CN113753487B - Automatic tube connecting placement control system and control method - Google Patents
Automatic tube connecting placement control system and control method Download PDFInfo
- Publication number
- CN113753487B CN113753487B CN202111045562.4A CN202111045562A CN113753487B CN 113753487 B CN113753487 B CN 113753487B CN 202111045562 A CN202111045562 A CN 202111045562A CN 113753487 B CN113753487 B CN 113753487B
- Authority
- CN
- China
- Prior art keywords
- connecting pipe
- pipe
- falling
- tube
- joint pipe
- 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.)
- Active
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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/58—Belts or like endless load-carriers with means for holding or retaining the loads in fixed position, e.g. magnetic
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- 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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Branching, Merging, And Special Transfer Between Conveyors (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The invention relates to the technical field of material conveying, in particular to a joint pipe automatic placement control system and a control method, wherein the system comprises the following components: the material box transmission subsystem is used for transmitting the material box to the material loading position so that the stacked connecting pipes in the material box fall from the material loading position; the connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position; the joint pipe transmission subsystem is used for transmitting the joint pipe placing disc; the connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position; and the device is also used for controlling the separated connecting pipes to fall, and when the connecting pipe placing plate is transmitted to the lower part of the falling position, the falling connecting pipes fall into the connecting pipe placing plate. By adopting the scheme, the technical problem of lower tube placement efficiency in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of material conveying, in particular to a control system and a control method for automatic tube-connecting placement.
Background
The connecting tube is formed by sequentially connecting a plurality of single tubes, and is generally divided into eight connecting tubes and twelve connecting tubes. The use of the coupling tube is very wide, especially in molecular biology research, such as detection of fluorescent quantitative PCR. In the use process of the existing connecting pipe, corresponding reagents need to be added into the connecting pipe, and in order to realize automatic management, the connecting pipe needs to be fed onto a production line or a processing line. The existing automatic feeding mechanism is generally a clamping jaw, a single workpiece is grabbed and placed on a production line and a processing line through the clamping jaw, but the connecting pipes are stacked in transportation and storage, manual pipe connection separation is still needed by clamping jaw feeding, meanwhile, the clamping jaw structure is not easy to grab the connecting pipes, and therefore the existing connecting pipes still adopt a mode of manually placing the connecting pipes, so that the placing efficiency of the connecting pipes is lower.
Disclosure of Invention
The invention aims to provide an automatic tube connecting placement control system so as to solve the technical problem of lower tube connecting placement efficiency in the prior art.
The basic scheme provided by the invention is as follows: automatic control system that places of allies oneself with pipe includes:
the material box transmission subsystem is used for transmitting the material box to the material loading position so that the stacked connecting pipes in the material box fall from the material loading position;
the connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position;
the joint pipe transmission subsystem is used for transmitting the joint pipe placing disc;
the connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position; and the device is also used for controlling the separated connecting pipes to fall, and when the connecting pipe placing plate is transmitted to the lower part of the falling position, the falling connecting pipes fall into the connecting pipe placing plate.
The first basic scheme has the beneficial effects that:
the material box is specially used for storing the connecting pipes to be fed, and the connecting pipes stored in the material box are stacked. And the material box transmission subsystem is used for transmitting the material box to the feeding position, and the material box is transmitted to the appointed position so as to be convenient for executing the subsequent feeding operation. And the arrangement of the joint pipe transmission subsystem realizes the transmission of the joint pipe placing disc. The connecting pipe and the clamping subsystem are arranged, the stacked connecting pipes are separated, the separated connecting pipes are transmitted to the falling position, the connecting pipes are ready to fall onto the transmitted connecting pipe placing plate, and when the connecting pipes are controlled to fall, the falling connecting pipes fall into the connecting pipe placing plate.
Through the cooperation control of magazine transmission subsystem, takeover and centre gripping subsystem, realize that allies oneself with the transmission of pipe placing tray and allies oneself with the placing of pipe, in this in-process allies oneself with the uninterrupted transmission of pipe placing tray, under the circumstances of placing in face of a large amount of allies oneself with the pipe, can effectively improve the placing efficiency who allies oneself with the pipe.
Further, the method further comprises the following steps: and the auxiliary feeding subsystem is used for pushing out the connecting pipe in the material box after the material box is transmitted to the feeding level.
The beneficial effects are that: friction may exist between the connecting pipe stacked in the material box and the material box, or the storage time is long, and the connecting pipe is adhered with the material box, so that the connecting pipe cannot fall freely. The auxiliary feeding subsystem is arranged, and the connecting pipe is pushed out of the material box by controlling the corresponding mechanism, so that the connecting pipe falls down.
Further, the method further comprises the following steps: and the flattening subsystem is used for pressing the joint pipe on the joint pipe placing disc after the joint pipe falls into the joint pipe placing disc.
The beneficial effects are that: the subsequent reagent that will add to allies oneself with on the pipe placing tray, in order to guarantee that the reagent can accurately add to allies oneself with the pipe in, require adding reagent device bottom to allies oneself with the distance on pipe top very near, if allies oneself with to have the gap between pipe and the pipe placing tray, then in transmission process, add reagent device bottom will with allie in the pipe top contact, influence the interpolation of reagent to and the transmission of allies oneself with the pipe. The setting of subsystem flattens presses the allies oneself with the pipe on the allies oneself with the pipe and places the dish, firstly adjusts the gesture of allies oneself with the pipe in allies oneself with the pipe and places the dish, secondly makes the contact of allies oneself with the pipe and places the dish more inseparable to the accurate execution of other links of follow-up.
Further, the connecting pipe and clamping subsystem is used for controlling the clamping mechanism to clamp the first connecting pipe and the second connecting pipe from top to bottom after the connecting pipe and the connecting pipe mechanism are propped against each other; after clamping, the penultimate connecting pipe is moved.
The beneficial effects are that: the two adjacent connecting pipes are in a connecting state due to the stacking of the connecting pipes. The adjacent two connecting pipes are clamped through the clamping mechanism, namely the penultimate connecting pipe and the penultimate connecting pipe from top to bottom are respectively clamped, and the distance between the two connecting pipes is increased by moving one connecting pipe, so that the penultimate connecting pipe and the penultimate connecting pipe are separated.
Further, the method further comprises the following steps: the second detection terminal is used for detecting the joint pipe placing disc; the connecting pipe and clamping subsystem is used for predicting the transmission time according to the transmission speed of the connecting pipe placing disc and the distance from the second detection terminal to the falling position in the horizontal direction, predicting the falling time according to the distance from the falling position to the upper surface of the connecting pipe placing disc in the vertical direction, calculating the time interval of the transmission time and the falling time, and controlling the connecting pipe to fall from the falling position according to the time interval when the second detection terminal detects the connecting pipe placing disc.
The beneficial effects are that: the prediction allies oneself with the pipe and places the dish from the position that the second detection terminal can detect to the transfer time of falling position below to and the prediction allies oneself with the pipe from falling position whereabouts to allies oneself with the time of falling on the pipe and place the dish, through transfer time and whereabouts time, control allies oneself with the time of falling of pipe, thereby guarantee when allies oneself with the pipe and places the dish and transmit to falling position below, the allies oneself with the pipe that falls and can fall into allies oneself with the pipe and place the dish, realizes alliing in the palm the accurate material loading of pipe.
The second object of the present invention is to provide a method for controlling the automatic placement of a connecting pipe.
The invention provides a basic scheme II: the automatic tube connection placement control method comprises the following steps:
the feeding transmission mechanism is used for transmitting the material box to the feeding level, so that the connecting pipes stacked in the material box fall from the feeding level; a transmission connecting pipe placing disc;
separating stacked connecting pipes falling from the feeding level, and conveying the separated connecting pipes to the falling position;
and controlling the separated connecting pipes to fall, and when the connecting pipe placing plate is transmitted to the lower part of the falling position, falling connecting pipes fall into the connecting pipe placing plate.
The second basic scheme has the beneficial effects that:
the material box is specially used for storing the connecting pipes to be fed, and the connecting pipes stored in the material box are stacked. And the material box is transmitted to the feeding level, so that the subsequent feeding operation can be conveniently executed. And the continuous feeding of the connecting pipe is realized by matching with the transmission of the connecting pipe placing plate. The connecting pipes are stacked, two adjacent connecting pipes can be in a connecting state, the stacked connecting pipes are separated, the separated connecting pipes are transmitted to a falling position, the connecting pipes are ready to fall onto a transmitting connecting pipe placing disc, and when the connecting pipes are controlled to fall, the falling connecting pipes fall into the connecting pipe placing disc. Through separation, whereabouts of alliing oneself with the pipe to and allies oneself with the transmission of pipe transmission dish, realize alliing oneself with the automatic of putting of pipe, allies oneself with the uninterrupted transmission of pipe placement dish at this in-process, is putting in the circumstances of putting in a large amount of allies oneself with the pipe, can effectively improve the efficiency of placing of alliing oneself with the pipe.
Further, the stacked header in the cartridge is dropped from the loading level, comprising the following: after the material box is transmitted to the feeding level, the connecting pipe in the material box is pushed out through the feeding auxiliary mechanism.
The beneficial effects are that: friction may exist between the connecting pipe stacked in the material box and the material box, or the storage time is long, and the connecting pipe is adhered with the material box, so that the connecting pipe cannot fall freely. The connecting pipe is pushed out of the material box by controlling the corresponding feeding auxiliary mechanism, so that the connecting pipe falls down.
Further, the method also comprises the following steps: after the joint pipe falls into the joint pipe placing disc, the joint pipe on the joint pipe placing disc is pressed, so that the joint pipe is in close contact with the joint pipe placing disc.
The beneficial effects are that: the subsequent reagent that will add to allies oneself with on the pipe placing tray, in order to guarantee that the reagent can accurately add to allies oneself with the pipe in, require adding reagent device bottom to allies oneself with the distance on pipe top very near, if allies oneself with to have the gap between pipe and the pipe placing tray, then in transmission process, add reagent device bottom will with allie in the pipe top contact, influence the interpolation of reagent to and the transmission of allies oneself with the pipe. Therefore, the joint pipe on the joint pipe placing disc is pressed, firstly, the posture of the joint pipe in the joint pipe placing disc is adjusted, secondly, the joint pipe is in closer contact with the joint pipe placing disc, and therefore accurate execution of other subsequent links is facilitated.
Further, separating the stacked header falling from the loading level, comprising: after the falling connecting pipe is propped against the connecting pipe mechanism, the clamping mechanism respectively clamps the first connecting pipe from top to bottom and the second last connecting pipe; after clamping, the penultimate connecting pipe is moved.
The beneficial effects are that: the adjacent two connecting pipes are clamped through the clamping mechanism, namely the penultimate connecting pipe and the penultimate connecting pipe from top to bottom are respectively clamped, and the distance between the two connecting pipes is increased by moving one connecting pipe, so that the penultimate connecting pipe and the penultimate connecting pipe are separated.
Further, control the union pipe whereabouts after the separation, when the union pipe place the dish transmission to the below of whereabouts position, the union pipe whereabouts falls into the union pipe and places the dish, includes following: predicting the transmission time according to the transmission speed of the joint pipe placing disc and the distance from the designated position to the falling position in the horizontal direction, predicting the falling time according to the distance from the falling position to the upper surface of the joint pipe placing disc in the vertical direction, and calculating the time interval between the transmission time and the falling time; detecting the transmitted joint pipe placing disc at a designated position; when detecting the allies oneself with the pipe and places the dish, control allies oneself with the pipe and drop from the position that falls according to time interval for when allies oneself with the pipe and places the dish and transmit to the position below that falls, the allies oneself with the pipe that falls into allies oneself with the pipe and places the dish.
The beneficial effects are that: the appointed position is preset in advance, and a detection terminal can be arranged at the appointed position and used for detecting whether the joint pipe placing disc is transmitted to the appointed position or not. Predicting the transmission time from the appointed position to the falling position below of the joint pipe placing disc, predicting the falling time from the falling position to the joint pipe placing disc, and controlling the falling time of the joint pipe through the transmission time and the falling time, so that when the joint pipe placing disc is transmitted to the falling position below, the falling joint pipe can fall into the joint pipe placing disc, and accurate feeding of the joint pipe is realized.
Drawings
FIG. 1 is a top view of an embodiment of a system and method for automatic placement of a header in accordance with the present invention;
FIG. 2 is an enlarged schematic view of the automatic pipe joint placement control system and control method of the present invention at A of FIG. 1;
FIG. 3 is a schematic structural diagram of a feeding device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a clamping mechanism, a pipe connecting mechanism, and a flattening device according to an embodiment of the automatic pipe connecting placement control system and the control method of the present invention.
Detailed Description
The following is a further detailed description of the embodiments:
reference numerals in the drawings of the specification include: the device comprises a transmission base 1, a joint pipe placing disc 2, a conveyor belt 3, a first guide block 4, a second guide block 5, a feeding base 6, a workbench 7, a material box 8, a storage hole 9, a first transmission assembly 10, a guide block 11, a second transmission assembly 12, a pushing piece 13, a telescopic block 14, a third transmission assembly 15, a fixed clamp 16, a movable clamp 17, a first parallel air claw 18, a second parallel air claw 19, a pressing plate 20 and a fifth transmission assembly 21.
Examples
The automatic tube connecting and placing control system comprises a transmission base 1, a tube connecting and conveying device, a feeding base 6, a feeding device and a flattening device.
As shown in fig. 1, the joint pipe conveying device is arranged on the conveying base 1, the joint pipe conveying device is used for conveying the joint pipe placing disc 2, the joint pipe placing disc 2 comprises a sliding block and a fixing plate, a placing groove used for placing the joint pipe is formed in the upper surface of the fixing plate, the placing groove is matched with the joint pipe in shape, and the joint pipe refers to consumable materials which are sequentially connected with a plurality of reaction pipes, namely the number of the placing grooves is multiple and is sequentially distributed. The fixed plate is detachably connected with the sliding block, and specifically, the fixed plate and the sliding block are detachably connected through the fixing screw.
The connecting pipe transmission device comprises a driving wheel and a driven wheel, and a conveyor belt 3 in transmission connection with the driving wheel and the driven wheel, wherein the axial directions of the driving wheel and the driven wheel are parallel to the vertical direction. The power supply for providing a power source and the transmission motor are further included, and an output shaft of the transmission motor is connected with the driving wheel through a key.
As shown in fig. 2, the side surfaces of the driving wheel and the driven wheel are provided with uniformly distributed first guide blocks 4, the inner side of the conveyor belt 3 is provided with second guide blocks 5 matched with the first guide blocks 4, specifically, the distance between adjacent first guide blocks 4 is equal to the width of the second guide blocks 5 in the horizontal direction, and the distance between adjacent second guide blocks 5 is equal to the width of the first guide blocks 4 in the horizontal direction.
The first guide block 4 and the second guide block 5 are both vertically arranged, i.e. the length directions of the first guide block 4 and the second guide block 5 are parallel to the vertical direction, and in other embodiments, the first guide block 4 and the second guide block 5 are obliquely arranged, i.e. the length directions of the first guide block 4 and the second guide block 5 intersect with the vertical direction.
The connecting pipe transmission device further comprises a connecting piece, the connecting piece comprises a connecting block and two clamping blocks, limiting grooves are formed in two sides of the connecting block, protruding portions are formed by extending one opposite sides of the two clamping blocks, and the two protruding portions are respectively in contact with the two limiting grooves. The outside fixed connection of connecting block and conveyer belt 3, the grip block all with allies oneself with the side fixed connection of pipe placing plate 2, the side that the grip block kept away from the spacing groove is through the side fixed connection of screw and slider promptly.
The joint pipe conveying device further comprises a sliding part and a guide rail, the guide rail is identical to the conveyor belt 3 in shape in the horizontal direction, the guide rail is positioned on the outer side of the conveyor belt 3, and the sliding part is used for enabling the joint pipe placing plate 2 to move along the guide rail. The sliding piece comprises a plurality of rollers, the installation shafts of the rollers are fixedly connected with the sliding blocks, the side surfaces of the rollers are propped against the side surfaces of the guide rails, and the rollers are respectively positioned on two sides of the guide rails. Specifically, the number of the rollers is four, namely the left side and the right side of the guide rail are respectively propped against the side surfaces of the two rollers.
The feeding base 6 is arranged on the transmission base 1, the feeding device is arranged on the feeding base 6, and the feeding device is arranged above the connecting pipe transmission device. The feeding base 6 comprises a workbench 7, a strip-shaped hole is formed in the workbench 7, the strip-shaped hole is opposite to the joint pipe conveying device, and when the joint pipe placing plate 2 is conveyed to the lower portion of the strip-shaped hole, the length direction of the strip-shaped hole is parallel to the distribution direction of the placing grooves on the joint pipe placing plate 2.
As shown in fig. 3, the feeding device comprises a feeding transmission mechanism, a feeding auxiliary mechanism, a clamping mechanism, a connecting pipe mechanism and a material box 8, wherein the material box 8 comprises a box body, a plurality of vertical containing holes 9 are formed in the box body, the containing holes 9 are uniformly distributed along the length direction of the vertical strip-shaped holes, and a plurality of connecting pipes are stacked in the containing holes 9.
The feeding transmission mechanism is used for transmitting the material box 8, the feeding transmission mechanism is arranged on the upper surface of the workbench 7 and comprises a first transmission assembly 10 and a tray, the first transmission assembly 10 is used for transmitting the tray, and the transmission direction of the tray is perpendicular to the length direction of the strip-shaped hole. The first transmission assembly 10 comprises a first screw pair, a first guide rod, a first base and a first motor, wherein two ends of the first guide rod are fixedly connected with the first base respectively, one end of a screw rod in the first screw pair is movably connected with the first base, the other end of the screw rod is fixedly connected with an output shaft of the first motor, one end of the first motor, which is far away from the screw rod, is fixedly connected with the first base, one end of a nut in the screw pair is sleeved on the first guide rod, the other end of the nut is fixedly connected with a tray, the tray is fixedly connected with the material box 8, and the base is fixedly connected with the upper surface of the workbench 7. The nut drives the material box 8 to move on the workbench 7 through the tray, so that the storage hole 9 of the material box 8 is opposite to the strip-shaped hole on the workbench 7, and the moving direction of the material box 8 is perpendicular to the length direction of the strip-shaped hole.
The workbench 7 is also provided with two guide blocks 11, the two guide blocks 11 are respectively contacted with two opposite sides of the tray, the length direction of the guide blocks 11 is parallel to the moving direction of the material box 8, and the tray moves along a channel between the two guide blocks 11.
The feeding auxiliary mechanism is used for pushing out the connecting pipe in the material box 8, is positioned above the feeding transmission mechanism and comprises a second transmission assembly 12 and a pushing piece 13. The pushing member 13 is used for pushing the union tube in the receiving hole 9 out of the bar-shaped hole. The pushing piece 13 comprises a connecting block, an elastic piece and a pressing block which are sequentially connected, the pressing block is matched with the storage hole 9 in shape, and in the embodiment, the elastic piece is a spring. The elastic piece is arranged to prevent the connecting pipe from being pressed too tightly.
The second transmission assembly 12 comprises a second screw pair, a second guide rod, a second base and a second motor, wherein two ends of the second guide rod are fixedly connected with the second base respectively, one end of a screw rod in the second screw pair is movably connected with the second base, the other end of the screw rod is fixedly connected with an output shaft of the second motor, one end of the second motor, which is far away from the screw rod, is fixedly connected with the second base, one end of a nut in the screw pair is sleeved on the second guide rod, the other end of the nut is fixedly connected with the pushing part 13, and the connecting block is fixedly connected with the nut. The second transmission assembly 12 is located above the first transmission device, and a supporting frame is fixedly connected to the workbench 7 and fixedly connected with the second base. The nut drives the pushing piece 13 to move in the vertical direction, so that the connecting pipe in the material box 8 is pushed out of the strip-shaped hole.
As shown in fig. 4, the take-over mechanism includes a telescopic block 14 and a third transmission assembly 15, in this embodiment, the third transmission assembly 15 adopts a first cylinder, and in other embodiments, the third transmission assembly 15 may adopt a screw sliding table module. The free end of the first cylinder is fixedly connected with the telescopic block 14, the telescopic block 14 is positioned below the strip-shaped hole, and the upper surface of the telescopic block 14 abuts against the connecting pipe pushed out of the material box 8. In the initial state, the telescopic block 14 is in an extending state, at this time, the telescopic block 14 is located below the strip-shaped hole, when the union pipe is pushed out from the material box 8, the upper surface of the telescopic block 14 abuts against the bottom end of the union pipe, and the extending telescopic block 14 is used for blocking the falling union pipe. When the connecting pipe is not required to be blocked, the first cylinder drives the telescopic block 14 to retract, and the connecting pipe can move downwards.
The clamping mechanism comprises a movable clamp 17, a fixed clamp 16, a first parallel air claw 18, a second parallel air claw 19 and a fourth transmission assembly, in this embodiment, the fourth transmission assembly adopts a second cylinder, and in other embodiments, the fourth transmission assembly can adopt a screw sliding table module. The pneumatic fingers of the first parallel air claw 18 are fixedly connected with the movable clamp 17, the pneumatic fingers of the second parallel air claw 19 are fixedly connected with the fixed clamp 16, and the fixed clamp 16 and the movable clamp 17 are sequentially arranged from top to bottom. The free end of the second air cylinder is fixedly connected with the first parallel air claw 18, the second air cylinder is used for driving the first parallel air claw 18 to move in the vertical direction, and the first parallel air claw 18 drives the movable clamp 17 to move in the vertical direction.
Specifically, the first parallel air claw 18 and the second parallel air claw 19 each include two pneumatic fingers capable of moving in opposite directions, the fixed clamp 16 includes a first fixed clamping jaw and a second fixed clamping jaw capable of moving in opposite directions, one ends of the first fixed clamping jaw and the second fixed clamping jaw are fixedly connected with the two pneumatic fingers respectively, an arc-shaped hole is formed in one side, opposite to the first fixed clamping jaw and the second fixed clamping jaw, of the fixed clamping jaw, when the first fixed clamping jaw and the second fixed clamping jaw are abutted against each other, the hole wall of the arc-shaped hole is abutted against the side wall of the connecting pipe, and at the moment, the fixed clamp 16 clamps the connecting pipe. The movable clamp 17 comprises a first movable clamping jaw and a second movable clamping jaw which can move in opposite directions, one ends of the first movable clamping jaw and the second movable clamping jaw are fixedly connected with two pneumatic fingers respectively, an arc-shaped hole is formed in one side of the first movable clamping jaw, opposite to the second movable clamping jaw, and when the first fixed clamping jaw and the second fixed clamping jaw are propped against each other, the hole wall of the arc-shaped hole is propped against the side wall of the connecting pipe, and at the moment, the movable clamp 17 clamps the connecting pipe.
In the initial state, the movable clamp 17 and the fixed clamp 16 are in a loosening state, the second cylinder is in a shrinking state, when the connecting pipes are propped against the pipe connecting mechanism, the movable clamp 17 is used for clamping the last connecting pipe from top to bottom, and the fixed clamp 16 is used for clamping the last-to-last connecting pipe adjacent to the last-to-last connecting pipe. When the fixed clamp 16 and the movable clamp 17 clamp the connecting pipe, the connecting pipe is not required to be blocked, at the moment, the first cylinder drives the telescopic block 14 to retract, the second cylinder stretches out to drive the movable clamp 17 to move downwards, the penultimate connecting pipe and the penultimate connecting pipe are separated, when the second cylinder stretches out completely, the distance from the upper surface of the connecting pipe transmission disc to the bottom end of the connecting pipe is smaller than a preset distance threshold value, for example, the distance threshold value is 5 mm, in the embodiment, when the second cylinder stretches out completely. When the joint pipe placing plate 2 moves to the lower part of the joint pipe clamped by the movable clamp 17, the movable clamp 17 loosens the joint pipe, and the joint pipe falls into the placing groove of the joint pipe placing plate 2 at the moment, so that feeding of the joint pipe is realized.
The flattening device is located and allies oneself with a tub conveyor top, and flattening device is used for pressing down the hookup tub that falls on allies oneself with tub placement tray 2. Specifically, the flattening device includes a flattening plate 20 and a fifth transmission assembly 21, in this embodiment, the fifth transmission assembly 21 adopts a third cylinder, and in other embodiments, the fifth transmission assembly 21 may adopt a screw sliding table module. The free end of the third cylinder is fixedly connected with the pressing plate 20, the lower surface of the pressing plate 20 can prop against the top end of the joint pipe, and the third cylinder is used for controlling the pressing plate 20 to move downwards to press the joint pipe on the joint pipe placing disc 2, so that the joint pipe is in tight contact with the placing groove.
The automatic feeding device further comprises a first detection terminal, a material box transmission subsystem, an auxiliary feeding subsystem, a connecting pipe and clamping subsystem, a connecting pipe transmission subsystem, a second detection terminal, a third detection terminal and a flattening subsystem.
The first detection terminal is arranged on the workbench 7 and is used for detecting the material box 8, and when the material box 8 is detected, a starting signal is generated, and the material box 8 is located at the initial position.
The magazine transport subsystem is used for transporting the magazines 8 to the loading level, so that the stacked connecting tubes in the magazines 8 fall from the loading level. Specifically, the magazine transmission subsystem is used for receiving the start signal, starts first transmission subassembly 10, and control tray drives magazine 8 motion to go up the material level, and when the magazine 8 moved to the material level, the storage hole 9 on the magazine 8 just to the bar hole on the workstation 7.
The auxiliary feeding subsystem is used for pushing out the connecting pipe in the material box 8 after the material box 8 is transmitted to the feeding level, specifically, the auxiliary feeding subsystem is used for starting the second transmission assembly 12 after the storage hole 9 on the material box 8 is opposite to the strip-shaped hole on the workbench 7, controlling the pushing piece 13 to move downwards by a preset second distance Y, pushing out the connecting pipe in the storage hole 9 from the strip-shaped hole, wherein the second distance Y is the distance between the pushing piece 13 in an initial state and the top end of the stacked connecting pipe when the bottom end of the stacked connecting pipe is propped against the connecting pipe mechanism. And is further used for restarting the second transmission assembly 12, and controlling the pushing member 13 to move downwards by a preset third distance Y ', wherein the third distance Y' is the distance between two adjacent overlapped tubes.
Specifically, the first counting sensor is further included and used for counting the falling times of the connecting pipes, when the falling times of the connecting pipes reach the preset connecting pipe number, the connecting pipes in the storage holes 9 are represented to fall completely, the first transmission assembly 10 is started at the moment, and the preset connecting pipe number is the number of the connecting pipes stacked in the single storage hole 9.
The auxiliary feeding subsystem is further used for starting the second transmission assembly 12 to reset after the connecting pipe in the storage hole 9 falls down, and the pushing piece 13 is moved out of the storage hole 9 at the moment.
The material box transmission subsystem is further used for starting the first transmission assembly 10 after the auxiliary feeding subsystem is reset, controlling the tray to move by a preset first distance X, and at the moment, the other storage hole 9 on the material box 8 is opposite to the strip-shaped hole on the workbench 7, and the first distance X is the distance between the adjacent storage holes 9 in the material box 8.
Specifically, the first counting sensor is further used for counting the number of the tube-connecting falling groups, and when the number of the tube-connecting falling groups reaches the preset hole number, the tube-connecting falling of all the storage holes 9 is completed, the first transmission assembly 10 is started to reset, and the cartridge 8 is replaced. When the number of falling times reaches the preset number of connecting pipes, the number of falling groups of the connecting pipes at one time is counted, and the preset number of holes is the number of containing holes 9 in the material box 8.
The connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to the falling position. When the connecting pipe is propped against the connecting pipe mechanism, the clamping mechanism is controlled to respectively clamp the first connecting pipe from top to bottom and the second last connecting pipe; after clamping, the penultimate connecting pipe is moved. Specific:
the connecting pipe and clamping subsystem is used for controlling the clamping mechanism to clamp the first last connecting pipe and the second last connecting pipe from top to bottom respectively after the bottom end of the connecting pipe is propped against the telescopic block 14. Specifically, the first parallel air claw 18 is controlled to shrink, so that the movable clamp 17 is controlled to clamp the penultimate connecting pipe; the second parallel air jaw 19 is controlled to retract, thereby controlling the fixed clamp 16 to clamp the penultimate coupling.
The connecting pipe and clamping subsystem is further used for controlling the third transmission assembly 15 to shrink after the clamping mechanism clamps the connecting pipe, the telescopic block 14 moves towards the third transmission assembly 15, and the telescopic block 14 does not block the falling of the connecting pipe after the third transmission assembly 15 shrinks in place.
The connecting pipe and clamping subsystem is further used for controlling the fourth transmission assembly to extend after the third transmission assembly 15 is contracted in place, so that the movable clamp 17 is controlled to move downwards, the penultimate connecting pipe clamped by the movable clamp 17 moves downwards, when the fourth transmission assembly extends in place, the penultimate connecting pipe is located in a falling position, and at the moment, the distance from the bottom end of the penultimate connecting pipe to the upper surface of the connecting pipe transmission disc is smaller than a preset distance threshold value. In other embodiments, the third 15 and fourth 15 transfer assemblies are pre-set to retract or extend a distance, and are considered to retract or extend into place when retracted or extended a corresponding pre-set distance.
And the joint pipe transmission subsystem is used for starting the transmission motor after receiving the starting signal and controlling the transmission belt to move at a uniform speed so as to transmit the joint pipe placing disc 2. The second detection terminal is arranged on the transmission base 1 and is used for detecting the joint pipe placing disc 2, and when the joint pipe placing disc 2 is detected, a falling signal is generated.
The connecting pipe and clamping subsystem is also used for controlling the separated connecting pipe to fall, and when the connecting pipe placing plate 2 is transmitted to the lower part of the falling position, the falling connecting pipe falls into the connecting pipe placing plate 2. Specifically, the connection pipe and clamping subsystem is further used for controlling the brake clamp 17 to loosen the connecting pipe according to the falling signal when receiving the falling signal, and the falling connecting pipe just falls into the connecting pipe placing disc 2 and moves along with the connecting pipe placing disc 2.
Specifically, the connection pipe and clamping subsystem is used for predicting the transmission time according to the transmission speed of the joint pipe placing disc 2 and the distance from the second detection terminal to the falling position in the horizontal direction, predicting the falling time according to the distance from the falling position to the upper surface of the joint pipe placing disc 2 in the vertical direction, calculating the time interval of the transmission time and the falling time, and controlling the joint pipe to fall from the falling position according to the time interval when the second detection terminal detects the joint pipe placing disc 2. For example, the distance from the second detection terminal to the falling position in the horizontal direction is a, the distance from the falling position to the upper surface of the union pipe placing disc 2 in the vertical direction is B, the required transmission time T1 is predicted according to the distance a and the transmission speed of the transmission belt, the required falling time T2 is predicted according to the distance B, T2 is smaller than T1, and the time interval is T2-T1; the connecting pipe and clamping subsystem is also used for starting timing when receiving the falling signal, controlling the movable clamp 17 to loosen the connecting pipe when the timing reaches the time interval, and enabling the falling connecting pipe to just fall into the connecting pipe placing plate 2 when the connecting pipe placing plate 2 moves to the lower part of the falling position.
The connecting pipe and clamping subsystem is further used for sequentially starting the fourth transmission assembly, the third transmission assembly 15 and the second parallel air claw 19 to reset after the movable clamp 17 loosens the connecting pipe, so that the fixed clamping claw loosens the connecting pipe, the connecting pipe falls against the telescopic block 14, at the moment, the second transmission assembly 12 is started again to push the connecting pipe in the storage hole 9, the first parallel air claw 18 and the second parallel air claw 19 are started to enable the movable clamp 17 and the fixed clamp 16 to clamp the connecting pipe, and feeding of the connecting pipe is executed again.
The third detection terminal is arranged on the transmission base 1 and is used for detecting the joint pipe placing disc 2, and when the joint pipe placing disc 2 is detected, a flattening signal is generated. The flattening subsystem is used for pressing the joint pipe on the joint pipe placing disc 2 after the joint pipe falls into the joint pipe placing disc 2. Specifically, when the flattening subsystem is used for receiving the flattening signal, the fifth transmission assembly 21 is controlled to extend, so that the flattening plate 20 is controlled to move downwards, the joint pipe on the joint pipe placing disc 2 is pressed, the joint pipe is in close contact with the joint pipe placing disc 2, and the one-time joint pipe blanking process is completed.
In other embodiments, the device further comprises a neglected loading terminal for detecting the joint pipe on the joint pipe placing plate 2 and counting the feeding quantity of the joint pipe; and the neglected loading judging module is used for generating the discharging quantity of the connecting pipe according to the falling times of the connecting pipe, the falling group number of the connecting pipe and the falling signal, judging whether the discharging quantity of the connecting pipe is consistent with the feeding quantity of the connecting pipe, and sending an alarm when the discharging quantity of the connecting pipe is inconsistent with the feeding quantity of the connecting pipe.
The automatic tube connection placement control method comprises the following steps of:
s1: the cartridge 8 is detected and when the cartridge 8 is detected, a start signal is generated, at which time the cartridge 8 is in the initial position. The transport union tube is provided with a tray 2.
S2: and the feeding conveying mechanism is used for conveying the material box 8 to the feeding level, so that the overlapped connecting pipes in the material box 8 fall from the feeding level, and after the material box 8 is conveyed to the feeding level, the connecting pipes in the material box 8 are pushed out by the feeding auxiliary mechanism. The method specifically comprises the following steps:
after the start signal is generated, the first transmission assembly 10 is started, the control tray drives the material box 8 to move to the upper material level, and when the material box 8 moves to the upper material level, the storage hole 9 on the material box 8 is opposite to the strip-shaped hole on the workbench 7.
When the storage hole 9 on the material box 8 is opposite to the strip-shaped hole on the workbench 7, the second transmission assembly 12 is started, the pushing piece 13 is controlled to move downwards by a preset second distance Y, the connecting pipe in the storage hole 9 is pushed out of the strip-shaped hole, and the second distance Y is the distance between the pushing piece 13 in an initial state and the top end of the stacked connecting pipe when the bottom end of the stacked connecting pipe abuts against the connecting pipe mechanism. The second transmission assembly 12 is started again, and the pushing member 13 is controlled to move downwards by a preset third distance Y ', wherein the third distance Y' is the distance between two adjacent overlapped connecting pipes.
S3: and separating the stacked connecting pipes falling from the loading position, and conveying the separated connecting pipes to the falling position. After the falling connecting pipe is propped against the connecting pipe mechanism, the clamping mechanism respectively clamps the first connecting pipe from top to bottom and the second last connecting pipe; after clamping, the penultimate connecting pipe is moved.
The method specifically comprises the following steps:
when the bottom end of the connecting pipe abuts against the telescopic block 14, the clamping mechanism is controlled to clamp the first connecting pipe from top to bottom and the second last connecting pipe from top to bottom respectively. Specifically, the first parallel air claw 18 is controlled to shrink, so that the movable clamp 17 is controlled to clamp the penultimate connecting pipe; the second parallel air jaw 19 is controlled to retract, thereby controlling the fixed clamp 16 to clamp the penultimate coupling.
When the clamping mechanism clamps the connecting pipe, the third transmission assembly 15 is controlled to shrink, the telescopic block 14 moves towards the direction of the third transmission assembly 15, and when the third transmission assembly 15 shrinks in place, the telescopic block 14 does not block the falling of the connecting pipe any more.
When the third transmission assembly 15 is retracted in place, the fourth transmission assembly is controlled to extend, so that the movable clamp 17 is controlled to move downwards, the penultimate connecting pipe clamped by the movable clamp 17 moves downwards, when the fourth transmission assembly extends out of place, the penultimate connecting pipe is located in a falling position, and at the moment, the distance from the bottom end of the penultimate connecting pipe to the upper surface of the connecting pipe transmission disc is smaller than a preset distance threshold value.
In other embodiments, the third 15 and fourth 15 transfer assemblies are pre-set to retract or extend a distance, and are considered to retract or extend into place when retracted or extended a corresponding pre-set distance.
S4: and controlling the separated connecting pipes to fall, and when the connecting pipe placing plate 2 is transmitted to the lower part of the falling position, falling connecting pipes fall into the connecting pipe placing plate 2. The method specifically comprises the following steps:
the transmission time is predicted according to the transmission speed of the joint pipe placing plate 2 and the distance from the designated position to the falling position in the horizontal direction, the falling time is predicted according to the distance from the falling position to the upper surface of the joint pipe placing plate 2 in the vertical direction, and the time interval between the transmission time and the falling time is calculated. Specifically, the position of the joint pipe placing disc 2 is detected as a designated position, the distance from the designated position to the falling position in the horizontal direction is A, the distance from the falling position to the upper surface of the joint pipe placing disc 2 in the vertical direction is B, the required transmission time T1 is predicted according to the distance A and the transmission speed of the transmission belt, the required falling time T2 is predicted according to the distance B, the T2 is smaller than T1, and the time interval is T2-T1.
Detecting the transmitted joint pipe placing disc 2 at a designated position; when the joint pipe placing tray 2 is detected, the joint pipe is controlled to fall from the falling position according to the time interval, so that the falling joint pipe falls into the joint pipe placing tray 2 when the joint pipe placing tray 2 is transmitted to the lower part of the falling position. Specifically, when the joint pipe placing tray 2 is detected at the specified position, a falling signal is generated, timing is started, when the timing reaches a time interval, the movable clamp 17 is controlled to release the joint pipe, and when the joint pipe placing tray 2 moves to the position below the falling position, the falling joint pipe just falls into the joint pipe placing tray 2.
S5: after the joint pipe falls into the joint pipe placing disc 2, the joint pipe on the joint pipe placing disc 2 is pressed, so that the joint pipe is in close contact with the joint pipe placing disc 2. The method specifically comprises the following steps:
when the joint pipe placing disc 2 with the joint pipes is detected, a flattening signal is generated, the fifth transmission assembly 21 is controlled to extend, the flattening plate 20 is controlled to move downwards, the joint pipes on the joint pipe placing disc 2 are pressed, the joint pipes are in close contact with the joint pipe placing disc 2, and a joint pipe blanking process is completed.
The foregoing is merely an embodiment of the present invention, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application day or before the priority date of the present invention, and can know all the prior art in the field, and have the capability of applying the conventional experimental means before the date, so that a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (9)
1. The automatic tube connecting and placing control system is characterized by comprising
The material box transmission subsystem is used for transmitting the material box to the material loading position so that the stacked connecting pipes in the material box fall from the material loading position;
the joint pipe transmission subsystem is used for transmitting the joint pipe placing disc;
the connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position; the device is also used for controlling the separated connecting pipes to fall, and when the connecting pipe placing plate is transmitted to the lower part of the falling position, the falling connecting pipes fall into the connecting pipe placing plate;
the feeding device comprises a clamping mechanism and a connecting pipe mechanism, wherein the connecting pipe mechanism comprises a telescopic block, and the telescopic block is used for extending out to prop against a connecting pipe falling from a feeding level; the clamping mechanism comprises a movable clamp and a fixed clamp, wherein the movable clamp is used for clamping a stacked penultimate connecting pipe from top to bottom, and the fixed clamp is used for clamping a penultimate connecting pipe adjacent to the penultimate connecting pipe;
the connecting pipe and clamping subsystem is used for controlling the clamping mechanism to clamp the first connecting pipe and the second connecting pipe from top to bottom after the connecting pipe and the connecting pipe mechanism are propped against each other; after clamping, the penultimate tube is moved to separate the stacked tubes.
2. The automatic tube-in-tube placement control system of claim 1, further comprising:
and the auxiliary feeding subsystem is used for pushing out the connecting pipe in the material box after the material box is transmitted to the feeding level.
3. The automatic tube-in-tube placement control system of claim 1, further comprising:
and the flattening subsystem is used for pressing the joint pipe on the joint pipe placing disc after the joint pipe falls into the joint pipe placing disc.
4. The automatic tube-coupling placement control system according to claim 1, wherein: the second detection terminal is used for detecting the joint pipe placing disc;
the connecting pipe and clamping subsystem is used for predicting the transmission time according to the transmission speed of the connecting pipe placing disc and the distance from the second detection terminal to the falling position in the horizontal direction, predicting the falling time according to the distance from the falling position to the upper surface of the connecting pipe placing disc in the vertical direction, calculating the time interval of the transmission time and the falling time, and controlling the connecting pipe to fall from the falling position according to the time interval when the second detection terminal detects the connecting pipe placing disc.
5. The automatic tube connecting placement control method is characterized by comprising the following steps of:
the feeding transmission mechanism is used for transmitting the material box to the feeding level, so that the connecting pipes stacked in the material box fall from the feeding level; a transmission connecting pipe placing disc;
separating stacked connecting pipes falling from the feeding level, and conveying the separated connecting pipes to the falling position;
and controlling the separated connecting pipes to fall, and when the connecting pipe placing plate is transmitted to the lower part of the falling position, falling connecting pipes fall into the connecting pipe placing plate.
6. The automatic tube-coupling placement control method according to claim 5, wherein dropping the stacked tube-coupling in the cartridge from the loading level comprises:
after the material box is transmitted to the feeding level, the connecting pipe in the material box is pushed out through the feeding auxiliary mechanism.
7. The automatic placement control method for a header according to claim 5, further comprising:
after the joint pipe falls into the joint pipe placing disc, the joint pipe on the joint pipe placing disc is pressed, so that the joint pipe is in close contact with the joint pipe placing disc.
8. The automatic placement control method for the union pipe according to claim 5, wherein: separating stacked header falling from the loading level, comprising:
after the falling connecting pipe is propped against the connecting pipe mechanism, the clamping mechanism respectively clamps the first connecting pipe from top to bottom and the second last connecting pipe; after clamping, the penultimate connecting pipe is moved.
9. The automatic tube-in-tube placement control method according to claim 5, wherein the separated tube-in-tube is controlled to fall, and when the tube-in-tube placement tray is transported to below the falling position, the falling tube-in-tube falls into the tube-in-tube placement tray, comprising:
predicting the transmission time according to the transmission speed of the joint pipe placing disc and the distance from the designated position to the falling position in the horizontal direction, predicting the falling time according to the distance from the falling position to the upper surface of the joint pipe placing disc in the vertical direction, and calculating the time interval between the transmission time and the falling time;
detecting the transmitted joint pipe placing disc at a designated position; when detecting the allies oneself with the pipe and places the dish, control allies oneself with the pipe and drop from the position that falls according to time interval for when allies oneself with the pipe and places the dish and transmit to the position below that falls, the allies oneself with the pipe that falls into allies oneself with the pipe and places the dish.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111045562.4A CN113753487B (en) | 2021-09-07 | 2021-09-07 | Automatic tube connecting placement control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111045562.4A CN113753487B (en) | 2021-09-07 | 2021-09-07 | Automatic tube connecting placement control system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113753487A CN113753487A (en) | 2021-12-07 |
| CN113753487B true CN113753487B (en) | 2023-05-05 |
Family
ID=78793651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111045562.4A Active CN113753487B (en) | 2021-09-07 | 2021-09-07 | Automatic tube connecting placement control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113753487B (en) |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1908105C3 (en) * | 1969-02-19 | 1973-09-20 | Kurt G. 7332 Eislingen Hinterkopf | Device for removing hollow body-like workpieces from a conveyor chain provided with receiving mandrels |
| US5735387A (en) * | 1995-07-14 | 1998-04-07 | Chiron Diagnostics Corporation | Specimen rack handling system |
| EP2930129B1 (en) * | 2014-04-11 | 2016-08-03 | UHLMANN PAC-SYSTEME GmbH & Co. KG | Device for singulating and conveying upright containers |
| CN106429304A (en) * | 2016-09-30 | 2017-02-22 | 惠州金源精密自动化设备有限公司 | Feed box feeding mechanism and battery sorting and receiving machine |
| CN106542288B (en) * | 2016-10-26 | 2019-01-29 | 河北鑫乐医疗器械科技股份有限公司 | Heparin tube automatic assembly line |
| CN206278673U (en) * | 2016-12-09 | 2017-06-27 | 协创机械（杭州）有限公司 | A kind of tooled joint fixture with following function |
| CN109521210B (en) * | 2017-09-19 | 2024-10-18 | 江苏雷镈智能科技有限公司 | Full-automatic test tube loading device and method thereof |
| CN207312615U (en) * | 2017-09-27 | 2018-05-04 | 深圳市新产业生物医学工程股份有限公司 | Medical supplies the storage box clamping device, grabbing device and chemiluminescence detector |
| CN109648514B (en) * | 2019-01-24 | 2020-08-25 | 温州广立生物医药科技有限公司 | Medical science test tube plug carries assembly devices |
| CN111674908B (en) * | 2020-06-10 | 2021-08-06 | 山西医科大学 | Test tube is clamping device in batches |
| CN212886057U (en) * | 2020-08-13 | 2021-04-06 | 江阴凯澜智能设备有限公司 | Needle tube feeding device of insulin syringe assembling machine equipment |
| CN213356091U (en) * | 2020-10-12 | 2021-06-04 | 惠州市九腾科技有限公司 | Automatic balance device of sample |
| CN112374119B (en) * | 2020-11-05 | 2021-12-28 | 泉州装备制造研究所 | Self-adaptive airport logistics system |
-
2021
- 2021-09-07 CN CN202111045562.4A patent/CN113753487B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113753487A (en) | 2021-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113753487B (en) | Automatic tube connecting placement control system and control method | |
| CN111806773B (en) | Efficient automatic medicine box packing system | |
| CN111060377B (en) | Sample basket conveying system and method | |
| CN215046655U (en) | Material receiving device | |
| CN113548463B (en) | Automatic pipe connecting grabbing control system and control method | |
| CN113697416B (en) | Automatic placer of coupling | |
| CN113763995B (en) | Automatic allocation and storage assembly line | |
| TWM616185U (en) | Detection device | |
| CN113753567B (en) | Automatic grabbing device of coupling | |
| CN109201905B (en) | Port machine | |
| CN214685084U (en) | Magnet loading attachment | |
| CN216637737U (en) | Steel drum conveying device | |
| CN218840656U (en) | Automatic test equipment for electronic products | |
| CN216177091U (en) | Multi-square pipe cutting and transporting equipment | |
| CN215664085U (en) | Pipe cover combination cap screwing machine | |
| CN214236971U (en) | Automatic assembling machine for iron box | |
| CN211362690U (en) | Automatic tray nailing machine | |
| CN209981047U (en) | Air pressure switch assembly machine | |
| CN113682758A (en) | Automatic allocation method, device and readable storage medium | |
| CN210352025U (en) | Pin bending and pipe installing mechanism for electronic element | |
| CN114194705A (en) | Steel drum conveying device | |
| CN114762925A (en) | Magnet loading attachment | |
| CN218225173U (en) | Copper pipe welding tail wire arranging machine | |
| CN221521191U (en) | Material conveying mechanism | |
| CN214980719U (en) | Edge clamp forming device for ribbon |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |