CN105819179A - Automatic feeding equipment - Google Patents
Automatic feeding equipment Download PDFInfo
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- CN105819179A CN105819179A CN201510004718.2A CN201510004718A CN105819179A CN 105819179 A CN105819179 A CN 105819179A CN 201510004718 A CN201510004718 A CN 201510004718A CN 105819179 A CN105819179 A CN 105819179A
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Abstract
The invention relates to automatic feeding equipment comprising an AGV trolley, a storage device and a charging and discharging device. A plurality of material frames are arranged on a tray of the storage device; the charging and discharging device is formed by a Y-axis multiplication stroke mechanism, an X-axis movable module set, a Z-axis movable module set, a fetching mechanical arm and an industrial control unit; the Y-axis multiplication stroke mechanism is formed by two first guide rails fixed on a left and right sides of a rack in a feeding direction and extending along an Y-axis, two multiplication plates sliding along the two first guide rails, two second guide rails respectively fixed on the two multiplication plates and extending along the Y-axis, two fixing plates sliding along the two second guide rails and a stroke multiplication driving unit; and the stroke multiplication driving unit drives the two multiplication plates to slide along the first guide rails and drives the two fixing plates to slide in the same direction along the second guide rails to achieve stroke multiplication. Automatic feeding and charging and discharging can be met; multi-point arrangement on the same work station can be achieved; and the automatic feeding equipment occupies less space and can stably operate.
Description
Technical field
The present invention relates to plant equipment, more particularly, it relates to a kind of automatic feeder equipment.
Background technology
AGV dolly (AutomatedGuidedVehicle) i.e. automatical pilot transportation vehicle; can travel along the guide path of regulation; there is safeguard protection and various transfer function, thus gradually start to be applied to various automatic production line, for feeding and loading and unloading.
On existing AGV dolly, integrated feed mechanism and cutting agency are rolling mechanism or slide mechanism, loading and unloading action has been accepted with outside by rolling mechanism or slide mechanism, but the characteristic due to both mechanisms itself, its fixing side being suspended from AGV dolly must be made in the case of Hen Duo can to realize its function, dolly center of gravity is made to be partial to cantilever side, dolly driving process needs occupy the aisle space that periphery is the biggest, travel and turn the most unstable, it is most likely that hurting people or the thing of surrounding；Both mechanism flexibilities are not enough simultaneously, it is impossible to realize multiple spot on same station and place, it is impossible to being accurately positioned, the material that single can carry is very limited, it is impossible to enough realize separate unit mechanism single conveying many frames material.
Summary of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, it is provided that a kind of can meet self-feeding, feeding, blanking function can realize again multiple spot place and the automatic feeder equipment little, that operate steadily that takes up space.
The technical solution adopted for the present invention to solve the technical problems is: propose a kind of automatic feeder equipment, the storage device including AGV dolly, being installed on AGV dolly and the handling equipment being installed on storage device；
Wherein, described storage device includes the frame being installed on AGV dolly, the pallet being placed in frame and the multiple material frames being placed on pallet；
Described handling equipment includes being installed on the Y-axis multiplication Strok mechanism above frame top tray, driven by Y-axis multiplication Strok mechanism and in Y-axis moveable X-axis move module, moved by X-axis module drive and can in X-axis moveable Z axis move module, moved module drive by Z axis and on Z axis moveable reclaimer robot and control described Y-axis double Strok mechanism, X-axis moves module, Z axis moves module and the industry control unit of reclaimer robot；
Wherein, described Y-axis multiplication Strok mechanism includes the left and right sides being fixed on feed direction in frame two the first guide rails extended along Y-axis, can be respectively along two multiplication plates of said two the first slide, two the second guide rails being individually fixed on said two multiplication plate and extend along Y-axis, can be respectively along two fixed plates of said two the second slide, with travel multiplier driver element, described travel multiplier drive unit drives said two multiplication plate drives said two fixed plate to slide in the same direction to realize travel multiplier along the second guide rail respectively while sliding along the first rail respectively, described X-axis moves module and is installed in said two fixed plate.
According to one embodiment of present invention, described travel multiplier driver element includes being installed in said two multiplication plate the motor on a multiplication plate and is installed on said two multiplication plate along Y direction respectively and is synchronized to take turns by the two of two the first toothed belt transmissions first group, the drivewheel that said two first group synchronizes in wheel is coupled by rotating shaft unit and is driven by described motor, said two the first Timing Belt is respectively equipped with that Timing Belt fixed block and corresponding fixed plate are fixing to be connected, and is provided with lower Timing Belt fixed block and fixes with frame and be connected.
According to one embodiment of present invention, described travel multiplier driver element also includes being installed on the multiplication plate identical with described motor, by described motor the second group of synchronization wheel driving and passing through the second toothed belt transmission, and described second group of driven pulley synchronized in wheel rotates coaxially with the drivewheel in described first group of Tong Bu wheel.
According to one embodiment of present invention, described X-axis moves module and includes the straddle mounting X-axis guide rod extended along an axis X, the X-axis movable plate being slidably mounted on described X-axis guide rod and the X-axis driver element driving described X-axis movable plate to slide along X-axis guide rod in two fixed plates of described Y-axis multiplication Strok mechanism.
According to one embodiment of present invention, described X-axis driver element includes being installed on the X-axis in a fixed plate in said two fixed plate and drives motor, described X-axis drive motor to drive and pass through the 3rd Timing Belt straddle mounting the 3rd group of synchronization in said two fixed plate and take turns, and described 3rd Timing Belt is provided with Timing Belt briquetting and fixes with described X-axis movable plate and be connected.
According to one embodiment of present invention, described Z axis is moved module and includes the screw mandrel nut being fixed on described X-axis movable plate, the screw mandrel, the Z axis movable plate being installed on described screw mandrel end by rolling bearing and the Z axis driving motor driving described screw mandrel to rotate that extend along Z axis that are arranged on described X-axis movable plate by described screw mandrel nut.
According to one embodiment of present invention, described Z axis moves module and also includes sliding and be arranged in described X-axis movable plate and fix, with described Z axis movable plate, the Z axis guide rod being connected.
According to one embodiment of present invention, described reclaimer robot include by Z axis move module drive and on Z axis moveable mechanical hand fixed plate, be mounted opposite two groups of mechanical paws in the both sides of described mechanical hand fixed plate with spring-loaded manner and drive described two groups of mechanical paws to overcome elastic force and the robot drives unit that is moved relative to each other.
According to one embodiment of present invention, described reclaimer robot is additionally provided with for sense material frame have be difficult control industry control unit photoelectric sensor.
According to one embodiment of present invention, described material frame is provided with multiple material storage tank, and the outside of described material frame is formed with the lug coordinated with mechanical paw.
The automatic feeder equipment of the present invention has the advantages that
(1) present invention uses the integrated storage device of AGV dolly and automatic loading and unloading device, it is possible to achieve self-feeding, feeding, blanking and rewinding, is not required to personnel's nurse at board, without waiting for；
(2) present invention uses planer-type Y-axis multiplication Strok mechanism can stretch out as required, retract, and not only saves space but also can guarantee that the center of gravity of handling equipment is positioned at the centre position of AGV dolly, thus ensures AGV dolly stationarity in running；
(3) present invention uses Y-axis multiplication Strok mechanism, X-axis to move module and Z axis moves module and jointly acts on drive reclaimer robot work, it is achieved on same station, multiple spot is placed, is accurately positioned；
(4) pallet that the present invention uses can realize single conveying many frames material, and each material frame can carry many flake products.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structural representation of the automatic feeder equipment of one embodiment of the invention；
Fig. 2 is the structural representation of the pallet in the automatic feeder equipment shown in Fig. 1；
Fig. 3 is the structural representation of the material frame in the automatic feeder equipment shown in Fig. 1；
Fig. 4 is the structural representation of the Y-axis multiplication Strok mechanism in the automatic feeder equipment shown in Fig. 1；
Fig. 5 is the structural representation that the X-axis in the automatic feeder equipment shown in Fig. 1 moves module；
Fig. 6 is the structural representation that the Z axis in the automatic feeder equipment shown in Fig. 1 moves module；
Fig. 7 is the structural representation of the reclaimer robot in the automatic feeder equipment shown in Fig. 1.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Fig. 1 shows the overall structure schematic diagram of automatic feeder equipment according to an embodiment of the invention.As it is shown in figure 1, this automatic feeder equipment is mainly made up of AGV dolly 1, storage device 2 and handling equipment 3.AGV dolly 1 can run to carry out the transport of material along the guide path of regulation, and it belongs to prior art, therefore is no longer described in detail at this.Storage device 2 is arranged on AGV dolly 1, is mainly made up of frame 21, pallet 22 and multiple material frame 23.Frame 21 is arranged on AGV dolly 1, and its concrete configuration can select according to the actual needs.Pallet 22 is placed in frame 21, and can be positioned by corresponding keeper.Such as in figure 2 it is shown, multiple positioning through hole 221 can be offered on pallet 22, with frame 21 on arrange detent fit and be positioned in frame 21.Multiple material frames 23 are placed on pallet 22, are used for achieving material.Further as in figure 2 it is shown, install multiple angled seat 222 on pallet 22, every four angled seat 222 are one group and expect frame 23 for one, location.In one specific embodiment, the structure of material frame 23 is as shown in Figure 3, constitute and be correspondingly formed multiple material storage tank 231 on the two opposite sides plate of material frame 23, for containing sheet material (such as face glass), such material frame 23 can realize a frame and contain many sheet materials, and its shape and specification can be customized according to material to be contained.The outside of material frame 23 is additionally provided with the lug 232 being easy to capture.
Again as it is shown in figure 1, handling equipment 3 is arranged in the frame 21 of storage device 2, mainly by Y-axis multiplication Strok mechanism 31, X-axis moves module 32, Z axis moves module 33, reclaimer robot 34 and industry control unit 35 are constituted.Y-axis multiplication Strok mechanism 31 is arranged on the top of frame 21 top tray 22.X-axis moves module 32 and is arranged on Y-axis multiplication Strok mechanism 31, and can be driven by Y-axis multiplication Strok mechanism 31 and move in Y-axis.Z axis moves module 33 and is arranged on X-axis and moves on module 32, and can be moved module 32 by X-axis and drive and move in X-axis.Reclaimer robot 34 is arranged on Z axis mobile module 33, and can be moved module 33 by Z axis and drive and move on Z axis.Industry control unit 35 may be installed in frame 21, is used for controlling Y-axis multiplication Strok mechanism 31, X-axis moves module 32 and Z axis moves module 33 common action, and each material frame 23 driving reclaimer robot 34 to capture on pallet 22 carries out operation of feeding and discharging.
The concrete structure of Y-axis multiplication Strok mechanism 31 is as shown in Figure 4.Y-axis multiplication Strok mechanism 31, in planer-type, is mainly made up of 311, two, two the first guide rails multiplication plate 313, two fixed plates 314 of 312, two the second guide rails and travel multiplier driver element.Two the first guide rails 311 along Y-axis extension are separately fixed at the left and right sides of feed direction in frame 21 (i.e. Y direction).Two multiplication plates 312 are slidably connected with two the first guide rails 311 respectively, can slide along two the first guide rails 311.Two the second guide rails 313 extended along Y-axis are individually fixed on two multiplication plates 312.Two fixed plates 314 are slidably connected with two the second guide rails 313 respectively, can slide along two the second guide rails 313.Travel multiplier driver element is for driving two multiplication plates 312 to drive two fixed plates 314 to slide in the same direction along the second guide rail 313 respectively while sliding along the first guide rail 311 respectively, thus realizes the travel multiplier in Y direction.In AGV dolly 1 driving process, first guide rail 311 and second guide rail 313 of this Y-axis multiplication Strok mechanism 31 can be regained simultaneously, save equipment occupation space, ensure that the center of gravity of whole equipment is in an intermediate position simultaneously, thus ensure AGV dolly stationarity in running.When this equipment needs to carry out loading and unloading, the first guide rail 311 and second guide rail 313 of Y-axis multiplication Strok mechanism 31 can stretch out, to realize the undertaking of material the most simultaneously.
In concrete embodiment as shown in Figure 4, the trip multiplication driver element includes two the first group synchronization wheel 316 being installed on the side of two multiplication plates 312 respectively along Y direction, this two first group is synchronized wheel 316 and can be arranged on multiplication plate 312 by synchronization wheel mounting seat 315 respectively, and drivewheel therein and driven pulley are respectively by two the first Timing Belt 317 transmissions.Further, these two the first Timing Belts 317 are respectively equipped with Timing Belt fixed block 318 and corresponding fixed plate 314 is fixing connects, and are provided with lower Timing Belt fixed block 319 and fix with frame 21 and be connected.This two the first group drivewheel synchronized in wheel 316 couples by straddling the rotating shaft unit 3114 on two multiplication plates 312, to realize synchronous axial system.The most as shown in Figure 4, the trip multiplication driver element also includes being arranged on the motor 3110 on a multiplication plate 312 by motor mount 3111, with the second group of synchronization wheel 3113 being arranged on same multiplication plate 312, second group synchronizes the drivewheel of wheel 3113 with driven pulley by the second Timing Belt 3112 transmission, and drivewheel is driven by motor 3110, driven pulley and first group of drivewheel synchronized in wheel 316 rotate coaxially, thus the rotation of motor 3110 pass to first group and synchronizes wheel 316 and the first Timing Belt 317.
While motor 3110 synchronizes to take turns 3113 drive the second Timing Belts 3112 rotations by second group, drive first group of synchronization wheel 316 and the first Timing Belt 317 to rotate by second group of driven pulley synchronizing wheel 3113 through rotating shaft unit 3114 simultaneously.Owing to the lower Timing Belt fixed block 319 of the first Timing Belt 317 is fixed with frame 21, upper Timing Belt fixed block 318 is fixed with fixed plate 314, therefore drive multiplication plate 312 to move one times of distance along the first guide rail 311 during the first Timing Belt 317 rotates, drive fixed plate 314 to move distance twice along the second guide rail 313 simultaneously, thus realize the travel multiplier in Y direction.
X-axis moves the concrete structure of module 32 as shown in Figure 5.X-axis moves module 32 and is mainly made up of X-axis guide rod 321, X-axis movable plate 323 and X-axis driver element.X-axis guide rod 321 extends along an axis X, and straddle mounting is in two fixed plates 314 of Y-axis multiplication Strok mechanism 31.X-axis movable plate 323 is slidably mounted on X-axis guide rod 321 by such as linear bearing 322.X-axis driver element is used for driving X-axis movable plate 323 to slide along X-axis guide rod 321.According to the demand of practical stability, X-axis guide rod 321 can arrange two or many, and X-axis movable plate 323 also can be slidably mounted on X-axis guide rod 321 by two or more linear bearings 322.In concrete embodiment as shown in Figure 5, this X-axis driver element is mainly driven motor 324, the 3rd group of synchronous pulley the 325,329 and the 3rd Timing Belt 326 to constitute by X-axis.X-axis drives motor 324 to be installed in a fixed plate on 314, drivewheel 325 in 3rd group of synchronous pulley is driven motor 324 to drive by X-axis, driven pulley 327 is installed in another fixed plate 314 by synchronous pulley mounting seat 329, and is in transmission connection by the straddle mounting the 3rd Timing Belt 326 between two fixed plates 314.Further, it is provided with on the downside of the 3rd Timing Belt 326 that Timing Belt briquetting 328 and X-axis movable plate 323 is fixing to be connected.When X-axis drives motor 324 to drive the 3rd group of synchronous pulley to drive the 3rd Timing Belt 326 to rotate, drive X-axis movable plate 323 to slide along guide rod 321 simultaneously, thus the movement in X-direction is provided for reclaimer robot 34.
Z axis moves the concrete structure of module 33 as shown in Figure 6.Z axis moves module 33 and is mainly driven motor 331, screw mandrel 333, screw mandrel nut 334 and Z axis movable plate 336 to constitute by Z axis.Screw mandrel nut 334 is fixed on X-axis movable plate 323, and screw mandrel 333 wears on X-axis movable plate 323 by screw mandrel nut 334 and extends along Z axis, and Z axis movable plate 336 is installed on the bottom of screw mandrel 333 by rolling bearing 335 (such as cylinder roller bearing).Z axis drives motor 331 to be installed on motor fixing plate 322, and is connected with the upper end of screw mandrel 333 by such as shaft coupling, to drive screw mandrel 333 to rotate.When Z axis drives motor 331 to drive screw mandrel 333 to rotate, owing to leading screw nut 334 is relatively fixed on X-axis movable plate 323, so that leading screw 333 moves along Z-direction with Z axis movable plate 336.The most as shown in Figure 6, Z axis moves module 33 and also includes Z axis guide rod 338, one end of Z axis guide rod 338 is fixing with motor fixing plate 322 to be connected, the other end slides through X-axis movable plate 323 by axis bearing 337 and fixing with Z axis movable plate 336 is connected, in order to provided guide effect in Z axis movable plate 336 moving process.
The concrete structure of reclaimer robot 34 is as shown in Figure 7.Reclaimer robot 34 is mainly made up of 341, two groups of mechanical paws 342 of mechanical hand fixed plate and robot drives unit.Mechanical hand fixed plate 341 moves with Z axis that the Z axis movable plate 336 of module 33 is fixing to be connected, thus can be moved module 33 by Z axis and drive and move on Z axis.Two groups of mechanical paws 342 are mounted opposite in the both sides of mechanical hand fixed plate 341 with spring-loaded manner, are used for capturing material frame 23.In concrete embodiment as shown in Figure 7, two groups of mechanical paws 342 are installed on the opposite sides of mechanical hand fixed plate 341 respectively by two paw fixed plates 343, and are movably coupled in spring-loading mode by spring 344 between two paw fixed plates 343.Robot drives unit is used for driving these two paw fixed plates 343 to overcome elastic force to be displaced outwardly relative to each other, thus drive two groups of mechanical paws 342 relatively to open, to capture material frame, then robot drives unit resets, two groups of mechanical paws 342 tightly clamp material frame under elastic force effect, such that it is able to carry material frame.In concrete embodiment as shown in Figure 7, this robot drives unit can be constituted by driving motor 345 and push rod (not shown).Motor 345 is driven to be arranged in mechanical hand fixed plate 341, push rod is located at mechanical hand fixed plate 341 lower surface and is rotated by driving motor 345 to drive, push rod just can produce outside thrust to paw fixed plate 343 when turning to certain position so that it is overcomes the elastic force of spring 344 to be displaced outwardly.Further, mechanical hand fixed plate 341 lower surface also can be provided with proximity switch (not shown), be used for sensing the situation that puts in place that push rod rotates, to control to drive the operating of motor 345.And, photoelectric sensor (not shown) also can be installed, for sensing the presence or absence of material frame 23, to control the operation of industry control unit 35 in the inner side of a paw fixed plate 343.
Present invention automatic feeder equipment as above, on AGV dolly integrated automatic loading and unloading device and on automatic loading and unloading device apply planer-type Y-axis multiplication Strok mechanism, self-feeding, feeding, blanking, rewinding function can be met, multiple spot on same station can be realized again place, be accurately positioned, take up space little simultaneously, stable.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.
Claims (10)
1. an automatic feeder equipment, it is characterised in that include AGV dolly, the storage device being installed on AGV dolly and the handling equipment being installed on storage device；
Wherein, described storage device includes the frame being installed on AGV dolly, the pallet being placed in frame and the multiple material frames being placed on pallet；
Described handling equipment includes being installed on the Y-axis multiplication Strok mechanism above frame top tray, driven by Y-axis multiplication Strok mechanism and in Y-axis moveable X-axis move module, moved by X-axis module drive and can in X-axis moveable Z axis move module, moved module drive by Z axis and on Z axis moveable reclaimer robot and control described Y-axis double Strok mechanism, X-axis moves module, Z axis moves module and the industry control unit of reclaimer robot；
Wherein, described Y-axis multiplication Strok mechanism includes the left and right sides being fixed on feed direction in frame two the first guide rails extended along Y-axis, can be respectively along two multiplication plates of said two the first slide, two the second guide rails being individually fixed on said two multiplication plate and extend along Y-axis, can be respectively along two fixed plates of said two the second slide, with travel multiplier driver element, described travel multiplier drive unit drives said two multiplication plate drives said two fixed plate to slide in the same direction to realize travel multiplier along the second guide rail respectively while sliding along the first rail respectively, described X-axis moves module and is installed in said two fixed plate.
Automatic feeder equipment the most according to claim 1, it is characterized in that, described travel multiplier driver element includes being installed in said two multiplication plate the motor on a multiplication plate and is installed on said two multiplication plate along Y direction respectively and is synchronized to take turns by the two of two the first toothed belt transmissions first group, the drivewheel that said two first group synchronizes in wheel is coupled by rotating shaft unit and is driven by described motor, said two the first Timing Belt is respectively equipped with the connection fixing with corresponding fixed plate of Timing Belt fixed block, and it is provided with that lower Timing Belt fixed block and frame are fixing to be connected.
Automatic feeder equipment the most according to claim 2, it is characterized in that, described travel multiplier driver element also includes being installed on the multiplication plate identical with described motor, by described motor the second group of synchronization wheel driving and passing through the second toothed belt transmission, and described second group of driven pulley synchronized in wheel rotates coaxially with the drivewheel in described first group of Tong Bu wheel.
Automatic feeder equipment the most according to claim 1, it is characterized in that, described X-axis moves module and includes the straddle mounting X-axis guide rod extended along an axis X, the X-axis movable plate being slidably mounted on described X-axis guide rod and the X-axis driver element driving described X-axis movable plate to slide along X-axis guide rod in two fixed plates of described Y-axis multiplication Strok mechanism.
Automatic feeder equipment the most according to claim 4, it is characterized in that, described X-axis driver element includes being installed on the X-axis in a fixed plate in said two fixed plate and drives motor, described X-axis drive motor to drive and pass through the 3rd Timing Belt straddle mounting the 3rd group of synchronization in said two fixed plate and take turns, and described 3rd Timing Belt is provided with Timing Belt briquetting and fixes with described X-axis movable plate and be connected.
Automatic feeder equipment the most according to claim 4, it is characterized in that, described Z axis is moved module and includes the screw mandrel nut being fixed on described X-axis movable plate, the screw mandrel, the Z axis movable plate being installed on described screw mandrel end by rolling bearing and the Z axis driving motor driving described screw mandrel to rotate that extend along Z axis that are arranged on described X-axis movable plate by described screw mandrel nut.
Automatic feeder equipment the most according to claim 6, it is characterised in that described Z axis moves module and also includes sliding and be arranged in described X-axis movable plate and fix, with described Z axis movable plate, the Z axis guide rod being connected.
Automatic feeder equipment the most according to claim 1, it is characterized in that, described reclaimer robot include by Z axis move module drive and on Z axis moveable mechanical hand fixed plate, be mounted opposite two groups of mechanical paws in the both sides of described mechanical hand fixed plate with spring-loaded manner and drive described two groups of mechanical paws to overcome elastic force and the robot drives unit that is moved relative to each other.
Automatic feeder equipment the most according to claim 8, it is characterised in that be additionally provided with on described reclaimer robot for sense material frame have be difficult control industry control unit photoelectric sensor.
Automatic feeder equipment the most according to claim 8, it is characterised in that described material frame is provided with multiple material storage tank, and the outside of described material frame is formed with the lug coordinated with mechanical paw.
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| CN201510004718.2A CN105819179A (en) | 2015-01-05 | 2015-01-05 | Automatic feeding equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510004718.2A CN105819179A (en) | 2015-01-05 | 2015-01-05 | Automatic feeding equipment |
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| CN105819179A true CN105819179A (en) | 2016-08-03 |
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| CN201510004718.2A Pending CN105819179A (en) | 2015-01-05 | 2015-01-05 | Automatic feeding equipment |
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| CN106586519A (en) * | 2016-12-19 | 2017-04-26 | 温州大学 | Seed culture cavity disc conveying line |
| CN106629015A (en) * | 2016-08-31 | 2017-05-10 | 苏州朗坤自动化设备有限公司 | Device for automatically arranging multiple ATM screen assemblies in single row |
| CN106829568A (en) * | 2017-02-22 | 2017-06-13 | 袁红 | A kind of intelligence absorption manipulator for printing equipment |
| CN106870660A (en) * | 2017-03-13 | 2017-06-20 | 浙江优迈德智能装备有限公司 | A kind of Double-stroke multiplication mechanism with bascule |
| CN107471195A (en) * | 2017-07-17 | 2017-12-15 | 厦门裕邦智能科技有限公司 | A kind of Mobile Cargo robot |
| CN108656197A (en) * | 2018-05-29 | 2018-10-16 | 宁波舒普机电股份有限公司 | A kind of positioning feed mechanism of perforating press |
| CN111422611A (en) * | 2020-03-31 | 2020-07-17 | 厦门奇达电子有限公司 | Device for feeding and discharging 3C products and AGV material conveying method |
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| CN111846867A (en) * | 2020-07-28 | 2020-10-30 | 湖南将邑智能科技有限公司 | Three-axis transportation platform of juicer |
| CN113927577A (en) * | 2021-11-04 | 2022-01-14 | 无锡鑫金雨智能制造有限公司 | High-load two-axis robot |
| CN115070609A (en) * | 2022-06-08 | 2022-09-20 | 江苏威尔德曼智能科技有限公司 | Grinder feeding machine |
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| CN106586519A (en) * | 2016-12-19 | 2017-04-26 | 温州大学 | Seed culture cavity disc conveying line |
| CN106829568A (en) * | 2017-02-22 | 2017-06-13 | 袁红 | A kind of intelligence absorption manipulator for printing equipment |
| CN106870660A (en) * | 2017-03-13 | 2017-06-20 | 浙江优迈德智能装备有限公司 | A kind of Double-stroke multiplication mechanism with bascule |
| CN107471195A (en) * | 2017-07-17 | 2017-12-15 | 厦门裕邦智能科技有限公司 | A kind of Mobile Cargo robot |
| CN108656197A (en) * | 2018-05-29 | 2018-10-16 | 宁波舒普机电股份有限公司 | A kind of positioning feed mechanism of perforating press |
| CN111422611A (en) * | 2020-03-31 | 2020-07-17 | 厦门奇达电子有限公司 | Device for feeding and discharging 3C products and AGV material conveying method |
| CN111532766A (en) * | 2020-06-19 | 2020-08-14 | 东莞广泽汽车饰件有限公司 | Automatic carrying device for automobile center console |
| CN111846867A (en) * | 2020-07-28 | 2020-10-30 | 湖南将邑智能科技有限公司 | Three-axis transportation platform of juicer |
| CN113927577A (en) * | 2021-11-04 | 2022-01-14 | 无锡鑫金雨智能制造有限公司 | High-load two-axis robot |
| CN115070609A (en) * | 2022-06-08 | 2022-09-20 | 江苏威尔德曼智能科技有限公司 | Grinder feeding machine |
| CN115070609B (en) * | 2022-06-08 | 2024-05-10 | 江苏威尔德曼智能科技有限公司 | Material feeder of grinding machine |
| CN117819154A (en) * | 2024-03-04 | 2024-04-05 | 成都环龙智能机器人有限公司 | Automatic handling device of robot |
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