CN106625649A - Integrated hand grab for automatically overturning and replacing robot workpiece - Google Patents
Integrated hand grab for automatically overturning and replacing robot workpiece Download PDFInfo
- Publication number
- CN106625649A CN106625649A CN201710078871.9A CN201710078871A CN106625649A CN 106625649 A CN106625649 A CN 106625649A CN 201710078871 A CN201710078871 A CN 201710078871A CN 106625649 A CN106625649 A CN 106625649A
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- handgrip
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 42
- 238000009434 installation Methods 0.000 claims description 21
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000007704 transition Effects 0.000 claims description 4
- 238000001727 in vivo Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 12
- 230000009471 action Effects 0.000 description 4
- 238000004080 punching Methods 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an integrated hand grab for automatically overturning and replacing a robot workpiece. The integrated hand grab can complete the full process of grabbing the workpiece, overturning the workpiece and putting into the next working procedure, thereby saving the automatic press line input cost and use cost, and providing the production efficiency. The integrated hand grab comprise a base module, the base module can move along X-axis and Y-axis; the output end at the upper part of the base module is fixedly equipped with a connecting base, two mounting cavities are upwardly formed in parallel on the connecting base corresponding to the Y-axis, the Y-directional mounting shaft is fixedly arranged after penetrating the side walls of two mounting cavities, inner rings of two gears are respectively sleeved to correspond to the Y-directional mounting shaft in the mounting cavities after being equipped with the bearings, inner sides of the two gears corresponding to the connecting base are respectively engaged with a Z-axis rack, and the lower end of each Z-axis rack is fixedly arranged on an upper part piston rod of the Z-axis linear cylinder.
Description
Technical field
The present invention relates to the technical field of the workpiece turning of automatic stamping line, specially robot workpiece automatic turning and
The integrated handgrip of replacement.
Background technology
When the product structure being stamped needs to carry out two-sided punching press, that is, need again to overturn 180 ° after workpiece one side punching press
Punching press is carried out, the robot manipulating task structure of prior art is as follows, robot first is taken out workpiece from First forcing press and is put into and turns over
After favourable turn, tipper are by workpiece turning, workpiece are extracted from tipper by robot second and is placed in second forcing press, so
Operation needs two robots and a tipper, and it causes the manufacturing cost of automatic stamping line high, and due to needing through turning over
Favourable turn transfer so that the low production efficiency of whole piece punching press producing line.
The content of the invention
For the problems referred to above, the invention provides robot workpiece automatic turning and the integrated handgrip of replacement, the one
Changing handgrip can complete grabbing workpiece, the overall process for overturning workpiece, being put into next procedure, so as to save automatic stamping line input
Cost and use cost, and there is provided production efficiency.
Robot workpiece automatic turning and the integrated handgrip of replacement, it is characterised in that：It includes pedestal module, the base
Seat module can X-axis, Y-axis movement, the upper output terminal of the pedestal module is fixed with connection pedestal, the correspondence of the connection pedestal
Being arranged in parallel in Y-axis has two installation cavities, and Y-direction installation axle is fixedly mounted with arrangement through the side wall of two installation cavities,
The inner ring of two gears is fixed with after bearing the Y-direction installation axle being set with the correspondence installation cavity, two gear mesh
The inner side for connecting pedestal described in Ying Yu is engaged with respectively Z axis tooth bar, and it is straight that the lower end per Z axis tooth bar described in root is installed in respectively Z axis
The upper piston bar of line cylinder, each described Z axis straight line cylinder be installed in respectively it is described connection pedestal corresponding side position, two
Gear is respectively first gear, second gear, and the first handgrip mould is fixed with the side towards forcing press of the first gear
The inner side rod end of group, is fixed with the inner side rod end of the second handgrip module, institute on the side towards forcing press of the second gear
The first handgrip module is stated including head rod, the first handgrip, first handgrip is arranged in the outside of the head rod
End, the second handgrip module includes the second connecting rod, the second handgrip, and the outfan of second connecting rod can be carried out relatively
The central shaft of the second connecting rod rotates, and the outfan of second connecting rod is connected with second handgrip, head rod,
Second handgrip described in when second connecting rod is in horizontal parallel state is less than first handgrip.
It is further characterized by：
Transition from inside to outside is included in the middle part of the head rod and avoids end, it guarantees that head rod, second connect
Second handgrip described in when extension bar is in horizontal parallel state is less than first handgrip so that will not produce interference；
Second connecting rod includes serpentine pipe, straight line cylinder, and the serpentine pipe is connected by serpentine pipe couplings
The respective side of the second gear, the serpentine pipe includes spun outer tube, inner core, and the inner core is positioned at the rotation by bearing
Turn in the installation cavity body of outer tube, the part for exposing to the spun outer tube of the inner core is fixed with cylinder mounting plate, the gas
The straight line cylinder is fixed with cylinder installing plate, the piston rod of the straight line cylinder is located in the centre bore of the inner core, described
Straight-line guidance groove is provided with the outer wall of inner core, helix gathering sill is provided with the spun outer tube, the straight line cylinder
The end side of piston rod is convex and through the straight-line guidance groove, helix gathering sill；
The spun outer tube is installed in the side of the serpentine pipe couplings, the spiral by outer tube fixing nut
Pipe couplings are installed in the corresponding dowel hole position of the second gear by cylinder finger setting；
The end of the piston rod of straight line cylinder is fixed with straight trip conduit, the straight trip conduit it is convex with side, the side is convex
On be set with guide bearing, the guide bearing is flush-mounted in the straight-line guidance groove, helix gathering sill；
The support side of each Z axis tooth bar is flush-mounted in corresponding Z axis linear slide rail, the Z axis linear slide rail difference
It is installed in the correspondence position of the connection pedestal, it is ensured that the linear motion of Z axis tooth bar is accurate；
The cylinder seat other end of the straight line cylinder is fixed with rotating inner tube, and the rotating inner tube connects second handgrip
Mounting seat, second handgrip can be rotated under the action of straight line cylinder, so guarantee the second handgrip can sticking from first
The workpiece of handgrip decentralization, then completes the upset for workpiece.
After using above-mentioned technical proposal, the first handgrip, the second handgrip pass through respectively each self-corresponding Z axis straight line cylinder, Z axis
Tooth bar, gear drive, complete the first handgrip, the second handgrip and are rotated by 90 ° up or down；When the first handgrip passes in and out dies cavity
When, the second handgrip be in ± 90 ° so that two handgrips work when, will not produce interference between two handgrips, afterwards the first handgrip, second
Handgrip rotates along Y-axis so that the second handgrip described in when head rod, the second connecting rod are in horizontal parallel state is less than described
First handgrip, and the workpiece of the first handgrip institute sticking is located at the holding face top of the second handgrip, i.e. the first handgrip, the second handgrip
Sucker bottom completes for workpiece to be transferred to the second handgrip from the first handgrip in face-off shape, afterwards with the second handgrip in the second connection
Central shaft in the presence of bar relative to the second connecting rod is rotated so that workpiece is reversed 180 °, is easy to workpiece from first
Handgrip is transferred to the second handgrip, and afterwards in corresponding mould, then the second handgrip puts the workpiece under the drive of pedestal module
Reset is exited, a machine of realizing completes to capture operation under transfer, the feeding of operation workpiece, 180 ° of upset, workpiece between two handgrips
Action, the integrated handgrip can complete grabbing workpiece, the overall process for overturning workpiece, being put into next procedure, so as to save automatically
Change punch line input cost and use cost, and there is provided production efficiency.
Description of the drawings
Fig. 1 is the vertical view figure structure schematic representation of the present invention；
Fig. 2 is the A-A of Fig. 1 to cross section structure diagram；
Fig. 3 is the B-B direction cross section structure diagram of Fig. 1；
Fig. 4 is the workflow diagram one of the present invention；
Fig. 5 is the workflow diagram two of the present invention；
Fig. 6 is the workflow diagram three of the present invention；
Fig. 7 is the workflow diagram four of the present invention；
Fig. 8 is the workflow diagram five of the present invention；
Fig. 9 is the workflow diagram six of the present invention；
Figure 10 is the workflow diagram seven of the present invention；
Figure 11 is the workflow diagram eight of the present invention；
Figure 12 is the workflow diagram nine of the present invention；
Figure 13 is the workflow diagram ten of the present invention；
Title in figure corresponding to sequence number is as follows：
Pedestal module 1, connection pedestal 2, installation cavity 3, Y-direction installation axle 4, bearing 5, Z axis tooth bar 6, Z axis straight line cylinder 7,
Upper piston bar 8, first gear 9, second gear 10, the first handgrip module 11, the second handgrip module 12, head rod 13,
First handgrip 14, the second connecting rod 15, the second handgrip 16, serpentine pipe 17, straight line cylinder 18, serpentine pipe couplings 19, rotation
Turn outer tube 20, inner core 21, install cavity 22, cylinder mounting plate 23, piston rod 24, straight-line guidance groove 25, helix gathering sill 26,
Outer tube fixing nut 27, straight pin 28, straight trip conduit 29, side convex 30, guide bearing 31, Z axis linear slide rail 32, rotating inner tube
33rd, transition from inside to outside avoids end 34.
Specific embodiment
Robot workpiece automatic turning and the integrated handgrip of replacement, are shown in Fig. 1～Figure 13：It includes pedestal module 1, pedestal
Module 1 can X-axis, Y-axis movement, the upper output terminal of pedestal module 1 is fixed with connection pedestal 2, connect pedestal 2 corresponding to Y-axis
Being arranged in parallel upwards has two installation cavities 3, and Y-direction installation axle 4 is fixedly mounted with arrangement, two teeth through the side wall of two installation cavities 3
The inner ring of wheel is fixed with after bearing 5 the Y-direction installation axle 4 being set with correspondence installation cavity 3, and two gears are corresponding to connection
The inner side of pedestal 2 is engaged with respectively Z axis tooth bar 6, and the lower end of every Z axis tooth bar 6 is installed in respectively the top of Z axis straight line cylinder 7
Piston rod 8, each Z axis straight line cylinder 7 is installed in respectively the corresponding side position of connection pedestal 2, and two gears are respectively the first tooth
Wheel 9, second gear 10, is fixed with the inner side rod end of the first handgrip module 11 on the side towards forcing press of first gear 9, the
The inner side rod end of the second handgrip module 12 is fixed with the side towards forcing press of two gears 10, the first handgrip module 11 includes
Head rod 13, the first handgrip 14, the first handgrip 14 is arranged in the outside end of head rod 13, the second handgrip module 12
Including the second connecting rod 15, the second handgrip 16, the outfan of the second connecting rod 15 can carry out the center of relative second connecting rod 15
Axle rotates, and the outfan of the second connecting rod 15 is connected with second handgrip 16, and head rod 12, the second connecting rod 15 are in water
The second handgrip 16 is less than the first handgrip 14 during flat parastate.
The middle part of head rod 13 includes transition from inside to outside and avoids end 34, and it guarantees head rod 13, second
The second handgrip 16 is less than the first handgrip 14 when connecting rod 15 is in horizontal parallel state so that will not produce interference；
Second connecting rod 15 includes serpentine pipe 17, straight line cylinder 18, and serpentine pipe 17 is connected by serpentine pipe couplings 19
The respective side of second gear 10 is connect, serpentine pipe 17 includes spun outer tube 20, inner core 21, and it is outer that inner core 20 is positioned at rotation by bearing
In the installation cavity 22 of pipe 20, the part for exposing to spun outer tube 20 of inner core 21 is fixed with cylinder mounting plate 23, and cylinder is installed
Straight line cylinder 18 is fixed with plate 23, the piston rod 24 of straight line cylinder 18 is located in the centre bore of inner core 21, the outer wall of inner core 21
On be provided with straight-line guidance groove 25, helix gathering sill 26 is provided with spun outer tube 20, the piston rod 24 of straight line cylinder 18
End side is convex and through straight-line guidance groove 25, helix gathering sill 26；
The length of helix gathering sill 26 guarantees that straight line cylinder is rotatable 180 °；
Spun outer tube 20 is installed in the side of serpentine pipe couplings 19, serpentine pipe gear by outer tube fixing nut 27
Adapter 19 is installed in the corresponding dowel hole position of second gear 10 by the positioning of straight pin 28；
The end of the piston rod 24 of straight line cylinder 18 be fixed with straight trip conduit 29, keep straight on conduit 29 with side convex 30, side
Guide bearing 31 is set with convex 30, guide bearing 31 is flush-mounted in straight-line guidance groove 25, helix gathering sill 26；
The support side of each Z axis tooth bar 6 is flush-mounted in corresponding Z axis linear slide rail 32, and Z axis linear slide rail 32 is fixedly mounted with respectively
In the correspondence position of connection pedestal 2, it is ensured that the linear motion of Z axis tooth bar 6 is accurate；
The cylinder seat other end of straight line cylinder 18 is fixed with rotating inner tube 33, and rotating inner tube 33 connects the installation of the second handgrip 16
Seat, the second handgrip 16 can be rotated under the action of straight line cylinder 18, and then guarantee the second handgrip 16 can sticking grab from first
The workpiece of the decentralization of handss 14, then completes the upset for workpiece.
First handgrip 14, the second handgrip 16 can complete absorption, above-mentioned functions knot by electromagnetic adsorption, the structure of pneumatic suction
Structure is existing mature technology, is not belonging to the innovative point of the present invention, therefore repeats no more.
Its operation principle is as follows：After using above-mentioned technical proposal, the first handgrip 14, the second handgrip 16 are respectively by each right
Z axis straight line cylinder 7, the Z axis tooth bar 6, gear drive answered, completes the first handgrip 14, the second handgrip 16 and rotates up or down
90°；When the first handgrip 14 passes in and out the first dies cavity, the second handgrip 16 is in ± 90 ° so that when two handgrips work, two are grabbed
Interference will not be produced between handss, afterwards the first handgrip 14, the second handgrip 16 rotate along Y-axis so that head rod 13, second connects
The second handgrip 16 is less than the first handgrip 14 when bar 15 is in horizontal parallel state, and the workpiece of first 14 stickings of handgrip is located at the
The holding face top of two handgrips 16, i.e. the first handgrip 14, the sucker bottom of the second handgrip 16 are completed workpiece from the in face-off shape
One handgrip 14 is transferred to the second handgrip 16, afterwards the second handgrip 16 in the presence of the second connecting rod 15 relative to the second connecting rod
15 central shaft is rotated so that workpiece is reversed 180 °, is easy to workpiece to be transferred to the second handgrip 16 from the first handgrip 14, real
An existing machine complete to capture operation workpiece, 180 ° of upset, workpiece shift between handgrip, send under process actions, the integration grabs
Handss can complete grabbing workpiece, the overall process for overturning workpiece, being put into next procedure, so as to save automatic stamping line input cost
And use cost, and there is provided production efficiency.
A kind of Fig. 4～Figure 13, there is provided schematic flow sheet being operated using the integrated handgrip：Fig. 4～Figure 13 is
The flow process for sequentially carrying out is illustrated.First handgrip is installed on left bar, and the second handgrip is installed on right bar.
Wherein Fig. 4, left bar is grabbed after suction product, prepares X axis retraction displacement；Right bar with during pedestal module-X axis displacement,
Start and revolved in Y-axis；
Fig. 5, left bar revolves after right bar grabs suction product with pedestal module-X-direction displacement in preparation；Right bar revolves in Y-axis
Suction product lower section is grabbed in preparation, while moving with pedestal module-X-axis position direction；
Fig. 6, left bar is retreated with pedestal module, prepares to be revolved in Y-axis；Right bar grabs suction product lower section, while with pedestal module
Retreat；
Fig. 7, left bar unclamps product and starts to be revolved in Y-axis；When right bar revolves 30 ° on left bar, right bar starts to be overturn around X-axis；
Fig. 8, revolves in left bar continuation, and pedestal module moves laterally along Y-axis；Right bar continues to overturn, while with pedestal module
Make lateral displacement along Y-axis；
Fig. 9, left bar completes rotation, and in place, along X axis movement, right bar completes 180 ° of upsets to lateral displacement, and lateral displacement is arrived
Position, along the movement of pedestal module X axis, by the product that handgrip grabs suction next procedure specified location is put into；
Figure 10, left bar prepares the displacement of edge-X axis with pedestal module；Right bar unclamps product, and with pedestal module edge-X-axis is prepared
To displacement；
Figure 11, prepares around Y-axis backspin while left bar is retreated with the displacement of pedestal edge-X axis；Right bar is with pedestal edge-X axis
Complete to reply upset around Y-axis backspin and around X-axis while displacement；
Figure 12, left bar backspin in place, with pedestal module work-Y-axis displacement；Right bar reply upset in place, backspin in place, and
With pedestal module-Y-axis displacement；
Figure 13, left bar in place, and makees X axis displacement with the displacement of pedestal Y-axis；Right bar with the displacement of pedestal Y-axis in place, and
Make X axis displacement.
The specific embodiment of the present invention has been described in detail above, but content is only the preferable enforcement of the invention
Example, it is impossible to be considered as the practical range for limiting the invention.All impartial changes made according to the invention application range
Change and improve etc., all should still belong within this patent covering scope.
Claims (7)
1. robot workpiece automatic turning and the integrated handgrip of replacement, it is characterised in that：It includes pedestal module, the pedestal
Module can X-axis, Y-axis movement, the upper output terminal of the pedestal module is fixed with connection pedestal, and the connection pedestal is corresponded to
Being arranged in parallel in Y-axis has two installation cavities, and Y-direction installation axle is fixedly mounted with arrangement through the side wall of two installation cavities, and two
The inner ring of individual gear is fixed with after bearing the Y-direction installation axle being set with the correspondence installation cavity, and two gear mesh should
Z axis tooth bar is engaged with respectively in the inner side of the connection pedestal, and the lower end per Z axis tooth bar described in root is installed in respectively Z axis straight line
The upper piston bar of cylinder, each described Z axis straight line cylinder is installed in respectively the corresponding side position of the connection pedestal, two teeth
Wheel is respectively first gear, second gear, and the first handgrip module is fixed with the side towards forcing press of the first gear
Inner side rod end, the inner side rod end of the second handgrip module is fixed with the side towards forcing press of the second gear, it is described
First handgrip module includes head rod, the first handgrip, and first handgrip is arranged in the outside end of the head rod
End, the second handgrip module includes the second connecting rod, the second handgrip, and the outfan of second connecting rod can carry out relative the
The central shaft of two connecting rods rotates, and the outfan of second connecting rod is connected with second handgrip, head rod,
Second handgrip described in when two connecting rods are in horizontal parallel state is less than first handgrip.
2. robot workpiece automatic turning as claimed in claim 1 and the integrated handgrip of replacement, it is characterised in that：Described
Transition from inside to outside is included in the middle part of one connecting rod and avoids end.
3. robot workpiece automatic turning as claimed in claim 1 and the integrated handgrip of replacement, it is characterised in that：Described
Two connecting rods include serpentine pipe, straight line cylinder, and the serpentine pipe connects the second gear by serpentine pipe couplings
Respective side, the serpentine pipe includes spun outer tube, inner core, and the inner core is positioned at the installation cavity of the spun outer tube by bearing
In vivo, the part for exposing to the spun outer tube of the inner core is fixed with cylinder mounting plate, is fixedly mounted with the cylinder mounting plate
The piston rod for having the straight line cylinder, the straight line cylinder is located in the centre bore of the inner core, is set on the outer wall of the inner core
Straight-line guidance groove is equipped with, helix gathering sill, the end side of the piston rod of the straight line cylinder are provided with the spun outer tube
It is convex and through the straight-line guidance groove, helix gathering sill.
4. robot workpiece automatic turning as claimed in claim 3 and the integrated handgrip of replacement, it is characterised in that：The rotation
Turn the side that outer tube is installed in the serpentine pipe couplings by outer tube fixing nut, the serpentine pipe couplings lead to
Cross cylinder finger setting and be installed in the corresponding dowel hole position of the second gear.
5. robot workpiece automatic turning as claimed in claim 3 and the integrated handgrip of replacement, it is characterised in that：Straight line gas
The end of the piston rod of cylinder is fixed with straight trip conduit, the straight trip conduit it is convex with side, be set with the axis of guide on the side is convex
Hold, the guide bearing is flush-mounted in the straight-line guidance groove, helix gathering sill.
6. robot workpiece automatic turning as claimed in claim 1 and the integrated handgrip of replacement, it is characterised in that：Each institute
The support side for stating Z axis tooth bar is flush-mounted in corresponding Z axis linear slide rail, and the Z axis linear slide rail is installed in respectively the connection
The correspondence position of pedestal.
7. robot workpiece automatic turning as claimed in claim 3 and the integrated handgrip of replacement, it is characterised in that：It is described straight
The cylinder seat other end of line cylinder is fixed with rotating inner tube, and the rotating inner tube connects the mounting seat of second handgrip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710078871.9A CN106625649B (en) | 2017-02-14 | 2017-02-14 | Automatic turnover and replacement integrated gripper for robot workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710078871.9A CN106625649B (en) | 2017-02-14 | 2017-02-14 | Automatic turnover and replacement integrated gripper for robot workpiece |
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| Publication Number | Publication Date |
|---|---|
| CN106625649A true CN106625649A (en) | 2017-05-10 |
| CN106625649B CN106625649B (en) | 2024-01-26 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520359A (en) * | 2017-10-17 | 2017-12-29 | 苏州神运机器人有限公司 | A kind of individual work pieces material overturning machine structure |
| CN108296376A (en) * | 2018-02-11 | 2018-07-20 | 北京信息科技大学 | A kind of crawl of radiator disk head and conveying device |
| CN109362655A (en) * | 2018-10-11 | 2019-02-22 | 湖州南浔蚕乡原牧食品有限公司 | A kind of sericulture special frame |
| CN115892943A (en) * | 2023-03-08 | 2023-04-04 | 山东恒信基塑业股份有限公司 | Automatic plastic tray turnover equipment for workshop processing |
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| CN104786213A (en) * | 2015-03-20 | 2015-07-22 | 江苏南铸科技股份有限公司 | Single-stand-column robot for carrying liquid crystal display |
| CN105171731A (en) * | 2015-10-16 | 2015-12-23 | 苏州神运机器人有限公司 | Terminal transmission left-right moving structure for robot |
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