CN109352300B - Device for cooperatively assembling memory banks by multiple robots - Google Patents
Device for cooperatively assembling memory banks by multiple robots Download PDFInfo
- Publication number
- CN109352300B CN109352300B CN201811419826.6A CN201811419826A CN109352300B CN 109352300 B CN109352300 B CN 109352300B CN 201811419826 A CN201811419826 A CN 201811419826A CN 109352300 B CN109352300 B CN 109352300B
- Authority
- CN
- China
- Prior art keywords
- robot
- memory bank
- clamping
- clamping device
- pneumatic
- 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.)
- Active
Links
- 238000013519 translation Methods 0.000 claims description 14
- 230000002457 bidirectional effect Effects 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
- 238000005461 lubrication Methods 0.000 claims description 3
- 239000003595 mist Substances 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000002452 interceptive effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a device for cooperatively assembling memory banks by multiple robots, which comprises: the system comprises a first robot, a second robot, a third robot, a first mainboard clamping device, a second mainboard clamping device and a memory bank clamping device; the first main board clamping device is arranged at the tail end of the first robot, and the first robot clamps one end of the main board through the first main board clamping device; the second main board clamping device is arranged at the tail end of the second robot, and the second robot clamps the other end of the main board through the second main board clamping device; the first robot and the second robot cooperate to clamp the mainboard; the memory bank clamping device is arranged at the tail end of the third robot, and the third robot clamps the memory bank through the memory bank clamping device and assembles the memory bank onto the mainboard. The invention can realize the automatic assembly of the memory bank, thereby improving the production efficiency and reducing the labor cost.
Description
Technical Field
The invention belongs to the field of robot assembly, and particularly relates to a device for cooperatively assembling memory banks by multiple robots.
Background
With the development and popularization of the internet, the market is now demanding more and more 3C (Computer, Communication and Consumer electronics) Electronic products, which results in the scale of the assembly line of 3C parts. At present, in the field of assembly of 3C electronic consumer goods, manual assembly is mainly adopted, so that the assembly efficiency is low, and the labor intensity of workers is high; moreover, the 3C electronic product is long in assembly time and complex and various in assembly objects.
On the mainboard, like on server mainboard, the computer mainboard, the DRAM is than complicated part, for the complete machine assembly, the manual assembly DRAM is consuming time extremely long, and assembly efficiency is waited for to improve to the operating mode is complicated, is difficult to be parallelly connected. Generally, the existing 3C consumer electronics assembly has the problems of low assembly efficiency, high labor intensity, high cost and the like due to the dependence on manual assembly, and the production efficiency of the assembly line is seriously affected.
Disclosure of Invention
Aiming at the defects and the improvement requirements of the prior art, the invention provides a device for cooperatively assembling memory banks by multiple robots, and aims to realize the automatic assembly of the memory banks and improve the assembly efficiency.
In order to achieve the above object, the present invention provides a device for multi-robot cooperative assembly of memory banks, comprising: the system comprises a first robot, a second robot, a third robot, a first mainboard clamping device, a second mainboard clamping device and a memory bank clamping device;
the first main board clamping device is arranged at the tail end of the first robot, and the first robot clamps one end of the main board through the first main board clamping device; the second main board clamping device is arranged at the tail end of the second robot, and the second robot clamps the other end of the main board through the second main board clamping device; the first robot and the second robot cooperate to clamp the mainboard;
the memory bank clamping device is arranged at the tail end of the third robot, the third robot clamps the memory bank through the memory bank clamping device and assembles the memory bank onto the mainboard clamped by the first robot and the second robot, and therefore automatic assembly of the memory bank is achieved.
The working process of the device for cooperatively assembling the memory bank by the multiple robots is divided into two steps, namely, a first robot and a second robot cooperatively clamp a mainboard; and the second robot and the third robot clamp the memory bank and install the memory bank on the mainboard, so that the assembly work is completed.
Further, the memory bank is a server memory bank or a computer memory bank.
Further, the memory bank clamping device comprises: the pneumatic clamping device comprises a cylinder bracket, two clamping parts and a pneumatic driving loop;
the two clamping parts are fixed at two ends of the cylinder bracket and are respectively used for clamping two ends of the memory bank;
the clamping part comprises a double-acting cylinder and two opposite clamping pieces, and the two clamping pieces are respectively connected with two translation sliding blocks of the double-acting cylinder;
the pneumatic driving circuit is respectively connected with the rodless cavity and the rod cavity of the double-acting cylinder and used for controlling the direction of pressure difference between the rodless cavity and the rod cavity of the double-acting cylinder so as to push the cylinder piston to move, so that the two clamping pieces move oppositely along with the two translation sliding blocks, and the clamping or releasing of the memory bank is realized.
Further, the pneumatic driving circuit includes: the system comprises an air compressor, a pneumatic triple piece, a three-position four-way electromagnetic reversing valve, a one-way throttle valve and a pneumatic overflow valve;
the air compressor is used for generating positive pressure through air flow; the pneumatic overflow valve is connected with the air compressor and used for overflow pressure stabilization and loop protection;
the input end of the pneumatic triple piece is connected with an air compressor; the pneumatic triple piece is used for filtering moisture in airflow generated by the air compressor, reducing airflow pressure and performing oil mist lubrication on fluid;
the input end of the three-position four-way electromagnetic reversing valve is connected with the output end of the pneumatic triple piece, and the three-position four-way electromagnetic reversing valve is connected with a rod cavity of the double-shaft bidirectional cylinder and is connected with a rodless cavity of the double-shaft bidirectional cylinder through a one-way throttle valve; the three-position four-way electromagnetic reversing valve is used for switching the flow direction of gas to control the movement direction of two translation sliders of the double-shaft bidirectional cylinder, so that the direction of pressure difference between a rodless cavity and a rod cavity of the double-acting cylinder is controlled.
Furthermore, the length of the cylinder support is 15 mm-20 mm shorter than that of the memory bank, so that the whole length of the memory bank clamping device is slightly shorter than that of the memory bank slot, and the memory bank clamping device is prevented from interfering with buckles on two sides of the memory bank slot during assembly.
Furthermore, soft rubber is bonded on the clamping surface of the clamping sheet so as to avoid damaging the memory bank in the process of clamping the memory bank;
wherein, the clamping surface is the surface of the same clamping part, which is opposite to the clamping sheet and the other clamping sheet.
Furthermore, the thickness of the soft rubber is 0.5 mm-0.8 mm, and the distance between the clamping surface of the clamping piece and the edge of the translation sliding block connected with the clamping piece is 1 mm-1.2 mm, so that the memory bank is prevented from sliding relatively due to uneven stress in the process of assembling the memory bank, and the memory bank is stably clamped.
Furthermore, the thickness of the clamping sheet is 1 mm-3 mm, so that the clamping device has enough rigidity, and when a plurality of memory banks are arranged on a plurality of memory bank slots in parallel on the same mainboard, collision cannot occur.
Furthermore, the height of the clamping piece is 10 mm-15 mm, so that the memory bank clamping device is prevented from interfering with the uneven surface of the mainboard when the memory bank is assembled.
Furthermore, the length of the clamping piece is 5 mm-10 mm longer than that of the translation sliding block connected with the clamping piece, so that the contact area between the clamping piece and the memory bank is increased, and the memory bank is stably clamped.
Generally speaking, the device for assembling the memory bank by the multi-robot system provided by the invention realizes the automatic assembly of the memory bank through the cooperative work of the multiple robots, makes up the blank of the current field, and improves the automation degree of the memory bank assembly link in the automatic assembly process of the server industry, thereby improving the production efficiency and reducing the labor cost.
Drawings
FIG. 1 is a schematic diagram of an apparatus for multi-robot cooperative memory bank assembly according to an embodiment of the present invention;
FIG. 2 is an enlarged view of the working area of the apparatus for multi-robot cooperative memory bank assembly according to the embodiment of the present invention;
FIG. 3 is a distribution diagram of a plurality of working positions of robots provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of a memory bank assembly according to an embodiment of the present invention;
FIG. 5 is a block diagram of a memory bank clamping device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a pneumatic driving circuit according to an embodiment of the present invention;
FIG. 7 is a schematic view of a double acting cylinder provided in an embodiment of the present invention;
FIG. 8 is a schematic view of a cylinder support structure according to an embodiment of the present invention;
FIG. 9 is a schematic view of a clamping sheet according to an embodiment of the present invention;
the same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
the robot comprises a main board, a main board clamping device, a third robot, a memory bank, a third robot, a fourth robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1-4, an apparatus for multi-robot cooperative assembly of memory banks according to an embodiment of the present invention includes: the system comprises a first robot 8, a second robot 12, a third robot 7, a first mainboard clamping device, a second mainboard clamping device 11 and a memory bank clamping device 9;
the first main board clamping device is arranged at the tail end of the first robot 8, and the first robot 8 clamps one end of the main board 10 through the first main board clamping device; the second main board clamping device 11 is installed at the tail end of the second robot 12, and the second robot 12 clamps the other end of the main board 10 through the second main board clamping device 11; the first robot 8 and the second robot 12 cooperate to clamp the mainboard 10; the first robot 8 and the second robot 12 move synchronously when clamping the mainboard;
the memory bank clamping device 9 is arranged at the tail end of the third robot 7, the third robot 7 clamps the memory bank 13 through the memory bank clamping device 9, and assembles the memory bank 13 on the mainboard 10 clamped by the first robot 8 and the second robot 12, so that the automatic assembly of the memory bank is realized; the memory bank 13 is a server memory bank or a computer memory bank, and correspondingly, the mainboard 10 is a server mainboard or a computer mainboard;
as shown in fig. 5, the memory bank gripping device 9 includes: the pneumatic clamping device comprises a cylinder bracket 5, two clamping parts and a pneumatic driving circuit;
the two clamping parts are fixed at two ends of the cylinder bracket 5 and are respectively used for clamping two ends of the memory bank 13;
the clamping part comprises a double-acting cylinder 4 and two opposite clamping pieces 2, and the two clamping pieces 2 are respectively bolted on two translation sliding blocks 3 of the double-acting cylinder 4 through bolts and nuts;
the pneumatic driving loop is respectively connected with the rodless cavity and the rod cavity of the double-acting cylinder 4 and is used for controlling the direction of pressure difference between the rodless cavity and the rod cavity of the double-acting cylinder 4 so as to push the cylinder piston to move, so that the two clamping pieces 2 move oppositely along with the two translation sliding blocks 3, and the clamping or releasing of the memory bank 13 is realized;
the back of the memory bank clamping device 9 is provided with a flange joint 6, the flange joint 6 is a double-sided flange structure, one side of the flange joint is connected with the tail end 7 of the robot through screws, and the other side of the flange joint is connected with the cylinder bracket 5 through screws;
as shown in fig. 6-7, the pneumatic drive circuit includes: the system comprises an air compressor 14, a pneumatic triple piece 15, a three-position four-way electromagnetic directional valve 16, a one-way throttle valve 17 and a pneumatic overflow valve 18;
the air compressor 14 is used for generating positive pressure through air flow; the pneumatic overflow valve 18 is connected with the air compressor 14 and used for overflow pressure stabilization and loop protection;
the input end of the pneumatic triple piece 15 is connected with the air compressor 14; the pneumatic triple piece 15 is used for filtering moisture in airflow generated by the air compressor 14, reducing airflow pressure and performing oil mist lubrication on fluid;
the input end of a three-position four-way electromagnetic reversing valve 16 is connected with the output end of the pneumatic triple piece 15, and the three-position four-way electromagnetic reversing valve 16 is connected with a rod cavity of the double-shaft bidirectional cylinder 4 and is connected with a rodless cavity of the double-shaft bidirectional cylinder 4 through a one-way throttle valve 17; the three-position four-way electromagnetic directional valve 16 is used for switching the flow direction of gas so as to control the movement directions of the two translation sliders 3 of the double-shaft bidirectional cylinder 4, thereby controlling the direction of pressure difference between the rodless cavity and the rod cavity of the double-acting cylinder 4;
as shown in fig. 8, the length L2 of the cylinder bracket 5 is 110mm to 120mm, which is 15mm to 20mm shorter than the length of the memory bank, so as to ensure that the overall length of the memory bank gripping device 9 is slightly shorter than the length of the memory bank slot, and prevent the memory bank gripping device from interfering with the buckles at the two sides of the memory bank slot during assembly;
in the same clamping part, one surface of the clamping piece, which is opposite to the other clamping piece, is a clamping surface of the clamping piece; as shown in fig. 9, the soft rubber 1 is adhered to the clamping surface of the clamping sheet 2 to prevent the memory bank from being damaged in the process of clamping the memory bank; the thickness W2 of the soft rubber 1 is 0.5 mm-0.8 mm, and the distance between the clamping surface of the clamping piece and the edge of the translational slide block connected with the clamping piece is 1 mm-1.2 mm, namely the value range of W1 is 1 mm-1.2 mm, so that the memory bank is prevented from sliding relatively due to uneven stress in the process of assembling the memory bank, and the memory bank is stably clamped; the thickness W3 of the clamping sheet is 1 mm-3 mm, so that the clamping device has enough rigidity, and when a plurality of memory banks are arranged on a plurality of memory bank slots in parallel on the same mainboard, collision cannot occur; the height H1 of the clamping sheet is 10 mm-15 mm, so that the memory bank clamping device is prevented from interfering with the uneven surface of the mainboard when the memory bank is assembled; the length of the clamping piece is 15 mm-30 mm, which is 5 mm-10 mm longer than the length of the translation slide block connected with the clamping piece, so that the contact area between the clamping piece and the memory bank is increased, and the memory bank is stably clamped.
When the device for multi-robot cooperative assembly of the memory bank provided by the invention works, the first robot 8 and the second robot 12 can move synchronously, the first robot 8 and the second robot 12 are arranged at one side of the assembly production line, and the third robot 7 is arranged at the other side of the assembly production line, as shown in fig. 3; the working process of the device for cooperatively assembling the memory bank by the multiple robots comprises the following two steps: the first robot 8 and the second robot 12 cooperatively clamp the main board 10; and the second and third robots 7 clamp the memory bank 13 and install the memory bank on the mainboard 10, thereby completing the assembly work.
According to the device for assembling the memory bank by the multi-robot system, provided by the invention, the automatic assembly of the memory bank is realized by the cooperative work of multiple robots, the blank of the current field is made up, and the automation degree of the memory bank assembly link in the automatic assembly process of the server industry is improved, so that the production efficiency is improved, and the labor cost is reduced.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. An apparatus for multi-robot cooperative assembly of memory banks, comprising: the system comprises a first robot (8), a second robot (12), a third robot (7), a first main board clamping device, a second main board clamping device (11) and a memory bank clamping device (9);
the first mainboard clamping device is arranged at the tail end of the first robot (8), and the first robot (8) clamps one end of a mainboard (10) through the first mainboard clamping device; the second main board clamping device (11) is arranged at the tail end of the second robot (12), and the second robot (12) clamps the other end of the main board (10) through the second main board clamping device (11); the first robot (8) and the second robot (12) cooperate to clamp the mainboard (10);
the memory bank clamping device (9) is arranged at the tail end of the third robot (7), the third robot (7) clamps a memory bank (13) through the memory bank clamping device (9) and assembles the memory bank (13) onto the mainboard (10) clamped by the first robot (8) and the second robot (12), and therefore automatic assembly of the memory bank is achieved;
the memory bank clamping device (9) comprises: the pneumatic clamping device comprises a cylinder support (5), two clamping parts and a pneumatic driving circuit;
the two clamping parts are fixed at two ends of the cylinder bracket (5) and are respectively used for clamping two ends of the memory bank (13);
the clamping part comprises a double-acting cylinder (4) and two opposite clamping pieces (2), and the two clamping pieces (2) are respectively connected with two translation sliding blocks (3) of the double-acting cylinder (4);
the pneumatic driving circuit is respectively connected with the rodless cavity and the rod cavity of the double-acting cylinder (4) and used for controlling the direction of pressure difference between the rodless cavity and the rod cavity of the double-acting cylinder (4) so as to push a cylinder piston to move, so that the two clamping pieces (2) move oppositely along with the two translation sliding blocks (3), and the memory bank (13) is clamped or released.
2. The apparatus for multi-robot cooperative assembly of memory banks according to claim 1, wherein said memory bank (13) is a server memory bank or a computer memory bank.
3. The apparatus for multi-robot cooperative assembly of memory banks as claimed in claim 1 or 2, wherein said pneumatic driving circuit comprises: the pneumatic three-position four-way electromagnetic reversing valve comprises an air compressor (14), a pneumatic three-way piece (15), a three-position four-way electromagnetic reversing valve (16), a one-way throttle valve (17) and a pneumatic overflow valve (18);
the air compressor (14) is used for generating positive pressure through air flow; the pneumatic overflow valve (18) is connected with the air compressor (14) and is used for overflow pressure stabilization and loop protection;
the input end of the pneumatic triple piece (15) is connected with the air compressor (14); the pneumatic triple piece (15) is used for filtering moisture in the airflow generated by the air compressor (14), reducing the pressure of the airflow and performing oil mist lubrication on the fluid;
the input end of the three-position four-way electromagnetic reversing valve (16) is connected with the output end of the pneumatic triple piece (15), and the three-position four-way electromagnetic reversing valve (16) is connected with a rod cavity of the double-shaft bidirectional cylinder (4) and is connected with a rodless cavity of the double-shaft bidirectional cylinder (4) through the one-way throttle valve (17); the three-position four-way electromagnetic directional valve (16) is used for switching the flow direction of gas so as to control the movement direction of the two translation sliders (3) of the double-shaft two-way cylinder (4), thereby controlling the direction of the pressure difference between the rodless cavity and the rod cavity of the double-acting cylinder (4).
4. Device for the multi-robot cooperative assembly of memory sticks as claimed in claim 1 or 2, characterized in that the length of the cylinder holder (5) is 15mm to 20mm shorter than the length of the memory stick (13).
5. The apparatus for multi-robot cooperative memory bank assembly according to claim 1 or 2, wherein the soft rubber (1) is adhered on the clamping surface of the clamping sheet (2);
the clamping surface is the surface of the same clamping part, and the clamping sheet (2) is opposite to the other clamping sheet.
6. The device for the multi-robot cooperative assembly of the memory bank as claimed in claim 5, wherein the thickness of the soft rubber (1) is 0.5mm to 0.8mm, and the clamping surface of the clamping sheet (2) is 1mm to 1.2mm away from the edge of the translation slider connected with the clamping sheet (2).
7. The apparatus for multi-robot cooperative memory bank assembly according to claim 1 or 2, wherein the thickness of the holding sheet (2) is 1mm to 3 mm.
8. The apparatus for multi-robot cooperative memory bank assembly according to claim 1 or 2, wherein the height of the holding sheet (2) is 10mm to 15 mm.
9. The apparatus for multi-robot cooperative memory bank assembly according to claim 1 or 2, wherein the length of the holding sheet (2) is 5mm to 10mm longer than the length of the translation slider to which the holding sheet (2) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811419826.6A CN109352300B (en) | 2018-11-26 | 2018-11-26 | Device for cooperatively assembling memory banks by multiple robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811419826.6A CN109352300B (en) | 2018-11-26 | 2018-11-26 | Device for cooperatively assembling memory banks by multiple robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109352300A CN109352300A (en) | 2019-02-19 |
| CN109352300B true CN109352300B (en) | 2020-05-19 |
Family
ID=65343082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811419826.6A Active CN109352300B (en) | 2018-11-26 | 2018-11-26 | Device for cooperatively assembling memory banks by multiple robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109352300B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220176564A1 (en) * | 2020-12-04 | 2022-06-09 | GM Global Technology Operations LLC | Accurate position control for fixtureless assembly |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104511896A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Automated cooperative parallel operation device |
| CN105499961A (en) * | 2016-01-27 | 2016-04-20 | 深圳市宝尔威精密机械有限公司 | Automatic memory bar assembling machine for computer mainboard assembling |
| EP3028827A1 (en) * | 2014-12-05 | 2016-06-08 | SMR Patents S.à.r.l. | Method and device for automating the assembly of automotive mirrors |
| CN107443362A (en) * | 2017-09-29 | 2017-12-08 | 张浩洋 | Computer main board memory bar automatic placement device |
| CN107718018A (en) * | 2016-08-10 | 2018-02-23 | 发那科株式会社 | The robot controller of mounter people |
| CN107717442A (en) * | 2017-10-11 | 2018-02-23 | 温州职业技术学院 | The multirobot work compound streamline of machine vision auxiliary |
| CN207577855U (en) * | 2017-12-01 | 2018-07-06 | 南京熊猫电子股份有限公司 | A kind of automatic assembly line system of robot forearm |
-
2018
- 2018-11-26 CN CN201811419826.6A patent/CN109352300B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104511896A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Automated cooperative parallel operation device |
| EP3028827A1 (en) * | 2014-12-05 | 2016-06-08 | SMR Patents S.à.r.l. | Method and device for automating the assembly of automotive mirrors |
| CN105499961A (en) * | 2016-01-27 | 2016-04-20 | 深圳市宝尔威精密机械有限公司 | Automatic memory bar assembling machine for computer mainboard assembling |
| CN107718018A (en) * | 2016-08-10 | 2018-02-23 | 发那科株式会社 | The robot controller of mounter people |
| CN107443362A (en) * | 2017-09-29 | 2017-12-08 | 张浩洋 | Computer main board memory bar automatic placement device |
| CN107717442A (en) * | 2017-10-11 | 2018-02-23 | 温州职业技术学院 | The multirobot work compound streamline of machine vision auxiliary |
| CN207577855U (en) * | 2017-12-01 | 2018-07-06 | 南京熊猫电子股份有限公司 | A kind of automatic assembly line system of robot forearm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109352300A (en) | 2019-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204076288U (en) | A kind of clamping device and robot system | |
| CN104716503A (en) | Follow fixture electrical fast connecting device | |
| CN109352300B (en) | Device for cooperatively assembling memory banks by multiple robots | |
| CN201989069U (en) | Vacuum chuck | |
| CN210616373U (en) | Joint bearing press-fitting device | |
| CN111152245A (en) | Robotized intelligent tool system | |
| CN211162459U (en) | Double-exchange-workbench laser cutting machine | |
| CN105436721B (en) | The numerical control laser cutter of double change-table | |
| CN103029133A (en) | Automatic installation attaching plug manipulator | |
| CN110217583B (en) | Robot positioning clamping jaw | |
| WO2016150171A1 (en) | Fully mechanical arm smart plate-shearing machine | |
| CN207315767U (en) | A kind of simple dynamics control system of cylinder | |
| CN202162301U (en) | Punching popping-up structure of structural component of automotive body | |
| CN211071662U (en) | Follow-up manipulator | |
| CN212763509U (en) | Automatic centering clamp | |
| CN204934322U (en) | A kind of multistation perforating press | |
| CN208304132U (en) | Full-automatic double-face butt-welding machine | |
| CN108161484A (en) | Flexibility positioning fixture and flexible positioning method | |
| CN105500238A (en) | Curved surface self-adaptive fixture based on motor-spring mechanism and working method thereof | |
| CN109048947B (en) | Double-sliding-table robot gluing system | |
| CN208246831U (en) | A kind of multifunctional and composite type gripper being adapted to industrial robot training | |
| CN207606401U (en) | Product orientation tooling and laser carving device | |
| CN108326555A (en) | Air chamber support multistation integrating device | |
| CN106695393A (en) | Stroke fast changing clamp for numerically controlled machine tool | |
| CN204868878U (en) | Robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190219 Assignee: Guangzhou Shipyard International Co.,Ltd. Assignor: HUAZHONG University OF SCIENCE AND TECHNOLOGY Contract record no.: X2024980000874 Denomination of invention: A device for multi robot collaborative assembly of memory modules Granted publication date: 20200519 License type: Common License Record date: 20240122 |
|
| EE01 | Entry into force of recordation of patent licensing contract |