CN110421582A - A kind of robot device for lithium battery coiling core crawl pairing - Google Patents

A kind of robot device for lithium battery coiling core crawl pairing Download PDF

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Publication number
CN110421582A
CN110421582A CN201910418195.4A CN201910418195A CN110421582A CN 110421582 A CN110421582 A CN 110421582A CN 201910418195 A CN201910418195 A CN 201910418195A CN 110421582 A CN110421582 A CN 110421582A
Authority
CN
China
Prior art keywords
core
crawl
support plate
clamping
shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910418195.4A
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Chinese (zh)
Inventor
陈珝
李晓燕
姚金健
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei Gotion High Tech Power Energy Co Ltd
Original Assignee
Hefei Guoxuan High Tech Power Energy Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hefei Guoxuan High Tech Power Energy Co Ltd filed Critical Hefei Guoxuan High Tech Power Energy Co Ltd
Priority to CN201910418195.4A priority Critical patent/CN110421582A/en
Publication of CN110421582A publication Critical patent/CN110421582A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors

Abstract

The invention discloses a kind of robot devices for lithium battery coiling core crawl pairing, including rotating part and are set to the crawl section of the rotating part lower end, the crawl section set there are two and horizontal symmetrical be arranged in the rotating part lower end;The rotating part includes rack and goes to the rotary shaft for being connected to the frame lower, and the rack is equipped with for driving the rotary shaft along power mechanism counterclockwise or rotationally clockwise;Two clamp devices are arranged below rotating mechanism, are quickly exchanged to the position of two sides core after crawl by rotating mechanism by setting rotating mechanism by the application, thus can quickly be matched to core, and matching efficiency is improved;The application by changing the size of clamping jaw and the initial distance of adjustment two sides clamping jaw, and then can clamp various sizes of battery roll core by the way that dismountable clamping jaw is arranged, improve the universal performance of the application manipulator.

Description

A kind of robot device for lithium battery coiling core crawl pairing
Technical field
The present invention relates to lithium battery production equipment technical field, specifically a kind of machine for lithium battery coiling core crawl pairing Tool arm device.
Background technique
It by lithium metal or lithium alloy is negative electrode material, using the battery of non-aqueous electrolytic solution that lithium battery, which is a kind of,.Core It is the core for constituting lithium battery, according to current technology, mainstream industry realizes that battery is made of AB core.
A, B core passes through different material flow line and pallet in the actual production process respectively by two up- coiler outputs Circulation is to next process, and A, B core matching side are completed before next process can carry out processing operation, and pairing front and back is as schemed Shown in 1, but in existing production equipment, the pairing of A, B core is not enough automated, pairing process is complicated, and matching efficiency is low, And during pairing, since the size of core is there are error, during mechanical clamping, it is possible that clamping is not The phenomenon that steady or clamping excessively causes core to deform.
Summary of the invention
It is above-mentioned to solve the purpose of the present invention is to provide a kind of robot device for lithium battery coiling core crawl pairing The problem of being proposed in background technique.
To achieve the above object, the invention provides the following technical scheme:
A kind of robot device for lithium battery coiling core crawl pairing, including rotating part and it is set to the rotating part lower end Crawl section, the crawl section set there are two and horizontal symmetrical be arranged in the rotating part lower end;
The rotating part includes rack and goes to the rotary shaft for being connected to the frame lower, and the rack, which is equipped with, is used for band The rotary shaft is moved along counterclockwise or power mechanism rotationally clockwise;
The crawl section includes the first telescopic cylinder arranged vertically being fixedly arranged below the rotary shaft, the first flexible gas The piston of cylinder is installed with horizontally disposed clamping cylinder, and the both ends of the clamping cylinder are equipped with the folder for clamping the volume heart Pawl, the clamping jaw are detachably connected with below the clamping cylinder, and core pressing plate, the core are equipped with below the clamping cylinder Pressing plate is located between clamping jaw described in two sides, and the core pressing plate is slided up and down with the clamping cylinder to be connect, the core pressing plate Spring is equipped between the clamping cylinder.
As a further solution of the present invention: the rack includes axle sleeve and is set to the 4th of the axle sleeve lower end Fagging, the 4th support plate lower section, which is fixed by the connecting rod, is connected with third support plate, and the power mechanism is fixedly arranged on described 4th support plate lower end, the rotary shaft are rotatablely connected through the third support plate and with the third support plate.
As a further solution of the present invention: the power mechanism includes horizontally disposed second telescopic cylinder, and described Two telescopic cylinders are fixedly connected with the rack, and the piston nose of second telescopic cylinder is installed with rack gear, the rotary shaft On be socketed with engaged with the rack gear connection external gear.
As a further solution of the present invention: the rotary shaft lower end is equipped with support frame, and the in crawl section described in two sides One telescopic cylinder passes through fixed gusset and is fixedly connected with the both ends of support frame as described above.
As a further solution of the present invention: the piston of first telescopic cylinder is installed with the second connecting shaft, institute It states the second connecting shaft and is fixedly connected by connecting plate with the piston of first telescopic cylinder, under second connecting shaft End is installed with the first support plate, and the clamping cylinder is fixedly arranged on first support plate lower end.
As a further solution of the present invention: core pressing plate upper end is at least provided with first connecting shaft, and described One connecting shaft is connect through first support plate and sliding up and down with first support plate, and the spring is socketed in described the In one connecting shaft.
As a further solution of the present invention: first connecting shaft is at least provided with two and is evenly arranged in the core Pressing plate upper end, first connecting shaft are connect by branch fastener with the core pressing plate, the top of all first connecting shafts It is connected by the second support plate, first support plate upper end is equipped with the limit for carrying out position limitation to the first connecting shaft Block.
As a further solution of the present invention: clamping jaw described in two sides is detachable by clamping jaw attachment base and the clamping cylinder Connection, the clamping jaw are equipped with chamfering close to the side of the core pressing plate.
Compared with prior art, the beneficial effects of the present invention are:
1, two clamp devices, and two groups of clamp devices are arranged by setting rotating mechanism in the application below rotating mechanism, A, B core in A, B producing line are grabbed by clamp device, by rotating mechanism quickly to two sides core after crawl Position is exchanged, thus can quickly be matched to core, and matching efficiency is improved;
2, the application is by being arranged dismountable clamping jaw, by changing the size of clamping jaw and the initial distance of adjustment two sides clamping jaw, And then various sizes of battery roll core can be clamped, improve the universal performance of the application manipulator;
3, the core pressing plate of the application is flexibly connected by connecting shaft and spring and support plate, thus when clamping battery, due to Core is higher than the position relative to production line on clamping jaw, thus can pass through the automatic position for adapting to core of contraction of spring Variation, and due to production during, the thickness of core can will appear deviation, thus, by the core pressing plate of flexible setting, Can be adaptive compress to the core of different-thickness, and is not in not clamping or clamping transition causes core to deform The phenomenon that, improve the security performance of clamping process.
Detailed description of the invention
Fig. 1 is that the battery winding heart matches front and back contrast schematic diagram;
Fig. 2 is schematic structural view of the invention;
Fig. 3 is crawl section structural schematic diagram of the invention;
Fig. 4 is rotating part topology view of the invention;
Fig. 5 is support frame structure diagram of the invention.
In figure: 1- clamping jaw, 2- clamping jaw attachment base, 3- core pressing plate, 4- branch fastener, 5- spring, 6- clamping cylinder, 7- first Support plate, the first connecting shaft of 8-, the second support plate of 9-, the second connecting shaft of 10-, 11- connecting plate, the first telescopic cylinder of 12-, 13- The fixed gusset of support frame, 14-, 15- rotary shaft, 16- third support plate, 17- external gear, 18- rack gear, the second telescopic cylinder of 19-, 20- connecting rod, the 4th support plate of 21-, 22- axle sleeve.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-5, in the embodiment of the present invention, a kind of robot device for lithium battery coiling core crawl pairing, packet Include rotating part and be set to the crawl section of rotating part lower end, crawl section set there are two and horizontal symmetrical be arranged under rotating part End, and then A, B core can be grabbed by the crawl section of two sides, then pass through rotating part for A, B of two sides crawl section lower end Core carries out position exchange to complete battery core pairing;
Rotating part includes rack, and rack includes axle sleeve 22 and the 4th support plate 21 for being set to 22 lower end of axle sleeve, passes through axle sleeve 22 are attached the robot device of the application and lithium battery production line, fixed by connecting rod 20 below the 4th support plate 21 It is connected with third support plate 16, in the present embodiment, connecting rod 20 is equipped with four and rectangular arrangement, opens in third support plate 16 There is through-hole, rotary shaft 15 is rotatably connected in through-hole, the upper end of rotary shaft 15 and the lower end of the 4th support plate 21 are rotatablely connected, into And the positioning on vertical direction can be carried out to rotary shaft 15 by the 4th support plate 41,21 lower end of the 4th support plate is equipped with power Mechanism, power mechanism include the second telescopic cylinder 19 set on 21 lower end of the 4th support plate, the horizontal cloth of the second telescopic cylinder 19 admittedly It sets, the piston nose of the second telescopic cylinder 19 is installed with rack gear 18, is socketed in rotary shaft 15 and engages the outer of connection with rack gear 18 Gear 17 carries out power transmission with engaging for external gear 17 by rack gear 18, and then can pass through the work of the second telescopic cylinder 19 The dynamic rotary shaft 15 of lock strap of stretching of plug rotates clockwise or counterclockwise;15 lower end of rotary shaft is equipped with support frame 13, and two sides are grabbed The first telescopic cylinder 12 in portion is taken to be fixedly connected by fixed gusset 14 with the both ends of support frame 13;
Crawl section includes the first telescopic cylinder 12 arranged vertically for being fixedly arranged on 15 lower section of rotary shaft, and the first telescopic cylinder 12 passes through Fixed gusset 14 is fixedly connected with support frame 13, and the piston of the first telescopic cylinder 12 is installed with the second connecting shaft 10, and second Connecting shaft 10 is fixedly connected by connecting plate 11 with the piston of the first telescopic cylinder 12, and the lower end of the second connecting shaft 10 is fixed There is the first support plate 7, clamping cylinder 6 is fixedly arranged on 7 lower end of the first support plate, and two sides clamping jaw 1 passes through clamping jaw attachment base 2 and clamping gas Cylinder 6 is detachably connected, and chamfering is equipped on the inside of clamping jaw 1, by the adjustable clamping jaw of clamping jaw attachment base 2 for replacing different dimensions 1 clamping size, and then it is adapted to the clamping of the core of different size, while by chamfering, so that two sides clamping jaw 1 is clamping When core, the damage caused by core can be effectively avoided;Below clamping cylinder 6 be equipped with core pressing plate 3, core pressing plate 3 Between two sides clamping jaw 1,3 upper end of core pressing plate is at least provided with first connecting shaft 8, and the first connecting shaft 8 is through the first support Plate 7 and sliding up and down with the first support plate 7 is connect, and then core pressing plate 3 can be driven relative to gliding in the first support plate 7 It is dynamic, spring 5 is equipped between core pressing plate 3 and the first support plate 7, spring 5 is socketed in the first connecting shaft 8, thus in core pressure Plate 3 can squeeze spring 5 when opposite first support plate 7 moves upwards, by spring 5 to core pressing plate 3 provide one it is downward Pressure, thus achieve the purpose that core pressing plate 3 and the first support plate 7 are flexibly connected, so can core to different-thickness into Row self-adapting grasping, in the present embodiment, the first connecting shaft 8 are equipped with four and are evenly arranged in 3 upper end of core pressing plate, and first connects Spindle 8 is connect by branch fastener 4 with core pressing plate 3, and the top of all first connecting shafts 8 is connected by the second support plate 9, and first 7 upper end of support plate is equipped with the limited block for carrying out position limitation to the first connecting shaft 8, and limited block is located in the first support plate 7 Side, limits the second support plate 9, the extreme lower position of core pressing plate 3 by limited block,
Structure of the invention is novel, stable, in the use of the present invention, the robot device of the application is moved to wait grab first It takes above the core of pairing, so that the clamping parts of two sides are not located above A, B core on two production lines, then starts the One telescopic cylinder 12 drives the first support plate 7, clamping cylinder 6, clamping jaw 1 to move downward, Zhi Daojuan by the first telescopic cylinder 12 The upper surface that core is close in the lower end surface of core pressing plate 3 then proceedes at this point, the lower end surface of clamping jaw 1 is still higher than the lower end surface of core Making the first telescopic cylinder 12, piston moves downward, in the process of movement, clamping jaw 1 with piston moves downward, but due to volume The lower end surface of core pressing plate 3 and core upper end face contact, so that the stopping of core pressing plate 3 moves downward, thus in the first support Plate 7 continues that spring 5 can be squeezed during moving downward, so that core pressing plate 3 adapts to the thickness of core automatically, when clamping jaw 1 moves When moving the platform for placing core, stops the movement of the first telescopic cylinder 12 and remain stationary state, then start clamping cylinder 6, drive the clamping jaw 1 of two sides to move to close to the direction of core by clamping cylinder 6, until clamping jaw 1 holds up core, Er Qie During clamping, since the interior survey of clamping jaw 1 is equipped with chamfering, so that clamping jaw 1 is easier to and is inserted into below core, and work as When clamping jaw 1 from below holds up core, core can move up a certain distance, in the process of moving, pass through compressed spring 5 Core pressing plate 3 is moved up, and then can effectively avoid the problem that working as folder because deformation occurs for core caused by clamping After the completion of taking, it is again started up the first telescopic cylinder 12, clamping jaw 1 and clamping jaw are driven by the piston retraction of the first telescopic cylinder 12 Core between 1 and core pressing plate 3 moves upwards, and when core is far from production line, starts the second telescopic cylinder 19, by the The piston telescopic band carry-over bar 18 of two telescopic cylinders 19 moves horizontally, and is then nibbled by the drive that moves horizontally of rack gear with rack gear 18 The external gear 17 of conjunction rotates, and then rotary shaft 15 can be driven to rotate clockwise or counterclockwise by the rotation of external gear 17, when When rotary shaft 15 horizontally rotates 180 °, the clamping portion of two sides is to change place at this time, and as shown in Fig. 1 institute, i.e. original A core is moved to original B core position, former B core is moved to the position of former A core, after the completion of rotation, stops the movement of the second telescopic cylinder 19 and guarantor It holds static, then starts the first telescopic cylinder 12, the core A or B in clamping jaw 1 are placed into the position of former B or A by clamping cylinder 6, So far the clamping and pairing process of one group of battery roll core are completed;
In addition it is also possible to which the axle sleeve 22 of the robot device of the application is fixed, then will be matched wait clamp by production line Pair core be moved to below the clamping jaw of the application, then by clamping, conversion, discharge the step of battery roll core is clamped And pairing.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art The other embodiments being understood that.

Claims (8)

1. a kind of robot device for lithium battery coiling core crawl pairing, which is characterized in that including rotating part and be set to The crawl section of the rotating part lower end, the crawl section set there are two and horizontal symmetrical be arranged in the rotating part lower end;
The rotating part includes rack and goes to the rotary shaft (15) for being connected to the frame lower, and the rack, which is equipped with, to be used In the drive rotary shaft (15) along power mechanism counterclockwise or rotationally clockwise;
The crawl section includes being fixedly arranged on the first telescopic cylinder (12) arranged vertically below the rotary shaft (15), and described the The piston of one telescopic cylinder (12) is installed with horizontally disposed clamping cylinder (6), and the both ends of the clamping cylinder (6) are all provided with There is the clamping jaw (1) for clamping the volume heart, the clamping jaw (1) is detachably connected and the clamping cylinder (6) lower section, the clamping gas Core pressing plate (3) are equipped with below cylinder (6), the core pressing plate (3) is located between clamping jaw (1) described in two sides, the core pressing plate (3) it slides up and down and connect with the clamping cylinder (6), spring is equipped between the core pressing plate (3) and the clamping cylinder (6) (5)。
2. a kind of robot device for lithium battery coiling core crawl pairing according to claim 1, which is characterized in that institute Stating rack includes axle sleeve (22) and the 4th support plate (21) for being set to the axle sleeve (22) lower end, the 4th support plate (21) lower section is fixedly connected with third support plate (16) by connecting rod (20), and the power mechanism is fixedly arranged on the 4th support Plate (21) lower end, the rotary shaft (15) rotate company through the third support plate (16) and with the third support plate (16) It connects.
3. a kind of robot device for lithium battery coiling core crawl pairing according to claim 1, which is characterized in that institute Stating power mechanism includes horizontally disposed second telescopic cylinder (19), second telescopic cylinder (19) and the fixed company of the rack Connect, the piston nose of second telescopic cylinder (19) is installed with rack gear (18), be socketed on the rotary shaft (15) with it is described The external gear (17) of rack gear (18) engagement connection.
4. a kind of robot device for lithium battery coiling core crawl pairing according to claim 1, which is characterized in that institute It states rotary shaft (15) lower end and is equipped with support frame (13), the first telescopic cylinder (12) in crawl section described in two sides passes through fixing muscle Plate (14) is fixedly connected with the both ends of support frame as described above (13).
5. a kind of robot device for lithium battery coiling core crawl pairing according to claim 1, which is characterized in that institute The piston for stating the first telescopic cylinder (12) is installed with the second connecting shaft (10), and second connecting shaft (10) passes through connecting plate (11) it is fixedly connected with the piston of first telescopic cylinder (12), the lower end of second connecting shaft (10) is installed with One support plate (7), the clamping cylinder (6) are fixedly arranged on the first support plate (7) lower end.
6. a kind of robot device for lithium battery coiling core crawl pairing according to claim 1, which is characterized in that institute Core pressing plate (3) upper end is stated at least provided with first connecting shaft (8), first connecting shaft (8) is through first support Plate (7) and sliding up and down with first support plate (7) is connect, and the spring (5) is socketed on first connecting shaft (8).
7. a kind of robot device for lithium battery coiling core crawl pairing according to claim 6, which is characterized in that institute The first connecting shaft (8) is stated at least provided with two and is evenly arranged in core pressing plate (3) upper end, first connecting shaft (8) It is connect by branch fastener (4) with the core pressing plate (3), the top of all first connecting shafts (8) passes through the second support plate (9) it connects, the first support plate (7) upper end is equipped with the limited block for the first connecting shaft (8) to be carried out with position limitation.
8. a kind of robot device for lithium battery coiling core crawl pairing according to claim 1, which is characterized in that two Clamping jaw described in side (1) is detachably connected by clamping jaw attachment base (2) with the clamping cylinder (6), and the clamping jaw (1) is close to described The side of core pressing plate (3) is equipped with chamfering.
CN201910418195.4A 2019-05-20 2019-05-20 A kind of robot device for lithium battery coiling core crawl pairing Pending CN110421582A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910418195.4A CN110421582A (en) 2019-05-20 2019-05-20 A kind of robot device for lithium battery coiling core crawl pairing

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910418195.4A CN110421582A (en) 2019-05-20 2019-05-20 A kind of robot device for lithium battery coiling core crawl pairing

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CN110421582A true CN110421582A (en) 2019-11-08

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111761335A (en) * 2020-07-03 2020-10-13 南京机电职业技术学院 Square-shell lithium battery cell pairing machine and working method thereof
CN112676808A (en) * 2020-12-15 2021-04-20 深圳德龙激光智能有限公司 Mechanism and method for grabbing frame by quasi-module
CN113500368A (en) * 2021-09-10 2021-10-15 启东市宝发机电科技有限公司 Electric tool test is with assembly manipulator

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CN106078786A (en) * 2016-08-12 2016-11-09 镇江成泰自动化技术有限公司 A kind of electrokinetic cell height suitability not damaged automatic clamping grip device
CN107293808A (en) * 2017-07-18 2017-10-24 合肥国轩高科动力能源有限公司 A kind of lithium ion battery coil is around package system
CN207490047U (en) * 2017-10-27 2018-06-12 合肥国轩高科动力能源有限公司 A kind of lithium ion battery coil core clamp device
CN207577999U (en) * 2017-07-27 2018-07-06 苏州慕尚自动化科技有限公司 A kind of rotating suction disc mechanism
CN207810696U (en) * 2018-01-15 2018-09-04 珠海创思新能源科技有限公司 A kind of reversible manipulator

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020192002A1 (en) * 1999-03-30 2002-12-19 Kabushiki Kaisha Sato Label roll core holder associated system and label regulating guide in labeler
CN106078786A (en) * 2016-08-12 2016-11-09 镇江成泰自动化技术有限公司 A kind of electrokinetic cell height suitability not damaged automatic clamping grip device
CN107293808A (en) * 2017-07-18 2017-10-24 合肥国轩高科动力能源有限公司 A kind of lithium ion battery coil is around package system
CN207577999U (en) * 2017-07-27 2018-07-06 苏州慕尚自动化科技有限公司 A kind of rotating suction disc mechanism
CN207490047U (en) * 2017-10-27 2018-06-12 合肥国轩高科动力能源有限公司 A kind of lithium ion battery coil core clamp device
CN207810696U (en) * 2018-01-15 2018-09-04 珠海创思新能源科技有限公司 A kind of reversible manipulator

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111761335A (en) * 2020-07-03 2020-10-13 南京机电职业技术学院 Square-shell lithium battery cell pairing machine and working method thereof
CN112676808A (en) * 2020-12-15 2021-04-20 深圳德龙激光智能有限公司 Mechanism and method for grabbing frame by quasi-module
CN113500368A (en) * 2021-09-10 2021-10-15 启东市宝发机电科技有限公司 Electric tool test is with assembly manipulator

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