CN114345761B - Reason material of panel part is equipped - Google Patents
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- CN114345761B CN114345761B CN202210009210.1A CN202210009210A CN114345761B CN 114345761 B CN114345761 B CN 114345761B CN 202210009210 A CN202210009210 A CN 202210009210A CN 114345761 B CN114345761 B CN 114345761B
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- 238000000034 method Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000007599 discharging Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 239000013072 incoming material Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention discloses a material arranging device for plate parts, which comprises: a guide rail; the portal travelling mechanism is arranged on the guide rail and moves along the first direction; the sorting robot is arranged on the portal travelling mechanism and moves along with the portal travelling mechanism; the sorting robot comprises a first walking assembly and a second walking assembly, wherein the first walking assembly can move along a second direction, and the second walking assembly can move along a third direction along with the first walking assembly, and the three directions are perpendicular to each other; a flexible gripper rotatably connected to the second walking assembly, rotating relative to the sorting robot and moving with the sorting robot; the flexible gripper includes a magnetic head array; the sensing device is arranged on the flexible grip and used for acquiring the actual coordinates and angles of the tested workpiece; the control device is a control core of the whole equipment. The invention can complete automatic material arrangement and realize informatization management of parts so as to improve material arrangement efficiency and reduce material arrangement error rate.
Description
Technical Field
The invention relates to the field of machining, in particular to a material arranging device for plate parts.
Background
The modern ship building mode requires optimizing the production process, reducing the resources consumed by parts in the processes of arrangement, transportation, storage and circulation, further improving the ship manufacturing efficiency, guaranteeing the ship manufacturing quality and promoting the good and rapid development of the ship manufacturing.
At present, the distribution of ship body parts and assembly trays in a domestic shipyard is rough, and the material arranging information is manually recorded through a paper form, so that a part material arranging information management system is lacked. On the other hand, the whole material arranging process relies on manual operation to carry out coding identification to parts and trays, carries out transportation of parts through a half gantry crane, carries out material distribution through human eye identification tray coding, and the whole material arranging process is not automatic and electronic, and is low in efficiency, high in cost and high in error rate. Aiming at the problem, the problems of production delay, part accumulation, deformation, rust, loss and the like caused by material distribution errors are reduced or avoided, and the method has a good application prospect.
Therefore, those skilled in the art are dedicated to develop a material arranging device for plate parts, which can complete automatic material arranging and realize informatization management of the parts so as to improve material arranging efficiency and reduce material arranging error rate.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is to solve the technical problems of
In order to achieve the above object, the present invention provides a material arranging device for a plate part, comprising:
a guide rail;
a gantry travel mechanism disposed on the guide rail and configured to be movable along a first direction;
the sorting robot is arranged on the portal travelling mechanism and can move along with the portal travelling mechanism; the sorting robot comprises a first walking component and a second walking component, wherein the first walking component is configured to be capable of moving along a second direction, the second walking component is configured to be capable of moving along with the first walking component and further configured to be capable of moving along a third direction, the first direction is the length direction of the guide rail, the second direction is a direction perpendicular to the first direction, and the third direction is a direction perpendicular to a plane formed by the first direction and the second direction;
a flexible gripper rotatably connected to the second walking assembly of the sorting robot and configured to be rotatable with respect to the sorting robot and to move with the sorting robot; wherein the flexible gripper comprises a magnetic head array;
the sensing device is arranged on the flexible grip and is configured to acquire the actual coordinates and the angle of the workpiece to be tested;
and the control device is configured to calculate a grabbing path according to the actual coordinates and the angle, control the gantry travelling mechanism, the sorting robot and the flexible gripper to work simultaneously and control the power-off of different magnetic heads in the magnetic head array.
Further, the rails include an upper rail configured to be mounted on a cross beam of a plant and a lower rail configured to be mounted on a floor of the plant.
Further, the portal running gear includes: an upper gear train mounting beam, a high-rise frame beam, a middle-layer frame beam, a lower guide rail supporting column and a lower gear train mounting beam; the upper gear train mounting beam is arranged on the upper guide rail and moves along the upper guide rail through an upper gear train, the lower gear train mounting beam is arranged on the lower guide rail and moves along the lower guide rail through a lower gear train, the high-rise frame beam protrudes outwards from the upper gear train mounting beam, the lower guide rail support column protrudes outwards from the lower gear train mounting beam, and the end parts of the high-rise frame beam and the lower guide rail support column are fixedly connected; the middle layer frame beam and the high layer frame beam are arranged in parallel, and the sorting robot is arranged on the middle layer frame beam.
Further, the upper gear train and the lower gear train each comprise a driving wheel and at least one driven wheel, and the driving wheels are driven by a motor.
Further, the sorting robot further comprises a main body frame, the first travelling assembly comprises a first guide rail, a first rack, a first gear train and a first gear, wherein the first guide rail and the first rack are arranged on the middle-layer frame beam in parallel, and the first gear train and the first gear are arranged on the main body frame; the first gear train is matched with the first guide rail, the first gear is meshed with the first rack, and the first gear and the first rack are driven by a motor to provide driving force for enabling the main body frame to move along the second direction.
Further, the second walking assembly comprises a stand column, a second guide rail, a sliding block, a second gear and a second rack, wherein the stand column is arranged on the main body frame, the second guide rail is arranged on the side face of the stand column, the second rack is arranged on the side face of the stand column, the second guide rail is matched with the sliding block, the second gear is meshed with the second rack, and the second gear and the second rack are driven by a motor to provide driving force for enabling the stand column to move along the third direction.
Further, the flexible gripper includes a rotating frame and a supporting frame, an upper end of the rotating frame is connected with the upright and configured to be rotatable relative to the upright, the supporting frame is connected with the rotating frame through a bearing, and the magnetic head array is disposed on the supporting frame.
Further, a mounting bracket is arranged on the supporting frame, and the sensing device is arranged at the end part of the mounting bracket.
Further, the sensing device is a vision device or a line laser scanner.
Further, the control device comprises a PLC control cabinet, an industrial personal computer, a motion control system and a network conversion interface; the industrial personal computer is configured to calculate the grabbing path according to the actual coordinates and angles of the tested workpiece, the PLC control cabinet receives instructions of the industrial personal computer and transmits the instructions to the motion control system, and the motion control system is configured to control the gantry travelling mechanism, the sorting robot, the flexible gripper and the sensing device to move.
The invention has the following beneficial technical effects: according to the invention, the control device controls the material arranging device to drive the flexible grippers to grab, carry and discharge any plate parts, so that the automation and the intellectualization of the sorting of the ship plate parts are realized, and the problems of low efficiency and high error rate in the manual material arranging process are solved.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention without guide rails;
fig. 3 is a schematic perspective view of a sorting robot according to the present invention;
fig. 4 is a schematic perspective view of the sorting robot and the flexible gripper according to the present invention.
Wherein, 1-portal frame travelling mechanism; 2-a sorting robot; 3-flexible grippers; 4-a sensing device; 5-a control device; 101-mounting a beam on an upper gear train; 102-high-rise frame beams; 103-middle layer frame beams; 104-lower guide rail support columns; 105-lower gear train mounting beams; 106-a vertical ladder; 107-repairing the channel and the guardrail; 111-upper train driving wheels; 112-lower train driving wheel; 113-a first electric block; 114-a second electric hoist; 115-upper rail; 116-lower guide rail; 201-Y direction guide rail; 202-Y direction racks; 203-Y direction anti-collision column; 211-a main body frame; 212-Y direction wheel system; 213-Z direction slide block; 214-anti-falling linear motor; 215-Z direction gear; 216-Y gear; 221-Z column; 222-Z direction guide rail; 223-Z direction rack; 224-tank chain; 301-rotating a frame; 302-a support frame; 303—a head array; 304-a security scanner; 305-rotating electrical machine and bearing; 401-mounting a bracket; 402-visual device.
Detailed Description
The following description of the preferred embodiments of the present invention refers to the accompanying drawings, which make the technical contents thereof more clear and easy to understand. The present invention may be embodied in many different forms of embodiments and the scope of the present invention is not limited to only the embodiments described herein.
In the drawings, like structural elements are referred to by like reference numerals and components having similar structure or function are referred to by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the present invention is not limited to the dimensions and thickness of each component. The thickness of the components is exaggerated in some places in the drawings for clarity of illustration.
As shown in fig. 1, the invention provides a sheet part arranging device, which comprises a portal frame travelling mechanism 1, a guide rail, a sorting robot 2, a flexible gripper 3, a sensing device 4 and a control device 5. The gantry travelling mechanism 1 may be a travelling structure, and may be movable along the length direction (i.e. the X-direction) of the guide rail. The sorting robot 2 is provided on the gantry travelling mechanism 1 and is movable in the X direction along with the gantry travelling mechanism 1. Meanwhile, the sorting robot 2 further comprises a Y-direction walking assembly and a Z-direction walking assembly, wherein the Y-direction is a direction perpendicular to the X-direction, and the Z-direction is a direction perpendicular to a plane formed by the X, Y directions. The Z-direction walking assembly is arranged on the Y-direction walking assembly and can move along the Y direction along with the Y-direction walking assembly. The flexible grip 3 is rotatably provided on the Z-direction traveling assembly, is movable in the Z-direction along with the Z-direction traveling assembly, and is rotatable relative to the Z-direction traveling assembly. By means of the gantry travelling mechanism 1 and the sorting robot 2, the flexible gripper 3 can finally be moved in the direction X, Y, Z, so that movements of any angle and position are achieved. The flexible gripper 3 is provided with a magnetic head array 303, and by powering off different electromagnetic heads in the magnetic head array 303, the gripping of parts with different shapes, different sizes and different weights can be realized. The sensor device 4 is disposed at a side of the magnetic head array 303, and is connected to the flexible grip 3 through a mounting bracket 401, and is capable of moving together with the flexible grip 3. The sensing device 4 can acquire actual coordinates of the measured parts and the material box, and transmits the coordinate values to the control device 5, and the control device 5 calculates grabbing coordinates and angles of the flexible grippers 3 and working information of the magnetic head array 303, so that the gantry travelling mechanism 1, the sorting robot 2 and the flexible grippers 3 are controlled to work, and intelligent automatic grabbing of any incoming materials and tray sorting storage are realized.
In some embodiments, the rails include an upper rail 115 and a lower rail 116, and the gantry running gear 1 includes an upper train wheel mounting beam 101, a high level frame beam 102, a middle level frame beam 103, a lower rail support column 104, a lower train wheel mounting beam 105. The upper guide rail 115 is installed on the upper beam of the building, and the lower guide rail 116 is installed on the bottom surface of the building. The upper train wheel mounting beam 101 is disposed on the upper rail 115 and travels on the upper rail 115 by an upper wheel, which preferably includes an upper train wheel 111 driven by a motor and at least one driven wheel. The lower train wheel mounting beam 105 is disposed on a lower rail 116 and runs on the lower rail 116 by a lower wheel, which preferably includes a lower train wheel 112 driven by a motor and at least one driven wheel. The lower rail support column 104 is provided protruding in the Z direction on the lower train wheel mounting beam 105, one end of which is fixed to the lower train wheel mounting beam 105, and the other end of which is fixedly connected to the high-rise frame beam 102. The high-rise frame beam 102 is arranged on the upper gear train mounting beam 101 in a protruding manner along the Y direction, one end of the high-rise frame beam is fixed on the upper gear train mounting beam 101, and the other end of the high-rise frame beam is fixedly connected with the lower guide rail support column 104. The middle frame beam 103 is arranged in parallel with the high frame beam 102 and has a lower height than the high frame beam 102. The sorting robot 2 is arranged on the middle frame beam 103. In some embodiments, the gantry travelling mechanism 1 is a half-door crane or a crane, which is movable in the X-direction along a rail provided on the ground, the gantry travelling mechanism 1 having an upper beam and a lower beam, and the sorting robot 2 being then mounted on the lower beam. It should be understood that other existing driving structures in the prior art are also suitable for use in the present application.
In some embodiments, a coding ruler is arranged on the guide rail, and a code reader matched with the coding ruler is arranged on the gantry travelling mechanism 1, so that information of the corresponding coding ruler of the gantry travelling mechanism 1 on the guide rail can be read, and accurate position control of the gantry travelling mechanism 1 in the X direction is realized.
In some embodiments, an electric hoist is provided on the high-rise frame beam 102, and can perform manual residue work. Preferably, two electric hoists, i.e., a first electric hoist 113 and a second electric hoist 114, may be installed to be respectively located at both sides of the sorting robot 2.
In some embodiments, the gantry travelling mechanism 1 is provided with a vertical ladder 106, a maintenance channel and a guardrail 107, the vertical ladder 106 can be arranged on the support column, the maintenance channel and the guardrail 107 are arranged on the middle frame beam 103, and the sorting robot 2 and the flexible gripper 3 are convenient to maintain.
In some embodiments, the Y-directional walking assembly of the sorting robot 2 includes a Y-directional rail 201, a Y-directional rack 202, the Y-directional rail 201 and the Y-directional rack 202 being disposed on the middle frame rail 103 or the lower cross beam in a parallel manner, and a Y-directional gear train 212 and a Y-directional gear 216 being disposed on the main frame 211 of the sorting robot 2, the Y-directional gear train 212 cooperating with the Y-directional rail 201, thereby restricting movement of the sorting robot 2 in the Y-direction. The Y-direction gear 216 is engaged with the Y-direction rack 202, and driven by a driving motor, provides a driving force for the sorting robot 2 to move in the Y-direction. The Z-directional walking assembly of the sorting robot 2 includes a Z-directional slider 213, a Z-directional rail 222, a fall prevention linear motor 214, a Z-directional gear 215, a Z-directional rack 223, and a Z-directional column 221. The Z column 221 is provided on the main body frame 211 in the Z direction, and the Z rack 223 and the Z rail 222 are provided on the Z column 221 in the Z direction; the Z-direction slider 213 cooperates with the Z-direction rail 222 to limit the movement of the sorting robot 2 in the Z-direction, i.e., to enable the Z-column 221 to move in the Z-direction slider 213; the Z-direction gear 215 and the Z-direction rack 223 are engaged to provide a driving force in the Z-direction under the driving of the driving motor. Preferably, Z-rails 222 are provided on three sides of Z-column 221.
In some embodiments, a Y-direction collision post 203 is provided on the gantry traveling mechanism 1, and the Y-direction collision post 203 is provided at the end point of the motion travel of the sorting robot 2 in the Y direction, so that the sorting robot 2 can be prevented from striking the gantry traveling mechanism 1.
In some embodiments, sorting robot 2 further includes a tank chain 224, one end of which is connected to main body frame 211, and the other end of which is connected to Z column 221. Tank chain 224 forms an inverted U-shaped curved shape.
In some embodiments, the flexible grip 3 includes a rotating frame 301 and a supporting frame 302. The upper end of the rotating frame 301 is connected to a Z column 221 of the Z-direction traveling assembly. The rotating frame 301 is provided with a rotating motor and a bearing 305, and is connected with the supporting frame 302, so that the flexible rotation of the flexible gripper 3 can be realized. Preferably, the bearing is a thrust bearing. The support frame 302 is provided with a magnetic head array 303 for grasping, carrying and discharging parts. Preferably, the array of magnetic heads 303 is arranged in a matrix, and different magnetic heads can be powered off by the control device 5, so as to grasp parts with different shapes, different sizes and different qualities.
In some embodiments, a safety scanner 304 is also arranged on the flexible gripper 3, so that the surrounding environment can be monitored, and the safety of personnel and equipment is ensured.
In some embodiments, the sensing device 4 is connected to the support frame 302 by a mounting bracket 401. Specifically, the mounting brackets 401 are respectively connected to both ends of the support bracket, and the sensing devices 4 are respectively mounted to the ends of the corresponding mounting brackets 401. The sensing device 4 may employ the vision device 402, or may employ a line laser scanner. By adopting the vision equipment 402, scanning pictures of the parts and the material boxes can be obtained, and then the control device 5 can calculate and obtain the actual center or vertex coordinate values and angle values of the parts and the material boxes according to the actual coordinate values of the portal travelling mechanism 1 and the sorting robot 2 so as to be used for grabbing the parts and feeding the parts into the material boxes. The line laser scanner is adopted to identify the actual coordinates and angles of the measured object and the actual coordinates and angles of the feed box.
In some embodiments, the control device 5 comprises a PLC control cabinet, an industrial personal computer, a motion control system, a network conversion interface and the like, and can control the gantry travelling mechanism 1, the sorting robot 2 and the flexible gripper 3 to automatically grip various parts. The control device 5 can calculate and obtain the power-on strategy of the magnetic head array 303 of the flexible gripper 3 according to different part shapes, calculate the grabbing paths of a plurality of parts so as to maximize grabbing efficiency, and calculate the discharging positions of the parts so as to maximize the utilization efficiency of the material box. The information such as energy consumption information, fault rate information, operation efficiency and the like can be calculated for big data analysis, so that the shutdown rate of the factory is reduced in an omnibearing manner, and the operation efficiency of the factory is improved; the software installed in the industrial personal computer transmits the grabbing coordinates and angles of each part, grabbing paths and bin discharging coordinates to the PLC control cabinet according to the calculation result; the PLC control cabinet receives various information transmitted by software, receives various sensor and safety equipment information, transmits an execution instruction to the motion control system through PLC logical operation, and the motion control system realizes the overall motion of the equipment through controlling parameters of a motor to finish the actions of visual scanning, part grabbing, part carrying, part discharging and the like.
The working process of the application is as follows: the portal travelling mechanism 1 can drive the sensing device 4 to realize X-direction travelling, and the sorting robot 2 can drive the sensing device 4 to realize Y-direction travelling and Z-direction travelling. The actual coordinates of the measured parts and the material box are acquired through the sensing device 4, the coordinate values are transmitted to the control device 5, the grabbing coordinates and angles of the flexible grippers 3 and the working information of the magnetic head array 303 are calculated through the control device 5, and then the control device 5 guides the gantry travelling mechanism 1, the sorting robot 2 and the flexible grippers 3 to work simultaneously, so that intelligent automatic grabbing of any incoming materials and tray sorting storage are realized.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention without requiring creative effort by one of ordinary skill in the art. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (7)
1. Reason material equipment of panel part, its characterized in that includes:
a guide rail;
a gantry travel mechanism disposed on the guide rail and configured to be movable along a first direction; the guide rail is provided with a coding ruler, and the portal travelling mechanism is provided with a code reader matched with the coding ruler; the guide rail comprises an upper guide rail and a lower guide rail, wherein the upper guide rail is configured to be installed on a cross beam of a factory building, and the lower guide rail is configured to be installed on the bottom surface of the factory building; the portal running gear includes: an upper gear train mounting beam, a high-rise frame beam, a middle-layer frame beam, a lower guide rail supporting column and a lower gear train mounting beam; the upper gear train mounting beam is arranged on the upper guide rail and moves along the upper guide rail through an upper gear train, the lower gear train mounting beam is arranged on the lower guide rail and moves along the lower guide rail through a lower gear train, the high-rise frame beam protrudes outwards from the upper gear train mounting beam, the lower guide rail support column protrudes outwards from the lower gear train mounting beam, and the end parts of the high-rise frame beam and the lower guide rail support column are fixedly connected; the middle-layer frame beams and the high-layer frame beams are arranged in parallel, and the sorting robot is arranged on the middle-layer frame beams; the upper gear train and the lower gear train comprise a driving wheel and at least one driven wheel, and the driving wheel is driven by a motor;
the sorting robot is arranged on the portal travelling mechanism and moves along with the portal travelling mechanism; the sorting robot comprises a first walking component and a second walking component, wherein the first walking component is configured to be capable of moving along a second direction, the second walking component is configured to be capable of moving along with the first walking component and further configured to be capable of moving along a third direction, the first direction is the length direction of the guide rail, the second direction is a direction perpendicular to the first direction, and the third direction is a direction perpendicular to a plane formed by the first direction and the second direction;
a flexible gripper rotatably connected to the second walking assembly of the sorting robot and configured to be rotatable with respect to the sorting robot and to move with the sorting robot; wherein the flexible gripper comprises a magnetic head array;
the sensing device is arranged on the flexible grip and is configured to acquire the actual coordinates and the angle of the workpiece to be tested;
and the control device is configured to calculate a grabbing path according to the actual coordinates and the angle, control the gantry travelling mechanism, the sorting robot and the flexible gripper to work simultaneously and control the power-off of different magnetic heads in the magnetic head array.
2. The sorting apparatus of claim 1, wherein the sorting robot further comprises a main body frame, the first travel assembly comprising a first rail, a first rack, a first train of gears, a first gear, wherein the first rail and the first rack are disposed in parallel on the middle layer frame beam, the first train of gears and the first gear are disposed on the main body frame; the first gear train is matched with the first guide rail, the first gear is meshed with the first rack, and the first gear and the first rack are driven by a motor to provide driving force for enabling the main body frame to move along the second direction.
3. The finishing device of claim 2, wherein the second traveling assembly comprises a column, a second rail, a slider, a second gear, and a second rack, the column being disposed on the main body frame, the second rail being disposed on a side of the column, the second rack being disposed on a side of the column, the second rail being engaged with the slider, the second gear being engaged with the second rack, the second gear and the second rack being driven by a motor to provide a driving force for moving the column in the third direction.
4. A handling apparatus according to claim 3, wherein the flexible gripper comprises a rotating frame and a supporting frame, the upper end of the rotating frame being connected to the upright and configured to be rotatable relative to the upright, the supporting frame being connected to the rotating frame by bearings, the array of magnetic heads being provided on the supporting frame.
5. The grooming apparatus of claim 4 wherein the support frame is provided with a mounting bracket, the sensing device being disposed at an end of the mounting bracket.
6. The material handling apparatus of claim 1, wherein the sensing device is a vision device or a line laser scanner.
7. The material arranging device according to claim 1, wherein the control device comprises a PLC control cabinet, an industrial personal computer, a motion control system and a network conversion interface; the industrial personal computer is configured to calculate the grabbing path according to the actual coordinates and angles of the tested workpiece, the PLC control cabinet receives instructions of the industrial personal computer and transmits the instructions to the motion control system, and the motion control system is configured to control the gantry travelling mechanism, the sorting robot, the flexible gripper and the sensing device to move.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210009210.1A CN114345761B (en) | 2022-01-06 | 2022-01-06 | Reason material of panel part is equipped |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210009210.1A CN114345761B (en) | 2022-01-06 | 2022-01-06 | Reason material of panel part is equipped |
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| CN114833485A (en) * | 2022-06-10 | 2022-08-02 | 上海交通大学 | Visual detection equipment and method for surface defects of welding seams of spliced ship boards |
| CN115009807A (en) * | 2022-07-25 | 2022-09-06 | 上海交通大学 | Automatic sorting and carrying system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103707292B (en) * | 2013-12-30 | 2015-08-19 | 上海交通大学 | Based on the 6DOF industrial robot of XYZ rectangular co-ordinate joint and attitude wrist |
| CN204369301U (en) * | 2014-11-28 | 2015-06-03 | 淮安中科科创精密机械科技有限公司 | A kind of automatic disk discharging machine people |
| CN205668808U (en) * | 2016-05-16 | 2016-11-02 | 机械科学研究总院先进制造技术研究中心 | A kind of automatization steel plate sorting conditioning machines people being applicable to plasma cutting |
| CN105835045B (en) * | 2016-06-06 | 2017-12-01 | 福建工程学院 | A kind of panel installation truss manipulator and installation method |
| CN107934544B (en) * | 2017-12-19 | 2023-06-16 | 安徽省华夏机床制造有限公司 | Automatic plate feeding equipment and using method thereof |
| CN207711409U (en) * | 2018-01-10 | 2018-08-10 | 茂联橡胶制品（深圳）有限公司 | A kind of arm-and-hand system |
| CN109317877A (en) * | 2018-09-29 | 2019-02-12 | 海安苏州大学先进机器人研究院 | A kind of robot welding portal frame mobile device |
| CN210998706U (en) * | 2018-10-19 | 2020-07-14 | 斯图加特航空自动化（青岛）有限公司 | Gantry type industrial robot |
| CN209225936U (en) * | 2018-12-13 | 2019-08-09 | 法兰泰克重工股份有限公司 | A kind of materials conveying system and intelligent plant area |
| CN110681614A (en) * | 2019-08-08 | 2020-01-14 | 南通大学 | Robot palletizer sorting device based on computer vision |
| CN210854335U (en) * | 2019-11-07 | 2020-06-26 | 湖南视比特机器人有限公司 | Electromagnetic chuck with adaptive grabbing shape and size |
| CN212497754U (en) * | 2020-06-05 | 2021-02-09 | 广东新农人农业科技股份有限公司 | Operation device of agricultural robot |
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