CN203804971U - Multilayer feeding and blanking linkage manipulator - Google Patents
Multilayer feeding and blanking linkage manipulator Download PDFInfo
- Publication number
- CN203804971U CN203804971U CN201420149294.XU CN201420149294U CN203804971U CN 203804971 U CN203804971 U CN 203804971U CN 201420149294 U CN201420149294 U CN 201420149294U CN 203804971 U CN203804971 U CN 203804971U
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- Prior art keywords
- fixed
- loading
- plate
- type arm
- linkage manipulator
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- Expired - Lifetime
Links
- 238000005452 bending Methods 0.000 claims abstract description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 49
- 229910052744 lithium Inorganic materials 0.000 claims description 49
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000001360 synchronised effect Effects 0.000 abstract description 5
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 abstract 1
- 229910001416 lithium ion Inorganic materials 0.000 abstract 1
- 238000007731 hot pressing Methods 0.000 description 7
- 238000007599 discharging Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Abstract
The utility model discloses a multilayer feeding and blanking linkage manipulator, comprising a rack, a vertical moving mechanism, a bearing bracket, a rotating mechanism, an L-shaped arm and two pick-and-place devices for clamping lithium-ion batteries, wherein the vertical moving mechanism is installed on the rack, and the output end of the vertical moving mechanism moves up and down; the bearing bracket is fixed on the output end of the vertical moving mechanism; the rotating mechanism is fixed on the bearing bracket, and the output end of the rotating mechanism is in a vertical state and is fixed at the bending part of the L-shaped arm; the two pick-and-place devices are respectively fixed at the two ends of the L-shaped arm. By applying the multilayer feeding and blanking linkage manipulator, synchronous feeding and blanking are realized, operation steps of feeding and blanking are reduced, and the production efficiency is improved.
Description
Technical field
The utility model relates to a kind of feeding mechanical hand, relates in particular to a kind of synchronously loading and unloading, reduces operation of feeding and discharging step, improves the multilayer loading and unloading linkage manipulator of loading and unloading speed.
Background technology
Along with scientific and technical progress and the application of electronic equipment, lithium battery has been applied to the various aspects in life.The manufacturing process of lithium battery generally comprises following operation: stir, be coated with, cold pressing, cut-parts, coiling (or lamination), fluid injection, change into, capacity etc.And after reeling, because pole piece and the diaphragm paper structure of lithium battery interior are more open, therefore, generally also need lithium battery to carry out hot pressing, to guarantee the solid firm of lithium battery interior structure.
In existing lithium battery heat pressing process, typically use manipulator battery is positioned in hot-pressing fixture and carries out hot pressing, the steps include: that manipulator captures the lithium battery for the treatment of hot pressing; Manipulator turns lithium battery on movable clamp; Lithium battery hot pressing; Manipulator takes out from fixture the lithium battery that completes hot pressing be positioned over blanking; Manipulator is to again capturing the lithium battery for the treatment of hot pressing; Manipulator turns lithium battery on movable clamp and heats; So repetitive cycling operation.From above-mentioned steps, existing machinery hand can only carry out feeding or blanking action at every turn, therefore, needs multi-pass operation just can complete a cycle operation, causes like this loading and unloading speed very slow, and production efficiency is difficult to improve.
Utility model content
The purpose of this utility model is to provide a kind of synchronously loading and unloading, reduces operation of feeding and discharging step, the multilayer loading and unloading linkage manipulator of enhancing productivity.
To achieve these goals, the multilayer loading and unloading linkage manipulator that the utility model provides, comprises frame, vertical travel mechanism, bearing support, the fetching device of rotating mechanism, L-type arm and two clamping lithium batteries; Described vertical travel mechanism is installed in described frame and output moves up and down; Described bearing support is fixed on the output of described vertical travel mechanism; Described rotating mechanism is fixed on the bending place that described bearing support and output are vertical state and are fixed on described L-type arm; Described in two, fetching device is individually fixed in the two ends of described L-type arm.
Compared with prior art, because the utility model is by L-type arm is set, and in two ends of described L-type arm, described fetching device is set, can captures lithium battery two positions simultaneously; And utilize described rotating mechanism, make the output of described rotating mechanism be fixed on the turning point of described L-type arm, thereby can drive the two ends of described L-type arm to rotate simultaneously, make the lithium battery at the two ends of described L-type arm transfer to another location, thereby make the utility model on one deck, realize synchronous loading and unloading, reduce the operating procedure of loading and unloading; In addition, again by vertical travel mechanism is set, utilize described vertical travel mechanism to drive described rotating mechanism and L-type arm, described L-type arm can be moved up and down, therefore, manipulator of the present utility model can, arbitrary layer of work of the fixture of multilayer is vertically set, can avoid arranging a manipulator on every one deck like this, reduces the quantity that uses manipulator; And, be conducive to the use of multilayer fixture, improve production production efficiency.
Preferably, described multilayer loading and unloading linkage manipulator also comprises feed mechanism, described feed mechanism comprises feeding cylinder, feeding platform, blanking bench and elongated support plate, described feeding cylinder is fixed on described bearing support and output is fixed on the middle part of described support plate and promotes described support plate and moves up and down, and described feeding platform and blanking bench are individually fixed in the two ends of described support plate.Described support plate can make described feeding platform and blanking bench with each layer that moves on on described L-type arm above fixture, because described feeding platform and blanking bench and L-type arm are synchronized with the movement, stretch into fixture and be moved down into lithium battery surface while capturing lithium battery at the fetching device of one end of described L-type arm, the fetching device of the other end of described L-type arm can be synchronizeed and move down with described feeding platform, at this moment between described fetching device and described feeding platform, still there is certain distance, described fetching device can not capture the lithium battery on described feeding platform, therefore, by described feeding cylinder and support plate are set, make described feeding cylinder be fixed on described bearing support, and on, the described support plate of lower driving, thereby make described support plate drive described feeding platform, on blanking bench, lower movement, and then adjust described feeding platform, the position of the relatively described fetching device of blanking bench, to facilitate described fetching device to capture lithium battery.
Particularly, described feed mechanism also comprises guiding trestle, and described guiding trestle comprises base plate and guide post, the two ends of described guide post be individually fixed in described base plate and described in hold the bottom surface of support, described support plate is socketed on described guide post slidably.Utilize described guiding trestle, described support plate can move up and down vertically along described guiding trestle, avoids the position of described support plate to be offset, and affects the accuracy of the position of feeding platform and blanking bench.
Preferably, described rotating mechanism comprises rotating shaft, driving wheel, driven pulley, belt and the first servomotor, described servomotor is fixed on described bearing support and output and described driving wheel are socketed and fix, described rotating shaft is articulated on described bearing support vertically, described driven pulley is socketed and is fixed on described rotating shaft, and described belt is wound on described driving wheel and driven pulley.Utilize described the first driven by servomotor driving wheel, and then drive described driven pulley to rotate by belt, thereby drive described rotating shaft to rotate, by controlling the rotation an angle of 90 degrees of described the first servomotor, thereby 90 degree are rotated at the two ends that drive described L-type arm, realize the lithium battery of material loading and the lithium battery of blanking and synchronize and shift.
Preferably, described vertical travel mechanism comprises vertical rack, the second servomotor, leading screw and nut mechanism and slide plate.Described vertical rack is fixed in described frame, described the second servomotor is fixed on being connected of screw mandrel of the upper end of described vertical rack and output and described leading screw and nut mechanism, described leading screw and nut mechanism is installed on described vertical rack, is arranged to described slide plate slides described vertical rack and fixes with the nut of described leading screw and nut mechanism.Utilize leading screw and nut mechanism described in described the second servomotor control, thereby make leading screw and nut mechanism drive described slide plate to slide up and down, and then control described L-type arm and move up and down, realize multilayer fixture feeding, discharge.
Particularly, between described slide plate and described vertical rack, be provided with track and slide block, described track is fixed on described vertical rack one side vertically, and is positioned at the both sides of described leading screw and nut mechanism, described slide block is fixed on a side of described slide plate, and described slide block and described track are slidably matched.Described slide plate with described vertical rack by the frictional resistance that can reduce between the two that coordinates of track and slide block, thereby side makes the position that L-type arm moves described in described the second driven by servomotor more accurate.
Preferably, described fetching device comprises propelling movement cylinder, loading plate and gas pawl, the cylinder body of described propelling movement cylinder is fixed on described L-type arm, the output of described propelling movement cylinder moves horizontally and fixes with described loading plate, described loading plate is arranged on described L-type arm slidably, and described gas pawl is fixed on described loading plate.By utilizing described propelling movement cylinder and gas pawl, in fixture, realize lithium battery clamping or discharge thereby described gas pawl can be stretched into.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model multilayer loading and unloading linkage manipulator.
Fig. 2 is the structural representation of another angle of the utility model multilayer loading and unloading linkage manipulator.
Fig. 3 is the side view of the utility model multilayer loading and unloading linkage manipulator.
Fig. 4 is the top view of the utility model multilayer loading and unloading linkage manipulator.
Detailed description of the invention
For the effect that describes technology contents of the present utility model, structural feature in detail, realizes, below in conjunction with embodiment and coordinate accompanying drawing to be explained in detail.
As shown in Figure 1, Figure 2 and Figure 3, the utility model multilayer loading and unloading linkage manipulator 100 comprises frame 1, vertical travel mechanism 2, bearing support 3, fetching device 6 and the feed mechanism 7 of rotating mechanism 4, L-type arm 5, clamping lithium battery; Described vertical travel mechanism 2 is installed in described frame 1 and output moves up and down; Described bearing support 3 is fixed on the output of described vertical travel mechanism 2; Described rotating mechanism 4 is fixed on the bending place that described bearing support 3 and output are vertical state and are fixed on described L-type arm 5; Described fetching device 6 is individually fixed in the two ends of described L-type arm 5.Described feed mechanism 7 comprises feeding cylinder 71, feeding platform 72, blanking bench 73, elongated support plate 74 and guiding trestle 75, described feeding cylinder 71 is fixed on described bearing support 3 and output is fixed on the middle part of described support plate 74 and promotes described support plate 74 and moves up and down, and described feeding platform 72 and blanking bench 73 are individually fixed in the two ends of described support plate 74.Described guiding trestle 75 comprises base plate 751 and guide post 752, and the two ends of described guide post 752 are individually fixed in the bottom surface of described base plate 751 and described bearing support 3, and described support plate 74 is socketed on described guide post 752 slidably.Utilize described guiding trestle 75, described support plate 74 can move up and down vertically along described guiding trestle 75, avoids the position of described support plate 74 to be offset, and affects the accuracy of the position of feeding platform 72 and blanking bench 73.
Again as shown in Figure 1, described rotating mechanism 4 comprises rotating shaft 41, driving wheel 42, driven pulley 43, belt 44 and the first servomotor 45, described servomotor 45 is fixed on described bearing support and output and described driving wheel are socketed and fix, described rotating shaft 41 is articulated on described bearing support 3 vertically, described driven pulley 43 is socketed and is fixed on described rotating shaft 41, and described belt 44 is wound on described driving wheel 42 and driven pulley 43.Utilize described the first servomotor 45 to drive driving wheel 42, and then drive described driven pulley 43 to rotate by belt 44, thereby drive described rotating shaft 41 to rotate, by controlling the rotation an angle of 90 degrees of described the first servomotor 45, thereby 90 degree are rotated at the two ends that drive described L-type arm 5, realize the lithium battery of material loading and the lithium battery of blanking and synchronize and shift.
Refer to Fig. 1 and Fig. 2, described vertical travel mechanism 2 comprises vertical rack 21, the second servomotor 22, leading screw and nut mechanism 23 and slide plate 24 again.Described vertical rack 21 is fixed in described frame 1, described the second servomotor 22 is fixed on being connected of screw mandrel of the upper end of described vertical rack 21 and output and described leading screw and nut mechanism 23, described leading screw and nut mechanism 23 is installed on described vertical rack 21, and described slide plate 24 is arranged at slidably described vertical rack 21 and fixes with the nut of described leading screw and nut mechanism 23.Between described slide plate 24 and described vertical rack 21, be provided with track 25 and slide block 26, described track 25 is fixed on described vertical rack 21 1 sides vertically, and be positioned at the both sides of described leading screw and nut mechanism 23, described slide block 26 is fixed on a side of described slide plate 24, and described slide block 26 is slidably matched with described track 25.Utilize described the second servomotor 22 to control described leading screw and nut mechanism 23, thereby make described leading screw and nut mechanism 23 drive described slide plate 24 to slide up and down, and then control described L-type arm 5 and move up and down, realize thering are fixture 101 feeding, discharges of multilayer.Described slide plate 24 with described vertical rack 21 by the frictional resistance that can reduce between the two that coordinates of track 25 and slide block 26, thereby side make described the second servomotor 22 drive described L-type arm 5 to move position more accurate.
Refer to Fig. 1, Fig. 2 and Fig. 4, described fetching device 6 comprises propelling movement cylinder 61, loading plate 62 and gas pawl 63, the cylinder body of described propelling movement cylinder 61 is fixed on the end of described L-type arm 5, the output of described propelling movement cylinder 61 moves horizontally and is fixing with described loading plate 62, described loading plate 62 is arranged on described L-type arm 5 slidably by slide rail, and described gas pawl 63 is fixed on described loading plate 62.By utilizing described propelling movement cylinder 61 and gas pawl 63, realize lithium battery 102 is clamped or discharged thereby described gas pawl 63 can be stretched in fixture.
Comprehensive above-mentioned and by reference to the accompanying drawings, below the operation principle of the utility model multilayer loading and unloading linkage manipulator 100 is described, as follows:
When work, lithium battery 102 is positioned on described feeding platform 72, and the described fetching device 6 of wherein one end of described L-type arm 5 is positioned at the top of described lithium battery 102, and the described fetching device 6 of the other end of described L-type arm 5 is just to fixture 101; Now, described propelling movement cylinder 61 by loading plate 62 by described gas pawl 63 release make it stretch in fixture 101 and be positioned at fixture 101 lithium battery 102 directly over, at this moment described in another gas pawl 63 be positioned at described feeding platform 72 lithium battery 102 directly over.Now, described feeding cylinder 71 starts, drive described support plate 74 to move up along described guide post 752, described support plate 74 drives described feeding platform 72 and blanking bench 73 to rise simultaneously, until the lithium battery 102 on described feeding platform 72 is between two claws of described gas pawl 63 and in same level position.Start again the described gas pawl 63 that is positioned at L-type arm 5 two ends simultaneously, thereby make described gas pawl 63 clampings be positioned at the lithium battery 102 on feeding platform 72, and be positioned at the lithium battery 102 of fixture 101, afterwards, described feeding cylinder 71 promotes described support plate 74 and then drives described feeding platform 72 and blanking bench 73 to move down to be returned to original position, described the second servomotor 22 starts and drives described lithium battery 102 upwards to rise a little by described leading screw and nut mechanism 23 to leave the surface of fixture 101, then, the propelling movement cylinder 61 that is positioned at the described fetching device 6 of fixture 101 drives lithium battery 102 to exit described fixture 101.Controlling described the first servomotor 45 rotates, described the first servomotor 45 drives described driving wheel 42 to rotate, described driving wheel 42 drives described driven pulley 43 to rotate by belt 44, described driven pulley 43 drives described rotating shaft 41, described rotating shaft 41 drives described L-type arm 5 to rotate, turned to just to described fixture 101 when being originally positioned at the fetching device 6 of feeding platform 72 tops on described L-type arm 5, and original just the fetching device 6 of described fixture 101 is being forwarded to while being positioned at blanking bench 73 top, described the first servomotor 45 stops, and described L-type arm 5 has rotated an angle of 90 degrees; At this moment, described feeding cylinder 71 drives described support plate 74 be moved upwards up to the below of gas pawl 63 and the surface of described blanking bench 73 is contacted with the bottom surface of lithium battery 102, and just the propelling movement cylinder 61 of the fetching device 6 to described fixture 101 is pushed to lithium battery 102 in fixture 101.Afterwards, the lithium battery 101 that described the second servomotor 22 promotions are positioned at fixture 101 moves down into the surface of fixture 101, then makes described gas pawl 63 discharge described lithium battery 102, and the described gas pawl 63 being positioned on described blanking bench 73 also discharges lithium battery simultaneously; Now, described feeding cylinder 71 drives support plate 74 to move down again, and at this moment, the lithium battery 102 processing is positioned on blanking bench 73 prepares blanking, and the lithium battery 102 that is positioned at fixture 101 can be processed simultaneously.
Compared with prior art, because the utility model is by L-type arm 5 is set, and in two ends of described L-type arm 5, described fetching device 6 is set, can captures lithium battery 102 two positions simultaneously, and utilize described rotating mechanism 4, make the output of described rotating mechanism 4 be fixed on the bending place of described L-type arm 5, thereby can drive the two ends of described L-type arm 5 to rotate simultaneously, make the lithium battery 102 at the two ends of described L-type arm 5 transfer to another location, thereby make the utility model on one deck, realize synchronous loading and unloading, reduce the operating procedure of loading and unloading, in addition, again by vertical travel mechanism 2 is set, utilize described vertical travel mechanism 2 to drive described rotating mechanism 4 and L-type arm, described L-type arm 5 can be moved up and down, and by described feed mechanism 7 is set, described support plate 74 can make described feeding platform 72 and blanking bench 73 carry out feeding, discharge with each layer that moves on to fixture 101 tops on described L-type arm 8, and because described feeding platform 72 and blanking bench 73 and L-type arm 5 are synchronized with the movement, stretch into fixture 101 and be moved down into lithium battery 102 surfaces while capturing lithium battery 102 at the fetching device 6 of one end of described L-type arm 5, the fetching device 6 of the other end of described L-type arm 5 can be synchronizeed and move down with described feeding platform 72, at this moment between described fetching device 6 and described feeding platform 72, still there is certain distance, described fetching device 6 can not capture the lithium battery on described feeding platform 72, therefore, by described feeding cylinder 71 and support plate 74 are set, make described feeding cylinder 71 be fixed on described bearing support 3, and on, the described support plate 74 of lower driving, thereby make described support plate 74 drive described feeding platform 72, on blanking bench 73, lower movement, and then adjust described feeding platform 72, the position of the relatively described fetching device 6 of blanking bench 73, to facilitate described fetching device 6 to capture lithium battery 102.Therefore, manipulator of the present utility model can, arbitrary layer of work of the fixture 101 of multilayer is vertically set, can avoid arranging a manipulator on every one deck like this, reduce the quantity that uses manipulator, and, be conducive to the use of multilayer fixture, improve production production efficiency.
The utility model multilayer loading and unloading linkage manipulator 100 involved control methods are well known to those of ordinary skill in the art, are no longer described in detail at this.
Above disclosed is only preferred embodiments of the present utility model, certainly can not limit with this interest field of the utility model, and the equivalent variations of therefore doing according to the utility model claim, still belongs to the scope that the utility model is contained.
Claims (7)
1. a multilayer loading and unloading linkage manipulator, is characterized in that: comprise frame, vertical travel mechanism, bearing support, the fetching device of rotating mechanism, L-type arm and two clamping lithium batteries; Described vertical travel mechanism is installed in described frame and output moves up and down; Described bearing support is fixed on the output of described vertical travel mechanism; Described rotating mechanism is fixed on the bending place that described bearing support and output are vertical state and are fixed on described L-type arm; Described in two, fetching device is individually fixed in the two ends of described L-type arm.
2. multilayer loading and unloading linkage manipulator as claimed in claim 1, it is characterized in that: described multilayer loading and unloading linkage manipulator also comprises feed mechanism, described feed mechanism comprises feeding cylinder, feeding platform, blanking bench and elongated support plate, described feeding cylinder is fixed on described bearing support and output is fixed on the middle part of described support plate and promotes described support plate and moves up and down, and described feeding platform and blanking bench are individually fixed in the two ends of described support plate.
3. multilayer loading and unloading linkage manipulator as claimed in claim 2, it is characterized in that: described feed mechanism also comprises guiding trestle, described guiding trestle comprises base plate and guide post, the two ends of described guide post are individually fixed in the bottom surface of described base plate and described bearing support, and described support plate is socketed on described guide post slidably.
4. multilayer loading and unloading linkage manipulator as claimed in claim 1, it is characterized in that: described rotating mechanism comprises rotating shaft, driving wheel, driven pulley, belt and the first servomotor, described servomotor is fixed on described bearing support and output and described driving wheel are socketed and fix, described rotating shaft is articulated on described bearing support vertically, described driven pulley is socketed and is fixed on described rotating shaft, and described belt is wound on described driving wheel and driven pulley.
5. multilayer loading and unloading linkage manipulator as claimed in claim 1, it is characterized in that: described vertical travel mechanism comprises vertical rack, the second servomotor, leading screw and nut mechanism and slide plate, described vertical rack is fixed in described frame, described the second servomotor is fixed on being connected of screw mandrel of the upper end of described vertical rack and output and described leading screw and nut mechanism, described leading screw and nut mechanism is installed on described vertical rack, is arranged to described slide plate slides described vertical rack and fixes with the nut of described leading screw and nut mechanism.
6. multilayer loading and unloading linkage manipulator as claimed in claim 5, it is characterized in that: between described slide plate and described vertical rack, be provided with track and slide block, described track is fixed on described vertical rack one side vertically, and be positioned at the both sides of described leading screw and nut mechanism, described slide block is fixed on a side of described slide plate, and described slide block and described track are slidably matched.
7. multilayer loading and unloading linkage manipulator as claimed in claim 1, it is characterized in that: described fetching device comprises propelling movement cylinder, loading plate and gas pawl, the cylinder body of described propelling movement cylinder is fixed on described L-type arm, the output of described propelling movement cylinder moves horizontally and fixes with described loading plate, described loading plate is arranged on described L-type arm slidably, and described gas pawl is fixed on described loading plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420149294.XU CN203804971U (en) | 2014-03-28 | 2014-03-28 | Multilayer feeding and blanking linkage manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420149294.XU CN203804971U (en) | 2014-03-28 | 2014-03-28 | Multilayer feeding and blanking linkage manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN203804971U true CN203804971U (en) | 2014-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420149294.XU Expired - Lifetime CN203804971U (en) | 2014-03-28 | 2014-03-28 | Multilayer feeding and blanking linkage manipulator |
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| CN (1) | CN203804971U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858426A (en) * | 2015-05-26 | 2015-08-26 | 横店集团东磁股份有限公司 | Adjustable automatic blank fetching device and realizing method thereof |
| CN105690740A (en) * | 2016-04-29 | 2016-06-22 | 东莞市南方力劲机械有限公司 | Novel ultrasonic efficient rivet welding machine |
| CN105880342A (en) * | 2016-06-17 | 2016-08-24 | 沈阳飞机工业（集团）有限公司 | Automatic hot stamping line transmission manipulator and using method thereof |
| CN107150089A (en) * | 2017-07-13 | 2017-09-12 | 安徽盛美金属科技有限公司 | The charging and discharging mechanism of earphone is rolled in a kind of metallic plate punching |
| CN108858138A (en) * | 2018-06-15 | 2018-11-23 | 广州启帆工业机器人有限公司 | Production line with multiple double-arm manipulator loading and unloading |
-
2014
- 2014-03-28 CN CN201420149294.XU patent/CN203804971U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858426A (en) * | 2015-05-26 | 2015-08-26 | 横店集团东磁股份有限公司 | Adjustable automatic blank fetching device and realizing method thereof |
| CN105690740A (en) * | 2016-04-29 | 2016-06-22 | 东莞市南方力劲机械有限公司 | Novel ultrasonic efficient rivet welding machine |
| CN105690740B (en) * | 2016-04-29 | 2018-03-02 | 东莞市南方力劲机械有限公司 | A kind of efficient riveting welder of new type ultrasonic |
| CN105880342A (en) * | 2016-06-17 | 2016-08-24 | 沈阳飞机工业（集团）有限公司 | Automatic hot stamping line transmission manipulator and using method thereof |
| CN107150089A (en) * | 2017-07-13 | 2017-09-12 | 安徽盛美金属科技有限公司 | The charging and discharging mechanism of earphone is rolled in a kind of metallic plate punching |
| CN107150089B (en) * | 2017-07-13 | 2019-11-08 | 宿州滋原科技咨询有限公司 | A kind of charging and discharging mechanism of metal plate punching folding earphone |
| CN108858138A (en) * | 2018-06-15 | 2018-11-23 | 广州启帆工业机器人有限公司 | Production line with multiple double-arm manipulator loading and unloading |
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| C14 | Grant of patent or utility model | ||
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| CX01 | Expiry of patent term |
Granted publication date: 20140903 |