CN107340775B - AGV trolley for mounting screws and working method thereof - Google Patents

AGV trolley for mounting screws and working method thereof Download PDF

Info

Publication number
CN107340775B
CN107340775B CN201710673555.6A CN201710673555A CN107340775B CN 107340775 B CN107340775 B CN 107340775B CN 201710673555 A CN201710673555 A CN 201710673555A CN 107340775 B CN107340775 B CN 107340775B
Authority
CN
China
Prior art keywords
screw
automatic
mechanical arm
vehicle body
agv
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
CN201710673555.6A
Other languages
Chinese (zh)
Other versions
CN107340775A (en
Inventor
齐臣坤
赵现朝
张家奇
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 Agan Robot Co ltd
Original Assignee
Suzhou Agan Robot 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
Application filed by Suzhou Agan Robot Co ltd filed Critical Suzhou Agan Robot Co ltd
Priority to CN201710673555.6A priority Critical patent/CN107340775B/en
Publication of CN107340775A publication Critical patent/CN107340775A/en
Application granted granted Critical
Publication of CN107340775B publication Critical patent/CN107340775B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1687Assembly, peg and hole, palletising, straight line, weaving pattern movement

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)

Abstract

The invention discloses an AGV trolley for installing screws, which comprises a control module, a driving system, a vehicle body, rollers arranged below the vehicle body, an automatic guiding system arranged in the vehicle body and a screw installing system arranged above the vehicle body, wherein the driving system is arranged on the vehicle body; the screw mounting system comprises a first mechanical arm connected with the vehicle body, a second mechanical arm connected with the first mechanical arm and a screw driver frame connected with the second mechanical arm; one end of the screwdriver rest is provided with an automatic screwdriver device, and the other end of the screwdriver rest is connected with a screw conveying device; the automatic screwdriver device is hinged with the screwdriver rest and is connected with a reversing driving device; one end of the screw conveying device, which is close to the screw tool rest, is provided with an air extraction type suction device, the other end of the screw conveying device is connected with a screw storage device, and a material taking device is arranged at the joint. Realize full-automatic, unmanned equipment operation, can accurately carry out the installation of screw.

Description

AGV trolley for mounting screws and working method thereof
Technical Field
The invention relates to the technical field of AGV trolleys, in particular to an AGV trolley for mounting screws.
Background
AGV refers to a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a predetermined guidance path, having safety protection and various transfer functions, and which is used in industrial applications without the need for a driver's transport vehicle and with a rechargeable battery as its power source. The travel route and behavior of the vehicle can be controlled by a computer, or the travel route can be established by using an electromagnetic track, which is stuck on the floor, and the unmanned carrier can move and act by means of the information brought by the electromagnetic track. At present, AGV mainly has high efficiency, accuracy and flexibility in finishing the material transporting task.
In addition, in the assembly process of the large-scale machine, the whole machine is not easy to move; for assembly of the components, the assembly is often performed by a worker by pointing an operation and using a power screwdriver. Errors, such as missing, are prone to occur during manual installation; misloading; the efficiency is low; improper operation, damage to parts, etc.
Disclosure of Invention
The purpose of the invention is that: the invention discloses an AGV trolley for installing screws, which is based on an automatic guiding system to realize automatic station switching, installation operation and automatic feeding according to a set path; realize full-automatic, unmanned equipment operation, can accurately carry out the installation of screw.
The technical scheme is as follows: in order to achieve the above object, the invention discloses an AGV trolley for installing screws, which comprises a control module, a driving system, a vehicle body, rollers arranged below the vehicle body, an automatic guiding system arranged in the vehicle body and a screw installation system arranged above the vehicle body; the screw mounting system comprises a first mechanical arm connected with the vehicle body, a second mechanical arm connected with the first mechanical arm and a screw driver frame connected with the second mechanical arm; one end of the screw driver frame is provided with an automatic screw driver device, and the other end of the screw driver frame is connected with a screw conveying device; the automatic screwdriver device is hinged with the screwdriver rest and is connected with a reversing driving device; one end of the screw conveying device, which is close to the screw tool rest, is provided with an air extraction type suction device, the other end of the screw conveying device is connected with a screw storage device, and a material taking device is arranged at the joint.
Furthermore, in the AGV trolley for installing the screw, the end part of the automatic screw driver device is provided with the tool bit, and the tool bit is rotationally connected with the automatic screw driver device and is connected with the rotary driving device; the tool bit is provided with a magnetic suction device.
Further, the AGV trolley for installing the screw is characterized in that the air suction type suction device and the material taking device are arranged inside the conveying channel of the screw conveying device.
Further, according to the AGV for mounting the screw, the conveying passage is made of a soft material.
Further, according to the AGV trolley for installing the screw, a group of guide rib plates are arranged in the conveying channel, and the distance between the opposite guide rib plates is matched with the diameter of the screw cap.
Further, according to the AGV for installing the screw, the spring is arranged between the cutter head and the automatic screw driver device.
Further, the AGV trolley for mounting the screw comprises a pair of clamping jaws and a detection device.
Further, the working method of the AGV trolley for installing the screw comprises the following steps: a) The AGV trolley reaches a first assembly station according to the set path; b) The first mechanical arm and the second mechanical arm operate to drive the automatic screwdriver device to reach a set position; c) The screw storage device operates to push screws to the conveying channel in sequence; d) The pair of clamping jaws clamp the first screw, and the detection device detects and feeds back the result to the control module; e) If the direction of the screw is detected to be wrong, the control module controls a pair of clamping jaws to act, and the screw is turned to the correct direction; f) A pair of clamping jaws pushes the screw into the conveying channel; g) Turning and reversing the automatic screwdriver device, and enabling a tool bit on the automatic screwdriver device to enter the end part of the conveying channel; h) The control module controls the operation of the suction type suction device to suck the first screw to the end part of the conveying channel; i) The tool bit absorbs the first screw through the magnetic absorbing device; j) The automatic screw driver device turns over and commutates, take out the first screw from the conveying channel, and aim at the screw hole on the part; k) The first mechanical arm and the second mechanical arm operate to drive the automatic screw driver device and the screw to advance, and the rotary driving device of the tool bit operates to mount the screw; l) after the installation of the first screw is completed, the first mechanical arm and the second mechanical arm operate to drive the automatic screw driver device to reach the position of the next screw hole; m) repeating steps c through k until all screws are installed; o) after the installation is completed, the AGV trolley moves to a second assembly station according to the set path; p) when the screw quantity that AGV dolly stored is not enough, control module control AGV dolly removes to reinforced district, carries out automatic feeding.
Further, the working method of the AGV trolley for installing the screw specifically comprises the following steps: k1 The automatic screwdriver device is pushed forward, the screw enters the threaded hole, and when the pressure between the screw and the thread is larger than a first set value, the rotary driving device operates to drive the screw to rotate into the threaded hole; k2 When the tail part of the screw is fully screwed in, the nut of the screw contacts the surface of the part, and then the screw is pre-tightened: after the nut of the screw contacts the surface of the part, the rotary driving device continues to operate, and the tool bit drives the screw to continue to rotate, so that the part and the integral workpiece are screwed; and when the pressure between the screw and the part is larger than a second set value, stopping the rotary driving system, and finishing the installation of the screw.
The technical scheme can be seen that the invention has the following beneficial effects:
(1) The AGV trolley for installing the screw realizes automatic station switching, installation operation and automatic feeding according to a set path based on an automatic guide system; the full-automatic unmanned assembly operation is realized, and the screw can be accurately installed;
(2) According to the AGV trolley for installing the screw, the screw is appropriately pre-tightened after being installed, the pre-tightening force is controlled, and the installation stability and the installation quality of the screw are improved;
(3) According to the AGV trolley for installing the screws, the air suction type suction devices and the conveying channels are arranged, so that single conveying of the screws is ensured, and the phenomenon that a plurality of screws are sucked by a cutter head to affect installation is prevented;
(4) According to the AGV trolley for installing the screw, the air suction type suction device is matched with the magnetic suction device, reliable transmission of the screw is completed, and the suction process of the screw is smooth and reliable;
(5) According to the AGV trolley for installing the screw, due to the arrangement of the screw storage device, manual feeding is not needed, the AGV trolley can continuously work for a long time, and the production efficiency is improved;
(6) According to the AGV trolley for installing the screw, the accuracy of the screw conveying direction is guaranteed through detection of the detection device during material taking, and the working process is stable and reliable.
Drawings
FIG. 1 is a schematic view of an AGV for mounting screws according to the present invention;
FIG. 2 is a schematic cross-sectional view of a conveyor tunnel of an AGV for mounting screws according to the present invention;
In the figure: 1-car body, 2-idler wheels, 3-automatic guiding system, 4-first mechanical arm, 5-second mechanical arm, 6-screwdriver rack, 7-automatic screwdriver device, 71-tool bit, 8-screw conveying device, 9-suction type suction device, 10-screw storage device, 11-material taking device, 111-clamping jaw, 112-detecting device, 12-conveying channel and 121-guiding rib plate.
Detailed Description
The following describes the embodiments of the present invention in detail with reference to the drawings.
Examples
The AGV trolley for installing the screw comprises a control module, a driving system, a vehicle body 1, rollers 2 arranged below the vehicle body 1, an automatic guiding system 3 arranged in the vehicle body 1 and a screw installation system arranged above the vehicle body 1, as shown in fig. 1 and 2; the screw mounting system comprises a first mechanical arm 4 connected with the vehicle body 1, a second mechanical arm 5 connected with the first mechanical arm 4, and a screw driver frame 6 connected with the second mechanical arm 5; one end of the screw driver rest 6 is provided with an automatic screw driver device 7, and the other end is connected with a screw conveying device 8; the automatic screwdriver device 7 is hinged with the screwdriver rest 6 and is connected with a reversing driving device; one end of the screw conveying device 8, which is close to the screw tool rest 6, is provided with an air suction type suction device 9, the other end of the screw conveying device is connected with a screw storage device 10, and a material taking device 11 is arranged at the joint.
In this embodiment, a tool bit 71 is disposed at the end of the automatic screw driver device 7, and the tool bit 71 is rotatably connected with the automatic screw driver device 7 and is connected with a rotation driving device; the cutter head 71 is provided with magnetic suction means.
The suction device 9 and the material taking device 11 are arranged inside the conveying channel 12 of the screw conveying device 8 in the embodiment.
The transfer passage 12 is made of a soft material in this embodiment.
In this embodiment, a set of guiding ribs 121 are disposed inside the conveying channel 12, where the distance between the opposing guiding ribs 121 is adapted to the diameter of the nut.
A spring is provided between the tool bit 71 and the automatic screw driver device 7 in this embodiment.
The take-off device 11 in this embodiment includes a pair of jaws 111 and a detection device 112.
The working method of the AGV trolley for installing the screw in the embodiment comprises the following steps:
a) The AGV trolley reaches a first assembly station according to the set path;
b) The first mechanical arm 4 and the second mechanical arm 5 run to drive the automatic screw driver device 7 to reach a set position;
c) The screw storage device 10 operates to sequentially push screws to the conveying channel 12;
d) A pair of clamping jaws 111 clamp the first screw, and a detection device 112 detects and feeds back the result to the control module;
e) If the direction of the screw is detected to be wrong, the control module controls the pair of clamping jaws 111 to act, so that the screw is turned to the correct direction;
f) A pair of jaws 111 push the screw into the delivery channel 12;
g) The automatic screw driver device 7 turns over and changes direction, and a tool bit 71 on the automatic screw driver device 7 enters the end part of the conveying channel 12;
h) The control module controls the operation of the suction type suction device 9 to suck the first screw to the end part of the conveying channel 12;
i) The cutter head 71 sucks the first screw by a magnetic suction device;
j) The automatic screw driver device 7 turns over and changes direction, takes out the first screw from the conveying channel 12 and aligns with the screw hole on the part;
k) The first mechanical arm 4 and the second mechanical arm 5 operate to drive the automatic screw driver device 7 and the screw to advance, and the rotary driving device of the tool bit 71 operates to install the screw:
k1 The automatic screwdriver device 7 is pushed forward, the screw enters the threaded hole, and when the pressure between the screw and the thread is larger than a first set value, the rotary driving device operates to drive the screw to rotate into the threaded hole;
k2 When the tail part of the screw is fully screwed in, the nut of the screw contacts the surface of the part, and then the screw is pre-tightened: after the nut of the screw contacts the surface of the part, the rotary driving device continues to operate, and the tool bit 71 drives the screw to continue to rotate, so that the part and the integral workpiece are screwed; and when the pressure between the screw and the part is larger than a second set value, stopping the rotary driving system, and finishing the installation of the screw.
L) after the installation of the first screw is completed, the first mechanical arm 4 and the second mechanical arm 5 run to drive the automatic screw driver device 7 to reach the position of the next screw hole;
m) repeating steps c through k until all screws are installed;
o) after the installation is completed, the AGV trolley moves to a second assembly station according to the set path;
p) when the screw quantity that AGV dolly stored is not enough, control module control AGV dolly removes to reinforced district, carries out automatic feeding.
The foregoing is merely a preferred embodiment of the invention, and it should be noted that modifications could be made by those skilled in the art without departing from the principles of the invention, which modifications would also be considered to be within the scope of the invention.

Claims (8)

1. The working method of the AGV trolley for installing the screw is characterized by comprising the following steps of: comprises a control module, a driving system, a vehicle body (1), rollers (2) arranged below the vehicle body (1), an automatic guiding system (3) arranged in the vehicle body (1) and a screw mounting system arranged above the vehicle body (1); the screw mounting system comprises a first mechanical arm (4) connected with the vehicle body (1), a second mechanical arm (5) connected with the first mechanical arm (4), and a screw driver rest (6) connected with the second mechanical arm (5); one end of the screw driver rest (6) is provided with an automatic screw driver device (7), and the other end is connected with a screw conveying device (8); the automatic screwdriver device (7) is hinged with the screwdriver rest (6) and is connected with a reversing driving device; one end of the screw conveying device (8) close to the screw tool rest (6) is provided with an air suction type suction device (9), the other end of the screw conveying device is connected with a screw storage device (10), and a material taking device (11) is arranged at the joint;
the working method comprises the following steps:
a) The AGV trolley reaches a first assembly station according to the set path;
b) The first mechanical arm (4) and the second mechanical arm (5) operate to drive the automatic screwdriver device (7) to reach a set position;
c) The screw storage device (10) operates to sequentially push screws to the conveying channel (12);
d) A pair of clamping jaws (111) clamp the first screw, and a detection device (112) detects and feeds back the result to the control module;
e) If the direction of the screw is detected to be wrong, the control module controls the pair of clamping jaws (111) to act, and the screw is turned to the correct direction;
f) A pair of jaws (111) pushing the screw into the delivery channel (12);
g) The automatic screw driver device (7) turns over and changes direction, and a tool bit (71) on the automatic screw driver device (7) enters the end part of the conveying channel (12);
h) The control module controls the operation of the suction type suction device (9) to suck the first screw to the end part of the conveying channel (12);
i) The tool bit (71) absorbs the first screw through the magnetic absorbing device;
j) The automatic screw driver device (7) turns over and changes direction, and takes out the first screw from the conveying channel (12) and aligns with the screw hole on the part;
k) The first mechanical arm (4) and the second mechanical arm (5) operate to drive the automatic screw driver device (7) and the screw to advance, and the rotary driving device of the tool bit (71) operates to mount the screw;
l) after the installation of the first screw, the first mechanical arm (4) and the second mechanical arm (5) operate to drive the automatic screw driver device (7) to reach the position of the next screw hole;
m) repeating steps c through k until all screws are installed;
o) after the installation is completed, the AGV trolley moves to a second assembly station according to the set path;
p) when the screw quantity that AGV dolly stored is not enough, control module control AGV dolly removes to reinforced district, carries out automatic feeding.
2. The method of operating an AGV cart for mounting screws according to claim 1, wherein: the end part of the automatic screw driver device (7) is provided with a tool bit (71), and the tool bit (71) is rotationally connected with the automatic screw driver device (7) and is connected with a rotary driving device; the cutter head (71) is provided with a magnetic suction device.
3. The method of operating an AGV cart for mounting screws according to claim 1, wherein: the suction type suction device (9) and the material taking device (11) are arranged in the conveying channel (12) of the screw conveying device (8).
4. A method of operating an AGV cart for mounting screws according to claim 3 wherein: the transfer channel (12) is made of a soft material.
5. The method of operating an AGV cart for mounting screws according to claim 1, wherein: a group of guide rib plates (121) are arranged in the conveying channel (12), and the distance between the opposite guide rib plates (121) is matched with the diameter of the screw cap.
6. The method of operating an AGV cart for mounting screws according to claim 1, wherein: a spring is arranged between the tool bit (71) and the automatic screw driver device (7).
7. The method of operating an AGV cart for mounting screws according to claim 1, wherein: the material taking device (11) comprises a pair of clamping jaws (111) and a detection device (112).
8. The method of operating an AGV cart for mounting screws according to claim 1, wherein: the step k specifically comprises the following steps:
k1 The automatic screw driver device (7) advances forwards, the screw enters the threaded hole, and when the pressure between the screw and the screw thread is larger than a first set value, the rotary driving device operates to drive the screw to rotate and enter the threaded hole;
k2 When the tail part of the screw is fully screwed in, the nut of the screw contacts the surface of the part, and then the screw is pre-tightened: after the nut of the screw contacts the surface of the part, the rotary driving device continues to operate, and the tool bit (71) drives the screw to continue to rotate, so that the part and the integral workpiece are screwed; and when the pressure between the screw and the part is larger than a second set value, stopping the rotary driving system, and finishing the installation of the screw.
CN201710673555.6A 2017-08-09 2017-08-09 AGV trolley for mounting screws and working method thereof Active CN107340775B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710673555.6A CN107340775B (en) 2017-08-09 2017-08-09 AGV trolley for mounting screws and working method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710673555.6A CN107340775B (en) 2017-08-09 2017-08-09 AGV trolley for mounting screws and working method thereof

Publications (2)

Publication Number Publication Date
CN107340775A CN107340775A (en) 2017-11-10
CN107340775B true CN107340775B (en) 2024-04-19

Family

ID=60217321

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710673555.6A Active CN107340775B (en) 2017-08-09 2017-08-09 AGV trolley for mounting screws and working method thereof

Country Status (1)

Country Link
CN (1) CN107340775B (en)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08309626A (en) * 1995-05-15 1996-11-26 Daifuku Co Ltd Screw fastening device
CN102935589A (en) * 2012-11-23 2013-02-20 大连运明自动化技术有限公司 High-speed intelligent automatic screw supply fastener
CN102941470A (en) * 2012-11-23 2013-02-27 大连运明自动化技术有限公司 Universal type high speed intelligent automatic screw fastening mechanism
CN104353989A (en) * 2014-10-30 2015-02-18 东莞市米勒机器人有限公司 Transverse screw locking device
CN105921991A (en) * 2016-06-28 2016-09-07 江苏捷帝机器人股份有限公司 High-precision intelligent mechanical arm for screw installation and working method thereof
CN205552501U (en) * 2016-01-22 2016-09-07 马鞍山远荣机器人智能装备有限公司 Automatic twist screw robot
CN105945964A (en) * 2016-06-27 2016-09-21 昆山邦泰汽车零部件制造有限公司 Robot capable of accomplishing complete assembly work
CN205614320U (en) * 2016-04-06 2016-10-05 惠州Tcl移动通信有限公司 Screw suction means
CN206009853U (en) * 2016-08-17 2017-03-15 福建威而特旋压科技股份有限公司 Workpiece turning fixture for numerically controlled lathe
CN106863334A (en) * 2016-12-29 2017-06-20 宁波敏实汽车零部件技术研发有限公司 For the multi-functional clamp device of manipulator
CN207232763U (en) * 2017-08-09 2018-04-13 苏州阿甘机器人有限公司 A kind of AGV trolleies of mounting screw

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08309626A (en) * 1995-05-15 1996-11-26 Daifuku Co Ltd Screw fastening device
CN102935589A (en) * 2012-11-23 2013-02-20 大连运明自动化技术有限公司 High-speed intelligent automatic screw supply fastener
CN102941470A (en) * 2012-11-23 2013-02-27 大连运明自动化技术有限公司 Universal type high speed intelligent automatic screw fastening mechanism
CN104353989A (en) * 2014-10-30 2015-02-18 东莞市米勒机器人有限公司 Transverse screw locking device
CN205552501U (en) * 2016-01-22 2016-09-07 马鞍山远荣机器人智能装备有限公司 Automatic twist screw robot
CN205614320U (en) * 2016-04-06 2016-10-05 惠州Tcl移动通信有限公司 Screw suction means
CN105945964A (en) * 2016-06-27 2016-09-21 昆山邦泰汽车零部件制造有限公司 Robot capable of accomplishing complete assembly work
CN105921991A (en) * 2016-06-28 2016-09-07 江苏捷帝机器人股份有限公司 High-precision intelligent mechanical arm for screw installation and working method thereof
CN206009853U (en) * 2016-08-17 2017-03-15 福建威而特旋压科技股份有限公司 Workpiece turning fixture for numerically controlled lathe
CN106863334A (en) * 2016-12-29 2017-06-20 宁波敏实汽车零部件技术研发有限公司 For the multi-functional clamp device of manipulator
CN207232763U (en) * 2017-08-09 2018-04-13 苏州阿甘机器人有限公司 A kind of AGV trolleies of mounting screw

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
机器人螺栓拧紧技术在发动机装配的应用;肖海 等;装备制造技术(09);70-74 *

Also Published As

Publication number Publication date
CN107340775A (en) 2017-11-10

Similar Documents

Publication Publication Date Title
US9957116B2 (en) Method for providing vacuum to a moving element
CN105032986A (en) Guide tube forward and reverse direction detection and adjustment device
CN109591777A (en) A kind of AGV electrical changing station
US9662754B2 (en) Automatic fastener driving system, apparatus and method
CN219258642U (en) Logistics trolley capable of limiting materials with different sizes
CN107340775B (en) AGV trolley for mounting screws and working method thereof
KR101614314B1 (en) Battery Transport Unit for Automatic Guided Vehicles and Automatic Battery Replacement Apparatus for Automatic Guided Vehicles Having the Same
KR101501069B1 (en) Auto taping system on both side of battery cell
CN106848410A (en) Battery core enters shell systems and method
CN110921207B (en) Automatic transfer and distribution production line for door seal
CN209239403U (en) A kind of camera lens feeding device for camera automatic assembling machine
CN110921208B (en) Automatic magnetic-penetrating and distributing production line for door seal
KR101614317B1 (en) Battery Transport Unit for Automatic Guided Vehicles and Automatic Battery Replacement Apparatus for Automatic Guided Vehicles Having the Same
CN104139214B (en) A kind of large, honeycomb block sawing holding method
CN204769975U (en) Positive reverse of stand pipe is detected and adjusting device
CN107450543B (en) Automatic small-sized spare and accessory part assembling method based on AGV trolley
CN207232763U (en) A kind of AGV trolleies of mounting screw
CN211493558U (en) Object push-pull device and AGV car
CN211920080U (en) Automatic feeding device for cylindrical neodymium iron boron magnet
CN209199902U (en) A kind of battery winding cut after positioning rectification device
CN210334846U (en) Top cap side welding equipment
CN206955151U (en) A kind of lifting transfer device of cartridge-type charging & discharging machine
CN203714821U (en) Feeding mechanism for bearing roller testing equipment
CN107457562B (en) A kind of feed system and its working method of small-sized spare and accessory parts
CN219642880U (en) Rubberizing device and rubberizing system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant