CN113291730A - Multidirectional carrying device based on industrial robot and carrying method thereof - Google Patents
Multidirectional carrying device based on industrial robot and carrying method thereof Download PDFInfo
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- CN113291730A CN113291730A CN202110679766.7A CN202110679766A CN113291730A CN 113291730 A CN113291730 A CN 113291730A CN 202110679766 A CN202110679766 A CN 202110679766A CN 113291730 A CN113291730 A CN 113291730A
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- storage box
- power module
- industrial robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0258—Weight of the article
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention provides a multidirectional carrying device based on an industrial robot and a carrying method thereof, and belongs to the field of workpiece carrying. The conveying system comprises a conveying assembly and a control system, and the conveying assembly is controlled by the control system to move, so that the workpieces can be automatically conveyed, the manual conveying time is reduced, and the working efficiency is further improved; through the adjusting part who sets up among the handling mechanism, carry out the rotation of certain angle with the support frame among the handling mechanism in handling, prevent to be removed the problem that the in-process work piece was thrown away to and the telescoping device of setting between the support frame of handling mechanism, can carry out the chucking or loosen the storage box that sets up between the support frame, be convenient for more to the change of work piece box, the unstable problem of transportation that intelligent floor truck brought has more been solved in this design, further improvement production efficiency.
Description
Technical Field
The invention relates to the technical field of workpiece transportation, in particular to a multidirectional transportation device based on an industrial robot and a transportation method thereof.
Background
After the power cord is assembled in production, need take out the power cord that the processing was accomplished from the circulation frame and coil wire again and beat the mark, convenient subsequent storage or wire winding. However, in the existing power cord production technology, after the power cord processing is completed by the operator at the last station, the tail of the transmission line is accumulated, and then the wire is conveyed to the wire winding marking station by other operators, or the operator waiting for the station of the wire winding marking machine performs self-picking, so that the operation mode often causes the accumulation of excessive force, influences the risk of the processing progress and wastes time and labor.
In order to solve the problems, the prior art also adopts an intelligent carrying vehicle to carry out carrying, the motion of the intelligent carrying trolley is mainly carried out by depending on an underground magnetic strip, but the magnetic strip is arranged on the ground of a factory and is easily broken, or the problem of demagnetization easily occurs after long-time use, the ground of the factory is required to be limited, the maintenance difficulty can be caused when the magnetic strip is damaged, and the carrying stability of the intelligent carrying trolley is directly influenced.
Therefore, there is a need for a transportation device that can improve the stability of transportation, and can be easily maintained without being restricted by the floor of a factory.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a multidirectional conveying device based on an industrial robot and further provides a conveying method based on the conveying device, so as to solve the problems in the prior art.
The technical scheme is as follows: the multi-directional conveying device based on the industrial robot comprises a conveying assembly and a control system.
The carrying assembly comprises a first power module, a carrying mechanism connected with the first power module and used for carrying workpieces, and a sensor arranged at the bottom of the carrying mechanism and used for sensing the weight of the workpieces;
the control system is connected with the first power module and is used for controlling the movement of the first power module;
the sensor receives the weight of the workpiece in the carrying mechanism, and the control system receives the weight information of the sensor and controls the first power module to drive the carrying mechanism to move.
In a further embodiment, transport mechanism includes the guide part, with guide part sliding connection, be used for transporting the storage box of object, keep away from storage box opening one side, and be connected with the storage box, be used for supporting storage box's adjusting device, when needs transportation work piece, storage box is under the guide of guide part, and the work piece is transported in steady going on, and adjusting device supports the storage box in the motion, prevents the phenomenon that the upset appears in the in-process of motion, further improves conveying efficiency, improves the stability of transportation.
In a further embodiment, adjusting device includes the rotating turret, the rotating turret is used for supporting the storage box, after the work piece in the storage box was placed, the storage box upset backward can appear owing to inertia in the in-process of motion, and the support frame sets up at its back, further prevents the problem that the upset appears in the in-process of transportation, improves conveying efficiency.
In a further embodiment, the adjusting device further comprises a second power module arranged at one side of the rotating frame, a rotating part connected with the second power module and arranged at two ends of the supporting frame, a transmission mechanism connected with the second power module and rotationally connected with the rotating part, and a reversing block which is coaxially and fixedly connected with the rotating piece and drives the storage box to rotate under the action of the transmission mechanism, when the workpiece in the storage box meets the preset weight, the control system controls the storage box to transport along the guide rail, in the transportation process, in order to prevent the workpieces from being scattered from the storage box, the second power module drives the transmission mechanism to rotate, the transmission mechanism drives the rotating part connected with the transmission mechanism to rotate, and then drive the switching-over piece and rotate, and then drive the storage box and upwards rotate, further improved the stability of transportation.
In a further embodiment, transport mechanism still includes the telescoping device, the telescoping device sets up on the support frame, the bottom plate that cylinder among the telescoping device drove the support frame reciprocates for adjust the height of support frame, when storage box need be maintained or when changing, only need adjust the telescoping device and take out storage box from the support frame, in time more change new storage box, not only can more convenient opposition thing case change and easy replacement, save the cost and can not cause the phenomenon of piling up of wire rod.
In a further embodiment, transmission device is the hold-in range pulley structure, through the switching-over piece drives not equidirectional upset about the storage box carries out, and the hold-in range rotates through driving the switching-over piece, guarantees its turned angle's precision, and carries out stable fixed to the storage box angle of having adjusted the angle, improves the stability of transportation.
In a further embodiment, the conveying mechanisms are at least arranged in 2 groups and are respectively connected with the control system, the conveying directions are opposite, and the control system controls the 2 groups of conveying mechanisms to automatically realize conveying operation, so that multidirectional conveying of workpieces is realized, and the production efficiency is further improved.
In a further embodiment, the carrying mechanism further includes a limiting member, the limiting member is disposed between the supporting frame and the article-placing box body, and is used for supporting the article-placing box body, when the supporting frame rotates under the control of the adjusting device, the article-placing box also rotates along with the supporting frame, and the limiting member is disposed to prevent collision with the supporting frame during rotation, so that carrying safety is further ensured, and cost for replacing parts is also reduced.
A conveying method of a multidirectional conveying device based on an industrial robot comprises the following steps:
s1, an operator at the tail of the assembly line puts a workpiece into the storage box, an inductor arranged at the bottom of the storage box induces the weight of the workpiece in the storage box, then a weight signal is transmitted to a control system, the control system controls a first power module to move after receiving the signal of the inductor, meanwhile, an adjusting component adjusts the angle of a supporting frame, so that the supporting frame rotates upwards by a certain angle, meanwhile, the storage box is driven to rotate by a certain angle, and then the step 2 is carried out;
s2, the first power module drives the carrying mechanism to move to the next station to be processed, then an operator of the work takes out the carried workpiece, the sensor arranged at the bottom of the storage box senses the weight of the workpiece in the storage box at the moment and transmits a signal to the control system, the control system controls the first power module to convey the carrying mechanism to the tail of the assembly line to be carried again, meanwhile, the adjusting device controls the downward rotating and moving angle of the support frame, so that the support frame is flush with the ground, the operator at the tail of the assembly line carries the workpiece into the storage box of the carrying mechanism, the sensor detects the weight again, transmits the signal to the control system, and then the process enters step 3;
and S3, sequentially carrying out the operation steps from S1 to S2 until the system stops working.
Has the advantages that: the invention provides a multidirectional carrying device based on an industrial robot and a carrying method thereof, wherein a control system controls a carrying assembly to move, so that automatic carrying of workpieces can be realized, the time for manual carrying is reduced, and the working efficiency is further improved; through the adjusting part that sets up among the handling mechanism, the support frame in the handling mechanism carries out the rotation of certain angle in handling, prevent to be removed the problem that the in-process work piece was thrown away, and the telescoping device of setting between the support frame of handling mechanism, can carry out the chucking or loosen the storage box that sets up between the support frame, be convenient for more to the change of work piece box, in addition this design is carried through a plurality of handling subassemblies of control system control, multi-directional transport work can be realized, further solved the consuming time power that exists of artifical transport among the prior art, and the problem of the inconvenient maintenance that the transport trolley relies on the magnetic stripe to transport and bring, further improvement production efficiency.
Drawings
FIG. 1 is a schematic view of the overall structural assembly of the multi-directional handling system of the present invention;
FIG. 2 is a schematic view of the adjusting device according to the present invention;
FIG. 3 is a schematic view of a connecting structure of an adjusting device and a supporting frame according to the present invention;
FIG. 4 is a schematic view of the structure of the telescopic device of the present invention;
FIG. 5 is a schematic view of the connection between the pressure sensor and the support frame according to the present invention.
FIG. 6 is a flow chart of the working principle of the carrying mechanism of the present invention.
The figures are numbered: the device comprises a storage box 1, a telescopic device 2, a moving block 2a, a moving shaft 2b, a supporting plate 2c, an adjusting device 3, a rotating frame 3a, a synchronous belt 3b, a motor 3c, a synchronous wheel 3d, a rotating shaft 3e, a reversing block 4, a limiting part 5, a supporting frame 6, a supporting frame bottom plate 6a, a guide rail 7, a second guide rail 8 and a pressure sensor 9.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The applicant thinks, traditional power wire rod is when carrying to marking bagging-off machine position, adopts the transport of intelligence floor truck to mark bagging-off machine department from the afterbody of power wire rod production line more, and this kind of transport mode mainly relies on magnetic sensor to transport, and the setting is broken by pressure easily at the subaerial magnetic stripe of mill, and the stability that the demagnetization influences the transport of intelligence floor truck can appear in long-time use, and the damage of magnetic stripe brings very big inconvenience to subsequent maintenance.
Therefore, according to the multi-directional conveying device based on the industrial robot and the conveying method thereof designed by the applicant, the pressure sensor automatically identifies the weight of the conveyed wire rod, the conveying assembly is automatically controlled by the control system to move, and meanwhile, the conveying devices in different directions are arranged, so that the power wire rods of a plurality of production lines are prevented from being accumulated and moving along the guide rail in the conveying process, and the conveying stability is improved.
The first embodiment is as follows:
as shown in fig. 1 to fig. 6, the multi-directional carrying device based on an industrial robot of the present invention mainly includes a carrying assembly and a control assembly, wherein the carrying system includes a first power module, and a carrying mechanism connected to the first power module, the carrying mechanism is disposed on the first power module, and a sensor is disposed at the bottom of the carrying mechanism, the control system is connected to the first power module, the sensor receives the weight of a workpiece in the carrying mechanism, the control system receives the weight information of the sensor, and controls the first power module to drive the carrying mechanism to move; wherein transport mechanism is including setting up storage box 1 above first power module to and set up above first power module, be connected with storage box 1 and storage box 1 sets up the support frame 6 between it. In this embodiment, the first power module is the motor 3c, and the sensor is the pressure sensor 9.
In practical application, after the power wires are assembled, the power wires are placed at the tail part of the assembly line, the carrying assembly is controlled by the control system to carry the power wires to the tail part of the assembly line needing to carry the power wires, only the processed power wires need to be placed in the storage box 1 in the carrying assembly manually, then the pressure sensor 9 at the bottom of the storage box 1 carries out weight sensing, when the weight reaches, the control system controls the motor 3c to rotate to drive the carrying assembly to move to a winding and marking station along the guide rail 7, an operator at the station only needs to take out the power wires in the storage box 1, if the space at the tail part of the assembly line is enough and the wires are not accumulated, the operator can not take out the power wires in the storage box 1, the operator directly takes out the power wires from the storage box 1 to process one wire, and when the pressure sensor 9 senses that the weight of the power wires in the storage box 1 is insufficient, the control system restarts the motor 3c to move to the tail part of the assembly line where the power line needs to be taken away, under the condition that the processing space and time are allowed, the processed power line materials can be placed in the storage box 1 one by one after the processing is finished by the operator at the last station, until the pressure sensor 9 senses that the weight of the power line placed in the storage box 1 is reached, the control system controls the motor 3c to drive the carrying assembly to move to the winding and marking machine along the guide rail 7 again, and the operator at the station can continue to take away and process the power line materials; certainly, the bottom of the storage box 1 can also be provided with a rotating mechanism, so that the position does not need to be moved when the storage box is taken by people, the rotation of the storage box 1 at any angle can be realized through the rotating mechanism, an opening of the storage box 1 faces to an operator who marks or winds the wire, the operator can directly take the power wire without walking, and the operator can take or store the power wire conveniently; the handling system of this embodiment also can increase a transport mechanism, sets up it into the state that transversely and vertically can all remove, can realize like this that the transport position increases, and the traffic direction increases, and further sparingly the handling cost improves handling efficiency, and further improvement machining efficiency reduces the consumption of manpower, and the power wire rod that can be timely carries out timely clearance from the assembly line, saves the occupation space of power wire rod at the assembly line.
Preferably, in order to prevent the power cord from falling from the storage box 1 during the transportation process, an adjusting device 3 is arranged behind the supporting frame 6, wherein the adjusting device 3 comprises a rotating frame 3a, a synchronous belt 3b wheel 3b structure connected with the rotating frame 3a through a rotating shaft 3e, and a reversing block 4 connected with the upper connecting shaft, and the reversing block 4 is connected with the rear plate of the supporting frame 6 in the transportation assembly; when a power line in the storage box 1 starts to be transported, a second motor 3c in the adjusting device 3 drives a synchronous belt 3b wheel to move, the synchronous belt 3b wheel drives an upper rotating shaft 3e connected with the synchronous belt 3b wheel to rotate, the upper rotating shaft 3e rotates to drive a reversing block 4 connected with the upper rotating shaft 3e to rotate clockwise, the reversing block 4 rotates to drive a supporting plate 2c connected with a rear plate to rotate, and then an opening of the storage box 1 is lifted upwards, so that the problem that the power line falls off cannot occur in the rapid transporting process, and the transporting stability is further improved; when power wire rod transport to beating mark or wire winding position department, or when storage box 1 was in no-load state, second motor 3c drove hold-in range 3b and carries out clockwise rotation, and then drive upper rotating shaft 3e and carry out clockwise motion, and then drive support frame 6 and resume with the ground parallel and level, conveniently beat mark or wire winding operating personnel's the power wire rod of processing of taking from storage box 1, or the operating personnel on the assembly line of being convenient for place the power wire rod of processing in storage box 1, further guarantee the efficiency of transport.
Preferably, in order to prevent the storage box 1 from being damaged and unusable after being used for a long time and facilitate the replacement of the storage box 1, the telescopic device 2 is arranged on the support frame 6 in the carrying mechanism, the telescopic device 2 is arranged on the bottom plate of the support frame 6 and comprises a movable plate and a cylinder connected to the movable plate, the movement of the cylinder drives the bottom plate of the support frame 6 connected with the cylinder to move up and down, when the storage box 1 needs to be replaced, the cylinder moves downwards to move the bottom plate of the support frame 6 downwards, so that the distance between the bottom plate and the top plate of the support plate 2c is increased, and the storage box 1 is easily pulled away from the support frame 6; when changing the completion, the cylinder up-and-down motion drives the bottom plate upward movement of support frame 6, and then with the card of 1 fastenings of storage box between support frame 6, realize stable transport, telescoping device 2's design not only can appear being convenient for maintain and change under the condition of damage at storage box 1, when the power cord material pile of assembly line was too much moreover, can increase a plurality of storage boxes 1 and place beating mark or wire winding department as the bin, further increase storage box 1's the rate of utilization.
Preferably, in order to realize multi-directional conveying, the conveying assemblies in two directions are arranged in the embodiment, the control system respectively controls two groups of conveying assemblies moving in opposite directions, so as to realize faster conveying, further reduce manual labor, automatically realize uninterrupted conveying operation by controlling the conveying assemblies by the control system, further realize intellectualization of conveying, of course, four groups of conveying assemblies in different directions can be arranged according to field requirements, so as to realize the best conveying effect of conveying, for more convenient work, a rotating mechanism can be arranged at the bottom of the storage box 1, when the box body is filled with wires and conveyed to a marking or winding station, the storage box 1 directly faces the storage box 1 to an operator under the action of the rotating mechanism, at the moment, the operator can directly take the wires in the storage box 1 without walking, save time and improve machining efficiency for carry more convenient and intelligent.
Preferably, in order to prevent the supporting plate 2c from colliding with the rear plate of the supporting plate 2c in the rotating process of the supporting plate 2c, a limiting member 5 is arranged on the rear plate of the supporting frame 6 in the carrying mechanism, the limiting member 5 is an elastic member, when the supporting plate 1 is fully loaded with a certain amount of power lines, the adjusting device 3 controls the supporting frame 6 to rotate, at this time, the supporting plate 2c rotates to rotate the storage box 1, and when the storage box 1 moves towards the supporting plate 2c, the limiting member 5 is arranged to support the rear surface of the storage box 1 to prevent the storage box 1 from colliding with the supporting plate 2c, so that the carrying quality is improved, and the replacing cost is saved.
On the basis of the conveying device, the invention provides a conveying method of a multidirectional conveying device based on an industrial robot, which comprises the following specific steps:
firstly, an operator at the tail of the assembly line puts processed power wires into the storage box 1, an inductor arranged at the bottom of the storage box 1 induces the weight of a workpiece in the storage box 1, then a weight signal is transmitted to a control system, the control system receives the signal of the inductor and controls the motor 3c to move after the preset weight is met, meanwhile, an adjusting component adjusts the angle of the supporting frame 6, the supporting frame 6 rotates upwards by a certain angle, meanwhile, the storage box 1 is driven to rotate by a certain angle, the opening direction of the storage box 1 is upwards, and the problem that the power wires fall down in the process of carrying the power wires is prevented from occurring in the storage box 1;
then, the motor 3c drives the carrying mechanism to move to a processing station where the power wire needs to be marked or wound, then the carried workpiece is taken out by an operator at the station, the angle of the supporting frame 6 is adjusted by the adjusting device 3 when the workpiece is taken out, the workpiece is rotated downwards to enable the opening position of the storage box 1 to face the operator who marks and winds the power wire, so that the operator can take the power wire conveniently, the sensor arranged at the bottom of the storage box 1 senses the weight of the workpiece in the storage box 1 at the moment, the signal is transmitted to the control system, the control system receives the signal transmitted by the pressure sensor 9 and controls the first power module to convey the carrying mechanism to the tail part of the assembly line needing to be carried again after the signal is smaller than the preset weight, when the tail part of the assembly line needing to be carried is reached, the adjusting device 3 controls the supporting frame 6 to rotate upwards for a certain angle again, the support frame 6 drives the storage box 1 to be lifted upwards by a certain angle, then an operator at the tail of the assembly line carries the workpiece into the storage box 1 of the carrying mechanism, the sensor carries out weight detection again and transmits a signal to the control system, and the control system controls the carrying mechanism to work again;
finally, the operation steps from S1 to S2 are performed in sequence until the system stops working. As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. Multidirectional handling device based on industrial robot, its characterized in that includes:
the carrying assembly comprises a first power module, a carrying mechanism connected with the first power module and used for carrying the workpiece, and a sensor arranged at the bottom of the carrying mechanism and used for sensing the weight of the workpiece;
the control system is connected with the first power module and is used for controlling the movement of the first power module;
the sensor receives the weight of the workpiece in the carrying mechanism, and the control system receives weight information of the sensor and controls the first power module to drive the carrying mechanism to move.
2. An industrial robot-based multi-directional handling device according to claim 1, characterized in that the handling mechanism comprises a guide, a storage compartment slidably connected to the guide for transporting objects, and an adjustment device connected to the storage compartment away from the opening of the storage compartment for supporting the storage compartment.
3. An industrial robot-based multi-directional handling device according to claim 2, characterized in that the adjustment device comprises a turret for supporting the storage bin.
4. The multi-directional carrying device based on the industrial robot as claimed in claim 3, wherein the adjusting device further comprises a second power module disposed on the rotating frame, a rotating member connected with the second power module and disposed at two ends of the supporting frame, a transmission mechanism connected with the second power module and rotatably connected with the rotating member, and a reversing block coaxially and fixedly connected with the rotating member and driving the storage box to rotate under the action of the transmission mechanism.
5. An industrial robot-based multidirectional handling device according to claim 3, wherein said handling mechanism further comprises a telescopic device provided on said support frame for adjusting the height of the support frame.
6. The multi-directional carrying device based on the industrial robot as claimed in claim 4, wherein the conveying mechanism is a synchronous pulley structure, and the reversing block drives the storage box to turn in different directions.
7. An industrial robot-based multi-directional handling device according to claim 4, characterized in that said handling means are arranged in at least 2 groups, each connected to said control system, for multi-directional handling of a workpiece.
8. The industrial robot-based multidirectional handling device according to claim 6, wherein the handling mechanism further comprises a stopper disposed between the support frame and the storage compartment for supporting the storage compartment to prevent collision with the support frame during rotation.
9. The conveying method of the multidirectional conveying device based on the industrial robot is characterized by comprising the following steps:
s1, sensing the weight of the workpiece in the storage box body by the sensor, receiving a signal of the sensor by the control system, controlling the first power module to move, and then entering the step 2;
s2, the first power module drives the carrying mechanism to carry out reciprocating carrying operation, the adjusting device rotates the supporting frame anticlockwise when the workpiece is fully loaded, and the adjusting assembly rotates the supporting frame clockwise and is parallel to the ground when the workpiece is unloaded;
and S3, sequentially carrying out the operation steps from S1 to S2 until the system stops working.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110679766.7A CN113291730A (en) | 2021-06-18 | 2021-06-18 | Multidirectional carrying device based on industrial robot and carrying method thereof |
| PCT/CN2021/108341 WO2022262077A1 (en) | 2021-06-18 | 2021-07-26 | Industrial robot-based multidirectional carrying device and carrying method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110679766.7A CN113291730A (en) | 2021-06-18 | 2021-06-18 | Multidirectional carrying device based on industrial robot and carrying method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113291730A true CN113291730A (en) | 2021-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110679766.7A Withdrawn CN113291730A (en) | 2021-06-18 | 2021-06-18 | Multidirectional carrying device based on industrial robot and carrying method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113291730A (en) |
| WO (1) | WO2022262077A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091249A (en) * | 2022-06-15 | 2022-09-23 | 深圳市久久犇自动化设备股份有限公司 | Numerical control machine tool production line control system and method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3484486B2 (en) * | 1995-01-13 | 2004-01-06 | 大有株式会社 | Inverting dosing meter |
| JP4915686B2 (en) * | 2005-08-06 | 2012-04-11 | 株式会社横崎製作所 | Weight sizer sorting tray support device |
| CN207030261U (en) * | 2017-06-29 | 2018-02-23 | 天津华万机器人科技有限公司 | One kind transports cart system |
| CN111301970B (en) * | 2020-03-12 | 2021-10-01 | 郭思源 | Express delivery letter sorting dolly and automatic letter sorting line thereof |
| CN111620092B (en) * | 2020-06-14 | 2021-05-28 | 王志伟 | Efficient workpiece conveying mechanism for machining |
| CN212768379U (en) * | 2020-07-22 | 2021-03-23 | 深圳市智富科技有限公司 | Carrying, overturning and feeding manipulator module |
-
2021
- 2021-06-18 CN CN202110679766.7A patent/CN113291730A/en not_active Withdrawn
- 2021-07-26 WO PCT/CN2021/108341 patent/WO2022262077A1/en active Application Filing
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091249A (en) * | 2022-06-15 | 2022-09-23 | 深圳市久久犇自动化设备股份有限公司 | Numerical control machine tool production line control system and method |
Also Published As
| Publication number | Publication date |
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| WO2022262077A1 (en) | 2022-12-22 |
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Application publication date: 20210824 |
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| WW01 | Invention patent application withdrawn after publication |