CN106494882B - Transfer line - Google Patents
Transfer line Download PDFInfo
- Publication number
- CN106494882B CN106494882B CN201611264342.XA CN201611264342A CN106494882B CN 106494882 B CN106494882 B CN 106494882B CN 201611264342 A CN201611264342 A CN 201611264342A CN 106494882 B CN106494882 B CN 106494882B
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- China
- Prior art keywords
- driving
- spline housing
- workpiece
- nut
- splined shaft
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Abstract
The invention discloses transfer lines, including jig；Frame is expected, including the first placement section for placing for workpiece；And for workpiece to be transferred to the manipulator on jig from the first placement section of material frame；Wherein, the manipulator includes Mobile base；First driving device for driving Mobile base to move in a straight line；Swing seat；It is mounted on the second driving device on Mobile base and for driving swing seat to rotate；The third driving device being mounted in swing seat, including spline housing, the spline housing driving mechanism for driving spline housing to rotate, by the splined shaft for rotating synchronously with spline housing and being inserted into spline housing in a manner of being moved along its axis relative to spline housing, the nut being sleeved on splined shaft and nut driving mechanism for driving nut rotation；The splined shaft and nut cooperation constitute worm drive；And the workpiece fetching device with spline axis connection.Workpiece is transferred manually without operator, and safety can be improved.
Description
Technical field
The present invention relates to a kind of transfer lines.
Background technique
Currently, often needing operator that workpiece to be processed is transferred to jig from material frame manually in workpiece process
On, the then workpieces processing on jig again.But in batch processes, operator manually by Workpiece transfer to jig,
It is usually easy to be in contact with the cutter arrangement above jig, to be easy to happen safety accident, far from meeting industrial requirement.
Summary of the invention
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide a kind of transfer lines, by being rationally arranged
Workpiece can be transferred on jig, without operator manually by workpiece from material by manipulator from the first placement section of material frame
Frame is transferred to jig, and safety can be improved.
To solve the above problems, the technical solution adopted in the present invention is as follows:
Transfer line, comprising:
Jig；
Frame is expected, including the first placement section for placing for workpiece；
And for workpiece to be transferred to the manipulator on jig from the first placement section of material frame；
First driving device includes bottom case, the third driving wheel being articulated in bottom case, for driving third driving wheel to rotate
Third motor, the third driven wheel being articulated in bottom case and the third being wound around on third driving wheel and third driven wheel
Conveyer belt；The Mobile base and third transmit band connection；The first driving device further includes connecting with bottom case and being used for the cover
In the outer cover outside bottom case, the outer cover includes the top plate above bottom case, is provided with and extends downward simultaneously on the left of the top plate
Left plate outside bottom case, right side are provided with the right panel for extending downward and being located at outside bottom case；The Mobile base is movably set in outer
On cover, and it is equipped with the idler wheel that cooperation is rolled with bottom case；
Wherein, the manipulator includes:
Mobile base；
First driving device for driving Mobile base to move in a straight line；
Swing seat；
The second driving device being mounted on Mobile base is connected with swing seat driving, and for driving swing seat to rotate；
The third driving device being mounted in swing seat, the spline housing including spline housing, for driving spline housing to rotate drive
Motivation structure, by with spline housing rotate synchronously and can opposite spline housing move along its axis in a manner of be inserted into spline in spline housing
Axis, the nut being sleeved on splined shaft and the nut driving mechanism for driving nut to rotate；The splined shaft is in set vertically
It sets；The splined shaft and nut cooperation constitute worm drive；
And the workpiece fetching device with spline axis connection.
The inserting groove for workpiece insertion is provided on first placement section.
The material frame further includes the second placement section positioned at the first placement section side and for placing for workpiece；The manipulator
It is also used to workpiece from the second placement section that jig is transferred to material frame.
The spline housing is rotatably mounted in swing seat；The spline housing driving mechanism includes the first driving wheel, machine
Body is fixed in swing seat and the first motor for driving the rotation of the first driving wheel, the first driven wheel being connect with spline housing,
And it is set around the first conveyer belt on the first driving wheel and the first driven wheel；The nut is rotatably mounted to swing seat
On；The nut driving mechanism is fixed in swing seat including the second driving wheel, body and for driving the rotation of the second driving wheel
The second motor, the second driven wheel being connect with nut and be set around on the second driving wheel and the second driven wheel second pass
Send band.
Second driving device is driving motor.
The workpiece fetching device includes and the attachment base of spline axis connection, the vacuum slot being fixed on attachment base；Institute
The absorption of workpieces end for stating vacuum slot is arranged downward.
The splined shaft and nut cooperation constitute rolling spiral drive with by the straight line for being converted into splined shaft of nut
Movement.
Spline housing and splined shaft cooperatively form ball spline pair.
The direction of motion of the Mobile base and the central axis upright of splined shaft；Second driving device is used for band movable pendulum
Dynamic seat is rotated around a vertical axis；The centerline axis parallel of the vertical axis and splined shaft, and mutually stagger.
Compared with prior art, the beneficial effects of the present invention are:
During the work time, nut rotation is driven by nut driving mechanism, splined shaft can be driven to move in a straight line, with band
Part fetching device of starting building moves in a straight line；And by driving spline housing, nut using spline housing driving mechanism, nut driving mechanism
It synchronously rotates, splined shaft can be driven to rotate, to drive workpiece fetching device to rotate；Moreover, when in use, can also pass through first
Driving device drives Mobile base to move in a straight line together with swing seat, third driving device, workpiece fetching device, and can pass through second
Driving device drives swing seat rotation to drive third driving device to rotate together with workpiece fetching device, thus, the present invention passes through
Rationally setting manipulator, can drive workpiece fetching device to move in a straight line, rotate, and be convenient to pick and place workpiece, can be by workpiece from material
First placement section of frame is transferred on jig, and workpiece is transferred to jig from material frame manually without operator, can be improved
Safety.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of manipulator；
Fig. 3 is the structural schematic diagram of third driving device；
Fig. 4 is the structural schematic diagram of first driving device；
Fig. 5 is the explosive view of first driving device；
Fig. 6 is the cross-sectional view of first driving device；
Fig. 7 is the structural schematic diagram of Mobile base；
Fig. 8 is the structural schematic diagram for expecting frame；
Wherein, 100, first driving device；110, bottom case；111, pedestal；112, front side board；113, back side panel；114, left
Side plate；115, right side plate；120, third driving wheel；130, third motor；140, third driven wheel；150, outer cover；151, top plate；
152, left plate；153, right panel；200, Mobile base；201, the second cavity；202, outer transverse slat；203, outer panel；204, inner horizontal plate；
205, interior plate；206, the first cavity；207, idler wheel；300, swing seat；400, the second driving device；500, third driving dress
It sets；520, spline housing；530, spline housing driving mechanism；531, the first driving wheel；532, first motor；533, the first driven wheel；
540, splined shaft；550, nut；560, nut driving mechanism；561, the second driving wheel；562, the second motor；563, second is driven
Wheel；600, workpiece fetching device；610, attachment base；620, vacuum slot；630, air nozzle；700, jig；800, expect frame；810,
First placement section；820, the second placement section；830, inserting groove.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention:
Such as Fig. 1-8, transfer line, comprising:
Jig 700；
Frame 800 is expected, including the first placement section 810 for placing for workpiece；
And for workpiece to be transferred to the manipulator on jig 700 from the first placement section 810 of material frame 800；
Wherein, the manipulator includes:
Mobile base 200；
First driving device 100 for driving Mobile base 200 to move in a straight line；
Swing seat 300；
The second driving device 400 being mounted on Mobile base 200 is connected with the driving of swing seat 300, and swings for driving
Seat 300 rotates；
The third driving device 500 being mounted in swing seat 300, including spline housing 520, for driving 520 turns of spline housing
Dynamic spline housing driving mechanism 530, to be rotated synchronously with spline housing 520 and can the side that moves along its axis of opposite spline housing 520
Splined shaft 540 that formula is inserted into spline housing 520, the nut 550 being sleeved on splined shaft 540 and for driving nut 550
The nut driving mechanism 560 of rotation；The splined shaft 540 is in be vertically arranged；The splined shaft 540 is constituted with the cooperation of nut 550
Worm drive；
And the workpiece fetching device 600 being connect with splined shaft 540.
During the work time, robot work extracts workpiece from the first placement section 810 using workpiece fetching device 600, it
Afterwards, robot work drives workpiece to be moved on jig 700, at this point, workpiece fetching device 600 discharges workpiece, so as to by work
Part is transferred on jig 700 from the first placement section 810 of material frame 800.And when in use, by utilizing spline housing driving mechanism
530, nut driving mechanism 560 drives spline housing 520, nut 550 to synchronously rotate, and splined shaft 540 can be driven to rotate, to drive
Workpiece fetching device 600 rotates；And it stops operating in spline housing 520, and drive 550 turns of nut by nut driving mechanism 560
When dynamic, since splined shaft 540 and the cooperation of nut 550 constitute worm drive, so as to convert splined shaft for the rotation of nut 550
540 linear motion, to drive splined shaft 540 to move along a straight line, so that workpiece fetching device 600 is driven to move in a straight line, moreover,
Also Mobile base 200 can be driven to pick and place dress together with swing seat 300, third driving device 500, workpiece by first driving device 100
It sets 600 to move in a straight line, and can drive the rotation of swing seat 300 to drive third driving device by the second driving device 400
500, workpiece fetching device 600 rotates, thus, the present invention can drive workpiece fetching device 600 to do by the way that manipulator is rationally arranged
Workpiece can be transferred to jig 700 from the first placement section 810 of material frame 800 to be convenient to pick and place workpiece by linear motion, rotation
On, workpiece is transferred to jig from material frame manually without operator, safety can be improved.
Preferably, which further includes the second placement positioned at 810 side of the first placement section and for placing for workpiece
Portion 820；The manipulator is also used to by workpiece from the second placement section 820 that jig 700 is transferred to material frame 800, and to workpiece
After processing is completed, by being transferred to workpiece on the second placement section 820 from jig 700 using the manipulator, so as to using together
One manipulator carries out feeding and blanking, carries out blanking, escapable cost without in addition configuring equipment.
Specifically, being disposed on first placement section 810, the second placement section 820 each along vertical direction multiple
For the inserting groove 830 of workpiece insertion.Specifically, first placement section 810, the second placement section 820 include support plate；It is described
The wherein side of support plate is provided with the first locating part extended upward, and the other side is provided with the second locating part extended upward；
It is disposed with multiple the first recess for workpiece wherein side insertion on first locating part along vertical direction, described the
It is disposed with and is corresponded with multiple first recess and for the insertion of the workpiece other side along vertical direction on two locating parts
Multiple second recess；Second recess and corresponding first recess are in being oppositely arranged, and the second recess and corresponding first recessed
The inserting groove 830 is formed between position.And first placement section 810, the second placement section 820 be by using above structure, it can
Keep structure relatively simple, can effectively reduce cost.
Preferably, the central axis upright of the direction of motion of the Mobile base 200 and splined shaft 540, so that Mobile base
200 be to move in the horizontal direction；Second driving device 400 is for driving swing seat 300 to rotate around a vertical axis；It is described
The centerline axis parallel of vertical axis and splined shaft 540, and mutually stagger.And by using above-mentioned setting, workpiece can be driven to take
Put device 600 along the vertical direction, horizontal direction linear motion, and can drive workpiece fetching device 600 around not coaxial line rotate, with
Further increase using flexible.
Preferably, the spline housing 520 is rotatably mounted in swing seat 300；The spline housing driving mechanism 530 is wrapped
Include the first driving wheel 531, body is fixed on the first motor in swing seat 300 and being used to that the first driving wheel 531 to be driven to rotate
532, it the first driven wheel 533 for being connect with spline housing 520 and is set around on the first driving wheel 531 and the first driven wheel 533
First conveyer belt.And when in use, first motor 532 works, and the first driving wheel 531 can be driven to rotate, to pass through the first transmission
Band drives the first driven wheel 533 to rotate together with spline housing 520.And spline housing driving mechanism 530 is by using above structure, it can be square
Convenient for assembly.
The nut 550 is rotatably mounted in swing seat 300；The nut driving mechanism 560 includes the second active
Wheel 561, body are fixed on the second motor 562 and nut 550 in swing seat 300 and for driving the second driving wheel 561 to rotate
Second driven wheel 563 of connection and the second conveyer belt being set around on the second driving wheel 561 and the second driven wheel 563.And
In use, the second motor 562 works, the second driving wheel 561 can be driven to rotate, to drive the second driven wheel by the second conveyer belt
563 rotate together with nut 550.And nut driving mechanism 560 can be convenient to assemble by using above structure.
Preferably, first driving device 100 includes bottom case 110, the third driving wheel 120 being articulated in bottom case 110, is used for
It the driving third driving wheel 120 third motor 130 rotated, the third driven wheel 140 that is articulated in bottom case 110 and is wound around
Third conveyer belt on third driving wheel 120 and third driven wheel 140；The Mobile base 200 transmits band connection with third.Make
Used time, third motor 130 work, and third driving wheel 120 can be driven to rotate, so as to drive Mobile base by third conveyer belt
200 is mobile.
The first driving device 100 further includes connecting with bottom case 110 and for the cover in the outer cover 150 outside bottom case 110；
The Mobile base 200 is movably set on outer cover 150, and is equipped with the idler wheel 207 that cooperation is rolled with bottom case 110.The present invention passes through
Using 150 the cover of outer cover in outside bottom case 110, avoidable third driving wheel 120, third driven wheel 140 can subtract outside being directly exposed to
Few extraneous granule dust falls in third driving wheel 120, on third driven wheel 140, to reduce extraneous granule dust to third
The corrosiveness of driving wheel 120, third driven wheel 140, so as to extend the use of third driving wheel 120, third driven wheel 140
Service life；Moreover, being rolling friction between Mobile base 200 and bottom case 110, the abrasion of Mobile base 200, bottom case 110 can be reduced, to prolong
Its long service life.
Specifically, the bottom case 110 includes pedestal 111, front side board 112 and back side panel 113；The left side of the pedestal 111
It is provided with the left plate 114 extended upward, right side is provided with the right side plate 115 extended upward；The front side board 112 is arranged the bottom of at
The front end of seat 111, and connect respectively with the front end of the front end of left plate 114, right side plate 115；The back side panel 113 is arranged the bottom of at
The rear end of seat 111, and connect respectively with the rear end of the rear end of left plate 114, right side plate 115；The front end of the outer cover 150 is fixed
On the front side board 112 of bottom case 110, rear end is fixed on the back side panel 113 of bottom case 110；The outer cover 150 includes being located at bottom case
The top plate 151 of 110 tops；The left side of the top plate 151 is provided with the left plate 152 for extending downward and being located at outside bottom case 110, right side
It is provided with the right panel 153 for extending downward and being located at outside bottom case 110；Between the top plate 151 and the top surface of left plate 114, top plate
It is equipped between 151 and the top surface of right side plate 115, between left plate 152 and left plate 114, between right panel 153 and right side plate 115
Gap.And by using above structure, the cover can be played the role of simultaneously, be also convenient to assemble.
Specifically, the top surface of the front end of the top plate 151 and front side board 112 is mutually by patch, the top surface of rear end and back side panel 113
Mutually by patch；Mutually by patch, rear end and the left side of back side panel 113 are mutually leaned on for the left side of the front end of the left plate 152 and front side board 112
Patch；The right side of the front end of the right panel 153 and front side board 112 is mutually by patch, and the right side of rear end and back side panel 113 is mutually by pasting.
And by using above structure, it can further improve assembly convenience.
Preferably, Mobile base 200 includes the outer transverse slat 202 for being located at 151 top of top plate, is respectively set in outer transverse slat 202
The left and right sides and two outer panels 203 extended downward, the first link block, the second link block, the inner horizontal plate positioned at 151 lower section of top plate
204 and two interior plates 205 that are separately positioned on the left and right sides of inner horizontal plate 204 and extend downward；The inner horizontal plate 204 with
Two interior plate 205 surrounds the first cavity 206 worn for bottom case 110；The left side of first link block be located at outer transverse slat
The lower end connection of the outer panel 203 in 202 left sides, right side are connect with the lower end for the interior plate 205 for being located at 204 left side of inner horizontal plate；The
The right side of two link blocks connect with the lower end for the outer panel 203 for being located at 202 right side of outer transverse slat, left side be located at 204 right side of inner horizontal plate
The lower end of the interior plate 205 of side connects；The outer transverse slat 202, two outer panels 203, the first link block, the second link block, in two
Side plate 205 surrounds the second cavity 201 worn for outer cover 150 with inner horizontal plate 204；The idler wheel 207 is articulated in inner horizontal plate 204
On.And on the basis of rationally setting bottom case 110, outer cover 150, then by using the above structure, making Mobile base 200 outdoors
Used time can be reduced, even avoidable rainwater enters in pedestal 111.
Wherein, second driving device 400 is driving motor.Certainly, in addition to this, second driving device 400
Combination or other devices that rotary cylinder, straight line cylinder and rack and pinion also can be used, as long as swing seat 300 can be driven
Rotation.
Preferably, the workpiece fetching device 600 includes the attachment base 610 connecting with splined shaft 540, is fixed on attachment base
The absorption of workpieces end of vacuum slot 620 on 610, the vacuum slot 620 is arranged downward, when in use, vacuum slot 620 with
The mode of vacuum suction draws workpiece.Certainly, other than using above-mentioned component, the workpiece fetching device 600 also be can be used
Air-actuated jaw, magnechuck etc..But workpiece fetching device 600 is used into attachment base 610 and vacuum slot 620, is applicable to not
The workpiece of similar shape, and it is suitable for the workpiece of the unlike materials such as glass, metal, so as to expand its scope of application.
Preferably, it is further fixed on air nozzle 630 on the attachment base 610, to discharge workpiece to controlling in vacuum slot 620
When on tool 700, the coolant liquid on jig 700 can be blown open first with air nozzle 630, be made with reducing coolant liquid to the positioning of workpiece
At influence.
Preferably, the nut 550 uses ball-type nut 550, so that the splined shaft 540 and nut 550 cooperate structure
At rolling spiral drive (namely splined shaft 540 and nut 550 cooperatively forms ball wire bar pair), splined shaft 540 can be reduced
Abrasion extends the service life of splined shaft 540.
Certainly, in addition to that mentioned above, the splined shaft 540 constitutes worm drive with the cooperation of nut 550, can also directly utilize
The rotation for cooperating so that nut 550 of the internal screw thread of the external screw thread and nut 550 of splined shaft 540 can be converted into splined shaft
540 linear motion, it is, forming slip screw transmission.But the splined shaft 540 is constituted with the cooperation of nut 550 and is rolled
Worm drive are optimal case of the invention, can reduce the abrasion of splined shaft 540.
Preferably, the spline housing 520 uses ball-type spline housing 520, so that spline housing 520 and splined shaft 540 cooperate
Ball spline pair is formed, to reduce the abrasion of splined shaft 540, further extends the service life of splined shaft 540.
It will be apparent to those skilled in the art that can make various other according to the above description of the technical scheme and ideas
Corresponding change and deformation, and all these changes and deformation all should belong to the protection scope of the claims in the present invention
Within.
Claims (9)
1. transfer line, it is characterised in that；Include:
Jig；
Frame is expected, including the first placement section for placing for workpiece；
And for workpiece to be transferred to the manipulator on jig from the first placement section of material frame；
Wherein, the manipulator includes:
Mobile base；
First driving device for driving Mobile base to move in a straight line；
First driving device includes bottom case, the third driving wheel being articulated in bottom case, for driving that third driving wheel rotates
Three motors, the third driven wheel being articulated in bottom case and the third being wound around on third driving wheel and third driven wheel transmission
Band；The Mobile base and third transmit band connection；The first driving device further includes connecting and being used for the cover with bottom case the bottom of in
Outer cover outside shell, the outer cover include the top plate above bottom case, are provided on the left of the top plate and extend downward and be located at
Left plate outside bottom case, right side are provided with the right panel for extending downward and being located at outside bottom case；The Mobile base has to be worn for bottom case
First cavity and the second cavity worn for outer cover, the Mobile base are movably set on outer cover, and are equipped with and are matched with bottom case rolling
The idler wheel of conjunction；
Swing seat；
The second driving device being mounted on Mobile base is connected with swing seat driving, and for driving swing seat to rotate；
The third driving device being mounted in swing seat, including spline housing, the spline housing driving machine for driving spline housing to rotate
Structure, by with spline housing rotate synchronously and can opposite spline housing move along its axis in a manner of be inserted into splined shaft in spline housing,
The nut being sleeved on splined shaft and the nut driving mechanism for driving nut to rotate；The splined shaft is in be vertically arranged；
The splined shaft and nut cooperation constitute worm drive；
And the workpiece fetching device with spline axis connection.
2. transfer line as described in claim 1, it is characterised in that；Inserting for workpiece insertion is provided on first placement section
Tankage.
3. transfer line as described in claim 1, it is characterised in that；The material frame further includes positioned at the first placement section side and being used for
The second placement section placed for workpiece；The manipulator is also used to workpiece from the second placement section that jig is transferred to material frame.
4. transfer line as described in claim 1, it is characterised in that；The spline housing is rotatably mounted in swing seat；Institute
Stating spline housing driving mechanism includes that the first driving wheel, body are fixed in swing seat and for driving the rotation of the first driving wheel
One motor, the first driven wheel being connect with spline housing and the first transmission being set around on the first driving wheel and the first driven wheel
Band；The nut is rotatably mounted in swing seat；The nut driving mechanism is fixed on pendulum including the second driving wheel, body
The second motor, the second driven wheel connecting with nut on dynamic seat and for driving the rotation of the second driving wheel and it is set around the
The second conveyer belt on two driving wheels and the second driven wheel.
5. transfer line as described in claim 1, it is characterised in that；Second driving device is driving motor.
6. transfer line as described in claim 1, it is characterised in that；The workpiece fetching device includes the company with spline axis connection
Joint chair, the vacuum slot being fixed on attachment base；The absorption of workpieces end of the vacuum slot is arranged downward.
7. transfer line as described in claim 1, it is characterised in that；The splined shaft and nut cooperation constitute rolling spiral drive
With by the linear motion for being converted into splined shaft of nut.
8. transfer line as described in claim 1, it is characterised in that；Spline housing and splined shaft cooperatively form ball spline pair.
9. transfer line as described in claim 1, it is characterised in that；The direction of motion of the Mobile base and the central axis of splined shaft
Line is vertical；Second driving device is for driving swing seat to rotate around a vertical axis；The vertical axis and splined shaft
Centerline axis parallel, and mutually stagger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264342.XA CN106494882B (en) | 2016-12-31 | 2016-12-31 | Transfer line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264342.XA CN106494882B (en) | 2016-12-31 | 2016-12-31 | Transfer line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106494882A CN106494882A (en) | 2017-03-15 |
| CN106494882B true CN106494882B (en) | 2019-09-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611264342.XA Active CN106494882B (en) | 2016-12-31 | 2016-12-31 | Transfer line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106494882B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319450A (en) * | 2018-09-30 | 2019-02-12 | 苏州富强科技有限公司 | A kind of full-automatic materials and parts transfer device |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3640679B2 (en) * | 1992-12-01 | 2005-04-20 | セイコーエプソン株式会社 | IC inspection robot and IC inspection method |
| NL1000675C2 (en) * | 1995-06-27 | 1996-12-31 | Ebm Techniek Bv | Transfer device and assembly of transfer devices. |
| CN201333694Y (en) * | 2009-01-09 | 2009-10-28 | 芜湖奥托自动化设备有限公司 | Novel mechanical handling device |
| CN102528800A (en) * | 2012-01-18 | 2012-07-04 | 苏州光宝康电子有限公司 | Novel rotary manipulator |
| CN203003891U (en) * | 2012-10-30 | 2013-06-19 | 南通通用机械制造有限公司 | Economical selective compliance assembly robot arm (SCARA) robot |
| CN203739521U (en) * | 2014-04-02 | 2014-07-30 | 深圳大宇精雕科技有限公司 | Automatic computer numerical control engraving and milling machine |
| CN104440906B (en) * | 2014-11-24 | 2016-06-01 | 东莞市智赢智能装备有限公司 | Production line system high-speed robot |
| CN204471377U (en) * | 2015-01-17 | 2015-07-15 | 深圳威特尔自动化科技有限公司 | A kind of balance manipulator |
| CN205271996U (en) * | 2015-11-03 | 2016-06-01 | 深圳市福士工业科技有限公司 | Novel ZR axle subassembly of many joints of level manipulator |
| CN206511639U (en) * | 2016-12-31 | 2017-09-22 | 深圳大宇精雕科技有限公司 | Transfer line |
-
2016
- 2016-12-31 CN CN201611264342.XA patent/CN106494882B/en active Active
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| Publication number | Publication date |
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| CN106494882A (en) | 2017-03-15 |
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