CN108326157B - Prefabricated dolly of end effector - Google Patents
Prefabricated dolly of end effector Download PDFInfo
- Publication number
- CN108326157B CN108326157B CN201810125486.XA CN201810125486A CN108326157B CN 108326157 B CN108326157 B CN 108326157B CN 201810125486 A CN201810125486 A CN 201810125486A CN 108326157 B CN108326157 B CN 108326157B
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- Prior art keywords
- trolley
- support
- end effector
- lifting
- bottom support
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- 239000012636 effector Substances 0.000 title claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 238000009417 prefabrication Methods 0.000 claims abstract description 10
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000004080 punching Methods 0.000 abstract 1
- 230000003028 elevating effect Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/14—Particular arrangements for handling and holding in place complete dies
- B21D37/147—Tool exchange carts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
- Mounting, Exchange, And Manufacturing Of Dies (AREA)
Abstract
The invention discloses an end effector prefabricating trolley which comprises a lower die of a die, an end effector, a bottom support, a trolley and a lifting mechanism, wherein the lower die of the die is arranged on the bottom support, the trolley moves on the bottom support, the lifting mechanism moves in the trolley, an indicating mechanism is arranged in the bottom support and the trolley, a quick-change device is arranged at the lower end of the lifting mechanism, and the end effector is arranged at the lower end of the lifting mechanism through the quick-change device. The traditional end effector is stopped on line to assemble the end effector support rod, the sucker, the sensor and the like, the traditional end effector support rod, the sucker, the sensor and the like are changed into off-line prefabrication, the on-line overall replacement is realized, the stop time of the punching line is effectively reduced, the working efficiency is improved, and the device has huge economic benefit.
Description
Technical Field
The invention relates to the technical field of stamping automation, in particular to an end effector prefabricating trolley.
Background
With the development of modern stamping automation technology, people have higher and higher requirements on the whole beat and the whole line stop rate of the stamping line. The whole line is stopped when the die is replaced and the end pick-up device is replaced in the production process of the stamping line, particularly when the end pick-up device of a new workpiece is replaced, the whole line is stopped for each manipulator or robot, and the assembly of the end pick-up device supporting rod, the sucker, the sensor and the like is carried out on line, so that the most time is spent, and the production efficiency of the stamping line is affected.
Disclosure of Invention
The invention aims to solve the problem that the replacement of the end effector takes much time, and provides an end effector prefabrication trolley.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides an end effector prefabricates dolly, includes mould lower mould and end effector, still includes bottom sprag, dolly and elevating system, the mould lower mould is installed on bottom sprag, and the dolly moves on bottom sprag, and elevating system moves in the dolly, is equipped with indicating mechanism in bottom sprag and the dolly, and the elevating system lower extreme is equipped with quick change device, and the end effector passes through quick change device and installs at elevating system lower extreme.
Further, both ends are equipped with the slide rail about the bottom sprag, and the slide rail includes smooth rail and groove slide rail, and smooth rail is located the bottom sprag left end, and the groove slide rail is located the bottom sprag right-hand member, is equipped with the mould reference column on the bottom sprag.
Further, the trolley comprises a left support, a right support and a cross beam, wherein the cross beam is arranged at the upper ends of the left support and the right support.
Further, the left support and the right support respectively comprise a pneumatic limiter, a rack and a linear sliding rail, the lower end of the left support is provided with a flat wheel assembly, and the lower end of the right support is provided with a sheave assembly.
Further, limiting blocks are respectively arranged on the upper side and the lower side of the linear sliding rail on the left support and the right support.
Further, the lifting mechanism comprises a lifting cross beam and a driving mechanism, the driving mechanism is arranged on the lifting cross beam, and two ends of the lifting cross beam are respectively connected with the left support and the right support in a sliding manner.
Further, the driving mechanism comprises a braking speed reducing motor and a rotating shaft, the braking speed reducing motor is arranged at the upper end of the lifting beam, and the rotating shaft is in rotary connection with the lifting beam;
gears are arranged at two ends of the rotating shaft, and sliding blocks are arranged at two ends of the lifting cross beam.
Further, the indicating mechanism comprises a horizontal indicating mechanism and a vertical indicating mechanism, wherein the horizontal indicating mechanism and the vertical indicating mechanism respectively comprise a scale and a pointer, the scale of the horizontal indicating mechanism is positioned on the inner side of the trolley on the bottom support, the pointer of the horizontal indicating mechanism is mounted on the trolley, the scale of the vertical indicating mechanism is positioned on the trolley, and the pointer of the vertical indicating mechanism is mounted on the lifting cross beam.
Further, the quick-change device comprises a positioning block and a pneumatic locking mechanism, and the positioning block and the pneumatic locking mechanism are symmetrically distributed.
The beneficial effects of the invention are as follows:
the invention aims to solve the problem that the replacement of an end effector takes much time, and is provided with a bottom support 1, a trolley and a lifting mechanism, wherein a lower die of the die is arranged on the bottom support, the trolley moves on the bottom support, the lifting mechanism moves in the trolley, the bottom support and the trolley are internally provided with an indicating mechanism, the lower end of the lifting mechanism is provided with a quick-change device, and the end effector is arranged at the lower end of the lifting mechanism through the quick-change device. The end effector prefabrication trolley is firstly installed and fixed on the horizontal ground, a lower die of the die is manually placed on a bottom support and is positioned by a die positioning column, the front and rear positions of the end effector are manually pushed to be adjusted according to the front and rear positions and the height positions of the end effector on the end effector line, the height positions of the end effector are adjusted through a lifting mechanism, the front and rear positions and the height positions of the end effector are indicated through an indicating mechanism, the end effector is fixed through a quick change device, the traditional end effector on-line shutdown is changed into the assembly of an end effector support rod, a sucker, a sensor and the like, the on-line prefabrication is realized, the on-line integral replacement is realized, the downtime of a stamping line is effectively reduced, the working efficiency is improved, and the device has huge economic benefit.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a front view of the present invention;
FIG. 4 is a schematic view of a bottom support structure;
FIG. 5 is a schematic view of a left support structure;
FIG. 6 is a schematic view of a right support structure;
FIG. 7 is a schematic view of a lifting mechanism;
fig. 8 is a schematic structural view of the quick-change device.
In the figure: 1. bottom support, 2, mould lower mould, 3, end effector, 4, mould reference column, 5, left support, 6, right support, 7, crossbeam, 8, smooth rail, 9, groove slide rail, 10, flat wheel subassembly, 11, pneumatic stopper, 12, rack, 13, linear slide rail, 14, sheave subassembly, 15, lifting beam, 16, belt braking gear motor, 17, pivot, 18, gear, 19, slider, 20, scale, 21, pointer, 22, stopper, 23, locating piece, 24, pneumatic locking mechanism, 25, mould reference column mounting hole.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
For convenience of description, a coordinate system is now defined as shown in fig. 1.
According to the figures 1-8, an end effector prefabrication trolley comprises a lower die 2 and an end effector 3, and further comprises a bottom support 1, a trolley and a lifting mechanism, wherein the lower die 2 is arranged on the bottom support 1, the trolley moves on the bottom support 1, the lifting mechanism moves in the trolley, an indicating mechanism is arranged in the bottom support 1 and the trolley, a quick-change device is arranged at the lower end of the lifting mechanism, and the end effector 3 is arranged at the lower end of the lifting mechanism through the quick-change device. The end effector prefabrication trolley is firstly installed and fixed on the flat ground, the front and rear positions of the end effector are manually pushed to be adjusted according to the front and rear positions and the height positions of the end effector on the end effector line, the height positions of the end effector are adjusted through the lifting mechanism, the front and rear positions and the height positions of the end effector 3 are determined through the indicating mechanism, the end effector is fixed through the quick-change device, the traditional end effector is stopped on the line to assemble an end effector support rod, a sucker, a sensor and the like, the traditional end effector is changed into off-line prefabrication, the on-line integral replacement is performed, the downtime of a stamping line is effectively reduced, the working efficiency is improved, and the device has huge economic benefits.
The bottom support 1 is equipped with the slide rail in both ends about, and the slide rail includes flat slide rail 8 and groove slide rail 9, and flat slide rail 8 is located bottom support 1 left end, and groove slide rail 9 is located bottom support 1 right-hand member groove, is equipped with mould reference column 4 on the bottom support 1. The bottom support 1 is provided with a plurality of die positioning column mounting holes 25 in an array, and the die positioning columns 4 can be mounted in the die positioning column mounting holes 25 according to different dies 2, the flat sliding rails 8 and the groove sliding rails 9 are arranged in parallel, the die positioning columns 4 can be used for accurately positioning the die positioning columns 2 by manually placing the die positioning columns 2 on the bottom support 1.
The trolley comprises a left support 5, a right support 6 and a cross beam 7, wherein the cross beam 7 is arranged at the upper ends of the left support 5 and the right support 6. The left support 5 and the right support 6 respectively move back and forth along the smooth rail 8 and the groove slide rail 9, the left support 5 and the right support 6 are symmetrically arranged at two ends of the lower end face of the cross beam 7, connecting plates are arranged at the upper ends of the left support 5 and the right support 6, and the two ends of the lower end face of the cross beam 7 are connected with the connecting plates at the upper ends of the left support 5 and the right support 6 through screws.
The left support 5 and the right support 6 respectively comprise a pneumatic limiter 11, a rack 12 and a linear sliding rail 13, the lower end of the left support 5 is provided with a flat wheel assembly 10, and the lower end of the right support 6 is provided with a sheave assembly 14. The left support 5 and the right support 6 are provided with reinforcing brackets on the front side and the rear side, the linear slide rails 13 are provided with two linear slide rails 13, the two linear slide rails 13 are positioned on two sides of the rack 12, the rack 12 is parallel to the linear slide rails 13, the flat wheel assembly 10 is in rolling fit with the flat slide rail 8 at the left end of the bottom support 1, the grooved wheel assembly 14 is in rolling fit with the grooved slide rail 9 at the right end of the bottom support 1, grooves are arranged in the middle positions of the grooved slide rails 9, protrusions are arranged on pulley cylindrical surfaces in the grooved wheel assembly 14, and the protrusions and the grooves are matched to enable the grooved wheel assembly 14 to roll along the grooved slide rail 9 without offset. The pneumatic limiters 11 of the left support 5 and the right support 6 are communicated with an air source through an air pipe, an electromagnetic valve is arranged on the air pipe and connected with a control box through a wire, a locking mode of the pneumatic limiters 11 and an internal control circuit of the control box are controlled to be in the prior art, excessive description is not needed here, after the positioning of the lower die 2 of the die is completed, the prefabricated trolley of the end pick-up device is manually pushed to move to the upper side of the lower die 2 of the die according to the horizontal position of the end pick-up device line, and the pneumatic limiters 11 of the left support 5 and the right support 6 are started to lock and fix the horizontal position of the trolley. The outer side of the groove sliding rail 9 is provided with a drag chain component which is used for conducting wires and air pipe routing of the pneumatic limiter 11.
Limiting blocks 22 are respectively arranged on the upper side and the lower side of the linear sliding rail 13 on the left support 5 and the right support 6. The limiting block 22 is used for limiting the lifting limit position of the lifting mechanism and preventing the lifting mechanism from being dangerous due to overlong moving distance in the vertical direction.
The lifting mechanism comprises a lifting cross beam 15 and a driving mechanism, the driving mechanism is arranged on the lifting cross beam 15, and two ends of the lifting cross beam 15 are respectively connected with the left support 5 and the right support 6 in a sliding manner.
The driving mechanism comprises a belt brake gear motor 16 and a rotating shaft 17, the belt brake gear motor 16 is arranged at the upper end of the lifting beam 15, and the rotating shaft 17 is rotationally connected with the lifting beam 15; the belt brake gear motor 16 is arranged in the middle of the upper end face of the lifting beam 15, bearings are arranged at the two ends of the upper end face of the lifting beam 15 and at the two sides of the belt brake gear motor 16, the rotating shaft 17 is rotatably connected with the lifting beam 15 through the bearings, and the belt brake gear motor 16 is connected with the rotating shafts 17 at the left end and the right end through a coupler to transmit power.
Gears 18 are arranged at two ends of the rotating shaft 17, and sliding blocks 19 are arranged at two ends of the lifting cross beam 15. The slide block 19 is matched with the linear slide rail 13, the gear 18 is matched with the rack 12, the rotating shaft 17 is driven to rotate by the belt brake gear motor 16, and the lifting cross beam 15 slides up and down along the slide block 19 under the action of the gear 18 and the rack 12; when the lifting beam 15 slides to a designated height position, the belt brake gear motor 16 stops rotating and starts a brake function, so that the height position of the lifting beam 15 is fixedly locked, the belt brake gear motor 16 is connected with a control box through a wire, forward rotation, reverse rotation, stop and brake of the belt brake gear motor 16 are controlled by the control box, and a control circuit in the control box is of the prior art and is not repeated here.
The indicating mechanism comprises a horizontal indicating mechanism and a vertical indicating mechanism, the horizontal indicating mechanism and the vertical indicating mechanism respectively comprise a scale 20 and a pointer 21, the scale 20 of the horizontal indicating mechanism is positioned on the inner side of the trolley on the bottom support 1, the pointer 21 of the horizontal indicating mechanism is mounted on the trolley, the scale 20 of the vertical indicating mechanism is positioned at the left end of the trolley, and the pointer 21 of the vertical indicating mechanism is mounted on the lifting mechanism. The pointer 21 of the horizontal indicating mechanism is arranged on the trolley, the scale 20 of the horizontal indicating mechanism is parallel to the horizontal sliding rail 8, the scale 20 of the vertical indicating mechanism is positioned on the front end face of the left support 5, the pointer 21 of the vertical indicating mechanism is arranged on the left end of the front end face of the lifting cross beam 15, and the front and back positions and the height positions of the end pick-up are respectively determined through the cooperation of the pointer 21 and the scale 20.
The quick-change device comprises a positioning block 23 and a pneumatic locking mechanism 24, and the positioning block 23 and the pneumatic locking mechanism 24 are symmetrically distributed. The positioning block 23 and the pneumatic locking mechanism 24 are fixed at the lower end of the lifting beam 15. The pneumatic locking mechanism 24 is communicated with an air source through an air pipe, an electromagnetic valve is arranged on the air pipe and connected with a control box through a lead, the work of the pneumatic locking mechanism 24 is controlled through the control box, and a control circuit in the control box is of the prior art and is not described in detail herein. In this embodiment, the positioning blocks 23 and the pneumatic locking mechanisms 24 are respectively provided with four positioning blocks 23 and pneumatic locking mechanisms 24, which are symmetrical in pairs, and the positioning blocks 23 and the pneumatic locking mechanisms 24 facilitate accurate and firm positioning of the opposite end pick-up and manual loading and unloading. The front end of the right support 6 is provided with a drag chain component which is used for a pneumatic locking mechanism 24, a wire of a speed reducing motor 16 with a brake and a gas pipe running.
When the device is used, firstly, the prefabricated trolley of the end effector is manually pushed to be far away from the placement area of the lower die 2, the position of the die positioning column is manually confirmed according to the specific lower die, the die positioning column is installed and fixed, the lower die 2 is manually lifted and placed on the bottom support 1, and the die positioning column 4 of the bottom support 1 is used for accurately positioning the lower die 2. After the positioning is finished, the trolley is manually pushed to move to the position above the lower die 2 of the die, the trolley is adjusted according to the specific front-back positions of the end pick-up 3 during on-line production, and the pneumatic limiters 11 on the left support 5 and the right support 6 are started to fix the front-back positions of the trolley; the braking function locking height of the braking gear motor 16 is started after the height position of the end pick-up 3 is adjusted to be in place according to the height position of the end pick-up 3 during production; manually placing the male end of the end effector 3 in a positioning block 23 at the lower end of the lifting beam 15, and starting a locking function of a pneumatic locking mechanism 24 to accurately and firmly position the male end of the end effector 3; the end effector support rod, the sucker, the sensor and the like can be arranged at the moment, the finished end effector 3 can be taken down by canceling the locking function of the pneumatic locking mechanism 24 after the end effector is assembled, then the end effector is stored, the assembled end effector is directly installed on a wire when the end effector is required to be used, the traditional end effector on-wire shutdown installation is changed into off-wire assembly, the shutdown time of a stamping wire is effectively reduced, and huge economic benefits are realized.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. The end effector prefabrication trolley comprises a lower die (2) and an end effector (3) and is characterized by further comprising a bottom support (1), a trolley and a lifting mechanism, wherein the lower die (2) is arranged on the bottom support (1), the trolley moves on the bottom support (1), the lifting mechanism moves in the trolley, an indicating mechanism is arranged in the bottom support (1) and the trolley, a quick-change device is arranged at the lower end of the lifting mechanism, and the end effector (3) is arranged at the lower end of the lifting mechanism through the quick-change device;
the left end and the right end of the bottom support (1) are provided with sliding rails, each sliding rail comprises a flat sliding rail (8) and a groove sliding rail (9), the flat sliding rail (8) is positioned at the left end of the bottom support (1), the groove sliding rail (9) is positioned at the right end of the bottom support (1), and the bottom support (1) is provided with a die positioning column (4);
the trolley comprises a left support (5), a right support (6) and a cross beam (7), wherein the cross beam (7) is arranged at the upper ends of the left support (5) and the right support (6);
the left support (5) and the right support (6) respectively comprise a pneumatic limiter (11), a rack (12) and a linear sliding rail (13), the lower end of the left support (5) is provided with a flat wheel assembly (10), and the lower end of the right support (6) is provided with a grooved wheel assembly (14);
the lifting mechanism comprises a lifting cross beam (15) and a driving mechanism, the driving mechanism is arranged on the lifting cross beam (15), and two ends of the lifting cross beam (15) are respectively connected with the left support (5) and the right support (6) in a sliding manner;
the indicating mechanism comprises a horizontal indicating mechanism and a vertical indicating mechanism, wherein the horizontal indicating mechanism and the vertical indicating mechanism respectively comprise a scale (20) and a pointer (21), the scale (20) of the horizontal indicating mechanism is positioned on the inner side of a trolley on the bottom support (1), the pointer (21) of the horizontal indicating mechanism is mounted on the trolley, the scale (20) of the vertical indicating mechanism is positioned on the trolley, and the pointer (21) of the vertical indicating mechanism is mounted on the lifting cross beam (15);
the quick-change device comprises a positioning block (23) and a pneumatic locking mechanism (24), wherein the positioning block (23) and the pneumatic locking mechanism (24) are symmetrically distributed.
2. The end effector prefabrication trolley according to claim 1, wherein limiting blocks (22) are respectively arranged on the upper side and the lower side of the linear sliding rail (13) on the left support (5) and the right support (6).
3. An end effector prefabrication trolley according to claim 1, wherein the driving mechanism comprises a braking reduction motor (16) and a rotating shaft (17), the braking reduction motor (16) is arranged at the upper end of the lifting beam (15), and the rotating shaft (17) is rotatably connected with the lifting beam (15);
gears (18) are arranged at two ends of the rotating shaft (17), and sliding blocks (19) are arranged at two ends of the lifting cross beam (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810125486.XA CN108326157B (en) | 2018-02-08 | 2018-02-08 | Prefabricated dolly of end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810125486.XA CN108326157B (en) | 2018-02-08 | 2018-02-08 | Prefabricated dolly of end effector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108326157A CN108326157A (en) | 2018-07-27 |
| CN108326157B true CN108326157B (en) | 2024-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810125486.XA Active CN108326157B (en) | 2018-02-08 | 2018-02-08 | Prefabricated dolly of end effector |
Country Status (1)
| Country | Link |
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| CN (1) | CN108326157B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110773658A (en) * | 2019-11-04 | 2020-02-11 | 一汽轿车股份有限公司 | General platform suitable for end effector off-line is built |
| CN111112485A (en) * | 2019-11-19 | 2020-05-08 | 广汽新能源汽车有限公司 | End picker-assisted production tooling |
| CN112845895A (en) * | 2021-03-04 | 2021-05-28 | 武汉赛亚恒智能装备有限公司 | Multi-station simulator |
| CN113600702B (en) * | 2021-08-04 | 2023-07-18 | 武汉维谘信息技术有限公司 | An end picker pre-build system and its control method |
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| CN203679713U (en) * | 2013-12-26 | 2014-07-02 | 伟本机电（上海）有限公司 | Out-of-line debugging bracket |
| CN205415661U (en) * | 2015-12-23 | 2016-08-03 | 郑州日产汽车有限公司 | Punching press machine people end effector automatic exchange device |
| CN106426245A (en) * | 2016-12-08 | 2017-02-22 | 济南二机床集团有限公司 | An automatic replacement device for an end picker |
| CN205967166U (en) * | 2016-08-29 | 2017-02-22 | 伟本智能机电（上海）股份有限公司 | End effector line is transfered to other localities to try on clothes and is put |
| CN206622803U (en) * | 2016-12-20 | 2017-11-10 | 北京汽车股份有限公司 | For assembling the support of terminal-collecting machine |
| CN207872909U (en) * | 2018-02-08 | 2018-09-18 | 济南奥图自动化股份有限公司 | A kind of prefabricated trolley of terminal-collecting machine |
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2018
- 2018-02-08 CN CN201810125486.XA patent/CN108326157B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203679713U (en) * | 2013-12-26 | 2014-07-02 | 伟本机电（上海）有限公司 | Out-of-line debugging bracket |
| CN205415661U (en) * | 2015-12-23 | 2016-08-03 | 郑州日产汽车有限公司 | Punching press machine people end effector automatic exchange device |
| CN205967166U (en) * | 2016-08-29 | 2017-02-22 | 伟本智能机电（上海）股份有限公司 | End effector line is transfered to other localities to try on clothes and is put |
| CN106426245A (en) * | 2016-12-08 | 2017-02-22 | 济南二机床集团有限公司 | An automatic replacement device for an end picker |
| CN206622803U (en) * | 2016-12-20 | 2017-11-10 | 北京汽车股份有限公司 | For assembling the support of terminal-collecting machine |
| CN207872909U (en) * | 2018-02-08 | 2018-09-18 | 济南奥图自动化股份有限公司 | A kind of prefabricated trolley of terminal-collecting machine |
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| Publication number | Publication date |
|---|---|
| CN108326157A (en) | 2018-07-27 |
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Denomination of invention: A prefabricated trolley for end pickups Granted publication date: 20240412 Pledgee: Postal Savings Bank of China Limited Jinan Branch Pledgor: JINAN AOTTO AUTOMATION Co.,Ltd. Registration number: Y2024980036579 |