CN114435670B - Multi-shaft simultaneous boxing and carrying mechanism based on visual guidance - Google Patents
Multi-shaft simultaneous boxing and carrying mechanism based on visual guidance Download PDFInfo
- Publication number
- CN114435670B CN114435670B CN202210377298.2A CN202210377298A CN114435670B CN 114435670 B CN114435670 B CN 114435670B CN 202210377298 A CN202210377298 A CN 202210377298A CN 114435670 B CN114435670 B CN 114435670B
- Authority
- CN
- China
- Prior art keywords
- control box
- carrying
- carrying control
- bevel gear
- fixedly connected
- 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
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of boxing and carrying, and discloses a multi-shaft simultaneous boxing and carrying mechanism based on visual guidance, which solves the problems of low manual carrying efficiency and large manual labor amount, and the problem that an automatic boxing and carrying mechanism is inconvenient for carrying a plurality of coils in a boxing manner at the same time, has certain limitation and is inconvenient for practical use; the coil fixing device has the advantages that the coil fixing device is convenient to fix the coils, the four coils can be abutted together, the coils can be placed in the box conveniently, and the working efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of boxing and carrying, and particularly relates to a multi-shaft simultaneous boxing and carrying mechanism based on visual guidance.
Background
Coil assembly has always been a labor intensive industry, and because product parts come from poor uniformity, irregularity etc., a large amount of manpower is required in the production assembly process, and in the vanning process of coil, generally manual handling is required.
Wherein, artifical handling efficiency is low, and the amount of labour is big, and automatic vanning transport mechanism is not convenient for carry out the vanning transport simultaneously to a plurality of coils, has certain limitation, the in-service use of not being convenient for.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the multi-shaft simultaneous boxing and carrying mechanism based on the visual guidance, which effectively solves the problems that the manual carrying efficiency is low and the manual labor amount is large in the background technology, and the automatic boxing and carrying mechanism is inconvenient to carry a plurality of coils in a boxing mode simultaneously, has certain limitation and is inconvenient to use practically.
In order to achieve the purpose, the invention provides the following technical scheme: the multi-shaft simultaneous boxing and carrying mechanism based on visual guidance comprises a boxing and carrying arm, wherein a carrying installation seat is arranged on the boxing and carrying arm, a carrying movable seat is arranged on one side of the carrying installation seat, the carrying movable seat is connected with the carrying installation seat through a horizontal displacement driving mechanism, a first carrying control box and a second carrying control box are arranged below the carrying installation seat and the carrying movable seat, different-direction adjusting driving mechanisms are arranged on the carrying installation seat and the carrying movable seat, the first carrying control box and the second carrying control box are connected through the different-direction adjusting driving mechanisms, and workpiece synchronous clamping assemblies are arranged on the first carrying control box and the second carrying control box;
the workpiece synchronous clamping assembly comprises a first movable hole arranged on the inner walls of the bottoms of a first carrying control box and a second carrying control box, the first movable hole is of a cross structure, two first movable adjusting blocks are arranged in the first carrying control box and the second carrying control box respectively, the bottom of each first movable adjusting block is fixedly connected with a first supporting clamping column, two second movable adjusting blocks are arranged in the first carrying control box and the second carrying control box respectively, the bottom of each second movable adjusting block is fixedly connected with a second supporting clamping column, the first supporting clamping column and the second supporting clamping column penetrate through the first movable hole, first bidirectional adjusting screw rods are arranged in the first carrying control box and the second carrying control box respectively, first bearings are arranged on the inner walls of the two sides of the first carrying control box and the inner walls of the two sides of the second carrying control box respectively, the first bearings are connected with the ends of the first bidirectional adjusting screw rods, second bidirectional adjusting screw rods are arranged in the first carrying control box and the second carrying control box respectively, the inner walls of the two sides of the first carrying control box and the second carrying control box are respectively provided with a second bearing, the second bearings are connected with the end parts of second bidirectional adjusting screw rods, the first bidirectional adjusting screw rods penetrate through two adjacent first movable adjusting blocks, the first movable adjusting block is in threaded connection with the first bidirectional adjusting lead screw, the second bidirectional adjusting lead screw penetrates through two adjacent second movable adjusting blocks, the second movable adjusting blocks are in threaded connection with the second bidirectional adjusting lead screw, through holes are formed in the inner walls of the tops of the first carrying control box and the second carrying control box, a first rotating shaft is arranged in each through hole, the first rotating shaft is connected with the through holes through a third bearing, the first bidirectional adjusting lead screw and the second bidirectional adjusting lead screw are connected with one end of the first rotating shaft through a conical gear transmission unit, and the other ends of the two adjacent first rotating shafts are connected through a pull type driving unit.
Preferably, the bevel gear transmission unit comprises a first bevel gear sleeved outside the first bidirectional adjusting screw, the first bevel gear is fixedly connected with the first bidirectional adjusting screw, one end of the first rotating shaft is fixedly connected with a second bevel gear, a third bevel gear is sleeved outside the second bidirectional adjusting screw, the third bevel gear is fixedly connected with the second bidirectional adjusting screw, the inner walls of the tops of the first carrying control box and the second carrying control box are fixedly connected with a first fixed supporting plate, one side of the first fixed supporting plate is provided with a second rotating shaft, the second rotating shaft penetrates through the first fixed supporting plate, a fourth bearing is arranged at the penetrating position of the second rotating shaft and the first fixed supporting plate, one end of the second rotating shaft is fixedly connected with a fourth bevel gear, the other end of the second rotating shaft is fixedly connected with a fifth bevel gear, and a sixth bevel gear is sleeved outside the first rotating shaft, the sixth bevel gear is fixedly connected with the first rotating shaft.
Preferably, the first bevel gear is meshed with the second bevel gear, the third bevel gear is meshed with the fourth bevel gear, the fifth bevel gear is meshed with the sixth bevel gear, when the first rotating shaft rotates, the second bevel gear is driven to rotate by the first rotating shaft, and further the first bidirectional adjusting screw is driven to rotate by the cooperation of the second bevel gear and the first bevel gear, while the first rotating shaft rotates, the sixth bevel gear is driven to rotate by the first rotating shaft, and further the second rotating shaft rotates by the cooperation of the sixth bevel gear and the fifth bevel gear, and further the third bevel gear is driven to rotate by the fourth bevel gear, and further the second bidirectional adjusting screw is driven to rotate by the third bevel gear, so that the first bidirectional adjusting screw and the second bidirectional adjusting screw can synchronously rotate, and then keep away from the removal mutually through two first movable regulating blocks of first two-way regulation lead screw drive, keep away from the motion mutually through two second movable regulating blocks of second two-way regulation lead screw drive, move down when vanning transport arm drive transport mount pad and transport movable seat, make first support centre gripping post and second support centre gripping post insert the coil in, can make two adjacent first support centre gripping posts keep away from the removal mutually, two adjacent second support centre gripping posts keep away from the removal mutually, and then make first support centre gripping post and second support centre gripping post and coil inner wall hug closely, accomplish the fixed of coil.
Preferably, the pull-out driving unit comprises a second fixed supporting plate arranged at the top of the first carrying control box, the second fixed supporting plate is fixedly connected with the first carrying control box, a third fixed supporting plate is fixedly connected with the top of the second carrying control box, a first driving motor is arranged at one side of the second fixed supporting plate, a first worm is arranged at the output end of the first driving motor, a first worm wheel is arranged above the first carrying control box, the first worm wheel is fixedly connected with one end of the first rotating shaft, a second worm wheel is arranged above the second carrying control box, the second worm wheel is fixedly connected with one end of the first rotating shaft, a second worm is arranged at one side of the third fixed supporting plate, one end of the second worm is connected with the third fixed supporting plate through a fifth bearing, one end of the first worm is fixedly connected with a fixed connecting column, one end of the fixed connecting column is provided with a slot, and a second movable hole is formed in the inner wall of the slot, the second worm is fixedly connected with a limiting slide block.
Preferably, one end of the second worm is positioned in the slot, the limit slider is positioned in the second movable hole, the first worm wheel is meshed with the first worm, the second worm wheel is meshed with the second worm, when the distance between the first carrying control box and the second carrying control box is changed, the length of the second worm positioned in the slot is changed, the limit slider slides relative to the second movable hole, the first worm is driven to rotate by the first driving motor, and then the limit slider is driven to rotate by the fixed connecting column, so that the limit slider drives the second worm to rotate, the first worm and the second worm can synchronously rotate, the distance between the first carrying control box and the second carrying control box is changed, the first worm can not influence the first worm to drive the second worm to synchronously rotate, and further through the matching of the first worm and the first worm wheel, when the first worm rotates, the first worm wheel can drive the first rotating shaft positioned on the first carrying control box to rotate, through the cooperation of second worm and second worm wheel, can be so that the first pivot of second worm wheel drive on being located the second transport control box rotates, and then make two first pivots synchronous rotations.
Preferably, the driving mechanism for adjusting the different direction comprises two fourth fixed supporting plates arranged at the top of the first carrying control box, the fourth fixed supporting plates are fixedly connected with the first carrying control box, the top of the second carrying control box is fixedly connected with two fifth fixed supporting plates, the bottoms of the carrying mounting seat and the carrying movable seat are respectively provided with a first double-shaft motor and a second double-shaft motor, two output ends of the first double-shaft motor are respectively provided with a first one-way screw and a first supporting limit column, two output ends of the second double-shaft motor are respectively provided with a second supporting limit column and a second one-way screw, the first one-way screw and the second supporting limit column respectively penetrate through the two fourth fixed supporting plates, the first supporting limit column and the second one-way screw respectively penetrate through the two fifth fixed supporting plates, and the first one-way screw is in threaded connection with the fourth fixed supporting plates, the second unidirectional screw rod is connected with the fifth fixed support plate in a threaded manner, the first double-shaft motor drives the first unidirectional screw rod to rotate, the first carrying control box can move through the matching of the first unidirectional screw rod and the fourth fixed support plate, the second unidirectional screw rod is driven to rotate through the second double-shaft motor, the second carrying control box can move through the matching of the second unidirectional screw rod and the fifth fixed support plate, the positions of the first carrying control box and the second carrying control box can be adjusted randomly, the first carrying control box and the second carrying control box are respectively positioned right above two adjacent coils, when the coils are fixed, the first double-shaft motor drives the first unidirectional screw rod to rotate in a reverse direction, the second double-shaft motor drives the second unidirectional screw rod to rotate in a reverse direction, and the first carrying control box and the second carrying control box can reset to the initial positions again, so that two adjacent coils are close together.
Preferably, the equal fixedly connected with spacing backup pad in both sides of first transport control box and second transport control box has seted up first spacing spout in the spacing backup pad, and four spacing of the equal fixedly connected with in bottom of transport mount pad and transport sliding seat.
Preferably, the limiting strip penetrates through the first limiting sliding groove, the cross sections of the first limiting sliding groove and the limiting strip are of T-shaped structures, and the first carrying control box and the second carrying control box stably move through the cooperation of the limiting supporting plate, the first limiting sliding groove and the limiting strip, so that the possibility of shaking when the first carrying control box and the second carrying control box move is reduced.
Preferably, horizontal displacement actuating mechanism is equipped with second driving motor including seting up the recess on the transport mount pad in the recess, and threaded hole is seted up to one side of transport sliding seat, and second driving motor's output is equipped with the one-way lead screw of third, and the transport sliding seat is close to one side of transport mount pad and has seted up two spacing spouts of second, and the transport mount pad is close to two spacing slides of one side fixedly connected with of transport sliding seat.
Preferably, the third one-way screw penetrates through the threaded hole, the limiting sliding plate is positioned in the second limiting sliding groove, a plurality of third rotating shafts are arranged in the second limiting sliding groove and are positioned above the limiting sliding plate, a plurality of rollers are sleeved outside the third rotating shafts, the bottoms of the rollers are contacted with the top of the limiting sliding plate, two ends of each third rotating shaft are connected with the inner wall of the second limiting sliding groove through sixth bearings, the second driving motor drives the third one-way screw to rotate, the length of the third one-way screw in the threaded hole is changed, the conveying movable seat is driven to move away from the conveying mounting seat, the distance between the conveying mounting seat and the conveying movable seat is further adjusted, the distance between two adjacent first conveying control boxes can be adjusted, the distance between two adjacent second conveying control boxes is adjusted, and the two first conveying control boxes and the two second conveying control boxes are respectively positioned above the four coils, when the coils are fixed, the second driving motor drives the third one-way lead screw to rotate in a reverse direction, so that the carrying movable seat moves close to the carrying installation seat, the four coils are abutted together, the coils are convenient to place in the box, when the carrying movable seat moves, the idler wheels are in rolling contact with the limiting sliding plate, friction force is reduced, and resistance force applied to the carrying movable seat when the carrying movable seat moves relative to the carrying installation seat is reduced.
Compared with the prior art, the invention has the beneficial effects that:
(1) during work, through the design of a first carrying control box, a second carrying control box, a first double-shaft motor, a second double-shaft motor, a fourth fixed support plate, a fifth fixed support plate, a first unidirectional screw rod, a first support limit column, a second support limit column and a second unidirectional screw rod, the first double-shaft motor drives the first unidirectional screw rod to rotate, and further through the matching of the first unidirectional screw rod and the fourth fixed support plate, the first carrying control box can move, the second unidirectional screw rod is driven to rotate through the second double-shaft motor, the second carrying control box can move through the matching of the second unidirectional screw rod and the fifth fixed support plate, and further the positions of the first carrying control box and the second carrying control box can be randomly adjusted, so that the first carrying control box and the second carrying control box are respectively positioned right above two adjacent coils, the first double-shaft motor drives the first one-way lead screw to rotate reversely, and the second double-shaft motor drives the second one-way lead screw to rotate reversely, so that the first carrying control box and the second carrying control box can reset to the initial positions again, two adjacent coils are close to each other, and the coils can be placed in the box conveniently;
(2) through the design of the carrying mounting seat, the carrying movable seat, the groove, the second driving motor, the third unidirectional lead screw, the threaded hole, the second limiting chute, the limiting sliding plate, the third rotating shaft, the roller and the sixth bearing, the second driving motor drives the third unidirectional lead screw to rotate, the length of the third unidirectional lead screw in the threaded hole is changed, the carrying movable seat is driven to move away from the carrying mounting seat, the distance between the carrying mounting seat and the carrying movable seat is further adjusted, the distance between two adjacent first carrying control boxes can be adjusted, the distance between two adjacent second carrying control boxes is adjusted, the two first carrying control boxes and the two second carrying control boxes are respectively positioned above four coils, when the coils are fixed, the second driving motor reversely drives the third unidirectional lead screw to rotate, so that the carrying movable seat is close to the carrying mounting seat to move, the four coils are abutted together, so that the coils are conveniently placed in the box, when the carrying movable seat moves, the rolling wheels are in rolling contact with the limiting sliding plates, the friction force is reduced, and the resistance force applied to the carrying movable seat when the carrying movable seat moves relative to the carrying installation seat is reduced;
(3) through the design of the first worm wheel, the second fixed support plate, the third fixed support plate, the first driving motor, the first worm, the second worm, the fifth bearing, the fixed connecting column, the slot, the second movable hole and the limit slider, when the distance between the first carrying control box and the second carrying control box is changed, the length of the second worm in the slot is changed, the limit slider slides relative to the second movable hole, the first worm is driven to rotate by the first driving motor, and then the limit slider is driven to rotate by the fixed connecting column, so that the limit slider drives the second worm to rotate, the first worm and the second worm can synchronously rotate, the distance between the first carrying control box and the second carrying control box is changed, the synchronous rotation of the second worm driven by the first worm cannot be influenced, and further through the matching of the first worm and the first worm wheel, when the first worm rotates, the first worm wheel can drive the first rotating shaft on the first carrying control box to rotate, and the second worm wheel can drive the first rotating shaft on the second carrying control box to rotate through the matching of the second worm and the second worm wheel, so that the two first rotating shafts synchronously rotate;
(4) through the design of the first bidirectional adjusting screw rod, the second bidirectional adjusting screw rod, the first rotating shaft, the third bearing, the first bevel gear, the second bevel gear, the third bevel gear, the fourth bevel gear, the first fixed supporting plate, the second rotating shaft, the fourth bearing, the fifth bevel gear and the sixth bevel gear, when the first rotating shaft rotates, the first rotating shaft drives the second bevel gear to rotate through the first rotating shaft, and further through the matching of the second bevel gear and the first bevel gear, the first bidirectional adjusting screw rod rotates, and when the first rotating shaft rotates, the first rotating shaft drives the sixth bevel gear to rotate, and further through the matching of the sixth bevel gear and the fifth bevel gear, the second rotating shaft rotates, and further through the matching of the third bevel gear and the fourth bevel gear, the fourth bevel gear drives the third bevel gear to rotate, and further the third bevel gear drives the second bidirectional adjusting screw rod to rotate, can make first bidirectional adjustment lead screw and the synchronous rotation of second bidirectional adjustment lead screw, and then keep away from the removal mutually through two first movable regulating blocks of first bidirectional adjustment lead screw drive, keep away from the motion mutually through two second movable regulating blocks of second bidirectional adjustment lead screw drive, move down when vanning transport arm drive transport mount pad and transport sliding seat, when making first support centre gripping post and second support centre gripping post insert the coil in, can make two adjacent first support centre gripping posts keep away from the removal mutually, two adjacent second support centre gripping posts keep away from the removal mutually, and then make first support centre gripping post and second support centre gripping post hug closely with the coil inner wall, accomplish the fixed of coil.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a carrier mounting base according to the present invention;
FIG. 3 is a schematic view of the horizontal displacement driving mechanism of the present invention;
FIG. 4 is a schematic structural diagram of the different direction adjustment driving mechanism of the present invention;
FIG. 5 is an enlarged view of a portion of the structure shown at A in FIG. 4;
FIG. 6 is a sectional view of the first conveyance control box according to the present invention;
FIG. 7 is a schematic view of a fixing joint column according to the present invention;
FIG. 8 is a schematic structural view of a bevel gear transmission unit of the present invention;
in the figure: 1. a boxing transfer arm; 2. a carrying mounting seat; 3. carrying the movable seat; 4. a first conveyance control box; 5. a second conveyance control box; 6. a first movable hole; 7. a through hole; 8. a first movable adjustment block; 9. a first support clamp post; 10. a second movable adjusting block; 11. a second support clamp post; 12. a first bidirectional adjusting lead screw; 13. a first bearing; 14. a second bidirectional adjusting lead screw; 15. a second bearing; 16. a first rotating shaft; 17. a third bearing; 18. a first bevel gear; 19. a second bevel gear; 20. a third bevel gear; 21. a fourth bevel gear; 22. a first fixed support plate; 23. a second rotating shaft; 24. a fourth bearing; 25. a fifth bevel gear; 26. a sixth bevel gear; 27. a first worm gear; 28. a second worm gear; 29. a second stationary support plate; 30. a third fixed support plate; 31. a first drive motor; 32. a first worm; 33. a second worm; 34. a fifth bearing; 35. fixing the connecting column; 36. a slot; 37. a second movable hole; 38. a limiting slide block; 39. a first dual-axis motor; 40. a second dual-shaft motor; 41. a fourth fixed support plate; 42. a fifth fixed support plate; 43. a first one-way lead screw; 44. a first support limit column; 45. a second support limit column; 46. a second one-way lead screw; 47. a limiting support plate; 48. a first limiting chute; 49. a limiting strip; 50. a groove; 51. a second drive motor; 52. a third one-way lead screw; 53. a threaded hole; 54. a second limiting chute; 55. a limiting sliding plate; 56. a third rotating shaft; 57. a roller; 58. and a sixth bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In a first embodiment, as shown in fig. 1 to 8, the invention includes a boxing carrying arm 1, a carrying installation seat 2 is arranged on the boxing carrying arm 1, a carrying movable seat 3 is arranged on one side of the carrying installation seat 2, the carrying movable seat 3 is connected with the carrying installation seat 2 through a horizontal displacement driving mechanism, a first carrying control box 4 and a second carrying control box 5 are arranged below the carrying installation seat 2 and the carrying movable seat 3, a different direction adjusting driving mechanism is arranged on the carrying installation seat 2 and the carrying movable seat 3, the first carrying control box 4 is connected with the second carrying control box 5 through a different direction adjusting driving mechanism, and a workpiece synchronous clamping assembly is arranged on the first carrying control box 4 and the second carrying control box 5;
the workpiece synchronous clamping assembly comprises a first movable hole 6 arranged on the inner walls of the bottoms of a first carrying control box 4 and a second carrying control box 5, the first movable hole 6 is of a cross structure, two first movable adjusting blocks 8 are respectively arranged in the first carrying control box 4 and the second carrying control box 5, the bottom of each first movable adjusting block 8 is fixedly connected with a first supporting clamping column 9, two second movable adjusting blocks 10 are respectively arranged in the first carrying control box 4 and the second carrying control box 5, the bottom of each second movable adjusting block 10 is fixedly connected with a second supporting clamping column 11, the first supporting clamping column 9 and the second supporting clamping column 11 both penetrate through the first movable hole 6, a first bidirectional adjusting screw 12 is respectively arranged in the first carrying control box 4 and the second carrying control box 5, first bearings 13 are respectively arranged on the inner walls of the two sides of the first carrying control box 4 and the second carrying control box 5, the first bearing 13 is connected with the end of the first bidirectional adjusting screw 12, the first carrying control box 4 and the second carrying control box 5 are both provided with a second bidirectional adjusting screw 14, the inner walls of the two sides of the first carrying control box 4 and the second carrying control box 5 are both provided with a second bearing 15, the second bearings 15 are connected with the end of the second bidirectional adjusting screw 14, the first bidirectional adjusting screw 12 penetrates through two adjacent first movable adjusting blocks 8, the first movable adjusting blocks 8 are in threaded connection with the first bidirectional adjusting screw 12, the second bidirectional adjusting screw 14 penetrates through two adjacent second movable adjusting blocks 10, the second movable adjusting blocks 10 are in threaded connection with the second bidirectional adjusting screw 14, the inner walls of the tops of the first carrying control box 4 and the second carrying control box 5 are both provided with through holes 7, a first rotating shaft 16 is arranged in the through holes 7, the first rotating shaft 16 is connected with the through holes 7 through a third bearing 17, the first bidirectional adjusting screw 12 and the second bidirectional adjusting screw 14 are connected with one end of a first rotating shaft 16 through a conical gear transmission unit, and the other ends of two adjacent first rotating shafts 16 are connected through a pull-out type driving unit.
In the second embodiment, based on the first embodiment, as shown in fig. 4 and 8, the bevel gear transmission unit includes a first bevel gear 18 sleeved outside the first bidirectional adjusting screw 12, the first bevel gear 18 is fixedly connected to the first bidirectional adjusting screw 12, a second bevel gear 19 is fixedly connected to one end of the first rotating shaft 16, a third bevel gear 20 is sleeved outside the second bidirectional adjusting screw 14, the third bevel gear 20 is fixedly connected to the second bidirectional adjusting screw 14, the top inner walls of the first carrying control box 4 and the second carrying control box 5 are both fixedly connected to a first fixed support plate 22, a second rotating shaft 23 is disposed on one side of the first fixed support plate 22, the second rotating shaft 23 penetrates through the first fixed support plate 22, a fourth bearing 24 is disposed at the penetrating position of the second rotating shaft 23 and the first fixed support plate 22, and a fourth bevel gear 21 is fixedly connected to one end of the second rotating shaft 23, the other end of the second rotating shaft 23 is fixedly connected with a fifth bevel gear 25, a sixth bevel gear 26 is sleeved outside the first rotating shaft 16, the sixth bevel gear 26 is fixedly connected with the first rotating shaft 16, the first bevel gear 18 is meshed with the second bevel gear 19, the third bevel gear 20 is meshed with the fourth bevel gear 21, and the fifth bevel gear 25 is meshed with the sixth bevel gear 26;
when the first rotating shaft 16 rotates, the first rotating shaft 16 drives the second bevel gear 19 to rotate, and further through the cooperation of the second bevel gear 19 and the first bevel gear 18, the first bidirectional adjusting screw 12 rotates, while the first rotating shaft 16 rotates, the first rotating shaft 16 drives the sixth bevel gear 26 to rotate, and further through the cooperation of the sixth bevel gear 26 and the fifth bevel gear 25, the second rotating shaft 23 rotates, and further through the cooperation of the third bevel gear 20 and the fourth bevel gear 21, the fourth bevel gear 21 drives the third bevel gear 20 to rotate, and further the third bevel gear 20 drives the second bidirectional adjusting screw 14 to rotate, so that the first bidirectional adjusting screw 12 and the second bidirectional adjusting screw 14 rotate synchronously, further through the first bidirectional adjusting screw 12, the two first movable adjusting blocks 8 move away from each other, and through the second bidirectional adjusting screw 14, the two second movable adjusting blocks 10 move away from each other, when the boxing carrying arm 1 drives the carrying mounting seat 2 and the carrying movable seat 3 to move downwards, so that the first supporting clamping columns 9 and the second supporting clamping columns 11 are inserted into the coil, the adjacent two first supporting clamping columns 9 can be far away from the coil to move, the adjacent two second supporting clamping columns 11 are far away from the coil to move, the first supporting clamping columns 9 and the second supporting clamping columns 11 are tightly attached to the inner wall of the coil, and the coil is fixed.
Third embodiment, based on the first embodiment, as shown in fig. 4, 5 and 7, the pull-out driving unit includes a second fixed supporting plate 29 disposed on the top of the first transporting control box 4, the second fixed supporting plate 29 is fixedly connected to the first transporting control box 4, a third fixed supporting plate 30 is fixedly connected to the top of the second transporting control box 5, a first driving motor 31 is disposed on one side of the second fixed supporting plate 29, a first worm 32 is disposed at an output end of the first driving motor 31, a first worm wheel 27 is disposed above the first transporting control box 4, the first worm wheel 27 is fixedly connected to one end of the first rotating shaft 16, a second worm wheel 28 is disposed above the second transporting control box 5, the second worm wheel 28 is fixedly connected to one end of the first rotating shaft 16, a second worm 33 is disposed on one side of the third fixed supporting plate 30, one end of the second worm 33 is connected to the third fixed supporting plate 30 through a fifth bearing 34, one end of the first worm 32 is fixedly connected with a fixed connecting column 35, one end of the fixed connecting column 35 is provided with a slot 36, the inner wall of the slot 36 is provided with a second movable hole 37, the second worm 33 is fixedly connected with a limiting slide block 38, one end of the second worm 33 is positioned in the slot 36, the limiting slide block 38 is positioned in the second movable hole 37, the first worm wheel 27 is meshed with the first worm 32, and the second worm wheel 28 is meshed with the second worm 33;
when the distance between the first carrying control box 4 and the second carrying control box 5 is changed, the length of the second worm 33 in the slot 36 is changed, the limit slider 38 slides relative to the second movable hole 37, the first worm 32 is driven to rotate by the first driving motor 31, and the limit slider 38 is driven to rotate by the fixed connecting column 35, so that the limit slider 38 drives the second worm 33 to rotate, the first worm 32 and the second worm 33 can rotate synchronously, the distance between the first carrying control box 4 and the second carrying control box 5 is changed, the synchronous rotation of the second worm 33 driven by the first worm 32 is not influenced, and further, through the matching of the first worm 32 and the first worm wheel 27, when the first worm 32 rotates, the first worm wheel 27 can drive the first rotating shaft 16 on the first carrying control box 4 to rotate, and through the matching of the second worm 33 and the second worm wheel 28, the second worm gear 28 can be made to drive the first rotary shaft 16 on the second conveyance control box 5 to rotate, thereby making the two first rotary shafts 16 rotate synchronously.
In a fourth embodiment, based on the first embodiment, as shown in fig. 2, 4 and 5, the guiding adjustment driving mechanism includes two fourth fixed supporting plates 41 disposed on the top of the first carrying control box 4, the fourth fixed supporting plates 41 are fixedly connected with the first carrying control box 4, the top of the second carrying control box 5 is fixedly connected with two fifth fixed supporting plates 42, the bottom of the carrying mounting seat 2 and the bottom of the carrying movable seat 3 are both provided with a first double-shaft motor 39 and a second double-shaft motor 40, two output ends of the first double-shaft motor 39 are respectively provided with a first one-way screw 43 and a first supporting limiting column 44, two output ends of the second double-shaft motor 40 are respectively provided with a second supporting limiting column 45 and a second one-way screw 46, the first one-way screw 43 and the second supporting limiting column 45 respectively penetrate through the two fourth fixed supporting plates 41, the first supporting limiting column 44 and the second one-way screw 46 respectively penetrate through the two fifth fixed supporting plates 42, the first one-way lead screw 43 is in threaded connection with the fourth fixed support plate 41, the second one-way lead screw 46 is in threaded connection with the fifth fixed support plate 42, the two sides of the first carrying control box 4 and the second carrying control box 5 are both fixedly connected with limiting support plates 47, the limiting support plates 47 are provided with first limiting sliding grooves 48, the bottoms of the carrying mounting seat 2 and the carrying movable seat 3 are both fixedly connected with four limiting strips 49, the limiting strips 49 penetrate through the first limiting sliding grooves 48, and the cross sections of the first limiting sliding grooves 48 and the limiting strips 49 are both in T-shaped structures;
the first double-shaft motor 39 drives the first unidirectional lead screw 43 to rotate, and then the first carrying control box 4 can move through the matching of the first unidirectional lead screw 43 and the fourth fixed support plate 41, the second unidirectional lead screw 46 is driven to rotate through the second double-shaft motor 40, the second carrying control box 5 can move through the matching of the second unidirectional lead screw 46 and the fifth fixed support plate 42, and then the positions of the first carrying control box 4 and the second carrying control box 5 can be adjusted at will, so that the first carrying control box 4 and the second carrying control box 5 are respectively positioned right above two adjacent coils, when the coils are fixed, the first double-shaft motor 39 reversely drives the first unidirectional lead screw 43 to rotate, the second double-shaft motor 40 reversely drives the second unidirectional lead screw 46 to rotate, and the first carrying control box 4 and the second carrying control box 5 can be reset to the initial positions again, make two adjacent coils be close to together, be convenient for place the coil in the case, through spacing backup pad 47, first spacing spout 48 and spacing 49 cooperation for first transport control box 4 and the steady removal of second transport control box 5 reduce the possibility of rocking when first transport control box 4 and the removal of second transport control box 5.
Fifth embodiment, based on the first embodiment, as shown in fig. 2 and 3, the horizontal displacement driving mechanism includes a groove 50 formed on the carrying mounting seat 2, a second driving motor 51 is disposed in the groove 50, a threaded hole 53 is formed on one side of the carrying movable seat 3, a third one-way lead screw 52 is disposed at an output end of the second driving motor 51, two second limiting sliding grooves 54 are formed on one side of the carrying movable seat 3 close to the carrying mounting seat 2, two limiting sliding plates 55 are fixedly connected to one side of the carrying mounting seat 2 close to the carrying movable seat 3, the third one-way lead screw 52 penetrates through the threaded hole 53, the limiting sliding plates 55 are disposed in the second limiting sliding grooves 54, a plurality of third rotating shafts 56 are disposed in the second limiting sliding grooves 54, the third rotating shafts 56 are disposed above the limiting sliding plates 55, a plurality of rollers 57 are sleeved outside the third rotating shafts 56, bottoms of the rollers 57 contact with tops of the limiting sliding plates 55, both ends of the third rotating shaft 56 are connected with the inner wall of the second limiting chute 54 through a sixth bearing 58;
the second driving motor 51 drives the third one-way lead screw 52 to rotate, the length of the third one-way lead screw 52 in the threaded hole 53 is changed, the carrying movable seat 3 is driven to move away from the carrying installation seat 2, the distance between the carrying installation seat 2 and the carrying movable seat 3 is further adjusted, the distance between two adjacent first carrying control boxes 4 can be adjusted, the distance between two adjacent second carrying control boxes 5 is adjusted, the two first carrying control boxes 4 and the two second carrying control boxes 5 are respectively positioned above four coils, when the coils are fixed, the second driving motor 51 drives the third one-way lead screw 52 to rotate in a reverse direction, the carrying movable seat 3 is driven to move close to the carrying installation seat 2, the four coils are further abutted together, the coils are conveniently placed in the boxes, when the carrying movable seat 3 moves, the roller 57 is in rolling contact with the limiting sliding plate 55, the friction force is reduced, and the resistance force applied when the movable conveying seat 3 moves relative to the mounting conveying seat 2 is reduced.
The working principle is as follows: during operation, through the design of the first carrying control box 4, the second carrying control box 5, the first double-shaft motor 39, the second double-shaft motor 40, the fourth fixed support plate 41, the fifth fixed support plate 42, the first unidirectional screw 43, the first support limiting column 44, the second support limiting column 45 and the second unidirectional screw 46, the first double-shaft motor 39 drives the first unidirectional screw 43 to rotate, and then through the matching of the first unidirectional screw 43 and the fourth fixed support plate 41, the first carrying control box 4 can move, through the matching of the second double-shaft motor 40 drives the second unidirectional screw 46 to rotate, through the matching of the second unidirectional screw 46 and the fifth fixed support plate 42, the second carrying control box 5 moves, and then the positions of the first carrying control box 4 and the second carrying control box 5 can be randomly adjusted, so that the first carrying control box 4 and the second carrying control box 5 are respectively positioned right above two adjacent coils, when the coils are fixed, the first double-shaft motor 39 drives the first one-way screw 43 to rotate in a reverse direction, the second double-shaft motor 40 drives the second one-way screw 46 to rotate in a reverse direction, so that the first carrying control box 4 and the second carrying control box 5 can reset to the initial positions again, two adjacent coils are close to each other, the coils can be placed in the boxes conveniently, through the design of the carrying mounting seat 2, the carrying movable seat 3, the groove 50, the second driving motor 51, the third one-way screw 52, the threaded hole 53, the second limiting sliding groove 54, the limiting sliding plate 55, the third rotating shaft 56, the roller 57 and the sixth bearing 58, the second driving motor 51 drives the third one-way screw 52 to rotate, the length of the third one-way screw 52 in the threaded hole 53 is changed, the carrying movable seat 3 is driven to move away from the carrying mounting seat 2, and the distance between the carrying mounting seat 2 and the carrying movable seat 3 is further adjusted, the distance between two adjacent first carrying control boxes 4 and the distance between two adjacent second carrying control boxes 5 can be adjusted, so that the two first carrying control boxes 4 and the two second carrying control boxes 5 are respectively positioned above four coils, when the coils are fixed, the second driving motor 51 reversely drives the third one-way lead screw 52 to rotate, so that the carrying movable seat 3 is close to the carrying installation seat 2 to move, the four coils are abutted together, the coils are conveniently placed in a coil box, when the carrying movable seat 3 moves, the roller 57 is in rolling contact with the limiting sliding plate 55, the friction force is reduced, the resistance force applied when the carrying movable seat 3 moves relative to the carrying installation seat 2 is reduced, and the first worm wheel 27, the second worm wheel 28, the second fixed supporting plate 29, the third fixed supporting plate 30, the first driving motor 31, the first worm 32 and the second worm 32, The second worm 33, the fifth bearing 34, the fixed connection column 35, the slot 36, the second movable hole 37 and the limit slider 38 are designed, when the distance between the first carrying control box 4 and the second carrying control box 5 changes, the length of the second worm 33 in the slot 36 changes, the limit slider 38 slides relative to the second movable hole 37, the first worm 32 is driven to rotate by the first driving motor 31, and then the limit slider 38 is driven to rotate by the fixed connection column 35, so that the limit slider 38 drives the second worm 33 to rotate, the first worm 32 and the second worm 33 can synchronously rotate, the distance between the first carrying control box 4 and the second carrying control box 5 changes, the synchronous rotation of the second worm 33 driven by the first worm 32 cannot be influenced, and further, through the matching of the first worm 32 and the first worm wheel 27, when the first worm 32 rotates, the first worm wheel 27 can drive the first rotating shaft 16 on the first carrying control box 4 to rotate, the second worm gear 28 drives the first rotating shaft 16 on the second carrying control box 5 to rotate through the matching of the second worm 33 and the second worm gear 28, so that the two first rotating shafts 16 rotate synchronously, and through the design of the first bidirectional adjusting screw 12, the second bidirectional adjusting screw 14, the first rotating shaft 16, the third bearing 17, the first bevel gear 18, the second bevel gear 19, the third bevel gear 20, the fourth bevel gear 21, the first fixed support plate 22, the second rotating shaft 23, the fourth bearing 24, the fifth bevel gear 25 and the sixth bevel gear 26, when the first rotating shaft 16 rotates, the first rotating shaft 16 drives the first bevel gear 19 to rotate, and further through the matching of the second bevel gear 19 and the first bevel gear 18, the first bidirectional adjusting screw 12 rotates, and simultaneously with the rotation of the first rotating shaft 16, the sixth bevel gear 26 is driven by the first rotating shaft 16, and further through the cooperation of the sixth bevel gear 26 and the fifth bevel gear 25, the second rotating shaft 23 is rotated, and further through the cooperation of the third bevel gear 20 and the fourth bevel gear 21, the fourth bevel gear 21 drives the third bevel gear 20 to rotate, and further the third bevel gear 20 drives the second bidirectional adjusting screw 14 to rotate, so that the first bidirectional adjusting screw 12 and the second bidirectional adjusting screw 14 can be synchronously rotated, and further the first two movable adjusting blocks 8 are driven to move away through the first bidirectional adjusting screw 12, the second two movable adjusting blocks 10 are driven to move away through the second bidirectional adjusting screw 14, when the boxing conveying arm 1 drives the conveying mounting seat 2 and the conveying movable seat 3 to move down, so that the first supporting and clamping column 9 and the second supporting and clamping column 11 are inserted into the coil, the adjacent two first supporting and clamping columns 9 can be moved away from each other, two adjacent second support clamping columns 11 move away from each other, so that the first support clamping column 9 and the second support clamping column 11 are tightly attached to the inner wall of the coil, and the coil is fixed.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. Multiaxis is vanning transport mechanism simultaneously based on vision guide, including vanning transport arm (1), its characterized in that: the boxing and carrying arm (1) is provided with a carrying mounting seat (2), one side of the carrying mounting seat (2) is provided with a carrying movable seat (3), the carrying movable seat (3) is connected with the carrying mounting seat (2) through a horizontal displacement driving mechanism, a first carrying control box (4) and a second carrying control box (5) are arranged below the carrying mounting seat (2) and the carrying movable seat (3), the carrying mounting seat (2) and the carrying movable seat (3) are respectively provided with a different-direction adjusting driving mechanism, the first carrying control box (4) is connected with the second carrying control box (5) through the different-direction adjusting driving mechanism, and the first carrying control box (4) and the second carrying control box (5) are provided with workpiece synchronous clamping assemblies;
the workpiece synchronous clamping assembly comprises a first movable hole (6) formed in the inner walls of the bottoms of a first carrying control box (4) and a second carrying control box (5), the first movable hole (6) is of a cross structure, two first movable adjusting blocks (8) are arranged in the first carrying control box (4) and the second carrying control box (5), the bottom of each first movable adjusting block (8) is fixedly connected with a first supporting clamping column (9), two second movable adjusting blocks (10) are arranged in the first carrying control box (4) and the second carrying control box (5), the bottom of each second movable adjusting block (10) is fixedly connected with a second supporting clamping column (11), the first supporting clamping column (9) and the second supporting clamping column (11) penetrate through the first movable hole (6), a first bidirectional adjusting lead screw (12) is arranged in each of the first carrying control box (4) and the second carrying control box (5), the inner walls of two sides of the first carrying control box (4) and the second carrying control box (5) are respectively provided with a first bearing (13), the first bearings (13) are connected with the end parts of the first bidirectional adjusting lead screws (12), the second bidirectional adjusting lead screws (14) are respectively arranged in the first carrying control box (4) and the second carrying control box (5), the inner walls of two sides of the first carrying control box (4) and the second carrying control box (5) are respectively provided with a second bearing (15), the second bearings (15) are connected with the end parts of the second bidirectional adjusting lead screws (14), the first bidirectional adjusting lead screws (12) penetrate through two adjacent first movable adjusting blocks (8), the first movable adjusting blocks (8) are in threaded connection with the first bidirectional adjusting lead screws (12), the second bidirectional adjusting lead screws (14) penetrate through two adjacent second movable adjusting blocks (10), and the second movable adjusting blocks (10) are in threaded connection with the second bidirectional adjusting lead screws (14), through holes (7) are formed in the inner walls of the tops of the first carrying control box (4) and the second carrying control box (5), a first rotating shaft (16) is arranged in each through hole (7), the first rotating shaft (16) is connected with the through holes (7) through a third bearing (17), a first bidirectional adjusting lead screw (12) and a second bidirectional adjusting lead screw (14) are connected with one end of each first rotating shaft (16) through a bevel gear transmission unit, and the other ends of the two adjacent first rotating shafts (16) are connected through a pull-out type driving unit;
the drawing type driving unit comprises a second fixed supporting plate (29) arranged at the top of a first carrying control box (4), the second fixed supporting plate (29) is fixedly connected with the first carrying control box (4), a third fixed supporting plate (30) is fixedly connected with the top of a second carrying control box (5), a first driving motor (31) is arranged on one side of the second fixed supporting plate (29), a first worm (32) is arranged at the output end of the first driving motor (31), a first worm wheel (27) is arranged above the first carrying control box (4), the first worm wheel (27) is fixedly connected with one end of a first rotating shaft (16), a second worm wheel (28) is arranged above the second carrying control box (5), the second worm wheel (28) is fixedly connected with one end of the first rotating shaft (16), a second worm (33) is arranged on one side of the third fixed supporting plate (30), one end of the second worm (33) is connected with the third fixed supporting plate (30) through a fifth bearing (34), slot (36) have been seted up to the one end fixedly connected with fixed connection post (35) of first worm (32), fixed connection post (35) one end, has seted up second activity hole (37) on the inner wall of slot (36), fixedly connected with limit slide (38) on second worm (33), the one end of second worm (33) is located slot (36), and limit slide (38) are located second activity hole (37), and first worm wheel (27) and first worm (32) mesh mutually, and second worm wheel (28) and second worm (33) mesh mutually.
2. The vision-guidance-based multi-axis simultaneous tote handling mechanism of claim 1, characterized by: the bevel gear transmission unit comprises a first bevel gear (18) sleeved outside a first bidirectional adjusting lead screw (12), the first bevel gear (18) is fixedly connected with the first bidirectional adjusting lead screw (12), one end of a first rotating shaft (16) is fixedly connected with a second bevel gear (19), a third bevel gear (20) is sleeved outside a second bidirectional adjusting lead screw (14), the third bevel gear (20) is fixedly connected with the second bidirectional adjusting lead screw (14), the top inner walls of a first carrying control box (4) and a second carrying control box (5) are fixedly connected with a first fixed supporting plate (22), one side of the first fixed supporting plate (22) is provided with a second rotating shaft (23), the second rotating shaft (23) penetrates through the first fixed supporting plate (22), and a fourth bearing (24) is arranged at the penetrating position of the second rotating shaft (23) and the first fixed supporting plate (22), one end fixedly connected with fourth conical gear (21) of second pivot (23), the other end fixedly connected with fifth conical gear (25) of second pivot (23), the outside cover of first pivot (16) is equipped with sixth conical gear (26), sixth conical gear (26) and first pivot (16) fixed connection.
3. The vision-guidance-based multi-axis simultaneous tote handling mechanism of claim 2, characterized by: the first bevel gear (18) is meshed with the second bevel gear (19), the third bevel gear (20) is meshed with the fourth bevel gear (21), and the fifth bevel gear (25) is meshed with the sixth bevel gear (26).
4. The vision-guidance-based multi-axis simultaneous tote handling mechanism of claim 1, characterized by: the different-direction adjusting driving mechanism comprises two fourth fixed supporting plates (41) arranged at the top of a first carrying control box (4), the fourth fixed supporting plates (41) are fixedly connected with the first carrying control box (4), the top of a second carrying control box (5) is fixedly connected with two fifth fixed supporting plates (42), the bottoms of a carrying mounting seat (2) and a carrying movable seat (3) are respectively provided with a first double-shaft motor (39) and a second double-shaft motor (40), two output ends of the first double-shaft motor (39) are respectively provided with a first one-way lead screw (43) and a first supporting limiting column (44), two output ends of the second double-shaft motor (40) are respectively provided with a second supporting limiting column (45) and a second one-way lead screw (46), the first one-way lead screw (43) and the second supporting limiting column (45) respectively penetrate through the two fourth fixed supporting plates (41), the first support limiting column (44) and the second one-way lead screw (46) penetrate through the two fifth fixed supporting plates (42) respectively, the first one-way lead screw (43) and the fourth fixed supporting plate (41) are in threaded connection, and the second one-way lead screw (46) and the fifth fixed supporting plates (42) are in threaded connection.
5. The vision-guidance-based multi-axis simultaneous tote handling mechanism of claim 1, characterized by: the equal fixedly connected with spacing backup pad (47) in both sides of first transport control box (4) and second transport control box (5), seted up first spacing spout (48) on spacing backup pad (47), four spacing (49) of the equal fixedly connected with in bottom of transport mount pad (2) and transport sliding seat (3).
6. The vision-guidance-based multi-axis simultaneous tote handling mechanism of claim 5, characterized by: the limiting strip (49) penetrates through the first limiting sliding groove (48), and the cross sections of the first limiting sliding groove (48) and the limiting strip (49) are both of T-shaped structures.
7. The vision-guidance-based multi-axis simultaneous tote handling mechanism of claim 1, characterized by: horizontal displacement actuating mechanism is including offering recess (50) on transport mount pad (2), be equipped with second driving motor (51) in recess (50), one side set up threaded hole (53) of transport sliding seat (3), the output of second driving motor (51) is equipped with one-way lead screw of third (52), two spacing spouts of second (54) have been seted up to one side that transport sliding seat (3) are close to transport mount pad (2), two spacing slides (55) of one side fixedly connected with that transport sliding seat (3) are close to in transport mount pad (2).
8. The vision-guidance-based multi-axis simultaneous tote handling mechanism of claim 7, characterized by: the third one-way lead screw (52) runs through the threaded hole (53), the limiting sliding plate (55) is located in the second limiting sliding groove (54), a plurality of third rotating shafts (56) are arranged in the second limiting sliding groove (54), the third rotating shafts (56) are located above the limiting sliding plate (55), a plurality of rollers (57) are sleeved on the outer portion of the third rotating shafts (56), the bottoms of the rollers (57) are in contact with the top of the limiting sliding plate (55), and the two ends of the third rotating shafts (56) are connected with the inner wall of the second limiting sliding groove (54) through sixth bearings (58).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210377298.2A CN114435670B (en) | 2022-04-12 | 2022-04-12 | Multi-shaft simultaneous boxing and carrying mechanism based on visual guidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210377298.2A CN114435670B (en) | 2022-04-12 | 2022-04-12 | Multi-shaft simultaneous boxing and carrying mechanism based on visual guidance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114435670A CN114435670A (en) | 2022-05-06 |
| CN114435670B true CN114435670B (en) | 2022-06-21 |
Family
ID=81360402
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210377298.2A Active CN114435670B (en) | 2022-04-12 | 2022-04-12 | Multi-shaft simultaneous boxing and carrying mechanism based on visual guidance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114435670B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211062523U (en) * | 2019-12-30 | 2020-07-21 | 江苏蒙腾电气有限公司 | Enameled wire processing location clamping device |
| CN211733076U (en) * | 2020-01-14 | 2020-10-23 | 德玛克（长兴）自动化系统有限公司 | Ring-lifting grabbing variable-pitch jig |
| CN212100920U (en) * | 2020-04-23 | 2020-12-08 | 浙江希尔机器人有限公司 | Motor coil tongs equipment |
| CN212402660U (en) * | 2020-06-02 | 2021-01-26 | 甘肃双虎建材科技有限公司 | A pile up neatly machinery hand for production of heat preservation rock wool board is used |
| CN213168714U (en) * | 2020-07-28 | 2021-05-11 | 成都天宏利科技有限公司 | Rotatory tongs of case packer |
| CN213948912U (en) * | 2020-08-19 | 2021-08-13 | 杭州派祺空气净化科技有限公司 | Lapping toilet paper sack filling device |
| CN213859307U (en) * | 2020-09-25 | 2021-08-03 | 广州市鑫笙机器人设备有限公司 | Robot gripper with adjustable interval |
| CN113353334B (en) * | 2021-05-19 | 2023-01-13 | 芜湖锐冠智能装备有限公司 | Variable-pitch clamp mechanism |
-
2022
- 2022-04-12 CN CN202210377298.2A patent/CN114435670B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114435670A (en) | 2022-05-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208468367U (en) | It is a kind of can height adjustment machinery automation processing clamping device | |
| CN114435670B (en) | Multi-shaft simultaneous boxing and carrying mechanism based on visual guidance | |
| CN113522977B (en) | Working roll with positioning structure for rolling mill production and processing | |
| JP2829210B2 (en) | Bending roll machine | |
| CN116851916B (en) | Laser welding equipment based on machine vision system | |
| CN114751235B (en) | Copper foil production transfer roller device | |
| CN105666286A (en) | End surface groove machining forming equipment for bearing inner rings | |
| CN213301013U (en) | Precision detection device for roller assembly | |
| CN115283486A (en) | Cold bending forming machine | |
| CN213562544U (en) | Machining is with dismantling material frame | |
| CN210160203U (en) | Plate rounding device | |
| CN112338096A (en) | Novel three-dimensional bending machine | |
| CN207464869U (en) | A kind of pipe fitting pipe orifice deburring device | |
| CN213645735U (en) | Novel three-wheel synchronous spring winding device | |
| CN217350102U (en) | Prevent that rendition paper processing of fold from appearing winding device | |
| CN215237036U (en) | Large-diameter Archimedes spiral numerical control coiler | |
| CN220115690U (en) | Full-automatic stacking device for material transportation | |
| CN117773397B (en) | Automatic welding boat support machining device and method | |
| CN219905896U (en) | Bearing outer ring feeding device | |
| CN220663883U (en) | Electric roller adjusting structure | |
| CN221695431U (en) | Cutting frame for stainless steel pipe cutting machine | |
| CN116794059B (en) | Ceramic product detection device and detection method thereof | |
| CN218464615U (en) | Material rotating device | |
| CN221395861U (en) | Automatic box overturning machine | |
| CN221274725U (en) | Waste recycling mechanism for stainless steel coil production |
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 |