CN110053963A - A kind of round-trip pressing clamping device for workshop assembly line - Google Patents
A kind of round-trip pressing clamping device for workshop assembly line Download PDFInfo
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- CN110053963A CN110053963A CN201910328851.1A CN201910328851A CN110053963A CN 110053963 A CN110053963 A CN 110053963A CN 201910328851 A CN201910328851 A CN 201910328851A CN 110053963 A CN110053963 A CN 110053963A
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- China
- Prior art keywords
- pressing
- pressure cylinder
- rack
- rack gear
- clamping device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The present invention provides a kind of round-trip pressing clamping device for workshop assembly line, including pressing wound packages is set and clamping device；Pressing wound packages is set including rack, driving motor, eccentric wheel, rack gear position limiting clamp, press rack gear, by pressure cylinder gear, by pressure cylinder, press inner prop, press head, the driving motor is fixed on rack, eccentric wheel is fixed on driving motor, pressing rack gear one end is hinged on the top of eccentric wheel, it sets on the rack by pressure cylinder gear and is meshed with rack gear one side is pressed, pressing rack gear another side is slidably matched with the rack gear position limiting clamp for being radially fixed to rack, pressing inner prop is slidably socketed with by the inner ring of pressure cylinder gear, by pressure cylinder bottom be fixed on pressing inner prop on the outside of by pressure cylinder gear, two symmetrical guide grooves and a sliding position are equipped with by the lateral wall of pressure cylinder.Compared with prior art, the present invention not only increasing the convenience of operation, and assembly line processing operation in workshop can be made to become efficiently, thus improving production efficiency.
Description
Technical field
The invention belongs to workshop technical field of processing equipment, are related to a kind of round-trip pressing clamping dress for workshop assembly line
It sets.
Background technique
Currently, with the rise of price, the lasting rising of cost of labor, in addition the competition of all kinds of electronic product industries is increasingly
Fierceness, various brands product is all being produced into the original competitive advantage for promoting product by constantly reducing, in order to reduce production cost,
The advantage of the automation and mechanization of realizing production is fairly obvious.
In the various product of realization production mechanization during assembly or packaging operation, regular needs are defeated product
It is sent at each different platform and carries out processing operation, current quite a lot of a part of producer is using manipulator form to needing to convey
Product grabbed, be transported at different platform, the problem is that: the production model of this kind of mode product needs more
Manipulator distribution is operated, and not can be implemented simultaneously round-trip pressing and clamping, is limited its expanded application to a certain extent,
Keep production process inconvenient, processing operating efficiency is low, causes production efficiency low.
For this purpose, the present invention provides a kind of round-trip pressing clamping device for workshop assembly line.
Summary of the invention
In view of the above problem existing for existing technology, the purpose of the present invention is to provide a kind of for workshop assembly line
Round-trip pressing clamping device can be achieved at the same time pressing wound packages using press head as intermediate bridge by starting driving motor
It sets and is acted with clamping device；To reach the round-trip function of pressing and clamp, high degree of automation not only increases behaviour in this way
The convenience of work, and assembly line processing operation in workshop can be made to become efficiently, thus improving production efficiency.
Object of the invention can be realized by the following technical scheme:
A kind of round-trip pressing clamping device for workshop assembly line, including pressing wound packages is set and clamping device；
The pressing wound packages is set including rack, driving motor, eccentric wheel, rack gear position limiting clamp, presses rack gear, by pressure cylinder tooth
Wheel presses pressure cylinder, pressing inner prop, press head, and the driving motor is fixed on rack, and eccentric wheel is fixed on driving motor, by knob
One end is hinged on the top of eccentric wheel, sets by pressure cylinder gear and is meshed on the rack and with pressing rack gear one side, by knob
Another side is slidably matched with the rack gear position limiting clamp for being radially fixed to rack, and pressing inner prop and the inner ring by pressure cylinder gear are sliding
Dynamic socket, by pressure cylinder bottom be fixed on the outside of pressing inner prop by pressure cylinder gear, by the lateral wall of pressure cylinder be equipped with two it is symmetrical
Guide groove and a sliding position, press head one end be fixed on column top in pressing, press head two sidewalls are extended with guide rod, every
Guide rod is matched with corresponding guide groove, and the lateral wall for pressing inner prop is equipped with the pillar matched with sliding position；
The clamping device include fixed clamp frame, the upper limit tooth for being fixed on the press head other end, spring, limited post,
Lower limit tooth, several clamping connecting rods and grip block, the fixed clamp frame have clamping bottom plate, prolong along clamping bottom plate peripheral side
The clamp bracket stretching and being uniformly distributed several clamping plates, radially extend in the middle part of clamping bottom plate, clamp bracket bottom are equipped with limited mouth,
The upper limit tooth, spring, limited post, lower limit tooth are located in clamp bracket from top to bottom, limited post along be axially arranged with it is upper
The card column that limiting tooth and lower limit tooth match, spring limit column bottom between being located at the top of upper limit bottom of the tooth portion and limited post
It stretches out lower limit tooth to match with limited mouth, each clamping connecting rod one end compartment of terrain is fixed on upper limit tooth lateral wall, each
It clamps the connecting rod other end and correspondingly grip block is hinged, each grip block and corresponding clamping plate are hinged.
As a preferred technical solution, the rack include the first platysome and extend along first platysome a part the
Two platysomes, the driving motor and rack gear position limiting clamp are each provided at the top of the first platysome, described by pressure cylinder gear, pressing
Cylinder, pressing inner prop, press head are each provided at the top of the second platysome.
It as a preferred technical solution, further include the semi-circular partition being located on the second platysome, the semi-circular partition
Compartment of terrain is looped around the lateral wall by pressure cylinder gear.
The sliding position is V-type sliding slot as a preferred technical solution, and the corner part of the V-type sliding slot is located at outside by pressure cylinder
The top of side wall, the both ends of the V-type sliding slot are located at the lower section by pressure cylinder lateral wall.
The press head is in tabular as a preferred technical solution, and the both ends of the press head are equipped with rounded portions, lean on
The rounded portions of nearly pressing inner prop are gradually reduced towards the rounded portions close to upper limit tooth, and the rounded portions close to upper limit tooth are equipped with
Through-hole, the lateral wall positioned at upper limit tooth crest are matched with inner side wall of through hole.
There is the pressing rack gear pressing rack gear ontology, pressing rack gear ontology one end to be equipped with as a preferred technical solution,
Hinge position, pressing rack gear ontology one side are equipped with straight-tooth, and the pressing rack gear ontology another side close to hinge position is equipped with ladder.
The spring is tension spring as a preferred technical solution,.
As described above, a kind of round-trip pressing clamping device for workshop assembly line of the present invention, has with following
Beneficial effect:
After the present invention utilizes the above-mentioned round-trip pressing clamping device for workshop assembly line, compared with prior art, by
In using such structure, by starting driving motor, pressing wound packages can be achieved at the same time using press head as intermediate bridge
It sets and is acted with clamping device；To reach the round-trip function of pressing and clamp, high degree of automation not only increases behaviour in this way
The convenience of work, and assembly line processing operation in workshop can be made to become efficiently, thus improving production efficiency.
The present invention is further illustrated With reference to embodiment.
Detailed description of the invention
Fig. 1 is a kind of round-trip pressing clamping device perspective view for workshop assembly line；
Fig. 2 is a kind of round-trip pressing clamping device top view for workshop assembly line；
Fig. 3 is the A-A sectional view of Fig. 2；
Fig. 4 is a kind of round-trip press device structural schematic diagram of round-trip pressing clamping device for workshop assembly line；
Fig. 5 is a kind of clamping device structural schematic diagram of round-trip pressing clamping device for workshop assembly line.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
It should be clear that structure depicted in this specification attached drawing, ratio, size etc., only to cooperate specification revealed
Content is not intended to limit the invention enforceable qualifications, therefore does not have so that those skilled in the art understands and reads
Technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing institute's energy of the present invention
Under the effect of generation and the purpose that can reach, should all still it fall in the range of disclosed technology contents can cover.
Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be merely convenient to
Narration is illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, and is changing skill without essence
It is held in art, when being also considered as the enforceable scope of the present invention.The attached drawing that specific structure can refer to patent application is illustrated.
In the examples below, direction is defined always with paper Fig. 1 arrow mark, using the left side of paper as left direction, paper
Right side be right direction, the upside of paper is upper direction, and the downside of paper is lower direction, using the front side perpendicular to paper as front
To, using the rear side perpendicular to paper as rear direction, with by pressure cylinder inner cavity be it is interior, with press pressure cylinder outer wall be outer.
In conjunction with shown in Fig. 1 to Fig. 5, a kind of round-trip pressing clamping device for workshop assembly line, including pressing wound packages set 1
With clamping device 2；
It includes rack 10, driving motor 11, eccentric wheel 12, rack gear position limiting clamp 13, pressing rack gear that the pressing wound packages, which sets 1,
14, by pressure cylinder gear 15, by pressure cylinder 16, pressing inner prop 17, press head 18, the driving motor 11 is fixed on rack 10, eccentric
Wheel 12 is fixed on driving motor 11, and pressing 14 one end of rack gear is hinged on the top of eccentric wheel 12, is located at rack by pressure cylinder gear 15
It is meshed on 10 and with pressing 14 one side of rack gear, pressing 14 another side of rack gear is limited with the rack gear for being radially fixed to rack 10
Position folder 13 is slidably matched, and pressing inner prop 17 is slidably socketed with by the inner ring of pressure cylinder gear 15, is fixed on pressing by 16 bottom of pressure cylinder
17 outside of inner prop is pressed on pressure cylinder gear 15, is equipped with two symmetrical guide grooves 161 and a sliding position by the lateral wall of pressure cylinder 16
162,18 one end of press head is fixed on 17 top of pressing inner prop, and 18 two sidewalls of press head are extended with guide rod 181, every guide rod
181 match with corresponding guide groove 161, and the lateral wall of pressing inner prop 17 is equipped with the pillar matched with sliding position 162
171；
The clamping device 2 includes fixed clamp frame 20, upper limit tooth 21, the spring for being fixed on 18 other end of press head
22, limited post 23, lower limit tooth 24, several clamping connecting rods 25 and grip block 26, the fixed clamp frame 20 have clamping bottom
Plate 201 extends and is uniformly distributed several clamping plates 202 along clamping 201 peripheral side of bottom plate, radially extends in the middle part of clamping bottom plate 201
Clamp bracket 203,203 bottom of clamp bracket be equipped with limited mouth 2031, the upper limit tooth 21, spring 22, limited post 23, under
Limiting tooth 24 is located at from top to bottom in clamp bracket 203, and limited post 23 is along being axially arranged with and upper limit tooth 21 and lower limit tooth 24
The card column 231 matched, spring 22 is located between 23 top of 21 bottom of upper limit tooth and limited post, under 23 bottom of limited post is stretched out
Limiting tooth 24 is matched with limited mouth 2031, and each 25 one end compartment of terrain of clamping connecting rod is fixed on 21 lateral wall of upper limit tooth,
Each 25 other end of clamping connecting rod is hinged with correspondingly grip block 26, and each grip block 26 and corresponding clamping plate 202 are hinged.
It should be understood that the present invention passes through starting driving motor 11, it can be same using press head 18 as intermediate bridge
Shi Shixian pressing wound packages sets 1 and the movement of clamping device 2；Thus reach the round-trip function of pressing and clamp, high degree of automation,
The convenience of operation is not only increased in this way, and assembly line processing operation in workshop can be made to become efficiently, to promote production
Efficiency.
In conjunction with shown in Fig. 1 and Fig. 4, the rack 10 includes the first platysome 101 and prolongs along 101 a part of the first platysome
The second platysome 102 stretched, the driving motor 11 and rack gear position limiting clamp 13 are each provided at the top of the first platysome 101, described
The top of the second platysome 102 is each provided at by pressure cylinder gear 15, by pressure cylinder 16, pressing inner prop 17, press head 18.
It further include the semi-circular partition 3 being located on the second platysome 102, the semi-ring in conjunction with shown in Fig. 1 or Fig. 3 or Fig. 4
3 compartment of terrain of shape partition is looped around the lateral wall by pressure cylinder gear 15.
In conjunction with shown in Fig. 1, Fig. 2 and Fig. 3, the cunning position 162 is V-type sliding slot, and the corner part 1621 of the V-type sliding slot is set
In the top for pressing 16 lateral wall of pressure cylinder, the both ends of the V-type sliding slot are located at the lower section by 16 lateral wall of pressure cylinder.By in setting
Structure is stated, after starting driving motor 11, pillar 171, which matches to merge with the V-type sliding slot, is combined guide groove 161 and guide rod
181 match, and can play guiding role, keep guiding more firm, avoid the occurrence of slippage, stuck phenomenon；Furthermore above-mentioned cunning
Position is not limited to the form of V-type sliding slot, and other forms also can be set into.
As shown in connection with fig. 4, the press head 18 is in tabular, and the both ends of the press head 18 are equipped with rounded portions 182, lean on
The rounded portions 182 of nearly pressing inner prop 17 are gradually reduced towards the rounded portions 182 close to upper limit tooth 21, close to upper limit tooth 21
Rounded portions 182 are equipped with through-hole 1821, and the lateral wall positioned at 21 top of upper limit tooth is matched with 1821 inner sidewall of through-hole.
As shown in connection with fig. 4, there is the pressing rack gear 14 pressing rack gear ontology 141, pressing 141 one end of rack gear ontology to be equipped with
Hinge position 142, pressing 141 one side of rack gear ontology are equipped with straight-tooth, close to 141 other side of pressing rack gear ontology of hinge position 142
Face is equipped with ladder 143.
As shown in connection with fig. 3, the spring 22 is tension spring.
It should be noted that the working principle of the invention:
The present invention has two action parts, and the first action part point is to realize round-trip pressing function, and eccentric wheel is by motor band
Dynamic, when rotation, drives pressing rack movement, exists since rack gear limits, pressing rack gear engages always with by pressure cylinder gear, pressing
Cylinder gear drives pressing cylinder rotation, and the pillar that pressing inner prop surface is formed moves in the cunning position by pressure cylinder, so that press head exists
It is pressed while rotation；
The second action part point is to realize clamping function, and upper limit tooth and press head are connected, upper limit tooth, limited post, lower limit
The pressing locking structure of position tooth and spring composition automatic fountain pen form realizes that the pressing of upper limit tooth is primary, and limited post turns to 90 ° simultaneously
So that the limited mouth of limited post lower end and fixed clamp frame is completed limit locking, clamping connecting rod, grip block upper limit tooth drive
Under, it completes clamping and loosens；Spring is tension spring, and upper limit tooth is pushed, limited post depressed, and in the work of lower limit tooth
The complete steering in 90 ° under, tension spring resets upper limit tooth at this time, that is, completes primary pressing locking.
As described above, a kind of round-trip pressing clamping device for workshop assembly line of the present invention, has with following
Beneficial effect:
After the present invention utilizes the above-mentioned round-trip pressing clamping device for workshop assembly line, compared with prior art, by
In using such structure, by starting driving motor, pressing wound packages can be achieved at the same time using press head as intermediate bridge
It sets and is acted with clamping device；To reach the round-trip function of pressing and clamp, high degree of automation not only increases behaviour in this way
The convenience of work, and assembly line processing operation in workshop can be made to become efficiently, thus improving production efficiency.
In conclusion the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (7)
1. a kind of round-trip pressing clamping device for workshop assembly line, it is characterised in that: set and clamp dress including pressing wound packages
It sets；
The pressing wound packages set including rack, driving motor, eccentric wheel, rack gear position limiting clamp, pressing rack gear, by pressure cylinder gear, by
Pressure cylinder, pressing inner prop, press head, the driving motor are fixed on rack, and eccentric wheel is fixed on driving motor, press rack gear one end
It is hinged on the top of eccentric wheel, set on the rack by pressure cylinder gear and is meshed with rack gear one side is pressed, pressing rack gear is another
Side is slidably matched with the rack gear position limiting clamp for being radially fixed to rack, pressing inner prop and the inner ring sliding sleeve for pressing pressure cylinder gear
Connect, by pressure cylinder bottom be fixed on the outside of pressing inner prop by pressure cylinder gear, be equipped with two by the lateral wall of pressure cylinder and symmetrically lead
To slot and a sliding position, press head one end is fixed on column top in pressing, and press head two sidewalls are extended with guide rod, every guiding
Bar is matched with corresponding guide groove, and the lateral wall for pressing inner prop is equipped with the pillar matched with sliding position；
The clamping device includes fixed clamp frame, upper limit tooth, spring, limited post, the lower limit for being fixed on the press head other end
Position tooth, several clamping connecting rods and grip block, the fixed clamp frame there is clamping bottom plate, extend along clamping bottom plate peripheral side and
The clamp bracket for being uniformly distributed several clamping plates, radially extending in the middle part of clamping bottom plate, clamp bracket bottom is equipped with limited mouth, described
Upper limit tooth, spring, limited post, lower limit tooth are located in clamp bracket from top to bottom, and limited post edge is axially arranged with and upper limit
The card column that tooth and lower limit tooth match, spring are located between upper limit bottom of the tooth portion and limited post top, and limit column bottom is stretched out
Lower limit tooth is matched with limited mouth, and each clamping connecting rod one end compartment of terrain is fixed on upper limit tooth lateral wall, each clamping
The connecting rod other end and correspondingly grip block are hinged, and each grip block and corresponding clamping plate are hinged.
2. being used for the round-trip pressing clamping device of workshop assembly line as described in claim 1, it is characterised in that: the rack packet
The second platysome for including the first platysome and extending along first platysome a part, the driving motor and rack gear position limiting clamp are all provided with
It is described to be each provided at the upper of the second platysome by pressure cylinder gear, by pressure cylinder, pressing inner prop, press head in the top of the first platysome
Side.
3. being used for the round-trip pressing clamping device of workshop assembly line as claimed in claim 2, it is characterised in that: further include being located at
Semi-circular partition on second platysome is looped around to the semi-circular baffle interval lateral wall by pressure cylinder gear.
4. being used for the round-trip pressing clamping device of workshop assembly line as described in claim 1, it is characterised in that: the cunning position is
V-type sliding slot, the corner part of the V-type sliding slot are located at the top by pressure cylinder lateral wall, and the both ends of the V-type sliding slot are located at pressing
The lower section of cylinder lateral wall.
5. being used for the round-trip pressing clamping device of workshop assembly line as described in claim 1, it is characterised in that: the press head
In tabular, the both ends of the press head are equipped with rounded portions, and the rounded portions close to pressing inner prop are towards close to upper limit tooth
Rounded portions are gradually reduced, and the rounded portions close to upper limit tooth are equipped with through-hole, positioned at the lateral wall and through-hole of upper limit tooth crest
Inner sidewall matches.
6. being used for the round-trip pressing clamping device of workshop assembly line as described in claim 1, it is characterised in that: described to press knob
There is item pressing rack gear ontology, pressing rack gear ontology one end to be equipped with straight-tooth equipped with hinge position, pressing rack gear ontology one side, close
The pressing rack gear ontology another side of hinge position is equipped with ladder.
7. the round-trip pressing clamping device as claimed in any one of claims 1 to 6 for workshop assembly line, it is characterised in that: institute
Stating spring is tension spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910328851.1A CN110053963B (en) | 2019-04-23 | 2019-04-23 | Reciprocating pressing and clamping device for workshop assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910328851.1A CN110053963B (en) | 2019-04-23 | 2019-04-23 | Reciprocating pressing and clamping device for workshop assembly line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110053963A true CN110053963A (en) | 2019-07-26 |
| CN110053963B CN110053963B (en) | 2020-12-08 |
Family
ID=67320341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910328851.1A Active CN110053963B (en) | 2019-04-23 | 2019-04-23 | Reciprocating pressing and clamping device for workshop assembly line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110053963B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371409A (en) * | 2019-08-02 | 2019-10-25 | 上海金智晟东电力科技有限公司 | Merge the device of unpacking of complete switch testing equipment for a kind of one or two times |
| CN110775653A (en) * | 2020-01-02 | 2020-02-11 | 佛山隆深机器人有限公司 | Automatic workpiece taking system of industrial robot |
| CN111169996A (en) * | 2020-01-02 | 2020-05-19 | 佛山隆深机器人有限公司 | Sorting device |
| CN113757240A (en) * | 2021-11-08 | 2021-12-07 | 龙旗电子(惠州)有限公司 | Terminal pressure maintaining jig and pressure maintaining method |
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| GB8420620D0 (en) * | 1983-09-02 | 1984-09-19 | Sunderland Machine Installatio | Manipulator unit |
| CN105619399A (en) * | 2014-11-07 | 2016-06-01 | 英卡博（天津）科技有限公司 | Pressing device for robot |
| CN108189060A (en) * | 2018-01-30 | 2018-06-22 | 湖北工程学院 | Grabber and industrial robot |
| CN108412282A (en) * | 2018-02-08 | 2018-08-17 | 武汉理工大学 | A kind of bicycle clamp apparatus |
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2019
- 2019-04-23 CN CN201910328851.1A patent/CN110053963B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8420620D0 (en) * | 1983-09-02 | 1984-09-19 | Sunderland Machine Installatio | Manipulator unit |
| CN105619399A (en) * | 2014-11-07 | 2016-06-01 | 英卡博（天津）科技有限公司 | Pressing device for robot |
| CN108189060A (en) * | 2018-01-30 | 2018-06-22 | 湖北工程学院 | Grabber and industrial robot |
| CN108412282A (en) * | 2018-02-08 | 2018-08-17 | 武汉理工大学 | A kind of bicycle clamp apparatus |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371409A (en) * | 2019-08-02 | 2019-10-25 | 上海金智晟东电力科技有限公司 | Merge the device of unpacking of complete switch testing equipment for a kind of one or two times |
| CN110775653A (en) * | 2020-01-02 | 2020-02-11 | 佛山隆深机器人有限公司 | Automatic workpiece taking system of industrial robot |
| CN111169996A (en) * | 2020-01-02 | 2020-05-19 | 佛山隆深机器人有限公司 | Sorting device |
| CN110775653B (en) * | 2020-01-02 | 2020-07-24 | 佛山隆深机器人有限公司 | Automatic workpiece taking system of industrial robot |
| CN111169996B (en) * | 2020-01-02 | 2021-12-24 | 佛山隆深机器人有限公司 | Sorting device |
| CN113757240A (en) * | 2021-11-08 | 2021-12-07 | 龙旗电子(惠州)有限公司 | Terminal pressure maintaining jig and pressure maintaining method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110053963B (en) | 2020-12-08 |
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