CN111039006A - Product and tool pairing system - Google Patents
Product and tool pairing system Download PDFInfo
- Publication number
- CN111039006A CN111039006A CN201911422987.5A CN201911422987A CN111039006A CN 111039006 A CN111039006 A CN 111039006A CN 201911422987 A CN201911422987 A CN 201911422987A CN 111039006 A CN111039006 A CN 111039006A
- Authority
- CN
- China
- Prior art keywords
- jig
- product
- products
- clamping jaw
- controller
- 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
Links
Images
Classifications
-
- 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
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- 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
- B65G47/905—Control arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a product and jig pairing system, which is used for adjusting the quantity of products on a jig output by a previous work station to a target quantity and outputting the target quantity, and comprises a manipulator and a controller, wherein the manipulator is provided with a plurality of clamping jaw mechanisms for taking and placing the products, and the quantity of the clamping jaw mechanisms is at least a value obtained by subtracting one from the target quantity; the controller is used for carrying out summation operation on the number of the products on the jig and the number of the products on the manipulator when the products enter the jig, so that the total number of the products is obtained; then comparing the total quantity with the target quantity, and controlling the idle clamping jaw mechanisms of the manipulator to clamp all products on the jig if the total quantity is smaller than the target quantity; if the total number reaches the target quantity, the clamping jaw mechanism of the control manipulator places the products on the clamping jaw mechanism on the idle placing position of the jig until the quantity of the products on the jig reaches the target quantity, so that the quantity of the products entering the jig of the next work station is matched with the requirement of the next work station, and the production efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of product number control, in particular to a product and jig pairing system capable of adjusting the number of products on a jig to a target number and outputting the target number.
Background
With the continuous improvement of the automation level, the production of a plurality of products also reaches the production line. At present, a production line usually comprises a plurality of work stations (including a curing work station, a testing work station, an inspection work station, an output work station and the like) which are respectively used for completing different operation requirements in sequence, and a plurality of products are borne by a jig and sequentially enter each work station. Because the function and structure of each station are different, the number of products that each station needs the tool to bear and enter is also different, for example, the number of products on the tool that the last station outputs is two, and the next station can allow the tool to bear five products and enter, if the tool that the last station outputs directly transports and enters the next station, then there is the problem of low production efficiency.
Disclosure of Invention
The invention aims to provide a product and jig pairing system which can adjust the number of products on a jig to a target number for output so as to improve the production efficiency.
In order to achieve the purpose, the invention discloses a product and jig pairing system which is used for adjusting the number of products on a jig output by a previous work station to a target number and outputting the target number, and comprises a manipulator and a controller, wherein the manipulator is provided with a plurality of clamping jaw mechanisms for taking and placing the products, and the number of the clamping jaw mechanisms is at least a value obtained by subtracting one from the target number; the controller is used for executing: recording the number of products on the jig and the number of products on the manipulator when the workpieces enter the jig; summing the number of the products on the jig and the number of the products on the manipulator when the products enter the jig, so as to obtain the total number of the products; comparing the total number with the target number, and controlling the idle clamping jaw mechanism of the manipulator to clamp all products on the jig if the total number is smaller than the target number; if the total number reaches the target number, controlling a clamping jaw mechanism of the manipulator to place the products on the clamping jaw mechanism on an idle placing position of the jig until the number of the products on the jig reaches the target number.
Preferably, the number of said jaw mechanisms is one less than said target number.
More preferably, the number of gripper mechanisms is four and the target number is five.
Preferably, the controller obtains the number of products entering the jig from the information sent by the previous station.
Preferably, before the controller controls the gripper mechanism to grip the product by the jig, the controller performs: judging the distance between each idle clamping jaw mechanism and each placing position on the jig, wherein the product is placed on the placing position; controlling the idle clamping jaw mechanism closest to the placement position where the product is placed to clamp the product; the controller controls the clamping jaw mechanism to place the product in front of the jig, and executes: judging the distance between each clamping jaw mechanism which clamps the product and each idle placing position on the jig; and controlling a clamping jaw mechanism which is closest to the idle placing position of the jig and clamps the product to place the product in the jig.
Preferably, the product and jig pairing system further comprises a conveying mechanism, and the controller further performs: and outputting the jigs with the number of products reaching the target number and the jigs clamped by the clamping jaw mechanisms by the conveying mechanism.
Preferably, conveying mechanism include respectively with transport structure, block structure and location structure that the controller communication is connected, transport structure includes that two supports that set up side by side are in the delivery track of the lower terminal surface of tool, location structure, block structure and follow transport structure's moving direction sets gradually, location structure locates transport structure's below, be equipped with on it a plurality of be used for with the locating hole complex reference column of tool, the controller still is used for carrying out: controlling the blocking structure to extend above the conveying structure so as to block the jig; receiving in-place information sent by the blocking structure; controlling the positioning structure to ascend so that the positioning column penetrates through the positioning hole; controlling the clamping jaw mechanism to clamp the product by the jig or place the product on the jig; and when the clamping jaw mechanism finishes clamping or placing the product, controlling the positioning structure and the blocking structure to descend so that the conveying structure outputs the jig.
Preferably, the controller controls the blocking structure to extend above the conveying structure when receiving tool in-place information sent by a next work station.
Preferably, the pan feeding side of the conveying structure is provided with an in-place sensor for sensing the jig, and the controller is further configured to execute: receiving in-place information sent by the in-place sensor; and controlling the conveying structure to reduce the conveying speed.
Preferably, the gripper mechanism includes a magnetic switch for sensing whether the gripper mechanism grips the product, and the controller controls the action of the gripper mechanism according to sensing information sent by the magnetic switch.
Compared with the prior art, the total number of the products is obtained by summing the number of the products on the jig and the number of the products on the manipulator, the total number is compared with the target number, the clamping jaw mechanism is controlled to clamp the products on the jig or place the products on the jig according to the comparison structure, the output products on the jig are equal to the target number or zero, the number of the products on the jig entering the next station is matched with the requirement of the next station, and the production efficiency can be improved.
Drawings
Fig. 1 is a schematic structural diagram of a product and jig pairing system and a next station according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of another angle between the product and jig pairing system and the next station according to the embodiment of the invention.
Fig. 3 is a block diagram of an electrical control system of the product and the jig matching system according to the embodiment of the invention.
Detailed Description
The following detailed description is given with reference to the accompanying drawings for illustrating the contents, structural features, and objects and effects of the present invention.
Referring to fig. 1 to 3, the present invention discloses a product and jig pairing system 100, which is used for adjusting the number of products on a jig 200 output from a previous station (not shown) to a target number for output, so that the number of products on the jig 200 entering a next station 300 matches with the product number requirement of the next station 300, thereby improving the production efficiency. Specifically, the product and jig pairing system 100 of the present invention includes a manipulator 1 and a controller 2, wherein the manipulator 1 is provided with a plurality of clamping jaw mechanisms 11 for picking and placing products, and the number of the clamping jaw mechanisms 11 is at least a value obtained by subtracting one from a target number. The controller 2 is configured to perform: recording the number of products on the jig 200 and the number of products on the manipulator 1 when entering; summing the number of products on the jig 200 and the number of products on the manipulator 1 when entering, so as to obtain the total number of the products; comparing the total number with the target number, if the total number is smaller than the target number, controlling the idle clamping jaw mechanism 11 of the manipulator 1 to clamp all the products on the jig 200, and then, the number of the products on the jig 200 is zero; if the total number of the products reaches the target number, the gripper mechanism 11 of the manipulator 1 is controlled to place the products on the gripper mechanism on the idle placement positions 210 of the jig 200 until the number of the products on the jig 200 reaches the target number, so that the number of the output products matches with the requirement of the next station 300. The controller 2 may be any electronic device with data processing capability, such as a PLC.
As a preferred embodiment, the number of the gripper mechanisms 11 is one less than the target number, whereby the requirement of the minimum number of gripper mechanisms 11 for achieving the adjustment of the number of products can be met, while the cost of the gripper mechanisms 11 can also be reduced. In one embodiment, the number of jaw mechanisms 11 is four, with a target number of five. Of course, in some embodiments, the number of the gripper mechanisms 11 may be the same as the target number, for example, the number of the gripper mechanisms 11 and the target number are both five. In some embodiments, the number of gripper mechanisms 11 may also be greater than a target number, for example, the number of gripper mechanisms 11 is 5, and the target number is 4. Therefore, the number of the gripper mechanisms 11 and the target number should not be limited as long as the number of the gripper mechanisms 11 smaller than the target number does not exceed one.
Specifically, the controller 2 obtains the number of products on the jig 200 when entering from the information sent from the previous station. Specifically, the previous station may be a detection station, the controller 2 controls the manipulator 1 of the detection station to place a plurality of products on the jig 200 and records the number of the products placed on the jig 200 by the manipulator 1, and then the controller 2 learns which products are not detected by the product detection result information sent by the detection station and controls the manipulator 1 to take away the products which are not detected by the jig 200; at this time, the controller 2 calculates the number of products on the jig 200 at the time of entry. For example, the controller 2 controls the robot 1 of the inspection station to place four products on the jigs 200, and the number of products entering the jigs 200 of the product and jig pairing system 100 of the present invention after inspection by the inspection station may be zero to four (all products are inspected to pass, all products are inspected not to pass, or part of the products are inspected to pass and part of the products are inspected to not pass). Of course, in some embodiments, the number of products on the jig 200 entering the product and jig pairing system 100 of the present invention may be directly sent to the controller 2 through the previous station; in addition, a sensor may be disposed at each placement position 210 on the fixture 200 to respectively sense the products on the fixture 200, and at this time, the controller 2 calculates the number of the products on the fixture 200 according to the sensing result of each sensor.
Referring to fig. 3, as a preferred embodiment, each of the clamping jaw mechanisms 11 includes a magnetic switch 111 for sensing whether the clamping jaw mechanism 11 clamps a product, and the controller 2 controls the action of the clamping jaw mechanism 11 according to sensing information sent by the magnetic switch 111. Specifically, the magnetic switch 111 is disposed on the clamping jaw cylinder 112, and when the controller 2 controls the clamping jaw mechanism 11 to clamp a product, the magnetic switch 111 detects a stroke of the clamping jaw cylinder 112 to know whether the clamping jaw mechanism 11 clamps the product, for example, when the stroke of the clamping jaw cylinder 112 only reaches a preset clamping stroke, it indicates that the clamping jaw mechanism 11 has clamped the product, and at this time, the controller 2 controls the lifting cylinder 113 of the clamping jaw mechanism 11 to drive the product to move upwards; when the stroke that the clamping jaw cylinder 112 can move is long, it indicates that the product is not clamped by the clamping jaw mechanism 11, and at this time, the controller 2 controls the clamping jaw mechanism 11 to clamp the product again, so as to ensure that the clamping jaw mechanism 11 can clamp the product away from the jig 200 according to the control instruction of the controller 2. Further, each placing position 210 of the jig 200 is further provided with a sensor 220 for sensing a product, and the controller 2 receives information sent by the sensor 220 to know whether a product is placed on each placing position 210.
As a preferred embodiment, before the gripper mechanism 11 is controlled by the jig 200 to grip the product, the controller 2 performs: judging the distance between each idle clamping jaw mechanism 11 and each placing position 210 on the jig 200 for placing the product; the vacant gripper mechanism 11 nearest to the placement position 210 where the product is placed is controlled to grip the product. The controller 2 controls the clamping jaw mechanism 11 to place the product in front of the jig 200, and executes: judging the distance between each clamping jaw mechanism 11 which clamps the product and each idle placing position 210 on the jig 200; the gripper mechanism 11 which is closest to the vacant placing position 210 of the jig 200 and has gripped the product is controlled to place the product on the jig 200. Therefore, the moving stroke of the manipulator 1 is reduced, and the working efficiency is improved.
Referring to fig. 1 and fig. 2, as a preferred embodiment, the product and fixture pairing system 100 further includes a conveying mechanism, and the controller 2 further performs: the jigs 200 whose number of products reaches the target number and the jigs 200 whose all products are gripped by the gripper mechanisms 11 are output by the conveying mechanism. That is, the jigs 200 whose number of products matches the demand of the next station 300 and the empty jigs 200 whose number of products is zero are output by the conveying mechanism.
Specifically, conveying mechanism includes the transport structure 31 of being connected with the communication of controller 2 respectively, block structure 32 and location structure, transport structure 31 includes two support that set up side by side at the conveying track 311 of the lower terminal surface of tool 200, block structure 32 and location structure locate transport structure 31's below in proper order along conveying track 311's direction of movement, be equipped with on the location structure a plurality of be used for with tool 200's locating hole (not shown) complex reference column (not shown), controller 2 still is used for carrying out: controlling the blocking structure 32 to rise to the upper part of the conveying structure 31 to block the jig 200; that is, the jig 200 moved to the position is blocked by the blocking structure 32, so that the gripper mechanism 11 can pick and place the product. Then, the in-place information sent by the blocking structure 32 is received; the blocking structure 32 is provided with a first sensor 321 for sensing in-place information, when the jig 200 is blocked by the blocking structure 32, the first sensor 321 sends the in-place information of the jig 200 to the controller 2, and the controller 2 receives the in-place information to know that the jig 200 is blocked by the blocking structure 32. Then, controlling the positioning structure to ascend so that the positioning column penetrates through the positioning hole; that is, when the jig 200 is blocked by the blocking structure 32, the controller 2 controls the positioning structure to ascend until the positioning column penetrates through the positioning hole, so as to position the jig 200, and therefore the clamping jaw mechanism 11 can accurately pick and place the product. Then, controlling the clamping jaw mechanism 11 to clamp the product by the jig 200 or place the product thereon on the jig 200; when the clamping jaw mechanism 11 finishes clamping or placing the product, the positioning structure and the blocking structure 32 are controlled to descend so that the conveying structure 31 can output the jig 200. By means of the design, the clamping jaw mechanism 11 can accurately pick and place products on the jig 200, and the operation efficiency is improved.
More specifically, the upper surface of the positioning structure is further provided with a second sensor 331, the second sensor 331 is in communication connection with the controller 2, and the controller 2 learns whether the jig 200 is accurately positioned on the positioning structure from information sent by the second sensor 331. In this embodiment, the conveying structure 31 includes a driving motor 312, and the conveying track 311 is driven by the driving motor 312 to drive the jig 200 to move; the blocking structure 32 comprises a first cylinder 322 which moves up and down by the expansion and contraction of the first cylinder 322, and the positioning structure comprises a second cylinder 332 which moves up and down by the expansion and contraction of the second cylinder 332.
In the present embodiment, the controller 2 controls the blocking structure 32 to ascend above the conveying structure 31 when receiving the tool 200 in-place information sent by the next station 300. Therefore, on the basis of ensuring that the current jig 200 passes through the position of the blocking structure 32, the blocking structure 32 is controlled to ascend, so as to block the next entering jig 200.
As a preferred embodiment, the feeding side of the conveying structure 31 is provided with an in-place sensor 313 for sensing the jig 200, and the controller 2 is further configured to perform: receiving in-place information sent by the in-place sensor 313; the conveying structure 31 is controlled to reduce the conveying speed. That is, the controller 2 learns that the jig 200 has moved to the conveying structure 31 through the in-place sensor 313, and controls the driving motor 312 to reduce the rotation speed when the jig 200 moves to the conveying structure 31, so as to reduce the moving speed of the conveying track 311, further reduce the moving speed of the jig 200, prevent the damage of the jig 200 or the blocking structure 32 caused by too large impact force when the jig 200 is blocked by the blocking structure 32, and prolong the service life of the product and jig pairing system 100.
Compared with the prior art, the total number of products is obtained by summing the number of the products on the jig 200 and the number of the products on the manipulator 1, the total number is compared with the target number, the clamping jaw mechanism 11 is controlled to clamp the products on the jig 200 or place the products on the jig 200 according to the comparison structure, the output products on the jig 200 are equal to the target number or zero, the number of the products on the jig 200 entering the next station 300 is matched with the requirement of the next station 300, and therefore the production efficiency can be improved.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, therefore, the present invention is not limited by the appended claims.
Claims (10)
1. The utility model provides a product and tool system of pairing for the quantity adjustment of the product on the tool of last work station output is target quantity output, its characterized in that includes:
the manipulator is provided with a plurality of clamping jaw mechanisms for picking and placing products, and the number of the clamping jaw mechanisms is at least a value obtained by subtracting one from the target number;
a controller for performing:
recording the number of products on the jig and the number of products on the manipulator when the workpieces enter the jig;
summing the number of the products on the jig and the number of the products on the manipulator when the products enter the jig, so as to obtain the total number of the products;
comparing the total number with the target number, and controlling the idle clamping jaw mechanism of the manipulator to clamp all products on the jig if the total number is smaller than the target number; if the total number reaches the target number, controlling a clamping jaw mechanism of the manipulator to place the products on the clamping jaw mechanism on an idle placing position of the jig until the number of the products on the jig reaches the target number.
2. The product and tool pairing system of claim 1, wherein the number of gripper mechanisms is one less than the target number.
3. The product and tool pairing system of claim 2, wherein the gripper mechanisms are four in number and the target number is five.
4. The system as claimed in claim 1, wherein the controller obtains the number of products on the jig when entering from the information sent from the previous station.
5. The product and fixture pairing system of claim 1, wherein the controller controls the gripper mechanism to perform, before the fixture grips the product:
judging the distance between each idle clamping jaw mechanism and each placing position on the jig, wherein the product is placed on the placing position;
controlling the idle clamping jaw mechanism closest to the placement position where the product is placed to clamp the product;
the controller controls the clamping jaw mechanism to place the product in front of the jig, and executes:
judging the distance between each clamping jaw mechanism which clamps the product and each idle placing position on the jig;
and controlling a clamping jaw mechanism which is closest to the idle placing position of the jig and clamps the product to place the product in the jig.
6. The product and fixture pairing system of claim 1, further comprising a conveying mechanism, the controller further performing: and controlling the conveying mechanism to output the jig with the number of products reaching the target number and the jig clamped by the clamping jaw mechanism.
7. The product and jig pairing system according to claim 6, wherein the conveying mechanism comprises a conveying structure, a blocking structure and a positioning structure which are respectively in communication connection with the controller, the conveying structure comprises two conveying rails which are arranged side by side and supported on the lower end face of the jig, the positioning structure and the blocking structure are sequentially arranged along the moving direction of the conveying structure, the positioning structure is arranged below the conveying structure, a plurality of positioning columns which are used for being matched with the positioning holes of the jig are arranged on the positioning structure, and the controller is further used for executing:
controlling the blocking structure to extend above the conveying structure so as to block the jig;
receiving in-place information sent by the blocking structure;
controlling the positioning structure to ascend so that the positioning column penetrates through the positioning hole;
controlling the clamping jaw mechanism to clamp the product by the jig or place the product on the jig;
and when the clamping jaw mechanism finishes clamping or placing the product, controlling the positioning structure and the blocking structure to descend so that the conveying structure outputs the jig.
8. The product and tool pairing system as claimed in claim 7, wherein the controller controls the blocking structure to extend above the conveying structure when receiving tool in-place information sent from a next station.
9. The product and fixture pairing system of claim 7, wherein the feeding side of the conveying structure is provided with an in-place sensor for sensing the fixture, and the controller is further configured to:
receiving in-place information sent by the in-place sensor;
and controlling the conveying structure to reduce the conveying speed.
10. The product and fixture pairing system as claimed in claim 1, wherein the gripper mechanism includes a magnetic switch for sensing whether the gripper mechanism grips the product, and the controller controls the action of the gripper mechanism according to sensing information sent by the magnetic switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911422987.5A CN111039006A (en) | 2019-12-30 | 2019-12-30 | Product and tool pairing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911422987.5A CN111039006A (en) | 2019-12-30 | 2019-12-30 | Product and tool pairing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111039006A true CN111039006A (en) | 2020-04-21 |
Family
ID=70243274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911422987.5A Pending CN111039006A (en) | 2019-12-30 | 2019-12-30 | Product and tool pairing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111039006A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084659A (en) * | 2022-01-20 | 2022-02-25 | 常州铭赛机器人科技股份有限公司 | Operation rail |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07130588A (en) * | 1993-10-22 | 1995-05-19 | Aputo Deito:Kk | Capacitor tab terminal automatic refilling device |
| CN204772579U (en) * | 2015-06-24 | 2015-11-18 | 常州市乘风机械厂 | Pneumatic manipulator is taken to stamping workpiece clamp |
| CN206665588U (en) * | 2017-04-11 | 2017-11-24 | 常熟生益科技有限公司 | A kind of positioning system of feeding of punching |
| CN107651425A (en) * | 2017-10-09 | 2018-02-02 | 广东利元亨智能装备有限公司 | A kind of rotating disc type battery core pair system |
| CN207573739U (en) * | 2017-12-19 | 2018-07-03 | 浙江泰米电子科技有限公司 | A kind of wireless charging module production welding equipment |
| CN109399173A (en) * | 2018-12-26 | 2019-03-01 | 苏州富强科技有限公司 | Carrier positions assembly line |
| CN109809168A (en) * | 2017-12-07 | 2019-05-28 | 迈得医疗工业设备股份有限公司 | Medical instrument feed supplementing device and its control method |
| CN209112988U (en) * | 2018-10-29 | 2019-07-16 | 武汉逸飞激光设备有限公司 | A kind of battery core automatic feeding system |
-
2019
- 2019-12-30 CN CN201911422987.5A patent/CN111039006A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07130588A (en) * | 1993-10-22 | 1995-05-19 | Aputo Deito:Kk | Capacitor tab terminal automatic refilling device |
| CN204772579U (en) * | 2015-06-24 | 2015-11-18 | 常州市乘风机械厂 | Pneumatic manipulator is taken to stamping workpiece clamp |
| CN206665588U (en) * | 2017-04-11 | 2017-11-24 | 常熟生益科技有限公司 | A kind of positioning system of feeding of punching |
| CN107651425A (en) * | 2017-10-09 | 2018-02-02 | 广东利元亨智能装备有限公司 | A kind of rotating disc type battery core pair system |
| CN109809168A (en) * | 2017-12-07 | 2019-05-28 | 迈得医疗工业设备股份有限公司 | Medical instrument feed supplementing device and its control method |
| CN207573739U (en) * | 2017-12-19 | 2018-07-03 | 浙江泰米电子科技有限公司 | A kind of wireless charging module production welding equipment |
| CN209112988U (en) * | 2018-10-29 | 2019-07-16 | 武汉逸飞激光设备有限公司 | A kind of battery core automatic feeding system |
| CN109399173A (en) * | 2018-12-26 | 2019-03-01 | 苏州富强科技有限公司 | Carrier positions assembly line |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084659A (en) * | 2022-01-20 | 2022-02-25 | 常州铭赛机器人科技股份有限公司 | Operation rail |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109132525B (en) | Material taking device and workpiece conveying mechanism | |
| CN107363509B (en) | Compressor rotor assembly system and assembly method | |
| CN1233510C (en) | Articles transfer device | |
| CN208234120U (en) | Cylinder body handling gripper | |
| CN204453804U (en) | A kind of full automaticity charging and discharging mechanism | |
| CN202464724U (en) | Multi-stage rail device | |
| CN110031712B (en) | Carbon brush holder assembly line and carbon brush holder test system | |
| CN104692114A (en) | Full-automatic feeding and discharging mechanism | |
| CN111070197A (en) | Automatic clamp, automatic grabbing device, mechanical arm and robot | |
| CN104647373A (en) | Carrying system of robot palletizer and carrying method of robot palletizer | |
| CN113479640A (en) | Sucker clamp control system and control method based on visual detection technology | |
| CN112265700A (en) | Sheet metal part blanking and boxing system and control method thereof | |
| CN111039006A (en) | Product and tool pairing system | |
| US20040007140A1 (en) | Manufacturing cell and a transfer and manipulating apparatus for work pieces | |
| CN215100572U (en) | Automatic snatch manipulator | |
| CN114643382B (en) | Automatic blade batch loading and unloading method based on robot system | |
| CN107399602A (en) | One kind takes feed device automatically | |
| CN210649403U (en) | Automobile front suspension bolt fastening equipment | |
| CN212122300U (en) | Nut installation device and fuel cell stack assembly system with same | |
| CN109531399B (en) | Method and assembly for detecting and grabbing different heights of polycrystalline silicon blocks | |
| CN111332773A (en) | Multi-station switching intelligent debugging production line and working method thereof | |
| CN215973643U (en) | Nylon plate feeding mechanism | |
| WO2019237503A1 (en) | Positioning transmission mechanism and positioning transmission production system | |
| CN211643829U (en) | Loading device and fuel cell stack assembly system with same | |
| KR20160129334A (en) | Turning and feeding loader for processing machine |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200421 |