CN105397974A - Multifunctional mechanical gripper used for pre-burying and injection moulding of metal workpieces - Google Patents
Multifunctional mechanical gripper used for pre-burying and injection moulding of metal workpieces Download PDFInfo
- Publication number
- CN105397974A CN105397974A CN201510883945.7A CN201510883945A CN105397974A CN 105397974 A CN105397974 A CN 105397974A CN 201510883945 A CN201510883945 A CN 201510883945A CN 105397974 A CN105397974 A CN 105397974A
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- China
- Prior art keywords
- handgrip
- metalwork
- finished product
- gate waste
- lding
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14008—Inserting articles into the mould
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14008—Inserting articles into the mould
- B29C2045/14049—Inserting articles into the mould feeding inserts by a swing arm
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The invention belongs to the field of automatic equipment and intelligent robots, and specifically relates to a multifunctional mechanical gripper used for pre-burying and injection moulding of metal workpieces. The multifunctional mechanical gripper is arranged at the tail end of an industrial robot, and is used for fetching and placing materials. The multifunctional mechanical gripper is characterized by comprising a fixed base and metal workpiece grippers, finished product grippers and degraded material grippers which are arranged on the fixed base; the finished product grippers and the degraded material grippers move forwards or backwards through linear moving units, so that the metal workpiece grippers, the finished product grippers and the degraded material grippers do not interfere with one another; and each metal workpiece gripper consists of a clamping mechanism and a push-out mechanism. By adopting the multifunctional mechanical gripper disclosed by the invention, the automatic working degree is improved, and the labor intensity is lowered; the application range is wide, and the grippers can be changed according to the shapes of materials, so that synchronous gripping of multiple types of materials is realized; and safety loopholes are avoided, and the reliability of material feeding and discharging of the mechanical gripper is improved.
Description
Technical field
The invention belongs to automation equipment and field in intelligent robotics, be specifically related to a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork.
Background technology
China's conventional industries occupy the principal status of public economy for a long time in national economy, play fundamental role to socio-economic development.Give full play to the multiplicity effect of industrial automation technology, the production and service of conventional industries have and improves automation, intelligent level, Improving The Quality of Products, increase economic benefit, promoting the effect of developing pattern upgrading, is the strategic act realizing Economic Development Mode transformation.Industrial automation technology promotes thinking and the emphasis of conventional industries.
The pre-buried injection molding process of metal current, mainly realizes by people.Operator captures metal embedded part, puts into mould, then control forming bench do plastic cement injection, finally by staff take out finished product.There is following defect in above-mentioned prior art:
1. human cost is high;
2. time cost is high;
3. precision is low: by human eye location, people's hand operated;
4. repeated labor, inefficiency;
5. easily there is maloperation: mould of easily wounding, breaks product;
6. dangerous: to need staff to enter into forming bench built-in function, casualties may occur.
Summary of the invention
In order to overcome above-mentioned defect, the invention provides a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, this multi-functional mechanical handgrip being used for metal Preembedded can substitute manpower completely and complete loading and unloading action, advantages such as having reducing costs, shorten man-hour, precision is higher, not easily make mistakes and ensure safety.
To achieve these goals, the technical solution adopted in the present invention is: a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, be installed on industrial machine robot end, pick and place for material, it is characterized in that, by holder, the metalwork handgrip being installed on holder, finished product handgrip and gate waste handgrip, make finished product handgrip by linear motion unit and gate waste handgrip is preposition or retreat to make metalwork handgrip, finished product handgrip and gate waste handgrip mutually not interfere; Described metalwork handgrip is made up of clamping device and ejecting mechanism.
Aforesaid a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, described clamping device is linked in sequence is formed by gripper cylinder, tractive unit, claw hook, and claw hook and claw hook spring are fitted and arranged; Metalwork handgrip is when gripper cylinder is not operating, and claw hook is in closure state under claw hook spring action; During gripper cylinder action, promote claw hook rotation by tractive unit and claw hook is opened, after crawl metalwork completes, gripper cylinder is regained, and claw hook recovers closure state and grip part under claw hook spring action.
Aforesaid a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, described ejecting mechanism by releasing cylinder, push away post and form, release cylinder action drive and push away post and released by metalwork after claw hook opens.
Aforesaid a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, first feed rod is arranged on holder, finished product handgrip and gate waste handgrip are arranged on Connection Block, and Connection Block drives finished product handgrip and gate waste handgrip to seesaw along the first feed rod under the effect of linear motion unit; When metalwork handgrip is in running order, finished product handgrip and gate waste handgrip are return at whole group of mechanical gripper rear portion under linear motion unit effect; After the work of metalwork handgrip completes, finished product handgrip and gate waste handgrip are at linear motion unit move under influence to whole group of mechanical gripper foremost, in running order.
Aforesaid a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, the folding of finished product handgrip is realized by the opening and closing movement of Pneumatic clamping jaw, end and the injection-molded article contact portion of finished product handgrip are equipped with rubber strip, precompressed dististyle elastic is under the action of the spring equipped with in the middle of finished product handgrip, before finished product handgrip is closed, precompressed dististyle pushes down injection-molded article.
Aforesaid a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, the folding of gate waste handgrip is realized by the opening and closing movement of Pneumatic clamping jaw, end and the gate waste contact portion of gate waste handgrip are equipped with rubber strip, gate waste handgrip is provided with gate waste precompressed dististyle elastic under the action of the spring, before gate waste handgrip is closed, gate waste precompressed dististyle pushes down gate waste.
Aforesaid a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, described linear motion unit includes but not limited to tilt cylinder, Rodless cylinder.
Aforesaid a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, metalwork handgrip is provided with the second feed rod, linear bearing on second feed rod and holder coordinates, by the effect of buffer spring, metalwork handgrip slowly can be moved along holder vertical direction when being subject to External Force Acting.
Aforesaid a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, described metalwork is provided with the locating hole cooperatively interacted with locating dowel, and described locating dowel is through metalwork.
The present invention adopts metalwork handgrip, finished product handgrip and gate waste handgrip, achieves picking and placeing and the taking-up function of product and gate waste after injection mo(u)lding of metalliferous material, improves automated job degree, reduce labour intensity; Applied range, can change handgrip according to material shapes, realizes various materials and captures simultaneously; The precompressed dististyle of the ejecting mechanism of metalwork handgrip and clamping device, finished product handgrip and gate waste handgrip and the structural design that three kinds of handgrips are not interfered mutually, evaded potential safety hazard, improve the reliability of mechanical gripper feeding, discharge.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 and Fig. 3 is mechanical gripper structure chart;
Fig. 4 is metalwork handgrip and fixed seat structure figure;
Fig. 5 is the clamping device structure chart of metalwork handgrip;
Fig. 6 is the ejecting mechanism structure chart of metalwork handgrip;
Fig. 7 is finished product handgrip and gate waste gripping structure figure;
Fig. 8 is the claw hook open configuration schematic diagram of metalwork handgrip;
Fig. 9 is three kinds of handgrip working state schematic representations;
Figure 10 is metalwork handgrip partial structurtes schematic diagrames.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
For a multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, be arranged on industrial machine robot end, what realize material as end effector picks and places object, as shown in Figure 1.
For a multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, the main function components such as metalwork handgrip 3, finished product handgrip 4, gate waste handgrip 5 be arranged symmetrically with by a holder 2, four groups is formed, as shown in Figure 1 and Figure 2.Holder 2 vertical plane is equipped with two guide pillars 6, plays guide effect.
Holder 2 is connected and fixed by flange and robot 1, plays the effect of fixed support.
Four groups of metalwork handgrips 3 are distributed on holder 2, as shown in Figure 4.Two the second feed rods 24 on metalwork handgrip 3 coordinate with the linear bearing of two on holder 2 (linear bearing is made up of the position contacted with the second feed rod on holder); as shown in Figure 10; by the effect of pre-compressed spring; make metalwork handgrip 3 when being subject to External Force Acting; upwards slowly can move along holder 2 vertical direction, play the effect of buffer protection holder 2.Contiguous block 29 is connected with the second feed rod 24 by buffer spring, and the other end connects whole metalwork handgrip 3 simultaneously, and metalwork handgrip 3 and contiguous block 29 can slide (show as in Fig. 10 and move up and down) along with the second feed rod 24 along linear bearing.Second feed rod 24 is connected with one end of buffer spring 27, and the buffer spring other end is fixed on contiguous block.When metalwork handgrip is not by external force, mechanical position limitation post 28, under the precompression effect of buffer spring 27, contacts with holder 2.When metalwork handgrip 3 is subject to external force, buffer spring 27 continues compression, and mechanical position limitation post 28 no longer contacts with holder 2.
Metalwork handgrip 3 is made up of clamping device and ejecting mechanism two parts, respectively as shown in Figure 5, Figure 6.Clamping device is by gripper cylinder 10, and connector 11, locating dowel 12, claw hook 13 is formed.Metalwork 14 is the product captured.
According to Fig. 8, metalwork handgrip 3 is when gripper cylinder 10 is not operating, and three claw hooks 13 are in closure state under respective claw hook spring action.During gripper cylinder 10 action, under connector 11 acts on, promote three claw hooks 13 simultaneously, claw hook is opened, capture metalwork 14, and with after locating dowel positioning metal part, gripper cylinder 10 is regained, three claw hooks recover closure state, grip part 14 under respective claw hook spring action.Metalwork 14 there is locating hole, and locates 12 and coordinate and play positioning action.The claw hook spring of precompressed is housed in spring card slot 25, and each claw hook spring and each claw hook are fitted and are arranged, when needs metalwork handgrip opens, gripper cylinder 10 regains tractive unit 11(and tractive unit is moved to the left), three claw hooks 13 are rotated around rotating shaft 26, now metalwork handgrip opens, as shown in Figure 8.When needs metalwork handgrip closes, gripper cylinder 10 stretches out (even if tractive unit moves right), and under the claw hook spring action in spring card slot 25, three claw hooks 13 turn clockwise around rotating shaft 26 respectively, makes claw hook 13 closed with grip part.The effect of claw hook spring can ensure that each claw hook 13 is stressed respectively, ensures that respective claw hook is completely closed.Namely, when each claw hook 13 closes, not by the impact of other claw hooks, ensure that the closure effect of each claw hook.
The ejecting mechanism of metalwork handgrip 3 as shown in Figure 6, pushes away post 15 by release 16, three, cylinder and forms.After gripper cylinder 10 action of clamping device, claw hook is in open mode.Now release cylinder 16 action, drive three to push away post 15 and three metalworks 14 are released.
Four composition product handgrips 4, gate waste handgrip 5 are distributed on holder 2, as shown in Figure 2 and Figure 9.First feed rod 8 is arranged on holder 2, and finished product handgrip 4 and gate waste handgrip 5 are arranged on Connection Block 7, and Connection Block 7, under the effect of Rodless cylinder 9, drives finished product handgrip 4 and gate waste handgrip 5 to move along the bearing of trend being parallel to the first feed rod 8.In fig .9, show as finished product handgrip 4 and gate waste handgrip 5 and follow Connection Block 7 and move up and down, and Connection Block 7 is followed Rodless cylinder 9 and moved up and down.When metalwork handgrip 3 is in running order, finished product handgrip 4 and gate waste handgrip 5 are return at whole group of mechanical gripper rear portion under Rodless cylinder 9 acts on, and are in the top in Fig. 9; Now metalwork handgrip 3 is positioned at total foremost, and namely the bottom of Fig. 9, in running order.After metalwork handgrip 3 has worked, finished product handgrip 4 and gate waste handgrip 5 are at Rodless cylinder 9 move under influence to whole group of mechanical gripper foremost, be in the bottom in Fig. 9, in running order, and now metalwork handgrip is positioned at the top of finished product handgrip and gate waste handgrip.Finished product handgrip is not connected with gate waste handgrip, and it corresponds to different Connection Block parts, and different Connection Blocks can be linked to be entirety also separable setting, but all Connection Blocks move up and down by Rodless cylinder drive.Metalwork handgrip 3 can not work with other two kinds of handgrips simultaneously.
Finished product handgrip 4 is for the finished product after gripping injection mo(u)lding.The folding of finished product handgrip 4 is realized under the opening and closing movement of Pneumatic clamping jaw 17.End and injection-molded article 20 contact portion of finished product handgrip 4 are equipped with rubber strip, play protection effect, increase mutual frictional force simultaneously, prevent injection-molded article 20 from coming off to injection-molded article 20.Precompressed dististyle 19 is equipped with in the middle of finished product handgrip 4, can be elastic under the effect of spring 18, and before finished product handgrip 4 is closed, precompressed dististyle 19 can push down injection-molded article 20, prevents it from coming off.
Gate waste handgrip 5 operation principle is identical with finished product handgrip 4, and 23 is gate waste precompressed dististyle, and 22 is gate waste.
Applied range of the present invention, can change handgrip according to material shapes, realizes various materials and captures simultaneously.The inventive method is simple, is easy to operation, uses reliable.The present invention captures while can realizing pre-embedding metal part, injection-molded article, gate waste.
Rodless cylinder 9 can realize the preposition or retrogressing of finished product handgrip 4 and gate waste handgrip 5, the handgrip be in work in three kinds of handgrips 3,4,5 is placed in foremost, prevents other handgrips from interfering.Other modes realize the equal alternative of this object, as the mechanism using tilt cylinder or other straight line units to replace Rodless cylinder 9, and need within this patent protection domain.
The ejecting mechanism of metalwork handgrip 3, ensure that reliability when metalwork is decontroled, and simultaneously ejecting mechanism can make that three metalworks are more convenient to be pushed in mould reliably.
Above-described embodiment does not limit the present invention in any form, the technical scheme that the mode that all employings are equal to replacement or equivalent transformation obtains, and all drops on protection scope of the present invention.
Claims (9)
1. the multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork, be installed on industrial machine robot end, pick and place for material, it is characterized in that, by holder, the metalwork handgrip being installed on holder, finished product handgrip and gate waste handgrip, make finished product handgrip by linear motion unit and gate waste handgrip is preposition or retreat to make metalwork handgrip, finished product handgrip and gate waste handgrip mutually not interfere; Described metalwork handgrip is made up of clamping device and ejecting mechanism.
2. a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork according to claim 1, it is characterized in that, described clamping device is linked in sequence is formed by gripper cylinder, tractive unit, claw hook, and claw hook and claw hook spring are fitted and arranged; Metalwork handgrip is when gripper cylinder is not operating, and claw hook is in closure state under claw hook spring action; During gripper cylinder action, promote claw hook rotation by tractive unit and claw hook is opened, after crawl metalwork completes, gripper cylinder is regained, and claw hook recovers closure state and grip part under claw hook spring action.
3. a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork according to claim 2, is characterized in that, described ejecting mechanism by releasing cylinder, push away post and form, release cylinder action drive and push away post and released by metalwork after claw hook opens.
4. a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork according to claim 1, it is characterized in that, first feed rod is arranged on holder, finished product handgrip and gate waste handgrip are arranged on Connection Block, and Connection Block drives finished product handgrip and gate waste handgrip to seesaw along the first feed rod under the effect of linear motion unit; When metalwork handgrip is in running order, finished product handgrip and gate waste handgrip are return at whole group of mechanical gripper rear portion under linear motion unit effect; After the work of metalwork handgrip completes, finished product handgrip and gate waste handgrip are at linear motion unit move under influence to whole group of mechanical gripper foremost, in running order.
5. a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork according to claim 4, it is characterized in that, the folding of finished product handgrip is realized by the opening and closing movement of Pneumatic clamping jaw, end and the injection-molded article contact portion of finished product handgrip are equipped with rubber strip, precompressed dististyle elastic is under the action of the spring equipped with in the middle of finished product handgrip, before finished product handgrip is closed, precompressed dististyle pushes down injection-molded article.
6. a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork according to claim 4, it is characterized in that, the folding of gate waste handgrip is realized by the opening and closing movement of Pneumatic clamping jaw, end and the gate waste contact portion of gate waste handgrip are equipped with rubber strip, gate waste handgrip is provided with gate waste precompressed dististyle elastic under the action of the spring, before gate waste handgrip is closed, gate waste precompressed dististyle pushes down gate waste.
7. a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork according to claim 1-6 any one, it is characterized in that, described linear motion unit includes but not limited to tilt cylinder, Rodless cylinder.
8. a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork according to claim 1-6 any one, it is characterized in that, metalwork handgrip is provided with the second feed rod, linear bearing on second feed rod and holder coordinates, by the effect of buffer spring, metalwork handgrip slowly can be moved along holder vertical direction when being subject to External Force Acting.
9. a kind of multi-functional mechanical handgrip for the pre-buried injection mo(u)lding of metalwork according to claim 2, it is characterized in that, described metalwork is provided with the locating hole cooperatively interacted with locating dowel, and described locating dowel is through metalwork.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510883945.7A CN105397974B (en) | 2015-12-04 | 2015-12-04 | A kind of multi-functional mechanical handgrip for the pre-buried injection molding of metalwork |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510883945.7A CN105397974B (en) | 2015-12-04 | 2015-12-04 | A kind of multi-functional mechanical handgrip for the pre-buried injection molding of metalwork |
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| Publication Number | Publication Date |
|---|---|
| CN105397974A true CN105397974A (en) | 2016-03-16 |
| CN105397974B CN105397974B (en) | 2017-10-24 |
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| CN201510883945.7A Active CN105397974B (en) | 2015-12-04 | 2015-12-04 | A kind of multi-functional mechanical handgrip for the pre-buried injection molding of metalwork |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108748862A (en) * | 2018-08-03 | 2018-11-06 | 珠海汇智智能装备有限公司 | One kind picking and placeing insert device and its picks and places method |
| CN110091460A (en) * | 2019-05-08 | 2019-08-06 | 浙江湾区机器人技术有限公司 | A kind of built-in fitting multi-angle place apparatus |
| CN113211482A (en) * | 2021-04-29 | 2021-08-06 | 南京埃斯顿智能系统工程有限公司 | Automatic quick-exchange wing-shaped bearing seat special fixture |
| CN116175873A (en) * | 2023-01-18 | 2023-05-30 | 常熟理工学院 | Automatic feeding device for injection molding embedded metal parts and control method |
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| US20020185766A1 (en) * | 2001-06-06 | 2002-12-12 | Fuji Photo Film Co., Ltd. | Method of removing extraneous matter from injection mold, and method of placing insert in mold |
| CN102398343A (en) * | 2011-11-24 | 2012-04-04 | 长春富维-江森自控汽车饰件系统有限公司 | Gripping apparatus for embedding and injection molding of soft material |
| CN104070635A (en) * | 2014-07-08 | 2014-10-01 | 广州瑞松科技有限公司 | Automatic control method of workpiece-carrying injection molding and robot handling system |
| CN105538595A (en) * | 2016-01-21 | 2016-05-04 | 昆山斯比得自动化设备有限公司 | Automatic production device for encapsulation and injection molding of inserts |
| CN205201954U (en) * | 2015-12-04 | 2016-05-04 | 昆山市工业技术研究院有限责任公司 | A multifunctional machinery tongs for pre -buried injection moulding of metalwork |
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| US20020185766A1 (en) * | 2001-06-06 | 2002-12-12 | Fuji Photo Film Co., Ltd. | Method of removing extraneous matter from injection mold, and method of placing insert in mold |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748862A (en) * | 2018-08-03 | 2018-11-06 | 珠海汇智智能装备有限公司 | One kind picking and placeing insert device and its picks and places method |
| CN110091460A (en) * | 2019-05-08 | 2019-08-06 | 浙江湾区机器人技术有限公司 | A kind of built-in fitting multi-angle place apparatus |
| CN110091460B (en) * | 2019-05-08 | 2021-05-28 | 浙江湾区机器人技术有限公司 | Equipment is placed to built-in fitting multi-angle |
| CN113211482A (en) * | 2021-04-29 | 2021-08-06 | 南京埃斯顿智能系统工程有限公司 | Automatic quick-exchange wing-shaped bearing seat special fixture |
| CN116175873A (en) * | 2023-01-18 | 2023-05-30 | 常熟理工学院 | Automatic feeding device for injection molding embedded metal parts and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105397974B (en) | 2017-10-24 |
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