CN215046802U - Workpiece NG grabbing manipulator, belt line and detection device in material tray - Google Patents

Workpiece NG grabbing manipulator, belt line and detection device in material tray Download PDF

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Publication number
CN215046802U
CN215046802U CN202121167348.1U CN202121167348U CN215046802U CN 215046802 U CN215046802 U CN 215046802U CN 202121167348 U CN202121167348 U CN 202121167348U CN 215046802 U CN215046802 U CN 215046802U
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belt
discharging
subassembly
tray
moving assembly
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CN202121167348.1U
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Chinese (zh)
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颜煜
解寿全
佘大鹏
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Hunan Mokai Intelligent Technology Co ltd
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Hunan Mokai Intelligent Technology Co ltd
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Abstract

The utility model provides a workpiece NG material grabbing manipulator, a belt line and a detection device in a material tray, which are used for automatically removing NG materials after automatically detecting the whole material tray, and continuously feeding and discharging materials in the detection process; the utility model provides a manipulator is snatched to NG to work piece NG material in charging tray, work piece NG material snatchs the manipulator setting in ejection of compact belt top in the charging tray to include: the third front-back moving assembly drives the NG materials to move along the front-back direction of the movement of the discharging belt, the third up-down moving assembly connected to a moving rail of the third front-back moving assembly, a clamping jaw connected to the lower end of the third up-down moving assembly and used for clamping the NG materials, a third left-right moving assembly connected to the third front-back moving assembly and close to the starting end of the discharging belt, and a third mounting support plate for mounting the third left-right moving assembly above the discharging belt, wherein the third mounting support plate is connected to two sides of the discharging belt, so that the NG materials are automatically removed after detection.

Description

Workpiece NG grabbing manipulator, belt line and detection device in material tray
Technical Field
The utility model relates to an industrial automation robot technical field especially is used for machined part automated inspection's material to snatch the manipulator, specifically is a work piece NG material snatchs manipulator, belt line and detection device in the charging tray.
Background
Industrial automation technology, which is one of the most important technologies in the field of modern manufacturing in the 20 th century, has been widely used in the fields of machine manufacturing, transportation, line production, and the like, and has become a main means for improving labor productivity. Industrial robot technology has become an important mark for measuring the state of manufacturing and technology level as an irreplaceable important equipment and means in advanced manufacturing.
Industrial automation is the widespread adoption of automatic control and automatic adjustment devices in industrial production, and under the automatic conditions of industrial production, people only take care of and supervise machines indirectly to produce. For specific detection requirements of certain materials, the prior art lacks systematic detection equipment with high automation degree, the detection of the prior equipment generally comprises one-by-one detection of single workpieces, and a corresponding production line type detection device is lacked on a detection device capable of detecting the whole material tray at one time.
Therefore, the detection device and the related components have the functions of automatically detecting the whole tray of materials, continuously feeding and discharging materials in the detection process, and automatically removing NG materials after detection.
SUMMERY OF THE UTILITY MODEL
The utility model provides a NG material of work piece snatchs manipulator, belt line and detection device in charging tray for realize that the automatic rejection NG material behind the whole set of material of automated inspection, and in the testing process continuous feeding and the ejection of compact.
The technical scheme of the utility model as follows:
firstly, provide work piece NG material in charging tray and snatch manipulator, work piece NG material snatchs manipulator setting in ejection of compact belt top in the charging tray to include: the third front-back moving assembly drives the NG materials to move along the front-back direction of the movement of the discharging belt, the third up-down moving assembly connected to a moving rail of the third front-back moving assembly, a clamping jaw connected to the lower end of the third up-down moving assembly and used for clamping the NG materials, a third left-right moving assembly connected to the third front-back moving assembly and close to the starting end of the discharging belt, and a third mounting support plate for mounting the third left-right moving assembly above the discharging belt, wherein the third mounting support plate is connected to two sides of the discharging belt.
Furthermore, the third left-right moving assembly adopts a motor guide rail driving module, the third front-back moving assembly adopts a motor guide rail driving module, the third up-down moving assembly adopts a cylinder for driving, and the clamping jaw adopts an electrically driven clamping jaw.
Furtherly the ejection of compact belt outside sets up NG charging tray and puts the platform, put the NG charging tray on the platform is put to the NG material, the clamping jaw is put into the NG charging tray with the work piece NG material clamp in the charging tray.
Secondly provide a belt line of rejecting NG material, include: as above workpiece NG material snatchs the manipulator and be used for snatching the charging tray and put into discharging belt's second charging tray snatchs the manipulator that discharging belt top set up, workpiece NG material snatchs the manipulator and sets up discharging belt middle part top, NG charging tray puts the platform setting and is in discharging belt terminal outside.
Further, the belt line further includes: the discharging belt power assembly drives the discharging belt to move, and the discharging belt power assembly is driven by a stepping motor and driven by a belt pulley.
Further, the belt line further includes: the second base is used for supporting the discharging belt and is a rectangular box body, the discharging belt power assembly is arranged in the box body of the second base, and four shock pad feet are arranged at the bottom of the second base.
There is provided a detection apparatus comprising: the belt conveyor comprises a feeding mechanism, a discharging mechanism and a detecting mechanism, wherein the feeding mechanism and the discharging mechanism are arranged oppositely, and the detecting mechanism is arranged between the feeding mechanism and the discharging mechanism, and the discharging mechanism adopts the belt line.
Further, the second charging tray snatchs manipulator includes: install the second landing leg in the ejection of compact belt outside, by the second landing leg supports the second roof of ejection of compact belt top, install second roof lower surface is used for driving the charging tray of being got and shifts out the detection mechanism's second business turn over removes the subassembly, connects the second business turn over removes the subassembly and keeps away from detection mechanism's one end and the second that extends downwards reciprocate the subassembly, connect the second splint that the second reciprocated the subassembly lower extreme and can open and shut to both sides respectively open and shut open and close the subassembly and connect respectively two second splint that the second splint opened and shut the subassembly both sides, two the second splint all include a plurality of edges court the second charging tray that detection mechanism extending direction distributes colludes the claw.
Further, the second business turn over removes the subassembly and adopts motor screw drive, the position that the second roof is located the screw rod both sides sets up supplementary guide rail, supplementary guide rail is used for stabilizing the route that the business turn over removed, the second reciprocates the subassembly and adopts the cylinder drive, the second splint subassembly that opens and shuts adopts the drive of double cylinder.
Furthermore, four second support legs are arranged and stand on two sides of the discharging belt respectively.
Further, the feed mechanism includes: feeding belt, drive feeding belt upper surface is towards the feeding belt power component, the setting of detection mechanism motion are in the first charging tray of feeding belt terminal top snatchs the manipulator and is used for supporting feeding belt's first base.
Further, feeding belt power component adopts step motor drive and belt pulley transmission, first base is the rectangle box, feeding belt power component sets up in the box of first base, first base bottom sets up four shock pad feet.
Further, the first charging tray snatchs manipulator includes: install the first landing leg in the feeding belt outside, by first landing leg supports the first roof of feeding belt top, install first roof lower surface is used for driving the charging tray that is got to be got and gets into detection mechanism's first business turn over removes the subassembly, connects first business turn over removes the subassembly and keeps away from detection mechanism's one end and the first subassembly, the connection that reciprocates that extend downwards first reciprocate the subassembly lower extreme and can open and shut the subassembly to the first splint that both sides opened and shut respectively and connect respectively first splint open and shut the two first splint of subassembly both sides, two first splint all include a plurality of edges court detection mechanism extending direction distributes first charging tray claw.
Further, first business turn over removes the subassembly and adopts motor screw drive, the position that first roof is located the screw rod both sides sets up supplementary guide rail, supplementary guide rail is used for stabilizing the route that the business turn over removed, first subassembly that reciprocates adopts the cylinder drive, first splint open and shut the subassembly and adopt the drive of double cylinder.
Furthermore, four first supporting legs are arranged and stand on two sides of the feeding belt respectively.
The utility model has the advantages that the utility model comprises the following main aspects:
1. the utility model provides a work piece NG material snatchs manipulator in charging tray, realize detecting the automatic NG material of rejecting of back, in operation, remove the clamping jaw to the NG material position of expecting to reject in the charging tray through third back-and-forth movement subassembly earlier, the subassembly is removed the clamping jaw and is removed to corresponding NG material position in the third, the rethread third reciprocates the height that the clamping jaw was adjusted to the subassembly, press from both sides through the clamping jaw at last and get corresponding NG material, then the direction is adjusted and is removed the clamping jaw to NG charging tray top, it can to loosen the clamping jaw and put down NG material.
2. The utility model provides a reject belt line of NG material, with work piece NG material snatch the manipulator in above-mentioned charging tray and add above-mentioned ejection of compact belt top, ejection of compact belt power component step control charging tray moving speed cooperates the action speed that work piece NG material snatched the manipulator, realizes that the assembly line is automatic to be rejected NG material.
3. The utility model provides a detection device with automatically, reject NG material realizes continuous automated inspection and rejects NG material process automatically, with the aforesaid belt line connection of rejecting NG material at detection mechanism's discharge end, the front end that ejection of compact belt is located work piece NG material and snatchs the manipulator sets up the second charging tray and snatchs the manipulator and shift out the charging tray from detection mechanism, puts to ejection of compact belt on, detection mechanism's feed end sets up feed mechanism.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required for the description of the embodiments will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the present invention, and any improvements that do not require creative work within the scope of the teaching of the present invention can be used as other embodiments of the present invention.
FIG. 1 is a schematic view of a plane structure of a detecting device;
FIG. 2 is a schematic perspective view of a detecting device;
FIG. 3 is a schematic view of a feeding mechanism of the detecting device;
FIG. 4 is a schematic view of a feeding mechanism of the detecting device;
FIG. 5 is a schematic structural diagram of a discharging mechanism of the detecting device;
FIG. 6 is a schematic structural view of a discharging mechanism of the detecting device;
FIG. 7 is a schematic structural view of a NG material picking mechanism for workpieces in a material tray of a detection device;
FIG. 8 is a first structural view of a workpiece NG material grabbing manipulator in a material tray of the detection device;
fig. 9 is a schematic view of a workpiece NG material grabbing manipulator in a material tray of the detection device.
Description of reference numerals: a workpiece 0, a feeding mechanism 1, a detection mechanism 2, a discharging mechanism 3, a feeding belt 11, a feeding belt power component 12, a first tray grabbing manipulator 13, a first support leg 131, a first top plate 132, a first in-out moving component 133, a first up-and-down moving component 134, a first clamping plate opening and closing component 135, a first clamping plate 136, a first tray hook 1361, a first base 14, a discharging belt 31, a discharging belt power component 32, a second tray grabbing manipulator 33, a second support leg 331, a second top plate 332, a second in-and-out moving component 333, a second up-and-down moving component 334, a second clamping plate opening component 335, a second clamping plate 336, a second tray hook 3361, a workpiece NG material grabbing manipulator 34, a third back-and-forth moving component 341, a third up-and-down moving component 342, a clamping jaw 343, a third left-and-right moving component 344, a third mounting support plate 345, a tray NG 346, a second base 35, a third clamping plate 34, a third clamping plate 32, a second clamping plate opening component 32, a third clamping plate opening component, a clamping jaw, a clamping plate opening component, a clamping plate opening component, a clamping plate opening a clamping plate, a clamping plate opening component, a clamping plate opening component, a clamping plate opening component, a clamping plate opening a, And an NG tray placing platform 36.
Detailed Description
The present invention will be further described with reference to the accompanying drawings so as to facilitate the understanding of the present invention by those skilled in the art.
In the embodiment of the present invention, all the directional indicators (such as upper, lower, left, right, front, and rear … …) are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture changes, the directional indicator changes accordingly; all technical features, such as "first", "second", or "first", "second", etc., named with a number are used for reference only, without meaning to indicate quantity or importance; all terms "connected" or the like are to be interpreted broadly, e.g., as meaning a mechanical or electrical connection, a direct or indirect connection, a fixed or removable connection, etc., as determined by the actual intent of the solution; the technical features of the embodiments can be freely combined without conflict, as long as a corresponding technical solution for solving the technical problem can be formed.
As shown in fig. 1-9, there is provided a detection apparatus comprising: the device comprises a feeding mechanism 1, a discharging mechanism 3 and a detection mechanism 2, wherein the feeding mechanism 1 and the discharging mechanism 3 are arranged oppositely, and the detection mechanism 2 is arranged between the feeding mechanism 1 and the discharging mechanism 3;
the feeding mechanism 1 includes: the feeding device comprises a feeding belt 11, a feeding belt power assembly 12 for driving the upper surface of the feeding belt 11 to move towards the detection mechanism 2, a first tray grabbing manipulator 13 arranged above the tail end of the feeding belt 11, and a first base 14 for supporting the feeding belt 11, wherein the feeding belt power assembly 12 is driven by a stepping motor and driven by a belt pulley, the first base 14 is a rectangular box body, the feeding belt power assembly 12 is arranged in the box body of the first base 14, and the bottom of the first base 14 is provided with four shock pad feet;
the first tray grabbing manipulator 13 comprises: the first support leg 131 is installed on the outer side of the feeding belt 11, the first top plate 132 is supported above the feeding belt 11 by the first support leg 131, the first in-and-out moving assembly 133 is installed on the lower surface of the first top plate 132 and used for driving a clamped material tray to enter the detection mechanism 2, the first up-and-down moving assembly 134 is connected to one end, far away from the detection mechanism 2, of the first in-and-out moving assembly 133 and extends downwards, the first clamping plate opening and closing assembly 135 is connected to the lower end of the first up-and-down moving assembly 134 and can be opened and closed towards two sides respectively, and the two first clamping plates 136 are connected to two sides of the first clamping plate opening and closing assembly 135 respectively, each of the two first clamping plates 136 comprises a plurality of first material tray hooks 1361 distributed towards the extension direction of the detection mechanism 2, the first in-and-out moving assembly 133 is driven by a motor screw (visible in the figure, not specifically shown), auxiliary guide rails (not shown) are arranged at positions of the first top plate 132, which are located at two sides of the screw rod, and are used for stabilizing a path of the in-and-out movement, the first up-and-down moving assembly 134 is driven by an air cylinder, the first clamping plate opening and closing assembly 135 is driven by a double air cylinder, and four first legs 131 are arranged and stand on two sides of the feeding belt respectively;
the discharging mechanism 3 includes: the discharging belt 31, the discharging belt power assembly 32 driving the upper surface of the discharging belt 31 to move towards the direction far away from the detecting mechanism 2, the second tray grabbing manipulator 33 arranged above the starting end of the discharging belt 31, the workpiece NG tray grabbing manipulator 34 arranged above the middle part of the discharging belt 31, the second base 35 used for supporting the discharging belt 31 and the NG tray placing platform 36 arranged outside the tail end of the discharging belt 31, the discharging belt power assembly 32 is driven by a stepping motor and driven by a belt pulley, the second base 35 is a rectangular box body, the discharging belt power assembly 32 is arranged in the box body of the second base 35, four shock absorption foot pads are arranged at the bottom of the second base 35, the NG tray placing platform 36 is connected to the outer side, far away from the detection mechanism 2, of the second base 35;
the second tray grabbing manipulator 33 includes: a second support leg 331 installed outside the discharging belt 31, a second top plate 332 supported above the discharging belt 31 by the second support leg 331, a second in-out moving component 333 installed on the lower surface of the second top plate 332 for driving the clamped material tray to move out of the detecting mechanism 2, a second up-down moving component 334 connected to one end of the second in-out moving component 333 away from the detecting mechanism 2 and extending downward, a second clamping plate opening and closing component 335 connected to the lower end of the second up-down moving component 334 and capable of opening and closing towards two sides respectively, and two second clamping plates 336 connected to two sides of the second clamping plate opening and closing component 335 respectively, wherein the two second clamping plates 336 each comprise a plurality of second material tray hooks 3361 distributed along the extending direction of the detecting mechanism 2, the second in-out moving component 333 is driven by a motor screw (visible in the figure, not specifically labeled), the positions of the second top plate 332 on both sides of the screw are provided with auxiliary guide rails (not labeled in the figure), the auxiliary guide rails are used for stabilizing the moving path of the inlet and outlet, the second up-and-down moving assembly 334 is driven by a cylinder, the second clamping plate opening and closing assembly 335 is driven by a double cylinder, and the second support legs 331 are provided with four pieces and stand on both sides of the discharging belt respectively;
the NG material gripping manipulator 34 for the workpiece includes: a third front-back moving component 341 for driving the NG material to move along the front-back direction of the movement of the discharging belt 31, a third up-down moving component 342 connected on the moving track of the third front-back moving component 341, a clamping jaw 343 connected at the lower end of the third up-down moving component 342 for clamping the NG material, a third left-right moving component 344 connected with one end of the third front-back moving component 341 close to the second tray grabbing manipulator 33, and a third mounting bracket plate 345 for mounting the third left-right moving component 344 above the discharging belt 31, wherein the third mounting bracket plate 345 is connected at both sides of the discharging belt 31, the third left-right moving component 344 adopts a motor guide rail driving module, the third front-back moving component 341 adopts a motor guide rail driving module, the third up-down moving component 342 adopts an air cylinder for driving, and the clamping jaw 343 adopts an electric driving clamping jaw, the NG material placing platform 36 is used for placing an NG material tray 346, and the clamping jaws 343 are used for placing a workpiece NG material clamp in the material tray detected by the detection mechanism 2 into the NG material tray 346.
The design includes several main aspects:
1. the utility model provides a work piece advances the charging tray and snatchs manipulator, realize that this detection device puts into detection mechanism 2 with whole dish work piece and carries out the purpose that detects, for forming automatic streamlined production, set up feed mechanism 1 and discharge mechanism 3 respectively in detection mechanism 2's both sides, the charging tray of both sides snatchs the manipulator and adopts the operation of nearly the same structure realization sending into the charging tray and shifting out detection mechanism 2, specifically, open two splint to being greater than the charging tray width through splint subassembly that opens and shuts earlier, then it puts into the charging tray bottom with the charging tray claw of splint to reciprocate the subassembly, open and shut the subassembly by splint and press from both sides two splint, it sends into the charging tray with splint and charging tray one section distance of rebound together to reciprocate the subassembly at last, send into or shift out detection mechanism 2 by business turn over removal subassembly with the charging tray.
2. The utility model provides a work piece advances discharge mechanism, realize the continuous business turn over material of testing process, for this reason, on the basis that above-mentioned work piece advances the discharge disk and snatchs the manipulator, add and establish into/discharge belt, advance/discharge belt adopts step motor drive, every step control displacement distance and moving time, can place a plurality of charging trays on the belt, the workman only need advance/discharge belt keep away from the one end of testing mechanism 2 about the charging tray can, reduce workman work load, raise the efficiency, reduce cost.
3. The utility model provides a detection device, realize continuous automated inspection process, set up above-mentioned work piece feed mechanism 1 and work piece discharge mechanism 3 in detection mechanism 2's both sides, the workman will fill the charging tray of work piece and put on feeding belt 11, 12 step-by-step pay-offs of feeding belt power component snatch manipulator 13 below to first charging tray, first charging tray snatchs manipulator 13 and sends the charging tray into detection mechanism 2, detect the completion back, the second charging tray snatchs manipulator 33 and shifts out the charging tray from detection mechanism 2, put to discharge belt 31 on, the step-by-step ejection of compact of discharge belt power component 32.
4. The utility model provides a manipulator 34 is snatched to work piece NG material in charging tray, realize detecting the back automatic rejection NG material, in operation, earlier remove clamping jaw 343 to the NG material position row position that needs the rejection in the charging tray through third back-and-forth movement subassembly 341, subassembly 344 is removed to remove clamping jaw 343 to corresponding NG material position about the rethread third, rethread third reciprocates the height that subassembly 342 adjusted clamping jaw 343, press from both sides through clamping jaw 343 at last and get corresponding NG material, then direction control moves clamping jaw 343 to NG charging tray 346 top, it can to put down the NG material to loosen clamping jaw 343.
5. The utility model provides a reject belt line of NG material, with work piece NG material snatch the manipulator in above-mentioned charging tray and add above-mentioned ejection of compact belt 31 top, ejection of compact belt power component 32 step control charging tray translation rate, cooperate the work piece NG material to snatch the action speed of manipulator 34, realize that the assembly line is automatic to be rejected NG material.
6. The utility model provides a detection device with automatically, reject NG material realizes continuous automated inspection and rejects NG material process automatically, with the aforesaid belt line connection of rejecting NG material at detection mechanism 2's discharge end, and discharge belt 31 is located the front end that workpiece NG material snatchs manipulator 34 and sets up second charging tray snatchs manipulator 33 and shifts out the charging tray from detection mechanism 2, puts to discharge belt 31 on, and detection mechanism 2's feed end sets up feed mechanism 1.
The parts which are not detailed in the utility model can be realized by adopting the prior art, and the limitation of the utility model is not realized.
The above embodiments are only used to illustrate the preferred embodiments of the present invention, but not to limit the present invention, and to those skilled in the art, according to the idea of the present invention, there will be some changes in the detailed description and the application scope, and the content of the present description should not be interpreted as a limitation to the present invention.

Claims (10)

1. The utility model provides a manipulator is snatched to NG to work piece NG material in charging tray, a serial communication port, work piece NG material snatchs the manipulator setting in ejection of compact belt top in the charging tray to include: the third front-back moving assembly drives the NG materials to move along the front-back direction of the movement of the discharging belt, the third up-down moving assembly connected to a moving rail of the third front-back moving assembly, a clamping jaw connected to the lower end of the third up-down moving assembly and used for clamping the NG materials, a third left-right moving assembly connected to the third front-back moving assembly and close to the starting end of the discharging belt, and a third mounting support plate for mounting the third left-right moving assembly above the discharging belt, wherein the third mounting support plate is connected to two sides of the discharging belt.
2. The mechanical arm for grabbing the NG material in the material tray as claimed in claim 1, wherein said third left-right moving assembly is a motor guide driving module, said third front-back moving assembly is a motor guide driving module, said third up-down moving assembly is driven by a cylinder, and said clamping jaws are electrically driven.
3. The manipulator for grabbing NG materials in a material tray as claimed in claim 1, wherein an NG material tray placing platform is arranged outside the discharging belt, an NG material tray is placed on the NG material placing platform, and the clamping jaws clamp and place the NG materials in the material tray into the NG material tray.
4. A belt line of rejecting NG material which characterized in that includes: the workpiece NG material grabbing mechanical arm of any one of claims 1 to 3 and a second material tray grabbing mechanical arm arranged above the starting end of the discharging belt and used for grabbing and placing material trays into the discharging belt, wherein the workpiece NG material grabbing mechanical arm is arranged above the middle of the discharging belt.
5. The belt line with NG material removed according to claim 4, further comprising: the discharging belt power assembly drives the discharging belt to move, and the discharging belt power assembly is driven by a stepping motor and driven by a belt pulley.
6. The belt line with NG material removed according to claim 5, further comprising: the second base is used for supporting the discharging belt and is a rectangular box body, the discharging belt power assembly is arranged in the box body of the second base, and four shock pad feet are arranged at the bottom of the second base.
7. A detection device, comprising: a feeding mechanism and a discharging mechanism which are oppositely arranged, and a detection mechanism arranged between the feeding mechanism and the discharging mechanism, wherein the discharging mechanism adopts a belt line as claimed in any one of claims 4-6.
8. The inspection device of claim 7, wherein the second tray grasping robot comprises: install the second landing leg in the ejection of compact belt outside, by the second landing leg supports the second roof of ejection of compact belt top, install second roof lower surface is used for driving the charging tray of being got and shifts out the detection mechanism's second business turn over removes the subassembly, connects the second business turn over removes the subassembly and keeps away from detection mechanism's one end and the second that extends downwards reciprocate the subassembly, connect the second splint that the second reciprocated the subassembly lower extreme and can open and shut to both sides respectively open and shut open and close the subassembly and connect respectively two second splint that the second splint opened and shut the subassembly both sides, two the second splint all include a plurality of edges court the second charging tray that detection mechanism extending direction distributes colludes the claw.
9. The detection device as claimed in claim 7, wherein the feeding mechanism comprises: feeding belt, drive feeding belt upper surface is towards the feeding belt power component, the setting of detection mechanism motion are in the first charging tray of feeding belt terminal top snatchs the manipulator and is used for supporting feeding belt's first base.
10. The inspection device of claim 9, wherein the first tray grasping robot comprises: install the first landing leg in the feeding belt outside, by first landing leg supports the first roof of feeding belt top, install first roof lower surface is used for driving the charging tray that is got to be got and gets into detection mechanism's first business turn over removes the subassembly, connects first business turn over removes the subassembly and keeps away from detection mechanism's one end and the first subassembly, the connection that reciprocates that extend downwards first reciprocate the subassembly lower extreme and can open and shut the subassembly to the first splint that both sides opened and shut respectively and connect respectively first splint open and shut the two first splint of subassembly both sides, two first splint all include a plurality of edges court detection mechanism extending direction distributes first charging tray claw.
CN202121167348.1U 2021-05-28 2021-05-28 Workpiece NG grabbing manipulator, belt line and detection device in material tray Active CN215046802U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202121167348.1U CN215046802U (en) 2021-05-28 2021-05-28 Workpiece NG grabbing manipulator, belt line and detection device in material tray

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202121167348.1U CN215046802U (en) 2021-05-28 2021-05-28 Workpiece NG grabbing manipulator, belt line and detection device in material tray

Publications (1)

Publication Number Publication Date
CN215046802U true CN215046802U (en) 2021-12-07

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202121167348.1U Active CN215046802U (en) 2021-05-28 2021-05-28 Workpiece NG grabbing manipulator, belt line and detection device in material tray

Country Status (1)

Country Link
CN (1) CN215046802U (en)

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