CN106144473B - A kind of manipulator positions grasping mechanism - Google Patents

A kind of manipulator positions grasping mechanism Download PDF

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Publication number
CN106144473B
CN106144473B CN201610702007.7A CN201610702007A CN106144473B CN 106144473 B CN106144473 B CN 106144473B CN 201610702007 A CN201610702007 A CN 201610702007A CN 106144473 B CN106144473 B CN 106144473B
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CN
China
Prior art keywords
roller
plate
way
positioning
grasping mechanism
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.)
Active
Application number
CN201610702007.7A
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Chinese (zh)
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CN106144473A (en
Inventor
郑贵军
杨金玉
郑建明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Longkun automation equipment Co., Ltd
Original Assignee
Suzhou Lang Kun Automation Equipment Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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Priority to CN201610702007.7A priority Critical patent/CN106144473B/en
Publication of CN106144473A publication Critical patent/CN106144473A/en
Application granted granted Critical
Publication of CN106144473B publication Critical patent/CN106144473B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0019End effectors other than grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B69/00Unpacking of articles or materials, not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22Devices influencing the relative position or the attitude of articles during transit by conveyors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2207/00Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/14Combination of conveyors

Abstract

The invention discloses a kind of manipulator to position grasping mechanism, including carrier pipeline, carrier pipeline includes the feeding roller table conveyer belt set gradually, driven roller-way and positioning roller bed conveyors, positioning roller bed conveyors include rack platform, rack platform surface is provided with some roller-ways, roller-way is connected with power drive mechanism, lifting body is provided with below some roller-ways, some top plates are provided with the top of lifting body, top plate is arranged between two neighboring roller-way, roller-way is also provided with clamping plate on both ends, two clamping plates are located on the first belt gear and are provided with dyestripping identification mechanism above carrier pipeline, positioning roller bed conveyors side is additionally provided with base, six axis robot is provided with base, grasping mechanism is provided with six axis robot.Good positioning effect of the present invention, precision is high, and reduces manpower intervention, product is injured small.

Description

A kind of manipulator positions grasping mechanism
Technical field
The present invention relates to haulage equipment field, and in particular to a kind of manipulator positions grasping mechanism.
Background technology
In many large-scale product warehousings or before use, because outside carrier is packed all, so needing to be arranged And identification, artificial mode of operation is now typically used, but because product stacking is higher, larger inconvenience, and product be present Surface has layer protecting film, it is necessary to can find information after tearing in the identification code on surface, extremely inconvenient, and by hand Dyestripping is more difficult, easily damages product surface.And typically carry the work, it is necessary to stronger also by artificial when carrying Power, although manipulator can replace manually, nowadays manipulator can not be competent at for larger article, grasp stability pole Difference, it is fragile.
The content of the invention
It is an object of the invention to overcome problem above existing for prior art, there is provided a kind of manipulator positions gripper Structure, good positioning effect of the present invention, precision is high, and reduces manpower intervention, product is injured small.
To realize above-mentioned technical purpose and the technique effect, the present invention is achieved through the following technical solutions:
A kind of manipulator positions grasping mechanism, including carrier pipeline, and what the carrier pipeline included setting gradually enters Expect roller bed conveyors, driven roller-way and positioning roller bed conveyors, the positioning roller bed conveyors include rack platform, the support Platform surface is provided with some roller-ways, and the roller-way is connected with power drive mechanism, and jacking is provided with below some roller-ways Mechanism, the lifting body top are provided with some top plates, and the top plate is arranged between two neighboring roller-way, on roller-way both ends Clamping plate is also provided with, the cleat surface is provided with some roller-way avoid holes, and two clamping plates are set on the axis of guide, Axle sleeve is provided between the axis of guide and clamping plate, the axle sleeve is connected with Boards wall, and fixation is additionally provided with the clamping plate Fixture block, the fixing clip are folded on the first belt gear, and the discharge end side of the positioning roller bed conveyors is set There is stop part, dyestripping identification mechanism is provided with above the carrier pipeline, the positioning roller bed conveyors side is additionally provided with Base, six axis robot is provided with the base, grasping mechanism is provided with the six axis robot.
Further, guide wheel is evenly arranged with the top plate, the guide wheel is rotated along roller-way axial direction and set.
Further, the dyestripping identification mechanism includes portal frame, is provided with what is moved in the X-axis direction on the portal frame Girder is slided, the slip auxiliary girder moved along Z-direction is provided with the slip girder, support is provided with the slip auxiliary girder Installing plate, the support mounting plate bottom are provided with two detection beams moved along Y direction, two are provided with the detection beam The individual mounting bracket moved in the X-axis direction, sucker and barcode scanning camera are provided with the mounting bracket.
Further, lift cylinder is provided between the mounting bracket and sucker, the lift cylinder bottom is provided with Level tune plate, Long Circle hole is provided with the Level tune plate, spring avoiding mechanism, institute are provided with the Long Circle hole State sucker and be arranged on spring avoiding mechanism bottom.
Further, the grasping mechanism includes basic framework, and the basic framework is along two sides of X-direction Guide rail is provided with, the guide rail is set along Y direction, and the first slide unit is provided with two guide rails With the second slide unit, two first slide units are connected with the first crawl frame, and two second slide units are connected with the second crawl frame, Grasping plate is provided with the first crawl frame and the second crawl frame, is also set up in the corresponding basic framework of the guide rail There is the second belt gear, sandwiched is fixed with the first transmission respectively with bottom on the belt top of second belt gear Jig arm and the second transmission jig arm, the first transmission jig arm are fixedly installed on the first crawl frame, and the second transmission jig arm is set Put on the second crawl frame.
Further, mounting plane plate is set in the middle part of the basic framework, is provided with and weighs among the mounting plane plate Sensor, axle joined assemblies are additionally provided between the mounting plane plate and basic framework.
The beneficial effects of the invention are as follows:
Carrier is moved to by bottom by the conveyer belt of roller-way structure, its bottom is stopped by stop part, realizes rear and front end It is spacing, then by lifting body and clip board engagement, can lift up carrier and realize the spacing of right position so that carry It is always consistent to have position, reduces the demand that manipulator efficiently positions, accelerates grasp speed, lifting crawl effect.Using Power of the driving belt mechanism as clamping plate, ensure that two clamping plates synchronously can be moved mutually, and be driven by the second motor And proximity transducer, the carrier that can adapt to arbitrary dimension use, applicability is wide.Pass through two lead screw gear and two The upper roof beam structure that lead screw gear bottom is respectively provided with realizes movement comprehensive on horizontal plane, can adapt to the production of various sizes Product use, and dyestripping uses vacuum cup, and product surface will not be damaged, and artificial bad generation are avoided, when by fixed After the roller bed conveyors positioning of position, the position that can remove support mounting plate from and position between roller bed conveyors positions, and reduces positioning Mechanism intervenes, and improves precision.By the second belt gear set enable to both sides grasping plate can relative motion, can Capture various sizes of product.When axle joined assemblies cause crawl, there can be certain leeway of rocking, reduce weight to manipulator Impulsive force, improve service life.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after. The embodiment of the present invention is shown in detail by following examples and its accompanying drawing.
Brief description of the drawings
Technical scheme in technology in order to illustrate the embodiments of the present invention more clearly, in being described below to embodiment technology The required accompanying drawing used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present invention Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings Obtain other accompanying drawings.
Fig. 1 is the overall structure diagram of the present invention;
Fig. 2 is the positioning roller-way conveyer structure schematic diagram of the present invention;
Fig. 3 is the clamping plate part-structure schematic diagram of the present invention;
Fig. 4 is the suction cup portion structural representation of the present invention;
Fig. 5 is the grasping mechanism part-structure schematic diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
Referring to figs. 1 to shown in Fig. 5, a kind of manipulator positions grasping mechanism, including carrier pipeline 1, carrier pipeline bag The feeding roller table conveyer belt 2 set gradually, driven roller-way 3 and positioning roller bed conveyors 4 are included, positioning roller bed conveyors include support Platform 5, rack platform surface are provided with some roller-ways 6, and roller-way is connected with power drive mechanism, and top is provided with below some roller-ways Mechanism is risen, some top plates 7 are provided with the top of lifting body, top plate is arranged between two neighboring roller-way, also equal on roller-way both ends Be provided with clamping plate 8, cleat surface is provided with some roller-way avoid holes 9, and two clamping plates are set on the axis of guide 10, the axis of guide with Axle sleeve 11 is provided between clamping plate, axle sleeve is connected with Boards wall, and fixing clip 12, fixing clip sandwiched are additionally provided with clamping plate On the first belt gear 13, the discharge end side for positioning roller bed conveyors is provided with stop part 14, on carrier pipeline Side is provided with dyestripping identification mechanism 15, and positioning roller bed conveyors side is additionally provided with base 16, six shaft mechanicals are provided with base Hand 17, grasping mechanism 18 is provided with six axis robot, six axis robot side, which is additionally provided with, puts roller bed frame 44.
Wherein, carrier is sent on stop part by positioning roller bed conveyors, realizes that one end positions, then lifting body acts Rise, top plate can be made to jack up carrier, after carrier departs from conveyer belt, driving belt mechanism action, driving belt, which rotates, to be passed through Fixing clip makes two clamping plates mutually draw close, and the position of carrier is further limited adjustment by clamping plate, is folded in positioning roller-way transmission Centre, make that same position can be on top plate per a batch of carrier, be easy to detect beam and mounting bracket to carrier surface The film of product is adsorbed and torn, and information is identified, and also allows for grasping mechanism crawl.
Guide wheel 19 is evenly arranged with top plate, guide wheel is rotated along roller-way axial direction and set, and is held up when guide wheel heads on carrier Afterwards, the pinching action of clamping plate can be such that carrier is slided on guide wheel, and frictional force is small, therefore the active force of clamping plate can reduce, and move Make more smooth.
Dyestripping identification mechanism includes portal frame 20, and the slip girder 21 moved in the X-axis direction is provided with portal frame, slides The slip auxiliary girder 22 moved along Z-direction is provided with girder, slides and is provided with support mounting plate 23, support mounting plate on auxiliary girder Bottom is provided with two detection beams 24 moved along Y direction, detects and is provided with two installation moved in the X-axis direction branch on beam Frame 25, sucker 26 and barcode scanning camera 27 are provided with mounting bracket.Detection both beam and mounting bracket mutually move along X and Y-axis Cooperation realizes that horizontal plane moves, and removes the film of product surface by sucker, is produced while removing by barcode scanning camera Product information.
Lift cylinder 28 is provided between mounting bracket and sucker, lift cylinder bottom is provided with Level tune plate 29, water Long Circle hole 30 is provided with flat adjustable plate, spring avoiding mechanism 31 is provided with Long Circle hole, sucker is arranged on spring avoidance Vacuum cup firmly can be pressed on the film of product by actuator base, lift cylinder, and spring avoiding mechanism then avoids vacuum from inhaling Pressure on disk crosses macrolesion product, improves stability in use.
Grasping mechanism includes basic framework 32, and basic framework is provided with guide rail 33 along two sides of X-direction, Guide rail is set along Y direction, is provided with the first slide unit and the second slide unit on two guide rails, two the first slide units with First crawl frame 36 is connected, and two the second slide units are connected with the second crawl frame 37, is all provided with the first crawl frame and the second crawl frame Grasping plate 38 is equipped with, the second belt gear 39, the second belt transmission are additionally provided with the corresponding basic framework of guide rail Sandwiched is fixed with the first transmission jig arm 40 and the second transmission jig arm 41, the first transmission jig arm respectively with bottom on the belt top of mechanism It is fixedly installed on the first crawl frame, the second transmission jig arm is arranged on the second crawl frame.Integrated model can extend along Y direction And shortening, adapt to the product gripping of all size.
Mounting plane plate 42 is set in the middle part of basic framework, weighing sensor, mounting plane are provided among mounting plane plate Axle joined assemblies 43 are additionally provided between plate and basic framework, can be convenient fast in crawl with regard to the specific weight of product can be learnt Victory, and axle can have certain leeway of rocking, reduce impulsive force of the weight to manipulator, raising makes when even group causes crawl Use the life-span.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention. A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one The most wide scope caused.

Claims (5)

1. a kind of manipulator positions grasping mechanism, it is characterised in that:Including carrier pipeline, the carrier pipeline is included successively Feeding roller table conveyer belt, driven roller-way and the positioning roller bed conveyors of setting, the positioning roller bed conveyors include rack platform, The rack platform surface is provided with some roller-ways, and the roller-way is connected with power drive mechanism, is set below some roller-ways Lifting body is equipped with, is provided with some top plates at the top of the lifting body, the top plate is arranged between two neighboring roller-way, roller Clamping plate is also provided with road both ends, the cleat surface is provided with some roller-way avoid holes, and two clamping plates are set in On the axis of guide, axle sleeve is provided between the axis of guide and clamping plate, the axle sleeve is connected with Boards wall, is also set on the clamping plate Fixing clip is equipped with, the fixing clip is folded on the first belt gear, the discharge end of the positioning roller bed conveyors Side is provided with stop part, and dyestripping identification mechanism, the positioning roller bed conveyors side are provided with above the carrier pipeline Base is additionally provided with, six axis robot is provided with the base, grasping mechanism is provided with the six axis robot;
The dyestripping identification mechanism includes portal frame, and the slip girder moved in the X-axis direction is provided with the portal frame, described Slide and the slip auxiliary girder moved along Z-direction is provided with girder, support mounting plate, the branch are provided with the slip auxiliary girder Support installing plate bottom is provided with two detection beams moved along Y direction, and be provided with two on the detection beam transports along X-direction Dynamic mounting bracket, sucker and barcode scanning camera are provided with the mounting bracket.
A kind of 2. manipulator positioning grasping mechanism according to claim 1, it is characterised in that:It is uniformly arranged on the top plate There is guide wheel, the guide wheel is rotated along roller-way axial direction and set.
A kind of 3. manipulator positioning grasping mechanism according to claim 1, it is characterised in that:The mounting bracket and sucker Between be provided with lift cylinder, the lift cylinder bottom is provided with Level tune plate, length is provided with the Level tune plate Circular port, spring avoiding mechanism is provided with the Long Circle hole, the sucker is arranged on spring avoiding mechanism bottom.
A kind of 4. manipulator positioning grasping mechanism according to claim 1, it is characterised in that:The grasping mechanism includes base Plinth framework, the basic framework are provided with guide rail along two sides of X-direction, and the guide rail is along Y direction Set, the first slide unit and the second slide unit, two first slide units and the first crawl are provided with two guide rails Frame is connected, and two second slide units are connected with the second crawl frame, is provided with the first crawl frame and the second crawl frame Grasping plate, the second belt gear, second belt transmission are additionally provided with the corresponding basic framework of the guide rail Sandwiched is fixed with the first transmission jig arm and the second transmission jig arm, the first transmission jig arm respectively with bottom on the belt top of mechanism It is fixedly installed on the first crawl frame, the second transmission jig arm is arranged on the second crawl frame.
A kind of 5. manipulator positioning grasping mechanism according to claim 4, it is characterised in that:Set in the middle part of the basic framework Mounting plane plate is put, weighing sensor is provided among the mounting plane plate, between the mounting plane plate and basic framework It is additionally provided with axle joined assemblies.
CN201610702007.7A 2016-08-22 2016-08-22 A kind of manipulator positions grasping mechanism Active CN106144473B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610702007.7A CN106144473B (en) 2016-08-22 2016-08-22 A kind of manipulator positions grasping mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610702007.7A CN106144473B (en) 2016-08-22 2016-08-22 A kind of manipulator positions grasping mechanism

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CN106144473A CN106144473A (en) 2016-11-23
CN106144473B true CN106144473B (en) 2018-02-27

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CN107285031A (en) * 2017-06-01 2017-10-24 江苏哈工药机科技股份有限公司 A kind of solar thermal collector production positions feeding robot with glass plate
CN108555557B (en) * 2018-03-30 2021-05-28 歌尔光学科技有限公司 Tool working platform
CN109607172A (en) * 2018-12-17 2019-04-12 成都保得物流有限公司 A kind of assembly line automatic dischargingapparatus
JP2021046228A (en) * 2019-09-19 2021-03-25 株式会社日立製作所 Unpacking system and unpacking method
CN111169970B (en) * 2020-01-10 2021-07-27 广东伟创五洋智能设备有限公司 Automatic pad-changing rotating machine
CN111591537A (en) * 2020-05-23 2020-08-28 滁州尚诺自动化设备有限公司 Film-coated metal plate film scribing device and using method thereof
CN112645007A (en) * 2020-12-15 2021-04-13 深圳市升达康科技有限公司 Feeding equipment
CN112660747A (en) * 2020-12-15 2021-04-16 深圳市升达康科技有限公司 Material collecting equipment
CN114260983A (en) * 2021-12-27 2022-04-01 广州三拓金属加工机械有限公司 Platform is carried to full-automatic panel

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Address after: High tech Zone Suzhou city Jiangsu province 215011 Yinzhu Road No. 15

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