CN207932591U - The tire positioning auxiliary device of robot stacking machine - Google Patents
The tire positioning auxiliary device of robot stacking machine Download PDFInfo
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- CN207932591U CN207932591U CN201721809762.1U CN201721809762U CN207932591U CN 207932591 U CN207932591 U CN 207932591U CN 201721809762 U CN201721809762 U CN 201721809762U CN 207932591 U CN207932591 U CN 207932591U
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- crossbearer
- frame
- detection mechanism
- positioning detection
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Abstract
The utility model discloses a kind of tire positioning auxiliary devices of robot stacking machine,Set on the output end of tire conveying device,Including frame body,First positioning detection mechanism of one end far from the tire conveying device on the frame body,Delivery section on frame body,Guiding mechanism on the frame body and for being oriented to tire,Set on second positioning detection mechanism of the frame body side at the position of first positioning detection mechanism,Tire for moving to the tire corresponded at the first positioning detection mechanism position in delivery section at the position of the second positioning detection mechanism moves to the tire transplanting mechanism at the position of the second positioning detection mechanism,Tire height sensor and a master control set,First positioning detection mechanism,Second positioning detection mechanism,Transplanting mechanism and tire height sensor are electrically connected with the master control set；The tire transplanting mechanism is fixed on the frame body of the stacking positioning auxiliary device.
Description
Technical field
The utility model is related to a kind of tire transplanting mechanisms, more particularly to one kind is for before robot stacking machine stacking
The tire positioning auxiliary device of the robot stacking machine of positioning auxiliary is carried out before tire after crawl assembly to tire.
Background technology
In traditional technology, when tire is after assembling line assembles, it is manually positioned over workshop somewhere, in order to machine
Device people's stacking machine stacking.This mode, more waste of manpower, it is extremely inefficient, and position position error is big, when positioning is inaccurate
When, the mechanism hand of robot stacking machine cannot then capture tire, be susceptible to the problems such as mistake captures, stacking efficiency is low in this way.
Utility model content
In view of this, it is really necessary to provide a kind of tire to be moved to tire stacking positioning auxiliary device for the utility model
The tire positioning auxiliary device of robot stacking machine at the position of second positioning detection mechanism.
A kind of tire positioning auxiliary device of robot stacking machine is provided, the output end of tire conveying device, packet are set to
Include frame body, on the frame body far from the tire conveying device one end the first positioning detection mechanism, be set to frame body on
Delivery section, on the frame body and for tire is oriented to so that tire be directed to be delivered to it is described first positioning inspection
Survey the guiding mechanism at mechanism position, the second positioning set on frame body side at the position of first positioning detection mechanism
Testing agency, for the second positioning detection mechanism will to be moved to corresponding to the tire at the first positioning detection mechanism position in delivery section
Position at tire move to tire transplanting mechanism at the position of the second positioning detection mechanism, a tire height sensor and
One master control set, first positioning detection mechanism, the second positioning detection mechanism, transplanting mechanism and tire height sensor are equal
It is electrically connected with the master control set；The tire transplanting mechanism is fixed on the frame body of the stacking positioning auxiliary device, described
The lower section that tire transplanting mechanism is located at the delivery section in the initial state corresponds at the position of tire；The tire transplanter
Structure includes being fixed on the rectangular frame on the frame body, on the rectangular frame and parallel with the width direction of the frame body
The first sliding rail and the second sliding rail, both ends be slidably matched respectively with first sliding rail and the second sliding rail longitudinal slide, can
Drive the longitudinal slide along two sliding rails length direction move back and forth the first driving mechanism, be set to the longitudinal slide on and
It vertical motion plate that can be vertically movable, the second driving mechanism that the vertical motion plate can be driven to move up and down and is set to
It can move up on the vertical motion plate and with the vertical motion plate and be pierced by the output section, under the vertical motion plate
It moves and several tire brackets under the output section of retracting.
Further, the frame body has two to be located at same level and parallel top crossbearer；
The delivery section includes several first rollers being arranged at intervals at along the top crossbearer length direction between two top crossbearers
Cylinder, the both ends of the every 1 first roller vertical connection with two top crossbearer respectively；The delivery section further includes for driving
The rotation of the first roller is stated so that the tire to be delivered to the driving portion at the first positioning detection mechanism position, the driving portion and institute
State master control set electrical connection；
Several first rollers of the delivery section and the second roller of the tire conveying device is generally aligned in the same plane and phase
It is mutually parallel, in several first rollers of the delivery section, one first roller close to the tire conveying device output end and institute
State the linking of the second roller；
Second roller of the delivery section on one end of the tire conveying device and the tire conveying device is held in the mouth
It connects, the one end of the delivery section far from the tire conveying device is located at the medial surface of the first positioning detection mechanism.
Further, also there is the frame body top to indulge frame, and the both ends that frame is indulged on the top are remote with the two top crossbearer respectively
Rear end connection from the tire conveying device；First positioning detection mechanism is set to the top and indulges on frame, and described second is fixed
One end of frame is indulged on the second top crossbearer that position detecting mechanism is set in two top crossbearers corresponding to the top；
First positioning detection mechanism includes the first mounting structure being erected on the vertical frame in the top, is set to described first
And it can be along the first push plate of the swing of tire conveying direction, the separate conveying in first push plate on mounting structure
First occlusion part of the lateral surface in portion and set on it is described top indulge frame on corresponding to first occlusion part position at first
Sensor；When first push plate is pushed out by the tire, the first sensor detects corresponding first signal, and
It is sent to the master control set, the master control set controls the driving portion according to the first signal that the first sensor is sent
Stop, and the tire is made to move at second positioning detection mechanism；
Second positioning detection mechanism includes being erected on the one end for indulging frame on the crossbearer of second top close to the top
Second mounting structure, on second mounting structure and can be along the swung with the second top vertical direction of crossbearer
Two push plates, in second push plate far from two top crossbearers in first top crossbearer lateral surface the second occlusion part and set
Second sensor at the position corresponding to second occlusion part on the crossbearer of second top；When the tire is moved to institute
When stating the second pushing plate position and pushing out second push plate, the second sensor detects corresponding second signal, concurrently
Send the second signal control robot stacking machine sent to the master control set, the master control set according to the second sensor
Capture the tire.
Further, first mounting structure includes the first column being erected on the vertical frame in the top, by described first
The top of column to horizontal-extending first mounting rod in the delivery section direction, be articulated in first mounting rod towards described defeated
The first swing rod that send the front end in portion direction and can be swung along the tire conveying direction；First push plate is set to described first
Can be swung along the length direction of the frame body on swing rod；Second mounting structure includes being erected on second top crossbearer
On the second column, from the top of second column to horizontal-extending second mounting rod in first top crossbearer direction, pivot
Second mounting rod is connected to towards the front end in first top crossbearer direction and can be along vertical with the second top crossbearer
The second swing rod that direction is swung；Second push plate is set on second swing rod can be put along the width direction of the frame body
It is dynamic.
Further, the front end of first mounting rod is provided with two first installation journal stirrups, in described two first installation branch
One first perforation is offered on ear respectively, the both ends of one first pivot are arranged in first on described two first installation journal stirrups respectively
In perforation, the length direction of first pivot is parallel with the length direction that frame 143 is indulged on the top；The upper end of first swing rod
One first pivoted hole is offered, first pivoted hole is arranged in first pivot and positioned at described two first installation journal stirrups
Between；The front end of second mounting rod is provided with two second installation journal stirrups, is opened up respectively on described two second installation journal stirrups
There is one second perforation, the both ends of one second pivot are arranged in respectively in the second perforation on described two second installation journal stirrups, described
The length direction of second pivot is parallel with the second top length direction of crossbearer；The upper end of second swing rod offers one
Two pivoted holes, second pivoted hole are arranged in second pivot and between described two second installation journal stirrups.
Further, the parallel beneath of the first top crossbearer on the frame body is provided with the first crossbearer, in the frame body
On second top crossbearer parallel beneath be provided with the second crossbearer；The rectangular frame includes opposite the first horizontal side frame, second
Horizontal side frame, the first opposite longitudinal side frame and the second longitudinal side frame are enclosed, and the first horizontal side frame and the second horizontal side frame are solid respectively
Due to first crossbearer and the second crossbearer, so that first longitudinal side frame and the second longitudinal side frame are across the first crossbearer and
Between two crossbearers；First sliding rail and the second sliding rail are respectively arranged on longitudinal side frame and the second longitudinal side frame.
Further, section erecting bed triangular in shape or trapezoidal, the installation are provided on the frame of first longitudinal side
The length of first longitudinal side frame described in the length of platform matches, in the top surface of the erecting bed integrally formed with described in cylinder
First sliding rail；Symmetrically, section erecting bed triangular in shape or trapezoidal, the erecting bed are provided on the frame of second longitudinal side
Length and the length of second longitudinal side frame match, in the top surface of the erecting bed integrally formed with cylinder second
Sliding rail.
Further, it is respectively arranged in the lower surface at the both ends of the longitudinal slide and is slided with the sliding rail of the cylinder
The sliding block of cooperation, is provided with the hole being slidably mounted on corresponding sliding rail in the lower end of the sliding block, separate on the longitudinal slide
The side of second positioning detection mechanism is provided with the link block being connect with the drive rod of first driving mechanism.
Further, the center of the longitudinal slide offer one for second driving mechanism drive rod to
On the centre bore that is pierced by, the top of the drive rod of second driving mechanism is pierced by after the centre bore and the vertical motion plate
Center position connection；Four edges of the lower surface of the vertical motion plate are respectively arranged with a guide rod, described
Corresponding to being opened up at the position of four guide rods, there are four pilot hole, four guiding roots of the vertical motion plate on longitudinal slide
It is arranged in separately down in four pilot holes.
Further, each tire bracket is in shaped door, and two side levers of each shape bracket are vertical at the vertical fortune
The upper surface of movable plate, the length direction of the mandril of each shape bracket are parallel with the length direction of the first roller；Per adjacent
Width between two door shape brackets is directly matched with the diameter of the first roller of the output section, and each door shape bracket is in level
Width in projection is less than the spacing between adjacent two first rollers, so that each shape bracket is with the vertical motion plate energy
It is enough to be pierced by the output section upwards and the output section lower section of retracting downwards.
The tire positioning auxiliary device of the robot stacking machine of the utility model is arranged defeated with the tire on frame body
Send device be connected delivery section so that tire be assembled complete after can smooth out move in the delivery section, pass through conveying
Tire is accurately delivered at the position of the first positioning detection mechanism by portion, so that the first positioning detection mechanism is able to detect that
Tire sends out the first signal to master control set, master control set receives signal after the first positioning detection mechanism detects tire
Afterwards, can control tire transplanting mechanism effectively makes tire be moved at the position of the second positioning detection mechanism, to be determined by second
Position detecting mechanism detects, and the position in the direction in length and breadth of tire is detected by two positioning detection mechanisms, so that itself and robot code
The position being arranged in stack machine matches, so as to accurately enable the manipulator of robot stacking machine accurately capture tire.
This transplanting mechanism is ingenious in design, in the initial state, the tire present bit being located at after being detected by the first positioning detection mechanism 5
The underface set, and positioned at the lower section of delivery section, be not take up any space above delivery section, when only wanting mobile tyre just to
Upper stretching and to the direction mobile tyre of the second positioning detection mechanism, it is ensured that tire is detected by the second positioning detection mechanism 6.
Description of the drawings
Fig. 1 is the structural schematic diagram of one embodiment of the utility model tire stacking positioning auxiliary device.
Fig. 2 is the stereogram at another visual angle in Fig. 1.
Fig. 3 is the enlarged drawing of the local A of Fig. 2.
Fig. 4 is the stereogram at another visual angle in Fig. 1.
Fig. 5 is the enlarged drawing of part B in Fig. 4.
Fig. 6 is the structural schematic diagram of transplanting mechanism.
Fig. 7 is the cooperation schematic diagram of transplanting mechanism and frame body.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Fig. 1 and Fig. 5 is referred to, the tire stacking positioning auxiliary device of the utility model is set to the defeated of tire conveying device
Outlet, including frame body 1, on the frame body 1 far from the tire conveying device one end the first positioning detection mechanism 5,
Delivery section 2 on frame body 1, on the frame body 1 and for being oriented to tire so that tire is directed to is delivered to
Guiding mechanism 4 at first positioning detection mechanism, 5 position is set to 1 side of frame body close to first positioning detection mechanism 5
Position at the second positioning detection mechanism 6, for will be in delivery section 2 corresponding to the wheel at 5 position of the first positioning detection mechanism
The tire that tire moves at the position of the second positioning detection mechanism 6 moves to the transplanting of the tire at the position of the second positioning detection mechanism 6
Mechanism, a tire height sensor and a master control set, first positioning detection mechanism 5, the second positioning detection mechanism 6,
Transplanting mechanism and tire height sensor are electrically connected with the master control set.The tire transplanting mechanism 7 (is hereinafter referred to as transplanted
Mechanism 7) it is fixed on the frame body of the stacking positioning auxiliary device, the tire transplanting mechanism 7 is located at institute in the initial state
The lower section for stating delivery section corresponds at the position of tire；The tire transplanting mechanism 7 includes the rectangle being fixed on the frame body
Frame 71, on the rectangular frame 71 and first sliding rail 72 and second sliding rail parallel with the width direction of the frame body
73, both ends are slidably matched with first sliding rail, 72 and second sliding rail 73 respectively longitudinal slide 74 can drive the longitudinal direction
Slide plate 74 along two sliding rails 72,73 length direction move back and forth the first driving mechanism, be set to the longitudinal slide 74 on and energy
It reaches vertically movable vertical motion plate 75, the second driving mechanism that the vertical motion plate 75 can be driven to move up and down and sets
In can move up on the vertical motion plate 75 and with the vertical motion plate 75 and be pierced by the delivery section 2, with described vertical
Maneuvering board moves down and several tire brackets 76 (calling bracket 76 in the following text) under the delivery section 2 of retracting.
The main control mechanism can be the main control mechanism being separately provided, and in the present embodiment, the main control mechanism is robot
The main control mechanism of stacking machine.It is delivered at 5 position of the first positioning detection mechanism when the tire is directed to, described first is fixed
Position detecting mechanism 5 sends the first signal (the first position signal of tire, the lateral position information of tire) to the master control set,
After the master control set receives first signal, the transplanting mechanism 7 is driven to act, that is, making second driving machine
Structure rises to jack up the vertical motion plate, (is the limit of the second driving mechanism in the present embodiment when rising to predetermined altitude
When), the height sensor just detects the tire, to send altitude signal to the master control set, the master control
After device receives the altitude signal, the second driving mechanism action is controlled, second driving mechanism makes the vertical fortune
Movable plate moves at the position of second positioning detection mechanism 6, so that second positioning detection mechanism detects tire, from
And second signal (second position information, the longitudinal position information of tire of tire) is sent to the master control set, the master control
After device receives the second signal, controls the transplanting mechanism 7 and return initial position, while control machinery hand presses commitment positions
Capture tire.
The tire conveying device is tire assembling line, and the initiating terminal of the tire conveying device is tire assembly
Starting point, end be tire molding assembly after output end, the conveying of the tire conveying device be provided on the way it is several from
Dynamicization equipment carries out automatic assembling to tire, and tire assembling line belongs to existing conventional means, therefore and will not be described here in detail.
Four piece stands of the frame body 1 including rectangular chassis 10, four corner locations for being erected on the rectangular chassis 10
12 and the upper frame 14 set on the upper end of four stands 12.The chassis 10 includes positioned at same level and being mutually parallel
The first bottom crossbearer 101 and the second bottom crossbearer 102, be connected to first bottom crossbearer 101 and the second bottom crossbearer 102 close to tire
The vertical frame 103 in first bottom of one end (front end) of conveying device is connected to first bottom crossbearer 101 and the second bottom crossbearer 102 far
Frame 104 is indulged at second bottom of one end (rear end) from the tire conveying device, and first bottom crossbearer 101 is horizontal with second bottom
The equal length that frame 104 is indulged at 103 and second bottom of frame, first bottom crossbearer 101 are indulged in the equal length of frame 102, first bottom
And second the length of bottom crossbearer 102 be more than the first bottom and indulge the length that frame 104 is indulged at 103 and second bottom of frame.Four stands 12 divide
It is not erected on the both ends of the first bottom crossbearer 101, the second bottom crossbearer 102.The upper frame 14 includes being located at first bottom crossbearer 101
Top and first top in parallel crossbearer 141, positioned at second bottom crossbearer 102 above and in parallel second pushes up crossbearer
It 142 and is connected to first top crossbearer 141 and second and pushes up the one end (rear end) of crossbearer 142 far from the tire conveying device
Top indulge frame 143, first top crossbearer 141, second pushes up crossbearer 142 and top indulges frame and 143 is respectively positioned on same level.It is described
The both ends of first top crossbearer 141 are connect with the top of two stands 12 at 101 both ends of the first bottom crossbearer respectively, and second top is horizontal
Frame 142 is connect with the top of two stands 12 at the both ends of the first bottom crossbearer 101 respectively.First top crossbearer 141 and second
The length and the length of first bottom crossbearer 101 and the second bottom crossbearer 102 for pushing up crossbearer 142 match, and frame 143 is indulged on the top
The length that length indulges frame 104 with second bottom matches.To sum up, the length direction of the frame body 1 and tire conveying direction phase
It answers or unanimously.
The delivery section 2 includes several first rollers being arranged at intervals at along the top crossbearer length direction between two top crossbearers
Cylinder 21, the both ends of described every 1 first roller 21 vertical connection with two top crossbearer respectively, and can turn around Pivot Point Center
It is dynamic；Several first rollers 21 of the delivery section 2 and the second roller of the tire conveying device are generally aligned in the same plane and mutually
It is parallel, in several first rollers 21 of the delivery section 2, close to the tire conveying device output end one first roller 21 with
Second roller linking (parallel spacing i.e. between one first roller 21 and second roller of second roller and
Spacing between per two first adjacent rollers 21 matches), in this way, the tire after molding assembly can be enable to smoothly transit
On to the delivery section 2.The delivery section 2 in one end of the tire conveying device and the tire conveying device the
Two rollers are connected, and the one end of the delivery section 2 far from the tire conveying device is located in first positioning detection mechanism
Side.
The delivery section 2 further includes for driving the rotation of the first roller 21 the tire is delivered to described first
Driving portion (not shown) at positioning detection mechanism position, the driving portion are electrically connected with the master control set.Described first
Roller 21 can be around its axis rotation, when the tire is from the output of the tire conveying device under the driving of the driving portion
When end is delivered to the front end of the delivery section 2, drive the tire to positioned at frame by the autorotation of each first roller 21
First positioning detection mechanism of 1 rear end of body moves.
In the present embodiment, one is provided with for examining close to the tip position of the tire conveying device on the frame body 1
The tire sensor (not shown) for surveying the tire, when the tire is delivered to the delivery section by the tire conveying device
When 2 front end, the tire sensor detects tire signal and is sent to the master control set, and the master control set controls
The driving portion drives first roller 21 to rotate.
Detection and localization signal is sent to described for being positioned to the tire by first positioning detection mechanism
Master control set.First positioning detection mechanism 5 includes being erected on first mounting structure 51 pushed up on vertical frame 143, being set to
On first mounting structure 51 and can along the length direction swing of the frame body 1 the first push plate 52, be set to it is described
It first occlusion part 53 of the trailing flank far from the delivery section 2 and is indulged set on the top corresponding on frame 143 in first push plate 52
First sensor 54 at the position of first occlusion part 53；When first push plate 52 is pushed backward by the tire
When, the first sensor 54 detects corresponding first signal, and is sent to the master control set, and the master control set is according to institute
Stating the first signal of the transmission of first sensor 54 makes the tire move at second positioning detection mechanism 6.
In the present embodiment, first mounting structure 51 is two groups, and two group of first mounting structure 51 indulges frame 143 along the top
Length direction interval setting.Two group of first mounting structure 51 includes being erected on the top is indulged on frame 143 first to stand
Column 511, from the top of first column 511 to horizontal-extending first mounting rod 512 in 2 direction of the delivery section, be articulated in
First mounting rod 512 towards 2 direction of the delivery section front end and can be put along the vertical direction of frame 143 is indulged with the top
The first dynamic swing rod 513；First push plate 52 is set on first swing rod 513 with can be along the length side of the frame body 1
It is swung to (i.e. the conveying direction of tire).In the present embodiment, first push plate 52 and two group of first mounting structure 51
First swing rod 513 connects, so that the length direction that first push plate 52 indulges frame 143 along the top is set to first peace
On assembling structure 51.Intelligible, in other examples, first mounting structure 51 can also be more than two.
Further, the front end of first mounting rod 512 is provided with two first installation journal stirrups 515, described two first
One first perforation 516 is offered on installation journal stirrup 515 respectively, the both ends of one first pivot are arranged in described two first installations respectively
In the first perforation 516 on journal stirrup 515, the length direction of first pivot is parallel with the length direction that frame 143 is indulged on the top；
The upper end of first swing rod 513 offers one first pivoted hole (not shown), and first pivoted hole is arranged in described first
In pivot and between described two first installation journal stirrups 515.
In the present embodiment, first occlusion part 53 is the first block, and the front end of first block is pushed away with described first
The rear end level of the trailing flank vertical connection of plate 52, first block extends back.The first sensor 54 connects for first
Nearly switch sensor, the test side of first approach switch sensor are located at the side of first block, and described first
The test side of sensor 54 is located at the rear of first block, i.e., the test side of described first approach switch sensor is located at institute
State the side rear rather than dead astern of the first block.When the tire pushes first push plate 52, first block is backward
Mobile, to block the test side of first approach switch sensor, first approach switch sensor detects described
After first block, corresponding first signal is sent to the master control set, after the master control set receives signal, that is, controls institute
The driving portion for stating delivery section 2 stops driving, to make the tire be scheduled at first testing agency position；The master control
Device controls the tire and moves at 6 position of the second positioning detection mechanism again.
In the present embodiment, several multi-directional ball (oxen are provided on the leading flank (i.e. medial surface) of first push plate 52
Eye), several multi-directional balls are set up in parallel along the length direction of first push plate 52.When master control set control is corresponding
When mechanism is so that the tire is moved at 6 position of the second positioning detection mechanism, the tire and described first can be reduced
Frictional force when being in direct contact of push plate 52, what the multi-directional ball can be more preferable, more effortless makes tire be moved.
Second positioning detection mechanism 6 includes being erected on the crossbearer 142 of second top to indulge frame 143 close to the top
Second mounting structure 61 of one end, be set to second mounting structure 61 on and can along with it is described second top crossbearer 142 it is vertical
Direction swing the second push plate 62, in second push plate 62 far from first top crossbearer 141 lateral surface second hide
Stopper 63 and set on it is described second top crossbearer 142 on corresponding to second occlusion part 63 position at second sensor
64；When the tire is moved to 62 position of the second push plate and pushes out second push plate 62, second sensing
Device 64 detects corresponding second signal, and is sent to the master control set, and the master control set is according to the second sensor 64
The second signal control robot stacking machine of transmission captures the tire.
In the present embodiment, second mounting structure 61 is two groups, and two group of second mounting structure 61 is horizontal along second top
The length direction interval of frame 142 is arranged.Two group of second mounting structure 61 includes being erected on the crossbearer 142 of second top
The second column 611, from the top of second column 611 to horizontal-extending second peace in first top crossbearer 141 direction
Dress bar 612, be articulated in second mounting rod 612 towards the front end in first top crossbearer 141 direction and can along with it is described
The second swing rod 613 that the vertical direction of second top crossbearer 142 is swung；Second push plate 62 is set on second swing rod 613
Can be swung along the width direction (length direction for pushing up vertical frame 143) of the frame body 1.In the present embodiment, second push plate
62 connect with the second swing rod 613 of two group of second mounting structure 61, so that second push plate 62 is along second top
The length direction of crossbearer 142 is set on second mounting structure 61.It is intelligible, in other examples, described
Two mounting structures 61 can also be more than two.
Further, the front end of second mounting rod 612 is provided with two second installation journal stirrups 615, described two second
One second perforation 616 is offered on installation journal stirrup 615 respectively, the both ends of one second pivot are arranged in described two second installations respectively
In the second perforation 616 on journal stirrup 615, the length direction of the length direction of second pivot and second top crossbearer 142
It is parallel；The upper end of second swing rod 613 offers one second pivoted hole, and second pivoted hole is arranged in second pivot
In and positioned at described two second installation journal stirrups 615 between.
In the present embodiment, second occlusion part 63 is the second block, and the front end of second block is pushed away with described second
The rear end level of the lateral surface vertical connection of plate 62, second block extends back.The second sensor 64 connects for second
Nearly switch sensor, the test side of second approach switch sensor are located at the side of second block, and described second
The test side of sensor 64 is located at the rear of second block, i.e., the test side of described second approach switch sensor is located at institute
State the side rear rather than dead astern of the second block.When the tire pushes second push plate 62, second block is backward
Mobile, to block the test side of second approach switch sensor, second approach switch sensor detects described
After second block, corresponding second signal is sent to the master control set, after the master control set receives signal, described in control
The manipulator of robot stacking machine captures the tire to carry out stacking.
The guiding mechanism 4 includes being set to be symmetrically set on the crossbearer 142 of the first top top of crossbearer 141 and second close to institute
State the first guiding group 41 and the second guiding group 42 of one end of tire conveying device.
The first guiding group 41 include along it is described first top crossbearer 141 length direction be set to it is described first top crossbearer
Upper table on 141 close to first guide plate 411 of one end of the tire conveying device and set on first guide plate 411
Close to its inside (side for pushing up crossbearer 142 towards second) several first directive wheel 412 on face.First guide plate 411
Direction of the inside towards the first positioning detection mechanism 5 and the inwardly inclination (to the direction of the second top crossbearer 142), described several first
Directive wheel 412 is arranged at intervals at along the interior direction of first guide plate 411 on first guide plate 411, in this way, described
The gradient of first directive wheel 412 and the homonymy plane inclination of first guide plate 411 match, and described several first
The medial surface (inside rolling surface) of directive wheel 412 is more than the medial surface of first guide plate 411.
The second guiding group 42 is symmetricly set on the first guiding group 41 on the second top crossbearer 142, and described second
Guiding group 42 includes being set on the crossbearer 142 of second top close to the wheel along the length direction of second top crossbearer 142
Second guide plate 421 of one end of tire conveying device and its close inside on the upper surface of second guide plate 421
(side for pushing up crossbearer 141 towards first) several second directive wheels.The inside of second guide plate 421 is towards the first positioning inspection
It surveys the direction of mechanism 5 and inwardly tilts (Xiang the direction of the first top crossbearer 141), several second directive wheels are led along described second
Be arranged at intervals on second guide plate 421 to the interior direction of plate 421, in this way, the gradient of second directive wheel with
The homonymy plane inclination of second guide plate 421 matches, and the medial surface (inside of several second directive wheels 422
Rolling surface) more than the medial surface of second guide plate 421.
One first directive wheel 412 positioned at the rear end (close to one end of the first positioning detection mechanism 5) of the first guide plate 411
And the diameter of the spacing and tire between one first directive wheel 412 of the rear end of the second guide plate 421 matches, and
And in the width direction of the frame body 1, the position and described first of one first directive wheel 412 of 411 rear end of the first guide plate
An end position in push plate 52 close to the first top crossbearer 141 matches, one second directive wheel 422 of 421 rear end of the second guide plate
Position and in second push plate 62 close to second top crossbearer 142 an end position match, in this way, when tire pass through first
When two directive wheel of 421 rear end of guide plate 411 and the second guide plate, and due to the first directive wheel of the corresponding guide plate rear end
412 and second the position of position and the both ends of the first push plate 52 of directive wheel 422 match, after guiding, the tire exists
The position of the width direction of the frame body 1 matches with the position where the first push plate 52, and therefore, tire can be directed to conveying
To the position of first push plate 52.
In the present embodiment, the first guiding group 41 further includes being set on the crossbearer 141 of first top to lead positioned at first
To the third directive wheel 413 of 411 front position of plate, in the width direction of the frame body 1, the slightly position of the third directive wheel 413
In close to the outside of its one first directive wheel 412.The second guiding group 42 further includes being symmetrically disposed on the second top crossbearer 142
On the 4th directive wheel 414, in the width direction of the frame body 1, the 4th directive wheel 414 is slightly located at close to its 1 the
The outside of two directive wheels 422.
In the present embodiment, it is right against at the position of second positioning detection mechanism 6 and sets on the crossbearer 142 of second top
It is equipped with anti-drop structure.The anti-drop structure be interval be set to second crossbearer on runner, the height of the runner with it is described
The height of tire matches to prevent tire from being fallen from the side, and the runner can be connect with reducing with tire around its axis rotation
Frictional force after touch, contributes to tire to move.
The tire stacking positioning auxiliary device of the utility model is arranged on frame body 1 and is connected with the tire conveying device
Delivery section 2 so that tire be assembled complete after can smooth out move in the delivery section 2, by being set to 1 both sides of frame body
It is upper to be directed to the tire and the first positioning close to two first guiding group 41 of the tire conveying device and the second guiding group 42
The position that testing agency 5 matches, so that tire is accurately delivered to the position of the first positioning detection mechanism 5 by delivery section 2
Place is set, so that the first positioning detection mechanism 5 is able to detect that tire, after the first positioning detection mechanism 5 detects tire, hair
Go out the first signal to master control set, master control set control tire moves at the position of the second positioning detection mechanism 6, in this way, i.e. complete
It is accurately positioned at the longitudinal and transverse direction of tire, this is accurately positioned and the manipulator crawl position phase that is arranged in robot stacking machine
Unanimously, so as to ensure to grab tire each time, in order to which subsequent stacking works.
The master control set, which can control a transfer mechanism, makes the tire be moved to second positioning detection mechanism 6
At position, a pushing mechanism can also be controlled, the tire is pushed at 6 position of the second positioning detection mechanism, it can also
A toggle mechanism is controlled to dial to the tire at 6 position of the second positioning detection mechanism etc..When using pushing mechanism
When, can a pushing mechanism be set on the second top crossbearer 142 far from second positioning detection mechanism 6, such as push away
It takes offence cylinder, motor, hydraulic cylinder etc., as long as tire can be pushed in second positioning detection mechanism 6.Work as use
When lever body, one driving lever of design and driving lever at the second top 142 position of crossbearer far from second positioning detection mechanism 6
Driving mechanism, the master control set controls the driving lever driving mechanism (such as motor) to make driving lever rotate, so as to dial
Bar will be at the wheel tire top to 6 position of the second positioning detection mechanism.
About transplanting mechanism 7：
The tire is moved by the transplanting mechanism 7 from current position (tire interface to position when the first push plate 52)
At to 6 position of the second positioning detection mechanism.Parallel be set to below the first top crossbearer 141 is additionally provided on the frame body 1
First crossbearer 151, parallel the second crossbearer 152 that 142 lower section of crossbearer is pushed up set on described second.
Fig. 6 and Fig. 7 is referred to, first crossbearer, 151 and second crossbearer 152 is described for installing the transplanting mechanism 7
Transplanting mechanism 7 is located at described in being set on the first crossbearer 151 and the second crossbearer 152, so that the transplanting mechanism 7 is set to
Lower section of the output section at the position of first positioning detection mechanism 5 is (i.e. when the tire interface to described first
When push plate 52, the underface of the tire position).The transplanting mechanism 7 can along the frame body 1 width direction it is reciprocal
It is mobile, and can lower movement in the vertical direction, be pierced by the output section to hold up the tire, to by the tire from working as
Front position moves down after moving at 6 position of the second positioning detection mechanism, with the lower section for the delivery section 2 of retracting.Work as institute
It states and touches second positioning detection mechanism 6 after tire is moved at 6 position of the second positioning detection mechanism, described second
The second signal is sent to the master control set by positioning detection mechanism 6, and the master control set controls institute after receiving signal
It states robot stacking machine and captures the tire according to commitment positions.
The transplanting mechanism 7 include rectangular frame 71, the rectangular frame 71 by the first opposite horizontal side frame 711,
Second horizontal side frame 712, the first opposite longitudinal side frame 713 and the second longitudinal side frame 714 are enclosed.The first horizontal side frame 711 and
Second horizontal side frame 712 is individually fixed on first crossbearer, 151 and second crossbearer 152, so that first longitudinal side frame 713
And second longitudinal side frame 714 across between the first crossbearer 151 and the second crossbearer 152.
The transplanting mechanism 7 further includes being set on the rectangular frame 71 and being put down with the width direction of the frame body 1
The longitudinal direction that capable the first sliding rail 72, the second sliding rail 73, both ends are slidably matched with first sliding rail, 72 and second sliding rail 73 respectively
Slide plate 74 and the first driving mechanism that the longitudinal slide 74 can be driven to be moved back and forth along the length direction of two sliding rails 72,73
(not shown).Specifically, first sliding rail 72 is set on first longitudinal side frame 713, in second longitudinal side frame 714
Upper setting second sliding rail 73, the length of first sliding rail 72 and first longitudinal side frame 713 match, and described second slides
Rail 73 and the length of second longitudinal side frame 714 match, the longitudinal slide 74 under the driving of first driving mechanism,
It can be moved back and forth along the longitudinal direction (width direction) of the frame body 1.Wherein：
In the present embodiment, section erecting bed triangular in shape or trapezoidal is provided on first longitudinal side frame 713, it is described
The length of first longitudinal side frame 713 described in the length of erecting bed matches, in the top surface of the erecting bed integrally formed in cylinder
First sliding rail 72 of shape.Symmetrically, section installation triangular in shape or trapezoidal is provided on second longitudinal side frame 714
Platform, the length of the erecting bed and the length of second longitudinal side frame 714 match, and are integrally formed in the top surface of the erecting bed
There is the second cylinder sliding rail 73.
With 72 and second sliding rail 73 of above-mentioned first sliding rail correspondingly, the lower surface at the both ends of the longitudinal slide 74 is distinguished
It is provided with the sliding block 741 being slidably matched with the sliding rail of the cylinder, is provided with and is slidably mounted in the lower end of the sliding block 741
Hole on corresponding sliding rail.On the longitudinal slide 74 side far from second positioning detection mechanism 6 be provided with it is described
The link block that the drive rod 701 of first driving mechanism connects.In the present embodiment, first driving mechanism is to be installed on the frame
The first cylinder on body 1, the drive rod 701 of first cylinder towards the direction of second crossbearer 152 and with the connection
Block connects, in this way, can be driven the longitudinal sliding block 741 (can be to the second crossbearer along multiple past move in the longitudinal direction of the frame body 1
152 direction is mobile and is moved to the direction far from second crossbearer 152).
The transplanting mechanism 7 further includes on the longitudinal slide 74 and can be in vertically movable vertical motion plate 75
And the second driving mechanism (not shown) for driving the vertical motion plate 75 to move up and down, the vertical motion plate 75
It is parallel with the longitudinal slide 74.
In the present embodiment, a driving for second driving mechanism is offered in the center of the longitudinal slide 74
The centre bore that bar 702 is pierced by upwards, the top of the drive rod 702 of second driving mechanism be pierced by after the centre bore with it is described
The center position of vertical motion plate 75 connects.Four edges of the lower surface of the vertical motion plate 75 are respectively arranged with one
Guide rod 751 corresponds at the position of four guide rods 751 pilot hole there are four opening up on the longitudinal slide 74, described
Four of vertical motion plate 75 are oriented to root and are arranged in separately down in four pilot holes.Second driving mechanism is is set to
The second cylinder of 74 lower surface of longitudinal slide is stated, after the drive rod 702 of second cylinder passes through the centre bore straight up
It is connect with the vertical motion plate 75.
The transplanting mechanism 7 further includes that can be pierced by set on the upper surface of the vertical motion plate 75 and upwards the output
Several tire brackets (hereinafter referred to as bracket) in portion.In the present embodiment, the bracket is four groups, and each group of bracket is in shaped door,
Two side levers of each shape bracket 76 are vertical at the upper surface of the vertical motion plate 75, the mandril of four door shape brackets 76
Length direction is parallel with the length direction of first roller 21.Width between per adjacent two door shapes bracket 76 and described the
The diameter of one roller 21 directly matches, and is slightly larger than the diameter of first roller 21, each door shape bracket 76 is in floor projection
Width be less than adjacent two first rollers 21 between spacing so that each shape bracket 76 is with 75 energy of vertical motion plate
It is enough be pierced by the output section upwards and the output section of retracting downwards below (in the present embodiment, the top surface of door shape bracket is slightly lower
In the upper surface of the first roller).
In the present embodiment, first driving mechanism and the second driving mechanism are electrically connected with the master control set, work as institute
When stating master control set and receiving the first signal that the first sensor 54 of first positioning detection mechanism 5 is sent, described in control
Second driving mechanism drives the vertical motion plate 75 upwardly so that the door shape bracket 76 is pierced by the output upwards
Portion, to hold up the tire；(can refer to rising to the limit, or pass through a highly sensing after rising to precalculated position
After device detects tire lifting height), the master control set controls first driving mechanism and drives the longitudinal slide 74 to institute
The movement of the second positioning detection mechanism 6 is stated, so that the door shape bracket 76 is moved to 6 direction of the second positioning detection mechanism
Dynamic, after second positioning detection mechanism 6 detects tire, second positioning detection mechanism 6 sends second signal to institute
Master control set is stated, after the master control set receives the second signal, controls second driving mechanism and the first driving machine
Structure carries out reset drives (even if door shape bracket 76 is reset to initial position).
In the present embodiment, precalculated position is risen to about above-mentioned, can be the extreme position that second cylinder rises,
Setting one is used at position on (can pushing up crossbearer 142 in the first top crossbearer 141 or second) on the frame body 1 corresponding to tire
Detection tire rises to the above-mentioned height sensor (photoelectric sensor) in precalculated position, and the main function of the height sensor is
For obtaining (or claim after holding up tire) after second cylinder rises to the limit, notice letter is sent to the master control set
Number, so that the drive rod 701 that the master control set controls first cylinder according to this notification signal is positioned to described second
Testing agency's 6 position action.
The range of the drive rod 702 of second cylinder can make tire that can just touch the second detection and localization
Mechanism 6, so that the second positioning detection mechanism 6 is able to detect that tire.
The transplanting mechanism 7 of the present embodiment can make tire after being detected by the first positioning detection mechanism 5, can be effective
So that tire is moved at the position of the second positioning detection mechanism 6, it is fixed by two to be detected by the second positioning detection mechanism 6
Position detecting mechanism detects the position in the direction in length and breadth of tire, so that it matches with the position being arranged in robot stacking machine, from
And the manipulator of robot stacking machine can be accurately set accurately to capture tire.This transplanting mechanism 7 is ingenious in design, initial
Under state, it is located at the underface of the tire current location after being detected by the first positioning detection mechanism 5, and be located at delivery section 2
Lower section, be not take up any space of the top of delivery section 2, only want just to stretch out upwards when mobile tyre and to the second detection and localization
The direction mobile tyre of mechanism 6, it is ensured that tire is detected by the second positioning detection mechanism 6.
It these are only the embodiment of the utility model, it does not limit the scope of the patent of the present invention, every profit
The equivalent structure or equivalent flow shift made by the utility model specification and accompanying drawing content, is applied directly or indirectly in it
His relevant technical field, is equally included in the patent within the scope of the utility model.
Claims (10)
1. a kind of tire positioning auxiliary device of robot stacking machine, it is characterised in that：Set on the output of tire conveying device
End, including frame body, on the frame body far from the tire conveying device one end the first positioning detection mechanism, be set to frame
Delivery section on body, so that tire is directed to, to be delivered to described first fixed on the frame body and for being oriented to tire
Guiding mechanism at position detecting mechanism position, set on frame body side at the position of first positioning detection mechanism second
Positioning detection mechanism, for the second detection and localization will to be moved to corresponding to the tire at the first positioning detection mechanism position in delivery section
Tire at the position of mechanism moves to tire transplanting mechanism, a tire height sensor at the position of the second positioning detection mechanism
And a master control set, first positioning detection mechanism, the second positioning detection mechanism, transplanting mechanism and tire height sensing
Device is electrically connected with the master control set；
The tire transplanting mechanism is fixed on the frame body, and the tire transplanting mechanism is located at the conveying in the initial state
The lower section in portion corresponds at the position of tire；The tire transplanting mechanism includes the rectangular frame being fixed on the frame body, sets
In on the rectangular frame and first sliding rail parallel with the width direction of the frame body and the second sliding rail, both ends respectively with it is described
Longitudinal slide that first sliding rail and the second sliding rail are slidably matched can drive the longitudinal slide past along the length direction of two sliding rails
The first driving mechanism for moving again, on the longitudinal slide and can be vertically movable vertical motion plate, institute can be driven
State the second driving mechanism that vertical motion plate moves up and down and on the vertical motion plate and can be with the vertical fortune
Movable plate moves up and several tire supports for being pierced by the delivery section, moving down and retracted under the delivery section with the vertical motion plate
Frame.
2. the tire positioning auxiliary device of robot stacking machine as described in claim 1, it is characterised in that：The frame body tool
There are two to be located at same level and parallel top crossbearer；
The delivery section includes along several first rollers for pushing up crossbearer length direction and being arranged at intervals between two top crossbearers, often
The vertical connection that crossbearer is pushed up in the both ends of one first roller with described two respectively；The delivery section further includes for driving described first
The tire to be delivered to the driving portion at the first positioning detection mechanism position, the driving portion and the master control by roller rotation
Device is electrically connected；
Several first rollers of the delivery section are generally aligned in the same plane with the second roller of the tire conveying device and mutually put down
Row, in several first rollers of the delivery section, close to one first roller and described the of the tire conveying device output end
Two rollers are connected；
The delivery section is connected close to one end of the tire conveying device with the second roller in the tire conveying device, institute
State the medial surface that the one end of delivery section far from the tire conveying device is located at the first positioning detection mechanism.
3. the tire positioning auxiliary device of robot stacking machine as claimed in claim 2, it is characterised in that：The frame body is also
Frame is indulged with a top, the both ends that frame is indulged on the top connect with the two tops rear end of the crossbearer far from the tire conveying device respectively
It connects；First positioning detection mechanism is set to the top and indulges on frame, and second positioning detection mechanism is set in two top crossbearers
One end of frame is indulged on second top crossbearer corresponding to the top；
First positioning detection mechanism includes the first mounting structure being erected on the vertical frame in the top, is set to first installation
In structure and can along the first push plate of the swing of tire conveying direction, in first push plate far from the delivery section
First occlusion part of lateral surface and the first sensing at the position pushed up on vertical frame corresponding to first occlusion part
Device；When first push plate is pushed out by the tire, the first sensor detects corresponding first signal, and sends
To the master control set, the first signal control driving portion that the master control set is sent according to the first sensor stops
Only, and the tire is made to move at second positioning detection mechanism；
Second positioning detection mechanism includes be erected on the one end for indulging frame on the crossbearer of second top close to the top second
Mounting structure, on second mounting structure and can along with the second top vertical direction of crossbearer is swung second push away
Plate, in second push plate far from two top crossbearers in first top crossbearer lateral surface the second occlusion part and be set to institute
It states on the second top crossbearer corresponding to the second sensor at the position of second occlusion part；When the tire is moved to described
Two pushing plate positions and when pushing out second push plate, the second sensor detects corresponding second signal, and is sent to
The master control set, the second signal control robot stacking machine that the master control set is sent according to the second sensor capture
The tire.
4. the tire positioning auxiliary device of robot stacking machine as claimed in claim 3, it is characterised in that：First peace
Assembling structure includes being erected on the top to indulge the first column on frame, from the top of first column to delivery section direction water
Flat the first mounting rod extended is articulated in first mounting rod towards the front end in the delivery section direction and can be along the wheel
The first swing rod that tire conveying direction is swung；First push plate is set on first swing rod with can be along the length of the frame body
Direction is swung；Second mounting structure includes the second column being erected on the crossbearer of second top, by second column
Top to horizontal-extending second mounting rod in first top crossbearer direction, be articulated in second mounting rod towards described the
The front end on one top crossbearer direction and the second swing rod that can be swung along the direction vertical with the second top crossbearer；Described second pushes away
Plate is set on second swing rod can be swung along the width direction of the frame body.
5. the tire positioning auxiliary device of robot stacking machine as claimed in claim 4, it is characterised in that：First peace
The front end of dress bar is provided with two first installation journal stirrups, and offering one first respectively on described two first installation journal stirrups perforates, and one
The both ends of first pivot are arranged in respectively in the first perforation on described two first installation journal stirrups, the length side of first pivot
It is parallel to the length direction of frame is indulged with the top；The upper end of first swing rod offers one first pivoted hole, first pivot
Hole is connect to be arranged in first pivot and between described two first installation journal stirrups；The front end of second mounting rod is arranged
There are two second installation journal stirrups, one second perforation, the both ends of one second pivot are offered respectively on described two second installation journal stirrups
It is arranged in respectively in the second perforation on described two second installation journal stirrups, the length direction of second pivot is pushed up with described second
The length direction of crossbearer is parallel；The upper end of second swing rod offers one second pivoted hole, and second pivoted hole is arranged in
In second pivot and between described two second installation journal stirrups.
6. the tire positioning auxiliary device of robot stacking machine as claimed in claim 3, it is characterised in that：In the frame body
On first top crossbearer parallel beneath be provided with the first crossbearer, on the frame body second top crossbearer parallel beneath setting
There is the second crossbearer；The rectangular frame includes opposite the first horizontal side frame, the second horizontal side frame, opposite the first longitudinal side frame and second
Longitudinal side frame is enclosed, and the first horizontal side frame and the second horizontal side frame are individually fixed in first crossbearer and the second crossbearer, with
So that first longitudinal side frame and the second longitudinal side frame are across between the first crossbearer and the second crossbearer；First sliding rail and second
Sliding rail is respectively arranged on first longitudinal side frame and the second longitudinal side frame.
7. the tire positioning auxiliary device of robot stacking machine as claimed in claim 6, it is characterised in that：Described first
It is provided with section erecting bed triangular in shape or trapezoidal on the frame of longitudinal side, the length of the first longitudinal side frame described in the length of the erecting bed
Match, in the top surface of the erecting bed integrally formed with cylinder first sliding rail；Symmetrically, vertical described second
Section erecting bed triangular in shape or trapezoidal, the length of the length of the erecting bed and second longitudinal side frame are provided on side frame
Match, in the top surface of the erecting bed integrally formed with the second cylinder sliding rail.
8. the tire positioning auxiliary device of robot stacking machine as claimed in claim 7, it is characterised in that：In the longitudinal direction
The lower surface at the both ends of slide plate is respectively arranged with the sliding block being slidably matched with the sliding rail of the cylinder, in the lower end of the sliding block
It is provided with the hole being slidably mounted on corresponding sliding rail, the side far from second positioning detection mechanism is set on the longitudinal slide
It is equipped with the link block being connect with the drive rod of first driving mechanism.
9. the tire positioning auxiliary device of robot stacking machine as claimed in claim 8, it is characterised in that：In the longitudinal direction
The center of slide plate offers a centre bore being pierced by upwards for the drive rod of second driving mechanism, second driving
The top of the drive rod of mechanism is connect after being pierced by the centre bore with the center position of the vertical motion plate；The vertical fortune
Four edges of the lower surface of movable plate are respectively arranged with a guide rod, corresponding to four guide rods on the longitudinal slide
It is opened up at position there are four pilot hole, four guiding roots of the vertical motion plate are arranged in separately down in four pilot holes.
10. the tire positioning auxiliary device of robot stacking machine as claimed in claim 9, it is characterised in that：Each tire
Bracket is in shaped door, and two side levers of each shape bracket are vertical at the upper surface of the vertical motion plate, each shape bracket
Mandril length direction it is parallel with the length direction of the first roller；Width between per adjacent two doors shape bracket and institute
The diameter for stating the first roller of delivery section directly matches, and width of each door shape bracket in floor projection is less than adjacent two first
Spacing between roller so that each shape bracket with the vertical motion plate can be pierced by upwards the delivery section and to
Below the lower delivery section of retracting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721809762.1U CN207932591U (en) | 2017-12-21 | 2017-12-21 | The tire positioning auxiliary device of robot stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721809762.1U CN207932591U (en) | 2017-12-21 | 2017-12-21 | The tire positioning auxiliary device of robot stacking machine |
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| Publication Number | Publication Date |
|---|---|
| CN207932591U true CN207932591U (en) | 2018-10-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721809762.1U Active CN207932591U (en) | 2017-12-21 | 2017-12-21 | The tire positioning auxiliary device of robot stacking machine |
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| CN (1) | CN207932591U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163557A (en) * | 2017-12-21 | 2018-06-15 | 重庆长安民生物流股份有限公司 | The tire positioning auxiliary device of robot stacking machine |
| CN110562658A (en) * | 2019-08-02 | 2019-12-13 | 广州供电局有限公司 | Transformer box placer |
-
2017
- 2017-12-21 CN CN201721809762.1U patent/CN207932591U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163557A (en) * | 2017-12-21 | 2018-06-15 | 重庆长安民生物流股份有限公司 | The tire positioning auxiliary device of robot stacking machine |
| CN108163557B (en) * | 2017-12-21 | 2019-11-08 | 重庆长安民生物流股份有限公司 | The tire positioning auxiliary device of robot stacking machine |
| CN110562658A (en) * | 2019-08-02 | 2019-12-13 | 广州供电局有限公司 | Transformer box placer |
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