CN106078321A - Automatic loading and unloading mechanism - Google Patents
Automatic loading and unloading mechanism Download PDFInfo
- Publication number
- CN106078321A CN106078321A CN201610652138.9A CN201610652138A CN106078321A CN 106078321 A CN106078321 A CN 106078321A CN 201610652138 A CN201610652138 A CN 201610652138A CN 106078321 A CN106078321 A CN 106078321A
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- China
- Prior art keywords
- mechanical arm
- charging tray
- main frame
- frame
- arm
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/046—Handling workpieces or tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
- B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
- B23Q7/1494—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to field of machining, especially a kind of automatic loading and unloading mechanism, it includes mainframe, is provided above double mechanical arms mechanism at mainframe, double mechanical arms mechanism includes transverse arm and two the main frame mechanical arm being slidably arranged on transverse arm, is provided with mechanical hand in the end of main frame mechanical arm；The side of a mechanical arm arranges promising mechanical hand and provides the charging tray feeder adding labor and materials wherein, and the side of another mechanical arm is provided with machining tool.Automatic loading and unloading mechanism obtained by the present invention, by design and the cooperation of charging tray feeder of double-manipulator, it is achieved automaticity is high, working (machining) efficiency block, and processing stability is high.
Description
Technical field
The present invention relates to field of machining, especially a kind of automatic loading and unloading mechanism.
Background technology
Existing plant equipment during automatic loading/unloading mostly can only semiautomation operation, empty especially for automobile
Adjusting in the Piston Machining of compressor, existing mechanical hand can accomplish to take out material from Turnover Box, and by material clamping at folder
On tool, in clamping process, owing to machining efficiency is very fast, then change material slow motion, overall processing efficiency can be affected.
Summary of the invention
The invention aims to solve the deficiency of above-mentioned technology and provide one can effectively improve working (machining) efficiency, really
Protect the automatic loading and unloading mechanism that processing characteristics is stable.
In order to achieve the above object, the automatic loading and unloading mechanism designed by the present invention, it includes mainframe, at mainframe
Being provided above double mechanical arms mechanism, double mechanical arms mechanism includes transverse arm and two the main frame mechanical arm being slidably arranged on transverse arm,
It is provided with mechanical hand in the end of main frame mechanical arm；Wherein the side of a mechanical arm arrange promising mechanical hand provide add labor and materials
Charging tray feeder, the side of another mechanical arm is provided with machining tool.
In technique scheme, utilize a mechanical hand to be taken out by the material in charging tray feeder, be handed over to another
Mechanical hand, then another mechanical hand is transported on jig, will machine while Turnover Box feeding simultaneously
Material put into Turnover Box, the material that machines is taken out while jig by material clamping.In said process
Robot movement scope, the structure of the most convenient mechanical hand and action can be reduced greatly, improve working (machining) efficiency and processing essence
Degree.
The structure of double mechanical arms mechanism connects seat for arranging two mechanical arms on transverse arm, and mechanical arm connects seat by No. one
Actuating unit moves on transverse arm；Connect at each mechanical arm and on seat, be provided with main frame mechanical arm, described main frame mechanical arm and machinery
Being slidably connected between arm connection seat, main frame mechanical arm is vertically moved on mechanical arm connection seat by No. two actuating units.
Technique scheme, during use, can connect seat by an actuating unit driving mechanical arm and move, can carry
The main frame mechanical arm that motivation mechanical arm connects on seat moves, and main frame mechanical arm can vertically move on mechanical arm connection seat, thus
Realize mechanical arm to move horizontal, longitudinal, facilitate and automobile air conditioner compressor piston is picked and placeed.
Slave mechanical arm, free skating between described slave mechanical arm and main frame mechanical arm it is provided with in the lower end of each main frame mechanical arm
Dynamic.The setting of slave mechanical arm, can arrange mechanical hand in slave mechanical arm, causes mechanical hand to grip piston when main frame mechanical arm declines
Time, for the accuracy guarantee in the course of processing, then mechanical hand need complete with piston contact after clamping, so main mechanical
Arm is the most excessive during declining, and easily makes to clash between mechanical hand and piston, finally affects mechanical hand
Performance and the quality of piston；And the design of slave mechanical arm, after mechanical hand and piston contact are complete, slave mechanical arm can be relative to master
Mechanical arm moves up, thus avoids the collision between mechanical hand and piston, it is ensured that stability and safety in clamping process.
Being provided with for the position-limit mechanism the most spacing to slave mechanical arm in main frame mechanical arm, position-limit mechanism limits slave tool
Arm sliding stroke in main frame mechanical arm.The setting of this structure so that the movement between slave mechanical arm and main frame mechanical arm is controlled, carries
The safety in use of high equipment.
Induction apparatus, induction apparatus and control main frame mechanical arm it is provided with in the slave mechanical arm stroke slided relative with main frame mechanical arm
Vertically the controller of movement connects.The design of this structure, when plant equipment breaks down, main frame mechanical arm is under persistently
During fall, the induction apparatus between slave mechanical arm and main frame mechanical arm produces induced signal after triggering, and controller controls main the most at once
Mechanical arm stops moving down, it is to avoid serious accident occurs.
Distance is there is in described induction apparatus with the two ends of slave mechanical arm stroke in main frame mechanical arm.When induction apparatus sends letter
After number, controller control main frame mechanical arm moves downward, but due to the factor such as response time or inertia, main frame mechanical arm and slave tool
Trickle relative displacement, the design of this structure can occur between arm, above-mentioned displacement can be buffered, it is to avoid be damaged
Situation.
The lower end of main frame mechanical arm is hollow structure, and described slave mechanical arm is arranged in the hollow structure of main frame mechanical arm
Portion, is slidably connected between the two；The lower end of main frame mechanical arm is provided with through hole, the slave mechanical arm corresponding with through hole is provided with
Locating piece, described locating piece protrudes and slave mechanical arm, and is positioned at through hole, and described locating piece follows slave mechanical arm at through hole
Interior motion, carries out spacing to slave mechanical arm.The design of this structure so that the connection in main frame mechanical arm of the slave mechanical arm is more steady
Fixed, more steady in moving process, stability is higher.
Described induction apparatus is divided into two parts, and is separately positioned in the main frame mechanical arm of locating piece and through hole.
A described actuating unit includes motor, pinion and rack, and each mechanical arm connects seat correspondence respectively
One actuating unit.
No. two described actuating units be motor, rack-and-pinion combination or for motor, turbine and worm combination or
For motor, belt belt wheel combination or be motor, feed screw nut combine.
It is tubular structure that described mechanical arm connects seat, and described main frame mechanical arm is arranged on mechanical arm and connects the tubular knot of seat
Inside structure, mobile link between the two.This structure can be more stable mechanical arm that main frame mechanical arm is arranged on connect inside seat, move
Stability during Dong, stationarity are more preferable.
Charging tray feeder, it includes frame, is provided with slide rail in frame, and sliding on slide rail is provided with charging tray frame,
Being horizontally disposed with two prescriptions on charging tray frame to identical guide post, being connected by guide pad on one group of guide post wherein has one
Number charging tray, is connected by guide pad on another group guide post and has middle frame, and being connected by vertical cylinder on middle frame has two
Number charging tray, when vertical cylinder shrinks, No. two charging trays and a charging tray are in same level height, and both are in the two of guide post
End, during the elongation of vertical cylinder, the level height of No. two charging trays is higher than the level height of a charging tray；Arrange at the two ends of charging tray frame
There is guide wheel, the belt of winding annular on guide wheel, a described charging tray is fixing with between belt respectively with middle frame to be connected, and one
Number charging tray and middle frame lay respectively at the both sides of guide wheel；Telescoping mechanism, telescoping mechanism band disorder of internal organs it is provided with in one end of charging tray frame
A structure of an essay or a charging tray move along guide post；Being provided with No. three actuating units in frame, No. three actuating units drive charging tray
Frame moves on slide rail.Wherein a charging tray and middle frame all can be connected with belt by guide pad.
Technique scheme, in use, utilizes actuating unit to drive the Turnover Box edge on charging tray frame and charging tray frame
Slide rail direction is moved, and after the part on one of them charging tray frame machines, at once carries out station exchonge step.The most vertical
Cylinder extends, and is lifted by No. two charging trays, and now the height of No. two charging trays is higher than a charging tray, and then telescoping mechanism drives a material
Dish or middle frame move, in its moving process, due to the setting of belt, a charging tray, middle frame one of them to one
In the moving process of individual direction, another can be driven to move to opposite direction, thus realize the transposition between two charging trays, after completing then
Vertically cylinder shrinks, and is reduced by No. two charging trays；Said mechanism realizes only needing two stations can complete transposition, greatly reduces
Space shared by charging tray, simple to operation.
Being provided with at least three vertical gag lever posts on middle frame, gag lever post vertical direction on middle frame moves, limit
Position bar and No. two fixing connections of charging tray.The setting of gag lever post, can realize No. two charging trays and move at vertical direction, and utilizes after decline
Gag lever post carries out the restriction of lowest order, and precision is higher, provides precision for mechanical hand gripping part.
Described telescoping mechanism is telescopic cylinder, and the telescopic end of described telescopic cylinder is fixing with middle frame to be connected.Utilize
Telescopic cylinder drives a charging tray and No. two charging trays to move, and speed is fast, and stability is high, shakes little, and serviceability is stable.
Described slide rail, guide post, telescoping mechanism direction consistent.
As optimization, the middle position below transverse arm is provided with material switch rack, and material switch rack includes whirler
Structure and two Lattice for putting article being arranged on rotating mechanism.The design of this structure, when the region that two mechanical hands clamp on material
Time identical, then utilize this device to have enough to meet the need, improve working (machining) efficiency further.
Automatic loading and unloading mechanism obtained by the present invention, by design and the cooperation of charging tray feeder of double-manipulator,
Realizing automaticity high, working (machining) efficiency block, processing stability is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural front view of the double mechanical arms mechanism of the present invention；
Fig. 3 is the structure right view of the double mechanical arms mechanism of the present invention；
Fig. 4 is the close-up schematic view of Fig. 2 of the present invention；
Fig. 5 is the axonometric chart of the double mechanical arms mechanism of the present invention；
Fig. 6 is the front view of the charging tray feeder of the present invention；
Fig. 7 is the left view of the charging tray feeder of the present invention；
Fig. 8 is the sectional view of the charging tray feeder of the present invention；
Fig. 9 is the axonometric chart of the charging tray feeder of the present invention.
Detailed description of the invention
The invention will be further described to combine accompanying drawing below by embodiment.
Embodiment 1:
As it is shown in figure 1, the automatic loading and unloading mechanism that the present embodiment describes, it includes mainframe 1, being provided above of mainframe 1
Double mechanical arms mechanism 2, double mechanical arms mechanism 2 is had to include transverse arm and two the main frame mechanical arm being slidably arranged on transverse arm, at main frame
The end of mechanical arm is provided with mechanical hand 5；The side of a mechanical arm arranges promising mechanical hand 5 and provides the material adding labor and materials wherein
Dish feeder 4, is provided with machining tool 3 in the side of another mechanical arm.Middle position below transverse arm is provided with
Material switch rack 6, material switch rack 6 includes rotating mechanism 7 and two Lattice for putting article 8 being arranged on rotating mechanism 7.
As shown in Figure 2, Figure 3, Figure 4, the structure of double mechanical arms mechanism 2 connects seat for arranging two mechanical arms on transverse arm 21
22, mechanical arm is connected seat 22 and is moved on transverse arm 21 by an actuating unit 25；Connect at each mechanical arm and arrange on seat 22
Having main frame mechanical arm 23, it is tubular structure that described mechanical arm connects seat 22, and described main frame mechanical arm 23 is arranged on mechanical arm and connects
Inside the tubular structure of seat 22, described main frame mechanical arm 23 is connected with mechanical arm between seat 22 and is slidably connected, and main frame mechanical arm 23 is logical
Cross No. two actuating units 26 vertically to move on mechanical arm connection seat 22；The lower end of each main frame mechanical arm 23 is provided with slave tool
Arm 24, between described slave mechanical arm 24 and main frame mechanical arm 23 slidably.Main frame mechanical arm 23 is provided with for slave
The position-limit mechanism 27 that mechanical arm about 24 is spacing, position-limit mechanism 27 limits the slave mechanical arm 24 sliding stroke in main frame mechanical arm 23.
Induction apparatus 210, induction apparatus 210 and control main mechanical it is provided with in slave mechanical arm 24 stroke slided relative with main frame mechanical arm 23
The controller that arm 23 vertically moves connects；Described induction apparatus 210 and the two of the slave mechanical arm 24 stroke in main frame mechanical arm 23
There is distance in end.
As it is shown in figure 5, the lower end of main frame mechanical arm 23 is hollow structure, and described slave mechanical arm 24 is arranged on main frame mechanical arm
Inside the hollow structure of 23, it is slidably connected between the two；The lower end of main frame mechanical arm 23 is provided with through hole 28, right with through hole 28
Being provided with locating piece 29 in the slave mechanical arm 24 answered, described locating piece 29 protrudes and slave mechanical arm 24, and is positioned at through hole 28,
Described locating piece 29 is followed slave mechanical arm 24 and is moved in through hole 28, carries out spacing to slave mechanical arm 24.
Described induction apparatus 210 is divided into two parts, and is separately positioned on the main frame mechanical arm 23 at locating piece 29 and through hole 28
On.
A described actuating unit 25 includes motor, pinion and rack, and each mechanical arm connects seat 22 respectively
Corresponding actuating unit 25.
Described No. two actuating units 26 are motor 26-1, feed screw nut 26-2 combination.
As shown in Fig. 6, Fig. 7, Fig. 8, Fig. 9, charging tray feeder, it includes frame 41, is provided with slide rail in frame 41
413, slide rail 413 slides and is provided with charging tray frame 42, charging tray frame 42 is horizontally disposed with two prescriptions to identical guide post
43, connected by guide pad 44 on one group of guide post 43 wherein and have a charging tray 45, by leading on another group guide post 43
Connecting to block 44 and have middle frame 46, being connected by vertical cylinder 47 on middle frame 46 has No. two charging trays 48, vertical cylinder 47 to receive
During contracting, No. two charging trays 48 and a charging tray 45 are in same level height, and both are in the two ends of guide post 43, vertical cylinder
During 47 elongation, the level height of No. two charging trays 48 is higher than the level height of a charging tray 45；It is provided with at the two ends of charging tray frame 42
Guide wheel 411, the belt of winding annular on guide wheel 411, a described charging tray 45 and middle frame 46 respectively and are fixed between belt
Connect, and a charging tray 45 and middle frame 46 lay respectively at the both sides of guide wheel 411；One end of charging tray frame 42 is provided with telescopic machine
Structure, telescoping mechanism drives middle frame 46 to move along guide post 43；Being provided with No. three actuating units 412 in frame 41, No. three are moved
Force mechanisms 412 drives charging tray frame 42 to move on slide rail 413；Described slide rail 413, guide post 43, the direction one of telescoping mechanism
Cause.
Middle frame 46 is provided with four vertical gag lever posts 49, and lays respectively on four angles of middle frame 46, two
Spacing between the gag lever post 49 of side should be greater than the width of a charging tray 45, i.e. No. one charging tray 45 can from the gag lever post 49 of both sides it
Between pass through, gag lever post 49 vertical direction on middle frame 46 moves, and gag lever post 49 and No. two charging trays 48 are fixing to be connected.
Described telescoping mechanism is telescopic cylinder 410, and the telescopic end of described telescopic cylinder 410 is fixing with middle frame 46 even
Connect.
Claims (7)
1. an automatic loading and unloading mechanism, is characterized in that: it includes mainframe, is provided above double mechanical arms machine at mainframe
Structure, double mechanical arms mechanism includes transverse arm and two the main frame mechanical arm being slidably arranged on transverse arm, is all provided with in the end of main frame mechanical arm
It is equipped with mechanical hand；The side of a mechanical arm arranges promising mechanical hand and provides the charging tray feeder adding labor and materials, separately wherein
The side of one mechanical arm is provided with machining tool.
A kind of automatic loading and unloading mechanism the most according to claim 1, is characterized in that: the structure of double mechanical arms mechanism is at horizontal stroke
Arranging two mechanical arms on arm and connect seat, mechanical arm is connected seat and is moved on transverse arm by an actuating unit, described main frame
Mechanical arm is arranged on mechanical arm and connects on seat, and main frame mechanical arm is vertically moved on mechanical arm connection seat by No. two actuating units,
The lower end of main frame mechanical arm is provided with slave mechanical arm, between slave mechanical arm and main frame mechanical arm slidably；Described mechanical hand is arranged
In slave mechanical arm.
A kind of automatic loading and unloading mechanism the most according to claim 2, is characterized in that: be provided with for right in main frame mechanical arm
The position-limit mechanism that slave mechanical arm is the most spacing, position-limit mechanism limits slave mechanical arm sliding stroke in main frame mechanical arm；In slave
Induction apparatus, the control that induction apparatus vertically moves it is provided with control main frame mechanical arm in the mechanical arm stroke slided relative with main frame mechanical arm
Device connects, and the two ends of described induction apparatus and slave mechanical arm stroke in main frame mechanical arm exist distance.
4., according to a kind of automatic loading and unloading mechanism described in claim 1 or 2 or 3, it is characterized in that: described charging tray feeder
Structure be: it includes frame, is provided with slide rail in frame, on slide rail slide be provided with charging tray frame, water on charging tray frame
Flat two prescriptions that are provided with, to identical guide post, are connected by guide pad on one group of guide post wherein and have a charging tray, separately
Being connected by guide pad on one group of guide post and have middle frame, being connected by vertical cylinder on middle frame has No. two charging trays, vertically
When cylinder shrinks, No. two charging trays and a charging tray are in same level height, and both are in the two ends of guide post, vertical cylinder
During elongation, the level height of No. two charging trays is higher than the level height of a charging tray；The two ends of charging tray frame are provided with guide wheel, guide wheel
The belt of upper winding annular, a described charging tray and middle frame are fixing with between belt respectively to be connected, and charging tray with in
A structure of an essay lays respectively at the both sides of guide wheel；Be provided with telescoping mechanism in one end of charging tray frame, telescoping mechanism drives middle frame or
Number charging tray moves along guide post；Being provided with No. three actuating units in frame, No. three actuating units drive charging tray frame on slide rail
Mobile.
A kind of automatic loading and unloading mechanism the most according to claim 4, is characterized in that: be provided with at least three on middle frame
Vertical gag lever post, gag lever post vertical direction on middle frame moves, gag lever post and No. two fixing connections of charging tray.
A kind of automatic loading and unloading mechanism the most according to claim 3, is characterized in that: the lower end of main frame mechanical arm is hollow knot
Structure, and described slave mechanical arm is arranged on inside the hollow structure of main frame mechanical arm, is slidably connected between the two；In main frame mechanical arm
Lower end is provided with through hole, is provided with locating piece in the slave mechanical arm corresponding with through hole, and described locating piece protrudes and slave tool
Arm, and it is positioned at through hole, described locating piece is followed slave mechanical arm and is moved in through hole, carries out spacing to slave mechanical arm.
A kind of automatic loading and unloading mechanism the most according to claim 1, is characterized in that: the middle position below transverse arm sets
Being equipped with material switch rack, material switch rack includes rotating mechanism and two Lattice for putting article being arranged on rotating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610652138.9A CN106078321A (en) | 2016-08-11 | 2016-08-11 | Automatic loading and unloading mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610652138.9A CN106078321A (en) | 2016-08-11 | 2016-08-11 | Automatic loading and unloading mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106078321A true CN106078321A (en) | 2016-11-09 |
Family
ID=57455353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610652138.9A Pending CN106078321A (en) | 2016-08-11 | 2016-08-11 | Automatic loading and unloading mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078321A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514664A (en) * | 2016-11-23 | 2017-03-22 | 河池学院 | Robot system special for garbage station |
| CN108722566A (en) * | 2018-05-17 | 2018-11-02 | 中国科学院寒区旱区环境与工程研究所 | A kind of stepping feed sample grinding machine of automatic wet process cleaning and drying grinding tool |
| CN110480669A (en) * | 2019-08-28 | 2019-11-22 | 北京工业大学 | Automobile absorber automatic assembly line three-dimensional ontology feeding manipulator |
| CN111152061A (en) * | 2019-12-02 | 2020-05-15 | 江苏理工学院 | A on-line measuring device for unloading on auto parts |
| CN111203745A (en) * | 2020-01-16 | 2020-05-29 | 珠海格力智能装备有限公司 | Feeding structure and feeding and discharging device |
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| CN105415069A (en) * | 2015-12-24 | 2016-03-23 | 西北工业大学 | Automatic loading and unloading system of pipe connecting pieces |
| CN205200561U (en) * | 2015-12-17 | 2016-05-04 | 晋江市超骏机械有限公司 | Feeding mechanical arm device in two wing both arms formulas |
| CN105751242A (en) * | 2016-03-30 | 2016-07-13 | 嘉兴学院 | Automatic mechanical arm |
| CN205870107U (en) * | 2016-08-11 | 2017-01-11 | 桐乡市恒泰精密机械有限公司 | Automatic loading and unloading mechanism |
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| GB1582646A (en) * | 1977-04-25 | 1981-01-14 | Ex Cell O Corp | Multi-axis machine tool |
| CN202897421U (en) * | 2012-09-28 | 2013-04-24 | 珠海真晟机电设备有限公司 | Double-deck sliding table electric cylinder |
| CN202895229U (en) * | 2012-11-21 | 2013-04-24 | 北京林业大学 | Bearing-and-pulling type robot telescopic arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514664A (en) * | 2016-11-23 | 2017-03-22 | 河池学院 | Robot system special for garbage station |
| CN108722566A (en) * | 2018-05-17 | 2018-11-02 | 中国科学院寒区旱区环境与工程研究所 | A kind of stepping feed sample grinding machine of automatic wet process cleaning and drying grinding tool |
| CN110480669A (en) * | 2019-08-28 | 2019-11-22 | 北京工业大学 | Automobile absorber automatic assembly line three-dimensional ontology feeding manipulator |
| CN111152061A (en) * | 2019-12-02 | 2020-05-15 | 江苏理工学院 | A on-line measuring device for unloading on auto parts |
| CN111152061B (en) * | 2019-12-02 | 2021-01-19 | 江苏理工学院 | A on-line measuring device for unloading on auto parts |
| CN111203745A (en) * | 2020-01-16 | 2020-05-29 | 珠海格力智能装备有限公司 | Feeding structure and feeding and discharging device |
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Application publication date: 20161109 |
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| RJ01 | Rejection of invention patent application after publication |