CN206476486U - A kind of large stone material plate truss-like automatic blanking device - Google Patents
A kind of large stone material plate truss-like automatic blanking device Download PDFInfo
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- CN206476486U CN206476486U CN201621443463.6U CN201621443463U CN206476486U CN 206476486 U CN206476486 U CN 206476486U CN 201621443463 U CN201621443463 U CN 201621443463U CN 206476486 U CN206476486 U CN 206476486U
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- suction cup
- large stone
- stone material
- transverse
- cup assembly
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Abstract
本实用新型涉及一种石材大板桁架式自动下料装置；该装置包括机架、横向运动机构、竖直运动机构、吸盘组件、控制系统。机架包括多个立柱以及置于立柱上的横向梁，横向梁包括多段呈直线排列的子横向梁，每段子纵向梁的首尾两端分别对应一个立柱，纵向梁为互相平行的两根，连接在横向运动机构上，机架整体呈桁架式。控制系统可控制横向往复运动、竖直往复运动、吸盘翻转运动、吸盘元件吸取、释放动作，且可以通过合理优化进行复合运动。其中吸盘组件可以翻转180°，竖直运动、横向运动的行程可以根据具体工况调整。该装置与相应的摆渡车、码放台配套工作，将石材大板吸附之后，经过一系列的复合运动，石材大板由摆渡车运送至码放台。
The utility model relates to a truss-type automatic unloading device for large stone slabs; the device includes a frame, a lateral movement mechanism, a vertical movement mechanism, a sucker assembly and a control system. The frame includes a plurality of uprights and transverse beams placed on the uprights. The transverse beams include multiple sub-horizontal beams arranged in a straight line. The first and last ends of each sub-longitudinal beam correspond to a column respectively. On the transverse movement mechanism, the whole frame is truss type. The control system can control lateral reciprocating motion, vertical reciprocating motion, suction cup flipping motion, suction cup element suction and release action, and compound motion can be performed through reasonable optimization. Among them, the suction cup assembly can be turned over 180°, and the strokes of vertical movement and lateral movement can be adjusted according to specific working conditions. The device works in conjunction with the corresponding ferry car and stacking platform. After absorbing the large stone slabs, after a series of compound movements, the large stone slabs are transported by the ferry car to the stacking platform.
Description
Technical field
The utility model belongs to stone machining equipment equipment technical field, especially a kind of large stone material plate truss-like automatic blanking dress
Put.
Background technology
The demand of stone product maintains good good situation in recent years, and house ornamentation is entered in internet economy and stone material
Under background, by the dual channel of channel on line, under line, the demand of large stone material plate will continue to rise.Large stone material plate will gradually
Transition is processed for buhl saw, and buhl saw greatly improves the sawing efficiency of large stone material plate, and under the big plate relatively fallen behind after sawing
Material mode, the bottleneck but as restriction whole process.Operating environment is poor in processing of stone workshop, the automation journey of equipment
Degree is low, and labor strength is larger, under the background that human cost rises year by year, and the survival pressure that enterprise faces will be more
Greatly.With《Made in China 2025》The proposition of strategy, the exploitation of large stone material plate blanking device meets requirements of the times.
Existing stone part large stone material plate job shop employs overhead traveling crane and coordinates chela formula chuck or wirerope to hang the side taken
Method, these methods solve the problem of workman's physical demands is excessive to a certain extent.But in actual production, aerial wirerope is hung
Certain potential safety hazard is taken, and efficiency improves little.Some existing similar devices, such as Chinese patent application ZL
201410386376.0 there is provided a kind of I-shaped automatic loading and unloading device of stone plate, automation is realized to a certain extent
Loading and unloading.It is driven in vertical direction using cylinder, and cylinder needs to have made to order, and be there is driving force and driven asking for stroke limiting
Topic, is only applicable to small breadth sheet material.
Utility model content
The drawbacks of the purpose of this utility model is to overcome above-mentioned prior art, solves the bottle of inefficiency in production process
Neck is there is provided a kind of intelligent blanking device of large stone material plate truss-like, and it uses electrification to automatically control, and blanking process is greatly improved
Rate, low shop worker's labor intensity mitigates the human cost pressure of enterprise.
To achieve the above object, the utility model uses subordinate's technical scheme：
A kind of large stone material plate automatic blanking device, including frame and Suction cup assembly, described frame include two transverse beams
With the longitudinal beam being arranged in two transverse beams, described longitudinal beam drives it along institute under the driving of transverse motion mechanism
The transverse beam stated is moved back and forth；Two vertical rails are provided with below described longitudinal beam, in described vertical rails
Suction cup assembly is installed, described Suction cup assembly can be transported under the driving of vertical motion mechanism along above and below described vertical rails
It is dynamic, and described Suction cup assembly can also realize flip-flop movement.
The large stone material plate automatic blanking device generally truss structure, with three degree of freedom, i.e., two it is mobile and
One upset free degree.The transverse motion mechanism that can be moved reciprocatingly thereon, laterally frame and fortune are set on frame structure
" H " shape is presented in dynamic structure top view；Vertically movable mechanism is arranged in longitudinal girder construction of frame, the lower end of vertically movable mechanism
Rotatable Suction cup assembly is connected with, Suction cup assembly is the end-effector of the blanking of large stone material plate.
Further, the frame also include multiple columns, two described transverse beams it is parallel be arranged on multiple columns
On, each transverse beam includes the sub- transverse beam that multistage is arranged in a linear, and the head and the tail two ends per cross-talk transverse beam correspond to one respectively
Column, is also equipped with two perpendicular longitudinal beams in the transverse beam described in two, and frame structure is integrally overall in frame
In truss-like.
Further, the transverse motion mechanism, has two sets, and often covering includes roller, studs, installing plate connection
Into U-shaped component, described longitudinal beam two ends are respectively on two U-shaped components, and two U-shaped components are installed on two transverse beams
On, multiple rollers rolled along transverse beam are provided with by studs on each U-shaped component；It is wherein a set of laterally to roll
By motor and gear-rack drive, it is moved the roller of mechanism.
Further, transversely beam length in the output shaft connection gear of described motor, gear and transverse beam lateral surface
Rack in the fluting that direction is opened up is meshed, and under motor drive, transverse motion mechanism transversely beam can be moved back and forth.
Further, the roller, installed in U-shaped component internal, each moving cell totally 6, two, top big roller,
Play support, be primarily directed toward, four trundles in side play auxiliary guide effect.
Further, the vertically movable mechanism, including the lifting motor being fixed on longitudinal beam, described lifting motor
Output shaft connects the decelerator of double output shaft, and two output shafts of decelerator connect a shaft coupling, the company described in two respectively
Axle device is respectively connected with an output shaft, and the output shaft described in two each connects a leading screw after being turned to by bevel gear box
On, two feed screw nuts are installed, two feed screw nuts are connected by same installing plate, it is ensured that both synchronously transport on each leading screw
It is dynamic；Described Suction cup assembly is arranged on four feed screw nuts, realizes that it moves up and down.
Further, described leading screw is arranged in vertical rails, and described feed screw nut can be moved along vertical rails
It is dynamic.
Further, the Suction cup assembly includes Suction cup assembly beam, and Suction cup assembly beam two ends are extended with short axle, and short axle is by axle
Hold, bearing block, installation pedestal are fixed, wherein side short axle connection motor, decelerator, rotation fortune can be achieved under motor drive
It is dynamic.Suction cup assembly beam is had by bolt connection is welded with suction on some (being determined according to actual conditions) quarter bend normal thereto, quarter bend
Disk installing plate, sucker is fixed on sucker installing plate by movable bolt.
Further, described motor, decelerator are fixed on described feed screw nut.
It is preferred that, the Suction cup assembly constitutes sucker group by several suckers and sucker beam.
Further large stone material plate automatic blanking device also includes a control system, includes guidance panel, electrical control cubicles, behaviour
Make panel button with the controller of electrical control cubicles to be connected.Controller control transverse motion mechanism, vertically movable mechanism, Suction cup assembly
Action.
It is preferred that, the guidance panel is installed at column suitably height, electric cabinet is arranged at column side appropriate location
Place.
It is preferred that, the column, the section bar of fine strain of millet choose quarter bend.
It is preferred that, the transverse motion mechanism is correspondingly provided with the ferry-boat being engaged with large stone material plate blanking on the ground of lower section
Car, big plate pile up platform.
A kind of baiting method of utilization large stone material plate blanking device, including：
(1) after buhl saw sawing large stone material plate, the sheet material after sawing is transported to specified location by ferry bus；
(2) transverse motion mechanism is started by control system, transversely beam places end movement to transverse motion mechanism to big plate；
(3) when transverse motion mechanism is moved, the rotation of Suction cup assembly can be controlled simultaneously, be allowed to rotate to big substantially with stone material
The parallel angle of plate；Vertically movable institutional adjustment Suction cup assembly as far as possible leans on the center of Suction cup assembly to suitable height simultaneously
The center of nearly large stone material plate；
(4) when Suction cup assembly is contacted with plate surface, transverse movement stops, and Suction cup assembly is started working, and is tightly adsorbed
Large stone material plate；
(5) the vertically movable mechanism of motor control, lifts certain altitude by large stone material plate；
(6) motor of transverse motion mechanism is started working, and makes big plate away from waste truck, when away from suitable distance, sucker
Component begins turning action, and large stone material plate is overturn into 180 degree；
(7) when transverse motion mechanism to stacking position, transverse motion mechanism stops, vertically movable mechanism work, downwards
Motion, when big plate touches stacking platform, stop motion；
(8) sucker is stopped, and big plate release, blanking is completed.
The beneficial effects of the utility model are：
(1) vacuum cup group is used for large stone material plate, it is ensured that enough absorption affinities and safety coefficient, Suction cup assembly is used
Motor, worm type of reduction gearing driving, can be achieved 180 degree rotation；Vertical-lifting mechanism uses motor, decelerator, feed rod, cone
Gear, trapezoidal screw are realized, are rotated using leading screw, and Double-nut synchronous motion realizes that vertical direction is moved back and forth；Transverse movement is led to
Motor drive gear rack, the mode of roller guiding is crossed to realize；
(2) device has three degree of freedom, and transverse movement, vertical motion, sucker rotary motion, three motions can controlled
The regulation and control of system processed similarly hereinafter walk progress, can be acted by the coupling Optimization Cutting of three motions, improve blanking efficiency；
(3) using movable bolt, spring etc. when sucker is installed, sucker is allow adaptively to adsorb angle according to actual condition
Degree；The form of sucker group is constituted using some suckers, it is ensured that absorption is more firm；
(4) use of control system and sensor, accurate positioning when making the Suction cup assembly work, crawl, release movement essence
Standard, greatly improves automation, the intelligence degree of device, improves production efficiency, reduces dependency degree of the workshop to manpower,
Reduce the production cost of enterprise.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are these
Some embodiments of utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is a kind of large stone material plate truss-like automatic blanking device structural representation；
Fig. 2 is Suction cup assembly right-hand member scheme of installation；
Fig. 3 is vertically movable motor scheme of installation；
Fig. 4 is Suction cup assembly left end scheme of installation；
Fig. 5 is transverse motion mechanism schematic diagram；
In figure, 1, transverse beam, 2, guidance panel, 3, column, 4, electrical control cubicles, 5, ferry bus, 6, Suction cup assembly, 7, rotating part
Part, 8, lead screw assembly, 9, transverse motion mechanism, 10, large stone material plate bench, 11, bevel gear box, 12, vertically movable mechanism,
13rd, longitudinal beam, 14, Suction cup assembly left end connection member, 15, electric rotating machine installing plate, 16, worm type of reduction gearing, 17, rotation
With motor, 18, slide assemblies, 19, U star motor mounting plates, 20, decelerator, 21, motor, 22, shaft coupling, 23, bearing block,
24th, slide assemblies connecting plate, 25, guide rail, 26, trundle, 27, rack, 28, gear, 29, reducing motor, 30, round nut,
31st, roller, 32, U-shaped component
Embodiment
Further illustrated with reference to meeting with embodiment with the utility model.
As shown in Figure of description 1-4, large stone material plate truss-like blanking device, including it is frame, transverse motion mechanism, vertical
Motion, Suction cup assembly, ferry bus, sheet material piling platform, electrical control cubicles and guidance panel.The maximum adsorbable width of the utility model
Face 3200mm × 2500mm, thickness 20mm large stone material plate.The device is rationally distributed, makes full use of the space in workshop, reduces
Artificial labor intensity, improves production efficiency, reduces production cost.The utility model also discloses automatic using this simultaneously
The loading and unloading method of handling equipment.
Such as Fig. 1, frame structure includes two (or some link together) parallel and spaced apart transverse direction
Beam 1, the two ends of every section of transverse beam are supported by two root posts 3, and the quantity of column is determined according to the length of transverse beam.Every two are stood
Post can constitute portal frame with respective transversal beam, and this is simple in construction, but bearing capacity is enough.
Column, transverse beam are as the main load bearing component of frame, and its cross sectional shape can make the shape such as square, rectangle, I-shaped
Shape, is not limited only to the rectangle described in figure.The height of column, the length of transverse beam, and both areas of section, can basis
Actual condition conventional design, has no effect on allomeric function.
Column is fixed on the ground by foundation bolt, and transverse beam is by connecting plate and is bolted on column.Wherein
Guide rail bar and rack (flank of tooth is upward) are welded with the transverse beam of transverse movement motor side, rack goes out output shaft with reductor
On gear engagement；Opposite side is welded with two guide rail bars, and guide rail bar, the welding position of rack are according to device concrete condition routine
Design, should ensure that the engagement of rack-and-pinion.
Engagement for rack-and-pinion is known technology in design manual.
In Fig. 1, at edge, the appropriate height and position of column 3 is provided with the plate of operating surface 2, and guidance panel 2 has at the position
Many benefits, one is that can facilitate the operation of workman；Two be not influence the motion of Suction cup assembly；Three be to be directly installed on column
On, resource and space can be saved.Electrical control cubicles 4 are arranged at the column side, mainly consider that the locational space enough, does not influence work
Process, and installation wiring is easy.
Controller etc. is installed, the button of guidance panel is connected with electrical control cubicles internal controller, collectively constitutes control in electric cabinet
System processed.Controller is connected with the electric elements in Suction cup assembly turning part 6, vertical-lifting part 8, transverse motion mechanism 9,
And control the action of each electric elements.
Such as Fig. 1, on the ground of the lower section of transverse motion mechanism, the stand of large stone material plate ferry bus 5 is provided with, with
And large stone material plate bench 10, both are prior art, are repeated no more.
Transverse motion mechanism is as shown in figure 5, including two longitudinal beams 13, reducing motor 29, gear 28, rack 27, roller
31, trundle 26, guide rail 15, U-shaped component 32.Two two ends of longitudinal beam 13 are separately fixed on U-shaped component upper side, U shape groups
Part is three installing plate compositions, is connected together by the nut of roller 31, studs two ends.
Roller 31 is arranged on above U-shaped component internal, every group totally two, and roller 31 connects 1 with transverse beam and touches good, roller
31st, transverse beam 1 plays carrying, is primarily directed toward；Trundle 26 is arranged on below U-shaped component, trundle 26 and guide rail 25
Downside should ensure that good position, and trundle, guide rail play auxiliary and be oriented to.
Gear 28 connects the output shaft of reducing motor 29, and rack-and-pinion should ensure that good engagement.
Under the drive of reducing motor, transverse motion mechanism can be moved back and forth along transverse beam 1.
As shown in Figure 1,3.Vertically movable mechanism include lifting motor 20, decelerator 21, shaft coupling 22, feed rod, a pair
Bevel gear 11, trapezoidal screw component 8.
Lifting motor 20 is fixed in U-board, and U-board is fixed on longitudinal beam, and the output shaft of lifting motor 20 is connected as double
The decelerator of output shaft, two output shafts of decelerator 21 connect a shaft coupling respectively, and the shaft joint 22 described in two is distinguished
An output shaft is respectively connected, the output shaft described in two is each connected on a leading screw after being turned to by bevel gear box 11, each
Two feed screw nuts are installed, two feed screw nuts are connected by same installing plate, it is ensured that both are synchronized with the movement on leading screw；It is described
Suction cup assembly be arranged on four feed screw nuts, realize that its moves up and down.
Wherein, often set lead screw assembly uses two feed screw nuts, and is connected both with an installing plate, synchronizes them fortune
It is dynamic.Using such installation method primarily to increasing the contact area with Suction cup assembly installation site, connection is set more to step up
Gu.Feed screw nut connecting sucker component 6, screw mandrel rotation, the up and down motion of feed screw nut drives Suction cup assembly motion.
As shown in figure 1, Suction cup assembly includes Suction cup assembly beam 6, transverse beam, movable bolt contiguous block and sucker, sucker group
Part beam by square connecting plate, be bolted on Suction cup assembly longitudinal beam, sucker by movable bolt be arranged on longitudinal beam bar
On shape connecting plate.Totally 24, the sucker.Sucker is prior art, and encapsulant is polyurethane, is repeated no more.
It is preferred that, the Suction cup assembly constitutes sucker group by several suckers and sucker fine strain of millet.
Control system, comprising guidance panel, electrical control cubicles, operator panel buttons are connected with the controller of electrical control cubicles.Controller
Control transverse movement part, vertically movable part, the action of sucker part.
Guidance panel, is installed at column suitably height, electric cabinet is arranged at column side appropriate position.
The ferry bus being engaged with large stone material plate blanking, big plate is correspondingly provided with transverse motion mechanism, lower section ground to pile up
Platform.
Blanking flow is as follows：
Treat that the large stone material plate of blanking delivers to specified location by ferry bus fortune 5.Start transverse movement motor 29, band moving gear 28
Rotate, by the engagement of rack-and-pinion, make roller 31 along transverse beam 1 close to ferry bus.Suction cup assembly 6 is rotatably adjustable suitable simultaneously
Suitable absorption angle.When Suction cup assembly is close to large stone material plate, vertically movable motor 12 works, and is allowed to slowly decline, causes greatly
Suction cup assembly center and large stone material plate center are close, and then vertically movable motor 20 stops.Transverse movement motor 29 works on,
Sucker touches large stone material plate simultaneously, and vacuum cup starts absorption.After absorption, vertical-lifting motor 20 makes Suction cup assembly transport upwards
Stop after dynamic suitable distance.Then transverse movement motor 29 starts, and Suction cup assembly 6 is moved towards large stone material plate bench, moves
In dynamic process, Suction cup assembly electric rotating machine 17 works, and sucker suction large stone material plate and overturns 180 °, in favor of adapting to pile up
Platform position.When being moved to bench 10, transverse movement motor 29 is stopped.Vertically movable motor 20 starts, and delays big plate
Under slow play, when touching bench 10, vertically movable motor 20 is stopped.Sucker stops absorption, and large stone material plate is placed to
On bench.Now, vertically movable motor 20 starts, and Suction cup assembly is lifted into suitable distance, and transverse movement motor 29 is reversely transported
It is dynamic.Blanking action is completed.
In blanking process, sensor and supporting electric-control system make sucker to be accurate to up to correct position crawl plate
Material, it is ensured that the circulation continuous of blanking is carried out.
It is not new to this practicality although above-mentioned embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deform still in protection model of the present utility model
Within enclosing.
Claims (10)
1. a kind of large stone material plate truss-like automatic blanking device, it is characterised in that including frame and Suction cup assembly, described frame
Including two transverse beams and the longitudinal beam being arranged in two transverse beams, described longitudinal beam is under the driving of transverse movement structure
Described transverse beam is driven it along to move back and forth；Two vertical rails are provided with below described longitudinal beam, described
Vertical rails on Suction cup assembly is installed, described Suction cup assembly can be along described perpendicular under the driving of vertical motion mechanism
Moved up and down to slide rail, and described Suction cup assembly can also realize flip-flop movement, flip angle is up to 180 °.
2. large stone material plate truss-like automatic blanking device as claimed in claim 1, it is characterised in that the frame also includes many
Individual column, two described transverse beams are parallel to be arranged on multiple columns, and each transverse beam includes what multistage was arranged in a linear
Sub- transverse beam, the head and the tail two ends per cross-talk transverse beam correspond to a column respectively, and two are installed in the transverse beam described in two
Perpendicular longitudinal beam, frame structure is in integrally integrally truss-like in frame.
3. large stone material plate truss-like automatic blanking device as claimed in claim 1, it is characterised in that the transverse movement machine
Structure, has two sets, and often covering includes the U-shaped component that roller, studs, installing plate are connected into, described longitudinal beam two ends point
Not on two U-shaped components, two U-shaped components are installed in two transverse beams, are pacified on each U-shaped component by studs
Equipped with multiple rollers rolled along transverse beam；The roller of wherein a set of horizontal rolling mechanism is driven by motor and rack-and-pinion
Move its motion.
4. large stone material plate truss-like automatic blanking device as claimed in claim 3, it is characterised in that the roller, installed in U
Type component internal, each moving cell totally 6, two, top big roller plays support, is primarily directed toward, the four small rolling in side
Wheel, plays auxiliary guide effect.
5. large stone material plate truss-like automatic blanking device as claimed in claim 1, it is characterised in that the vertical motion machine
Structure, including the lifting motor being fixed on longitudinal beam, described lifting motor output shaft connect the decelerator of double output shaft, slow down
Two output shafts of device connect a shaft coupling respectively, and the shaft coupling described in two is respectively connected with an output shaft, two institutes
The output shaft stated each is connected on a leading screw after being turned to by bevel gear box, and two feed screw nuts are provided with each leading screw,
Two feed screw nuts are connected by same installing plate, it is ensured that both are synchronized with the movement；Described Suction cup assembly is arranged on four leading screws
On nut, realize that it moves up and down.
6. large stone material plate truss-like automatic blanking device as claimed in claim 5, it is characterised in that described leading screw is arranged on
In vertical rails, described feed screw nut can be moved along vertical rails.
7. large stone material plate truss-like automatic blanking device as claimed in claim 5, it is characterised in that the Suction cup assembly includes
Suction cup assembly beam, Suction cup assembly beam two ends are extended with short axle, and short axle is fixed by bearing, bearing block, installation pedestal, and wherein side is short
Axle connection motor, decelerator, rotary motion is can be achieved under motor drive；Suction cup assembly beam is had by bolt connection some to hang down therewith
Sucker installing plate is welded with straight quarter bend, quarter bend, sucker is fixed on sucker installing plate by movable bolt.
8. large stone material plate truss-like automatic blanking device as claimed in claim 7, it is characterised in that described motor, slow down
Device is fixed on described feed screw nut.
9. large stone material plate truss-like automatic blanking device as claimed in claim 1, it is characterised in that also including a control system
System, it includes guidance panel and electrical control cubicles；Operator panel buttons are connected with the controller of electrical control cubicles；Controller controls transverse movement
The action of mechanism, vertically movable mechanism and Suction cup assembly.
10. large stone material plate truss-like automatic blanking device as claimed in claim 1, it is characterised in that the transverse movement machine
The ferry bus being engaged with large stone material plate blanking, big plate are correspondingly provided with structure, lower section ground and piles up platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621443463.6U CN206476486U (en) | 2016-12-27 | 2016-12-27 | A kind of large stone material plate truss-like automatic blanking device |
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|---|---|---|---|
| CN201621443463.6U CN206476486U (en) | 2016-12-27 | 2016-12-27 | A kind of large stone material plate truss-like automatic blanking device |
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| CN201621443463.6U Expired - Fee Related CN206476486U (en) | 2016-12-27 | 2016-12-27 | A kind of large stone material plate truss-like automatic blanking device |
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| CN107235326A (en) * | 2016-12-27 | 2017-10-10 | 山东大学 | A kind of large stone material plate truss-like automatic blanking device and method |
| CN108275474A (en) * | 2018-01-28 | 2018-07-13 | 华北理工大学 | Sliding desk type assembles and stacking machinery arm system |
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| CN111573267A (en) * | 2020-03-31 | 2020-08-25 | 云浮中科石材创新科技有限公司 | A slate unloading device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107235326A (en) * | 2016-12-27 | 2017-10-10 | 山东大学 | A kind of large stone material plate truss-like automatic blanking device and method |
| CN108275474A (en) * | 2018-01-28 | 2018-07-13 | 华北理工大学 | Sliding desk type assembles and stacking machinery arm system |
| CN108275474B (en) * | 2018-01-28 | 2019-10-01 | 华北理工大学 | Sliding desk type assembly and stacking machinery arm system |
| CN109671809A (en) * | 2019-01-31 | 2019-04-23 | 武汉三工智能装备制造有限公司 | Composing mechanism and solar cell chip bonding machine |
| CN109671809B (en) * | 2019-01-31 | 2024-07-05 | 武汉三工智能装备制造有限公司 | Typesetting mechanism and solar cell welding machine |
| CN113120758B (en) * | 2019-12-31 | 2024-04-02 | 中集安瑞环科技股份有限公司 | Large-scale panel conveying system |
| CN113120758A (en) * | 2019-12-31 | 2021-07-16 | 中集安瑞环科技股份有限公司 | Large-scale panel conveying system |
| CN111573267A (en) * | 2020-03-31 | 2020-08-25 | 云浮中科石材创新科技有限公司 | A slate unloading device |
| CN112124785A (en) * | 2020-08-20 | 2020-12-25 | 安徽鸿腾住工科技有限公司 | Device for stacking prefabricated slab stairs |
| CN112758691A (en) * | 2020-12-30 | 2021-05-07 | 济南威力机器有限公司 | Multiple type of glass loading device |
| CN114180462B (en) * | 2021-12-01 | 2024-06-11 | 沪东中华造船(集团)有限公司 | Hoisting and installing method for cabin traveling crane equipment |
| CN114180462A (en) * | 2021-12-01 | 2022-03-15 | 沪东中华造船(集团)有限公司 | Hoisting and mounting method for cabin travelling equipment |
| CN114476548A (en) * | 2022-02-16 | 2022-05-13 | 上海坚睿实业有限公司 | Special trigger of going up of planer-type stone material back of body net |
| CN116986309A (en) * | 2023-09-27 | 2023-11-03 | 安徽美高美高分子材料有限公司 | Acrylic plate transferring manipulator |
| CN116986309B (en) * | 2023-09-27 | 2023-11-28 | 安徽美高美高分子材料有限公司 | Acrylic plate transferring manipulator |
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Granted publication date: 20170908 |