CN109264391A - Robot grading machine - Google Patents

Robot grading machine Download PDF

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Publication number
CN109264391A
CN109264391A CN201811112114.XA CN201811112114A CN109264391A CN 109264391 A CN109264391 A CN 109264391A CN 201811112114 A CN201811112114 A CN 201811112114A CN 109264391 A CN109264391 A CN 109264391A
Authority
CN
China
Prior art keywords
clamping jaw
robot
sucker
fixed block
manipulator
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.)
Pending
Application number
CN201811112114.XA
Other languages
Chinese (zh)
Inventor
姜中周
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Shengcheng Solar Equipment Co Ltd
Original Assignee
Suzhou Shengcheng Solar Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Shengcheng Solar Equipment Co Ltd filed Critical Suzhou Shengcheng Solar Equipment Co Ltd
Priority to CN201811112114.XA priority Critical patent/CN109264391A/en
Publication of CN109264391A publication Critical patent/CN109264391A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • 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
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • 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
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04Detection means
    • B65G2203/041Camera

Abstract

The invention discloses robot grading machines, including robot track, robot is provided in the robot track, manipulator is provided in the robot, sucker assembly is provided on the manipulator, it is provided with vision camera above the manipulator, lateral transfer is provided in front of the robot track and is reformed machine, the reform side of machine of the lateral transfer is provided with pallet in front of the robot track and reforms machine.Beneficial effect is: the equipment is while meeting conventional transversely stacking stepping, realize longitudinal inserted sheet packaging of solar double-glass assemblies and general components, reduce subsequent part packaging process, one key switching may be implemented in the stepping of different components, operational process does not need personnel's intervention, reduce the personnel cost of enterprise, the equipment fixes grabbing assembly by manipulator sucker, it is small to the damage of solar cell module, vision camera system and robot communication, realize location error compensation, high degree of automation.The equipment usability is strong, and work efficiency is high, can meet the needs of batch production.

Description

Robot grading machine
Technical field
The present invention relates to solar cell modules to produce technical field of auxiliary equipment, more particularly to robot grading machine.
Background technique
Manipulator can imitate certain holding functions of manpower and arm, to by fixed routine crawl, carrying object or operation The automatic pilot of tool, manipulator are the industrial robots occurred earliest, and the modern machines people occurred earliest, it can The mechanization and automation of production are realized instead of the heavy labor of people, can be operated under hostile environment to protect personal safety, Due to many benefits and convenience of industrial robot, thus it is widely used in machine-building, metallurgy, electronics, light industry and atomic energy Equal departments;In solar cell module production process, conventional stepping and packaging need to expend biggish manpower and material resources, conventional Stepping takes up a large area, and machinery positioning precision is low, can only generally do lateral stack, have a single function, and efficiency is lower.
Summary of the invention
The object of the invention is that providing robot grading machine to solve the above-mentioned problems.
The present invention through the following technical solutions to achieve the above objectives:
Including robot track, it is provided with robot in the robot track, is provided with manipulator in the robot, It is provided with sucker assembly on the manipulator, vision camera is provided with above the manipulator, the robot track Front is provided with lateral transfer and reforms machine, and the reform side of machine of the lateral transfer is provided in front of the robot track Pallet is reformed machine;The first clamping jaw fixed plate is provided in the sucker assembly, the first clamping jaw dead plate upper end is provided with Two clamping jaw fixed plates, the side of the first clamping jaw fixed plate are provided with clamping jaw sucker fixed block, the clamping jaw sucker fixed block Side be provided with reinforcing rib, the top of the first clamping jaw fixed plate is provided with fixed bracket, is arranged on the fixed bracket There is a solenoid valve, the side of the solenoid valve is provided with straight-through, is provided with vacuum generator on the clamping jaw sucker fixed block, described PY8 is provided on reinforcing rib, the lower section of the solenoid valve is provided with relaying box in the side of the first clamping jaw fixed plate, described The lower end of clamping jaw sucker fixed block is provided with probe fixed block, and positioning probe, the clamping jaw are provided on the probe fixed block The other side of sucker fixed block is provided with vacuum chuck, and the lateral transfer reforms and is provided with rack components, the rack in machine The top of component is provided with crossbeam, and cable body conveying assembly, the side setting of the rack components is arranged in the upper end of the crossbeam There is lateral transfer electronic box, the rack components is internally provided with hoistable platform, lifting column, institute are provided on the hoistable platform It states wire body conveying assembly upper end and is provided with scanner, the wire body conveying assembly is internally provided with long side centering body, described The rear of long side centering body is internally provided with blocking mechanism the wire body conveying assembly.
In the present embodiment, the manipulator and the robot track by being slidably connected, the sucker assembly with it is described Manipulator is bolted.
So set, being bolted by being slidably connected convenient for the movement of the manipulator and being convenient for installation admittedly It is fixed.
In the present embodiment, the second clamping jaw fixed plate is bolted with the first clamping jaw fixed plate, the folder Pawl sucker fixed block is bolted with the first clamping jaw fixed plate.
Facilitate between the second clamping jaw fixed plate and the first clamping jaw fixed plate so set, being bolted It is fixedly connected.
In the present embodiment, the reinforcing rib and the clamping jaw sucker fixed block by being welded to connect, the fixed bracket with The first clamping jaw fixed plate is bolted.
So set, ensure that the intensity of connection by being welded to connect, it is bolted convenient for the fixed bracket Fixed installation.
In the present embodiment, the solenoid valve is connected by screw to the fixed bracket, the vacuum generator with it is described Clamping jaw sucker fixed block is connected by screw to.
It is dismounted between the two so set, being connected by screw to convenient for interconnected, the vacuum generator is used In extraction vacuum.
In the present embodiment, the PY8 is bolted with the reinforcing rib, and the relaying box and first clamping jaw are solid Fixed board is connected by screw to.
So set, being connected by screw to convenient for carrying out fixed disassembly between both sides interconnected.
In the present embodiment, the probe fixed block is bolted with the clamping jaw sucker fixed block, and the positioning is visited Needle is connected by screw to the probe fixed block.
So set, the probe fixed block is connected by screw to for the positioning probe to be fixedly mounted and facilitates progress Fixed disassembly.
In the present embodiment, the crossbeam is bolted with the rack components, the wire body conveying assembly with it is described Crossbeam is bolted.
It is fixed so set, being bolted and being convenient for installation, while in turn ensuring certain bonding strength.
In the present embodiment, the lateral transfer electronic box is bolted with the rack components.
So set, the lateral transfer electronic box be used for control the lateral transfer reform machine movement whether, pass through spiral shell Bolt is easy to connect to be fixed installation and removal.
In the present embodiment, the vacuum chuck is connected by screw to the clamping jaw sucker fixed block, the scanner with The wire body conveying assembly is bolted connection.
So set, being connected by screw to so that being completely embedded between the vacuum chuck and the clamping jaw sucker fixed block It is solid and reliable, while facilitating again and being dismounted.
Compared with prior art, beneficial effects of the present invention are as follows:
1, it is packed by longitudinal inserted sheet that the equipment meets solar double-glass assemblies and general components, reduces subsequent part packet Process is filled, one key switching may be implemented in the stepping of different components, and operational process does not need personnel's intervention, reduces the personnel of enterprise Cost;
2, the equipment fixes grabbing assembly, high degree of automation, to solar cell module by manipulator sucker It damages small;
3, the equipment usability is strong, and work efficiency is high, can meet the needs of batch production.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of robot grading machine of the present invention;
Fig. 2 is the left view of robot grading machine of the present invention;
Fig. 3 is the structural schematic diagram of robot grading machine sucker assembly of the present invention;
Fig. 4 is the rearview of robot grading machine sucker assembly of the present invention;
Fig. 5 is that robot grading machine lateral transfer of the present invention is reformed the main view of machine;
Fig. 6 is the partial enlarged view of robot grading machine PY8 of the present invention.
The reference numerals are as follows:
1, robot track;2, lateral transfer is reformed machine;3, pallet is reformed;4, sucker assembly;5, vision camera;6, mechanical Hand;7, the first clamping jaw fixed plate;8, the second clamping jaw fixed plate;9, solenoid valve;10, fixed bracket;11, it leads directly to;12, box is relayed; 13,PY8;14, vacuum generator;15, reinforcing rib;16, positioning probe;17, probe fixed block;18, clamping jaw sucker fixed block; 19, vacuum chuck;20, wire body conveying assembly;21, lateral transfer electronic box;22, hoistable platform;23, rack components;24, crossbeam; 25, blocking mechanism;26, lifting column;27, long side centering body;28, scanner.
Specific embodiment
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower", The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple " It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can To be mechanical connection, it is also possible to be electrically connected;It can be directly connected, can also can be indirectly connected through an intermediary Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition Concrete meaning in the present invention.
The present invention will be further explained below with reference to the attached drawings:
As shown in figs 1 to 6, including robot track 1, robot, the machine are provided in the robot track 1 It is provided with manipulator 6 on people, sucker assembly 4 is provided on the manipulator 6, the top of the manipulator 6 is provided with vision Camera 5, the front of the robot track 1 are provided with lateral transfer and reform machine 2, and the reform side of machine 2 of the lateral transfer exists The front of the robot track 1 is provided with pallet and reforms machine 3;The first clamping jaw fixed plate 7 is provided in the sucker assembly 4, First clamping jaw fixed plate, 7 upper end is provided with the second clamping jaw fixed plate 8, and the first clamping jaw fixed plate 7 is for being fixedly mounted clamping jaw sucker Fixed block 18, the side of the first clamping jaw fixed plate 7 are provided with clamping jaw sucker fixed block 18, and the side of clamping jaw sucker fixed block 18 is set It is equipped with reinforcing rib 15, reinforcing rib 15 is provided with fixed branch for playing the role of hardening strength, the top of the first clamping jaw fixed plate 7 Frame 10, fixed bracket 10 are used for Motionless electromagnetic valve 9, are provided with solenoid valve 9 on fixed bracket 10, the side of solenoid valve 9 is provided with 11 are led directly to, vacuum generator 14 is provided on clamping jaw sucker fixed block 18, PY8 13 is provided on reinforcing rib 15, solenoid valve 9 Lower section is provided with relaying box 12 in the side of the first clamping jaw fixed plate 7, and it is solid that the lower end of clamping jaw sucker fixed block 18 is provided with probe Determine block 17, probe fixed block 17 is used for stationary positioned probe 16, is provided with positioning probe 16, clamping jaw sucker on probe fixed block 17 The other side of fixed block 18 is provided with vacuum chuck 19, and vacuum chuck 19 is used for absorbing material, and lateral transfer is reformed, and machine 2 is interior to be arranged Organic frame component 23, the top of rack components 23 are provided with crossbeam 24, and cable body conveying assembly 20, machine is arranged in the upper end of crossbeam 24 The side of frame component 23 is provided with lateral transfer electronic box 21, and rack components 23 is internally provided with hoistable platform 22, hoistable platform 22 are used for improving material, are provided with lifting column 26 on hoistable platform 22,20 upper end of wire body conveying assembly is provided with scanner 28, line Body conveying assembly 20 is internally provided with long side centering body 27, and the rear of long side centering body 27 is in wire body conveying assembly 20 It is internally provided with blocking mechanism 25, blocking mechanism 25 is for playing the role of limit.
In the present embodiment, for manipulator 6 with robot track 1 by being slidably connected, sucker assembly 4 and manipulator 6 pass through spiral shell It tethers and connects.
In the present embodiment, the second clamping jaw fixed plate 8 is bolted with the first clamping jaw fixed plate 7, and clamping jaw sucker is fixed Block 18 is bolted with the first clamping jaw fixed plate 7.
In the present embodiment, reinforcing rib 15 and clamping jaw sucker fixed block 18 are by being welded to connect, fixed bracket 10 and the first folder Pawl fixed plate 7 is bolted.
In the present embodiment, solenoid valve 9 is connected by screw to fixed bracket 10, and vacuum generator 14 is fixed with clamping jaw sucker Block 18 is connected by screw to.
In the present embodiment, PY8 13 is bolted with reinforcing rib 15, and relaying box 12 passes through with the first clamping jaw fixed plate 7 Screw connection.
In the present embodiment, probe fixed block 17 is bolted with clamping jaw sucker fixed block 18, positioning probe 16 and spy Needle fixed block 17 is connected by screw to.
In the present embodiment, crossbeam 24 is bolted with rack components 23, and wire body conveying assembly 20 passes through with crossbeam 24 It is bolted.
In the present embodiment, lateral transfer electronic box 21 is bolted with rack components 23.
In the present embodiment, vacuum chuck 19 is connected by screw to clamping jaw sucker fixed block 18, and scanner 28 and wire body are defeated Sending component 20 is bolted connection.
Usage mode: component is flowed by Belt Conveying component from machine side, and scanner 28 differentiates component power gear, together Shi Liyong blocking mechanism 25, long side centering body 27 carry out positioning of reforming, and are risen component using lifting column 26, vacuum chuck 19 Component is sucked, release of reforming on four sides after the completion, 6 accurate movement of manipulator positions, and vision camera 5, which identifies, simultaneously records gear pallet position Confidence breath, guidance manipulator 6 are finely tuned, and realize the selection between multiple gears and accurate inserted sheet, and what is so moved in circles is dynamic Make, lateral transfer electronic box 21 be used for control lateral transfer reform machine 2 movement whether.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements It all fall within the protetion scope of the claimed invention.

Claims (10)

1. robot grading machine, it is characterised in that: including robot track, robot, institute are provided in the robot track It states and is provided with manipulator in robot, sucker assembly is provided on the manipulator, view is provided with above the manipulator Feel camera, lateral transfer be provided in front of the robot track and is reformed machine, the lateral transfer reform machine side in institute It states and is provided with pallet in front of robot track and reforms machine;It is provided with the first clamping jaw fixed plate in the sucker assembly, described One clamping jaw dead plate upper end is provided with the second clamping jaw fixed plate, and it is solid that the side of the first clamping jaw fixed plate is provided with clamping jaw sucker Determine block, the side of the clamping jaw sucker fixed block is provided with reinforcing rib, and the top of the first clamping jaw fixed plate is provided with fixation Bracket is provided with solenoid valve on the fixed bracket, and the side of the solenoid valve is provided with straight-through, the clamping jaw sucker fixed block On be provided with vacuum generator, PY8 is provided on the reinforcing rib, the lower section of the solenoid valve is in the first clamping jaw fixed plate Side be provided with relaying box, the lower end of the clamping jaw sucker fixed block is provided with probe fixed block, on the probe fixed block It is provided with positioning probe, the other side of the clamping jaw sucker fixed block is provided with vacuum chuck, and the lateral transfer is reformed in machine It is provided with rack components, the top of the rack components is provided with crossbeam, and cable body conveying assembly is arranged in the upper end of the crossbeam, The side of the rack components is provided with lateral transfer electronic box, and the rack components is internally provided with hoistable platform, the liter It is provided with lifting column on drop platform, wire body conveying assembly upper end is provided with scanner, the inside of the wire body conveying assembly It is provided with long side centering body, the rear of the long side centering body is internally provided with blocking machine in the wire body conveying assembly Structure.
2. robot grading machine according to claim 1, it is characterised in that: the manipulator and the robot track are logical It crosses and is slidably connected, the sucker assembly is bolted with the manipulator.
3. robot grading machine according to claim 1, it is characterised in that: the second clamping jaw fixed plate and described first Clamping jaw fixed plate is bolted, and the clamping jaw sucker fixed block is bolted with the first clamping jaw fixed plate.
4. robot grading machine according to claim 1, it is characterised in that: the reinforcing rib is fixed with the clamping jaw sucker By being welded to connect, the fixed bracket is bolted block with the first clamping jaw fixed plate.
5. robot grading machine according to claim 1, it is characterised in that: the solenoid valve passes through with the fixed bracket Screw connection, the vacuum generator are connected by screw to the clamping jaw sucker fixed block.
6. robot grading machine according to claim 1, it is characterised in that: the PY8 and the reinforcing rib pass through bolt Connection, the relaying box are connected by screw to the first clamping jaw fixed plate.
7. robot grading machine according to claim 1, it is characterised in that: the probe fixed block and the clamping jaw sucker Fixed block is bolted, and the positioning probe is connected by screw to the probe fixed block.
8. robot grading machine according to claim 1, it is characterised in that: the crossbeam and the rack components pass through spiral shell It tethers and connects, the wire body conveying assembly is bolted with the crossbeam.
9. robot grading machine according to claim 1, it is characterised in that: the lateral transfer electronic box and the rack group Part is bolted.
10. robot grading machine according to claim 1, it is characterised in that: the vacuum chuck and the clamping jaw sucker Fixed block is connected by screw to, and the scanner is bolted connection with the wire body conveying assembly.
CN201811112114.XA 2018-09-25 2018-09-25 Robot grading machine Pending CN109264391A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811112114.XA CN109264391A (en) 2018-09-25 2018-09-25 Robot grading machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811112114.XA CN109264391A (en) 2018-09-25 2018-09-25 Robot grading machine

Publications (1)

Publication Number Publication Date
CN109264391A true CN109264391A (en) 2019-01-25

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Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111703893A (en) * 2020-08-24 2020-09-25 罗博特科智能科技股份有限公司 Battery piece double-track conveying material box circulating grading device and method
WO2021097805A1 (en) * 2019-11-22 2021-05-27 Abb Schweiz Ag System and method for separating and conveying objects

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CN206153169U (en) * 2016-09-19 2017-05-10 深圳市恒瑞兴自动化设备有限公司 Cylinder electricity core stepping machine
CN206564295U (en) * 2016-10-25 2017-10-17 东莞市大族骏卓自动化科技有限公司 Aluminum-shell battery module group assembling line
CN108435591A (en) * 2018-02-02 2018-08-24 浙江杭可科技股份有限公司 A kind of automatic grading machine of soft package lithium battery

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Publication number Priority date Publication date Assignee Title
JPH10181869A (en) * 1996-12-19 1998-07-07 Toyo Kanetsu Kk Picking device
JP2012148900A (en) * 2011-01-17 2012-08-09 Samsung Electronics Co Ltd Spacer automatic mounting system for electric field discharge display, and spacer automatic mounting method
CN102527649A (en) * 2012-01-18 2012-07-04 福州开发区星云电子自动化有限公司 Full-automatic scan test and sorting system of batteries
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021097805A1 (en) * 2019-11-22 2021-05-27 Abb Schweiz Ag System and method for separating and conveying objects
CN114650954A (en) * 2019-11-22 2022-06-21 Abb瑞士股份有限公司 System and method for separating and conveying objects
CN114650954B (en) * 2019-11-22 2023-10-20 Abb瑞士股份有限公司 System and method for separating and transporting objects
CN111703893A (en) * 2020-08-24 2020-09-25 罗博特科智能科技股份有限公司 Battery piece double-track conveying material box circulating grading device and method

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Application publication date: 20190125