JPH0651249B2 - Positioning structure of pallet feeder - Google Patents
Positioning structure of pallet feederInfo
- Publication number
- JPH0651249B2 JPH0651249B2 JP5960789A JP5960789A JPH0651249B2 JP H0651249 B2 JPH0651249 B2 JP H0651249B2 JP 5960789 A JP5960789 A JP 5960789A JP 5960789 A JP5960789 A JP 5960789A JP H0651249 B2 JPH0651249 B2 JP H0651249B2
- Authority
- JP
- Japan
- Prior art keywords
- pallet
- positioning
- positioning structure
- state
- caster
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 235000004443 Ricinus communis Nutrition 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 4
- 230000002411 adverse Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
- De-Stacking Of Articles (AREA)
- Intermediate Stations On Conveyors (AREA)
Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明は、自動加工機及び自動組立機等の工作機械等の
各種機器に設置され、供給車に搭載されたパレツトを各
種機器に供給するパレツト供給装置の位置決め構造に関
する。DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is installed in various equipment such as machine tools such as an automatic processing machine and an automatic assembly machine, and supplies a pallet mounted on a supply vehicle to the various equipment. The present invention relates to a positioning structure for a pallet feeder.
［従来の技術］ 一般にパレツトを自動加工機及び自動組立機等の工作機
械等の各種機器に供給するパレツト供給装置は、加工
機、組立機等の工作機械に対して正確な位置決めをして
設置して、例えばロボツト装置に依る組付精度を出すた
めに据置き型として設けられる。[Prior Art] Generally, a pallet supply device for supplying pallets to various machines such as machine tools such as automatic processing machines and automatic assembly machines is installed with accurate positioning with respect to machine tools such as processing machines and assembly machines. Then, for example, it is provided as a stationary type in order to obtain the assembling accuracy depending on the robot device.
また、工場内において加工、組立工程は、夫々の加工、
組立設備の大きさや設備条件の制約から各加工機、組立
機等の設置場所が異なる場合があリ、このような場合に
は、物品すなわちワークを搬送するためにワークをパレ
ツトに収容した後に、パレツトを無人搬送車あるいはパ
レツト供給装置、すなわち供給車に搭載して、例えばロ
ボツト装置に対して搬送した後に、ロボツト装置に対す
る位置精度を確保するようにしている。Also, in the factory, processing, assembly process,
Due to the size of the assembly equipment and restrictions on equipment conditions, each processing machine, the installation location of the assembly machine, etc. may be different.In such a case, after accommodating the work pieces, that is, the work pieces in the palette, The pallet is mounted on an automatic guided vehicle or a pallet supply device, that is, a supply vehicle, and after the pallet is conveyed to the robot device, for example, the positional accuracy of the robot device is ensured.
つまり、パレツト供給装置の位置決め構造により、供給
車とロボツト装置との相対位置精度を確保するようにし
ているが、通常はロボツト装置側に案内部を設ける一
方、パレツトを搭載した供給車にはこの案内部に案内さ
れる被案内部を設けて、ロボツト装置に設けられた案内
部に供給車の被案内部を例えば乗り上げるようにして相
対位置精度を確保する方法が知られている。In other words, the positioning structure of the pallet feeding device ensures the relative positional accuracy between the feeding vehicle and the robot device.However, normally, a guide portion is provided on the robot device side, while this is used for a feeding vehicle equipped with a pallet. A method is known in which a guided portion guided by a guide portion is provided, and the guided portion of a supply vehicle is mounted on a guide portion provided in a robot device to ensure relative positional accuracy.
［発明が解決しようとしている問題点］ しかしながら、従来のパレツト供給装置の位置決め構造
は上記のようにしていたので、パレツトの載置面が水平
にならず、パレツト載置面上の物品の把持が行なくなる
等、次工程に支障を来す問題点と、位置決めが自動的に
行なわれないことから操作が困難となる問題点があつ
た。[Problems to be Solved by the Invention] However, since the positioning structure of the conventional pallet feeder is as described above, the mounting surface of the pallet is not horizontal and the article is not gripped on the pallet mounting surface. There have been problems such as running out of work, which hinders the next process, and difficult operation because positioning is not performed automatically.
したがつて、本発明のパレツト供給装置の位置決め構造
は上記の問題点に鑑みてなされたものであり、その目的
とするところは、パレツトの載置面を略水平にして次工
程に悪影響を来すことがなく、しかも位置決めを自動的
に行なうようにして操作が容易となるパレツト供給装置
の位置決め構造を提供することにある。Therefore, the positioning structure of the pallet feeding device of the present invention is made in view of the above problems, and the purpose thereof is to make the mounting surface of the pallet substantially horizontal and adversely affect the next step. It is an object of the present invention to provide a positioning structure for a pallet feeding device which is easy to operate by automatically performing the positioning without any operation.
［問題点を解決するための手段及び作用］ 上記の課題を達成し、目的を達成するために、本発明の
パレツト供給装置の位置決め構造は、物品を載置面上に
載置したパレツトを段積み状態にして、地上走行用の主
足車を備える供給車に対して搭載するとともに、前記供
給車を機器に対する位置決め状態と非位置決め状態とに
するパレツト供給装置の位置決め構造であつて、係止穴
を夫々穿設した１組の案内レールを前記機器に配設する
一方、前記案内レールの上面を案内され前記係止穴に対
して係止状態にされる第１従足車と、前記案内レールの
上面を案内されるのみの第２従足車とを互いに高低差を
設けて前記供給車に配設することにより、前記第１従足
車が前記係止穴に係止される係止状態において、前記載
置面が略水平になるようにしている。[Means and Actions for Solving Problems] In order to achieve the above object and achieve the object, the positioning structure of the pallet feeder according to the present invention has a step of placing the pallet on which the article is placed. A positioning structure of a pallet supply device which is placed in a stacked state and mounted on a supply vehicle having a main caster for traveling on the ground, and which places the supply vehicle in a positioning state and a non-positioning state with respect to a device, A pair of guide rails each having a hole formed therein are arranged in the device, while a first follower caster is guided on an upper surface of the guide rail to be locked in the locking hole, and the guide. By disposing the second follower castor, which is guided only on the upper surface of the rail, in the supply vehicle at a height difference from each other, the first follower castor is locked in the locking hole. In this state, make sure that the placement surface is substantially horizontal. There is.
［実施例］ 実施例について、図面を参照して詳細に説明する。第１
図は本発明のパレツト供給装置の位置決め構造の外観斜
視図を表しており、本図においては、ワーク１４の多数
入つたパレツト１（通箱）が共に表わされている。第１
図において、パレツト１は図示のように地上の床面Ｇ上
に段積みされているが、パレツト供給装置の位置決め構
造の本体２の内部には、このように段積みされているパ
レツト１を昇降させる昇降台３、４が設けられており、
パレツト１を図示の段積み状態のままで作業者の入力
か、あるいは別体として構成される挿入機構により、昇
降台３の載置面上に載置するようにしている。[Examples] Examples will be described in detail with reference to the drawings. First
The figure shows an external perspective view of the positioning structure of the pallet feeder according to the present invention. In the figure, the pallet 1 (container box) containing a large number of workpieces 14 is also shown. First
In the figure, the pallets 1 are stacked on the floor surface G on the ground as shown, but inside the main body 2 of the positioning structure of the pallet feeder, the pallets 1 thus stacked are moved up and down. Elevating tables 3 and 4 are installed to
The pallets 1 are mounted on the mounting surface of the lifting table 3 by the operator's input in the stacked state shown in the figure or by an insertion mechanism configured as a separate body.
本体２の底面上にはこれら昇降台３、４の昇降駆動動作
をさせる主モータ８が固定される一方、このモータ８に
は図示のようにタイミングベルト９が歯合されており、
このタイミングベルト９を介して、モータ８の回転によ
り昇降台３を上昇させる一方、昇降台４を下降させるよ
うにしている。A main motor 8 for raising and lowering the elevators 3 and 4 is fixed on the bottom surface of the main body 2, and a timing belt 9 is meshed with the motor 8 as shown in the drawing.
Through the timing belt 9, the lifting table 3 is raised by the rotation of the motor 8 while the lifting table 4 is lowered.
また、本体２の上面の両縁部上には、パレツト１の鍔部
分１ａに係止する位置関係にされた係止爪５ａ、５ｂの
１組と、係止爪６ａ、６ｂの１組とが夫々矢印方向に移
動可能にされて設けられているが、これら係止爪には係
止爪の出し入れ移動動作をするソレノイドもしくはモー
タ７ａ、７ｂ、７ｃ、７ｄが夫々設けられている。これ
ら係止爪の移動動作によりパレツト１の鍔部分１ａに係
止する状態と係止しない状態とを発生させてパレツト１
の昇降台３上からの移動と、昇降台４上への載置をする
ようにしている。Also, on both edges of the upper surface of the main body 2, there are a set of locking claws 5a and 5b and a set of locking claws 6a and 6b which are in a positional relationship of locking with the collar portion 1a of the pallet 1. Are provided so as to be movable in the directions of the respective arrows, and these locking claws are provided with solenoids or motors 7a, 7b, 7c, 7d for moving the locking claws in and out, respectively. The moving operation of these locking pawls causes a state in which the collar 1a of the pallet 1 is locked and a state in which it is not locked to generate the pallet 1.
Are moved from above the lifting table 3 and placed on the lifting table 4.
そして、本体２の底面の４隅には地上走行用のキヤスタ
１０が４個と、水平方向の案内用の破線図示のキヤスタ
２１の２個が図示のように設けられている。この本体２
の底面には更に、後述する加工機、組立機等の機器１７
との結合位置決め用としてのボールキヤスタ１１ａ，１
１ｂが底部の各コーナー部に後述するように段差を設け
て配設されている。Then, four casters 10 for traveling on the ground and two casters 21 for guiding the horizontal direction are provided at four corners of the bottom surface of the main body 2 as shown. This body 2
On the bottom surface of the device, there is further provided a device 17 such as a processing machine and an assembly machine described later
Ball casters 11a, 1 for coupling and positioning with
1b is provided at each corner of the bottom with a step as described later.
そして本体２の上面右縁部位には取手１２が設置されて
おり本体２をこの取手１２を使用して容易に移動できる
ようにしている。A handle 12 is installed on the right edge portion of the upper surface of the main body 2 so that the main body 2 can be easily moved using the handle 12.
つぎに、第２図（ａ）はパレツト供給装置の位置決め構
造を機器１７に設ける場合の斜視図を、また第２図
（ｂ）は第２図（ａ）のパレツト供給装置の位置決め構
造に本体２を接合させた後の様子を表した側面図であ
る。両図において、機器１７の上部にはロボツトハンド
１５ｈを装着したロボツト１５が移動自在に設けられて
おり、パレツト１内に収納されたワークを工作用治具パ
レツト１８上にロボツトハンド１５ｈにより矢印のよう
に移動させて組み立て作業を行なうようにしている。Next, FIG. 2 (a) is a perspective view when the positioning structure of the pallet feeding device is provided in the device 17, and FIG. 2 (b) is the main body of the pallet feeding device positioning structure of FIG. 2 (a). It is a side view showing a state after joining 2 together. In both figures, a robot 15 equipped with a robot hand 15h is movably provided above the device 17, and the work stored in the pallet 1 is placed on the work jig pallet 18 by the robot hand 15h. It is moved so that it can be assembled.
一方、機器１７の側面には略Ｌ字形状の１対の位置フレ
ーム１６が図示のように設けられているが、この位置フ
レーム１６には前述のボールキヤスタ１１ａに相当する
位置に係止穴１６ａが夫々１個穿設されており、本体２
が移動されて図示の位置にセツトされる状態では、ボー
ルキヤスタ１１ａが係止穴１６ａとの係止状態にされる
ことで自動的に位置決めが行なえるようにしている。On the other hand, a pair of substantially L-shaped position frames 16 are provided on the side surface of the device 17 as shown in the figure. The position frames 16 have locking holes 16a at positions corresponding to the ball casters 11a. One is provided for each body 2
In the state where the ball caster 11a is moved and set to the position shown in the figure, the ball caster 11a is brought into the engagement state with the engagement hole 16a so that the ball caster 11a can be automatically positioned.
第３図は第２図（ｂ）のＡ−Ａ矢視断面図であり、上述
の水平方向の案内用の２個のキヤスタ２１により位置決
めされる様子を表したものである。即ち、第３図におい
て、位置フレーム１６は位置フレーム１６の内周面１６
ｃにより規定される間隔Ｚ１を保つて機器１７に配設さ
れているが、この間隔Ｚ１よりも２個のキヤスタ２１の
外周面が若干量少ない寸法Ｚ２になるようにして本体２
に設けるようにしている。FIG. 3 is a cross-sectional view taken along the line AA of FIG. 2 (b) and shows a state of being positioned by the two casters 21 for guiding in the horizontal direction. That is, in FIG. 3, the position frame 16 is the inner peripheral surface 16 of the position frame 16.
have been arranged in the device 17 keeps the distance Z 1 defined by c, as the outer peripheral surface of the two caster 21 than the distance Z 1 is some amount less dimension Z 2 body 2
It is set up in.
したがつて、本体２の取手１２を掴んで移動してゆき位
置フレーム１６に挟まれる空間に移動してゆくと、キヤ
スタ２１の外周面が位置フレーム１６の内周面１６ｃに
より案内されるようになり、本体２の水平方向の自動位
置決めが行なわれることになる。ここで、キヤスタ２１
に替えて本体２の両側面にスライダーを設けて上述の案
内動作を行なうようにしてもよい。Therefore, when the handle 12 of the main body 2 is grasped and moved to the space between the position frames 16, the outer peripheral surface of the caster 21 is guided by the inner peripheral surface 16c of the position frame 16. Thus, the automatic positioning of the main body 2 in the horizontal direction is performed. Here, the caster 21
Instead of this, sliders may be provided on both side surfaces of the main body 2 to perform the above-described guiding operation.
一方、この自動位置決め状態では、キヤスタ１０はボー
ルキヤスタ１１ａ，１１ｂとが位置フレーム１６の走行
面に乗り上げてから案内されることから、キヤスタ１０
は床面Ｇからｙ寸法分が浮く状態にされる。On the other hand, in this automatic positioning state, since the caster 10 is guided after the ball casters 11a and 11b ride on the traveling surface of the position frame 16, the caster 10 is guided.
Is floated from the floor surface G by the y dimension.
次に、第４図はボールキヤスタ１１ａ，１１ｂが位置フ
レーム１６に対して係止状態にされた様子を表した一部
断面拡大図である。Next, FIG. 4 is a partially enlarged cross-sectional view showing a state in which the ball casters 11a and 11b are locked to the position frame 16.
第４図において、ボールキヤスタ１１ａ，１１ｂの回転
ボールの外周面は本体２に対して図示のような段差分ｘ
を確保して設けられており、本体２が矢印方向に移動さ
れると、ボールキヤスタ１１ａの回転ボールが最初に位
置フレーム１６の傾斜面１６ｂに乗り上げてる。この状
態からさらに、本体２を矢印方向に移動すると、キヤス
タ１０が第３図に示したように床面Ｇがら浮く状態にな
り、ボールキヤスタ１１ａにより位置フレーム１６上を
案内されるようになり、最後に係止穴１６ａ内にボール
キヤスタ１１ａが落し込まれて自動位置決め状態にされ
るが、この際に、ボールキヤスタ１１ｂも位置フレーム
１６の傾斜面１６ｂに乗り上げた後に、位置フレーム１
６上に位置することになる。In FIG. 4, the outer peripheral surfaces of the rotating balls of the ball casters 11a and 11b are separated from the main body 2 by a step difference x as shown.
When the main body 2 is moved in the arrow direction, the rotating ball of the ball caster 11a first rides on the inclined surface 16b of the position frame 16. When the main body 2 is further moved from this state in the direction of the arrow, the caster 10 floats on the floor surface G as shown in FIG. 3, and the ball caster 11a guides the position frame 16 and finally The ball caster 11a is dropped into the locking hole 16a to be in the automatic positioning state. At this time, the ball caster 11b also rides on the inclined surface 16b of the position frame 16 and then the position frame 1
It will be located above 6.
この自動位置決め状態では、段差分ｘにより、パレツト
１の載置面Ｐと床面Ｇとは略平行なることになる。In this automatic positioning state, the mounting surface P of the pallet 1 and the floor surface G are substantially parallel to each other due to the step difference x.
以上説明したように、パレツトの供給車として機能する
本体が機器に対して自動位置決めされるとともに、パレ
ツトの物品の載置面と床面とが水平になることから、次
工程に悪影響を来すことがなく、しかも位置決めを自動
的に行なえるので、操作の容易なパレツト供給装置の位
置決め構造が実現可能である。As described above, the main body functioning as a pallet supply vehicle is automatically positioned with respect to the equipment, and the placing surface and the floor surface of the pallet article are horizontal, which adversely affects the next step. In addition, since the positioning can be performed automatically without any need, it is possible to realize a positioning structure of the pallet feeder which is easy to operate.
［発明の効果］ 以上の説明したように、本発明のパレツト供給装置の位
置決め構造によれば、パレツトの載置面を略水平にして
次工程に悪影響を来すことがなく、しかも位置決めを自
動的に行なうようにして操作を容易とすることができ
る。[Effects of the Invention] As described above, according to the positioning structure of the pallet feeding apparatus of the present invention, the mounting surface of the pallet is made substantially horizontal and the next step is not adversely affected, and the positioning is automatically performed. The operation can be facilitated by performing the operation manually.
第１図は本発明のパレツト供給装置の位置決め構造の外
観斜視図、 第２図（ａ）はパレツト供給装置の位置決め構造を機器
１７に設ける場合の斜視図、 第２図（ｂ）は第２図（ａ）のパレツト供給装置の位置
決め構造に本体２を接合させた後の様子を表した側面
図、 第３図は第２図（ｂ）のＡ−Ａ矢視断面図、 第４図はボールキヤスタ１１ａ，１１ｂが位置フレーム
１６に対して係止状態にされた様子を表した一部断面拡
大図である。 図中、１……パレツト、２……本体、３，４……昇降
台、１０，２１……キヤスタ、１１ａ，１１ｂ……ボー
ルキヤスタ、１２……取手、１５……ロボツト、１６…
…位置決めフレーム、１６ａ……係止穴、１７……機
器、ｘ……段差寸法である。FIG. 1 is an external perspective view of a positioning structure for a pallet feeding device according to the present invention, FIG. 2 (a) is a perspective view when the positioning structure for the pallet feeding device is provided on a device 17, and FIG. FIG. 3A is a side view showing a state after the main body 2 is joined to the positioning structure of the pallet feeder of FIG. 3A, FIG. 3 is a sectional view taken along the line AA of FIG. 2B, and FIG. FIG. 7 is a partially enlarged cross-sectional view showing a state in which the ball casters 11 a and 11 b are locked to the position frame 16. In the figure, 1 ... pallet, 2 ... main body, 3, 4 ... elevator, 10, 21 ... caster, 11a, 11b ... ball caster, 12 ... handle, 15 ... robot, 16 ...
... Positioning frame, 16a ... Locking hole, 17 ... Equipment, x ... Step size.
Claims (1)
み状態にして、地上走行用の主足車を備える供給車に対
して搭載するとともに、前記供給車を機器に対する位置
決め状態と非位置決め状態とにするパレツト供給装置の
位置決め構造であつて、 係止穴を夫々穿設した１組の案内レールを前記機器に配
設する一方、前記案内レールの上面を案内され前記係止
穴に対して係止状態にされる第１従足車と、前記案内レ
ールの上面を案内されるのみの第２従足車とを互いに高
低差を設けて前記供給車に配設することにより、前記第
１従足車が前記係止穴に係止される係止状態において、
前記載置面が略水平になるように構成したことを特徴と
するパレツト供給装置の位置決め構造。1. A pallet in which articles are placed on a placing surface is stacked and mounted on a supply vehicle equipped with main casters for ground traveling, and the supply vehicle is positioned with respect to a device. A structure for positioning a pallet feeder in a non-positioning state, in which a pair of guide rails each having a locking hole are provided in the device, while the upper surface of the guide rail is guided to the locking hole. By disposing the first follower castor that is locked with respect to and the second follower caster that is only guided on the upper surface of the guide rail in the supply vehicle with a height difference therebetween, In the locked state in which the first follower castor is locked in the locking hole,
A positioning structure for a pallet feeder, characterized in that the mounting surface is substantially horizontal.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5960789A JPH0651249B2 (en) | 1989-03-14 | 1989-03-14 | Positioning structure of pallet feeder |
| US07/830,488 US5190434A (en) | 1989-03-14 | 1992-02-06 | Article supplier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5960789A JPH0651249B2 (en) | 1989-03-14 | 1989-03-14 | Positioning structure of pallet feeder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02243225A JPH02243225A (en) | 1990-09-27 |
| JPH0651249B2 true JPH0651249B2 (en) | 1994-07-06 |
Family
ID=13118112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5960789A Expired - Fee Related JPH0651249B2 (en) | 1989-03-14 | 1989-03-14 | Positioning structure of pallet feeder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0651249B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710703A (en) * | 2016-04-19 | 2016-06-29 | 江西佳时特数控技术有限公司 | Workpiece positioning device and flexible machining production line for automatic material taking |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8020601B2 (en) | 2004-01-19 | 2011-09-20 | Krones Ag | Machine for equipping articles with labels |
| DE102004054057A1 (en) * | 2004-01-19 | 2005-08-04 | Krones Ag | Labeling machine for articles, e.g. vessels, includes carousel(s), exchangeable labeling aggregate(s), and stationary floor-supported aggregate reception(s) |
| JP4609727B2 (en) * | 2006-03-24 | 2011-01-12 | 株式会社ダイフク | Labeling equipment |
| CN109335628B (en) * | 2018-10-18 | 2024-05-03 | 厦门精合电气自动化有限公司 | Feeding device capable of realizing automatic disc replacement |
-
1989
- 1989-03-14 JP JP5960789A patent/JPH0651249B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710703A (en) * | 2016-04-19 | 2016-06-29 | 江西佳时特数控技术有限公司 | Workpiece positioning device and flexible machining production line for automatic material taking |
| CN105710703B (en) * | 2016-04-19 | 2018-10-19 | 江西佳时特数控技术有限公司 | Working piece positioning device and the Flexible Manufacture production line for automating feeding |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH02243225A (en) | 1990-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1159213A1 (en) | Integrated load port-conveyor transfer system | |
| JPH0651249B2 (en) | Positioning structure of pallet feeder | |
| KR20140119603A (en) | Manual guided vehicle for transferring cassette | |
| CN112027552A (en) | Robot training system for wireless charger processing | |
| JPH0772018B2 (en) | Pallet feeder | |
| CN113601238B (en) | Conveyor and system for processing workpieces | |
| KR102681748B1 (en) | mobile manipulator | |
| JP2002219681A (en) | Method of supplying work, and handling robot used for execution thereof | |
| JPS6246521Y2 (en) | ||
| CN220998132U (en) | Multilayer board placing machine | |
| JP2549036Y2 (en) | Parts supply device | |
| JPH0318118Y2 (en) | ||
| CN117020435B (en) | Automatic laser processing equipment for button processing | |
| JPH058046Y2 (en) | ||
| JPH0611462B2 (en) | Self-propelled carrier device | |
| CN217824669U (en) | Rotor transfer trolley and automatic assembly system | |
| JPH1158185A (en) | Work carrying method and work carrying device | |
| JPH0416300B2 (en) | ||
| JPS60232316A (en) | Work shifting device | |
| JPH0214916Y2 (en) | ||
| JP3720123B2 (en) | Work loading method and apparatus | |
| JP2685188B2 (en) | Conveyor device for vehicle assembly line | |
| KR20230175000A (en) | Work platform | |
| JPH0687529A (en) | Conveyor equipment using self-traveling truck | |
| JPH0372528B2 (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |