CN201999519U - Manipulator device of automatic transport frock basket - Google Patents

Manipulator device of automatic transport frock basket Download PDF

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Publication number
CN201999519U
CN201999519U CN2011200441909U CN201120044190U CN201999519U CN 201999519 U CN201999519 U CN 201999519U CN 2011200441909 U CN2011200441909 U CN 2011200441909U CN 201120044190 U CN201120044190 U CN 201120044190U CN 201999519 U CN201999519 U CN 201999519U
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China
Prior art keywords
lifting
manipulator
basket
boom
suspension arm
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CN2011200441909U
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Chinese (zh)
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符国华
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株洲宏大科技股份有限公司
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Priority to CN2011200441909U priority Critical patent/CN201999519U/en
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Publication of CN201999519U publication Critical patent/CN201999519U/en

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Abstract

The utility model relates to a manipulator device of an automatic transport frock basket, which comprises a cross sliding motor, a lifting motor, a lifting support, manipulator claws, a suspension arm, a protective cover, a cross sliding rack and a driving bottom plate, wherein the manipulator claws are fixedly arranged on the suspension arm; the lifting support is connected with the suspension arm; the suspension arm is fixedly arranged on the lifting support, and the manipulator claws are driven to go up and down by the suspension arm; the lifting motor is connected with a lifting screw through a coupling; a nut on the lifting screw is connected with the lifting support; both sides of the lifting screw are respectively provided with a lifting guide shaft; and the lifting support is fixedly provided with a lifting bearing pack. The suspension arm is laterally and horizontally arranged on the lifting support; the suspension arm is a cantilever type suspension arm; and two sets of manipulator claws are arranged and fixed on the suspension arm. In the manipulator device of the automatic transport frock basket, the suspension arm is driven to go up and down through a lifting mechanism; when the suspension arm goes up, the suspension loops of the frock basket can be hooked by the hooks of the manipulator claws, and thereby, a manipulator is enabled to transport a workpiece. The hooking and the separation of the frock basket can be conveniently realized. The manipulator device of the automatic transport frock basket is accurate in positioning and is safe and reliable.

Description

一种自动搬运工装篮的机械手装置 An automatic manipulator means mounted Porter basket

技术领域 FIELD

[0001] 本实用新型涉及一种产品的搬运操作装置,具体指一种太阳能电池片或硅片及硅料等工件的自动搬运工装篮的机械手装置。 [0001] The present invention relates to a product conveying operation device, and specifically refers to the robotic device automatically porter sheet or a solar cell and silicon materials such as silicon workpiece loaded basket.

背景技术 Background technique

[0002] 为了提高工作效率,在太阳能电池片或硅片及硅料等工件的清洗时,一般都是采用自动化流水作业方式,即通过自动化作业机械手操作来转运工件;在通过工装篮装载着太阳能电池片或硅片及硅料等工件时,一般采用前置方式,即位于设备前部,但这样造成槽体部分与前门板距离拉长,给人工操作带来不便;另外如果出现检测失灵等异常情况,机械手运行时可能会碰到人体,具有一定的危险性;另外由于太阳能电池需经常采用酸碱等腐蚀性溶液,在工作中对零件的防腐也是设计环节必须考虑的重要问题。 [0002] In order to improve efficiency, when the cleaning sheet or the silicon solar cell and other parts of the silicon material, generally automated assembly-line manner, i.e., to transport a workpiece manipulator operation by automation; tooling through the basket loaded with solar when the battery or sheet materials such as a silicon wafer and the workpiece, typically with front way that the front portion in the apparatus, but this portion causes the front door from the elongated groove, the inconvenience to the manual operation; etc. Also, if detecting the failure occurs exceptions may be encountered when running the robot body, with a certain degree of risk; in addition, as the solar cell to be acid and other corrosive solution is often used in anti-corrosion work is also part of the design aspects must be considered an important issue.

[0003] 如何实现机械手的安全使用及满足不同客户的多元化需求和防腐是太阳能电池片或硅片及硅料等工件的自动搬运所亟待解决的一个技术问题,因此需要进一步加以改进。 [0003] How to achieve the safe use of a robot and to meet the diverse needs of different customers and a technical problem is corrosion AGV silicon solar cells and the silicon material or the like of the workpiece to be solved, further improvement is required.

发明内容 SUMMARY

[0004] 本实用新型的目的,就是为了解决现有太阳能电池片或硅片及硅料等工件自动搬运工装篮的机械手装置的不足,提出了一种安全可靠、能实现太阳能电池片或硅片及硅料等工件自动搬运工装篮的机械手装置。 [0004] The object of the present invention is to solve the problem of the conventional robot arm mechanism of solar cells or of silicon wafers and other materials automatic workpiece loading basket porters, presents a safe, reliable, able to silicon solar cells or silicon materials such as automatic workpiece and a robot apparatus installed porters basket.

[0005] 本实用新型为解决上述技术问题所采用的技术方案为:一种自动搬运工装篮的机械手装置,包括横移电机、升降支架、机械手爪、驱动底板、防护罩和吊臂;其中,机械手爪固定安装在吊臂上,升降支架与吊臂连接,并由吊臂带动机械手爪升降;升降电机通过联轴器与升降丝杆相连接,升降丝杆上的螺母与升降支架连接,升降丝杆两侧设置升降导轴,升降支架上固定安装有升降轴承组。 [0005] The technical solution of the present invention to solve the above technical problem is: an automated robotic device mounted Porter basket, comprising traverse motor, the elevator, a mechanical gripper, a drive plate, protective cover and boom; wherein, Manipulator fixedly mounted on the boom, the boom and connected to the lifting bracket, a boom driven by the lifting Manipulator; lifting motor is connected through a coupling with the lifting screw, the nut and the lifting bracket on the lifting screw connection, the lifting both sides of the lifting screw guide shaft fixedly mounted on the lift bracket elevating bearing sets.

[0006] 所述吊臂是侧向水平安装在升降支架上,吊臂为悬臂式吊臂,吊臂上安装固定有两组机械手爪;所述每组机械手爪下端为两个弯钩,且机械手爪下端的弯钩都是同向侧弯, 四个弯钩在垂直状态下刚好钩住工装篮;同时,在所述工装篮上设置有四个与机械手爪下端的弯钩相配的挂耳,挂耳与所述的机械手爪的弯钩配合,且机械手爪弯钩之间的距离与所用工装篮上的挂耳位置相等;横移电机与升降电机共同安装在驱动底板上,横移电机通过齿轮转动带动整套装置沿垂直于吊臂的水平方向移动;此外,在传动元件与机体外罩有防护罩,通过防护罩,相关传动元件与机体内的溶液避免了直接接触或雾气腐蚀,达到了防腐的效果。 [0006] The boom is a side horizontally mounted on the lift bracket, the arm is a cantilever boom mounted on a fixed two Manipulator boom; the lower end of each Manipulator two hooks, and lower mechanical gripper hooks are in the same direction scoliosis, four hooks in a vertical state just hooked tooling basket; Meanwhile, the tooling basket provided with four lower gripper hook mechanical mating lugs mechanical gripper lugs cooperate with said hook, and the distance between the crank and the mechanical gripper lugs equal to each position on the tooling basket; traverse motor together with the lifting motor mounted on the drive base, the traverse motor by rotation of the drive gear moves the entire device in a direction perpendicular to the horizontal direction of the boom; in addition, the transmission housing member and the body are shielded by a shield, associated with the transmission member body was avoid direct contact corrosion or mist, reaching anti-corrosion effect.

[0007] 本实用新型通过升降机构驱动吊臂升降,当吊臂上升时,机械手爪的弯钩就可以钩住工装篮的挂耳,从而使机械手搬运工件;当横移机构驱动整套装置向弯钩方向反向移动时,机械手爪就可以松开工装篮的挂耳,使机械手爪脱离工装篮;本实用新型吊臂带动机械手爪可方便实现对工装篮的钩取和脱离,定位准确,安全可靠。 [0007] The present invention driven by a lifting mechanism lifting the boom, the boom rises when the mechanical gripper hook can be hooked lugs tooling basket, so that the robot porters member; complete when the traverse mechanism driving means to bend the hook moving direction is reversed, the gripper can release the mechanical lugs basket tooling, tooling basket from the mechanical gripper; driven boom of the present invention may be conveniently implemented Manipulator out on tooling and hooking the basket, accurate positioning, safety reliable. 附图说明 BRIEF DESCRIPTION

[0008] 图1是本实用新型装置的主视图; [0008] FIG. 1 is a front view of the apparatus of the present invention;

[0009] 图2是本实用新型装置的右视图; [0009] FIG 2 is a right side view of the apparatus of the present invention;

[0010] 图3是本实用新型装置的局部左视图。 [0010] FIG. 3 is a partial left side view of the apparatus of the present invention.

[0011] 图中:1.横移齿轮,2.横移电机,3.升降电机,4.联轴器,5.上封板,6.升降支架,7.滚轮,8.横移导轨,9.机械手爪,10.吊臂,11.工装篮,12.底封板,13.防护罩,14.升降丝杆,15.升降轴承组,16.横移齿条,17.横移轴承组,18.升降导轴,19. 驱动底板。 [0011] FIG.:..... 1 traverse gear, the second traverse motor, elevation motor 3, the coupling 4, 5 on the cover plate, the elevator 6, the rollers 7, 8 sliding rails,... 9. Manipulator, 10. jib 11. tooling basket 12 bottom closure plate 13. shield 14. lifting screw, 15 lift bearing set 16. traverse a rack 17 sliding bearings group, 18 lift guide shaft 19. The drive plate.

具体实施方式 Detailed ways

[0012] 下面结合附图和实施例对本实用新型进一步说明。 [0012] Next, the present invention is further described in conjunction with the accompanying drawings and embodiments pair.

[0013] 如图1、图2、图3所示,一种自动搬运工装篮的机械手装置,主要包括横移电机2、 升降电机3、升降支架6、机械手爪9、吊臂10、防护罩13、横移齿条16、驱动底板19;其中,机械手爪9固定安装在吊臂10上,升降支架6与吊臂10连接,吊臂10固定安装在升降支架6 上,并由吊臂10带动机械手爪9升降;吊臂10是侧向水平安装在升降支架6上,所述吊臂10为悬臂式吊臂,吊臂10上安装固定有两组机械手爪9 ;所述每组机械手爪9下端为两个弯钩,且机械手爪9下端的弯钩都是同向侧弯,四个弯钩在垂直状态下刚好钩住工装篮11 ; 同时,在所述工装篮11上设置有四个与机械手爪9下端的弯钩相配的挂耳,挂耳与所述的机械手爪的弯钩配合,且机械手爪弯钩之间的距离与所用工装篮上的挂耳位置相等;所述升降导轴18有两条,升降导轴18上套有两组升降轴承组15、16,每组 [0013] As shown in FIG 1, FIG 2, FIG. 3, a robot apparatus for automatically loading basket movers, including the traverse motor 2, the lifting motor 3, the lift bracket 6, a mechanical gripper 9, the boom 10, the shield 13, the sliding rack 16, the drive plate 19; wherein Manipulator 9 fixedly mounted on the boom 10, the boom 10 is connected to the lift bracket 6, the boom 10 is fixedly mounted on the elevator 6 by the boom 10 Manipulator lifting drive 9; horizontal boom 10 is laterally mounted on the elevator 6, the boom 10 is a cantilever boom, there are two fixed upper boom 9 Manipulator 10; each of said Manipulator 9 for the two lower hooks, and the lower end 9 of the hook is in the same direction Manipulator scoliosis, four hook hooked just tooling basket 11 in a vertical state; the same time, is provided with four baskets 11 on the tooling a lower end of the hook 9 Manipulator mating lugs, hooks with mechanical gripper with said lugs, and the distance between the crank and the mechanical gripper lugs equal to each position on the tooling basket; the lifting there are two guide shafts 18, 18 on the lift guide shaft lifting sleeve has two bearings 15, 16 groups, each group 降轴承组有两个升降轴承,总共有四套。 There are two drop down bearings bearing set, a total of four sets. 此外,升降电机3通过联轴器4与升降丝杆14相连接,升降丝杆14 上的螺母与升降支架6连接,升降丝杆14两侧设置升降导轴18,升降支架6上固定安装有升降轴承组15。 Further, the elevating motor 3414 is connected via a coupling to the lifting screw, the nut and the lift bracket 6 is connected to a lifting screw 14, screw 14 is provided on both sides of the lifting elevating guide shaft 18 fixed to the lift bracket 6 is mounted lift bearing set 15.

[0014] 这样升降电机3工作时驱动升降丝杆14转动,从而带动升降支架6向上运动,进而使吊臂10带动机械手爪9提升工装蓝11 ;工作中升降支架6通过升降轴承组15沿升降导轴18上下运动,保证了运动中准确性和平稳性。 [0014] When the drive motor 3 so that the work lifting the lifting screw 14 is rotated, so as to drive the upward movement of the lifting bracket 6, thereby enabling the boom hoist 10 driven Manipulator 9 tooling Blue 11; elevating work holder 6 by the elevation bearing set 15 in the elevating guide shaft 18 moves up and down to ensure the movement accuracy and stability.

[0015] 横移电机2与升降电机3共同安装在驱动底板19上,横移电机2上固定安装有横移齿轮1,横移齿轮1与机体上的横移齿条16通过齿轮啮合方式水平运动;驱动底板19两侧分别装有横移轴承组17和滚轮7,沿横移导轨8运动,保证了运动中准确性和平稳性。 [0015] The traverse motor 2 together with the lifting motor 3 mounted on the drive plate 19, the traverse motor 2 is fixedly mounted on a traverse gear, the gear 116 horizontal traverse of the traverse of the rack gear on the body by way of motion; driving the bottom plate 19 on both sides are respectively provided with sliding bearings 17 and the roller groups 7, 8 along the guide rail traversing motion, to ensure the movement accuracy and stability.

[0016] 横移电机2通过横移齿轮1转动带动整套装置沿垂直于吊臂10的水平方向移动; 升降电机3驱动吊臂10升降,当吊臂10上升时,机械手爪9的弯钩就可以钩住工装篮11 的挂耳,从而使机械手搬运工件;当横移电机2驱动整套装置向机械手爪9的弯钩方向反向移动时,机械手爪9就可以松开工装篮11的挂耳,使机械手爪9脱离工装篮11。 [0016] The traverse motor 2 is rotated by a drive gear traverse the entire device along a direction perpendicular to the horizontal movement of the boom 10; elevating motor 3 driving the lifting boom 10, when the boom 10 to rise, the hook 9 on Manipulator tooling can be hooked lugs 11 of the basket, so that the robot porters member; when the driving means moves the entire gripper hook machine direction reverse traverse motor 9, 9 manipulator tooling can release lugs 11 of the basket the mechanical gripper tooling basket 9 out of 11.

[0017] 此外,在传动元件与机体外罩有防护罩13,防护罩13安装于上封板5和底封板12 之间,并在升降支架6升降时伸长或压缩;防护罩13将升降支架6、升降丝杆14、升降轴承组15、升降导轴18围成一个封闭的腔体,使相关传动元件避免了被机体内的溶液腐蚀,达到了防腐的效果。 [0017] Further, in the transmission housing and the body member has a shield 13, the shield 13 is mounted on the cover plate 12 between the bottom 5 and the sealing plate, and stretched or compressed when lifting the elevator 6; 13 shield the lift holder 6, the lift screw 14, the lift bearing set 15, elevating guide shaft 18 surrounded by a closed cavity, so avoiding the associated transmission element vivo machine etching solution, to achieve the effect of corrosion.

Claims (9)

1. 一种自动搬运工装篮的机械手装置,其特征在于:包括横移电机、升降电机、升降支架、机械手爪、吊臂、防护罩、横移齿条、驱动底板;其中,机械手爪固定安装在吊臂上,升降支架与吊臂连接,吊臂固定安装在升降支架上,并由吊臂带动机械手爪升降;升降电机通过联轴器与升降丝杆相连接,升降丝杆上的螺母与升降支架连接,升降丝杆两侧设置升降导轴,升降支架上固定安装有升降轴承组。 An automatic robotic device mounted Porter basket, characterized by: a traverse motor, elevation motor, the elevator, a mechanical gripper, the boom, the shield, the traverse of the rack, driving the bottom plate; wherein fixedly mounted Manipulator on the boom, and the boom lift bracket connected to the boom bracket fixedly mounted on the lift, driven by the boom elevating Manipulator; lifting motor is connected through a coupling with the lifting screw, the lifting screw and nut lifting bracket is attached, the lifting screw disposed on both sides of the vertical guide shaft fixedly mounted on the lift bracket elevating bearing sets.
2.如权利要求1所述的一种自动搬运工装篮的机械手装置,其特征在于:吊臂是侧向水平安装在升降支架上,所述吊臂为悬臂式吊臂,吊臂上安装固定有两组机械手爪。 2. An automatic porter claimed in claim 1 mounted basket robotic device claims, characterized in that: the boom is horizontally mounted on the lift side bracket, the boom is a cantilever boom, the boom fixed there are two sets of mechanical gripper.
3.如权利要求2所述的一种自动搬运工装篮的机械手装置,其特征在于:所述每组机械手爪下端为两个弯钩,且机械手爪下端的弯钩都是同向侧弯,四个弯钩在垂直状态下刚好钩住工装篮。 An automatic porter as claimed in claim 2 loaded basket manipulator apparatus claims, characterized in that: each of said lower end Manipulator two hooks, and the lower end of the gripper hooks are in the same direction lateral bending machine, four hooks in a vertical state just hooked tooling basket.
4.如权利要求3所述的一种自动搬运工装篮的机械手装置,其特征在于:工装篮上设置有四个与机械手爪下端的弯钩相配的挂耳,挂耳与所述的机械手爪的弯钩配合,且机械手爪弯钩之间的距离与所用工装篮上的挂耳位置相等。 Porter as claimed in claim 3 An automatic manipulator means mounted in the basket, characterized in that: the hook is provided with four gripper lower mechanical mating lugs on the tooling basket Manipulator with said lugs with the hook, and the distance between the crank and the mechanical gripper lugs equal to the tooling used basket position.
5.如权利要求1所述的一种自动搬运工装篮的机械手装置,其特征在于:横移电机与升降电机共同安装在驱动底板上,横移电机通过齿轮转动带动整套装置沿垂直于吊臂的水平方向移动。 An automatic porter as claimed in claim 1 mounted basket robotic device claims, characterized in that: the common traverse motor and lifting motor mounted on the drive base, the traverse drive motor by gears entire apparatus a direction perpendicular to the boom horizontal moving direction.
6.如权利要求5所述的一种自动搬运工装篮的机械手装置,其特征在于:横移电机上固定安装有横移齿轮,横移齿轮与机体上的横移齿条通过齿轮啮合方式水平运动。 An automatic porter as claimed in claim 5 loaded basket manipulator apparatus claims, characterized in that: the motor is fixedly mounted on the traverse traverse gear, the traverse of the traverse of the rack gear on the gear body by engaging Horizontal motion.
7.如权利要求5所述的一种自动搬运工装篮的机械手装置,其特征在于:驱动底板两侧分别装有横移轴承组和滚轮,沿横移导轨运动。 7. An automatic claimed in claim 5 porter loaded basket manipulator apparatus claims, characterized in that: both sides of the driving plate are provided with sliding bearings and roller group, traversing along the guide rail.
8.如权利要求5所述的一种自动搬运工装篮的机械手装置,其特征在于:在传动元件与机体外罩有防护罩,防护罩安装于上封板和底封板之间,并在升降支架升降时伸长或压缩。 An automatic porter as claimed in claim 5 loaded basket manipulator apparatus claims, characterized in that: the transmission housing and the body member has a protective cover, the protective cover is mounted between the sealing plate and the bottom closure plate, and the lifting compression or elongation of the elevator.
9.如权利要求5所述的一种自动搬运工装篮的机械手装置,其特征在于:防护罩将升降支架、升降丝杆、升降轴承组、升降导轴围成一个封闭的腔体。 9. An automatic movers 5 mounted basket manipulator apparatus as claimed in claim, wherein: the shield elevating holder, lifting screw, the lift bearing set, elevating guide shaft surrounded by a closed cavity.
CN2011200441909U 2011-02-22 2011-02-22 Manipulator device of automatic transport frock basket CN201999519U (en)

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CN102806170A (en) * 2012-09-10 2012-12-05 昆山艾博机器人系统工程有限公司 Lifting mechanism of coating machine
CN102921593A (en) * 2012-10-10 2013-02-13 昆山艾博机器人系统工程有限公司 Coating machine
CN102923476A (en) * 2012-11-13 2013-02-13 东莞市雅康精密机械有限公司 Battery cell classification-stack device
CN103305845A (en) * 2012-03-08 2013-09-18 昆山光微电子有限公司 Manipulator used for silicon wafer wet etching process
CN103508202A (en) * 2012-06-18 2014-01-15 株式会社大福 Ceiling transport vehicle
CN104016124A (en) * 2014-06-18 2014-09-03 青岛双星橡塑机械有限公司 Sheet rubber lifting and transfer device
CN109081102A (en) * 2018-09-03 2018-12-25 昆山晨鼎嘉电子科技有限公司 A kind of loading and unloading robot

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102514113A (en) * 2012-01-06 2012-06-27 无锡市奥曼特科技有限公司 Full-automatic silicon rod viscose board degumming equipment
CN103305845A (en) * 2012-03-08 2013-09-18 昆山光微电子有限公司 Manipulator used for silicon wafer wet etching process
CN103508202A (en) * 2012-06-18 2014-01-15 株式会社大福 Ceiling transport vehicle
CN102806170A (en) * 2012-09-10 2012-12-05 昆山艾博机器人系统工程有限公司 Lifting mechanism of coating machine
CN102921593A (en) * 2012-10-10 2013-02-13 昆山艾博机器人系统工程有限公司 Coating machine
CN102921593B (en) * 2012-10-10 2015-03-18 昆山艾博机器人系统工程有限公司 Coating machine
CN102923476A (en) * 2012-11-13 2013-02-13 东莞市雅康精密机械有限公司 Battery cell classification-stack device
CN104016124A (en) * 2014-06-18 2014-09-03 青岛双星橡塑机械有限公司 Sheet rubber lifting and transfer device
CN104016124B (en) * 2014-06-18 2016-04-27 青岛双星橡塑机械有限公司 Film promotes transporter
CN109081102A (en) * 2018-09-03 2018-12-25 昆山晨鼎嘉电子科技有限公司 A kind of loading and unloading robot

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