CN113335920B - Manipulator and workstation for installing transmission belt - Google Patents
Manipulator and workstation for installing transmission belt Download PDFInfo
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- CN113335920B CN113335920B CN202110719374.9A CN202110719374A CN113335920B CN 113335920 B CN113335920 B CN 113335920B CN 202110719374 A CN202110719374 A CN 202110719374A CN 113335920 B CN113335920 B CN 113335920B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/32—Belts or like endless load-carriers made of rubber or plastics
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a manipulator and a workstation for installing a transmission belt, which comprise a manipulator, an accessory installation system, an auxiliary installation system, a first material box, a bearing platform, a second material box, an assembly platform and a first discharging platform, wherein the manipulator, the accessory installation system, the auxiliary installation system, the first material box, the second material box, the assembly platform and the first discharging platform are respectively arranged on the bearing platform, and the manipulator and the auxiliary installation system assemble parts in the accessory installation system, the first material box and the second material box into the transmission belt on the assembly platform; the auxiliary mounting system is arranged above the assembling table; the manipulator places the accessories in the first material box and the second material box on the first material placing platform respectively. The invention assembles accessories or parts, accessories and the like into the transmission belt through the manipulator, the first mounting device, the second mounting device and the mounting mechanism.
Description
Technical Field
The invention relates to the technical field of installation of transmission belts, in particular to a manipulator and a workstation for installing a transmission belt.
Background
In the production and processing, people specially design a belt specially used for transmission for the convenience of processing, a workpiece main body is arranged on the belt to be assembled into a transmission belt, the transmission belt drives the workpiece main body to be transmitted and is provided with other accessories on the workpiece, the transmission belt facilitates the transportation and the processing of the workpiece main body, and therefore the transmission belt is widely applied to the production and processing. Because the conveying belt is not a traditional belt for conveying objects, the conveying belt and workpieces are assembled and then are conveyed together, the workpieces need to be installed on the conveying belt before being conveyed and processed, the manual installation mode is low in efficiency, the consistency of installed conveying belt finished products is poor, and subsequent automatic accessory installation or automatic production and processing are affected.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a manipulator and a workstation for installing a transmission belt.
The technical scheme adopted by the invention for solving the technical problem is as follows: a manipulator for mounting a transmission belt comprises mechanical arms, mechanical claws and a base, wherein each mechanical arm comprises a first mechanical arm, a second mechanical arm and a rotating arm, one end of each first mechanical arm is rotatably connected with the corresponding mechanical claw in a vertical plane, the other end of each first mechanical arm is rotatably connected with one end of each second mechanical arm in the vertical plane, the other end of each second mechanical arm is rotatably connected with one end of the corresponding rotating arm in the vertical plane, the other end of each rotating arm is rotatably arranged at the upper end of the base, and the base is fixedly arranged on a bearing table; the gripper comprises a first clamping device, a second clamping device, a fixing device and a connecting device, wherein the first clamping device and the second clamping device are sequentially and fixedly arranged on the inner side of the fixing device, the fixing device is symmetrically and rotatably arranged on two sides of the lower end of the connecting device, and a control device for controlling the fixing device to work is arranged on the outer side of the connecting device. The first clamping device and the second clamping device on the fixing devices on two sides are arranged correspondingly to each other and matched with each other to clamp the workpiece. The end, far away from the fixing device, of the first clamping device is in a sawtooth shape, and a semicircular groove is formed in the middle of the end, far away from the fixing device, of the second clamping device.
A workstation for installing a transmission belt comprises a manipulator, an accessory installation system, an auxiliary installation system, a first material box, a bearing platform, a second material box, an assembly platform and a first discharging platform, wherein the manipulator, the accessory installation system, the auxiliary installation system, the first material box, the second material box, the assembly platform and the first discharging platform are respectively arranged on the bearing platform, and the manipulator and the auxiliary installation system assemble parts in the accessory installation system, the first material box and the second material box into the transmission belt on the assembly platform; the auxiliary mounting system is arranged above the assembling table; the manipulator places the accessories in the first material box and the second material box on the first material placing platform respectively.
The auxiliary mounting system comprises a first mounting device, a second mounting device, a connecting device and a fixed frame, wherein the first mounting device and the second mounting device are respectively arranged on the fixed frame through the connecting device, and the fixed frame is fixedly arranged on the bearing platform; the first mounting device is provided with a clamp for clamping accessories and a first power device for controlling the clamp to work, and the second mounting device is provided with a limit stop for preventing the accessories or other workpieces from moving and a second power device for controlling the limit stop to work. The connecting device comprises two groups of sliding rails which are arranged in parallel, one end of each sliding rail is provided with a cylinder for driving the first mounting device and the second mounting device to slide, and the first mounting device and the second mounting device are respectively connected with one group of sliding rails.
The accessory mounting system comprises a feeding device, an accessory mounting device, a rotating device and a second discharging table, wherein the accessory mounting device mounts parts of the feeding device into the accessories and arranges the mounted accessories into a row with equal intervals in sequence; the rotating device comprises a rotating mechanism for clamping accessories, a rotating power source for driving the rotating mechanism to rotate and a connecting frame fixedly arranged on the bearing platform, wherein the rotating power source is fixedly arranged on the connecting frame.
The bearing bench is provided with a placing area for placing the assembly table, the placing area comprises a support table for supporting the assembly table and a rolling mechanism for enabling the assembly table to slide in the placing area, the rolling mechanism is symmetrically arranged on two sides of the placing area, the support table is arranged in the middle of the placing area, and the support table is located below the assembly table.
The invention has the beneficial effects that: according to the invention, the mechanical arm is used for feeding, and accessories or parts, accessories and the like are assembled into the conveying belt through the first mounting device, the second mounting device and the mounting mechanism. According to the invention, the parts with smaller sizes are arranged in the parts with larger sizes, and then the parts are assembled on the conveying belt, so that the assembly efficiency is improved, and the assembly time is saved.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic view of the robot of the present invention.
Fig. 3 is a schematic structural view of the gripper of the present invention.
Fig. 4 is a schematic structural view of the auxiliary mounting system of the present invention.
FIG. 5 is a schematic view of the construction of the fitment attachment system of the present invention.
Fig. 6 is a schematic structural view of the placement area of the present invention.
Fig. 7 is a schematic view of the structure of the accessory mounting apparatus of the present invention.
Fig. 8 is a schematic structural view of the first mounting device of the present invention.
In the figure, 1, a mechanical arm, 2, a mechanical claw, 3, a chassis, 4, an accessory mounting system, 5, an auxiliary mounting system, 6, a first bin, 7, a bearing table, 8, a second bin, 9, an assembly table, 10, a first discharging table, 11, a first mechanical arm, 12, a second mechanical arm, 13, a rotating arm, 21, a first clamping device, 22, a second clamping device, 23, a fixing device, 24, a connecting device, 25, a control device, 41, a feeding device, 42, an accessory mounting device, 43, a rotating device, 44, a second discharging table, 421, an accessory storage box, 422, a mounting workbench, 423, a positioning mechanism, 424, a mounting mechanism, 51, a first mounting device, 52, a second mounting device, 53, a connecting device, 54, a fixing frame, 511, a clamp, 512, a first power device, 521, a limit stop, 522, a second power device, 531, an air cylinder, 71. placing area, 710, supporting table, 711, rolling mechanism.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings and examples, and parts not described in the present invention can be implemented by using or referring to the prior art.
It should be noted that the structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are only for the purpose of understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined by the following claims, and any modifications of the structures, changes in the proportions and adjustments of the sizes, without affecting the efficacy and attainment of the same, are intended to fall within the scope of the present disclosure.
In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
As shown in fig. 1 to 8, a manipulator for installing a transmission belt includes a mechanical arm 1, a mechanical claw 2, and a base 3, where the mechanical arm 1 includes a first mechanical arm 11, a second mechanical arm 12, and a rotating arm 13, one end of the first mechanical arm 11 is rotatably connected to the mechanical claw 2 in a vertical plane, the other end of the first mechanical arm 11 is rotatably connected to one end of the second mechanical arm 12 in the vertical plane, the other end of the second mechanical arm 12 is rotatably connected to one end of the rotating arm 13 in the vertical plane, the other end of the rotating arm 13 is rotatably disposed at the upper end of the base 3, and the base 3 is fixedly disposed on a bearing table 7; the gripper 2 comprises a first clamping device 21, a second clamping device 22, a fixing device 23 and a connecting device 24, wherein the first clamping device 21 and the second clamping device 22 are sequentially and fixedly arranged on the inner side of the fixing device 23, the fixing device 23 is symmetrically and rotatably arranged on two sides of the lower end of the connecting device 24, and a control device 25 for controlling the fixing device 23 to work is arranged on the outer side of the connecting device 24. The first clamping device 21 and the second clamping device 22 on the fixing devices 23 on two sides are arranged correspondingly to each other and cooperate with each other to clamp the workpiece. The end of the first clamping device 21 far away from the fixing device 23 is zigzag, and the middle part of the end of the second clamping device 22 far away from the fixing device 23 is provided with a semicircular groove. When the manipulator clamps the workpiece, the second clamping device 22 is used for clamping the workpiece with a cylindrical shape, and the first clamping device 21 is used for clamping the workpiece with an angular shape.
A workstation for installing a transmission belt comprises a manipulator, an accessory installation system 4, an auxiliary installation system 5, a first material box 6, a bearing platform 7, a second material box 8, an assembly platform 9 and a first material discharging platform 10, wherein the manipulator, the accessory installation system 4, the auxiliary installation system 5, the first material box 6, the second material box 8, the assembly platform 9 and the first material discharging platform 10 are respectively arranged on the bearing platform 7, and the manipulator and the auxiliary installation system 5 assemble relevant accessories, parts, accessories and the like in the accessory installation system 4, the first material box 6 and the second material box 8 into the transmission belt on the assembly platform 9; the auxiliary mounting system 5 is arranged above the assembly table 9; the manipulator places the accessories in the first bin 6 and the second bin 8 on the first discharging table 10 respectively.
The auxiliary mounting system 5 comprises a first mounting device 51, a second mounting device 52, a connecting device 53 and a fixed frame 54, wherein the first mounting device 51 and the second mounting device 52 are respectively arranged on the fixed frame 54 through the connecting device 53, and the fixed frame 54 is fixedly arranged on the bearing table 7; the first mounting device 51 is provided with a clamp 511 for clamping the accessory and a first power device 512 for controlling the operation of the clamp 511, and the second mounting device 52 is provided with a limit stop 521 for preventing the accessory or other workpieces from moving and a second power device 522 for controlling the operation of the limit stop 521. The connecting device 53 comprises two sets of sliding rails arranged in parallel, one end of each sliding rail is provided with an air cylinder 531 for driving the first mounting device 51 and the second mounting device 52 to slide, and the first mounting device 51 and the second mounting device 52 are respectively connected with one set of sliding rails. The first mounting device 51 is used for placing materials on the second discharging platform 44 into the conveying belt on the assembling platform 9, and the manipulator is used for placing the materials on the first discharging platform 10 and the rotating device 43 onto the second discharging platform 44 and simultaneously mutually matching with the first mounting device 51 to carry out nailing and mounting work. The second mounting device 52 is used to assist the robot and the first mounting device 51 in working, and to limit the movement of the parts, accessories, or components to be mounted.
The accessory mounting system 4 comprises a feeding device 41, an accessory mounting device 42, a rotating device 43 and a second discharging table 44, wherein the accessory mounting device 42 mounts the accessories of the feeding device 41 into the accessories and arranges the mounted accessories in a row with equal intervals in sequence, the rotating device 43 sequentially rotates the accessories arranged in the accessory mounting device 42 to the same position, and the manipulator places the accessories rotated by the rotating device 43 on the second discharging table 44; the rotating device 43 includes a rotating mechanism 430 for holding the fitting, a rotating power source 431 for driving the rotating mechanism 430 to rotate, and a connecting frame 432 fixedly provided on the bearing table 7, wherein the rotating power source 431 is fixedly provided on the connecting frame 432. Accessory mounting device 42 includes accessory storage box 421, installation workstation 422, positioning mechanism 423, installation mechanism 424, and the product in loading attachment 41 reaches installation mechanism 423 through spiral slide spiral feeding, and the accessory in accessory storage box 421 is gone up the feeding through prior art according to the order and is reached installation mechanism 424 directly below, and installation mechanism 424 installs the product in loading attachment 41 in the accessory through prior art, and positioning mechanism 423 sets up on installation workstation 422, and positioning mechanism 423 is used for arranging the order when the accessory was loaded, is convenient for installation mechanism 424's installation.
The bearing table 7 is provided with a placing area 71 for placing the assembling table 9, the placing area 71 comprises a supporting table 710 for supporting the assembling table 9 and rolling mechanisms 711 for enabling the assembling table 9 to slide in the placing area 71, the rolling mechanisms 711 are symmetrically arranged at two sides of the placing area 71, the supporting table 710 is arranged at the middle part of the placing area 711, and the supporting table 710 is positioned below the assembling table 9. The assembly table 9 is slid onto the bearing table 7 from the conveyor in operation via a rolling mechanism 711, and the support table 710 is supported on the base of the assembly table 9.
In the invention, different accessories, accessories and other accessory parts need to be installed in actual processing, and the first material box 6 and the second material box 8 are respectively used for placing different parts and are loaded by a manipulator. The accessory mounting system 4 is used to mount small components on a slightly larger accessory, and then to load and mount the small components by the robot and the first mounting device 51.
When the invention works, a conveying belt on an assembly table 9 enters a placing area 71 on a bearing table 7 through a rolling mechanism 711, a manipulator places parts in a first material box 6 and a second material box 8 on a first discharging table 1 in advance, a rotating device 43 rotates a part on a mounting working table 422 to a required angle, then the manipulator places the rotated part on a second discharging table 44, then a clamp 511 of a first mounting device 51 mounts the part on the second discharging table 44 into the conveying belt on the assembly table 9, meanwhile, the manipulator places the part placed on the first discharging table 1 on the second discharging table 44, and then the clamp 511 of the first mounting device 51 mounts the part on the second discharging table 44 on the conveying belt on the assembly table 9. After the conveyor belt is assembled, the assembly table 9 slides out of the placement area 71 with the conveyor belt through the rolling mechanism 711, enters the conveyor and is conveyed forwards. When the first mounting device 51 mounts the parts, components or accessories, the second mounting device 52 and the robot arm are matched with each other according to the mounting requirements. When the parts in the first material box 6 and the second material box 8 placed on the first material placing platform 10 are used up, the manipulator continues to pick up the parts from the first material box 6 and the second material box 8 and place the parts on the first material placing platform 10. The mechanisms, power sources, related control programs, etc., not related to the present invention can be implemented by the prior art.
The invention assembles accessories or parts, accessories and the like into the conveying belt through the mechanical arm, the first mounting device 51, the second mounting device 52 and the mounting mechanism 424, and has high automation degree and good product consistency.
Claims (6)
1. A workstation for installing transmission belt, includes the manipulator that is used for installing transmission belt, the manipulator includes arm (1), gripper (2), base (3), its characterized in that: the mechanical arm (1) comprises a first mechanical arm (11), a second mechanical arm (12) and a rotating arm (13), one end of the first mechanical arm (11) is rotationally connected with the mechanical claw (2) in a vertical plane, the other end of the first mechanical arm (11) is rotationally connected with one end of the second mechanical arm (12) in the vertical plane, the other end of the second mechanical arm (12) is rotationally connected with one end of the rotating arm (13) in the vertical plane, the other end of the rotating arm (13) is rotationally arranged at the upper end of the base (3), and the base (3) is fixedly arranged on the bearing table (7);
the mechanical claw (2) comprises a first clamping device (21), a second clamping device (22), a fixing device (23) and a connecting device (24), wherein the first clamping device (21) and the second clamping device (22) are sequentially and fixedly arranged on the inner side of the fixing device (23), the fixing device (23) is symmetrically and rotatably arranged on two sides of the lower end of the connecting device (24), and a control device (25) for controlling the fixing device (23) to work is arranged on the outer side of the connecting device (24);
The automatic conveying belt is characterized by further comprising an accessory mounting system (4), an auxiliary mounting system (5), a first material box (6), a bearing table (7), a second material box (8), an assembling table (9) and a first discharging table (10), wherein the mechanical arm, the accessory mounting system (4), the auxiliary mounting system (5), the first material box (6), the second material box (8), the assembling table (9) and the first discharging table (10) are respectively arranged on the bearing table (7), and the mechanical arm and the auxiliary mounting system (5) assemble parts in the accessory mounting system (4), the first material box (6) and the second material box (8) into a conveying belt on the assembling table (9); the auxiliary mounting system (5) is arranged above the assembling table (9); the manipulator places accessories in the first material box (6) and the second material box (8) on the first material placing table (10) respectively;
the accessory installation system (4) comprises a feeding device (41), an accessory installation device (42), a rotating device (43) and a second discharging table (44), wherein the accessory installation device (42) installs the accessories of the feeding device (41) into the accessories and arranges the installed accessories into a row with equal intervals in sequence, the rotating device (43) rotates the accessories arranged in the accessory installation device (42) into the same position in sequence, and the manipulator places the accessories rotated by the rotating device (43) into the second discharging table (44); the rotating device (43) comprises a rotating mechanism (430) for clamping the accessory, a rotating power source (431) for driving the rotating mechanism (430) to rotate and a connecting frame (432) fixedly arranged on the bearing table (7), wherein the rotating power source (431) is fixedly arranged on the connecting frame (432).
2. A station for mounting a conveyor belt as claimed in claim 1, characterized in that: the first clamping device (21) and the second clamping device (22) on the fixing device (23) on the two sides are arranged correspondingly to each other and are matched with each other to clamp the workpiece.
3. A station for mounting a conveyor belt as claimed in claim 2, characterized in that: one end of the first clamping device (21) far away from the fixing device (23) is in a zigzag shape, and the middle part of one end of the second clamping device (22) far away from the fixing device (23) is provided with a semicircular groove.
4. A station for mounting a conveyor belt as claimed in claim 1, characterized in that: the auxiliary mounting system (5) comprises a first mounting device (51), a second mounting device (52), a connecting device (53) and a fixed frame (54), wherein the first mounting device (51) and the second mounting device (52) are respectively arranged on the fixed frame (54) through the connecting device (53), and the fixed frame (54) is fixedly arranged on the bearing table (7); the first mounting device (51) is provided with a clamp (511) used for clamping accessories and a first power device (512) used for controlling the clamp (511) to work, and the second mounting device (52) is provided with a limit stop (521) used for preventing the accessories or other workpieces from moving and a second power device (522) used for controlling the limit stop (521) to work.
5. A station for mounting a conveyor belt as claimed in claim 4, characterized in that: the connecting device (53) comprises two groups of sliding rails which are arranged in parallel, one end of each sliding rail is provided with a cylinder (531) which is used for driving the first mounting device (51) and the second mounting device (52) to slide, and the first mounting device (51) and the second mounting device (52) are respectively connected with one group of sliding rails.
6. A station for mounting a conveyor belt as claimed in claim 1, characterized in that: be equipped with on bearing platform (7) and place district (71) of placing of assembly station (9), place district (71) including playing supporting bench (710) that supports assembly station (9) effect and making assembly station (9) gliding rolling mechanism (711) in placing district (71), rolling mechanism (711) symmetry sets up in the both sides of placing district (71), supporting bench (710) set up the mid portion in placing district (71), supporting bench (710) are located the below of assembly station (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110719374.9A CN113335920B (en) | 2021-06-28 | 2021-06-28 | Manipulator and workstation for installing transmission belt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110719374.9A CN113335920B (en) | 2021-06-28 | 2021-06-28 | Manipulator and workstation for installing transmission belt |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113335920A CN113335920A (en) | 2021-09-03 |
| CN113335920B true CN113335920B (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110719374.9A Active CN113335920B (en) | 2021-06-28 | 2021-06-28 | Manipulator and workstation for installing transmission belt |
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| CN (1) | CN113335920B (en) |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103418698B (en) * | 2012-05-18 | 2016-01-20 | 亿和精密金属制品(深圳)有限公司 | Full-automation accessory assembly machine |
| CN203118818U (en) * | 2013-01-07 | 2013-08-07 | 深圳雷柏科技股份有限公司 | Keyboard base plate assembling bench and automatic assembling system |
| CN103737318B (en) * | 2013-12-16 | 2016-04-06 | 周俊雄 | Accessory automatic assembly equipment |
| CN105798578A (en) * | 2016-05-23 | 2016-07-27 | 宁波新邦工具有限公司 | Workpiece conveying mechanism for automatic quick connector assembly machine |
| CN106346501B (en) * | 2016-11-14 | 2018-10-19 | 广东省智能制造研究所 | Grip device and robot |
| CN106975916A (en) * | 2017-03-24 | 2017-07-25 | 刘海涛 | A kind of automatic assembly line of small household appliances |
| CN207534836U (en) * | 2017-09-26 | 2018-06-26 | 广东华鼎机械有限公司 | A kind of workpiece angular phasing fast aligning three grabs clamping device |
| CN109051746B (en) * | 2018-07-24 | 2020-07-10 | 上海申密机电设备有限公司 | Automatic feeding and discharging system for post-processing of automobile sealing strip |
| CN210025348U (en) * | 2019-05-17 | 2020-02-07 | 南通长源重工机械有限公司 | Multifunctional clamping jaw of manipulator |
| CN111230481A (en) * | 2020-02-13 | 2020-06-05 | 陈如会 | Coil feeding device of relay assembling machine |
| CN111185758B (en) * | 2020-03-04 | 2020-11-17 | 许昌学院 | A kind of automatic assembly equipment for seat belt retractor |
| CN212526737U (en) * | 2020-07-14 | 2021-02-12 | 佛山市亿欧光电科技有限公司 | Automatic kludge of line formula |
| CN112850101B (en) * | 2021-01-22 | 2022-03-29 | 龙光电子集团有限公司 | an assembly system |
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2021
- 2021-06-28 CN CN202110719374.9A patent/CN113335920B/en active Active
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