CN111517083A - Die changing trolley - Google Patents

Die changing trolley Download PDF

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Publication number
CN111517083A
CN111517083A CN202010638277.2A CN202010638277A CN111517083A CN 111517083 A CN111517083 A CN 111517083A CN 202010638277 A CN202010638277 A CN 202010638277A CN 111517083 A CN111517083 A CN 111517083A
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CN
China
Prior art keywords
rod
lifting
connecting rod
mould
fixed
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Granted
Application number
CN202010638277.2A
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Chinese (zh)
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CN111517083B (en
Inventor
管高峰
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Suzhou Greefu M&e Technology Co ltd
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Suzhou Greefu M&e Technology Co ltd
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Application filed by Suzhou Greefu M&e Technology Co ltd filed Critical Suzhou Greefu M&e Technology Co ltd
Priority to CN202010638277.2A priority Critical patent/CN111517083B/en
Publication of CN111517083A publication Critical patent/CN111517083A/en
Application granted granted Critical
Publication of CN111517083B publication Critical patent/CN111517083B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00Mechanical conveyors not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/10Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Handcart (AREA)

Abstract

The invention discloses a die change trolley, which comprises a trolley body, wherein a roller mechanism is arranged on the trolley body, the front side of the roller mechanism is provided with a lifting mechanism for driving the roller mechanism to lift, the left side and the right side of the roller mechanism on the vehicle body are provided with a mold locking mechanism, the vehicle body also comprises a slide rail, the bottom of the cart body is provided with a pulley which can slide in a slide rail, the slide rail is provided with a plurality of first fixing grooves which are matched with the mould locking mechanism, the lifting mechanism and the mould locking mechanism arranged on the mould changing trolley solve the problems that in the mould changing process, the risk that because inertia slides forward and drops even can appear, the retooling car that can't carry out altitude mixture control can't use with the fortune mould car cooperation of co-altitude not when carrying out the mould change, has reduced the rate of utilization and the work efficiency's of retooling car problem, and adopts pure mechanical operation, has improved the life of retooling dolly.

Description

Die changing trolley
Technical Field
The invention relates to the technical field of mold replacement, in particular to a mold replacing trolley.
Background
The mode of the retooling mode that adopts at present generally is that the crane or retooling car carries out the change of mould, the investment cost who adopts the crane is great, and it is inconvenient to remove, so the mode commonly used is that carry out the change of mould through the retooling car, there is not mould locking mechanical system and the unable problem of carrying out altitude mixture control in the current retooling car, at the mould change in-process, can appear because the risk that inertia slided forward and drops even, the retooling car that can't carry out altitude mixture control can't use with the cooperation of not co-altitude fortune mould car when carrying out the mould change, the rate of utilization and the work efficiency of retooling car have been reduced.
Disclosure of Invention
The invention solves the technical problem of providing the die change trolley provided with the lifting mechanism and the die locking mechanism, solves the problem that the die change trolley which cannot be adjusted in height cannot be matched with die transport trolleys of different heights for use when changing dies due to the risk that the die slides forwards or even falls off due to inertia in the die changing process, reduces the utilization rate and the working efficiency of the die change trolley, and improves the service life of the die change trolley by adopting pure mechanical operation.
The technical scheme adopted by the invention for solving the technical problems is as follows: a die change trolley comprises a trolley body, wherein a roller mechanism is arranged on the trolley body, a lifting mechanism used for driving the roller mechanism to lift is arranged on the front side of the roller mechanism, die locking mechanisms are arranged on the trolley body and positioned on the left side and the right side of the roller mechanism, a small roller mechanism is arranged between the roller mechanism and the die locking mechanisms, a slide rail is further included, a pulley capable of sliding in the slide rail is arranged at the bottom of the trolley body, a plurality of first fixing grooves matched with the die locking mechanisms are formed in the slide rail, the roller mechanism comprises a fixing plate, first mounting plates are fixedly arranged on two sides of the fixing plate, a plurality of first rollers are arranged on the first mounting plates, the lifting mechanism comprises a first fixing frame fixed on the trolley body, a first lifting rod, second lifting rods arranged on two sides of the first lifting rod and a lifting plate positioned on the lower portion of the first fixing frame, first lifter one end is provided with first link mechanism, the first lifter other end is connected with the lifter plate, second lifter one end is connected with the fixed plate, the second lifter other end passes first mount and is connected with the lifter plate, be provided with first spring on the second lifter, first spring one end is fixed on the fixed plate, the first spring other end is fixed on first mount.
Further, the method comprises the following steps: the roller mechanism comprises a fixing plate, wherein first mounting plates are fixedly arranged on two sides of the fixing plate, and a plurality of first rollers are arranged on the first mounting plates.
Further, the method comprises the following steps: the first connecting rod mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod and further comprises a second fixing frame fixed on the first fixing frame, a second roller is arranged at one end of the first connecting rod, the middle of the first connecting rod is rotatably arranged on the second fixing frame, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with one end of the third connecting rod, and the other end of the third connecting rod is fixed on the first lifting rod.
Further, the method comprises the following steps: the mould locking mechanism comprises a second mounting plate, a third mounting plate and a second connecting rod mechanism which are fixed on the vehicle body, a first rotating rod is arranged on the second mounting plate, a first handle is arranged at one end of the first rotating rod, a fourth mounting plate is fixedly arranged in the middle of the first rotating rod, a baffle plate for locking the die is arranged at the other end of the first rotating rod, the third mounting plate is provided with a second rotating rod, one end of the second rotating rod is provided with a second fixing groove, and the third mounting plate also comprises a second rotating rod locking mechanism which is used for extending into the second fixing groove to prevent the second rotating rod from rotating, the second connecting rod mechanism comprises a fourth connecting rod and a fifth connecting rod, one end of the fourth connecting rod is rotatably arranged on the fourth mounting plate, the other end of the fourth connecting rod is rotatably connected with one end of a fifth connecting rod, and the other end of the fifth connecting rod is fixedly arranged on the second rotating rod.
Further, the method comprises the following steps: second rotary rod locking mechanical system includes the third lifter, from the top down is provided with first fixed block, first stopper, spring spacer sleeve and second fixed block in line on the third lifter, be provided with the second spring between spring spacer sleeve and the second fixed block, be provided with on the automobile body with first stopper complex second stopper.
Further, the method comprises the following steps: and a second handle is arranged on the third lifting rod.
The invention has the beneficial effects that: through the elevating system and the mould locking mechanical system who set up on the retooling dolly, solved and changed the in-process at the mould, can appear because the risk that inertia slided forward and drops even, the retooling car that can't carry out altitude mixture control can't use with the fortune mould car cooperation of co-altitude not when carrying out the mould change, has reduced the rate of utilization and the work efficiency's of retooling car problem, and adopts pure mechanical operation, has improved the life of retooling dolly.
Drawings
FIG. 1 is an overall schematic view of a mold changing trolley.
Fig. 2 is a schematic view of a roller mechanism.
Fig. 3 is a schematic view of the elevating mechanism.
Fig. 4 is a schematic view of the first link mechanism.
Fig. 5 is a front view of the mold locking mechanism locking the mold.
Fig. 6 is a side view of the mold locking mechanism locking the mold.
Fig. 7 is a schematic view of a second rotary lever locking mechanism.
Fig. 8 is a side view of the mold when the mold locking mechanism is not locked to the mold.
Labeled as: a vehicle body 1, a pulley 11, a first fixing groove 12, a roller mechanism 2, a fixing plate 21, a first mounting plate 22, a first roller 23, a lifting mechanism 3, a first fixing frame 31, a first lifting rod 32, a second lifting rod 33, a lifting plate 34, a first link mechanism 35, a first link 351, a second link 352, a third link 353, a second fixing frame 354, a second roller 355, a first spring 36, a mold locking mechanism 4, a second mounting plate 41, a first rotating rod 411, a first handle 412, a fourth mounting plate 413, a baffle 414, a third mounting plate 42, a second rotating rod 421, a second link mechanism 43, a fourth link 431, a fifth link 432, a second rotating rod locking mechanism 45, a third lifting rod 44, a second handle 441, a first fixing block 442, a first stopper 443, a spring retaining sleeve 444, a second fixing block 445, a second spring 446, a second stopper 447, a slide rail 5, a lifting mechanism 3, a first fixing frame 31, a second lifting rod 32, a second lifting rod, And a small roller mechanism 6.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1 to 4, a die change trolley comprises a trolley body 1, wherein a roller mechanism 2 is arranged on the trolley body 1, a lifting mechanism 3 for driving the roller mechanism 2 to lift is arranged on the front side of the roller mechanism 2, die locking mechanisms 4 are arranged on the trolley body 1 and positioned on the left side and the right side of the roller mechanism 2, a small roller mechanism 6 is further arranged between the roller mechanism 2 and the die locking mechanisms 4, the die change trolley further comprises a slide rail 5, a pulley 11 capable of sliding in the slide rail 5 is arranged at the bottom of the trolley body 1, a plurality of first fixing grooves 12 matched with the die locking mechanisms 4 are arranged on the slide rail 5, the roller mechanism 2 comprises a fixing plate 21, first mounting plates 22 are fixedly arranged on two sides of the fixing plate 21, a plurality of first rollers 23 are arranged on the first mounting plates 22, the lifting mechanism 3 comprises a first fixing frame 31 fixed on the trolley body, the lifting device further comprises a first lifting rod 32, second lifting rods 33 arranged on two sides of the first lifting rod 32 and a lifting plate 34 positioned at the lower part of the first fixing frame 31, wherein a first connecting rod mechanism 35 is arranged at one end of the first lifting rod 32, the other end of the first lifting rod 32 is connected with the lifting plate 34, one end of the second lifting rod 33 is connected with the fixing plate 21, the other end of the second lifting rod 33 penetrates through the fixing frame to be connected with the lifting plate 34, a first spring 36 is arranged on the second lifting rod 33, one end of the first spring 36 is fixed on the fixing plate 21, and the other end of the first spring 36 is fixed on the first fixing frame 31; when the first connecting rod mechanism 35 operates, the fixed plate 21 is driven to move upwards through the first lifting rod 32, the second lifting rod 33 and the lifting plate 34, so that the roller mechanism 2 moves upwards, the fixed plate 21 moving upwards drives one end of the first spring 36 to move upwards, at the moment, the first spring 36 is in a stretching state, when the height adjustment is not needed, the first lifting rod 32, the second lifting rod 33, the lifting plate 34 and the fixed plate 21 move downwards under the action of the first spring 36, so that the roller mechanism 2 returns to the original height, the problems that a die changing vehicle which cannot perform height adjustment cannot be matched with die conveying vehicles with different heights during die changing are solved, the utilization rate and the working efficiency of the die changing vehicle are reduced, the roller mechanism 2 and the small roller mechanism 6 are arranged for conveying a die, and the lifting mechanism 3 for driving the roller mechanism 2 to lift enables the roller mechanism 2 to be matched with the height of the die conveying vehicle, the convenient retooling car that can't carry out altitude mixture control can't use with the fortune mould car cooperation of co-altitude not when carrying out the mould change, has reduced the rate of utilization and the problem of work efficiency of retooling car, and the mould locking mechanical system 4 that sets up locks the mould, prevents to appear because the risk that inertia slided forward and drops even in the mould change in-process, and adopts pure mechanical operation, has improved the life of retooling car.
On the basis, as shown in fig. 4, the first link mechanism 35 includes a first link 351, a second link 352, a third link 353, and a second fixing frame 354 fixed on the first fixing frame 31, one end of the first link 351 is provided with a second roller 355, the middle of the first link 351 is rotatably arranged on the second fixing frame 354, the other end of the first link 351 is rotatably connected with one end of the second link 352, the other end of the second link 352 is rotatably connected with one end of the third link 353, and the other end of the third link 353 is fixed on the first lifting rod 32; the mould changing trolley is in butt joint with the mould feeding trolley, a pressure plate is arranged on the mould feeding trolley, the pressure plate presses the second roller 355 downwards to enable the second roller 355 to do clockwise movement, meanwhile, the first connecting rod 351 and the second connecting rod 352 are driven to do clockwise movement, the third connecting rod 353 moves upwards, the third connecting rod 353 moving upwards drives the lifting plate 34 to move upwards through the first lifting rod 32, the lifting plate 34 moving upwards drives the fixing plate 21 to move upwards through the second lifting rod 33, so that the roller mechanism 2 moves upwards, at the moment, the first spring 36 is in a compression state, the height of the roller mechanism is consistent with the height of the mould feeding trolley, the mould is moved from the mould feeding trolley to the mould changing trolley, after the mould is moved onto the mould changing trolley, the mould feeding trolley is far away from the mould changing trolley, at the moment, the pressure plate on the mould feeding trolley is far away from the second roller 355, and the lifting plate 34 moves downwards under the action of the first spring 36, and drive roller mechanism downstream through first lifter 32 and second lifter 33, get back to original height, realize transporting to the mould, solved the retooling car that can't carry out altitude mixture control can't use with the not co-altitude fortune mould car cooperation when carrying out the mould change, reduced the rate of utilization and the work efficiency's of retooling car problem.
On this basis, as shown in fig. 5, 6 and 8, the mold locking mechanism 4 includes a second mounting plate 41, a third mounting plate 42 and a second link mechanism 43 fixed on the vehicle body 1, the second mounting plate 41 is provided with a first rotating rod 411, one end of the first rotating rod 411 is provided with a first handle 412, the middle part of the first rotating rod 411 is fixedly provided with a fourth mounting plate 413, the other end of the first rotating rod 411 is provided with a baffle 414 for locking the mold, the third mounting plate 42 is provided with a second rotating rod 421, one end of the second rotating rod 421 is provided with a second fixing groove, and further includes a second rotating rod locking mechanism 45 extending into the second fixing groove to prevent the second rotating rod from rotating, the second link mechanism 43 includes a fourth link 431 and a fifth link 432, one end of the fourth link 431 is rotatably arranged on the fourth mounting plate 413, the other end of the fourth link 431 is rotatably connected with one end of a fifth link 432, and the other end of the fifth link 432 is fixedly arranged on the second rotating rod 421;
when the die locking mechanism 4 locks the small roller mechanism 6, as shown in fig. 5 and 6, the first handle 412 is in a vertical state, the baffle 414 installed at the other end of the first rotating rod 411 for locking the die extends into the small roller mechanism 6, and the second rotating rod locking mechanism 45 locks the second rotating rod 421; when the die locking mechanism 4 does not lock the small roller mechanism 6, as shown in fig. 8, the second rotating rod locking mechanism 45 is operated to not lock the second rotating rod 421, and then the first rotating rod 411 is rotated clockwise by operating the first handle 412, the first rotating rod 411 which rotates clockwise drives the fourth mounting plate 413 and the baffle 414 to rotate clockwise, the fourth mounting plate 413 drives the second rotating rod 421 to rotate clockwise by the fourth connecting rod 431 and the fifth connecting rod 432, the baffle 414 is far away from the small roller mechanism 6 at this time, the die is not locked, the first handle 412 is in a horizontal state, and the problem of risk that the die slides forward or even falls off due to inertia in the die replacing process is solved.
On the basis, as shown in fig. 7, the second rotating lever locking mechanism 45 includes a third lifting lever 44, a first fixed block 442, a first limit block 443, a spring collar 444 and a second fixed block 445 are sequentially arranged on the third lifting lever 44 from top to bottom, a second spring 446 is arranged between the spring collar 444 and the second fixed block 445, and a second limit block 447 engaged with the first limit block 443 is arranged on the vehicle body 1; when the second rotating rod 421 is not required to be locked, the third lifting rod 44 moves downward, and the third lifting rod 44 rotates, the first limiting block 443 is clamped on the second limiting block 447, at this time, the second spring 446 is clamped between the spring sleeve 444 and the second fixing block 445 and is in a compressed state, positioning of the third lifting rod 44 is achieved, at this time, the second rotating rod 421 can be operated, when the second rotating rod 421 is required to be locked, the third lifting rod 44 is rotated to enable the first limiting block 443 to be separated from the second limiting block 447, the third lifting rod 44 moves upward under the action of the second spring 446, one end of the third lifting rod 44 extends into the second fixing groove formed in one end of the second rotating rod 421, at this time, the second rotating rod 421 is locked, rotation cannot be performed, operation of a worker is facilitated, and the effect of improving the working efficiency is achieved.
On the basis, as shown in fig. 7, a second handle 441 is mounted on the third lifting rod 44; the second handle 441 is arranged, so that the third lifting rod 44 can be conveniently operated by a worker, and the working efficiency is improved.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. The utility model provides a retooling dolly, includes automobile body (1), its characterized in that: the trolley is characterized in that a roller mechanism (2) is arranged on the trolley body (1), a lifting mechanism (3) used for driving the roller mechanism (2) to lift is arranged on the front side of the roller mechanism (2), a mould locking mechanism (4) is arranged on the trolley body (1) and positioned on the left side and the right side of the roller mechanism (2), a small roller mechanism (6) is further arranged between the roller mechanism (2) and the mould locking mechanism (4), the trolley further comprises a sliding rail (5), a pulley (11) capable of sliding in the sliding rail (5) is arranged at the bottom of the trolley body (1), a plurality of first fixing grooves (12) matched with the mould locking mechanism (4) are arranged on the sliding rail (5), the roller mechanism (2) comprises a fixing plate (21), first mounting plates (22) are fixedly arranged on two sides of the fixing plate (21), a plurality of first rollers (23) are arranged on the first mounting plates (, the lifting mechanism (3) comprises a first fixed frame (31) fixed on the vehicle body (1), a first lifting rod (32), second lifting rods (33) arranged at two sides of the first lifting rod (32) and a lifting plate (34) positioned at the lower part of the first fixed frame (31), one end of the first lifting rod (32) is provided with a first connecting rod mechanism (35), the other end of the first lifting rod (32) is connected with a lifting plate (34), one end of the second lifting rod (33) is connected with the fixed plate (21), the other end of the second lifting rod (33) passes through the first fixed frame (31) to be connected with the lifting plate (34), a first spring (36) is sleeved on the second lifting rod (33), one end of the first spring (36) is fixed on the fixing plate (21), the other end of the first spring (36) is fixed on the first fixing frame (31).
2. The mold change cart as claimed in claim 1, wherein: the first connecting rod mechanism (35) comprises a first connecting rod (351), a second connecting rod (352) and a third connecting rod (353), and further comprises a second fixing frame (354) fixed on the first fixing frame (31), a second roller (355) is arranged at one end of the first connecting rod (351), the middle of the first connecting rod (351) is rotatably arranged on the second fixing frame (354), the other end of the first connecting rod (351) is rotatably connected with one end of the second connecting rod (352), the other end of the second connecting rod (352) is rotatably connected with one end of the third connecting rod (353), and the other end of the third connecting rod (353) is fixed on the first lifting rod (32).
3. The mold change cart as claimed in claim 1, wherein: mould locking mechanical system (4) is including fixing second mounting panel (41), third mounting panel (42) and second link mechanism (43) on automobile body (1), be provided with first rotary rod (411) on second mounting panel (41), first leader (412) are installed to first rotary rod (411) one end, first rotary rod (411) middle part is fixed and is provided with fourth mounting panel (413), baffle (414) that are used for locking the mould are installed to first rotary rod (411) other end, be provided with second rotary rod (421) on third mounting panel (42), second rotary rod (421) one end is provided with the second fixed slot, still including being used for stretching into second fixed slot in preventing second rotary rod (421) pivoted second rotary rod locking mechanical system (45), second link mechanism (43) includes fourth connecting rod (431) and fifth connecting rod (432), one end of the fourth connecting rod (431) is rotatably arranged on the fourth mounting plate (413), the other end of the fourth connecting rod (431) is rotatably connected with one end of a fifth connecting rod (432), and the other end of the fifth connecting rod (432) is fixedly arranged on the second rotating rod (421).
4. The mold change cart as claimed in claim 3, wherein: the second rotating rod locking mechanism (45) comprises a third lifting rod (44), a first fixing block (442), a first limiting block (443), a spring retaining sleeve (444) and a second fixing block (445) are sequentially arranged on the third lifting rod (44) from top to bottom, a second spring (446) is arranged between the spring retaining sleeve (444) and the second fixing block (445), and a second limiting block (447) matched with the first limiting block (443) is arranged on the vehicle body (1).
5. The mold change cart as claimed in claim 4, wherein: and a second handle (441) is also arranged on the third lifting rod (44).
CN202010638277.2A 2020-07-06 2020-07-06 Die changing trolley Active CN111517083B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010638277.2A CN111517083B (en) 2020-07-06 2020-07-06 Die changing trolley

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010638277.2A CN111517083B (en) 2020-07-06 2020-07-06 Die changing trolley

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Publication Number Publication Date
CN111517083A true CN111517083A (en) 2020-08-11
CN111517083B CN111517083B (en) 2021-03-16

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Application Number Title Priority Date Filing Date
CN202010638277.2A Active CN111517083B (en) 2020-07-06 2020-07-06 Die changing trolley

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112588972A (en) * 2020-11-23 2021-04-02 湘潭大学 Panel beating retooling manipulator

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09104530A (en) * 1995-07-04 1997-04-22 Licentia Patent Verwalt Gmbh Carrying device with stopper
DE10149461A1 (en) * 2001-10-08 2003-04-24 Josef Horstmann Foerder Und Pa Conveyor has roller track, on which rocker arms are fitted which can be tilted so that one end fits between feet of pallet, holding it temporarily to prevent collision with another pallet
CN103896005A (en) * 2014-03-18 2014-07-02 京东方科技集团股份有限公司 Conveying device
CN106393577A (en) * 2016-11-18 2017-02-15 江苏智石科技有限公司 Universal mold changing trolley
CN210504523U (en) * 2019-07-16 2020-05-12 苏州康克莱自动化科技有限公司 Conveying line positioning device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09104530A (en) * 1995-07-04 1997-04-22 Licentia Patent Verwalt Gmbh Carrying device with stopper
DE10149461A1 (en) * 2001-10-08 2003-04-24 Josef Horstmann Foerder Und Pa Conveyor has roller track, on which rocker arms are fitted which can be tilted so that one end fits between feet of pallet, holding it temporarily to prevent collision with another pallet
CN103896005A (en) * 2014-03-18 2014-07-02 京东方科技集团股份有限公司 Conveying device
CN106393577A (en) * 2016-11-18 2017-02-15 江苏智石科技有限公司 Universal mold changing trolley
CN210504523U (en) * 2019-07-16 2020-05-12 苏州康克莱自动化科技有限公司 Conveying line positioning device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112588972A (en) * 2020-11-23 2021-04-02 湘潭大学 Panel beating retooling manipulator

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