CN114212540A - Prevent slow-witted insertion fence machine that stagnates - Google Patents
Prevent slow-witted insertion fence machine that stagnates Download PDFInfo
- Publication number
- CN114212540A CN114212540A CN202111645775.0A CN202111645775A CN114212540A CN 114212540 A CN114212540 A CN 114212540A CN 202111645775 A CN202111645775 A CN 202111645775A CN 114212540 A CN114212540 A CN 114212540A
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- fool
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- 238000003780 insertion Methods 0.000 title abstract description 9
- 230000037431 insertion Effects 0.000 title abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 238000001179 sorption measurement Methods 0.000 claims abstract description 40
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 239000011324 bead Substances 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims 2
- 239000011521 glass Substances 0.000 abstract description 13
- 239000000463 material Substances 0.000 abstract description 6
- 230000009471 action Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
Images
Classifications
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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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
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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
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Landscapes
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a foolproof stagnation insertion fence machine which comprises a rack, a carrying module, a clamping mechanism and a detection mechanism, wherein the clamping mechanism is arranged on a table board of the rack in a sliding mode, the carrying module is arranged above the clamping mechanism and comprises an X-axis moving module, a Y-axis moving module, a rotating assembly and a insertion fence mechanism, the X-axis moving module is arranged above the clamping mechanism in a crossing mode, the rotating assembly is arranged on a moving portion of the Y-axis moving module, the insertion fence mechanism is arranged on a rotating shaft of the rotating assembly, and a product adsorption plate and a foolproof stagnation assembly are arranged on the insertion fence mechanism. According to the foolproof stagnation insertion fence machine provided by the invention, the angle of the glass sheet during material taking and feeding can be adjusted through the arrangement of the rotating assembly, the flexible material taking and feeding of the device is realized through the arrangement of the foolproof stagnation assembly, the applicability of the device is enhanced, and the foolproof stagnation insertion fence machine can adapt to various angles and is suitable for various use environments during material taking and feeding.
Description
Technical Field
The invention relates to the technical field of glass sheet carrying equipment, in particular to a fool-proof stagnation inserting fence machine.
Background
Glass is often used in the architectural decoration trade, preparation display screen etc, glass hardness is high, but also easy breakage simultaneously, therefore in the production transportation process, need prevent that glass from colliding with and leading to breakage, bold glass is when using, need cut apart into required size through glass break off with the fingers and thumb technology usually, then carry next station production installation, current technology adopts artifical transport or manipulator transport often, artifical transport intensity of labour is big, unsuitable large-scale use, multiaxis manipulator cost is expensive, it is too high to produce line cost, current transport mechanism that is formed by cylinder or straight line module equipment moves stiffly, easily collide with the glass piece.
Disclosure of Invention
The invention aims to provide a stay-preventing fence inserting machine to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a prevent slow-witted of inserting fence that stagnates, includes frame, transport module, clamping mechanism and detection mechanism, clamping mechanism slides and sets up on the mesa of frame, clamping mechanism top is provided with the transport module, the transport module includes that the X axle removes module, Y axle removal module, rotating assembly and inserts fence mechanism, the X axle removes the module and spanes the setting in clamping mechanism top, the Y axle removes the module and installs in the removal portion that the module was removed to the X axle, rotating assembly sets up in the removal portion that the module was removed to the Y axle, it sets up in rotating assembly's pivot to insert fence mechanism, it is provided with the product adsorption plate and prevents slow-witted stagnant subassembly to insert in the fence mechanism.
Preferably, the clamping mechanism comprises a clamping rail and a tooling plate, the tooling plate is slidably mounted on a table top of the rack, a positioning device is arranged on the tooling plate, and the clamping rail is arranged on the positioning device.
Preferably, the clamping fence comprises a plurality of bead connecting rods, clamping beads are distributed on the bead connecting rods in an uninterrupted manner, and the clamping beads are formed by connecting two circular truncated cone bottom surfaces with the same bottom diameter.
Preferably, rotating assembly includes servo drive mechanism, pivot and spacing subassembly, spacing subassembly includes fan-shaped carousel, first dog, second dog and first position sensor, the pivot is connected on servo drive mechanism's power output shaft, the tip at the pivot is installed to fan-shaped carousel, the both ends face of fan-shaped carousel is provided with first dog, second dog respectively, be connected with the tablet on the fan-shaped carousel, first position sensor sets up in the tablet below.
Preferably, insert fence mechanism and include hold-in range drive mechanism, guide rail slider mechanism, synchronizing wheel mounting panel and guide rail mounting panel, synchronizing wheel mounting panel fixed connection is in the pivot, hold-in range drive mechanism sets up on the synchronizing wheel mounting panel, guide rail mounting panel fixed connection is on the synchronizing wheel mounting panel, and guide rail slider mechanism installs on the guide rail mounting panel.
Preferably, prevent that slow-witted subassembly that stagnates includes slide, bearing frame, second spring, the slide is installed on the slider of guide rail slider mechanism, the bearing frame slides and sets up on the slide, the rotatable formula of product adsorption plate is installed on the bearing frame.
Preferably, a first spring is arranged between the bearing seat and the sliding plate, and the expansion direction of the first spring is parallel to the sliding direction of the bearing seat.
Preferably, a second spring is arranged between the sliding plate and the product adsorption plate.
Preferably, a product suction cup is arranged on the product suction plate.
Preferably, the detection mechanism comprises a portal frame and a detection camera, the portal frame is fixed on the table top of the rack, the detection camera is installed on the portal frame, and the detection camera is located above the product adsorption plate.
Advantageous effects
The fool-proof stagnation inserting fence machine provided by the invention comprises a rack, a carrying module, a clamping mechanism and a detection mechanism, so that the glass sheet is transferred; the angle when the material is got and the pay-off to the setting up of rotating assembly can be adjusted the glass piece, prevents that setting up of slow-witted subassembly realizes that the device flexibility is got and is fed material, strengthens the device's suitability, when getting material and blowing, can adapt to multiple angle, is suitable for multiple service environment.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a schematic view of a part of the structure of the carrying module of the present invention;
FIG. 3 is a schematic structural view of a fence inserting mechanism according to the present invention;
FIG. 4 is a schematic structural diagram of the fool-proof assembly of the present invention;
FIG. 5 is a schematic view of a structure of a clip bar according to the present invention.
Reference numerals
The machine frame 10, the transport module 20, the X-axis removes module 21, the Y-axis removes module 22, rotating component 23, servo drive mechanism 231, pivot 232, spacing subassembly 233, fan-shaped carousel 234, first dog 235, second dog 236, insert fence mechanism 24, hold belt drive mechanism 241, guide rail slider mechanism 242, synchronizing wheel mounting panel 243, guide rail mounting panel 244, product adsorption plate 25, prevent slow-witted subassembly 26 that stagnates, slide 261, bearing frame 262, first spring 263, second spring 264, clamping mechanism 30, clamping fence 31, even pearl pole 311, frock board 34.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Examples
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the content of the present invention within the scope of the protection of the present invention.
Referring to fig. 1, a foolproof and stagnation-proof fence inserting machine comprises a frame 10, a carrying module 20, a clamping mechanism 30 and a detection mechanism, wherein the clamping mechanism 30 is slidably arranged on a table top of the frame 10, the carrying module 20 is arranged above the clamping mechanism 30, the carrying module 20 comprises an X-axis moving module 21, a Y-axis moving module 22, a rotating assembly 23 and a fence inserting mechanism 24, the X-axis moving module 21 is arranged above the clamping mechanism 30 in a crossing manner, the Y-axis moving module 22 is arranged on a moving part of the X-axis moving module 21, the rotating assembly 23 is arranged on a moving part of the Y-axis moving module 22, the fence inserting mechanism 24 is arranged on a rotating shaft of the rotating assembly 23, a product adsorption plate 25 and a foolproof and stagnation-proof assembly 26 are arranged on the fence inserting mechanism 24, the clamping mechanism 30 comprises a clamping fence 31 and a tooling plate 34, the tooling plate 34 is slidably arranged on the table top of the frame 10, a positioning device is arranged on the tooling plate 34, the clamping fence 31 sets up on positioner, and X axle removes module 21 and Y axle and removes module 22 and drive and insert fence mechanism 24 and remove to last station, inserts fence mechanism 24 and drives product adsorption plate 25 and adsorb the product, then removes to clamping fence 31 top, and rotating assembly 23 drives product adsorption plate 25 and rotates to the angle of settlement, and product adsorption plate 25 is down, puts into clamping fence 31 with the product.
Referring to fig. 5, in this embodiment, the clip fence 31 includes a plurality of bead connecting rods 311, clamping beads are distributed on the bead connecting rods 311 without interruption, the clamping beads are formed by connecting two circular truncated cone bottom surfaces with the same bottom diameter, the clamping fence 31 is uniformly divided into a plurality of storage spaces by a plurality of clamping beads on the bead connecting rods 311, and products can be placed in the storage spaces in a standardized manner.
Referring to fig. 2 and 3, in this embodiment, the rotating assembly 23 includes a servo driving mechanism 231, a rotating shaft 232 and a limiting assembly 233, the limiting assembly 233 includes a sector turntable 234, a first stopper 235, a second stopper 236 and a first position sensor, the rotating shaft 232 is connected to a power output shaft of the servo driving mechanism 231, the sector turntable 234 is installed at an end of the rotating shaft 232, two end surfaces of the sector turntable 234 are respectively provided with the first stopper 235 and the second stopper 236, the sector turntable 234 is connected with an induction plate, the first position sensor is disposed below the induction plate, the servo driving mechanism 231 drives the rotating shaft 232 to rotate, when the sector turntable 234 drives the induction plate to pass through the first position sensing, the servo driving mechanism 231 stops rotating, and the first stopper 235 and the second stopper 236 play a role of mechanical limiting, thereby preventing over-rotation and damaging a product.
In this embodiment, the insertion rail mechanism 24 includes a timing belt driving mechanism 241, a rail slider mechanism 242, a timing wheel mounting plate 243 and a rail mounting plate 244, the timing wheel mounting plate 243 is fixedly connected to the rotating shaft 232, the timing belt driving mechanism 241 is disposed on the timing wheel mounting plate 243, the rail mounting plate 244 is fixedly connected to the timing wheel mounting plate 243, the rail slider mechanism 242 is mounted on the rail mounting plate 244, a timing belt of the timing belt driving mechanism 241 is fixedly connected to the sliding plate 261, the sliding plate 261 is driven to slide along the rail slider mechanism 242, and ascending and descending operations are completed.
Referring to fig. 4, in the present embodiment, the stagnation prevention assembly 26 includes a sliding plate 261, a bearing seat 262, and a second spring 264, the sliding plate 261 is connected to the sliding block of the rail sliding block mechanism 242, the bearing seat 262 is slidably disposed on the sliding plate 261, the product adsorption plate 25 is rotatably mounted on the bearing seat 262, a first spring 263 is disposed between the bearing seat 262 and the sliding plate 261, a telescopic direction of the first spring 263 is parallel to a sliding direction of the bearing seat 262, a second spring 264 is disposed between the sliding plate 261 and the product adsorption plate 25, the product adsorption plate 25 is placed in the clip rail 31, when the product adsorption plate 25 is not parallel to a limit structure of the clip rail 31, the product adsorption plate 25 rotates around the bearing seat 262 to adjust an angle of the product adsorption plate 25, so that the product on the product adsorption plate 25 can be smoothly placed in the clip rail 31, after the product adsorption plate 25 is pulled out of the clip rail 31, under the action of the second spring 264, the product adsorption plate 25 returns to the initial position, when the product on the product adsorption plate 25 touches the bottom plate of the clamping fence 31, the fool-proof stagnation component 26 continues to move downwards, the product adsorption plate 25 slides relative to the sliding plate 261 to prevent the product from being extruded, and after the product adsorption plate 25 is separated from the product glass sheet, the product adsorption plate 25 returns to the initial position under the action of the first spring 263.
In the present embodiment, the product suction plate 25 is provided with a product suction cup for sucking the product glass sheet.
In this embodiment, the detection mechanism includes a gantry and a detection camera, the gantry is fixed on the table top of the rack 10, the detection camera is installed on the gantry, and the detection camera is located above the product adsorption plate 25.
The working principle is as follows: the X-axis moving module 21 and the Y-axis moving module 22 drive the inserting column mechanism 24 to move to the previous station, the inserting column mechanism 24 drives the product adsorption plate 25 to adsorb the product, then the product is moved to the upper side of the clamping column 31, the rotating assembly 23 drives the product adsorption plate 25 to rotate to a set angle, the product adsorption plate 25 moves downwards, the product is placed in the clamping column 31, when the product adsorption plate 25 is not parallel to the limit structure of the clamping column 31, the product adsorption plate 25 rotates around the bearing seat 262, the angle of the product adsorption plate 25 is adjusted, so that the product on the product adsorption plate 25 can be smoothly placed in the clamping column 31, after the product adsorption plate 25 is pulled out of the clamping column 31, under the action of the second spring 264, the product adsorption plate 25 returns to the initial position, when the product on the product adsorption plate 25 touches the bottom plate of the clamping column 31, the foolproof assembly 26 continues to move downwards, and the product adsorption plate 25 and the sliding plate 261 slide relatively, the product is prevented from being extruded and damaged, and the product adsorption plate 25 returns to the initial position under the action of the first spring 263 after the product adsorption plate 25 is separated from the product glass sheet.
Claims (10)
1. The utility model provides a prevent slow-witted fence machine that stagnates, includes frame (10), transport module (20), clamping mechanism (30) and detection mechanism, its characterized in that: clamping mechanism (30) slide to set up on the mesa of frame (10), clamping mechanism (30) top is provided with transport module (20), transport module (20) include that X axle removes module (21), Y axle and removes module (22), rotating component (23) and inserts fence mechanism (24), X axle removes module (21) and spanes the setting in clamping mechanism (30) top, Y axle removes module (22) and installs on the removal portion that X axle removed module (21), rotating component (23) set up on the removal portion that Y axle removed module (22), insert fence mechanism (24) and set up in the pivot of rotating component (23), it adsorbs board (25) and prevents staying subassembly (26) to be provided with the product on fence mechanism (24).
2. The fool-proof stall fence machine of claim 1, characterized in that: the clamping mechanism (30) comprises a clamping rail (31) and a tooling plate (34), wherein the tooling plate (34) is slidably mounted on the table top of the rack (10), a positioning device is arranged on the tooling plate (34), and the clamping rail (31) is arranged on the positioning device.
3. The fool-proof stall fence machine of claim 1, characterized in that: the clamping fence (31) comprises a plurality of bead connecting rods (311), clamping beads are distributed on the bead connecting rods (311) uninterruptedly and are formed by connecting two circular truncated cone bottom surfaces with the same bottom diameter.
4. The fool-proof stall fence machine of claim 1, characterized in that: rotating assembly (23) includes servo drive mechanism (231), pivot (232) and spacing subassembly (233), spacing subassembly (233) includes fan-shaped carousel (234), first dog (235), second dog (236) and first position sensor, pivot (232) are connected on the power output shaft of servo drive mechanism (231), the tip at pivot (232) is installed in fan-shaped carousel (234), the both ends face of fan-shaped carousel (234) is provided with first dog (235), second dog (236) respectively, be connected with the tablet on fan-shaped carousel (234), first position sensor sets up in the tablet below.
5. The fool-proof stall fence machine of claim 4, which is characterized in that: insert fence mechanism (24) and include synchronous pulley drive mechanism (241), rail block mechanism (242), synchronizing wheel mounting panel (243) and guide rail mounting panel (244), synchronizing wheel mounting panel (243) fixed connection is on pivot (232), synchronous pulley drive mechanism (241) sets up on synchronizing wheel mounting panel (243), rail mounting panel (244) fixed connection is on synchronizing wheel mounting panel (243), and rail block mechanism (242) are installed on rail mounting panel (244).
6. The fool-proof stall fence machine of claim 5, characterized in that: prevent slow-witted subassembly (26) that stagnates including slide (261), bearing frame (262), second spring (264), slide (261) are installed on the slider of guide rail slider mechanism (242), bearing frame (262) slide to be set up on slide (261), rotatable formula of product adsorption plate (25) is installed on bearing frame (262).
7. The fool-proof stall fence machine of claim 6, characterized in that: a first spring (263) is arranged between the bearing seat (262) and the sliding plate (261), and the telescopic direction of the first spring (263) is parallel to the sliding direction of the bearing seat (262).
8. The fool-proof stall fence machine of claim 7, wherein: and a second spring (264) is arranged between the sliding plate (261) and the product adsorption plate (25).
9. The fool-proof stall fence machine of claim 7, wherein: and a product sucking disc is arranged on the product sucking plate (25).
10. The fool-proof stall fence machine of claim 1, characterized in that: the detection mechanism comprises a portal frame and a detection camera, the portal frame is fixed on the table top of the rack (10), the detection camera is installed on the portal frame, and the detection camera is located above the product adsorption plate (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111645775.0A CN114212540B (en) | 2021-12-30 | 2021-12-30 | Prevent slow-witted of inserting fence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111645775.0A CN114212540B (en) | 2021-12-30 | 2021-12-30 | Prevent slow-witted of inserting fence |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114212540A true CN114212540A (en) | 2022-03-22 |
| CN114212540B CN114212540B (en) | 2023-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111645775.0A Active CN114212540B (en) | 2021-12-30 | 2021-12-30 | Prevent slow-witted of inserting fence |
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| Country | Link |
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| CN (1) | CN114212540B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203624521U (en) * | 2013-12-13 | 2014-06-04 | 无锡先导自动化设备股份有限公司 | Testing and blanking device for capacitances |
| CN104399837A (en) * | 2014-11-24 | 2015-03-11 | 三峡大学 | Feeding and discharging device of large-area warping elastic thin plate |
| CN206344153U (en) * | 2016-11-25 | 2017-07-21 | 深圳市信诺达机电设备有限公司 | A kind of intelligent handling machinery arm of grain sorting |
| CN208810600U (en) * | 2018-09-15 | 2019-05-03 | 春禾（深圳）自动化技术有限公司 | A kind of detection of thickness of glass and divide BIN device |
| CN209177550U (en) * | 2018-08-31 | 2019-07-30 | 东莞理工学院 | A kind of multi-functional loading and unloading manipulator applied to automatic detection |
| CN209480747U (en) * | 2019-01-28 | 2019-10-11 | 蓝思智能机器人(长沙)有限公司 | A kind of feeding device |
| CN110371667A (en) * | 2019-07-19 | 2019-10-25 | 深圳市瑞飞科技有限公司 | Collecting machine |
| CN209740203U (en) * | 2019-04-18 | 2019-12-06 | 东莞市科伟自动化设备有限公司 | Plate glass inserting frame |
| CN113682648A (en) * | 2021-10-22 | 2021-11-23 | 徐州旭东玻璃有限公司 | Glass storage tool convenient to carry and move |
-
2021
- 2021-12-30 CN CN202111645775.0A patent/CN114212540B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203624521U (en) * | 2013-12-13 | 2014-06-04 | 无锡先导自动化设备股份有限公司 | Testing and blanking device for capacitances |
| CN104399837A (en) * | 2014-11-24 | 2015-03-11 | 三峡大学 | Feeding and discharging device of large-area warping elastic thin plate |
| CN206344153U (en) * | 2016-11-25 | 2017-07-21 | 深圳市信诺达机电设备有限公司 | A kind of intelligent handling machinery arm of grain sorting |
| CN209177550U (en) * | 2018-08-31 | 2019-07-30 | 东莞理工学院 | A kind of multi-functional loading and unloading manipulator applied to automatic detection |
| CN208810600U (en) * | 2018-09-15 | 2019-05-03 | 春禾（深圳）自动化技术有限公司 | A kind of detection of thickness of glass and divide BIN device |
| CN209480747U (en) * | 2019-01-28 | 2019-10-11 | 蓝思智能机器人(长沙)有限公司 | A kind of feeding device |
| CN209740203U (en) * | 2019-04-18 | 2019-12-06 | 东莞市科伟自动化设备有限公司 | Plate glass inserting frame |
| CN110371667A (en) * | 2019-07-19 | 2019-10-25 | 深圳市瑞飞科技有限公司 | Collecting machine |
| CN113682648A (en) * | 2021-10-22 | 2021-11-23 | 徐州旭东玻璃有限公司 | Glass storage tool convenient to carry and move |
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| Publication number | Publication date |
|---|---|
| CN114212540B (en) | 2023-11-03 |
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