CN106737613A - A kind of screw extracts manipulator and screw extracts number system - Google Patents
A kind of screw extracts manipulator and screw extracts number system Download PDFInfo
- Publication number
- CN106737613A CN106737613A CN201611239508.2A CN201611239508A CN106737613A CN 106737613 A CN106737613 A CN 106737613A CN 201611239508 A CN201611239508 A CN 201611239508A CN 106737613 A CN106737613 A CN 106737613A
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- CN
- China
- Prior art keywords
- screw
- manipulator
- extracts
- suction nozzle
- exit
- 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.)
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B25J9/144—Linear actuators
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M1/00—Design features of general application
- G06M1/27—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum
- G06M1/272—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum using photoelectric means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M1/00—Design features of general application
- G06M1/27—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum
- G06M1/274—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum using magnetic means; using Hall-effect devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
- Feeding Of Articles To Conveyors (AREA)
Abstract
Manipulator is extracted the invention discloses a kind of screw, to be solved need in the prior art and is manually extracted screw, artificial counting, operating efficiency is low, count inaccurate technical problem.The manipulator includes horizontal drive portion, the piston rod end in horizontal drive portion is provided with upper junction plate, upper junction plate is provided with vertical drive division, the piston-rod lower end of vertical drive division is provided with lower connecting plate, lower connecting plate is provided with suction nozzle, suction nozzle connection negative pressure equipment, at the horizontal drive portion and suction nozzle arrival screw placement described in vertical drive division coordinated drive, using negative pressure absorbing screw, and the screw transfer individually storage that will be drawn.Number system is extracted the present invention discloses a kind of screw, it is provided with screw array computer, screw and extracts manipulator and control unit, screw extracts manipulator and takes the screw in screw exit away by root, the screw that sensor sensing is removed is provided with screw array computer, induced signal is fed back into described control unit is counted.
Description
Technical field
The present invention relates to a kind of automatic manipulator, and in particular to a kind of screw extracts manipulator.The invention further relates to one kind
Screw extracts number system, for extracting screw and being screw counting.
Background technology
Need to be equipped with mounting screw when many assembling products, packaging, screw is very small fastener, but is also required to meter
Number, to meet production needs, it is to avoid material waste.The producer for producing screw is also required to be packed for screw is counted.
Existing screw extracts counting mode, and substantially manually number is counted up into, also reliable screw array computer by screw by
Root is selected, and is packed again after artificial counting.This mode low production efficiency, and easily miscount, the nothing if screw is inadequate
Method completes assembling product, if screw is crossed at most causes material waste.
Existing screw array computer, by same specification screw it is mixed and disorderly be put into body, screw array computer is defeated by vibration, sliver
Sending principle will be delivered to out screw exit position in screw slave body one by one, but without counting automatically, abstraction function, count
Also need to be accomplished manually with extracting.
The content of the invention
In view of the above problems, manipulator is extracted the invention provides a kind of screw, by negative pressure absorbing principle, can be by root
Screw is extracted, screw is individually deposited.Number system is extracted invention also provides a kind of screw, machinery is extracted using screw
Whether hand extracts screw by root, be removed using sensor sensing screw when extracting, it is achieved thereby that automatic count, extract work(
Energy.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of screw extracts manipulator, including horizontal drive portion, and the piston rod end in the horizontal drive portion is provided with
Connecting plate, the upper junction plate is provided with vertical drive division, and the piston-rod lower end of the vertical drive division is provided with lower connection
Plate, the lower connecting plate is provided with suction nozzle, and the suction nozzle connects negative pressure equipment, and the horizontal drive portion and vertical drive division are cooperateed with
The suction nozzle is driven to reach at screw placement, using negative pressure absorbing screw, and the screw transfer individually storage that will be drawn.
Further, the drive division uses cylinder or electric cylinders.
Further, the suction nozzle is internally provided with axial flow passage, and suction nozzle front end outside diameter is less than rear end, institute
Suction nozzle rear end connection air intake duct is stated, the negative pressure equipment is connected by the air intake duct.
Further, horizontal drive portion lower section is provided with bearing, be provided with the bearing start button and jerk by
Button extracts mechanical torch with the screw and is connected respectively, controls the screw to extract the operating of manipulator.
A kind of screw extracts number system, is provided with screw array computer, the screw array computer selection screw and by screw
Separated to screw exit by root, be additionally provided with above-described screw and extract manipulator and control unit, the screw is extracted
The screw in screw exit is taken away and is put into material box or conveyer belt by manipulator by root, and sensing is provided with the screw array computer
Device senses the screw and is removed, and induced signal is fed back into described control unit is counted.
Further, the sensor uses optoelectronic switch or electromagnetic switch, described control unit to use single-chip microcomputer.
Further, the screw array computer is provided with index dial, and N number of draw-in groove, institute are evenly equipped with the index dial periphery
State draw-in groove and separate a screw every time, the index dial batch (-type) rotation rotates 360/N degree every time, and the screw that will be isolated is by root
Rotation to screw outlet, the screw exit is provided with first group of sensor, and the first group of sensor has sensed screw
Screw exit is reached, induced signal is fed back into described control unit, control the index dial to stop the rotation.
Further, the screw exit is additionally provided with second group sensor, and the second group sensor has sensed spiral shell
It is pinned to up to screw exit, induced signal is fed back into described control unit, described control unit controls the screw extractor
Tool hand takes nail.
Further, when the screw in the screw exit is removed, the second group sensor senses the screw quilt
Take away, induced signal is transferred into control unit realizes counting.
Further, the screw exit is provided with fixed plate, and the second group sensor is arranged on spiral shell by fixed plate
Nail exit, sensed position is just to rotating the draw-in groove to the index dial in screw exit.
The screw set using said structure extracts manipulator has advantages below：
Screw extracts manipulator simple structure, and running speed is fast, it is possible to achieve the accurate extraction of screw, instead of artificial, carries
Operating efficiency high.
The screw set using said structure extracts number system has advantages below：
During of the invention, operating personnel carries out screw extraction and meter automatically by need to only pressing after start button
Number work, finally by manually or by conveyer belt the screw after counting is taken away, extracts and counting, efficiency without artificial
Improve, reduce workman's fatigue strength, improve production efficiency.
In the present invention, by the reliably protecting of the control of SCM program reliability, the accurate detection of optoelectronic switch and time delay,
Substantially increase the counting precision of product.
The present invention can functionally be expanded, such as increase conveyer belt and automatically send out screw, can also be carried out certainly screw
Dynamic packaging.The product transmission of upper and lower station is realized, the wasting of resources that material cycling is caused is saved.
The present invention can expand to hot-melting nut, rivet etc. compared with miscellaneous goods extraction with count, reduce the fatigue strength of workman
And improve counting precision.
Brief description of the drawings
Fig. 1 is the stereogram of screw array computer；
Fig. 2 is the partial enlarged view of Fig. 1；
Fig. 3 is the stereogram that screw of the present invention extracts number system；
Fig. 4 is that screw of the present invention extracts the stereogram for counting manipulator；
Fig. 5 is the stereogram of suction nozzle of the present invention；
Fig. 6 is outer control box stereogram of the invention；
Fig. 7 is control principle drawing of the invention.
In figure：1. base plate；2. screw array computer；2-1. power switches；2-2. optoelectronic switches；2-3. index dials；2-4. consolidates
Fixed board；2-5. optoelectronic switches；2-6. screws are exported；3. material box；4. screw extracts manipulator；4-1. suction nozzles；Connected under 4-2.
Plate；The vertical cylinders of 4-3.；4-4. upper junction plates；4-5. horizontal air cylinders；4-6. bearings；4-7. scram buttons；4-8. start buttons；
5. shell；5-1. power switches；5-2. tracheae vias；5-3. tracheae vias；5-4. cable vias；6. breather pipe；7. cable.
Specific embodiment
Design concept of the invention is：
For the technical problem for needing the extraction screw from screw array computer manually in the prior art, the invention provides one
Plant screw and extract manipulator, by negative pressure absorbing principle, screw can be extracted by root, screw is individually deposited.
For needing in the prior art manually, extraction screw, the artificial technology for screw counting are asked from screw array computer
Topic, number system is extracted the invention provides a kind of screw, is extracted manipulator using screw and is extracted screw by root, is adopted when extracting
Whether it is removed with sensor sensing screw, it is achieved thereby that automatic counting, abstraction function.
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment 1
As Fig. 3, Fig. 4, Fig. 5 show one of embodiments of the invention, in this embodiment, a kind of screw extracts manipulator
4, including horizontal drive portion, the piston rod end in horizontal drive portion is provided with upper junction plate 4-4, and upper junction plate 4-4 is provided with perpendicular
Straight drive division, the piston-rod lower end of vertical drive division is provided with lower connecting plate 4-2, and lower connecting plate 4-2 is provided with suction nozzle 4-1, inhales
Mouth 4-1 connects negative pressure equipment (not shown), and horizontal drive portion and vertical drive division coordinated drive suction nozzle 4-1 reach screw and put
Place is put, using negative pressure absorbing screw, and the screw transfer individually storage that will be drawn.
Vertical drive division can be arranged on upper junction plate 4-4 by bolt, and suction nozzle 4-1 can be arranged on down by bolt
On connecting plate 4-2.
In the present embodiment, drive division uses cylinder, and as shown in Fig. 3, Fig. 4, horizontal drive portion is horizontal air cylinder 4-5,
Vertical drive division is vertical cylinder 4-3.
As shown in figure 4, suction nozzle 4-1 is internally provided with axial flow passage, suction nozzle 4-1 front ends outside diameter is less than rear end,
Front end is easy to draw screw, and connection air intake duct in suction nozzle 4-1 rear ends connects negative pressure equipment (not shown) by air intake duct.Inhale
Mouth 4-1 rear ends are provided with several axial threaded hole for installation bolt.
Horizontal air cylinder 4-5 lower sections are provided with bearing 4-6, and start button 4-8 and scram button 4-7 is provided with bearing 4-6
Extract mechanical torch with screw respectively to be connected, control screw extracts the operating of manipulator.
Embodiment 2
In the present embodiment, with embodiment 1 except that, horizontal drive portion and vertical drive division use electric cylinders.Electricity
Cylinder is also equipped with the parts such as expansion link, can be used instead of cylinder.
Other structures are in the same manner as in Example 1, and description is not repeated herein.
Embodiment 3
The three of embodiments of the invention are illustrated in figure 3, in this embodiment, a kind of screw extracts number system, sets
There is screw array computer 2, the selection screw of screw array computer 2 is simultaneously separated to screw outlet 2-6 screw by root, as shown in Figure 2
B at.Screw extracts the screw that number system is additionally provided with described in embodiment 1 or embodiment 2 and extracts manipulator 4 and control
The screw that screw is exported at 2-6 is taken away and is put into material box 3 by unit, screw extraction manipulator 4 by root, is set on screw array computer 2
It is equipped with sensor sensing screw to be removed, induced signal is fed back into control unit is counted.
The control principle that screw extracts number system is as shown in Figure 7.
In the present embodiment, sensor uses optoelectronic switch or electromagnetic switch.Optoelectronic switch 2-2 as shown in Figure 2, light
Electric switch 2-5.Control unit can use single-chip microcomputer.
As shown in Figure 1 and Figure 2, screw array computer 2 is provided with index dial 2-3, and N number of card is evenly equipped with index dial 2-3 peripheries
Groove, draw-in groove separates a screw every time, and the rotation of index dial 2-3 batch (-type)s rotates 360/N degree every time, and the screw that will be isolated is by root
Rotation to screw exports 2-6, and screw exports and first group of sensor is provided with 2-6, optoelectronic switch 2-2 as shown in Figure 2, the
Induced signal is fed back to control unit, control index dial 2- by one group of sensor sensing to there is screw to reach at screw outlet 2-6
3 stop the rotation.If reached at screw outlet 2-6 without screw, index dial 2-3 may proceed to rotation until there is screw to reach spiral shell
Just stop at nail outlet 2-6.
4 draw-in grooves are evenly equipped with the periphery of index dial 2-3 shown in Fig. 2, draw-in groove separates a screw, index dial 2- every time
3 rotate 360/4=90 degree every time.
Second group sensor, optoelectronic switch 2-5 as shown in Figure 2, second group sensor are provided with screw outlet 2-6
Sense that screw is reached at screw outlet 2-6, induced signal has been fed back into control unit, control screw has extracted manipulator 4 and taken
Nail.
Extracted when manipulator 4 is installed on base plate 1, it is necessary to adjust between the two by screw array computer 2 and screw
Position relationship, it is ensured that the suction nozzle 4-1 that screw is extracted in manipulator 4 can be accurately run to screw outlet 2-6.
When screw at screw outlet 2-6 is removed, second group sensor senses that screw is removed, and induced signal is passed
Control unit is handed to realize counting.If screw outlet 2-6 place screw be not removed, screw extract manipulator 4 understand after
It is continuous to take nail.
Fixed plate 2-4 is provided with screw outlet 2-6, second group sensor is exported by fixed plate 2-4 installed in screw
At 2-6, sensed position is just to rotating the draw-in groove on the index dial 2-3 to screw outlet 2-6.
The concrete structure that screw extracts manipulator 4 is identical with the description in embodiment 1 or embodiment 2, is not repeated herein
Description.
Screw extracts number system and can set outer control box, outer control box structure as shown in fig. 6, being provided with shell 5
Tracheae via 5-2, tracheae via 5-3 and cable via 5-4, tracheae via 5-2, tracheae via 5-3 are to pass through breather pipe
And set, cable via 5-4 is set to pass through cable, and power switch 5-1 is also equipped with shell 5.
It is as follows using process that screw extracts number system：
Opening control power switch 5-1.
Screw is put into screw array computer 2.
Start button 4-8 is pressed, screw array computer 2 is operated, by sliver (sliver is the part that screw array computer has)
(draw-in groove is designed according to screw size, and each draw-in groove can only accommodate a screw), screw in the draw-in groove of feeding screw index dial 2-3
Screw is sent to b positions by index dial 2-3 rotations from a positions, and optoelectronic switch 2-5, optoelectronic switch 2-3 detect screw and reach b
Postpone, the pause operating of screw array computer 2, horizontal air cylinder 4-5 stretches out, and vertical cylinder 4-3 drives screw suction nozzle 4-1 to go downwards to b
Put, vacuum generator work, suction nozzle 4-1 air-breathings, (suction nozzle 4-1 is designed suction nozzle 4-1 according to screw size, and a spiral shell is drawn every time
Nail) screw to be taken out from b positions and is counted by optoelectronic switch 4, horizontal air cylinder 4-5 retracts simultaneously for vertical cylinder 4-3 retractions,
Disconnected vacuum, screw is fallen into material box 3, and the screw number that optoelectronic switch 2-5 is detected stops after reaching specified quantity, by material
Material box 3 is put back to original position by the screw in box 3 again after taking out, and screw suction nozzle 4-1 may proceed to after start button 4-8 is pressed again
Extract screw, count, do action.
Such as faulty generation, first press scram button 4-7 and check again by start button 4-8 operations.
Embodiment 4
In the present embodiment, with embodiment 3 except that, screw extracts the lower section of manipulator 4 and is provided with conveyer belt, counts
Screw afterwards is placed on the conveyor belt, can be transferred directly to next station, such as assembling product station, screw sacker
Position.It is possible thereby to realize the product transmission of upper and lower station, the wasting of resources that material cycling is caused is saved.
Other structures are in the same manner as in Example 3, and description is not repeated herein.
Presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.It is all in this hair
Any modification, equivalent substitution and improvements made within bright spirit and principle etc., are all contained in protection scope of the present invention.
Claims (10)
1. a kind of screw extracts manipulator, it is characterised in that including horizontal drive portion, the piston rod end in the horizontal drive portion
Upper junction plate is provided with, the upper junction plate is provided with vertical drive division, and the piston-rod lower end of the vertical drive division is provided with
Lower connecting plate, the lower connecting plate is provided with suction nozzle, and the suction nozzle connects negative pressure equipment, vertically the horizontal drive portion and driving
Suction nozzle described in portion's coordinated drive is reached at screw placement, using negative pressure absorbing screw, and the screw transfer individually storage that will be drawn.
2. screw according to claim 1 is extracted and counts manipulator, it is characterised in that the drive division uses cylinder or electricity
Cylinder.
3. screw according to claim 1 extracts manipulator, it is characterised in that the suction nozzle is internally provided with axial flow
Passage, suction nozzle front end outside diameter is less than rear end, and the suction nozzle rear end connects air intake duct, and institute is connected by the air intake duct
State negative pressure equipment.
4. screw according to claim 1 extracts manipulator, it is characterised in that the horizontal drive portion lower section is provided with branch
Seat, is provided with start button and scram button and is connected with the mechanical torch of screw extraction respectively on the bearing, control is described
Screw extracts the operating of manipulator.
5. a kind of screw extracts number system, is provided with screw array computer, the screw array computer selection screw and by screw by
Root is separated to screw exit, it is characterised in that be additionally provided with screw described in claim any one of 1-4 extract manipulator and
The screw in screw exit is taken away and is put into material box or conveyer belt by control unit, the screw extraction manipulator by root, described
It is provided with screw described in sensor sensing on screw array computer to be removed, induced signal is fed back into described control unit is counted
Number.
6. screw according to claim 5 extracts number system, it is characterised in that the sensor using optoelectronic switch or
Electromagnetic switch, described control unit uses single-chip microcomputer.
7. screw according to claim 5 extracts number system, it is characterised in that the screw array computer is provided with indexing
Disk, is evenly equipped with N number of draw-in groove on the index dial periphery, the draw-in groove separates a screw, the index dial batch (-type) every time
Rotation rotates 360/N degree every time, and the screw that will be isolated is rotated to screw outlet by root, and the screw exit is provided with first
Group sensor, the first group of sensor has sensed that screw reaches screw exit, and induced signal is fed back into the control
Unit, controls the index dial to stop the rotation.
8. screw according to claim 7 extracts number system, it is characterised in that the screw exit is additionally provided with the
Two groups of sensors, the second group sensor has sensed that screw reaches screw exit, and induced signal is fed back into the control
Unit processed, described control unit controls the screw to extract manipulator and takes nail.
9. screw according to claim 8 extracts number system, it is characterised in that the screw in the screw exit is taken
When walking, the second group sensor senses that the screw is removed, and induced signal is transferred into control unit realizes counting.
10. screw according to claim 8 extracts number system, it is characterised in that the screw exit is provided with solid
Fixed board, the second group sensor is arranged on screw exit by fixed plate, and sensed position is just to rotating to screw exit
The index dial on draw-in groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611239508.2A CN106737613B (en) | 2016-12-28 | 2016-12-28 | Screw draws manipulator and screw and draws count system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611239508.2A CN106737613B (en) | 2016-12-28 | 2016-12-28 | Screw draws manipulator and screw and draws count system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737613A true CN106737613A (en) | 2017-05-31 |
| CN106737613B CN106737613B (en) | 2023-10-20 |
Family
ID=58923230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611239508.2A Active CN106737613B (en) | 2016-12-28 | 2016-12-28 | Screw draws manipulator and screw and draws count system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737613B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107779960A (en) * | 2017-11-17 | 2018-03-09 | 中国计量大学 | A kind of silk cocoon separation counting device and its application method based on vacuum cup |
| CN108098774A (en) * | 2017-12-25 | 2018-06-01 | 重庆厚朴开物科技有限公司 | A kind of assembling manipulator |
| CN116852396A (en) * | 2023-08-22 | 2023-10-10 | 济宁获客商务有限公司 | Robot for statistical operation |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04101734A (en) * | 1990-08-17 | 1992-04-03 | Sony Corp | Automatic parts supply device |
| CN2380546Y (en) * | 1999-03-30 | 2000-05-31 | 深圳市龙岗区横岗力图电子玩具厂 | Apparatus for automatically arranging and delivering bulk screws |
| CN105414943A (en) * | 2015-12-02 | 2016-03-23 | 深圳创维－Rgb电子有限公司 | Automatic screw assembling equipment and automatic assembling system |
| CN206677949U (en) * | 2016-12-28 | 2017-11-28 | 歌尔科技有限公司 | A kind of screw extraction manipulator and screw extraction number system |
-
2016
- 2016-12-28 CN CN201611239508.2A patent/CN106737613B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04101734A (en) * | 1990-08-17 | 1992-04-03 | Sony Corp | Automatic parts supply device |
| CN2380546Y (en) * | 1999-03-30 | 2000-05-31 | 深圳市龙岗区横岗力图电子玩具厂 | Apparatus for automatically arranging and delivering bulk screws |
| CN105414943A (en) * | 2015-12-02 | 2016-03-23 | 深圳创维－Rgb电子有限公司 | Automatic screw assembling equipment and automatic assembling system |
| CN206677949U (en) * | 2016-12-28 | 2017-11-28 | 歌尔科技有限公司 | A kind of screw extraction manipulator and screw extraction number system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107779960A (en) * | 2017-11-17 | 2018-03-09 | 中国计量大学 | A kind of silk cocoon separation counting device and its application method based on vacuum cup |
| CN108098774A (en) * | 2017-12-25 | 2018-06-01 | 重庆厚朴开物科技有限公司 | A kind of assembling manipulator |
| CN116852396A (en) * | 2023-08-22 | 2023-10-10 | 济宁获客商务有限公司 | Robot for statistical operation |
| CN116852396B (en) * | 2023-08-22 | 2024-02-09 | 济宁获客商务有限公司 | Robot for statistical operation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737613B (en) | 2023-10-20 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20201012 Address after: 261031 north of Yuqing East Street, east of Dongming Road, Weifang High tech Zone, Weifang City, Shandong Province (Room 502, Geer electronic office building) Applicant after: GoerTek Optical Technology Co.,Ltd. Address before: 266104 Laoshan Qingdao District North House Street investment service center room, Room 308, Shandong Applicant before: GOERTEK TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20221117 Address after: 266104 No. 500, Songling Road, Laoshan District, Qingdao, Shandong Applicant after: GOERTEK TECHNOLOGY Co.,Ltd. Address before: 261031 east of Dongming Road, north of Yuqing East Street, Weifang High tech Zone, Weifang City, Shandong Province (Room 502, Geer electronics office building) Applicant before: GoerTek Optical Technology Co.,Ltd. |
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