CN203721114U - Intelligent transportation and storage device - Google Patents
Intelligent transportation and storage device Download PDFInfo
- Publication number
- CN203721114U CN203721114U CN201420046992.7U CN201420046992U CN203721114U CN 203721114 U CN203721114 U CN 203721114U CN 201420046992 U CN201420046992 U CN 201420046992U CN 203721114 U CN203721114 U CN 203721114U
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- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 239000000463 material Substances 0.000 claims abstract description 18
- 229910000838 Al alloy Inorganic materials 0.000 claims abstract description 5
- 238000001125 extrusion Methods 0.000 claims description 4
- 238000012549 training Methods 0.000 abstract description 12
- 238000009434 installation Methods 0.000 abstract 2
- 238000011156 evaluation Methods 0.000 abstract 1
- 238000005192 partition Methods 0.000 abstract 1
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 230000005693 optoelectronics Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002787 reinforcement Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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Abstract
An intelligent transportation and storage device comprises a base, a bottom part connecting plate installed on the base, and a stereoscopic warehouse and a conveying mechanism which are arranged on the base, wherein transportation portion vertical profiles are arranged on the bottom part connecting plate; the stereoscopic warehouse comprises a connecting plate, aluminum alloy profiles and warehouse material partition plates; the conveying mechanism comprises a conveying support frame installed on the base, a supporting profile arranged on the conveying support frame, a motor installation bracket arranged on one end of the supporting profile, a DC speed reduction motor arranged on one end of the motor installation bracket and a belt arranged on the supporting profile; and the transportation portion vertical profiles are provided with a three-dimensional transportation mechanism. The intelligent transportation and storage device has the advantages that the transportation manipulator is combined with the conveying mechanism to form an integral control unit, so as to realize the evaluation and practical training of the single chip microcomputer, the teaching quality is improved, the interestingness of single chip microcomputer programming teaching is enhanced, the learning interest of students is increased, and the practical operational ability is enhanced.
Description
Technical field
The utility model relates to practice training examination device field, particularly the conveying in a kind of simulating stereo warehouse and go out warehouse-in handling process for single chip computer teaching or practice training examination device.
Background technology
Along with scientific and technological development, allow increasing machinery industry move towards robotization, society is also more and more higher for the Students ' Demand amount of robotization control specialty, and also there has been very large requirement in advertising unit for students' abilities in their major aspect.
Especially for this specialty of electromechanical integration, coverage is wide, student's basic ability and understandability have influence on the quality of learning quality to a great extent, consider the singularity of On Electro-mechanics Integration Major, can seem very dry as dust of knowwhy in teaching on textbook, simultaneously also few at corresponding equipment in aspect such as real training examinations, be therefore necessary to invent a kind of for imparting knowledge to students or the monolithic processor control device of real training examination use, allow and integrate theory with practice, to reach complementary object.
China Patent No. 200910100154.7 discloses a kind of intelligent machine Handling device, include support, worktable, Biaxial linear Handling device, connect feeding device, Biaxial linear Handling device includes mechanical paw, the ball screw device of horizontal degree of freedom is provided, provides the guide rod cylinder device of Vertical Free degree for mechanical paw for mechanical paw, mechanical paw is fixedly connected with guide rod cylinder device, connect feeding device and be provided with sliding way, horizontal slide, connect the below that feeding device is arranged on worktable and is positioned at mechanical paw.Mechanical arm, from connecing the horizontal slide grabbing workpiece of feeding device, is connecing the sliding way place work piece of feeding device.
Although the simulation of this patented technology comparison image simple handling process, but for complicated and have can change control model according to actual needs go out warehouse-in carrying simulated training, the Practical training equipment that convenient teaching is applicable to student's real training and Course Exercise becomes more urgent.
Utility model content
The theoretical property that the utility model occurs in the time imparting knowledge to students for this subject of conventional one-piece machine is too strong, teaching is difficult, conventional one-piece machine Practical training equipment is made up of a multi-function test stand often, do not have the relevant device of mechanical control aspect, be therefore necessary for real training examination a comprehensive Single-chip Controlling equipment is provided.
The technical solution of the utility model is: a kind of intelligence carrying storage arrangement, comprise base and be arranged on the bottom connecting plate on base, described bottom connecting plate is provided with carrying part vertical-type material, also comprise the stereo garage and the conveying mechanism that are arranged on base, described stereo garage comprises web joint, aluminium alloy extrusions and storehouse material dividing plate; Described conveying mechanism comprises the conveying bracing frame that is arranged on base, be arranged on the support section bar carried on bracing frame, be arranged on support section bar one end motor mounting rack, be arranged on the DC speed-reducing of motor mounting rack one end and be arranged on the belt supporting on section bar; Described carrying part vertical-type material is provided with three-dimensional carrying mechanism.
Further, described three-dimensional carrying mechanism comprises: horizontal mobile device, and described horizontal mobile device comprises the installing plate that is arranged on carrying part vertical-type material, be arranged on guide rail on installing plate, be arranged on the servomotor installing plate of installing plate one end, the feed screw nut who is arranged on the servomotor on servomotor installing plate, the screw mandrel being connected with servomotor and matches with screw mandrel; Vertical movement apparatus, described vertical movement apparatus comprises feed screw nut's web member of being arranged on feed screw nut, be arranged on vertical screw mandrel installing plate on feed screw nut's web member, be arranged on line slideway on vertical screw mandrel installing plate, be arranged on the vertical motion screw mandrel on vertical screw mandrel installing plate and be arranged on the guide rail slide block on line slideway.
Further, described three-dimensional carrying mechanism also comprises: move forward and backward device, described in move forward and backward device and comprise the guide rail slide block installing plate that is arranged on guide rail slide block, be arranged on the telescopic cylinder installing plate on guide rail slide block installing plate and be arranged on the telescopic cylinder on telescopic cylinder installing plate; Manipulator clamping device, described manipulator clamping device comprises the telescopic cylinder finger web joint that is arranged on telescopic cylinder one end.
Further, described telescopic cylinder finger web joint is provided with clamping cylinder.
Further, described clamping cylinder front end is provided with gas handgrip and refers to.
Further, described storehouse material dividing plate is some layers, and described storehouse material dividing plate is provided with several grooves.
Further, also comprise control system, automatic checkout system and guidance panel.
Further, described control system is connected by wire with automatic checkout system and guidance panel.
Further, described conveying mechanism is arranged between stereo garage and three-dimensional carrying mechanism.
The utility model has the advantages that: by Single-chip Controlling, conveying robot and conveying mechanism are combined, make it form an overall control module, to realize single-chip microcomputer examination, real training, improve the quality of teaching, allow mcu programming teaching interest strengthen, increase students ' interest of study, improve practical operative ability.By the programming to single-chip microcomputer, allow conveying robot by orderly the workpiece of conveying mechanism end being placed in stereo garage, or according to programmed instruction, the workpiece in stereo garage is taken out and is placed on feed belt.
Brief description of the drawings
Form the part of this instructions, show preferred embodiment of the present utility model for further understanding accompanying drawing of the present utility model, and be used for illustrating principle of the present utility model together with instructions.
In the drawings:
Fig. 1 intelligence carrying of the present utility model storage arrangement left-hand perspective view;
Fig. 2 intelligence carrying of the present utility model storage arrangement dextrad perspective view;
The backward perspective view of Fig. 3 intelligence carrying storage arrangement of the present utility model;
The conveying mechanism perspective view of Fig. 4 intelligence carrying of the present utility model storage arrangement;
The conveying robot master of Fig. 5 intelligence carrying of the present utility model storage arrangement looks perspective view;
The conveying robot rear perspective structural representation of Fig. 6 intelligence carrying of the present utility model storage arrangement;
The conveying robot front view of Fig. 7 intelligence carrying of the present utility model storage arrangement;
The conveying robot left view of Fig. 8 intelligence carrying of the present utility model storage arrangement;
The conveying robot vertical view of Fig. 9 intelligence carrying of the present utility model storage arrangement;
The conveying robot rear view of Figure 10 intelligence carrying of the present utility model storage arrangement;
The conveying robot A-A cut-open view of Figure 11 intelligence carrying of the present utility model storage arrangement; And
The stereo garage perspective view of Figure 12 intelligence carrying of the present utility model storage arrangement, wherein
Reference numeral:
100 is conveying mechanism, 101 is motor mounting rack, 102 is guide, 103 is guidance panel holder, 104 is inductor fabricated section, 105 is driven shaft installing plate tailgate, 106 is driven regulating shaft, 107 is engaged wheel, 108 is belt, 109 is driven shaft installing plate, 110 is block, 111 install and support for conveying mechanism, 112 for supporting section bar, 113 is DC speed-reducing, 114 is bearing end plate, 115 is main drive shaft, 116 is shaft coupling, 117 for carrying bracing frame, 200 is three-dimensional carrying mechanism, 201 is carrying part vertical-type material, 202 is installing plate, 203 is guide rail, 204 is screw mandrel, 205 is servomotor, 206 is web joint, 207 is straight-line guide rail slide block, 208 is feed screw nut, 209 is feed screw nut's web member, 210 is shaft coupling, 211 is line slideway cushion block, 212 is vertical screw mandrel installing plate, 213 is direct current generator, 214 is horizontal lead screw guide rail splice, 215 is vertical motion screw mandrel, 216 is vertical motion feed screw nut, 217 is line slideway, 218 is guide rail slide block, 219 is clamping cylinder, 220 refer to for gas handgrip, 221 is telescopic cylinder, 222 is lower bearing, 223 is head bearing, 224 is horizontal lead screw left end shaft bearing, 225 is horizontal lead screw right-hand member bearing seat, 226 is vertical screw mandrel bottom end bearing seat, 227 is vertical screw mandrel upper shaft bearing, 228 is vertical screw mandrel upper shaft bearing lid, 229 is vertical thread stem nut web member, 230 is vertical screw mandrel synchronizing wheel, 231 is stepping motor synchronous wheel, 232 is stepper motor installing plate, 233 install riser for the company of dragging, 234 is drag chain, 235 is installing plate reinforcement, 236 is telescopic cylinder installing plate, 237 is optoelectronic switch, 238 is pneumatic-finger web joint, 239 is telescopic cylinder finger web joint, 240 is servomotor installing plate, 241 for connecting drag chain fabricated section, 242 is fixed block on drag chain, 243 is sensor mount, 244 is sensor sensing sheet, 245 is bottom connecting plate, 246 is bottom corner connection, 247 is the first screw mandrel sensing chip, 248 is fixing corner connection, 249 is vertical screw mandrel wire pressing block, 250 is the second screw mandrel sensing chip, 251 is the 3rd screw mandrel sensing chip, 252 is thrust bearing, 253 is nut, 254 is Timing Belt, 255 is horizon light electric switch, 300 is stereo garage, 301 is web joint, 302 is aluminium alloy extrusions, 303 is storehouse material dividing plate.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is elaborated, but the multitude of different ways that the utility model can be defined by the claims and cover is implemented.
With reference to 1, to Figure 12, the utility model provides a kind of intelligence carrying storage arrangement, is arranged on practical traning platform, comprises base, three-dimensional carrying mechanism 200, is successively set on stereo garage 300, conveying mechanism 100 and bracing frame on base; Wherein, described three-dimensional carrying mechanism 200 is arranged on bracing frame; Described stereo garage 200 is fixedly mounted on a side of base, and described conveying mechanism 100 is arranged on the doorway, storehouse of described stereo garage 300, for carrying materiel warehouse-in and outbound; Also comprise control system, automatic checkout system and guidance panel; Described control system is connected with automatic checkout system and guidance panel, for automatically controlling the operation of actual training device.
Three-dimensional carrying mechanism as shown in Fig. 5 to Figure 11, comprise horizontal mobile device, vertical movement apparatus, move forward and backward device and manipulator clamping device, described horizontal mobile device is installed on bracing frame, bracing frame is fixed on base, on described horizontal mobile device, vertical movement apparatus is installed, on described vertical movement apparatus, be provided with and move forward and backward device, described in move forward and backward manipulator clamping device be installed on device, on described three-dimensional carrying mechanism 200, connect by toroid, described horizontal mobile device is connected with bottom connecting plate 245 by bottom corner connection 246 by two carrying part vertical-type materials 201, web joint 206 is equipped with in carrying part vertical-type material 201 upper surfaces, utilize fixing corner connection 248 fixing, web joint 206 is connected with installing plate 202 again, sensor mount 243 is equipped with in the side of installing plate 202, its two ends respectively fill a horizon light electric switch 255, servomotor installing plate 240 is equipped with in installing plate 202 left sides, servomotor 205 is housed on servomotor installing plate 240, servomotor 205 output shafts are connected with screw mandrel 204 by shaft coupling 210, screw mandrel 204 is fixed on installing plate 202 by horizontal lead screw left end shaft bearing 224 and horizontal lead screw right-hand member bearing seat 225, guide rail 203 is installed on installing plate 202, feed screw nut 208 is fixed on horizontal lead screw guide rail splice 214 1 side-lowers by feed screw nut's web member 209, line slideway cushion block 211 is equipped with in horizontal lead screw guide rail splice 214 opposite side belows, the fixing straight-line guide rail slide block 207 of line slideway cushion block 211, can on guide rail 203, slide, sensor sensing sheet 244 is equipped with in horizontal lead screw guide rail splice 214 belows, side, fixed block 242 on drag chain is equipped with in horizontal lead screw guide rail splice 214 tops, side, drag chain 234 one end connect on drag chains on fixed block 242, the other end connects drag chain fabricated section 241, drag chain fabricated section 241 is loaded on tangential movement installing plate 202 sides, installing plate reinforcement 235 is equipped with in horizontal lead screw guide rail splice 214 tops, on installing plate reinforcement 235 and line slideway cushion block 211, vertical screw mandrel installing plate 212 is housed, with the company of dragging, riser 233 is installed and is supported stepper motor installing plate 232, direct current generator 213 is loaded on stepper motor installing plate 232 tops, stepping motor synchronous wheel 231 is housed on motor, vertically vertical screw mandrel bottom end bearing seat 226 and vertical screw mandrel upper shaft bearing 227 are equipped with in screw mandrel installing plate 212 two ends, vertical motion screw mandrel 215 is housed in diaxon bearing, be loaded in vertical screw mandrel upper shaft bearing 227 by head bearing 223, lower bearing 222 is loaded in vertical screw mandrel bottom end bearing seat 226, vertical motion screw mandrel 215 upper ends are added a thrust bearing 252 and are loaded in vertical screw mandrel upper shaft bearing 227, add that vertical screw mandrel upper shaft bearing lid 228 seals, and fixing with nut 253, in vertical motion screw mandrel 215 upper extremity, vertical screw mandrel synchronizing wheel 230 is housed, be connected with stepping motor synchronous wheel 231 by Timing Belt 254, make it drive vertical motion screw mandrel 215 to work, vertically screw mandrel installing plate 212 left surfaces are equipped with respectively the first screw mandrel sensing chip 247 from top to bottom, the second screw mandrel sensing chip 250, the 3rd screw mandrel sensing chip 251, vertically on screw mandrel installing plate 212, line slideway 217 is also housed, vertical motion feed screw nut 216 is installed on vertical thread stem nut web member 229 with guide rail slide block 218, driven by vertical motion screw mandrel 215, it is slided on line slideway 217, three optoelectronic switches 237 are equipped with in vertical thread stem nut web member 229 left sides, vertical screw mandrel wire pressing block 249 is equipped with in its below, telescopic cylinder installing plate 236 is equipped with on right side, telescopic cylinder 221 is housed on telescopic cylinder installing plate 236, telescopic cylinder finger web joint 239 is housed on cylinder, gas handgrip refers to that 220 are connected with clamping cylinder 219 by pneumatic-finger web joint 238, refill on telescopic cylinder web joint 239.
Conveying mechanism as shown in Figure 4, mainly by be fixedly mounted on conveying bracing frame 117 on base with the support section bar 112 of the side of being fixed thereon as main body, in section bar left end side, motor mounting rack 101 is housed, DC speed-reducing 113 is loaded on motor mounting rack 101, be connected with main drive shaft 115 by shaft coupling 116, main drive shaft 115 is installed on and is supported section bar 112 by bearing end plate 114, support section bar 112 right-hand members driven shaft installing plate 109 is housed, driven regulating shaft 106 and engaged wheel 107 are equipped with in its top, load onto that belt 108 is rear utilizes the bolt on driven shaft installing plate tailgate 105 to carry out tensioning, belt 108 belows have conveying mechanism that support 111 is installed, for supporting the workpiece passing through, support section bar 112 left end belt 108 tops guide 102 is housed, support section bar 112 right-hand member belt 108 tops block 110 is housed, for blocking the workpiece that is transported to end, in support section bar 112 sides, middle part, inductor fabricated section 104 is housed, for detection of the workpiece of process, support section bar 112 middle parts, guidance panel holder 103 is equipped with on inductor fabricated section 104 left sides, be used for installing control panel.Described inductor fabricated section 104 is equipped with detecting sensor and is connected with control system.
Stereo garage as shown in figure 12, stereo garage by bar aluminium alloy extrusions 302 as body supports, two ends are connected and fixed with web joint 301, on support column, be equipped with three and be with reeded storehouse material dividing plate 303, be used for depositing workpiece, to intelligence carrying storage arrangement guidance panel edit routine, utilize the access of servomotor and pneumatic means control workpiece by check requirements, make it reach predetermined requirement and carry out work.
Specific works principle: when operating personnel are being fixed on after the guidance panel loading routine of guidance panel holder 103 on request, while workpiece being placed on the belt 108 of conveying mechanism, belt part inductance sensor 104 detects the existence of workpiece, Single-chip Controlling DC speed-reducing 113 is rotated, drive main drive shaft 115 to rotate by shaft coupling 116, belt 108 is with the workpiece motion of turning right, in the time that running into block 110, workpiece is blocked, sensor detects after the existence of workpiece, Single-chip Controlling conveying robot setting in motion, servomotor 205 drives screw mandrel 204 to rotate by shaft coupling assembly 210, making feed screw nut 208 drive feed screw nut's web member 209 to do horizontal cross on guide rail 203 moves, sensor sensing sheet 244 matches with optoelectronic switch 237, avoided because of operating personnel's improper machine that makes of programming out of service in time, thereby protection machine is not damaged, according to programming requirement, carrying part vertical movement motor 213 brings into operation, stepping motor synchronous wheel 231 rotates vertical screw mandrel synchronizing wheel 230 by Timing Belt 254, thereby drive vertical motion screw mandrel 215 to work, vertical motion screw mandrel 215 drives vertical motion feed screw nut 216, guide rail slide block 218 is slided on line slideway 217, control the vertical movement vertically of mechanical arm, the first screw mandrel sensing chip 247, the second screw mandrel sensing chip 250, the 3rd screw mandrel sensing chip 251 matches with optoelectronic switch 237, the height of control and spacing mechanical arm, avoid operating personnel's improper offside damage machine that causes of programming simultaneously, in the time that mechanical arm runs to the workpiece front on conveying mechanism, gas cleft hand refers to that 220 open, telescopic cylinder 221 is started working, release clamping cylinder 219, clamping cylinder 219 work make gas handgrip refer to that 220 clamp workpiece, telescopic cylinder 221 is regained, carrying part vertical movement motor 213 and servomotor 205 make gas cleft hand refer to that 220 pack workpiece into stereo garage according to the program editting in advance.By different programming check requirements, arbitrarily workpiece takes out or deposits in from stereo garage.
These are only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (9)
1. an intelligence carrying storage arrangement, comprise base and be arranged on the bottom connecting plate on base, described bottom connecting plate is provided with carrying part vertical-type material, it is characterized in that, also comprise the stereo garage and the conveying mechanism that are arranged on base, described stereo garage comprises web joint, aluminium alloy extrusions and storehouse material dividing plate; Described conveying mechanism comprises the conveying bracing frame that is arranged on base, be arranged on the support section bar carried on bracing frame, be arranged on support section bar one end motor mounting rack, be arranged on the DC speed-reducing of motor mounting rack one end and be arranged on the belt supporting on section bar; Described carrying part vertical-type material is provided with three-dimensional carrying mechanism.
2. intelligence carrying storage arrangement according to claim 1, it is characterized in that, described three-dimensional carrying mechanism comprises: horizontal mobile device, and described horizontal mobile device comprises the installing plate that is arranged on carrying part vertical-type material, be arranged on guide rail on installing plate, be arranged on the servomotor installing plate of installing plate one end, the feed screw nut who is arranged on the servomotor on servomotor installing plate, the screw mandrel being connected with servomotor and matches with screw mandrel; Vertical movement apparatus, described vertical movement apparatus comprises feed screw nut's web member of being arranged on feed screw nut, be arranged on vertical screw mandrel installing plate on feed screw nut's web member, be arranged on line slideway on vertical screw mandrel installing plate, be arranged on the vertical motion screw mandrel on vertical screw mandrel installing plate and be arranged on the guide rail slide block on line slideway.
3. intelligence carrying storage arrangement according to claim 1, it is characterized in that, described three-dimensional carrying mechanism also comprises: move forward and backward device, described in move forward and backward device and comprise the guide rail slide block installing plate that is arranged on guide rail slide block, be arranged on the telescopic cylinder installing plate on guide rail slide block installing plate and be arranged on the telescopic cylinder on telescopic cylinder installing plate; Manipulator clamping device, described manipulator clamping device comprises the telescopic cylinder finger web joint that is arranged on telescopic cylinder one end.
4. intelligence carrying storage arrangement according to claim 3, is characterized in that, described telescopic cylinder finger web joint is provided with clamping cylinder.
5. intelligence carrying storage arrangement according to claim 4, is characterized in that, described clamping cylinder front end is provided with gas handgrip and refers to.
6. intelligence carrying storage arrangement according to claim 1, is characterized in that, described storehouse material dividing plate is some layers, and described storehouse material dividing plate is provided with several grooves.
7. intelligence carrying storage arrangement according to claim 1, is characterized in that, also comprises control system, automatic checkout system and guidance panel.
8. intelligence carrying storage arrangement according to claim 7, is characterized in that, described control system is connected by wire with automatic checkout system and guidance panel.
9. according to the intelligence carrying storage arrangement described in any one in claim 1 to 8, it is characterized in that, described conveying mechanism is arranged between stereo garage and three-dimensional carrying mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420046992.7U CN203721114U (en) | 2014-01-24 | 2014-01-24 | Intelligent transportation and storage device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420046992.7U CN203721114U (en) | 2014-01-24 | 2014-01-24 | Intelligent transportation and storage device |
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| Publication Number | Publication Date |
|---|---|
| CN203721114U true CN203721114U (en) | 2014-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420046992.7U Expired - Lifetime CN203721114U (en) | 2014-01-24 | 2014-01-24 | Intelligent transportation and storage device |
Country Status (1)
| Country | Link |
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| CN (1) | CN203721114U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965177A (en) * | 2017-03-31 | 2017-07-21 | 厦门理工学院 | A kind of robot for being used to assemble damper |
| CN108188679A (en) * | 2017-12-29 | 2018-06-22 | 杭州高品自动化设备有限公司 | A kind of housing feed mechanism |
| CN108932883A (en) * | 2018-07-24 | 2018-12-04 | 苏州博达特机电科技有限公司 | A kind of desktop type intelligent control technology comprehensive practical traning platform |
| CN108961987A (en) * | 2018-08-17 | 2018-12-07 | 广东省机械研究所 | A kind of basic training platform of robot industry interconnection |
| CN112372657A (en) * | 2020-11-27 | 2021-02-19 | 清华大学 | Clamping jaw with vision and force feedback control function |
-
2014
- 2014-01-24 CN CN201420046992.7U patent/CN203721114U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965177A (en) * | 2017-03-31 | 2017-07-21 | 厦门理工学院 | A kind of robot for being used to assemble damper |
| CN108188679A (en) * | 2017-12-29 | 2018-06-22 | 杭州高品自动化设备有限公司 | A kind of housing feed mechanism |
| CN108932883A (en) * | 2018-07-24 | 2018-12-04 | 苏州博达特机电科技有限公司 | A kind of desktop type intelligent control technology comprehensive practical traning platform |
| CN108961987A (en) * | 2018-08-17 | 2018-12-07 | 广东省机械研究所 | A kind of basic training platform of robot industry interconnection |
| CN112372657A (en) * | 2020-11-27 | 2021-02-19 | 清华大学 | Clamping jaw with vision and force feedback control function |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 325105 Yalong Industrial Park, two industrial zone, Ou Bei Town, Yongjia County, Wenzhou, Zhejiang, China Patentee after: YALONG INTELLIGENT EQUIPMENT GROUP Co.,Ltd. Address before: 325105 Yalong Industrial Park, two industrial zone, Ou Bei Town, Yongjia County, Wenzhou, Zhejiang, China Patentee before: ZHEJIANG YALONG EDUCATIONAL EQUIPMENT JOINT-STOCK Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140716 |