CN109048204A - A kind of automated assembly line of umbrella umbrella handle - Google Patents
A kind of automated assembly line of umbrella umbrella handle Download PDFInfo
- Publication number
- CN109048204A CN109048204A CN201811135832.9A CN201811135832A CN109048204A CN 109048204 A CN109048204 A CN 109048204A CN 201811135832 A CN201811135832 A CN 201811135832A CN 109048204 A CN109048204 A CN 109048204A
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- Prior art keywords
- umbrella
- umbrella handle
- handle
- umbrella body
- impeller
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- 239000000463 material Substances 0.000 claims abstract description 20
- 238000004519 manufacturing process Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000010438 heat treatment Methods 0.000 claims abstract description 9
- 238000013461 design Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 12
- 238000000926 separation method Methods 0.000 claims description 11
- 238000005516 engineering process Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 241000246868 Astilbe japonica Species 0.000 claims 2
- 230000000903 blocking effect Effects 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000002955 isolation Methods 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000003032 molecular docking Methods 0.000 abstract 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
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- 230000005611 electricity Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000238876 Acari Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P11/00—Connecting or disconnecting metal parts or objects by metal-working techniques not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Branching, Merging, And Special Transfer Between Conveyors (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses the assembly lines of a kind of umbrella umbrella handle and umbrella body Automatic-feeding, automatic butt, are mainly used in umbrella intelligent manufacturing industry and Automated assembly technical field.According to assemble flow requirement, need respectively to carry out umbrella handle and umbrella body the design of Automatic-feeding, automatic separated material, automatic material taking, automatically transporting materials, keyhole detection is carried out to umbrella body position to be installed, umbrella body is rotated according to testing result, then it carries out pounding flat, high-temperature heating operation, finally realizes docking for umbrella body and umbrella handle.Entire assembly system is controlled by a PLC controller, and upper layer is monitored by host computer, realizes the safe and stable operation of assembly system.
Description
Technical field
The present invention relates to a kind of automated assembly lines of umbrella umbrella handle, are mainly used in umbrella intelligent manufacturing industry and oneself
Dynamicization mounting technology field, can be realized and automatically assemble umbrella handle and umbrella body, change based on umbrella industry manual assembly
The phenomenon that, improve the efficiency of umbrella production and assembly.
Background technique
Currently, Automated assembly technology has been widely used for all trades and professions, wherein in machine-building, mold manufacture, electricity
The fields such as sub- device assembly, food processing, drug manufacture have all obtained quick development, and especially in umbrella industry, it is allusion quotation
The labour intensive profession of type, after prolonged pure manual production, umbrella all forms in processing and assembling process
Fixed production procedure and assembly technology, part of technique have begun the equipment that occurs automating to replace manual operation,
Such as: umbrella cover opens the mechanical, electrical brain high speed single track truck of cloth foolscap, computer top of the umbrella machine, tape punch, umbrella pearl pearl tail machine, automatic pipe welder, umbrella
A series of umbrella equipment processed such as bone automatic moulding lathe are widely applied on manufacture early period umbrella components, but because
It is assembled as the last one link on production line, decides the quality of product, in addition certain assembly technologies therein require more
Special, production cost limits larger again, therefore, still relies in the assembling process in later period and manually completes, it is difficult to realize machine
Tool automatic continuous production.
Automated assembly is according to reasonable process flow by one group of scattered components in certain accuracy standard and skill
Under art requires, the process of product is finally combined by a series of operation, these processes rely on host computer and slave computer
Control shows the current state of each station with monitoring, moment, convenient for finding and solving failure problems, guarantees safe and reliable life
It produces.It wherein include automatic loading/unloading, separation, the material that sorts, according to the important links such as fixed pose transported material, these links
It is distributed at different stations, has flexibility appropriate, when one of station breaks down, can manually replace this
Station, repairman can repair, service work, so that production is uninterrupted.
In view of the development of the status and Automated assembly technology of current umbrella industry, the present invention is crucial by one in umbrella
Component umbrella handle realizes the Automated assembly with umbrella body, reduces the production cost of umbrella, improves the production efficiency of umbrella.
Summary of the invention
The main object of the present invention is to design the automatic of a umbrella umbrella handle according to the process flow requirement of umbrella handle hand assembled
Disguise wiring, which may be implemented the automation loading and unloading of umbrella handle, and automation feeding, Automated assembly, circulation are assembled
Process.Using feature possessed by umbrella handle itself, a series of automation equipments are devised, realize umbrella handle from feed bin by automatic
Bifurcation mechanism of the feeding device completion sequence feeding into separator complete two kinds of umbrellas hook separation towards different umbrella handles with
Then sequence adds a rotatable impeller to realize the separation of umbrella handle one by one as separated material mechanism in the end of bifurcation mechanism
Enter in the mold of fixing umbrella afterwards, waits for the effect individually assembled with the umbrella body that chain scraper conveyor is sent.Chain
Plate conveyer during transporting umbrella body, need first with pound flat package set the position to be assembled of umbrella body pound it is flat, then
At the umbrella tail and umbrella handle for clamping umbrella body umbrella stem using the small-sized electromagnet on the inside of V-type bracket, and then on umbrella body position to be assembled
The blind hole of diameter 2mm is detected and is positioned using vision inspection apparatus, blind at position to be assembled in umbrella body umbrella stem when determining
Behind the orientation in hole, the umbrella body umbrella tail end for recycling stepper motor to drive the clamping of scroll chuck mechanism is rotated, and rotating to makes umbrella
On body the direction of the blind hole at position to be assembled straight up when stop, next being realized using high-temperature heating equipment to be installed to umbrella body
High-temperature heating with position, wait position to be assembled burnt it is red after, finally complete blind hole in umbrella body umbrella stem towards and umbrella handle
Umbrella is hooked towards the operation assembled on the contrary.
The present invention has the advantages that
1, mechanism is simple, and design is reasonable, low in cost, easy to operate, maintenance easy to disassemble；
2, each part can be controlled and be monitored by PLC and host computer, and control method is simple, and control process safely may be used
It leans on.
3, it is assembled in such a way that Automated assembly technology is combined with vision detection technology, improves assembly essence
Degree.
4, all operating process are all made of carries out in groups, improves the efficiency of production；
Detailed description of the invention
Fig. 1 is the general assembly drawing of umbrella handle automated assembly line system
Fig. 2 is Umbrella handle structure figure
Fig. 3 is the structure chart of umbrella handle automation feeding device
Fig. 4 is the structure chart of umbrella handle separation system
Fig. 5 is the structure chart of umbrella handle mold
Fig. 6 is umbrella body structure chart
Fig. 7 is electromagnet structure figure
Fig. 8 is the electromagnet location drawing on the inside of V-type bracket
Fig. 9 is the structure chart of umbrella body automation feeding
Figure 10 is the structure chart that umbrella body pounds that flat package is set
Figure 11 is the structure chart of scroll chuck
Figure 12 is the location drawing of three cameras
Figure 13 is the structure chart of umbrella body aperture vision-based detection
Figure 14 is linear guide rail device figure
Specific embodiment
Firstly, being placed in umbrella handle (100) is random in feed bin (101), according to the features of shape that umbrella handle one end band hooks, design
Umbrella handle ticked one by one from feed bin using rotary blade (102) come automatic feeding system A.In the automatic feeding system
Rotating impeller blades (103) be hook solid, therefore motor (104) is by driving rotary blade to be rotated, uncinate lobe wheel blade
The umbrella that piece will hook umbrella handle hooks (105) and ticks to come one by one from feed bin by umbrella handle, and slides into the rotation of blade
On the bifurcation mechanism (106) of separation system B, umbrella hook is hooked on the first segment cylindrical rod (107) of bifurcation mechanism.Bifurcation mechanism is
It is made of, hangs on bifurcation mechanism first segment cylindrical rod at this time the inclined hollow smooth cylindrical stick of three in the same plane
There are two types of different directions for the umbrella hook of umbrella handle, and because umbrella handle and cylindrical rod contact area are smaller, umbrella handle is hooked on cylindrical rod
On be not vertical, but have and tilt certain angle, show that angle is 45 degree or so through test.So when umbrella handle is fallen on point
When pitching in mechanism, can first it glide along first segment cylindrical rod, when umbrella handle slips down to first segment cylindrical rod end, due to umbrella handle umbrella
It hooks length very short and umbrella handle compared with umbrella handle whole length and is hooked on pole that there are 45 degree of tilt angles, so umbrella handle will
It is automatically separated out the umbrella handle of two kinds of different directions by gravity and above-mentioned feature etc., and respectively enters the left and right of bifurcation mechanism
Two sides divergent track glides always on (108), slips down to bifurcation mechanism end separated material mechanism composed by small rotary blade
(109) it is kept off.Then stepper motor (110) drives small rotary blade to start to be rotated by 90 °, while completion takes next umbrella handle
Other umbrella handles on divergent track are stopped to continue the operation glided, the umbrella handle removed by small rotary blade slides into mold (111),
The mold upper end recessing (112), recess width are slightly larger than umbrella handle outer diameter, and mold falls or moves in order to prevent, utilizes cylinder
Presser device (113) fixes the umbrella handle fallen into mold, and the cylinder rod (114) of the air cylinder pressure plate is under normal conditions always in elongation
State, but when umbrella handle is fallen into mold, cylinder cylinder rod will be retracted with the pressing plate (115) in cylinder cylinder rod, compress umbrella
Then handle rotates 135 ° to horizontal position by stepper motor (116) driven mold, umbrella handle umbrella hooks vertical court at this time on mold
Under, it waits for being assembled with the umbrella body (201) being transported at specified station by chain scraper conveyor (200).
Umbrella body automatic feeding system C is placed on umbrella body (201) on a blanking inclined-plane (202), and the blanking inclined-plane is in water
Gentle vertical direction respectively has the inclined-plane of certain tilt angle, and in the one end on blanking inclined-plane, design has baffle (203), therefore can
So as to withstood at baffle at one end umbrella tail (204) of umbrella body, thus guarantee it is every umbrella body position to be installed (205) in straight line
On.Separated material impeller (206) are fixed in the end on blanking inclined-plane, when umbrella body moves to inclined-plane lower end, are blocked by separated material impeller,
With the rotation of separated material impeller, takes next umbrella body to reach in the plane (207) of blanking Beveled ends and wait chain scraper conveyor
On V-type bracket (208) move at same position and caught on.Next, being exactly to be carried out using chain scraper conveyor to umbrella body
Conveying is transported to each different station and carries out sequence of operations.
Chain scraper conveyor conveying come umbrella body first pass around pound flat package set (300) umbrella body position to be installed pound it is flat, should
Pound flat package set pound using aerostatic press it is flat.Placement electromagnetism is provided on the inside of left and right ends on each V-type bracket on carrier bar
The groove (301) of iron, every a pair of of electricity when detection switch (302), which detects, has umbrella body at the station, in former and later two brackets
Magnet is mutually attracted, clamps umbrella body on bracket, while controlling solenoid valve by PLC to control the flexible of cylinder cylinder rod (303)
Flat operation is pounded at umbrella body place to be assembled to realize.Then chain scraper conveyor continues to move, and reaches blind hole detection with umbrella body
At station.Because umbrella body is fixed in umbrella body under the action of electromagnet at this time, institute by vision detection system D so as to being obtained
The precise position information of blind hole (304) on to umbrella body umbrella stem on position to be assembled.The detection system has used 3 to be mutually 120 °
Industrial camera (305) covers 360 ° of umbrella body, therefore one film,fault of acquisition that need to only take pictures, and can obtain umbrella body by vision-based detection
Then the azimuth information of upper blind hole after obtaining this information, unclamps electromagnet using scroll chuck mechanism (306) clamping umbrella body
(307), scroll chuck mechanism is rotated using stepper motor (308), finally makes the blind hole at umbrella body position to be assembled
Rotate to that vertical into motor stalls, subsequent electromagnet is fixed umbrella body again and unclamps scroll chuck orientation time step upward
Mechanism, umbrella body continue to move with chain scraper conveyor.High-temperature heating station is next arrived at, high-frequency induction heating apparatus is utilized
(309) it treats assembly position to be heated at high temperature, after heating, reach at the last one assembly station being aligned with umbrella handle.Benefit
With electronic linear guide (310) push guide rail on sliding block (311), sliding block drive mold can under the promotion of linear guide,
It pushes the umbrella handle to be assembled in mold and mold and passes through the umbrella body after pounding flat, rotational positioning, heating sequence of operations
It is assembled, to realize an assembling process.Then proceed to the small rotary blade and umbrella body blanking of rotation divergent track end
The separated material impeller of Beveled ends carries out umbrella body feeding and umbrella handle feeding again, realizes the two Butt Assembling, recycles the process,
It can realize the cycle operation of assembly system.Assembling the umbrella completed can be with the movement together of chain scraper conveyor, when moving to chain
It when plate conveyer end, will fall down, to realize automatic discharging.
Bifurcation mechanism has separated the umbrella handle of two kinds of different directions, each feeding one in a mold, because there are two divide
Pitch track, two molds, so two umbrella handles can be assembled simultaneously every time.The present invention comprehensively considers production cost and production efficiency,
On the basis of original assembly line, and it is added to an assembly line, therefore, 4 umbrella handles can be assembled simultaneously every time.
In the present invention, the Automated assembly for mainly realizing umbrella handle and umbrella body improves the production efficiency of umbrella.It influences
The factor of umbrella handle and umbrella body assembly rate essentially consists in the feeding speed of the delivery rate of umbrella body, the detection rates of aperture and umbrella handle
Degree, operator need by umbrella handle it is random be put into feed bin, and be put in umbrella body is random on blanking inclined-plane, come convenient for operator
The production efficiency for controlling assembly line, proposes the stability of high control precision and product quality.
Claims (6)
1. the automated assembly line of umbrella umbrella handle, it is characterised in that: by umbrella handle automatic feeding system A, umbrella handle separation system B, umbrella
Body automatic feeding system C, umbrella body aperture vision detection system D, circulation assembly system E composition；
Umbrella handle automatic feeding system A, umbrella handle separation system B, umbrella body automatic feeding system C, umbrella body keyhole detection system D, circulation
Assembly system E is controlled by programmable controller PLC, and upper layer uses the operating status of each equipment of upper monitoring, when setting
Standby to alarm immediately when breaking down, the entire assembly line of emergency stop guarantees that system is safe and stable, efficient operation.
Umbrella handle automatic feeding system A is made of umbrella handle feed bin (101), rotary blade (102), is rotated by motor impeller,
On the bifurcation mechanism (106) that uncinate lobe wheel is slipped in separation system with the umbrella handle hooked；
Umbrella handle separation system B is made of bifurcation mechanism (106), separated material impeller (109), and umbrella handle slides into bifurcation mechanism, and in separated material
Under the blocking and rotation of impeller, separation, the separated material operation of umbrella handle are realized；
Umbrella body automatic feeding system C is by blanking inclined-plane (202), separated material impeller (206), chain scraper conveyor (200), V-type bracket
(208) it forms, umbrella body is slided from inclined-plane under gravity, and Beveled ends equally place the separated material as bifurcation mechanism end
Impeller is stopped when umbrella body, which slides, to be come by separated material impeller, but equally can only allow yunna spiraea by the drive of impeller motor
Body is sent to the horizontal position of blanking Beveled ends, waits the V-type bracket interruption of chain scraper conveyor to take away each umbrella body；
Umbrella body aperture vision detection system D is made of 3 industrial cameras (305) for being mutually 120 °, industrial camera supports (313), and 3
A camera fields of view angle can cover 360 ° of umbrella body, because the umbrella body obtained from blanking inclined-plane is random, the orientation of aperture
Be it is random, therefore, if 360 ° of umbrella body can be covered, each chain scraper conveyor machine need to only take primary photograph when reaching in second station
The azimuth information of aperture can be found by image procossing by acquiring three photos, by the azimuth information of umbrella body aperture, be come real
Existing subsequent matching requirements, this method are simple, quick and stable；
Circulation assembly system E is made of 4 stations and chain scraper conveyor, when the V-type bracket on chain scraper conveyor is transported with umbrella body
When moving to first station, start to pound flat operation to umbrella body position to be assembled.It then proceedes to move to second station, second station
It is responsible for that the blind hole on umbrella body position to be assembled is detected and positioned, rotates umbrella body with scroll chuck mechanism clamping umbrella tail end,
So that umbrella body aperture is vertically upward.Continue movement and reach 3rd station, 3rd station is responsible for carrying out umbrella body position to be assembled high
Temperature heating can be completed this operation using thermatron, continue to move to after the completion of heating up to the last one assembly station,
Umbrella handle has been located in a mold at this time, and under the rotation of stepper motor, and umbrella handle follows mold to have rotated 135 ° together, umbrella handle umbrella
It hooks in state downwards, therefore linear guide pushes the sliding block of fixing mould and dock with umbrella body forward realizing
Assembly manipulation because be 2 groups of production lines, 4 divergent tracks, therefore primary assembly four is umbrella, as long as it is following again
The isolation impeller of blanking Beveled ends and divergent track end is rotated, same assemble flow is repeated, circulation assembly can be realized.
2. the automated assembly line of umbrella umbrella handle according to claim 1, it is characterised in that: umbrella handle automatic feeding system A
The depth of diameter, shape and feed bin that the design of middle rotary blade length, thickness, curved shape and crotch is hooked according to umbrella handle umbrella
The features such as spending is designed, it can be ticked every time carrys out umbrella handle, is ticked the umbrella handle come and rotates into segregative line with impeller
On the delivery track of system.
3. the automated assembly line of umbrella umbrella handle according to claim 1, it is characterised in that: umbrella handle separation system B due to
Umbrella handle and pole contact area are smaller, and umbrella handle is with the state slide downward with pole shaft section angle at 45 °, and because umbrella handle umbrella hooks
Shorter compared with umbrella handle length, therefore, using the two features, umbrella handle, which can separate, is hooked on umbrella hook direction difference on pole
Umbrella handle simultaneously respectively enters on the divergent track of two sides, into after the divergent track of two sides, continues to glide, and two sides divergent track end all fills
There is separated material impeller, the umbrella handle that separated material impeller can not only completely cut off on divergent track continues to glide, and can also pass through the drive of motor
Length by limiting impeller only allows a umbrella handle to slide into umbrella handle mold, prepares for assembly.
4. the automated assembly line of umbrella umbrella handle according to claim 1, it is characterised in that: umbrella body automatic feeding system C
The V-type bracket clamp that middle separated material impeller only allows yunna spiraea to be fixed on chain scraper conveyor is walked and as chain scraper conveyor one starts shipment
It is dynamic, carry out the assembly manipulation of next step.
5. the automated assembly line of umbrella umbrella handle according to claim 1, it is characterised in that: umbrella body aperture vision-based detection system
System D works at the same time acquisition picture using three cameras, and three photos cover 360 ° of umbrella body, by respectively in three photos
Aperture carries out the conversion of 2 d-to-3 d, can know the true azimuth information of aperture.
6. the automated assembly line of umbrella umbrella handle according to claim 1, it is characterised in that: 4 in circulation assembly system E
Station is independent from each other, and section does different assembly technologies in different times, once one of process flow goes wrong,
It can be at any time by manually replacing, maintaining easily and regularly overhauling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811135832.9A CN109048204B (en) | 2018-09-28 | 2018-09-28 | Automatic assembly line of umbrella stick |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811135832.9A CN109048204B (en) | 2018-09-28 | 2018-09-28 | Automatic assembly line of umbrella stick |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109048204A true CN109048204A (en) | 2018-12-21 |
| CN109048204B CN109048204B (en) | 2020-12-08 |
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ID=64766485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811135832.9A Expired - Fee Related CN109048204B (en) | 2018-09-28 | 2018-09-28 | Automatic assembly line of umbrella stick |
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| Country | Link |
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| CN (1) | CN109048204B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110052827A (en) * | 2019-05-17 | 2019-07-26 | 杭州晟泉智能控制有限公司 | The assembly system of umbrella handle component |
| CN114634001A (en) * | 2022-01-25 | 2022-06-17 | 苏州优曼特自动化设备有限公司 | Flexible assembly line |
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| US4658845A (en) * | 1984-09-20 | 1987-04-21 | `Totes`, Incorporated | Umbrella cloth mounting assembly and method |
| CN102059541A (en) * | 2010-12-21 | 2011-05-18 | 天津市光学精密机械研究所 | Automatic plug-in mounting equipment for assembling metal sheets and coils |
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| CN106736514A (en) * | 2016-12-12 | 2017-05-31 | 杭州云盘智能科技有限公司 | Sun-rain umbrella pipe production line for automatically assembling |
| CN206840738U (en) * | 2017-04-26 | 2018-01-05 | 鹤山市峰兴实业有限公司 | A kind of heater for umbrella assembling |
| CN207189118U (en) * | 2017-07-25 | 2018-04-06 | 晋江市聚赢数控科技有限公司 | A kind of sun-rain umbrella pipe assembles device |
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2018
- 2018-09-28 CN CN201811135832.9A patent/CN109048204B/en not_active Expired - Fee Related
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| US4658845A (en) * | 1984-09-20 | 1987-04-21 | `Totes`, Incorporated | Umbrella cloth mounting assembly and method |
| CN102059541A (en) * | 2010-12-21 | 2011-05-18 | 天津市光学精密机械研究所 | Automatic plug-in mounting equipment for assembling metal sheets and coils |
| CN102729092A (en) * | 2011-03-31 | 2012-10-17 | 中原工学院 | Spindle blade feed structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110052827A (en) * | 2019-05-17 | 2019-07-26 | 杭州晟泉智能控制有限公司 | The assembly system of umbrella handle component |
| CN110052827B (en) * | 2019-05-17 | 2024-05-14 | 杭州晟泉智能控制有限公司 | Assembly system of umbrella handle assembly |
| CN114634001A (en) * | 2022-01-25 | 2022-06-17 | 苏州优曼特自动化设备有限公司 | Flexible assembly line |
| CN114634001B (en) * | 2022-01-25 | 2023-12-29 | 苏州优曼特自动化设备有限公司 | Flexible assembly line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109048204B (en) | 2020-12-08 |
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