CN105880967B - Multistation foot pad intelligent grabbing erecting device - Google Patents
Multistation foot pad intelligent grabbing erecting device Download PDFInfo
- Publication number
- CN105880967B CN105880967B CN201610318820.4A CN201610318820A CN105880967B CN 105880967 B CN105880967 B CN 105880967B CN 201610318820 A CN201610318820 A CN 201610318820A CN 105880967 B CN105880967 B CN 105880967B
- Authority
- CN
- China
- Prior art keywords
- foot pad
- guide rail
- transmission guide
- linear transmission
- multistation
- 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
Classifications
-
- 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
- B23P19/007—Picking-up and placing mechanisms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multistation foot pad intelligent grabbing erecting device, the device includes foot pad feed mechanism, three station foots pad crawl fixture and manipulator, foot pad feed mechanism includes annular vibration feeding table, linear transmission guide rail, positioning support structure, locking structure and photoelectric sensor, linear transmission guide rail is connected with annular vibration feeding table, positioning support structure is located at the underface of linear transmission guide rail end, locking structure is located at the surface of linear transmission guide rail end, and photoelectric sensor is located at the side for the foot pad for being delivered to linear transmission guide rail end；Three station foots pad crawl fixture includes robotic connector, star-like part and three steering placement units, three station foots pad crawl fixture is connected by robotic connector with the manipulator, three turn to placement unit and are arranged on star-like part, and are circumferentially uniformly distributed.The present invention realizes automating, being intelligent for compressor of air conditioner foot pad installation procedure, has the advantages such as production efficiency is high, production cost is low.
Description
Technical field
The invention belongs to outdoor machine of air-conditioner automatic intelligent manufacturing field, more particularly, to multistation foot pad intelligent grabbing
Erecting device.
Background technology
Under the overall background of industrial 4.0 intelligence manufactures, intelligent plant is the marrow for realizing intelligence manufacture, and lean production is intelligence
The foundation stone that can be manufactured, industrial robot is optimal assistant, realizes the basic automation of production line and can largely improve life
Efficiency is produced, reduces production cost.With reference to industrial robot and according to the special end effector of specific functional design (including folder
Tool, plumb joint, screw winding device etc.), automating, being intelligent for a large amount of repetitive operations in air-conditioning production process is realized, can
It is rapid to improve production efficiency per capita, improve unmanned, the safe of production line.
Outdoor machine of air-conditioner compressor is the main part of outdoor machine of air-conditioner, when on outdoor machine of air-conditioner bottom plate, it is ensured that pressure
The vibrations of contracting machine work are reduced to minimum, and increase service life on bottom plate, it is necessary to install three rubber mats.In traditional sky
Adjust in outer machine production line, it is necessary to which worker installs foot pad manually, because the weight of outdoor machine of air-conditioner is larger, it is difficult between each station
Transfer is realized, to spend larger manpower and materials to realize each assembling process.It can be avoided using an automatic production line
These problems, the main part of the outdoor machine of air-conditioner continuous onwards transmission on the guide rail that automatic running is transmitted, are made by locking system
Outer owner's body is stopped at each station, and the action of various repetitions is completed by industrial robot.
Industrial robot will realize various actions, it is necessary to have the end effector that can complete various functions to coordinate with it, especially
It is when installing air-conditioning foot pad, is badly in need of designing a kind of foot pad intelligent grabbing and erecting device, to perform the crawl of foot pad and peace
Dress, realize foot pad feeding, crawl, transhipment, the automation of installation.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of multistation foot pad intelligent grabbing peace
Assembling device, wherein with reference to the own characteristic of air-conditioning automatic production line, respective design is applied to the assembling of outdoor machine of air-conditioner foot pad
Multistation foot pad intelligent grabbing erecting device, and to its key component such as foot pad feed mechanism and three station foots pad crawl fixture
Structure and its specific set-up mode are studied and designed, and can effectively solve the outer machine production line production efficiency of traditional air conditioner accordingly
Low, the shortcomings of production cost is high, realize the automatic of air conditioner compressed under-chassis pad installation procedure in outdoor machine of air-conditioner intellectuality production process
Change, be intelligent.
To achieve the above object, the present invention proposes a kind of multistation foot pad intelligent grabbing erecting device, and the device includes
Foot pad feed mechanism, three station foots pad crawl fixture and manipulator, wherein：
The foot pad feed mechanism includes annular vibration feeding table, linear transmission guide rail, positioning support structure, locking structure
And photoelectric sensor, the linear transmission guide rail are connected with the annular vibration feeding table, the foot pad in feeding table is conveyed
To its end, the positioning support structure is located at the underface of the linear transmission guide rail end, for being delivered to straight-line transmitting
The foot pad of defeated guide rail end plays support positioning action, and the locking structure is located at the surface of the linear transmission guide rail end,
For playing locking positioning to next foot pad for being delivered to linear transmission guide rail end, the photoelectric sensor is located at conveying
To the side of the foot pad of linear transmission guide rail end, for detecting whether foot pad is transported to specified location；
The three stations foot pad crawl fixture includes robotic connector, star-like part and three steering placement units, institute
State three station foots pad crawl fixture by robotic connector with the manipulator to be connected, described three turn to placement unit installation
On the star-like part, and circumferentially it is uniformly distributed, the steering placement unit includes air-actuated jaw and direction turning piece, the steering
Piece is horizontally arranged on star-like part, and the air-actuated jaw is vertically installed on the direction turning piece.
As it is further preferred that the annular vibration feeding table is located on fixed mount, it is cirque structure, inside it
Provided with spirally-guided face, for the submitting of foot pad.
As it is further preferred that the positioning support structure includes supporting bar and cylinder, the supporting bar is described
Make elevating movement under the driving of cylinder, it is designed to two-stage structure, and wherein epimere is the support bar that diameter is less than foot pad interior diameter,
Hypomere is the support column that diameter is more than foot pad interior diameter, and the cylinder is arranged on fixed mount.
As it is further preferred that the locking structure includes drive cylinder and two locks for being smaller than foot pad overall diameter
Only bar, two locking rods are connected with the drive cylinder, and make elevating movement under the driving of drive cylinder, the driving
Cylinder is arranged on fixed mount.
As it is further preferred that the photoelectric sensor includes the transmitting terminal and receiving terminal installed in foot pad both sides, institute
State transmitting terminal to be used to send infrared light or visible ray, the receiving terminal is used to receive the optical signal that the transmitting terminal is sent.
As it is further preferred that the air-actuated jaw includes gas actuating device and claw, gas actuating device it is upper
End is connected with direction turning piece, and lower end is connected with claw, and the claw is two pawl structures, and two pawl inner faces are in cylinder concave surface shape, and it half
Footpath is identical with the external diameter of foot pad, and height is more than the height of foot pad, and the bottom of claw is provided with annular projection, to be stuck in foot pad
In the groove of outer ring, so as to prevent it from dropping.
As it is further preferred that the robotic connector includes ring flange and connector, it passes through ring flange and machine
Tool hand is threadedly coupled, and is connected by connector with star-like part.
In general, by the contemplated above technical scheme of the present invention compared with prior art, mainly possess following
Technological merit：
A kind of 1. multistation foot pad intelligent grabbing erecting device provided by the invention, wherein three station foots pad crawl fixture is made
Coordinate for end effector and industrial robot, and aid in foot pad automatic feeder, realize the feeding of foot pad, crawl, transhipment,
The automation of installation, solve the problems such as outer machine production line low production efficiency of traditional air conditioner, production cost is high, realize outside air-conditioning
It is quick-witted compressor of air conditioner foot pad installation procedure to automate, be intelligent during metaplasia production, three station foots pad crawl fixture
Three air-actuated jaws are independently captured, installed, and the step for realizing multistation is realized, is reduced the staff on production line, is carried
High efficiency, reduce production cost.
2. the foot pad feed mechanism of the present invention includes annular vibration feeding table, linear transmission guide rail, positioning support structure, lock
Only structure and photoelectric sensor, can be automatically by pin to be installed by the annular vibration feeding table and linear transmission guide rail of the present invention
Pad is delivered to specified location, and the effective support and positioning of foot pad to be captured can be realized by the positioning support structure of the present invention, is led to
Effective locking and the positioning of foot pad can be realized by crossing the locking structure of the present invention, can accurately be detected by the photoelectric sensor of the present invention
Whether foot pad is transported to specified location.
3. the three station foots pad crawl fixture of the present invention is provided with three steering placement units, each to turn in placement unit
Claw is two pawl structures, and two pawl inner faces are designed to cylinder concave surface shape, and its radius is identical with foot pad external diameter, highly more than foot pad height
Degree, and its bottom design has annular projection, can effectively capture foot pad to be installed by the claw of the structure, pass through annular projection
Claw can be stuck in the outer ring groove of foot pad, to prevent foot pad from dropping.
Brief description of the drawings
Fig. 1 is the installation diagram of the multistation foot pad intelligent grabbing erecting device of the embodiment of the present invention；
Fig. 2A is the installation diagram of the foot pad feed mechanism of the embodiment of the present invention；
Fig. 2 B are the structural representations of the foot pad feed mechanism of the embodiment of the present invention；
Fig. 2 C are the structural representations of the foot pad of the embodiment of the present invention；
Fig. 2 D are the foot pad location panel scheme of installations of the embodiment of the present invention；
Fig. 2 E are the structural representations of the positioning support structure of the embodiment of the present invention；
Fig. 2 F are the structural representations of the locking structure of the embodiment of the present invention；
Fig. 2 G are the structural representations of the photoelectric sensor of the embodiment of the present invention；
Fig. 3 A are the stereograms of the three station foots pad crawl fixture of the embodiment of the present invention；
Fig. 3 B are the direction turning piece of the embodiment of the present invention and the installation diagram of air-actuated jaw；
Fig. 3 C are installation diagram of the direction turning piece with star-like part of the embodiment of the present invention；
Fig. 3 D are the structural representations of the robotic connector of the embodiment of the present invention；
Fig. 3 E are the structural representations of the air-actuated jaw of the embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
As shown in figure 1, a kind of multistation foot pad intelligent grabbing erecting device provided in an embodiment of the present invention, the device are main
Including foot pad feed mechanism 100, three station foots pad crawl fixture 200 and manipulator 300, wherein, foot pad feed mechanism 100 is one
Independent feeding device, it is used to foot pad is delivered into specified location by certain circuit, and it pacifies respectively with the manipulator 300
Mounted in the both sides of air-conditioning production line, it is defeated by foot pad feed mechanism 100 that the three stations foot pad crawl fixture 200 is used for crawl
The foot pad of specified location is delivered to, it is installed on manipulator 300, and the manipulator 300 controls three station foots pad by preprogramming
The motion of fixture 200 is captured, it captures fixture by three station foots pad across production line and captures foot pad, then pacifies foot pad
On the outdoor machine of air-conditioner bottom plate of stop on streamline.In this way, by the mutual cooperation of all parts, multiplexing is realized
The intelligent grabbing of position foot pad and installation, have the advantages that simple in construction, easy to operate, can effectively improve production efficiency, save
Production cost.
As shown in Figure 2 A, foot pad feed mechanism 100 includes annular vibration feeding table 110, linear transmission guide rail 120, positioning
Supporting construction 130, locking structure 140 and photoelectric sensor 150, these above-mentioned parts are arranged on fixed mount, the straight line
Transmission guide rail 120 is connected with the annular vibration feeding table 110, and the foot pad in feeding table is delivered into its end；It is described fixed
Position supporting construction 130 is located at the underface of the end of linear transmission guide rail 120, for being delivered to linear transmission guide rail end
Foot pad rise support positioning action, the foot pad in the position etc. be mounted to arm end fixture crawl；The locking
Structure 140 is located at the surface of the end of linear transmission guide rail 120, for being delivered to linear transmission guide rail end to next
Foot pad play locking positioning, the photoelectric sensor 150 is located at the side for the foot pad for being delivered to linear transmission guide rail end,
For detecting whether foot pad is transported to specified location.Wherein, the structure of foot pad as shown in Figure 2 C, its generally hollow cylinder ring
Shape structure, the outer surface of cylindrical annular structure are provided with external groove, and it is made up of elastic plastic material.
As shown in Figure 2 B, annular vibration feeding table 110 is cirque structure, spirally-guided face is internally provided with, for pin
The submitting of pad, it is located on fixed mount.When having enough foots pad in the spirally-guided face of annular vibration feeding table 110,
Annular vibration feeding table is constantly shaken, and foot pad is sent into line slideway according to certain direction is transmitted.The straight line
Transmission guide rail 120 is arranged on the end of annular vibration feeding table, and it is rectangular channel that is horizontal, closing, to constrain the straight of foot pad
Line moves.As shown in Figure 2 D, in the end of linear transmission guide rail 120, foot pad location panel is supported by fixed support 134
135, the groove shapes with the position correspondence of positioning support structure 130 are designed with foot pad location panel, are accurately positioned in foot pad
The surface of positioning support structure 130.
As shown in Figure 2 E, positioning support structure 130 includes supporting bar and cylinder 133, and the cylinder 133, which is arranged on, to be fixed
On frame, the supporting bar makees elevating movement under the driving of the cylinder 133, and it is designed to two-stage structure, and wherein epimere is
Diameter is less than the support bar 131 of foot pad interior diameter, and hypomere is the support column 132 that diameter is more than foot pad interior diameter, thus, passes through branch
Strut 131 can be inserted into the inside of foot pad, and the support to foot pad can be achieved by the contact with foot pad bottom of support column 132,
And then under the drive of cylinder 133, the up and down motion of foot pad can be achieved.
As shown in Figure 2 F, locking structure 140 includes drive cylinder 141 and two locking rods for being smaller than foot pad overall diameter
142, the drive cylinder 141 is arranged on fixed mount by support frame, two locking rods 142 and the drive cylinder
141 are connected, and make elevating movement under the driving of drive cylinder 141, and the line space design between two locking rods 142 is into less than pin
When padding overall diameter, thus, by the motion of drive cylinder 141, two locking rods 142 are driven to move, and then make two locking rods
142 block foot pad overall diameter, do not allow it to move forward, to realize that the locking of foot pad positions.
As shown in Figure 2 G, photoelectric sensor 150 includes the transmitting terminal 151 and receiving terminal 152 installed in foot pad both sides, wherein
Transmitting terminal 151 is used to send infrared light or visible ray, and in the case of unobstructed, receiving terminal 152 can receive transmitting terminal 151
The optical signal sent, when the centre position that foot pad is transferred to transmitting terminal and receiving terminal is ready, the optical signal of receiving terminal 152
It is blocked, optoelectronic switch just acts, and exports a switch controlling signal, connects load current, completes a control action.
As shown in figs. 3 a-3 c, three station foots pad crawl fixture 200 includes robotic connector 240, the and of star-like part 230
Three steering placement units, the three stations foot pad crawl fixture 200 pass through robotic connector 240 and the manipulator 300
It is connected, described three turn to placement unit and are arranged on the star-like part 230, and are circumferentially uniformly distributed and (are mutually 120 °),
Each placement unit that turns to includes air-actuated jaw 210 and direction turning piece 220, i.e. the number of air-actuated jaw 210 and direction turning piece 220 is equal
For three, three air-actuated jaws 210 are mutually 120 ° of arrangements, and three direction turning pieces 220 are mutually 120 ° of arrangements, and angle keeps constant.Institute
State direction turning piece 220 to be horizontally arranged on star-like part 230, and be connected through a screw thread, the air-actuated jaw 210 can provide certain
Grasp force, it is vertically installed on the direction turning piece 220, and is connected through a screw thread.
As shown in Figure 3 D, robotic connector 240 includes the ring flange and connector that are connected with each other, wherein, ring flange with
Manipulator is threadedly coupled, and connector is connected with star-like part 230, and three station foots pad crawl fixture 200 is arranged on into machinery with this
On hand, to capture the carry out spatial movement of fixture 200 by mechanical hand-motion foot pad, with reference to the retinue working plate of air-conditioning bottom plate,
Realize the crawl and installation of three different station foots pad.
As shown in FIGURE 3 E, air-actuated jaw 210 includes gas actuating device 211 and claw 212, gas actuating device 211
Upper end is connected with direction turning piece 220, and lower end is connected with claw 212.Specifically, each claw 212 is controlled by single gas circuit, energy
Enough work independently (including capture, install), and claw 212 is two pawl structures, and two pawl inner faces are in cylinder concave surface shape, its radius and pin
The external diameter of pad is identical, and height is more than the height of foot pad, and the bottom of claw is provided with annular projection, recessed to be stuck in the outer ring of foot pad
In groove, so as to prevent it from dropping.Gas actuating device 211 is controlled by gas circuit, and two pawls of driving claw 212 make move toward one another,
Foot pad is clamped, or makees mutually to unclamp foot pad from motion.
The specifically used process of the multistation foot pad intelligent grabbing erecting device of the present invention is described in detail below.
First, foot pad is put into annular vibration feeding table, then foot pad is sent into directly according to certain direction through vibrations
Line guide rail, to transmit to the end of linear transmission guide rail, now located at linear transmission guide rail end positioning support structure branch
Strut member makees elevating movement under cylinder driving, and support positioning action is played to the front foot pad of working as being transported to line slideway end,
With by when the vertical crawl position for being supported on robot reservation of front foot pad, the folder of arm end is installed on when front foot pad waits
Tool is captured, and the locking structure 140 located at linear transmission guide rail end is then transported to line slideway end to next
Foot pad play locking positioning action, to avoid next foot pad from influenceing the crawl when front foot pad；Then, manipulator by compiling in advance
The foot pad crawl fixture of its end of process control carries out spatial movement (translation and rotation), realizes the conversion of different station, captures quilt
It is transported to the front foot pad of working as of line slideway end, after capturing foot pad, foot pad is transported to the outdoor machine of air-conditioner stopped on streamline
At bottom plate, and foot pad is arranged on outdoor machine of air-conditioner bottom plate, with this, realizes the crawl and installation of foot pad.
In whole crawl and installation process, receiving terminal 152 can receive transmitting terminal in the case where stopping without foot pad
151 optical signals sent, when the centre position that foot pad is transferred to transmitting terminal and receiving terminal is ready, the light of receiving terminal 152
Signal is blocked, and optoelectronic switch action, exports a switch controlling signal, connects load current, positioning support structure is to moving up
It is dynamic, foot pad is jacked up to precalculated position, wait fixture crawl, while control locking structure 140 then to move down, the next pin of locking
Pad arrives；After the foot pad on positioning support structure 130 is captured by fixture 200, the signal of photoelectric sensor 150 is not hidden by foot pad
Gear, optoelectronic switch are acted again, export a switch controlling signal, and control positioning support structure 130 is moved down, slided simultaneously
Locking structure 140 moves up, and next foot pad is transferred to precalculated position from line slideway 120, continues waiting for fixture crawl.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (7)
- A kind of 1. multistation foot pad intelligent grabbing erecting device, it is characterised in that the device include foot pad feed mechanism (100), Three station foots pad crawl fixture (200) and manipulator (300), wherein：The foot pad feed mechanism (100) includes annular vibration feeding table (110), linear transmission guide rail (120), positioning support knot Structure (130), locking structure (140) and photoelectric sensor (150), the linear transmission guide rail (120) are sent with the annular vibration Expect that platform (110) is connected, the foot pad in feeding table is delivered to its end, the positioning support structure (130) is located at described straight The underface of line transmission guide rail (120) end, for being delivered to being positioned when front foot pad plays support for linear transmission guide rail end Effect, the locking structure (140) is located at the surface of linear transmission guide rail (120) end, for next conveying Foot pad to linear transmission guide rail end plays locking positioning, and the photoelectric sensor (150) is located at and is delivered to linear transmission Guide rail end when the side of front foot pad, for detecting whether foot pad is transported to specified location；The three stations foot pad crawl fixture (200) includes robotic connector (240), star-like part (230) and three steerings Placement unit, the three stations foot pad crawl fixture (200) pass through robotic connector (240) and the manipulator (300) phase Even, described three turn to placement unit on the star-like part (230), and are circumferentially uniformly distributed, steering crawl Unit includes air-actuated jaw (210) and direction turning piece (220), and the direction turning piece (220) is horizontally arranged on star-like part (230), The air-actuated jaw (210) is vertically installed on the direction turning piece (220).
- 2. multistation foot pad intelligent grabbing erecting device as claimed in claim 1, it is characterised in that the annular vibration feeding Platform (110) is located on fixed mount, and it is cirque structure, is internally provided with spirally-guided face, for the submitting of foot pad.
- 3. multistation foot pad intelligent grabbing erecting device as claimed in claim 1 or 2, it is characterised in that the positioning support Structure (130) includes supporting bar and cylinder (133), the supporting bar make elevating movement under the driving of the cylinder (133), It is designed to two-stage structure, and wherein epimere is the support bar (131) that diameter is less than foot pad interior diameter, and hypomere is that diameter is more than foot pad The support column (132) of interior diameter, the cylinder (133) are arranged on fixed mount.
- 4. multistation foot pad intelligent grabbing erecting device as claimed in claim 3, it is characterised in that the locking structure (140) drive cylinder (141) and two locking rods (142) for being smaller than foot pad overall diameter, two locking rods are included (142) it is connected with the drive cylinder (141), and makees elevating movement under the driving of drive cylinder (141), the drive cylinder (141) it is arranged on fixed mount.
- 5. multistation foot pad intelligent grabbing erecting device as claimed in claim 4, it is characterised in that the photoelectric sensor (150) transmitting terminal (151) and receiving terminal (152) installed in foot pad both sides are included, wherein, the transmitting terminal (151) is used to send out Go out infrared light or visible ray, the receiving terminal (152) is used to receive the optical signal that the transmitting terminal (151) is sent.
- 6. multistation foot pad intelligent grabbing erecting device as claimed in claim 5, it is characterised in that the air-actuated jaw (210) gas actuating device (211) and claw (212), upper end and direction turning piece (220) phase of gas actuating device (211) are included Even, lower end is connected with claw (212), and the claw (212) is two pawl structures, and two pawl inner faces are in cylinder concave surface shape, its radius It is identical with the external diameter of foot pad, and height is more than the height of foot pad, and the bottom of claw is provided with annular projection, to be stuck in the outer of foot pad Enclose in groove, so as to prevent it from dropping.
- 7. multistation foot pad intelligent grabbing erecting device as claimed in claim 6, it is characterised in that the robotic connector (240) ring flange and connector are included, it is threadedly coupled by ring flange with manipulator, and passes through connector and star-like part (230) it is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610318820.4A CN105880967B (en) | 2016-05-16 | 2016-05-16 | Multistation foot pad intelligent grabbing erecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610318820.4A CN105880967B (en) | 2016-05-16 | 2016-05-16 | Multistation foot pad intelligent grabbing erecting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105880967A CN105880967A (en) | 2016-08-24 |
| CN105880967B true CN105880967B (en) | 2017-11-14 |
Family
ID=56716298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610318820.4A Expired - Fee Related CN105880967B (en) | 2016-05-16 | 2016-05-16 | Multistation foot pad intelligent grabbing erecting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105880967B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160152A (en) * | 2017-06-02 | 2017-09-15 | 珠海格力智能装备有限公司 | Installation mechanism and compressor processing device with same |
| CN107215679A (en) * | 2017-06-29 | 2017-09-29 | 东莞三润田智能科技股份有限公司 | Drum-type rivet loader |
| CN107414454A (en) * | 2017-09-12 | 2017-12-01 | 浙江屹纬精密技术有限公司 | A kind of dress shell side method for headlight for vehicles lamp holder |
| CN108081312A (en) * | 2017-11-03 | 2018-05-29 | 上海工程技术大学 | A kind of robot mechanical arm centering calibration system for being used to capture miniature parts |
| CN110394639B (en) * | 2019-08-01 | 2020-10-23 | 珠海格力智能装备有限公司 | Nut distributing and fastening device |
| CN112059569A (en) * | 2020-07-23 | 2020-12-11 | 中国电器科学研究院股份有限公司 | Clamp compatible with mounting of foot pads of various compressors and flexible production line |
| CN112518634B (en) * | 2020-11-26 | 2022-05-27 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH047863Y2 (en) * | 1986-07-18 | 1992-02-28 | ||
| CN101590594B (en) * | 2009-06-26 | 2011-01-12 | 深圳市麦肯机电有限公司 | Lamp hole automatically assembling machine |
| CN201950446U (en) * | 2011-01-27 | 2011-08-31 | 惠州市华阳多媒体电子有限公司 | Automatic assembly machine of motor casing and steel shaft |
| CN202137569U (en) * | 2011-06-08 | 2012-02-08 | 周俊雄 | Pin plugging machine for radiators |
| CN202726414U (en) * | 2012-06-25 | 2013-02-13 | 昆山市创新科技检测仪器有限公司 | Gasket feeding device |
-
2016
- 2016-05-16 CN CN201610318820.4A patent/CN105880967B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105880967A (en) | 2016-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105880967B (en) | Multistation foot pad intelligent grabbing erecting device | |
| US9043022B2 (en) | Robot system and method of manufacturing workpiece | |
| WO2019136996A1 (en) | Ceramic tile truss robot, and walking method therefor | |
| CN111591754B (en) | Shaft part conveying robot | |
| CN108214535A (en) | A kind of Synchronization Control manipulator | |
| CN203521465U (en) | Led die bonder | |
| CN209504144U (en) | A kind of cup grasping mechanism | |
| CN110625603A (en) | Rotary industrial robot equipment | |
| CN205734904U (en) | A kind of casing catching robot | |
| CN206153881U (en) | A assembly machine for assembling gear, bearing and gear shaft | |
| CN105712077A (en) | Hub carrying paw and hub carrying device | |
| CN103832840A (en) | Air brick stacking manipulator system and control method | |
| CN104816113A (en) | Three-freedom-level welding robot and control system thereof | |
| KR20210036579A (en) | Parts assembling system and method | |
| CN211759748U (en) | Automatic key cap assembling machine | |
| CN110277712A (en) | Wire harness forming and feeding device | |
| CN210936830U (en) | Quick-change system for improving linear seven-axis production rhythm | |
| CN115241781A (en) | Control cabinet or electrical cabinet back plate assembly production line and assembly process thereof | |
| CN213927352U (en) | Spraying robot | |
| CN117140494A (en) | Truss manipulator for carrying | |
| CN218612762U (en) | Automatically controlled cabinet intelligence assembly line | |
| CN106956253A (en) | Three Degree Of Freedom cylindrical coordinates industrial robot | |
| CN105251700B (en) | The grade distance regulating mechanism of automatic separation equipment | |
| CN208231792U (en) | A kind of loading and unloading transplanting machine arm device | |
| CN104670850A (en) | Supply device for conveying blanks, loading robot and machining system of blanks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171114 Termination date: 20180516 |