head is provided with a vertical guide sleeve corresponding to the position of the guide pillar, the lower section of the guide pillar penetrates through the guide sleeve to be connected with a material bonding plate, the material bonding plate is provided with a through hole corresponding to the discharging rod, a detection sensor is arranged on the side of the material bonding plate, and a glue changing die mechanism is arranged on the side part connecting the fixed plate and the material bonding plate. The advantages are that it is suitable for quick, standard position, safe and automatic holding and unloading of various physical objects with air permeability, softness and smooth surface, etc. and can automatically change the rubber mould. The structure is simple and compact, and the cost is lower; realizes the automation of the transportation and production processes and is suitable for various automatic machines.
Description
Technical field
The present invention relates to a kind of Robotics, particularly a kind of multi-functional unloading object mechanism and unloading object scheme.Can fast, location criteria hold unload ventilative, soft, concave-convex surface coarse, the multiple physical form object such as resilient object, smooth surface.
Background technology
Along with the develop rapidly of Robotics, according to the needs of clipped object part shape, size variation, the design as the executing agency of robots arm's end becomes more and more unique and important.But in traditional ventilative, soft, resilient object process that concave-convex surface is coarse, still adopt artificial material-feeding and fetching, inefficiency, the shortcomings such as labor cost is high;
At present, hand (being used to the parts grasping workpiece or the instrument) version of manipulator: clamp-type, holding type and absorbent-type.These manipulator shortcomings at present: during clamp-type hand clamping soft elements, when object is placed, position is inaccurate; Holding type hand can not overturn object and position is inaccurate; Attraction-type hand difficulty grasps ventilative, the coarse object of concave-convex surface.
The hand of existing machinery hand, to clothes automatic manufacturing process, handling are ventilative, soft cloth, concave-convex surface are coarse and the slide fastener of softness, flexible sponge ventilative again, elastic cord, ganoid clothes manufacture the handling of the multiple physical form objects such as auxiliary material, are difficult to realize with the hand of existing single manipulator.
Therefore, design a kind of can fast, location criteria holding to unload ventilative, soft, resilient object and can hold again that to unload mechanism that smooth surface clothes manufacture auxiliary material be very necessary and there is practicality: had such end to hold release mechanism, manipulator is got for holding of such object, mobile and unload and will become more efficient and convenient.
Summary of the invention
To prior art Problems existing, the object of the invention is to: design provides a kind of multi-functional unloading object mechanism and unloading object scheme, this multi-functional unloading object mechanism and unloading object scheme fast, location criteria can hold the object unloading the multiple kenels such as ventilative, soft, concave-convex surface is coarse, smooth surface.
The present invention is achieved through the following technical solutions above-mentioned purpose:
The present invention relates to a kind of multi-functional unloading object mechanism and unloading object scheme, comprise and be connected and fixed plate, unload object mechanism, bonding plate, object supporting plate, detection sensor device, change rubber moulding mechanism.Change rubber moulding mechanism and comprise adhesive sticker mould, positioning rotating shaft, adhesive sticker mould sending and receiving wheel, motor, wheel support.Be connected and fixed plate sidepiece and vertically guide pillar be housed, link fixed head and be fixed with expansion link cylinder body; Die head is fixed in expansion link lower end, discharge arm is fixed in die head lower end, die head is provided with the vertical through holes guide pin bushing corresponding with guide pillar position, guide pillar hypomere is connected with bonding plate through guide pin bushing endoporus, bonding plate is located at below die head, bonding plate is provided with the through hole corresponding with discharge arm, and detection sensor device is equipped with in bonding plate side, and bonding plate both sides are provided with rotating positioning rotating shaft; Link fixed head both sides and be provided with wheel support, the wheel support other end is provided with rotating adhesive sticker mould sending and receiving wheel, a coiling of adhesive sticker mould is taken turns in left side adhesive sticker mould sending and receiving, other end pile warp is crossed below left positioning rotating shaft, bonding plate, right positioning rotating shaft is rolled up and taken turns in the right adhesive sticker mould sending and receiving, wheel support is fixed with motor, and adhesive sticker mould sending and receiving wheel and machine shaft connect.
Further, above-mentioned structure of unloading object mechanism is: be connected and fixed plate sidepiece and vertically guide pillar be housed, link fixed head and be fixed with expansion link cylinder body, die head is fixed in expansion link lower end, and discharge arm is fixed in die head lower end, and die head is provided with the vertical through holes guide pin bushing corresponding with guide pillar position, guide pillar hypomere is connected with bonding plate through guide pin bushing endoporus, bonding plate is located at below die head, and bonding plate is provided with the through hole corresponding with discharge arm, and bonding plate side is equipped with detection sensor device.
Further, above-mentioned structure of changing rubber moulding mechanism is: bonding plate side is equipped with detection sensor device, and bonding plate both sides are provided with rotating positioning rotating shaft; Link fixed head both sides and be provided with wheel support, the wheel support other end is provided with rotating adhesive sticker mould sending and receiving wheel, a coiling of adhesive sticker mould is taken turns in left side adhesive sticker mould sending and receiving, other end pile warp is crossed below left positioning rotating shaft, bonding plate, right positioning rotating shaft is rolled up and taken turns in the right adhesive sticker mould sending and receiving, wheel support is fixed with motor, and adhesive sticker mould sending and receiving wheel and machine shaft connect.
Further, the upper surface of above-mentioned adhesive sticker mould is glue-free surface, adhesive sticker mould 8 lower surface be adhesive sticker.
Further, above-mentioned unloading object scheme is: unload object mechanism (2) and change rubber moulding mechanism and be collectively referred to as arm end mechanism, arm end mechanism kinematic is to object supporting plate (5) top of getting article position, detection sensor device (7) detects on object supporting plate (5) object (4), and signal is passed to Manipulator Controller, controller commander's motor (11) rotates, the adhesive sticker mould (8) corresponding with object (4) is gone to bonding plate (3) below, then, the downward fortune merit of arm end mechanism is moved, adhesive sticker mould (8) pressure of arm end mechanism least significant end and object (4), then, arm end mechanism upwards transports merit and moves, simultaneously, detection sensor device (7) detects bonding plate (3) below whether object (4) and whether position is normal, if bonding plate (3) does not have object (4) below, then controller commander's motor (11) rotates, gone in adhesive sticker mould sending and receiving wheel (10) on the right with the adhesive sticker mould (8) crossed, then, arm end mechanism moves downward pressure and object (4) again, if malposition is often just reported to the police, if normal, signal to the controller of automation machine, controller controls manipulator tail house and continues to move to and unload object district, what controller signaled to expansion link (22) controls switch, expansion link (22) is stretched downwards and drives the following of discharge arm (24) to push up down object (4) mutually, object (4) top from bonding plate (3), object (4) unloads, then, expansion link (22) extends upwardly and drives discharge arm (24) head to get back to through hole (6) the inside, arm end mechanism moves upward, detection sensor device detects on bonding plate (3) does not have object, object supporting plate (5) top of getting article position is got back to by arm end mechanism, go round and begin again, automatically complete object (4) unloading.
Outstanding feature of the present invention is: fast, location criteria can hold and unload ventilative, soft, flexible object and can hold again and unload smooth surface object.Can be directly installed on process equipment and use, certainly can move rubber moulding, hold unload object fast, location criteria, increase work efficiency, substitute manual operation, reduce labor cost, improve safety guarantee, cost is low.Realize the automation of carrying, production process, be applicable to polytype automation machine.
Accompanying drawing explanation
Fig. 1 of the present inventionly faces structural representation.
Fig. 2 be of the present invention unload object mechanism and bonding plate look up structural representation.
Fig. 3 is the plan structure schematic diagram of upper part of the present invention.
In figure: 1-links fixed head; 2-unloads object mechanism; 3-bonding plate; 21-die head; 22-expansion link; 23-expansion link cylinder body; 24-discharge arm; 25-guide pillar; 26-guide pin bushing; 4-object; 5-object supporting plate; 6-through hole; 7-detection sensor device; 8-adhesive sticker mould; 9-positioning rotating shaft; The sending and receiving of 10-adhesive sticker mould are taken turns; 11-motor; 12-wheel support.
Detailed description of the invention
Under below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
See Fig. 1-3: the present invention relates to a kind of multi-functional unloading object mechanism and unloading object scheme, comprise be connected and fixed plate 1, unload object mechanism 2, bonding plate 3, object supporting plate 5, detection sensor device 7, adhesive sticker mould 8, positioning rotating shaft 9, adhesive sticker mould sending and receiving wheel 10, motor 11, wheel support 12.
Above-mentioned object mechanism 2 of unloading comprises die head 21, expansion link 22, expansion link cylinder body 23, discharge arm 24, guide pillar 25.
Above-mentioned detection sensor device 7, adhesive sticker mould 8, positioning rotating shaft 9, adhesive sticker mould sending and receiving wheel 10, motor 11, wheel support 12 belong to and change rubber moulding mechanism.
Above-mentioned object can comprise the auxiliary items and clothes materials that make clothes.
The structure of the specific embodiment of the invention is: be connected and fixed plate 1 sidepiece and guide pillar 25 is vertically housed, and links fixed head 1 and is fixed with expansion link cylinder body 23; Die head 21 is fixed in expansion link 22 lower end, and discharge arm 24 is fixed in die head 21 lower end, and die head 21 is provided with the vertical through holes guide pin bushing 26 corresponding with guide pillar 25 position, and guide pillar 25 hypomere is connected with bonding plate 3 through guide pin bushing 26 endoporus, and bonding plate 3 is located at below die head 21; Bonding plate 3 is provided with the through hole 6 corresponding with discharge arm 24, and detection sensor device 7 is equipped with in bonding plate 3 side, and bonding plate 3 both sides are provided with rotating positioning rotating shaft 9, and positioning rotating shaft 9 passes on location for adhesive sticker mould 9; Link fixed head 1 both sides and be provided with wheel support 12, wheel support 12 other end is provided with rotating adhesive sticker mould sending and receiving wheel 10, the adhesive sticker mould that a coiling of the adhesive sticker mould 8 adhesive sticker mould sending and receiving wheel 10(coiling in the left side is new), other end pile warp is crossed below the positioning rotating shaft 9 on the left side, bonding plate 3, the adhesive sticker mould sending and receiving wheel 10(coiling used viscosity bad adhesive sticker mould of positioning rotating shaft 9 volume in the right on the right); The upper surface of adhesive sticker mould 8 is glue-free surfaces, and the some locations of adhesive sticker mould 8 lower surface has glue; Wheel support 12 is fixed with motor 11, and adhesive sticker mould sending and receiving wheel 10 is driven by motor 11 and stops, and the switch signal line controlling motor 11 connects Manipulator Controller.
By the unloading object scheme of multi-functional unloading object mechanism of the present invention be: unload object mechanism 2 and change rubber moulding mechanism and be collectively referred to as arm end mechanism, above arm end mechanism kinematic to the object supporting plate 5 getting article position, detection sensor device 7 detects on object supporting plate 5 object 4, and signal is passed to Manipulator Controller, controller commander motor 11 rotates, the adhesive sticker mould 8 corresponding with object 4 is gone to below bonding plate 3, then, the downward fortune merit of arm end mechanism is moved, the adhesive sticker mould 8 of arm end mechanism least significant end is pressed and object 4, then, arm end mechanism upwards transports merit and moves, simultaneously, detection sensor device 7 to detect below bonding plate 3 whether object 4 and whether position is normal, if bonding plate 3 does not have object 4 below, then controller commander motor 11 rotates, going on the adhesive sticker mould sending and receiving wheel 10 on the right with the adhesive sticker mould 8 crossed, then, arm end mechanism moves downward pressure and object 4 again, if malposition is often just reported to the police, if normal, signal to the controller of automation machine, controller controls manipulator tail house and continues to move to and unload object district, what controller signaled to expansion link 22 controls switch, expansion link 22 is stretched downwards and drives the following of discharge arm 24 lower top object 4 mutually, object 4 is pushed up from bonding plate 3, object 4 unloads, then, expansion link 22 extends upwardly and drives discharge arm 24 to get back to inside through hole 6, arm end mechanism moves upward, detection sensor device detects on bonding plate 3 does not have object, arm end mechanism get back to get article position object supporting plate 5 above, go round and begin again, automatically complete object 4 unloading.
Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.
Claims (5)
1. multi-functional unloading object mechanism and unloading object scheme, is characterized in that: comprise and be connected and fixed plate, unload object mechanism, bonding plate, object supporting plate, detection sensor device, change rubber moulding mechanism, unloading object scheme; Change rubber moulding mechanism and comprise adhesive sticker mould, positioning rotating shaft, adhesive sticker mould sending and receiving wheel, motor, wheel support; Be connected and fixed plate sidepiece and vertically guide pillar be housed, link fixed head and be fixed with expansion link cylinder body, die head is fixed in expansion link lower end, discharge arm is fixed in die head lower end, die head is provided with the vertical through holes guide pin bushing corresponding with guide pillar position, guide pillar hypomere is connected with bonding plate through guide pin bushing endoporus, and bonding plate is located at below die head, and bonding plate is provided with the through hole corresponding with discharge arm; Bonding plate side is equipped with detection sensor device; Bonding plate both sides are provided with rotating positioning rotating shaft; Link fixed head both sides and be provided with wheel support, the wheel support other end is provided with rotating adhesive sticker mould sending and receiving wheel, a coiling of adhesive sticker mould is taken turns in left side adhesive sticker mould sending and receiving, other end pile warp is crossed below left positioning rotating shaft, bonding plate, right positioning rotating shaft is rolled up and taken turns in the right adhesive sticker mould sending and receiving, wheel support is fixed with motor, and adhesive sticker mould sending and receiving wheel and machine shaft connect.
2. multi-functional unloading object mechanism according to claim 1 and unloading object scheme, it is characterized in that: described in unload object mechanism structure be: be connected and fixed plate sidepiece and vertically guide pillar be housed, link fixed head and be fixed with expansion link cylinder body, die head is fixed in expansion link lower end, discharge arm is fixed in die head lower end, die head is provided with the vertical through holes guide pin bushing corresponding with guide pillar position, guide pillar hypomere is connected with bonding plate through guide pin bushing endoporus, bonding plate is located at below die head, bonding plate is provided with the through hole corresponding with discharge arm, and bonding plate side is equipped with detection sensor device.
3. multi-functional unloading object mechanism according to claim 1 and unloading object scheme, is characterized in that: described in change rubber moulding mechanism structure be: bonding plate side is equipped with detection sensor device, and bonding plate both sides are provided with rotating positioning rotating shaft; Link fixed head both sides and be provided with wheel support, the wheel support other end is provided with rotating adhesive sticker mould sending and receiving wheel, the adhesive sticker mould sending and receiving of a coiling in the left side of adhesive sticker mould are taken turns, other end pile warp is crossed below the positioning rotating shaft on the left side, bonding plate, the positioning rotating shaft on the right, the finally adhesive sticker mould sending and receiving of volume due to the right are taken turns, wheel support is fixed with motor, and adhesive sticker mould sending and receiving wheel and machine shaft connect.
4. multi-functional unloading object mechanism according to claim 1 and unloading object scheme, is characterized in that: the upper surface of described adhesive sticker mould is glue-free surface, adhesive sticker mould 8 lower surface be adhesive sticker.
5. multi-functional unloading object mechanism according to claim 1 and unloading object scheme, it is characterized in that: described unloading object scheme is: unload object mechanism (2) and change rubber moulding mechanism and be collectively referred to as arm end mechanism, arm end mechanism kinematic is to object supporting plate (5) top of getting article position, detection sensor device (7) detects on object supporting plate (5) object (4), and signal is passed to Manipulator Controller, controller commander's motor (11) rotates, the adhesive sticker mould (8) corresponding with object (4) is gone to bonding plate (3) below, then, the downward fortune merit of arm end mechanism is moved, adhesive sticker mould (8) pressure of arm end mechanism least significant end and object (4), then, arm end mechanism upwards transports merit and moves, simultaneously, detection sensor device (7) detects bonding plate (3) below whether object (4) and whether position is normal, if bonding plate (3) does not have object (4) below, then controller commander's motor (11) rotates, gone in adhesive sticker mould sending and receiving wheel (10) on the right with the adhesive sticker mould (8) crossed, then, arm end mechanism moves downward pressure and object (4) again, if malposition is often just reported to the police, if normal, signal to the controller of automation machine, controller controls manipulator tail house and continues to move to and unload object district, what controller signaled to expansion link (22) controls switch, expansion link (22) is stretched downwards and drives the following of discharge arm (24) to push up down object (4) mutually, object (4) top from bonding plate (3), object (4) unloads, then, expansion link (22) extends upwardly and drives discharge arm (24) head to get back to through hole (6) the inside, arm end mechanism moves upward, detection sensor device detects on bonding plate (3) does not have object, object supporting plate (5) top of getting article position is got back to by arm end mechanism, go round and begin again, automatically complete object (4) unloading.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510620534.9A CN105108739B (en) | 2015-09-26 | 2015-09-26 | Multifunctional object taking and unloading mechanism and object taking and unloading scheme |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510620534.9A CN105108739B (en) | 2015-09-26 | 2015-09-26 | Multifunctional object taking and unloading mechanism and object taking and unloading scheme |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105108739A true CN105108739A (en) | 2015-12-02 |
| CN105108739B CN105108739B (en) | 2017-04-26 |
Family
ID=54656961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510620534.9A Active CN105108739B (en) | 2015-09-26 | 2015-09-26 | Multifunctional object taking and unloading mechanism and object taking and unloading scheme |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105108739B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760089A (en) * | 2019-01-10 | 2019-05-17 | 广东美的智能机器人有限公司 | Manipulator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02190287A (en) * | 1989-01-19 | 1990-07-26 | Canon Inc | General purpose finger |
| JP2001085896A (en) * | 1999-09-17 | 2001-03-30 | Matsushita Electric Ind Co Ltd | Transferring head of electronic component |
| EP2740572A1 (en) * | 2012-12-05 | 2014-06-11 | OMAC S.r.l. | Machine for processing leather goods |
| CN203638861U (en) * | 2013-11-15 | 2014-06-11 | 昆山皇田汽车配件工业有限公司 | Device for sticking double-face adhesive tape to cloth curtain |
| CN204124765U (en) * | 2014-10-17 | 2015-01-28 | 广州市粤隆自动化机械设备有限公司 | One gets cloth apparatus automatically |
| CN204450559U (en) * | 2015-03-11 | 2015-07-08 | 衢州市立掏智能科技有限公司 | Arm end mechanism |
| CN204935644U (en) * | 2015-09-26 | 2016-01-06 | 沈昌余 | Multifunctional article taking and unloading mechanism |
-
2015
- 2015-09-26 CN CN201510620534.9A patent/CN105108739B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02190287A (en) * | 1989-01-19 | 1990-07-26 | Canon Inc | General purpose finger |
| JP2001085896A (en) * | 1999-09-17 | 2001-03-30 | Matsushita Electric Ind Co Ltd | Transferring head of electronic component |
| EP2740572A1 (en) * | 2012-12-05 | 2014-06-11 | OMAC S.r.l. | Machine for processing leather goods |
| CN203638861U (en) * | 2013-11-15 | 2014-06-11 | 昆山皇田汽车配件工业有限公司 | Device for sticking double-face adhesive tape to cloth curtain |
| CN204124765U (en) * | 2014-10-17 | 2015-01-28 | 广州市粤隆自动化机械设备有限公司 | One gets cloth apparatus automatically |
| CN204450559U (en) * | 2015-03-11 | 2015-07-08 | 衢州市立掏智能科技有限公司 | Arm end mechanism |
| CN204935644U (en) * | 2015-09-26 | 2016-01-06 | 沈昌余 | Multifunctional article taking and unloading mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760089A (en) * | 2019-01-10 | 2019-05-17 | 广东美的智能机器人有限公司 | Manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105108739B (en) | 2017-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106602126B (en) | Battery core matches rubberizing system | |
| CN107672283B (en) | Automatically release paper equipment is torn | |
| CN205397495U (en) | Automatic material loading machine of piston work piece based on machine vision | |
| CN110315567B (en) | Rigid-flexible coupling joint egg picking soft manipulator | |
| CN106737614B (en) | Soft material intelligent grabbing device | |
| US20140238617A1 (en) | System and method for removal of a layer | |
| CN209682778U (en) | Automatic-feeding heating device and automatic injection production system | |
| CN102975471B (en) | Tearing-pasting film device | |
| CN111056272A (en) | Production equipment of unloader and through-flow fan blade | |
| CN209002231U (en) | A kind of Air Filter assembling device convenient for operation | |
| CN102975016A (en) | Servo clamping mechanism and mouse assembling system with robot | |
| JP2019111806A (en) | Method and apparatus for molding composite ply on outlined tool surface | |
| CN204935644U (en) | Multifunctional article taking and unloading mechanism | |
| CN205364373U (en) | Bearing is moulded plastics and is put tongs with automatic getting | |
| CN204450559U (en) | Arm end mechanism | |
| CN104670862A (en) | Diverting system | |
| CN105108739A (en) | Multifunctional object taking and unloading mechanism and object taking and unloading scheme | |
| CN207027510U (en) | A kind of manipulator for numerical control machine | |
| CN205035622U (en) | Clothing sewing manipulator mechanism | |
| CN207942153U (en) | Feeding positioning device and drawing case assemble equipment | |
| CN205023587U (en) | Loading and unloading machine of preparation clothing constructs | |
| CN102962662B (en) | Tail cover and locating snap ring automatic assembling machine | |
| CN205415623U (en) | Concrete specimen test robot | |
| CN106466848A (en) | Manipulator tail end mechanism and material taking and discharging scheme | |
| CN209050477U (en) | A kind of automatic charging equipment in auto parts and components production process |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191129 Address after: 233010 No. 409 Wuwan Road, Yuhui District, Bengbu City, Anhui Province Patentee after: Bengbu Jinshi New Material Co., Ltd. Address before: 325000, No. 17, three Hall Lane, Lucheng District, Zhejiang, Wenzhou Patentee before: Shen Changyu |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200515 Address after: 221600 East of Hanxing Road, Peixian Economic Development Zone, Xuzhou City, Jiangsu Province Patentee after: Xuzhou Kerui Photovoltaic Co.,Ltd. Address before: 233010 No. 409 Wuwan Road, Yuhui District, Bengbu City, Anhui Province Patentee before: BENGBU JINSHI NEW MATERIAL Co.,Ltd. |