CN108466279A - A kind of mark catching robot arm of pail pack - Google Patents
A kind of mark catching robot arm of pail pack Download PDFInfo
- Publication number
- CN108466279A CN108466279A CN201810569418.2A CN201810569418A CN108466279A CN 108466279 A CN108466279 A CN 108466279A CN 201810569418 A CN201810569418 A CN 201810569418A CN 108466279 A CN108466279 A CN 108466279A
- Authority
- CN
- China
- Prior art keywords
- arm
- gear
- fixed
- cylinder
- mounting base
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Devices For Dispensing Beverages (AREA)
Abstract
The invention discloses a kind of mark catching robot arms of pail pack, including pedestal, the top of pedestal is equipped with support column and mounting base successively, mounting base is in rectangular-ambulatory-plane and is fixed on the upper end of support column, adjustable support arm is arranged in the port of mounting base, it inserts and is movably equipped with marking mechanism in the front end of the adjustable support arm, the marking mechanism includes the horizontal brace rod being plugged in adjustable support arm, it is arranged with device for regulating rotary on horizontal brace rod and positioned at the both sides of adjustable support arm, it is connected with the first cylinder between the lower surface and device for regulating rotary of adjustable support arm, the lower hinge of the device for regulating rotary has elevation and subsidence regulating device, the bottom of the elevation and subsidence regulating device is hinged with grabbing device.The advantage of the invention is that：It can first carry out automatic marking to the pail pack on assembly line, and then crawl is collected, and flexibility is big, efficient, effect is good.
Description
Technical field
The present invention relates to packaging facilities technical field more particularly to a kind of mark catching robot arms of pail pack.
Background technology：
In pipelining, the bottom of pail pack needs to be marked in order to subsequent statistics, when pail pack is located at
When on assembly line, needs first to carry out mark to pail pack, then be collected carrying pail pack, which often needs
Marking machine and artificial carrying are used, therefore increases cost and labour.
Invention content：
The purpose of the present invention and provides a kind of mark catching robot of pail pack aiming at the deficiency of the prior art
Arm, it can first carry out automatic marking to the pail pack on assembly line, and then crawl is collected, and flexibility is big, efficient, effect is good.
The technology solution of the present invention is as follows：
A kind of mark catching robot arm of pail pack, including pedestal, it is characterised in that：The top of pedestal is equipped with branch successively
Dagger and mounting base, mounting base are in rectangular-ambulatory-plane and are fixed on the upper end of support column, and the port in mounting base is arranged in adjustable support arm
Interior, the front end of the adjustable support arm, which is inserted, is movably equipped with marking mechanism, and the marking mechanism includes being plugged in adjustable support arm
Horizontal brace rod, the both ends of horizontal brace rod are fixed with a pair of mutually symmetrical with inclined plate, the bottom end inner wall of one of inclined plate
It is fixed with block plate, the bottom end outer wall of another inclined plate is fixed with mark cylinder, and the piston rod of mark cylinder is connected with across inclined plate
Seal is connected with reinforcing plate between two inclined plates；It is arranged on the horizontal brace rod and positioned at the both sides of adjustable support arm
There is device for regulating rotary, the first cylinder is connected between the lower surface and device for regulating rotary of adjustable support arm, the rotation is adjusted
The lower hinge of regulating device has elevation and subsidence regulating device, the bottom of the elevation and subsidence regulating device to be hinged with grabbing device, the crawl
Device includes upper and lower two pieces of rectangular slabs disposed in parallel, is fixedly connected by cylinder between two pieces of rectangular slabs, described to be located above
The upper surface center of rectangular slab be equipped with and third cylinder and be fixed with a pair of of hinged ear, the third gas in the both sides of third cylinder
The piston rod of cylinder is connected with the partition board being vertically arranged across rectangular slab, is offered on underlying rectangular slab corresponding with partition board
Septalium, partition board can stretch out under the action of third cylinder out of septalium, the upper surface of the underlying rectangular slab
The left and right sides is equipped with the gripper cylinder that a pair of pistons bar is arranged outwardly, and the left and right ends of the underlying rectangular slab are hinged with
The piston rod of a pair of of gripper jaw, gripper cylinder is connected on the latch spoon of gripper jaw.
As a preferred embodiment of the above technical solution, the device for regulating rotary includes concave rotor plate, the rising-falling tone
Regulating device includes a pair of not lever being hinged in a pair of of gap slot that rotor plate lower part is opened up, described in two not in lever
It is inserted with motion bar, bracing piece is additionally provided between two motion bars, one end of lift adjustment cylinder is hinged on rotor plate
In ear mount possessed by lower end and the other end is hinged in ear mount set on bracing piece, and the lower end of motion bar, which is hinged on, to be hinged
In ear.
As a preferred embodiment of the above technical solution, the adjustable support arm includes rear fixed arm and preceding adjustable arm, preceding adjustable arm
It is plugged in rear fixed arm in possessed sliding slot, rear fixed arm is movably connected in the port of mounting base, adjustable before the water
There are installation notch, the center of horizontal brace rod to be fixed with the first driven gear for the front end of arm, and the first driven gear is located at installation
In notch, the installation notch offer notch on the side wall towards the first driven gear, cartridge driving gear is fixed in notch
It sets, the gear device includes shell, and upper first driving gear for being hinged on two madial wall of shell or so stretches out shell
It front port and is engaged with the first driven gear, the rear of first driving gear is engaged with worm screw, and worm screw is hinged on shell
Between upper and lower madial wall, the upper end of the worm screw is fixed with dynamic bevel gear by the connection type of flat key, the shell it is upper
It is fixed with first gear driving motor on square inner wall, is fixed in the shaft of first gear driving motor and is mutually nibbled with dynamic bevel gear
The drive bevel gear of conjunction.
As a preferred embodiment of the above technical solution, the later half lower surface of the preceding adjustable arm is equipped with rack, fixed after described
The lower surface of arm is equipped with the rach slot to connect with sliding slot, and the width of rach slot is more than the width of rack, the rear fixed arm
Lower surface front end both sides are fixed with a pair of of vertical plate, and the adjusting tooth being meshed with rack is connected between two vertical plates
The outer surface of wheel, one of vertical plate is fixed with third gear drive motor, and the shaft of third gear drive motor, which passes through, erects
The central shaft of straight panel and adjustment gear is connected by way of spline fitted.
As a preferred embodiment of the above technical solution, the top of the mounting base is equipped with the second driven gear, the upper table of mounting base
Face is equipped with a mobilizable ball of circle, and the lower surface of the second driven gear is pressed against on ball, and second driven gear is with after
It is equipped with the shaft being plugged in mounting base between the upper surface of fixed arm, second gear is fixed on the rear wall of the mounting base
Driving motor, the shaft of second gear driving motor are equipped with the second driving gear being meshed with the second driven gear；It is described
Arc equalizer bar is additionally provided on the rear wall of mounting base, the lower surface of arc equalizer bar is equipped with arc groove, the rear fixed arm
There is strengthening portion, the upper surface of strengthening portion to be equipped with balance ball for rear end upper surface, and balance ball is located in arc groove.
As a preferred embodiment of the above technical solution, the support column is equipped with range sensor, the induction end of range sensor
Towards the pail pack on transmission device.
As a preferred embodiment of the above technical solution, the side of the pedestal is equipped with storage basket.
The beneficial effects of the present invention are：It can first carry out automatic marking to the pail pack on assembly line, and then crawl is received
Collection, flexibility is big, efficient, effect is good.
Description of the drawings：
Fig. 1 is a kind of structural schematic diagram of the mark catching robot arm of pail pack of the present invention；
Fig. 2 is the 3 dimensional drawing of the present invention；
Fig. 3 is the vertical view 3 dimensional drawing of the present invention；
Fig. 4 is the internal view of gear device of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Shown in Fig. 1 to Fig. 4, a kind of mark catching robot arm of pail pack, including pedestal 1, the top of pedestal 1 is successively
Equipped with support column 11 and mounting base 13, mounting base 13 is in rectangular-ambulatory-plane and is fixed on the upper end of support column 11, and adjustable support arm 2 is arranged
In the port of mounting base 13, the front end of the adjustable support arm 2, which is inserted, is movably equipped with marking mechanism 6, and the marking mechanism 6 includes
The both ends of the horizontal brace rod 61 being plugged in adjustable support arm 2, horizontal brace rod 61 are fixed with a pair of mutually symmetrical with inclined plate
62, the bottom end inner wall of one of inclined plate 62 is fixed with block plate 66, and the bottom end outer wall of another inclined plate 62 is fixed with mark cylinder
63, the piston rod of mark cylinder 63 is connected with seal 64 across inclined plate, and reinforcing plate 65 is connected between two inclined plates 62；Institute
It states on horizontal brace rod 611 and is arranged with device for regulating rotary 3, the following table of adjustable support arm 2 positioned at the both sides of adjustable support arm 2
The first cylinder 25 is connected between face and device for regulating rotary 3, the lower hinge of the device for regulating rotary 3 has lift adjustment dress
4 are set, the bottom of the elevation and subsidence regulating device 4 is hinged with grabbing device 5, and the grabbing device 5 is arranged in parallel including upper and lower two pieces
Rectangular slab 51, be fixedly connected by cylinder 512 between two pieces of rectangular slabs 51, the upper surface of the rectangular slab 51 being located above
Center is equipped with third cylinder 52 and is fixed with a pair of of hinged ear 511, the work of the third cylinder 52 in the both sides of third cylinder 52
Stopper rod is connected with the partition board 53 being vertically arranged across rectangular slab 51, is offered on underlying rectangular slab 51 opposite with partition board 53
The septalium answered, partition board 53 can stretch out under the action of third cylinder 52 out of septalium, the underlying rectangular slab 51
Upper surface at left and right sides of be equipped with the gripper cylinder 54 that is arranged outwardly of a pair of pistons bar, a left side for the underlying rectangular slab 51
Right both ends are hinged with a pair of of gripper jaw 55, and the piston rod of gripper cylinder 54 is connected on the latch spoon of gripper jaw 55.
Further, the device for regulating rotary 3 includes concave rotor plate 31, and the elevation and subsidence regulating device 4 wraps
Include a pair of not lever 41 being hinged in a pair of of gap slot 32 that 31 lower part of rotor plate is opened up, described in two not in lever 41
It is inserted with motion bar 42, bracing piece 43 is additionally provided between two motion bars 42, one end of lift adjustment cylinder 44 is hinged on
In ear mount possessed by the lower end of rotor plate 31 and the other end is hinged in ear mount set on bracing piece 43, motion bar 42
Lower end is hinged in hinged ear 511.
Further, the adjustable support arm 2 includes rear fixed arm 21 and preceding adjustable arm 22, and preceding adjustable arm 22 is plugged in
Afterwards in fixed arm 21 in possessed sliding slot 212, rear fixed arm 21 is movably connected in the port of mounting base 13, can before the water
Adjust the front end of arm 22 that there are installation notch 221, the center of horizontal brace rod 61 is fixed with the first driven gear 24, the first passive tooth
Wheel 24 is located in installation notch 221, and the installation notch 221 offer notch, slot on the side wall towards the first driven gear 24
Gear device 23 is fixed in mouthful, the gear device 23 includes shell 231, is hinged in shell 231 or so two
Upper first driving gear 234 of side wall stretches out the front port of shell 231 and is engaged with the first driven gear 24, and described first actively
The rear of gear 234 is engaged with worm screw 235, and worm screw 235 is hinged between the madial wall up and down of shell 231, the worm screw 235
Upper end is fixed with dynamic bevel gear 236 by the connection type of flat key, and the first tooth is fixed in the upper inner wall of the shell 231
Wheel drive motor 232 is fixed with the initiative taper being meshed with dynamic bevel gear 236 in the shaft of first gear driving motor 232
Gear 233.
Further, the later half lower surface of the preceding adjustable arm 22 is equipped with rack 221, it is described after under fixed arm 21
Surface is equipped with the rach slot 211 to connect with sliding slot 212, and the width of rach slot 211 is more than the width of rack 221, solid after described
The lower surface front end both sides of fixed arm 21 are fixed with a pair of of vertical plate 213, are connected between two vertical plates 213 and rack
The outer surface of 221 adjustment gears 215 being meshed, one of vertical plate 213 is fixed with third gear drive motor 214, the
The shaft of three gear drive motors 214 passes through vertical plate 213 and the central shaft of adjustment gear 215 to connect by way of spline fitted
It connects.
Further, the top of the mounting base 13 is equipped with the second driven gear 14, and the upper surface of mounting base 13 is equipped with
The one mobilizable ball 141 of circle, the lower surface of the second driven gear 14 is pressed against on ball 141, second driven gear 14
It is equipped with the shaft being plugged in mounting base 13 between the upper surface of rear fixed arm 21, is fixed on the rear wall of the mounting base 13
There is a second gear driving motor 16, the shaft of second gear driving motor 16 is equipped with the to be meshed with the second driven gear 14
Two driving gears 15；Arc equalizer bar 17 is additionally provided on the rear wall of the mounting base 13, the lower surface of arc equalizer bar 17 is set
There are arc groove 171, the rear end upper surface of the rear fixed arm 21 that there is strengthening portion 211, the upper surface of strengthening portion 211 to be equipped with balance
Ball 212, balance ball 212 are located in arc groove 171.
Further, the support column 11 is equipped with range sensor 12, and the induction end direction of range sensor 12 passes
Send the pail pack 700 on device 7.
Further, the side of the pedestal 1 is equipped with storage basket 800.
The operation principle of the present invention：1, range sensor 12 incudes the position of pail pack 700, is filled when reaching transmission
When setting 7 end, transmission device 7 stops operating, and passes through the engagement of adjustment gear 215 and rack 221, the effect of the first cylinder 25
And the effect of lift adjustment cylinder 44, so that grabbing device 5 is moved to the 700 suitable position in top of pail pack, and pass through clamping
The piston rod promotion of cylinder 54 can make two gripper jaws 55 clamp pail pack 700, and pail pack 700 is made to be not easy to loosen；
2, the first driven gear 24 rotates under the action of gear device 23 makes block plate 66, seal 64 move to
Then the both ends of pail pack 700 start mark cylinder 63 and carry out mark to the bottom of pail pack 700, block plate 66 prevents pail pack
700 move left and right, and after the completion the first driven gear 24 makes entire marking machine again under the action of gear device 23
The top that structure moves to pail pack waits for next subcommand.
3, adjustable support arm 2 transports 800 overhead of storage basket in the rotation decline pail pack 700 of the second driven gear 14,
Then it is placed by adjusting suitable position, completes the collection to pail pack.
Different furthermore according to the diameter of pail pack, the present apparatus can be dropped to by third cylinder 52 with dynamic dividing plate 53 minimum
Position, two gripper jaws 55 are for capturing two pail packs.
Claims (7)
1. a kind of mark catching robot arm of pail pack, including pedestal (1), it is characterised in that：The top of pedestal (1) is set successively
There are support column (11) and mounting base (13), mounting base (13) to be in rectangular-ambulatory-plane and be fixed on the upper end of support column (11), adjustable supports
Arm (2) is arranged in the port of mounting base (13), and the front end of the adjustable support arm (2), which is inserted, is movably equipped with marking mechanism (6), institute
It includes the horizontal brace rod (61) being plugged in adjustable support arm (2) to state marking mechanism (6), and the both ends of horizontal brace rod (61) are solid
There are a pair of mutually symmetrical with inclined plate (62), the bottom end inner wall of one of inclined plate (62) to be fixed with block plate (66), another is tiltedly surely
The bottom end outer wall of plate (62) is fixed with mark cylinder (63), and the piston rod of mark cylinder (63) is connected with seal across inclined plate
(64), it is connected with reinforcing plate (65) between two inclined plates (62)；On the horizontal brace rod (611) and it is located at adjustable supports
The both sides of arm (2) are arranged with device for regulating rotary (3), connect between the lower surface and device for regulating rotary (3) of adjustable support arm (2)
It is connected to the first cylinder (25), the lower hinge of the device for regulating rotary (3) has elevation and subsidence regulating device (4), the lift adjustment
The bottom of device (4) is hinged with grabbing device (5), and the grabbing device (5) includes upper and lower two pieces of rectangular slabs disposed in parallel
(51), it is fixedly connected by cylinder (512) between two pieces of rectangular slabs (51), the upper surface of the rectangular slab (51) being located above
Center is equipped with third cylinder (52) and is fixed with a pair of of hinged ear (511), the third cylinder in the both sides of third cylinder (52)
(52) piston rod is connected with the partition board (53) being vertically arranged across rectangular slab (51), is opened up on underlying rectangular slab (51)
There are septalium corresponding with partition board (53), partition board (53) that can be stretched out out of septalium under the action of third cylinder (52), institute
It states and is equipped with the gripper cylinder (54) that a pair of pistons bar is arranged outwardly at left and right sides of the upper surface of underlying rectangular slab (51), institute
The left and right ends for stating underlying rectangular slab (51) are hinged with a pair of of gripper jaw (55), the piston rod connection of gripper cylinder (54)
On the latch spoon of gripper jaw (55).
2. a kind of mark catching robot arm of pail pack according to claim 1, it is characterised in that：The rotation is adjusted
Device (3) includes concave rotor plate (31), and the elevation and subsidence regulating device (4) includes that a pair is hinged on rotor plate (31) lower part
The not lever (41) in a pair of of gap slot (32) opened up, lever (41) is not interior described in two is inserted with motion bar (42),
Bracing piece (43) is additionally provided between two motion bars (42), one end of lift adjustment cylinder (44) is hinged on rotor plate (31)
Lower end possessed by ear mount and the other end is hinged in ear mount set on bracing piece (43), the lower end of motion bar (42)
It is hinged in hinged ear (511).
3. a kind of mark catching robot arm of pail pack according to claim 1, it is characterised in that：The adjustable supports
Arm (2) includes rear fixed arm (21) and preceding adjustable arm (22), and preceding adjustable arm (22) is plugged in rear fixed arm (21) possessed
In sliding slot (212), rear fixed arm (21) is movably connected in the port of mounting base (13), the front end of adjustable arm (22) before the water
With installation notch (221), the center of horizontal brace rod (61) is fixed with the first driven gear (24), the first driven gear (24)
In installation notch (221), notch is offered on the side wall of the installation notch (221) towards the first driven gear (24),
Gear device (23) is fixed in notch, the gear device (23) includes shell (231), is hinged on shell
(231) left and right two madial walls upper first driving gear (234) stretch out shell (231) front port and with the first driven gear
(24) it engages, the rear of first driving gear (234) is engaged with worm screw (235), and worm screw (235) is hinged on shell (231)
Madial wall up and down between, the upper end of the worm screw (235) is fixed with dynamic bevel gear (236) by the connection type of flat key,
First gear driving motor (232) is fixed in the upper inner wall of the shell (231), first gear driving motor (232)
The drive bevel gear (233) being meshed with dynamic bevel gear (236) is fixed in shaft.
4. a kind of mark catching robot arm of pail pack according to claim 3, it is characterised in that：The preceding adjustable arm
(22) later half lower surface is equipped with rack (221), and the lower surface of the rear fixed arm (21) is equipped with to connect with sliding slot (212)
Rach slot (211), the width of rach slot (211) is more than the width of rack (221), it is described after fixed arm (21) lower surface before
End both sides are fixed with a pair of of vertical plate (213), are connected between two vertical plates (213) and are meshed with rack (221)
The outer surface of adjustment gear (215), one of vertical plate (213) is fixed with third gear drive motor (214), third gear
The shaft of driving motor (214) passes through vertical plate (213) and the central shaft of adjustment gear (215) to connect by way of spline fitted
It connects.
5. a kind of mark catching robot arm of pail pack according to claim 3, it is characterised in that：The mounting base
(13) top is equipped with the second driven gear (14), and the upper surface of mounting base (13) is equipped with a mobilizable ball (141) of circle, the
The lower surface of two driven gears (14) is pressed against on ball (141), second driven gear (14) and rear fixed arm (21)
It is equipped with the shaft being plugged in mounting base (13) between upper surface, second gear is fixed on the rear wall of the mounting base (13)
Driving motor (16), the shaft of second gear driving motor (16) are equipped with the second master being meshed with the second driven gear (14)
Moving gear (15)；Arc equalizer bar (17), the following table of arc equalizer bar (17) are additionally provided on the rear wall of the mounting base (13)
Face be equipped with arc groove (171), it is described after fixed arm (21) rear end upper surface have strengthening portion (211), strengthening portion (211) it is upper
Surface is equipped with balance ball (212), and balance ball (212) is located in arc groove (171).
6. a kind of mark catching robot arm of pail pack according to claim 1, it is characterised in that：The support column
(11) it is equipped with range sensor (12), the induction end of range sensor (12) is towards the pail pack on transmission device (7)
(700)。
7. a kind of mark catching robot arm of pail pack according to claim 1, it is characterised in that：The pedestal (1)
Side be equipped with storage basket (800).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810569418.2A CN108466279A (en) | 2018-06-05 | 2018-06-05 | A kind of mark catching robot arm of pail pack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810569418.2A CN108466279A (en) | 2018-06-05 | 2018-06-05 | A kind of mark catching robot arm of pail pack |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108466279A true CN108466279A (en) | 2018-08-31 |
Family
ID=63260791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810569418.2A Withdrawn CN108466279A (en) | 2018-06-05 | 2018-06-05 | A kind of mark catching robot arm of pail pack |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108466279A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109341748A (en) * | 2018-11-09 | 2019-02-15 | 罗博特科智能科技股份有限公司 | A kind of rotating disc type vision inspection apparatus |
| CN112278115A (en) * | 2020-11-15 | 2021-01-29 | 王斌 | Truck stand column auxiliary assembly machine |
| CN114223568A (en) * | 2022-02-28 | 2022-03-25 | 北京翰龙翔天防伪科技有限公司 | Fixed ear tag marking device |
| CN116423481A (en) * | 2023-06-09 | 2023-07-14 | 哈尔滨学院 | Visual positioning type magnetic gripper |
-
2018
- 2018-06-05 CN CN201810569418.2A patent/CN108466279A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109341748A (en) * | 2018-11-09 | 2019-02-15 | 罗博特科智能科技股份有限公司 | A kind of rotating disc type vision inspection apparatus |
| CN112278115A (en) * | 2020-11-15 | 2021-01-29 | 王斌 | Truck stand column auxiliary assembly machine |
| CN114223568A (en) * | 2022-02-28 | 2022-03-25 | 北京翰龙翔天防伪科技有限公司 | Fixed ear tag marking device |
| CN116423481A (en) * | 2023-06-09 | 2023-07-14 | 哈尔滨学院 | Visual positioning type magnetic gripper |
| CN116423481B (en) * | 2023-06-09 | 2023-09-08 | 哈尔滨学院 | Visual positioning type magnetic gripper |
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| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180831 |
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| WW01 | Invention patent application withdrawn after publication |