CN109761054A - Automate block Palletizer under resistor disc blank - Google Patents
Automate block Palletizer under resistor disc blank Download PDFInfo
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- CN109761054A CN109761054A CN201910245213.3A CN201910245213A CN109761054A CN 109761054 A CN109761054 A CN 109761054A CN 201910245213 A CN201910245213 A CN 201910245213A CN 109761054 A CN109761054 A CN 109761054A
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- resistor disc
- blank
- disc blank
- mechanical arm
- conveyer belt
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Abstract
The invention discloses block Palletizer under a kind of automation resistor disc blank, including the code disc device for docking conveyer belt for transporting first one-step forming resistor disc blank with press table, being set to the guiding subassembly and the resistor disc blank code-disc for will export from conveyer belt that individually export above conveyer belt for boot-strap resistor piece blank；The code disc device includes that empty pallet provides mechanism, the tray supporter for being used to support pallet, the first mechanical arm mechanism for picking and placing resistor disc blank and the second mechanical arm mechanism for transportation tray, and the empty pallet provides mechanism, tray supporter, first mechanical arm mechanism and second mechanical arm mechanism and is set near the resistor disc blank export of conveyer belt；The empty pallet provide mechanism include for support the blank panel chassis of empty pallet, the motor mould group for driving blank panel chassis to pump and be used to support motor mould group for disc carrier.
Description
Technical field
The present invention relates to block palletizing mechanical technical field under product automation, in particular to a kind of automation resistor disc blank
Lower piece of Palletizer.
Background technique
After the production of resistor disc blank, due to its own, at present still not to resistor disc blank automatic transportation code-disc
Equipment.And manual operation is time-consuming and laborious, needs to undertake high cost of labor.
Therefore, it is necessary to improve to solve the above technical problems the prior art.
Summary of the invention
In view of this, the purpose of the present invention is to provide block Palletizer under a kind of automation resistor disc blank, Ke Yishi
The product mechanical automation code-disc that now transmission is brought out.It is realized in particular by following technical scheme:
Block Palletizer under automation resistor disc blank of the invention, including dock with press table for transporting just one-step forming electricity
It hinders the conveyer belt of piece blank, be set to the guiding subassembly individually exported above conveyer belt for boot-strap resistor piece blank and for will
The code disc device of the resistor disc blank code-disc exported from conveyer belt；
The code disc device include empty pallet provide mechanism, be used to support pallet tray supporter, for picking and placing resistor disc blank
First mechanical arm mechanism and second mechanical arm mechanism for transportation tray, the empty pallet mechanism, tray supporter, the are provided
One mechanical arm mechanism and second mechanical arm mechanism are set near the resistor disc blank export of conveyer belt；
It includes for supporting the blank panel chassis of empty pallet, for driving blank panel chassis up and down reciprocatingly to transport that the empty pallet, which provides mechanism,
Dynamic motor mould group and be used to support motor mould group for disc carrier.
In optimal technical scheme, the first mechanical arm mechanism includes four axis joint mechanical arms, is set to four axis joint machines
Tool arm end takes base component, and described to take base component include using for picking and placing the sucker of resistor disc blank and being set to sucker side
In detection resistance piece blank whether He Ge first sensor, when pass the detection of the first sensor it is qualified when first mechanical arm mechanism take conjunction
Lattice product is put into the pallet on tray supporter；It further include the waste vessel for containing unqualified resistor disc blank, when first
The first mechanical arm mechanism takes substandard product to be put into waste vessel when sensor detection is unqualified.
In optimal technical scheme, it is equipped with sand in the empty pallet, also sets up and is used on the four axis joints mechanical arm
The rotation driving for driving the resistor disc blank drawn on the sucker to rotate around its own axis.
It further include expiring the pallet of resistor disc blank, the second mechanical arm mechanism for supporting code in optimal technical scheme
Including six axis joint mechanical arms and the catching plate component for being set to six axis joint mechanical arm ends, the catching plate component includes two phases
The hand of setting is grabbed and grabs driving for driving two hands to grab opposite or heterodromous hand.
In optimal technical scheme, the guiding subassembly includes that the speed change conducting element set gradually from the front to the back and single channel are led
Flow part；The side of speed change conducting element is fixed on conveyer belt side wall, and the other side is set as arc and another side wall with conveyer belt
Speed change channel is formed, the single channel conducting element includes the left conducting element and right conducting element of laterally opposed setting；Left conducting element and
The latter half of inside of right conducting element is both configured to arc, forms bell mouth shape transition passage from each other；Left conducting element and the right side are led
The longitudinal extension shape for being both configured to be parallel to transmission tape motion direction on the inside of the first half of part is flowed, being formed can only accommodate from each other
The single channel of one resistor disc blank.
In optimal technical scheme, the positioning mechanism with single channel cooperation, positioning are provided in front of the conveyer belt
Mechanism includes pushing block baffle, the barrier driving for driving pushing block baffle traverse motion, second sensor and located lateral
Baffle；The pushing block baffle is used for the resistor disc blank for stopping to come out from single channel, and pushing block baffle is fixedly connected on barrier driving
Output end, located lateral baffle is in a lateral direction positioning resistor disc blank；Second sensor is set to list
Channel front upper place, for whether having resistor disc blank before detecting single channel.
In optimal technical scheme, the conveyer belt and the press table place of docking are provided with lower piece of accessory part, and described lower piece
Accessory part includes the part rake for acting on first one-step forming resistor disc blank, the rotate driving for driving part rake to rotate upwardly and downwardly
With the linear drives for driving part rake to move back and forth along front-rear direction.
It further include the deburring overlap machine for removing burr on first one-step forming resistor disc in optimal technical scheme
Structure, deburring overlap mechanism include hairbrush and the hairbrush driving for driving hairbrush to rotate, and hairbrush is set to the single-pass
The top in road.
It further include dust-extraction unit in optimal technical scheme, dust-extraction unit includes the brush hood being set to above the hairbrush
The dust excluding hood adjacent with brush hood, the dust excluding hood are connect by pipeline with deduster.
In optimal technical scheme, further includes outlet against the hairbrush pulsed blower of the hairbrush and be set to described remove
The dust excluding hood pulsed blower of dust hood two sides.
Beneficial effects of the present invention: block Palletizer under automation resistor disc blank of the invention fully achieves automation；
Other beneficial effects of the invention will be further detailed in conjunction with embodiment in detail below.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is that Fig. 1 hides the structural schematic diagram after brush hood and dust excluding hood；
Fig. 3 is the structural schematic diagram of lower piece of accessory part；
Fig. 4 is the structural schematic diagram of part rake；
Fig. 5 is the structural schematic diagram of guiding subassembly；
Fig. 6 is the enlarged structure schematic diagram in Fig. 5 at A；
Fig. 7 provides the structural schematic diagram of mechanism for empty pallet；
Fig. 8 is the structural schematic diagram for taking base component；
Fig. 9 is the structural schematic diagram of catching plate component；
Figure 10 and Figure 11 is stress diagram when resistor disc blank passes through speed change conducting element.
Specific embodiment
As shown by arrows in figure, the preceding direction for referring to conveyer belt movement, it is hereinafter longitudinal to refer to front-rear direction, laterally refer to
The left and right directions being transversely to the machine direction.
Block Palletizer under automation resistor disc blank in the present embodiment as shown in Figure 1:, including with 8 table top pair of press
It is individually defeated for boot-strap resistor piece blank above connecing the conveyer belt for transporting first one-step forming resistor disc blank, being set to conveyer belt
The code disc device of guiding subassembly 21 out and the resistor disc blank code-disc for will be exported from conveyer belt；
The code disc device include empty pallet provide mechanism 3, be used to support pallet tray supporter 7, for picking and placing resistor disc hair
The first mechanical arm mechanism 4 of base and second mechanical arm mechanism for transportation tray, the empty pallet provide mechanism 3, pallet branch
Frame 7, first mechanical arm mechanism 4 and second mechanical arm mechanism are set near the resistor disc blank export of conveyer belt；
As shown in fig. 7, it includes for supporting the blank panel chassis 3-5 of empty pallet, for driving blank panel that the empty pallet, which provides mechanism,
Motor mould group 3-3 that chassis pumps and be used to support motor mould group for disc carrier 3-4.The electricity of motor mould group 3-3
Machine 3-2 can be using controllable motors such as servo motor, stepper motors, and the height of each pallet 3-1 is consistent, and motor mould group 3-3 is every
Secondary driving blank panel chassis 3-4 rises the height of a pallet.Switch measurement pallet can be positioned proximate on for disc carrier 3-5
Total height can remove the trouble that tray number is manually entered to calculate the quantity of pallet.
In the present embodiment, the first mechanical arm mechanism 4 includes four axis joint mechanical arms, is set to four axis joint mechanical arms
End takes base component, and described to take base component include using for picking and placing the sucker 4-4 of resistor disc blank and being set to sucker side
In detection resistance piece blank whether He Ge first sensor 4-1, when pass the first sensor 4-1 detection it is qualified when first mechanical arm machine
Structure takes qualified products to be put into the pallet on tray supporter 7；It further include the waste vessel for containing unqualified resistor disc blank
13, when first sensor 4-1 detection is unqualified, the first mechanical arm mechanism 4 takes substandard product to be put into waste vessel 13
In.Fixed underpan 4-2 is fixed on four axis joint mechanical arms, 4 end, sucker 4-4 and first sensor 4-1 by fixed frame 4-3 with
Fixed underpan is fixedly connected, and certain fixed underpan 4-2 and fixed frame 4-3 can also be wholely set, and four axis joint mechanical arms pass through
Four axis control cabinets 10 are controlled.Four axis joint mechanical arms are the prior art, can use and reach four axis of open country intelligence MJR05-600 type
Horizontal articulated robot.First sensor 4-1, using the high sensor of survey.Since four axis joint mechanical arms can drive sensing
Device 4-1 omnibearing movable in resistor disc blank upper horizontal plane, it is possible to control sensor to resistor disc blank any point
Height detected, as long as thering is the height of any is undesirable can be set to substandard product.First mechanical arm mechanism is only
Resistor disc blank need to be operated, can be met the requirements using four axis joint mechanical arms, reduce cost.Using first sensor
Whether testing product is qualified, can prevent to substandard product code-disc.
In the present embodiment, it is equipped with sand in the empty pallet, also sets up on the four axis joints mechanical arm for driving
The rotation driving that the resistor disc blank drawn on the sucker 4-4 is rotated around its own axis.Rotation driving can use motor
Deng the specially prior art, details are not described herein again.During resistor disc blank is toward below pallet, rotation driving driving is inhaled
Disk 4-4 is rotated with resistor disc blank, is imitated the stubborn movement of manpower, is kept the contact surface of blank block and sand smooth enough.
It further include expiring the pallet 16 of resistor disc blank for supporting code, pallet 16 is arranged with pallet branch in the present embodiment
Frame 15, the second mechanical arm mechanism include six axis joint mechanical arms 5 and the catching plate group for being set to six axis joint mechanical arm ends
Part 6, the catching plate component 6 include that two hands being oppositely arranged are grabbed 6-4 and grabbed for two hands of driving opposite or heterodromous
Hand grabs driving 6-2.Hand grabs driving 6-2 and is fixed on six axis joint mechanical arm ends by fixing seat 6-1, and hand grabs 6-4 and passes through connection
Part 6-3 is fixed on the output end that hand grabs driving 6-2.Six axis robot arm can be used up to wild intelligence ABB IRB4600_40 machine
People.Two hands, which grab 5-4 relative motion, may be implemented crawl to pallet.The hand grabs driving 6-2 using two-way cylinder, operation speed
Degree is fast.When piling up resistor disc blank in the pallet on tray supporter 7 has expired, code is expired resistor disc blank by second mechanical arm mechanism
Pallet amplifier to pallet on, wait pallets to wait forklift transport when piling.
In the present embodiment, as shown in figure 5, the guiding subassembly includes the speed change conducting element 21-5 set gradually from the front to the back
With single channel conducting element；The side of speed change conducting element 21-5 is fixed on conveyer belt side wall, the other side be set as arc and with biography
Another side wall of band is sent to form speed change channel, the single channel conducting element includes the left conducting element and right water conservancy diversion of laterally opposed setting
Part；It is both configured to arc on the inside of the latter half of 21-4 of left conducting element and the latter half of 21-3 of right conducting element, forms loudspeaker from each other
Mouth shape transition passage；It is both configured to be parallel to biography on the inside of the first half 21-1 of left conducting element and the first half 21-2 of right conducting element
It send the longitudinal of tape motion direction to extend shape, forms the single channel that can only accommodate a resistor disc blank from each other.Such as Figure 10 institute
Show, when two adjacent resistor disc blank a and b are through entering speed change channel, close to the resistor disc blank b of speed change conducting element 21-5
Since by the holding power of speed change conducting element 21-5 and the frictional force of conveyer belt, it is mono- that resultant force Fb is less than resistor disc blank a simultaneously
The frictional force Fa being solely subject to, so the speed of resistor disc blank a movement is faster than resistor disc blank b；As shown in figure 11, when two electricity
When resistance piece blank c and d contacts speed change conducting element 21-5, the folder of resultant force Fd and front that the resistor disc blank d in front is subject to
The angle of resultant force Fc and front that the resistor disc blank c that angle is less than rear is subject to, so such case will not accumulate.Resistor disc
Blank enters bell mouth shape transition passage behind speed change channel, subsequently into single channel, convenient for follow-up process manipulator to electricity
Resistance piece blank is grabbed.
In the present embodiment, the positioning mechanism with single channel cooperation is provided in front of the conveyer belt, such as Fig. 6 institute
Show, positioning mechanism includes pushing block baffle 24, for driving the barrier driving 22, second of 24 traverse motion of pushing block baffle to sense
Device 23 and located lateral baffle 26；The pushing block baffle 24 is used for the resistor disc blank for stopping to come out from single channel, pushing block baffle
24 are fixedly connected on the output end of barrier driving 22, and barrier driving can be using cylinder or electric pushrod etc.；Located lateral gear
Plate 26 is in a lateral direction positioning resistor disc blank 25；Second sensor 23 is set to single channel front upper place, uses
Whether there is resistor disc blank before detecting single channel.Stopped after resistor disc blank 25 comes out from single channel by pushing block baffle 24,
After second sensor 23 detects, 22 drive output of barrier driving is stretched out driving 25 transverse movement of resistor disc blank and is determined to lateral
Position baffle 26 waits manipulator crawl.Sucker 4-4 once only draws a resistor disc blank, can prevent from each other dry
It disturbs.
In the present embodiment, as shown in figure 3, the conveyer belt is provided with lower piece of accessory part 9, institute with the press table place of docking
Stating lower piece of accessory part includes the part 9-2 rake for acting on first one-step forming resistor disc blank, for driving part 9-2 or more rake to turn
Dynamic rotate driving and the linear drives for driving part rake to move back and forth along front-rear direction.Rotate driving includes cylinder branch
The front end of frame 9-5 and the cylinder 9-4, the part 9-2 rake that are arranged on air cylinder support are articulated with the rear end of air cylinder support 9-5,
The both ends of cylinder 9-4 are hingedly connected to the upper end of air cylinder support 9-5 and the part 9-2 rake, and part 9-2 rake passes through connector 9-
3 is hinged with cylinder 9-4.Certain rotate driving can also drive part rake to rotate upwardly and downwardly speed fast using motor etc. using cylinder,
Part rake rotates upwardly and downwardly speed does not influence work fastly, working efficiency can be improved, and compact-sized.The linear drives use
Servo motor mould group 9-6, is provided with servo motor module bracket 9- between servo motor mould group 9-6 and the side of the conveyer belt
7, the distance between servo motor module bracket 9-7 and conveyer belt 9-8 be greater than the height of the just one-step forming resistor disc blank with
Guarantee that blank motion process is not interfered by servo motor module bracket, single-degree-of-freedom is sliding along the longitudinal direction by the air cylinder support 9-5
It is dynamic to be connected to servo motor mould group 9-6.Straight reciprocating motion can also be driven using cylinder, can be led to using servo motor mould group
The speed for crossing control servo mould group is further ensured that blank block keeps synchronous with transmission line speeds when handover, auxiliary
Help better effect.
After press 8 completes the process preliminary molding resistor disc blank, servo motor mould group 9-6 drives air cylinder support 9-5
It is moved backward together with part 9-2 rake, while the output end of cylinder 9-4 is shunk, drives part 9-2 rake to be rotated up to avoid
Resistor disc blank, after air cylinder support 9-5 is moved to backward after stop, cylinder 9-4 output end stretch out with drive part 9-2 rake to
Lower rotation is in the state that can act on resistor disc blank, and then servo motor mould group 9-6 drives air cylinder support 9-5 with rake
Shape part 9-2 travels forward together, and part 9-2 rake acts on resistor disc blank and assists it to travel forward to avoid blank block from press
The damage of blank block caused by the stress of table top blank block lower surface into the handshaking of conveyer belt is mutated.
It further include the deburring overlap mechanism for removing burr on first one-step forming resistor disc, such as in the present embodiment
Shown in Fig. 2, deburring overlap mechanism includes hairbrush 18 and the hairbrush driving 19 for driving hairbrush 18 to rotate, and hairbrush 18 is set
It is placed in the single pass top.Hairbrush uses soft hairbrush, will not damage blank surface in action process.Hairbrush driving 19 is adopted
With decelerating motor, start and stop and revolving speed are controllable, and the rotation speed of hairbrush can be adjusted in real time according to conveying linear velocity, both guarantee to clean with water
Effect, and guarantee will not hurt block, fall block.Hairbrush setting only sequentially cleans one piece with water in single pass top every time, anti-stops with
Interference between block.
It further include dust-extraction unit in the present embodiment, dust-extraction unit includes 10 He of brush hood being set to above the hairbrush
The dust excluding hood 11 adjacent with brush hood, the dust excluding hood 11 are connect by pipeline with deduster 12.Prevent the mistake of deburring overlap
Dust polluting environment in journey.
It further include exporting the hairbrush pulsed blower 17 of the opposite hairbrush and being set to the dedusting in the present embodiment
Cover the dust excluding hood pulsed blower 20 of two sides.Two pulsed blowers 17 are alternately blown up and down by program setting rhythm, hair
Brush cover 10 is connected with 11 cavity of dust excluding hood, guarantee brush under dust do not fall with conveyer belt adhesion, and the dust blown afloat can be fast
Speed is taken away by dust removal machine；Dust excluding hood pulsed blower 20 is installed in dust excluding hood two sides, and ALT pulse formula is blown afloat, and does not stay dedusting extremely
Angle.
Whole equipment is controlled by master control cabinet 1, and first mechanical arm mechanism is controlled by the first control cabinet 14, second mechanical arm machine
Structure is controlled by the second control cabinet 2.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (10)
1. block Palletizer under a kind of automation resistor disc blank, it is characterised in that: including docking with press table for transporting
The conveyer belt of first one-step forming resistor disc blank is set to the diversion group individually exported above conveyer belt for boot-strap resistor piece blank
The code disc device of part and the resistor disc blank code-disc for will be exported from conveyer belt；
The code disc device include empty pallet provide mechanism, be used to support pallet tray supporter, for picking and placing resistor disc blank
First mechanical arm mechanism and second mechanical arm mechanism for transportation tray, the empty pallet mechanism, tray supporter, the are provided
One mechanical arm mechanism and second mechanical arm mechanism are set near the resistor disc blank export of conveyer belt；
It includes for supporting the blank panel chassis of empty pallet, for driving blank panel chassis up and down reciprocatingly to transport that the empty pallet, which provides mechanism,
Dynamic motor mould group and be used to support motor mould group for disc carrier.
2. block Palletizer under automation resistor disc blank according to claim 1, it is characterised in that: described first is mechanical
Arm mechanism include four axis joint mechanical arms, be set to four axis joint mechanical arm ends take base component, it is described to take the base component to include
For picking and placing the sucker of resistor disc blank and being set to sucker side first sensing whether qualified for detection resistance piece blank
Device, when passing the first sensor detection qualification, first mechanical arm mechanism takes qualified products to be put into the pallet on tray supporter；Also wrap
The waste vessel for containing unqualified resistor disc blank is included, the first mechanical arm machine when first sensor detection is unqualified
Structure takes substandard product to be put into waste vessel.
3. block Palletizer under automation resistor disc blank according to claim 2, it is characterised in that: in the empty pallet
Be equipped with sand, also set up on the four axis joints mechanical arm for drive the resistor disc blank drawn on the sucker around its from
The rotation driving of body axis rotation.
4. block Palletizer under automation resistor disc blank according to claim 3, it is characterised in that: further include for branch
Holding code expires the pallet of resistor disc blank, and the second mechanical arm mechanism includes six axis joint mechanical arms and is set to six axis joint machines
The catching plate component of tool arm end, the catching plate component include two hands being oppositely arranged grab and for drive two hands grab it is opposite or
Heterodromous hand grabs driving.
5. block Palletizer under automation resistor disc blank according to claim 4, it is characterised in that: the guiding subassembly
Including the speed change conducting element and single channel conducting element set gradually from the front to the back；The side of speed change conducting element is fixed on conveyer belt side
Wall, the other side are set as arc and form speed change channel with another side wall of conveyer belt, and the single channel conducting element includes cross
To the left conducting element and right conducting element being oppositely arranged；The latter half of inside of left conducting element and right conducting element is both configured to arc, mutually
Bell mouth shape transition passage is formed between phase；It is both configured to be parallel to conveyer belt on the inside of the first half of left conducting element and right conducting element
The longitudinal of the direction of motion extends shape, forms the single channel that can only accommodate a resistor disc blank from each other.
6. block Palletizer under automation resistor disc blank according to claim 5, it is characterised in that: the conveyer belt
Front is provided with the positioning mechanism with single channel cooperation, and positioning mechanism includes pushing block baffle, for driving pushing block baffle horizontal
To the barrier driving of reciprocating motion, second sensor and located lateral baffle；The pushing block baffle is said for stopping from single-pass
The resistor disc blank come, pushing block baffle are fixedly connected on the output end of barrier driving, and located lateral baffle is used in transverse direction
On resistor disc blank is positioned；Second sensor is set to single channel front upper place, for whether having electricity before detecting single channel
Hinder piece blank.
7. block Palletizer under automation resistor disc blank according to claim 6, it is characterised in that: the conveyer belt with
Lower piece of accessory part is provided at press table docking, the lower piece of accessory part includes acting on just one-step forming resistor disc blank
Part rake, the rotate driving for driving part rake to rotate upwardly and downwardly and for driving part rake to move back and forth along front-rear direction
Linear drives.
8. being existed according to block Palletizer, feature under automation resistor disc blank described in claim 5-7 any claim
In: it further include the deburring overlap mechanism for removing burr on first one-step forming resistor disc, deburring overlap mechanism
Hairbrush driving including hairbrush and for driving hairbrush to rotate, hairbrush are set to the single pass top.
9. block Palletizer under automation resistor disc blank according to claim 8, it is characterised in that: further include dedusting dress
It sets, dust-extraction unit includes the brush hood and the dust excluding hood adjacent with brush hood being set to above the hairbrush, and the dust excluding hood is logical
Piping is connect with deduster.
10. block Palletizer under automation resistor disc blank according to claim 9, it is characterised in that: further include outlet
The hairbrush pulsed blower of the opposite hairbrush and the dust excluding hood pulsed blower for being set to the dust excluding hood two sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910245213.3A CN109761054A (en) | 2019-03-28 | 2019-03-28 | Automate block Palletizer under resistor disc blank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910245213.3A CN109761054A (en) | 2019-03-28 | 2019-03-28 | Automate block Palletizer under resistor disc blank |
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| Publication Number | Publication Date |
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| CN109761054A true CN109761054A (en) | 2019-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910245213.3A Pending CN109761054A (en) | 2019-03-28 | 2019-03-28 | Automate block Palletizer under resistor disc blank |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111291744A (en) * | 2020-04-03 | 2020-06-16 | 王玉兰 | Blank OCR character automatic identification equipment |
| CN112249722A (en) * | 2020-09-25 | 2021-01-22 | 常熟云开智能科技有限公司 | Manipulator primary die casting processing and stacking control method |
| CN113084033A (en) * | 2021-04-02 | 2021-07-09 | 何丽娜 | Intelligent conveying device |
-
2019
- 2019-03-28 CN CN201910245213.3A patent/CN109761054A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111291744A (en) * | 2020-04-03 | 2020-06-16 | 王玉兰 | Blank OCR character automatic identification equipment |
| CN112249722A (en) * | 2020-09-25 | 2021-01-22 | 常熟云开智能科技有限公司 | Manipulator primary die casting processing and stacking control method |
| CN113084033A (en) * | 2021-04-02 | 2021-07-09 | 何丽娜 | Intelligent conveying device |
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