CN107352258A - A kind of forming machine feeding device - Google Patents

A kind of forming machine feeding device Download PDF

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Publication number
CN107352258A
CN107352258A CN201710666299.8A CN201710666299A CN107352258A CN 107352258 A CN107352258 A CN 107352258A CN 201710666299 A CN201710666299 A CN 201710666299A CN 107352258 A CN107352258 A CN 107352258A
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CN
China
Prior art keywords
connector
supporting plate
line slideway
bracket
rack
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Granted
Application number
CN201710666299.8A
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Chinese (zh)
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CN107352258B (en
Inventor
陶兆胜
樊增辉
樊勇
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Anhui Unita Equipment Ltd By Share Ltd
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Anhui Unita Equipment Ltd By Share Ltd
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Priority to CN201710666299.8A priority Critical patent/CN107352258B/en
Publication of CN107352258A publication Critical patent/CN107352258A/en
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    • 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

Abstract

The invention discloses a kind of forming machine feeding device, including width adjusting mechanism and centering body, width adjusting mechanism includes supporting plate, supporting plate is fixedly mounted in the frame of forming machine, the both sides of supporting plate are separately installed with bracket, connector and rack are separately installed with bracket, the bottom of supporting plate is provided with two servomotors I, servomotor I is controlled by the control system of forming machine, the output end of servomotor I is by controlling the engagement of sliding tooth wheel and rack, drive the movement of bracket, centering body includes the cross slide way of two parallel distributions, and the screw systems on cross slide way, lift cylinder is fixedly mounted between two cross slide ways, the present invention can carry out the width of automatic control and adjustment bracket by servomotor I, reduce the labor intensity of operator, accelerate regulated efficiency, improve production efficiency.

Description

A kind of forming machine feeding device
Technical field
The present invention relates to a kind of forming machine, more particularly to a kind of forming machine feeding device.
Background technology
Nowadays, the existing forming machine carriage width adjusting apparatus equipment of most domestic is outmoded, low production efficiency, is needing When carrying out centering operation to bracket, still using the centering for manually entering line carrier, automation degree of equipment is not high, operator's labor Fatigue resistance is big, it is impossible to is produced well, when to middle operation, also can easily produce the inaccurate phenomenon of centering, cause to give birth to It is relatively low to produce efficiency.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of forming machine feeding device, and the forming machine can in feeding Automatic control and adjustment, by the control of three servomotors, realize that automatic centering operates, reduce the labor intensity of operator, Regulated efficiency is accelerated, improves production efficiency.
To achieve these goals, the invention provides following technical scheme:A kind of forming machine feeding device, including width Spend adjustment mechanism and centering body, the width adjusting mechanism includes supporting plate, and the bottom of supporting plate is defeated with lift cylinder Go out end connection, the both sides of supporting plate are separately installed with bracket, and the centering body includes the cross slide way of two parallel distributions, described Lift cylinder is fixedly mounted between two cross slide ways, and the cross slide way is vertical with bracket;
For each bracket respectively by two connections installed in the both sides of supporting plate, the bottom of supporting plate is provided with two servos Motor I, servomotor I are controlled by the control system of forming machine, and servomotor I is respectively distributed to the both ends of supporting plate, described to watch The output end for taking motor I is connected by decelerator with the rotating shaft of a vertical distribution respectively, one end of the rotating shaft and decelerator Connection, the other end is through the bottom of supporting plate and upwardly extends, and the upper end of two rotating shafts both passes through supporting plate, and is fixedly mounted respectively There is a drive gear, drive gear is engaged with a toothed rack respectively, and bracket of two racks respectively with corresponding side is fixed, and two The teeth of individual rack are distributed mutually back to setting;
Two connectors and a toothed rack on same bracket are parallel to each other, two connectors and rack Identical length it is same, and three is vertical with bracket, and two brackets be arranged in parallel;
The supporting plate is installed with a limited block for being used to clamp rack respectively at the back of rack, described spacing Block is provided with the groove I agreed with just with rack back close to the side of rack, and the tooth root of the drive gear is to groove I groove Spacing between bottom is just consistent with the distance at tooth top to the rack back of rack, and the rack is sandwiched in groove I and sliding tooth Between wheel;
It is right provided with 4 for the line slideway spacing to connector progress, the line slideway to be additionally provided with the supporting plate For 4 connectors answered respectively in line slideway, and slided along line slideway, the line slideway is parallel with connector, and And line slideway is consistent with the length of connector;
The centering body also includes two screw mandrels, respectively screw mandrel I, screw mandrel II, and one end of the screw mandrel I passes through one Individual servomotor II drives, between the servomotor II is fixedly mounted on two cross slide ways by support I, screw mandrel I it is another Between one end is rotatably connected on cross slide way by support II, screw mandrel I is parallel with cross slide way, the both ends difference of the screw mandrel I Provided with external spiral, and two sections of spirals is oppositely oriented, and the both ends of screw mandrel I are threaded with plummer I, two plummers respectively I rotary orientation is identical, and bottom and the cross slide way of two plummers I are slidably connected;One end of the screw mandrel II with by watching Take motor III to drive, the servomotor III is fixedly mounted on the side of cross slide way, the other end of screw mandrel II by support III It is rotatablely connected with a support IV, support IV is fixed on the opposite side of cross slide way, and screw mandrel II is vertical with screw mandrel I, the screw mandrel II both ends are respectively equipped with external spiral, and two sections of spirals is oppositely oriented, and the both ends of screw mandrel II are threaded with carrying respectively Platform II, the rotary orientation of two plummers II are identical;The distance at described two plummers I to the center of supporting plate is consistent, and two are held The distance at microscope carrier II to the center of supporting plate is consistent.
Preferably, two brackets are respectively bracket I, bracket II, and the connector is respectively connector I, connector II, connected Fitting III, connector IV, the line slideway are respectively line slideway I, line slideway II, line slideway III, line slideway IV, The line slideway I, line slideway II are fixedly mounted on one end of supporting plate, and line slideway III, line slideway IV are fixedly mounted on The other end of supporting plate, connector I, connector II are respectively and fixedly installed on bracket I, and connector III, connector IV are fixed respectively On bracket II, and the distance between the connector I, connector II and the distance between connector III, connector IV one Cause.
Preferably, line slideway I, line slideway II be mutually back to setting, line slideway III, line slideway IV mutually back to Set, and line slideway I, line slideway II be between connector I and connector III, line slideway III, line slideway IV Between connector II and connector IV.
Preferably, the side that 4 line slideways are inlayed with connector respectively is equipped with groove II, and 4 groove IIs are equal For step trough, and the size of 4 groove IIs, shape are consistent.
Preferably, two inside side walls of groove II are equipped with the projection of arc-shaped, and two projections of groove II are gone to upper and lower Distribution, and two projections are symmetrical.
Preferably, the rack on two brackets is installed with block respectively in the installation place away from rack and bracket, institute Block is stated to protrude towards the back of rack.
Preferably, the middle part of supporting plate is provided with some hollow regions.
Preferably, the both ends end symmetric of supporting plate is provided with fixed plate, wherein, each end is mounted on two fixations Plate, two fixed plates positioned at same one end are symmetrical, and two plummers II are located between fixed plate.
Preferably, the raised cell wall with groove II is connected as a single entity.
The present invention use above-mentioned technical proposal, solves that conventional equipment operating efficiency is low, and automation degree of equipment is not high, grasps The problems such as authors' labor intensity is big.The forming machine bracket of the present invention is integrally succinct, is easy to repair, it is easier to meet technological requirement, Improve production efficiency.Equipment operation is simple, by the operation for controlling servomotor, you can realizes the operation of bracket centering, transports Row is steady.After to control system setup parameter, servomotor can realize that servomotor is automatically right according to the parameter for entering feed The center of bracket is adjusted, and is reduced the labor intensity of operator, is improved efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the structural representation of width adjusting mechanism of the present invention;
Fig. 3 is the structural representation of the supporting plate of the present invention;
Fig. 4 is the structural representation of the line slideway of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, by the description to embodiment, the present invention is described further.
As described in Fig. 1~4, the invention discloses a kind of forming machine feeding device, including width adjusting mechanism and centering Mechanism.Width adjusting mechanism includes supporting plate 1, and the bottom of supporting plate 1 is connected with the output end of a lift cylinder 17, and the two of supporting plate 1 End end symmetric is provided with fixed plate 15, wherein, each end is mounted on two fixed plates 15, two positioned at same one end Fixed plate 15 is symmetrical, enables supporting plate 1 to keep balancing.The both sides of supporting plate 1 are separately installed with bracket 2.Two brackets 2 are distinguished For bracket I 21, bracket II 22.Bracket I 21, bracket II 22 are arranged on the both sides of supporting plate 1 by two connectors 3 respectively, that is, connect Fitting 3 is provided with 4, respectively connector I 31, connector II 32, connector III 33, connector IV 34 altogether.Connector I 31, Connector II 32 is respectively and fixedly installed on bracket I 21, and connector III 33, connector IV 34 are separately fixed on bracket II 22, And the distance between connector I 31, connector II 32 are consistent with the distance between connector III 33, connector IV 34.Connection Part 3 uses plate body or the body of rod, is easily installed.
The bottom of supporting plate 1 is provided with two servomotors I 4, and servomotor I 4 is controlled by the control system of forming machine.Watch The both ends that motor I 4 is respectively distributed to supporting plate 1 are taken, the output end of servomotor I 4 passes through decelerator and a vertical distribution respectively Rotating shaft 5 connect, one end of rotating shaft 5 is connected with decelerator, the other end through supporting plate 1 bottom and upwardly extend, two rotating shafts 5 Upper end both pass through supporting plate 1, and be installed with a drive gear 6 respectively, drive gear 6 is nibbled with a toothed rack 7 respectively Close, two racks 7 are fixed with the bracket 2 of corresponding side respectively, and the teeth of two racks 7 are distributed mutually back to setting.
The toothed rack 7 of two connectors 3 and one on same bracket 2 is parallel to each other, two connectors 3 and The identical length of rack 7 is same, and three is vertical with bracket 2, and two brackets 2 be arranged in parallel.
Supporting plate 1 is installed with a limited block 8 for being used to clamp rack 7, limited block 8 respectively at the back of rack 7 The groove I 9 agreed with just with the back of rack 7 is provided with close to the side of rack 7, and the tooth root of drive gear 4 is to the groove of groove I 9 Spacing between bottom is just consistent with the distance at tooth top to the back of rack 7 of rack 7, and rack 7 is sandwiched in groove I 9 and sliding tooth Between wheel 4.
It is additionally provided with supporting plate 1 for carrying out spacing line slideway 10 to connector 3, line slideway 10 is provided with 4, respectively For line slideway I 101, line slideway II 102, line slideway III 103, line slideway IV 104, wherein, it is line slideway I 101, straight Line guide rail II 102 is arranged on same one end of supporting plate 1, and line slideway III 103, line slideway IV 104 are arranged on the another of supporting plate 1 End.Corresponding 4 connectors 3 in the side of line slideway 10, and slide along line slideway 10 respectively, line slideway 10 with Connector 3 is parallel, and line slideway 10 is consistent with the length of connector 3.4 line slideways 10 respectively with connector 3 It is step trough that the side inlayed, which is equipped with 11,4 groove IIs 11 of groove II, and the size of 4 groove IIs 11, shape are homogeneous Cause.Two inside side walls of groove II 11 are equipped with the projection 12 of arc-shaped, and the cell wall of projection 12 and groove II 11 is connected as a single entity. Two projections 12 of groove II 11 go to upper and lower distribution, and two projections 12 are symmetrical.
The line slideway I 101 of the present invention, line slideway II 102 is mutually back to setting, line slideway III 103, line slideway IV 104 mutually back to setting, and line slideway I 101, line slideway II 102 be located at connector I 31 and connector III 33 it Between, line slideway III 103, line slideway IV 104 are between connector II 32 and connector IV 34.
The present invention in order to prevent the excessive of the width adjustment of bracket 2, rack 7 on two brackets 2 away from rack 7 with The installation place of bracket 2 is installed with block 13 respectively, and block 13 protrudes towards the back of rack 7, when rack 7 is moved outwardly to During extreme position, block 13 coordinates with limited block 8, prevents rack 7 from continuing to move to.The middle part of the supporting plate 1 of the present invention is provided with some Hollow region 14, the weight of supporting plate 1 can be mitigated, ensure that the overall weight of whole equipment is maintained at operable scope.
The centering body of the present invention includes the cross slide way 16 of two parallel distributions, and lift cylinder 17 is fixedly mounted on two Between cross slide way 16, cross slide way 16 is vertical with bracket 2.Centering body also includes two screw mandrels, respectively screw mandrel I 18, Screw mandrel II 19, one end of screw mandrel I 18 are driven by a servomotor II 20, and servomotor II 20 is fixed by support I 21 pacifies Between two cross slide ways 16, between the other end of screw mandrel I 18 is rotatably connected on cross slide way 16 by support II 22, silk Bar I 18 is parallel with cross slide way 16.The both ends of screw mandrel I 18 are respectively equipped with external spiral, and oppositely oriented, the screw mandrel of two sections of spirals I 18 both ends are threaded with plummer I 23 respectively, and the rotary orientation of two plummers I 23 is identical, two plummers I 23 Bottom is slidably connected with cross slide way 16.With being driven by servomotor III 24, servomotor III 24 is logical for one end of screw mandrel II 19 The side that support III 25 is fixedly mounted on cross slide way 16 is crossed, the other end of screw mandrel II 19 and a support IV 26 are rotatablely connected, Support IV 26 is fixed on the opposite side of cross slide way 16, and screw mandrel II 19 is vertical with screw mandrel I 18.The both ends of screw mandrel II 19 are respectively equipped with External spiral, and two sections of spirals is oppositely oriented, and the both ends of screw mandrel II 19 are threaded with plummer II 27, two carryings respectively The rotary orientation of platform II 27 is identical, and two plummers II 27 are located between fixed plate 15.
The distance at two plummers I 23 to the center of supporting plate 1 is consistent, the center of two plummers II 27 to supporting plate 1 away from From consistent.And two plummers I 23, which are provided with, is used for tissue bolt 29, also installs bolt 29 in a organized way on plummer II 27, prevents Plate skids off.
Limited block 8 and line slideway 10 of the present invention not only can be as the Horizontal limiting structures of bracket 2, additionally it is possible to make For the load-carrying members of bracket 2.In the moving process of bracket 2, because the tooth root of drive gear 6 is between the bottom land of groove I 9 Away from just consistent with the distance at tooth top to the back of rack 7 of rack 7, thus rack 7 by tightly be clipped in groove I 9 and sliding tooth Between wheel 6, the kinematic pair above and below it is limited by groove I 9, can only carry out horizontal linear movement.Meanwhile connector I 31, connector The distance between II 32 are consistent with the distance between connector III 33, connector IV 34, connector 3 and line slideway 10 Length is consistent, and connector 3 is embedded in groove II 11 by the projection 12 of arc-shaped in groove II 11, Limited by the joint face of raised 12 pairs of connectors 3, be on the one hand easy to connector 3 to slide, another aspect and can is enough effective Prevent connector 3 to skid off groove II 11.By the spacing and load-bearing of line slideway 10 and limited block 8, the present invention is greatly The supporting member simplified on supporting plate 1, the supported weight of supporting plate 1 is reduced, so as to improve service life.
The present invention solves conventional equipment operating efficiency is low, and automation degree of equipment is not high, and operator's labor intensity is big etc. Problem.The forming machine bracket of the present invention is integrally succinct, is easy to repair, it is easier to meet technological requirement, improve production efficiency.If It is standby simple to operate, by the operation for controlling servomotor I 4, you can realize the regulation of the width of bracket 2, operate steadily.
When to middle operation, control system setup parameter is given first, and then servomotor I 4 is real according to the width for entering feed Existing servomotor I 4 is adjusted to the width of bracket 2 automatically.Secondly, the drive screw I 18 of servomotor II 20 rotates, and makes carrying I 23 pairs of plates of platform carry out centering operation, because the distance at the center of two plummers I 23 to supporting plate 1 is consistent, and screw mandrel I 18 Both ends rotary orientation on the contrary, and the rotation direction of plummer I 23 is identical, thus when screw mandrel I 18 rotates, two plummers I 23 Move, and mobile distance can be consistent, make between two plummers I 23 along cross slide way 16 towards supporting plate 1 Center remains at the center of supporting plate 1, so as to realize the centering on plate width;Similarly, screw mandrel II 19 is realized The length direction centering of plate.After the completion of centering operation, lift cylinder 17 jacks supporting plate 1 upwards, plate is pushed to folder Plate folder is walked in pincers worker position, finally, clamp, and lift cylinder resets, into subsequent cycle.
Above-described is only the preferred embodiment of the present invention, it is noted that for one of ordinary skill in the art For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention Protection domain.

Claims (9)

1. a kind of forming machine feeding device, including width adjusting mechanism and centering body, the width adjusting mechanism includes support Plate (1), the bottom of supporting plate (1) are connected with the output end of a lift cylinder (17), and the both sides of supporting plate (1) are separately installed with bracket (2), the centering body includes the cross slide way (16) of two parallel distributions, and the lift cylinder (17) is fixedly mounted on two Between cross slide way (16), the cross slide way (16) is vertical with bracket (2), it is characterised in that:
Each bracket (2) is arranged on the both sides of supporting plate (1), the bottom installation of supporting plate (1) by two connectors (3) respectively There are two servomotors I (4), servomotor I (4) is controlled by the control system of forming machine, and servomotor I (4) is distributed respectively At the both ends of supporting plate (1), the output end of the servomotor I (4) passes through the rotating shaft (5) of decelerator and a vertical distribution respectively Connection, one end of the rotating shaft (5) are connected with decelerator, and the other end is through the bottom of supporting plate (1) and upwardly extends, two rotating shafts (5) upper end both passes through supporting plate (1), and is installed with a drive gear (6) respectively, and drive gear (6) is respectively with one Toothed rack (7) engages, and two racks (7) are fixed with the bracket (2) of corresponding side respectively, and the teeth of two racks (7) are mutually opposite It is distributed to setting;
Two connectors (3) and a toothed rack (7) on same bracket (2) are parallel to each other, two connectors (3) And the identical length of rack (7) is same, and three is vertical with bracket (2), and two brackets (2) be arranged in parallel;
The supporting plate (1) is installed with a limited block (8) for being used to clamp rack (7) respectively at the back of rack (7), The limited block (8) is provided with the groove I (9) agreed with just with rack (7) back, and the drive close to the side of rack (7) The tooth root of moving gear (4) is to the distance with the tooth top of rack (7) to rack (7) back just of the spacing between groove I (9) bottom land Unanimously, the rack (7) is sandwiched between groove I (9) and drive gear (4);
It is additionally provided with the supporting plate (1) for carrying out spacing line slideway (10), the line slideway (10) to connector (3) Provided with 4, corresponding 4 connectors (3) are slided in line slideway (10), and along line slideway (10) respectively, described straight Line guide rail (10) is parallel with connector (3), and line slideway (10) is consistent with the length of connector (3);
The centering body also includes two screw mandrels, respectively screw mandrel I (18), screw mandrel II (19), and the one of the screw mandrel I (18) End is driven by a servomotor II (20), and the servomotor II (20) is fixedly mounted on two horizontal strokes by support I (21) Between direction guiding rail (16), between the other end of screw mandrel I (18) is rotatably connected on cross slide way (16) by support II (22), screw mandrel I (18) are parallel with cross slide way (16), and the both ends of the screw mandrel I (18) are respectively equipped with external spiral, and the rotation direction of two sections of spirals On the contrary, the both ends of screw mandrel I (18) are threaded with plummer I (23) respectively, the rotary orientation of two plummers I (23) is identical, The bottom of two plummers I (23) is slidably connected with cross slide way (16);One end of the screw mandrel II (19) is with passing through servo electricity Machine III (24) drives, and the servomotor III (24) is fixedly mounted on the side of cross slide way (16), silk by support III (25) The other end of bar II (19) and a support IV (26) are rotatablely connected, and support IV (26) is fixed on the another of cross slide way (16) Side, screw mandrel II (19) is vertical with screw mandrel I (18), and the both ends of the screw mandrel II (19) are respectively equipped with external spiral, and two sections of spirals It is oppositely oriented, the both ends of screw mandrel II (19) are threaded with plummer II (27), the spiral of two plummers II (27) respectively Rotation direction is identical;The distance at described two plummers I (23) to the center of supporting plate (1) is consistent, and two plummers II (27) arrive supporting plate (1) distance at center is consistent.
2. forming machine feeding device according to claim 1, it is characterised in that:Described two brackets (2) are respectively bracket I (21), bracket II (22), the connector (3) are respectively connector I (31), connector II (32), connector III (33), connection Part IV (34), the line slideway (10) are respectively line slideway I (101), line slideway II (102), line slideway III (103), line slideway IV (104), the line slideway I (101), line slideway II (102) are fixedly mounted on the one of supporting plate (1) End, line slideway III (103), line slideway IV (104) are fixedly mounted on the other end of supporting plate (1), connector I (31), connection Part II (32) is respectively and fixedly installed on bracket I (21), and connector III (33), connector IV (34) are separately fixed at bracket II (22) on, and the distance between the connector I (31), connector II (32) and connector III (33), connector IV (34) The distance between it is consistent.
3. forming machine feeding device according to claim 2, it is characterised in that:The line slideway I (101), straight line are led Rail II (102) is mutually back to setting, and line slideway III (103), line slideway IV (104) are mutually back to setting, and straight line is led Rail I (101), line slideway II (102) are line slideway III (103), straight between connector I (31) and connector III (33) Line guide rail IV (104) is between connector II (32) and connector IV (34).
4. forming machine feeding device according to claim 3, it is characterised in that:4 line slideways (10) respectively with The side that connector (3) is inlayed is equipped with groove II (11), and 4 groove IIs (11) are step trough, and 4 groove IIs (11) Size, shape it is consistent.
5. forming machine feeding device according to claim 4, it is characterised in that:Two inside side walls of the groove (11) The projection (12) of arc-shaped is equipped with, two projections (12) of groove II (11) go to upper and lower distribution, and two projections (12) are right Claim distribution.
6. according to forming machine feeding device according to any one of claims 1 to 5, it is characterised in that:Described two brackets (2) On rack (7) be installed with block (13), the block (13) respectively in the installation place away from rack (7) and bracket (2) Protruded towards the back of rack (7).
7. forming machine feeding device according to claim 6, it is characterised in that:The middle part of the supporting plate (1) is provided with some Hollow region (14).
8. forming machine feeding device according to claim 7, it is characterised in that:The both ends end symmetric of the supporting plate (1) Fixed plate (15) is installed, wherein, each end is mounted on two fixed plates (15), two fixed plates positioned at same one end (15) symmetrical, two plummers II (27) are located between fixed plate (15).
9. forming machine feeding device according to claim 5, it is characterised in that:The projection (12) and groove II (11) Cell wall is connected as a single entity.
CN201710666299.8A 2017-08-07 2017-08-07 A kind of molding machine feeding device Active CN107352258B (en)

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CN109665326A (en) * 2019-01-31 2019-04-23 广州昊睿自动化设备有限公司 A kind of tray caching regulating mechanism
CN111392323A (en) * 2020-03-30 2020-07-10 江苏立讯机器人有限公司 Conveying structure and conveying device
CN111390039A (en) * 2020-04-01 2020-07-10 安徽省爱力特家电成套装备有限公司 Feeding servo centering mechanism for forming line of door plate of anti-theft door
CN111689156A (en) * 2020-05-28 2020-09-22 山东科技大学 Engagement driving type AGV (automatic guided vehicle) and working method thereof
CN111977372A (en) * 2020-08-24 2020-11-24 江门崇达电路技术有限公司 Board suction arm of PCB universal testing machine and method for rapidly switching boards
CN114939857A (en) * 2021-02-15 2022-08-26 丰田自动车株式会社 Transportation system, transportation method, and storage medium

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CN109665326A (en) * 2019-01-31 2019-04-23 广州昊睿自动化设备有限公司 A kind of tray caching regulating mechanism
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CN111390039A (en) * 2020-04-01 2020-07-10 安徽省爱力特家电成套装备有限公司 Feeding servo centering mechanism for forming line of door plate of anti-theft door
CN111689156A (en) * 2020-05-28 2020-09-22 山东科技大学 Engagement driving type AGV (automatic guided vehicle) and working method thereof
CN111689156B (en) * 2020-05-28 2022-04-22 山东科技大学 Engagement driving type AGV (automatic guided vehicle) and working method thereof
CN111977372A (en) * 2020-08-24 2020-11-24 江门崇达电路技术有限公司 Board suction arm of PCB universal testing machine and method for rapidly switching boards
CN114939857A (en) * 2021-02-15 2022-08-26 丰田自动车株式会社 Transportation system, transportation method, and storage medium
CN114939857B (en) * 2021-02-15 2023-10-10 丰田自动车株式会社 Transport system, transport method, and storage medium

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