CN209367298U - A kind of parallel-moving type first in first out transfer robot - Google Patents
A kind of parallel-moving type first in first out transfer robot Download PDFInfo
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- CN209367298U CN209367298U CN201822040457.1U CN201822040457U CN209367298U CN 209367298 U CN209367298 U CN 209367298U CN 201822040457 U CN201822040457 U CN 201822040457U CN 209367298 U CN209367298 U CN 209367298U
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Abstract
The utility model discloses a kind of parallel-moving type first in first out transfer robots, including transfer robot body, the transfer robot body includes: the first storage station, the second storage station, the first pipeline, the second pipeline, is connected between first storage station and the second storage station by transfer mobile device；First pipeline is located at the side of second pipeline and arranged in parallel, and the downstream of first pipeline is connect with the upstream of the second pipeline by lifting transmission device；The downstream of first pipeline is equipped with feeder, the top at second storage station is equipped with discharge, the feeder is equipped with the automatic feeder for successively charging material into vacant pallet, and the discharge is equipped with the automatic discharge unit for successively taking out the material in material containing pallet.The utility model improves charging and turns the speed of material, and then the middle transfer efficient of material is improved during the transfer of holding material automation first in first out.
Description
Technical field
The utility model relates to products to operate technical field, more particularly to a kind of parallel-moving type first in first out transfer machine
People.
Background technique
In the process of industrial products, need to carry out a large amount of product component transfer conveying, such as hold in packaging
Device pop can industry in current pop can process, for a large amount of cover of pop can body component, generally uses manual handling
Or common conveying device conveying, in manual handling or common conveying device transmission process, it is easy to cause material successive
The confusion of sequence in process, cannot accurately remember the corresponding product of certain period production, defective products is caused to be mingled in largely
Product in after, be difficult to corresponding product carry out quality tracing, for the transfer of first in first out, there is also relevant in the market
Relay device, but the design of existing relay device is unreasonable, and middle rotary speed is slow, transfer inefficient, is commonly available raising in production capacity
In the case where, the transfer demand to high production capacity cannot be well adapted to.
Utility model content
The purpose of the utility model is to overcome shortcoming in the prior art, provide in a kind of parallel-moving type first in first out
Turn robot, improves the middle rotary speed and middle transfer efficient of material first in first out.
The utility model is solved by following technical proposals:
A kind of parallel-moving type first in first out transfer robot, including transfer robot body, the transfer robot body packet
It includes: being stored with the first storage station of several vacant pallets, first storage station is equipped with first longitudinal direction carrier mechanism；It is stored with several loads
Second storage station of material torr disk, second storage station are equipped with second longitudinal direction carrier mechanism；For conveying the first of the vacant pallet
Pipeline, first pipeline are driven by the first feeder motor；For conveying the second pipeline of the material containing pallet, institute
It states the second pipeline to drive by the second feeder motor, first storage station is installed on the upstream of first pipeline, described
Second storage station is installed on the downstream of the second pipeline, is connected between first storage station and the second storage station by transfer mobile device
It connects；
First pipeline is located at the side of second pipeline and is arranged in parallel, the downstream of first pipeline
It is connect with the upstream of the second pipeline by lifting transmission device；The lifting transmission device includes being installed on first conveying
The first lifting rotary drum conveyer below line and the second lifting rotary drum conveyer being installed below the second pipeline, described first
It is sequentially connected between lifting rotary drum conveyer and the second lifting rotary drum conveyer；
The downstream of first pipeline is equipped with feeder, and the top at second storage station is equipped with discharge, the charging
Portion, which is equipped with, successively charges material into the automatic feeder of vacant pallet, the discharge be equipped with by the material in material containing pallet according to
The automatic discharge unit of secondary taking-up.
Further, further include a control device, first feeder motor, the second feeder motor, transfer mobile device,
First lifting rotary drum conveyer, the second lifting rotary drum conveyer, automatic feeder, automatic discharge unit are filled with the control
Set electric connection.
Further, the transfer robot body is square setting, the automatic feeder and automatic discharge unit
It is parallel-moving type robot, the parallel-moving type robot includes horizontal slide rail and the crawl slided on horizontal slide rail dress
It sets, the horizontal slide rail of the automatic feeder is located at the surface of first pipeline and parallel with the first pipeline sets
It sets.
Further, it is conveyed between first lifting rotary drum conveyer and the second lifting rotary drum conveyer by roller flat
Highly it is lower than first pipeline after platform transmission connection, first lifting rotary drum conveyer and the decline of second tin roller conveyer
With the second pipeline, first pipeline and the second pipeline and neat with the roller delivery platform are highly higher than after rising
It is flat.
Further, the height of first pipeline and the second pipeline is identical.
Further, the first longitudinal direction carrier mechanism, second longitudinal direction carrier mechanism are elevating screw component.
The utility model have the following advantages that compared with prior art and the utility model has the advantages that
1. the first storage station of the utility model, the first pipeline, the second pipeline, transfer mobile device, rises at the second storage station
Drop transmission device collectively constitutes the stereo circulating transferring system an of first in first out, and material is automatic by certain sequencing
In crawl to vacant pallet, for material containing pallet by lifting transmission device after the first pipeline is delivered to the second pipeline, longitudinal direction is folded
Add storage to stand to the second storage and move upwards in turn, the second storage station not only has conveying function, but also has caching function, can
A large amount of material is stored simultaneously, during caching and conveying, the sequencing between each material is maintained, makes each
Material all has a corresponding position in the second Chu Zhanzhong, in packing container industry, with 100,000 cover of pop can
Caching capabilities and the relative position for keeping first in first out, material carry out the separation of pallet and material at the top at the second storage station, point
From when, while ensure that the transfer sequence of first in first out, after material is separated, vacant pallet is recovered to the first storage station, first
Storage, which is stood, equally has the ability for caching a large amount of vacant pallets, and it is secondary that pallet after the recovery is transported to the progress of the first pipeline again
Transfer, using this big caching, the first in first out transfer machine people of unlimited stereo circulating, in the production of product high speed mass
It is easily able to single product quality tracing in the process, improves product turnout yield.
2. the utility model has carried out uninterrupted loading in the transmission process of vacant pallet, when previous vacant pallet quilt
After loading, the load module of next vacant pallet is immediately entered, meanwhile, it is loaded the pallet finished and is delivered to described
The surface of one lifting rotary drum conveyer, the first lifting rotary drum conveyer rise that material containing pallet is delivered to the second lifting roller is defeated
Machine is sent, after material containing pallet and the separation of the first lifting rotary drum conveyer, is declined immediately, secondary turn of material, the first lifting roller are prepared
Conveyer and the second lifting rotary drum conveyer independently interlock cooperative movement, make to feed and turn material will not to interfere with each other, and hold in equipment
Charging is realized during reforwarding row and turns the operation of material, charging greatly improved and turns the speed of material, and then is keeping object
The middle transfer efficient of material is improved during the transfer of material automation first in first out.
Detailed description of the invention
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
Fig. 1 is a kind of top view of parallel-moving type first in first out transfer robot.
Fig. 2 is a kind of three-dimensional structure diagram of parallel-moving type first in first out transfer robot.
Fig. 3 is a kind of structural scheme of mechanism of the transfer mobile device of parallel-moving type first in first out transfer robot.
Fig. 4 is a kind of lifting transmission device structural schematic diagram of parallel-moving type first in first out transfer robot.
Fig. 5 is a kind of grabbing device structural schematic diagram of parallel-moving type first in first out transfer robot.
Specific embodiment
The present invention will be further described in detail with reference to the embodiments and the accompanying drawings, but the implementation of the utility model
Mode is without being limited thereto.
The specific implementation process of the utility model is as follows:
As shown in Figures 1 to 5, a kind of parallel-moving type transfer robot, including transfer robot body, the transfer robot
Ontology includes: the first storage station 100 for being stored with several vacant pallets, and first storage station 100 is equipped with first longitudinal direction airborne carrier
Structure；It is stored with the second storage station 200 of several material containing pallets, second storage station 200 is equipped with second longitudinal direction carrier mechanism；For defeated
The first pipeline 300 of the vacant pallet is sent, first pipeline 300 is driven by the first feeder motor；For conveying
Second pipeline 400 of the material containing pallet, second 400 lines of conveying are driven by the second feeder motor, first storage
It stands 100 upstreams for being installed on first pipeline 300, second storage station 200 is installed on the downstream of the second pipeline 400,
It is connected between first storage station 100 and the second storage station 200 by transfer mobile device 700；
First pipeline 300 is located at the side of second pipeline 400 and arranged in parallel, and described first is defeated
The downstream of line sending 300 is connect with the upstream of the second pipeline 400 by lifting transmission device；It is preferred in the present embodiment, it is described
Lifting transmission device includes the first lifting rotary drum conveyer 500 being installed below first pipeline and to be installed on second defeated
The second lifting rotary drum conveyer 600 below line sending, first lifting rotary drum conveyer 500 and the second lifting rotary drum conveyer
It is sequentially connected between 600；Make the first lifting rotary drum conveyer 500 and 600 pairs of the second lifting rotary drum conveyer supports in order to more convenient
Conveying that disk was well on plug into, connects between first lifting rotary drum conveyer 500 and the second lifting rotary drum conveyer 600
It is connected to roller delivery platform 900, the first lifting rotary drum conveyer and the second lifting rotary drum conveyer are equipped with several conveying rollers
(520,620), the first lifting roller conveying, 500, roller delivery platform 560,600 three of the second lifting rotary drum conveyer it is common
A lifting drum conveying line is constituted, material containing pallet is moved to by the first pipeline 300 by the lifting drum conveying line
Two pipelines 400.
First roller conveyor 500 and second tin roller conveyer 600 are fixedly installed in corresponding pipeline bottom, and can
It is moved up and down relative to the first pipeline 300 and the second pipeline 400, the first lifting rotary drum conveyer 500 and second tin roller
Conveyer 60 is highly lower than first pipeline 300 and the second pipeline 400 after declining, and described first is highly higher than after rising
It pipeline 300 and the second pipeline 400 and is flushed with the roller delivery platform, the first pipeline 300 and the second pipeline 400
Height can be set to it is identical may be set to be difference, in ideal installation environment, in the present embodiment first conveying
The height of line 300 and the second pipeline 400 can be set to it is identical, still, the first pipeline 300 and the second pipeline 400
Height can also carry out differentiation adjusting according to specific installation environment can be to the first lifting rotary drum conveyer 500 after adjusting
Adaptability adjusting is carried out with the lifting travel of the second lifting rotary drum conveyer 600,
In the another embodiment of the utility model, when the spacing of the first pipeline 300 and the second pipeline 400
When increase, adaptability adjusting can be carried out to the length of the roller delivery platform 560, make the roller delivery platform 560
Length is equal with the spacing of first pipeline 300 and the second pipeline 400, it is generally the case that on roller delivery platform 560
It can be not provided with driving device, when the first lifting rotary drum conveyer 500 and the second lifting rotary drum conveyer 600 move simultaneously, rolling
Cylinder delivery platform 560 plays the role of middle transition carrying, another situation is: when the first pipeline 300 and the second pipeline
When 400 spacing increases, the length of roller delivery platform 560 can also be increased with it, when its length is greater than the length of pallet,
Driving device can be set on roller delivery platform 560, driving roller rotation assists conveying for carrying out transition to pallet, when
So, the structure of some other substantive thought without departing from above embodiment theoretically should all fall into the guarantor of the utility model
Within the scope of shield.
In the present embodiment, the first pipeline 300 and the second pipeline 400 can be carried out using gear and chain transminssion mechanism
It conveys, the transmission track of carrying pallet, two sides edge of pallet is provided on the first pipeline 300 and the second pipeline 400
The transmission track sliding, the first pipeline 300 and the second pipeline 400 are driven by driving motor respectively.First liter
It drops roller conveyor 500 and the second lifting rotary drum conveyer 600 to be driven by corresponding driving device, can not only go up and down
Movement, roller can also rotate, to drive pallet to move horizontally.It should be noted that 500 He of the first lifting rotary drum conveyer
Second lifting rotary drum conveyer 600 can interlock elevating movement, when material containing pallet leaves the first lifting rotary drum conveyer 500 completely
Afterwards, the first lifting rotary drum conveyer 500 can decline immediately carry out secondary turn of material, meanwhile, when to leave roller completely defeated for material containing pallet
When sending platform 900, the second lifting rotary drum conveyer 600 decline, when the falling head of the second lifting rotary drum conveyer 600 is lower than the
When two pipelines 400, two sides of material containing pallet are supported on the transmission track of the second pipeline 400, by the second conveying
Material containing pallet is delivered to the bottom at the second storage station 200 by line 400, then longitudinally fed by bottom, is cached in a large amount of material
Second Chu Zhanzhong.It, can be on the first lifting rotary drum conveyer 500 and the second lifting rotary drum conveyer 600 in specific implementation
Inductor for incuding pallet is set, and inductor can be photoelectric sensor and pressure sensor, the first lifting roller conveying
Inductor on machine 500 and the second lifting rotary drum conveyer 600 senses automatic raising and lowering after pallet signal, realizes fast read
Automation turns material, and the automation of the first lifting rotary drum conveyer and the second lifting rotary drum conveyer staggeredly goes up and down conveying and can be realized
First pipeline 300 and the second pipeline 400 upload the quick transfer of material torr disk, and will not influence the normal of other function component
Work, greatly improved whole middle transfer efficient.
The downstream of first pipeline 300 is equipped with feeder A, and the top at second storage station 200 is equipped with discharge B,
The feeder A is equipped with the automatic feeder for successively charging material into vacant pallet, and the discharge B is equipped with material containing pallet
The automatic discharge unit that interior material successively takes out.The setting specifically, the parallel-moving type transfer robot body is square, it is described
Automatic feeder and automatic discharge unit can be preferably parallel-moving type robot, and the parallel-moving type robot includes horizontal slide rail
(700,800) and the grabbing device 710 slided on the horizontal slide rail, the horizontal slide rail of the automatic feeder 700
In first pipeline 300 surface and be arranged in parallel with the first pipeline 300.
Certainly, as the utility model transfer robot feeding and the functional component of discharging, in order to improve automation journey
In the case where degree and middle rotary speed, automatic feeder and automatic discharge unit in the present embodiment are preferably above-mentioned parallel-moving type machine
Device people, in addition, parallel-moving type robot can also be had the dress that can be realized the utility model parallel-moving type robot function by other
It sets and is substituted, such as six axial machines people.What needs to be explained here is that whether parallel-moving type robot or six axial machines
People, function is only the automatic operation for realizing feeding and discharging, to changing for parallel-moving type robot and six axial machines people itself
Into the improvement for being not belonging to propose the utility model first in first out transfer robot essentiality content, in the present embodiment, from
The horizontal slide rail 700 of dynamic feeding device is set to above the first pipeline and the advantage parallel with the first pipeline 300 is: pallet
During transported on the first pipeline 300, the grabbing device on automatic feeder slidably reciprocates along horizontal slide rail, energy
Enough successively to grab material is continual into pallet, after pallet is filled, material containing pallet is moved to described first liter just
The top of roller conveyor 500 drops, and at the same time, grabbing device continues to reprint next pallet, parallel-moving type robot
It is arranged and the conveying of first pipeline 300 combines, the direction of motion and the first pipeline pop-up of grabbing device when charging
The moving direction of disk is identical, it is possible to reduce crawl stroke is conducive to improve charging grasp speed.First lifting rotary drum conveyer 500
Sense horizontal feed after rising after material containing pallet signal and holding up material containing pallet, the first lifting rotary drum conveyer 500 and from
The movement of dynamic feeding device will not mutually interfere, and respective independent operating improves middle rotary speed.
In the present embodiment, the grabbing device includes a clamping plate 713, and the clamping plate 713 is equipped with multiple groups collet, the folder
Head is driven by collet driving device, and every group of collet 714 includes the intermediate plate 714 set on clamping plate both ends, the driving of collet driving device
Intermediate plate 714 is relatively close or separate, realizes clamping and placement to product, and the middle part of clamping plate is equipped with interconnecting piece 712, interconnecting piece
712 for connecting horizontal slide rail.The transfer robot of the present embodiment is in the clamping of pop can lid, when clamping lid, two
Intermediate plate 714 is pressed in the lid two sides that superposition is integrated in certain length and will cover the whole clamping of a fairly large number of lid progress
When body is placed in pallet, intermediate plate 714 unclamps, and realizes the placement of lid, multiple groups storing position, every group of storage are provided on the pallet
The length for the lid that the length and grabbing device 710 of level grab every time is suitable.As a preferred embodiment, the folder
Multiple groups collet can be set on plate, product is once clamped and is placed in pallet simultaneously by multiple groups collet, and such design can
Improve grasp speed.
Specifically, the transfer mobile device 900 includes the sliding rail 910 for being set to 100 over top of the first storage station, institute
It states and uniaxial sliding mechanical hand is installed on sliding rail 910, single shaft sliding mechanical hand or so slidably reciprocates the vacant pallet after discharging
The top at the first storage station 100 is moved to by the top at the second storage station 200.In the present embodiment, the first longitudinal direction carrier mechanism,
Second longitudinal direction carrier mechanism can be preferably elevating screw component, and elevating screw component is equipped with fixture block, fixture block holding tray, band
Dynamic pallet moves up and down, and the quantity of the elevating screw component can be set to two groups, and two groups of elevating screw alternate runs are realized
To the uninterrupted longitudinally fed of pallet.What needs to be explained here is that elevating screw component can also be can be realized lifting by other
The device of screw component function is replaced, such as conveyer belt.
Further, the parallel-moving type transfer robot of the present embodiment includes a control device, first feeder motor, the
Two feeder motors, the mobile dress of transfer, the 900, first lifting rotary drum conveyer 500, the second lifting rotary drum conveyer 60, automatic feed
Device, automatic discharge unit with the control device be electrically connected, the control device be industrial personal computer, the industrial personal computer according to
The programming automation of setting controls the synthetic operation of above-mentioned each device, realizes the unmanned behaviour of the utility model transfer robot
Make.
Further, the feeder A of the utility model may be provided for continuing to provide the charging slideway of material, discharging
Portion B is equipped with the discharging slideway for outputting material, and automatic feeder successively grabs material to vacant pallet from charging slideway
On, automatic discharge unit is successively grabbed from material containing pallet on material to discharging slideway, and charging turns in material and discharge process always
Keep the sequence of first in first out constant.
The parallel-moving type first in first out transfer robot of the utility model in the process of running, specifically includes following five steps
To complete the transfer of material first in first out:
Feed step, when original state, lifting transmission device is decline state, and vacant pallet is from first storage station 100
Bottom be delivered to the downstream of the first pipeline 300 and successively grabbed material by automatic feeder during conveying
To the vacant pallet, vacant pallet is loaded with the top that first lifting rotary drum conveyer 500 is transported to after material；Herein
In step, the automatic feeder is loaded material in the lasting conveying of the first pipeline, when previous vacant support
After disk is loaded with, the loading of next vacant pallet is carried out immediately；
Turn material step, after material containing pallet is moved to the first lifting rotary drum conveyer top, the first lifting rotary drum conveyer 500
And second lifting rotary drum conveyer 600 rise, horizontal feed is to institute after the first lifting rotary drum conveyer 500 holds up material containing pallet
It states on the second lifting rotary drum conveyer 600, after material containing pallet is fully located on the second lifting rotary drum conveyer 600, second liter
General who has surrendered's material containing pallet is placed on the second pipeline 400 under drop roller conveyor；In turning material step, when material containing pallet and described
After first lifting rotary drum conveyer 500 is detached from, the decline of the first lifting rotary drum conveyer 500 is in case secondary turn of material；
Storing step, after material containing pallet is delivered to 200 bottom 210 of the second storage station by the second pipeline 400, material containing pallet exists
Longitudinally superposition storage and the successively longitudinally fed top 220 to the second storage station 200 in second storage station 200；
Discharge step, automatic discharge unit is by the material in second storage station, 200 220 material containing pallets of top according to advanced
The sequence first gone out is successively taken out, and during taking-up, keeps the sequencing between material and the charging in above-mentioned steps one
Sequencing is identical；
Blank panel step is stored up, after the material containing disk at second storage station, 200 top 220 is taken sky, the transfer mobile device will
Vacant pallet is moved horizontally to the top 120 at first storage station 100, and vacant pallet is longitudinally folded in first storage station 100
Add storage and successively it is longitudinally fed to first storage stand 100 bottoms.
In above-mentioned five steps, after storing up the completion of blank panel step, it can be again introduced into feed step, back and forth followed automatically with this
Ring makes the parallel-moving type first in first out transfer robot of the utility model carry out unmanned automatic cycle transfer to material, in transfer
During, keep the sequence of first in first out constant.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (6)
1. a kind of parallel-moving type first in first out transfer robot, including transfer robot body, the transfer robot body include:
It is stored with the first storage station of several vacant pallets, first storage station is equipped with first longitudinal direction carrier mechanism；It is stored with several
Second storage station of material containing pallet, second storage station are equipped with second longitudinal direction carrier mechanism；For conveying the of the vacant pallet
One pipeline, first pipeline are driven by the first feeder motor；For conveying the second pipeline of the material containing pallet,
Second pipeline is driven by the second feeder motor, and first storage station is installed on the upstream of first pipeline, institute
The downstream that the second storage station is installed on the second pipeline is stated, is connected between first storage station and the second storage station by transfer mobile device
It connects；
It is characterized by: first pipeline is located at the side of second pipeline and arranged in parallel, described first
The downstream of pipeline is connect with the upstream of the second pipeline by lifting transmission device；The lifting transmission device includes being installed on
The first lifting rotary drum conveyer below first pipeline and the second lifting roller being installed below the second pipeline are defeated
Machine is sent, is sequentially connected between first lifting rotary drum conveyer and the second lifting rotary drum conveyer；
The downstream of first pipeline is equipped with feeder, and the top at second storage station is equipped with discharge, and the feeder is set
There is the automatic feeder for successively charging material into vacant pallet, the discharge is equipped with and successively takes the material in material containing pallet
Automatic discharge unit out.
2. a kind of parallel-moving type first in first out transfer robot according to claim 1, it is characterised in that: further include a control
Device, first feeder motor, the second feeder motor, transfer mobile device, the first lifting rotary drum conveyer, the second lifting rolling
Cylinder conveyer, automatic feeder, automatic discharge unit are electrically connected with the control device.
3. a kind of parallel-moving type first in first out transfer robot according to claim 1 or 2, it is characterised in that: the transfer
Robot body is square setting, and the automatic feeder and automatic discharge unit are parallel-moving type robot, the translation
Formula robot includes horizontal slide rail and the grabbing device that slides on the horizontal slide rail, and the level of the automatic feeder is sliding
Rail is located at the surface of first pipeline and is arranged in parallel with the first pipeline.
4. a kind of parallel-moving type first in first out transfer robot according to claim 3, it is characterised in that: first lifting
Be connected with roller delivery platform between roller conveyor and the second lifting rotary drum conveyer, first lifting rotary drum conveyer and
Highly it is lower than first pipeline and the second pipeline after the decline of second tin roller conveyer, described first is highly higher than after rising
It pipeline and the second pipeline and is flushed with the roller delivery platform.
5. a kind of parallel-moving type first in first out transfer robot according to claim 4, it is characterised in that: first conveying
The height of line and the second pipeline is identical, the length of the roller delivery platform and first pipeline and the second pipeline
Spacing is identical.
6. according to claim 1 or a kind of 2 described in any item parallel-moving type first in first out transfer robots, it is characterised in that: institute
State first longitudinal direction carrier mechanism, second longitudinal direction carrier mechanism is elevating screw component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822040457.1U CN209367298U (en) | 2018-12-06 | 2018-12-06 | A kind of parallel-moving type first in first out transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822040457.1U CN209367298U (en) | 2018-12-06 | 2018-12-06 | A kind of parallel-moving type first in first out transfer robot |
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| Publication Number | Publication Date |
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| CN209367298U true CN209367298U (en) | 2019-09-10 |
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| CN201822040457.1U Active CN209367298U (en) | 2018-12-06 | 2018-12-06 | A kind of parallel-moving type first in first out transfer robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455520A (en) * | 2018-12-06 | 2019-03-12 | 珠海市万隆达智能科技有限公司 | Shifting method in a kind of parallel-moving type robot and first in first out |
| CN115092453A (en) * | 2022-06-15 | 2022-09-23 | 广州先进技术研究所 | Automatic pad pasting of lens spouts a yard device |
-
2018
- 2018-12-06 CN CN201822040457.1U patent/CN209367298U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455520A (en) * | 2018-12-06 | 2019-03-12 | 珠海市万隆达智能科技有限公司 | Shifting method in a kind of parallel-moving type robot and first in first out |
| CN109455520B (en) * | 2018-12-06 | 2024-03-12 | 珠海市万隆达智能科技有限公司 | Translation type robot and first-in first-out transfer method |
| CN115092453A (en) * | 2022-06-15 | 2022-09-23 | 广州先进技术研究所 | Automatic pad pasting of lens spouts a yard device |
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