CN106737613B - Screw draws manipulator and screw and draws count system - Google Patents
Screw draws manipulator and screw and draws count system Download PDFInfo
- Publication number
- CN106737613B CN106737613B CN201611239508.2A CN201611239508A CN106737613B CN 106737613 B CN106737613 B CN 106737613B CN 201611239508 A CN201611239508 A CN 201611239508A CN 106737613 B CN106737613 B CN 106737613B
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- screw
- screws
- extraction
- manipulator
- driving part
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Classifications
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- 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)
- Feeding Of Articles To Conveyors (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a screw extraction manipulator which solves the technical problems that in the prior art, screw extraction is needed, manual counting is needed, the operation efficiency is low, and counting is inaccurate. The manipulator comprises a horizontal driving part, wherein an upper connecting plate is arranged at the end part of a piston rod of the horizontal driving part, a vertical driving part is arranged on the upper connecting plate, a lower connecting plate is arranged at the lower end of the piston rod of the vertical driving part, a suction nozzle is arranged on the lower connecting plate, the suction nozzle is connected with negative pressure equipment, the horizontal driving part and the vertical driving part cooperatively drive the suction nozzle to reach a screw placement position, the screw is sucked by utilizing negative pressure, and the sucked screw is transferred and stored independently. The invention also discloses a screw extraction counting system which is provided with a screw array machine, a screw extraction manipulator and a control unit, wherein the screw extraction manipulator takes away screws at the screw outlet one by one, and a sensor is arranged on the screw array machine to sense the taken screws and feed back sensing signals to the control unit for counting.
Description
Technical Field
The invention relates to an automatic manipulator, in particular to a screw extraction manipulator. The invention also relates to a screw extraction counting system which is used for extracting and counting screws.
Background
Many products need to be equipped with mounting screws when assembling, packing, and the screw is very little fastener, but also need the count to satisfy the production needs, avoid the material extravagant. The manufacturer who produces the screws also needs to count the packages for the screws.
The existing screw extraction and counting mode is basically finished by the number of workers, screws are selected one by means of a screw array machine, and the screws are packaged after the workers are counted. The production efficiency of this kind of mode is low, and easy count is wrong moreover, if the screw is not enough then can't accomplish the product equipment, if the screw is too much then causes the material extravagant.
The existing screw array machine is used for placing screws of the same specification into a machine body in disorder, screws are conveyed to the positions of screw outlet from the machine body one by one through vibration and guide bar conveying principles, but the automatic counting and extraction functions are not provided, and the counting and the extraction are completed manually.
Disclosure of Invention
In view of the above problems, the invention provides a screw extraction manipulator which can extract screws one by one and store the screws independently through a negative pressure suction principle. The invention also provides a screw extraction counting system, which utilizes the screw extraction manipulator to extract screws one by one, and adopts a sensor to sense whether the screws are taken away or not during extraction, thereby realizing the functions of automatic counting and extraction.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the utility model provides a screw draws manipulator, includes horizontal drive portion, horizontal drive portion's piston rod tip is provided with the upper junction plate, vertical drive portion is installed to the upper junction plate, vertical drive portion's piston rod lower extreme is provided with down the connecting plate, the suction nozzle is installed to the connecting plate down, negative pressure equipment is connected to the suction nozzle, horizontal drive portion and vertical drive portion cooperate the drive the suction nozzle reaches screw and places the department, utilizes the negative pressure to absorb the screw to with the screw transfer that absorbs is deposited alone.
Further, the driving part adopts an air cylinder or an electric cylinder.
Further, an axial airflow channel is arranged in the suction nozzle, the diameter of the outer circle of the front end of the suction nozzle is smaller than that of the rear end of the suction nozzle, the rear end of the suction nozzle is connected with an air suction pipe, and the air suction pipe is connected with negative pressure equipment.
Further, be provided with the support below the horizontal drive portion, be provided with start button and scram button on the support respectively with screw draws the manipulator is connected, control the operation of screw extraction manipulator.
The screw extraction counting system is provided with a screw array machine, the screw array machine picks screws and separates the screws to screw outlets one by one, the screw extraction mechanical arm and the control unit are further provided, the screw extraction mechanical arm takes the screws at the screw outlets one by one and puts the screws into a material box or a conveying belt, and a sensor is arranged on the screw array machine to sense that the screws are taken away, and sense signals are fed back to the control unit for counting.
Further, the sensor adopts a photoelectric switch or an electromagnetic switch, and the control unit adopts a singlechip.
Further, the screw array machine is provided with the graduated disk, the equipartition has N draw-in grooves on the graduated disk periphery, a draw-in groove separates a screw at every turn, the graduated disk intermittent type formula rotates 360/N degrees at every turn, rotates the screw that separates to the screw export by one, screw exit is provided with first group sensor, first group sensor senses that there is the screw to reach screw exit, will be inducted the signal feedback to the control unit, control the graduated disk stops rotating.
Further, the screw outlet is further provided with a second group of sensors, the second group of sensors sense that screws arrive at the screw outlet, induction signals are fed back to the control unit, and the control unit controls the screw extracting manipulator to take out the screws.
Further, when the screw at the screw outlet is removed, the second group of sensors sense that the screw is removed, and the sensing signals are transmitted to the control unit to realize counting.
Further, the screw outlet is provided with a fixing plate, the second group of sensors are installed at the screw outlet through the fixing plate, and the sensing position is opposite to the clamping groove on the index plate rotating to the screw outlet.
The screw extraction manipulator adopting the structure has the following advantages:
the screw extraction manipulator is simple in structure and high in running speed, can accurately extract screws, replaces manpower, and improves the working efficiency.
The screw extraction counting system adopting the structure has the following advantages:
in the process of using the invention, an operator can automatically extract and count the screws only by pressing the start button, and finally, the counted screws are taken away manually or by a conveyer belt, so that the manual extraction and counting are not needed, the efficiency is improved, the fatigue of workers is reduced, and the production efficiency is improved.
According to the invention, the counting precision of the product is greatly improved through the reliable control of the singlechip program, the accurate detection of the photoelectric switch and the reliable protection of the delay.
The invention can expand the functions, such as adding a conveyer belt to automatically send out the screws, and automatically packaging the screws. Product transfer of upper and lower stations is realized, and resource waste caused by material turnover is saved.
The invention can be expanded to the extraction and counting of smaller products such as hot-melt nuts, rivets and the like, reduces the fatigue strength of workers and improves the counting precision.
Drawings
FIG. 1 is a perspective view of a screw array machine;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a perspective view of the screw extraction counting system of the present invention;
FIG. 4 is a perspective view of the screw extraction counting robot of the present invention;
FIG. 5 is a perspective view of a suction nozzle employed in the present invention;
FIG. 6 is a perspective view of the outer control box of the present invention;
fig. 7 is a control schematic of the present invention.
In the figure: 1. a bottom plate; 2. a screw array machine; 2-1, a power switch; 2-2, a photoelectric switch; 2-3, dividing disc; 2-4, fixing plates; 2-5, a photoelectric switch; 2-6, a screw outlet; 3. a material box; 4. screw extraction manipulator; 4-1, a suction nozzle; 4-2, a lower connecting plate; 4-3, a vertical cylinder; 4-4, an upper connecting plate; 4-5, a horizontal cylinder; 4-6, a support; 4-7, emergency stop buttons; 4-8, starting a button; 5. a housing; 5-1, a power switch; 5-2, air pipe via holes; 5-3, air pipe via holes; 5-4, cable via holes; 6. a vent pipe; 7. and (3) a cable.
Detailed Description
The design concept of the invention is as follows:
aiming at the technical problem that the screw is required to be manually extracted from the screw array machine in the prior art, the invention provides the screw extraction manipulator which can extract screws one by one and store the screws independently through a negative pressure suction principle.
Aiming at the technical problems that in the prior art, screws are required to be manually extracted from a screw array machine and manually counted, the invention provides a screw extraction counting system, screws are extracted root by using a screw extraction manipulator, and a sensor is adopted to sense whether the screws are taken away or not during extraction, so that automatic counting and extraction functions are realized.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
Example 1
As shown in fig. 3, 4 and 5, in one embodiment of the present invention, a screw extracting manipulator 4 includes a horizontal driving part, a piston rod end of the horizontal driving part is provided with an upper connecting plate 4-4, the upper connecting plate 4-4 is provided with a vertical driving part, a lower connecting plate 4-2 is provided at a lower end of a piston rod of the vertical driving part, a suction nozzle 4-1 is provided at the lower connecting plate 4-2, the suction nozzle 4-1 is connected with a negative pressure device (not shown in the drawings), the horizontal driving part and the vertical driving part cooperatively drive the suction nozzle 4-1 to a screw placing position, suction screws are sucked by negative pressure, and the sucked screws are transferred and stored separately.
The vertical driving part may be mounted on the upper connection plate 4-4 by bolts, and the suction nozzle 4-1 may be mounted on the lower connection plate 4-2 by bolts.
In the present embodiment, the driving part adopts a cylinder, and as shown in fig. 3 and 4, the horizontal driving part is a horizontal cylinder 4-5, and the vertical driving part is a vertical cylinder 4-3.
As shown in fig. 4, an axial airflow channel is arranged inside the suction nozzle 4-1, the diameter of the outer circle of the front end of the suction nozzle 4-1 is smaller than that of the rear end, the front end is convenient for sucking screws, the rear end of the suction nozzle 4-1 is connected with an air suction pipe, and the suction pipe is connected with negative pressure equipment (not shown in the figure). The rear end of the suction nozzle 4-1 is provided with a plurality of axial threaded holes for installing bolts.
A support 4-6 is arranged below the horizontal cylinder 4-5, a start button 4-8 and an emergency stop button 4-7 are arranged on the support 4-6 and are respectively connected with a screw extraction mechanical flashlight to control the operation of the screw extraction mechanical hand.
Example 2
In this embodiment, unlike embodiment 1, both the horizontal driving portion and the vertical driving portion employ electric cylinders. The electric cylinder is also provided with a telescopic rod and other parts, and can replace the air cylinder.
Other structures are the same as those in embodiment 1, and a description thereof will not be repeated here.
Example 3
In a third embodiment of the invention, shown in fig. 3, a screw extraction counting system is provided with a screw array machine 2, the screw array machine 2 picking up screws and separating them one by one to screw outlets 2-6, shown in fig. 2 at b. The screw extraction counting system is further provided with the screw extraction manipulator 4 and the control unit described in the embodiment 1 or the embodiment 2, the screw extraction manipulator 4 takes screws at the screw outlets 2-6 one by one and puts the screws into the material box 3, and the screw array machine 2 is provided with a sensor for sensing that the screws are taken away, and the sensing signal is fed back to the control unit for counting.
The control principle of the screw extraction counting system is shown in fig. 7.
In this embodiment, the sensor is an optoelectronic switch or an electromagnetic switch. Such as the opto-electronic switch 2-2 shown in fig. 2, opto-electronic switch 2-5. The control unit can adopt a singlechip.
As shown in fig. 1 and 2, the screw array machine 2 is provided with an index plate 2-3, N clamping grooves are uniformly distributed on the circumferential surface of the index plate 2-3, each time one screw is separated by the clamping grooves, the index plate 2-3 intermittently rotates for 360/N degrees each time, the separated screws are rotated to a screw outlet 2-6 one by one, a first group of sensors are arranged at the screw outlet 2-6, as shown in fig. 2, photoelectric switches 2-2 sense that the screws reach the screw outlet 2-6, and an induction signal is fed back to a control unit to control the index plate 2-3 to stop rotating. If no screw reaches the screw outlet 2-6, the indexing disk 2-3 will continue to rotate until a screw reaches the screw outlet 2-6.
4 clamping grooves are uniformly distributed on the circumferential surface of the dividing disc 2-3 shown in fig. 2, one screw is separated from each clamping groove, and the dividing disc 2-3 rotates 360/4=90 degrees each time.
The screw outlet 2-6 is provided with a second group of sensors, such as photoelectric switches 2-5 shown in fig. 2, the second group of sensors sense that screws reach the screw outlet 2-6, and the sensing signals are fed back to the control unit to control the screw extracting manipulator 4 to take out the screws.
When the screw array machine 2 and the screw extraction manipulator 4 are mounted on the base plate 1, the position relationship between the screw array machine 2 and the screw extraction manipulator 4 needs to be adjusted, so that the suction nozzle 4-1 in the screw extraction manipulator 4 can accurately run to the screw outlet 2-6.
When the screws at the screw outlets 2-6 are removed, the second group of sensors sense that the screws are removed, and the sensing signals are transmitted to the control unit to realize counting. If the screw at the screw outlet 2-6 is not removed, the screw extraction robot 4 will continue to take the screw.
The screw outlet 2-6 is provided with a fixed plate 2-4, the second group of sensors are arranged at the screw outlet 2-6 through the fixed plate 2-4, and the sensing position is opposite to a clamping groove on the index plate 2-3 which is rotated to the screw outlet 2-6.
The specific structure of the screw extraction robot 4 is the same as that described in embodiment 1 or embodiment 2, and a description thereof will not be repeated here.
The screw extraction counting system can be provided with an outer control box, the structure of the outer control box is shown in fig. 6, an air pipe through hole 5-2, an air pipe through hole 5-3 and a cable through hole 5-4 are arranged on the outer shell 5, the air pipe through hole 5-2 and the air pipe through hole 5-3 are set for penetrating through an air pipe, the cable through hole 5-4 is set for penetrating through a cable, and a power switch 5-1 is further arranged on the outer shell 5.
The screw extraction counting system is used as follows:
the control system power switch 5-1 is turned on.
Screws are placed into the screw array machine 2.
The starting button 4-8 is pressed down, the screw array machine 2 operates, the screw array machine is fed into the clamping groove of the screw dividing disc 2-3 through the guide bar (the guide bar is a component of the screw array machine), the screw dividing disc 2-3 is designed according to the size of the screw, each clamping groove can only accommodate one screw, the screw dividing disc 2-3 rotates to feed the screw from the position a to the position b, the photoelectric switch 2-5 and the photoelectric switch 2-3 detect that the screw reaches the position b, the screw array machine 2 pauses to operate, the horizontal air cylinder 4-5 extends out, the vertical air cylinder 4-3 drives the screw suction nozzle 4-1 to descend to the position b, the vacuum generator operates, the suction nozzle 4-1 sucks air, the suction nozzle 4-1 (the suction nozzle 4-1 sucks one screw each time according to the size of the screw) takes out of the position b and counts the screw through the photoelectric switch 4, the vertical air cylinder 4-3 retracts, the vertical air cylinder 4-5 retracts, the vacuum is broken, the screw falls into the material box 3, the photoelectric switch 2-5 detects that the screw reaches the specified quantity, the screw stops, the screw taking out of the material box 3, the screw box is started, the screw box 4-1 is reset to the original position after the screw taking out of the material box 3 is started, the screw box 4-down, the screw is started, the screw 4-1 is continuously circulated, and the screw is continuously counted, and the screw is started.
If a fault occurs, the emergency stop button 4-7 is pressed first to check and then the start button 4-8 is pressed to run.
Example 4
In this embodiment, unlike embodiment 3, a conveyor belt is provided below the screw extracting robot 4, and the counted screws are placed on the conveyor belt and can be directly transferred to the next station, for example, a product assembling station, a screw packing station. Therefore, the product transfer of the upper station and the lower station can be realized, and the resource waste caused by material turnover is saved.
Other structures are the same as those in embodiment 3, and a description thereof will not be repeated here.
The foregoing is merely illustrative of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (9)
1. The screw extraction manipulator is characterized by comprising a horizontal driving part, wherein an upper connecting plate is arranged at the end part of a piston rod of the horizontal driving part, a vertical driving part is arranged on the upper connecting plate, a lower connecting plate is arranged at the lower end of a piston rod of the vertical driving part, a suction nozzle is arranged on the lower connecting plate, the suction nozzle is connected with negative pressure equipment, the horizontal driving part and the vertical driving part cooperatively drive the suction nozzle to reach a screw placement position, the screw is sucked by utilizing negative pressure, and the sucked screw is transferred and stored independently; the suction nozzle is internally provided with an axial airflow channel, the diameter of the outer circle of the front end of the suction nozzle is smaller than that of the rear end of the suction nozzle, the rear end of the suction nozzle is connected with an air suction pipe, and the suction pipe is connected with negative pressure equipment.
2. The screw extraction robot of claim 1, wherein the drive section employs an air cylinder or an electric cylinder.
3. The screw extraction manipulator of claim 1, wherein a support is arranged below the horizontal driving part, and a start button and an emergency stop button are arranged on the support and are respectively connected with the screw extraction manipulator flashlight to control the operation of the screw extraction manipulator.
4. A screw extraction counting system, which is provided with a screw array machine, wherein the screw array machine picks screws and separates the screws to screw outlets one by one, and is characterized by further comprising the screw extraction manipulator and a control unit according to any one of claims 1-3, wherein the screw extraction manipulator takes the screws at the screw outlets one by one and puts the screws into a material box or a conveying belt, and a sensor is arranged on the screw array machine and senses that the screws are taken away, and feeds back sensing signals to the control unit for counting;
the screw is put into a screw array machine, the screw array machine runs, the screw is sent out through a guide bar in the screw array machine, the screw moves from the position a to the position b, after the screw reaches the position, the screw array machine pauses running, a screw extracting manipulator can take the screw out of the position b and count the screw through a sensor, and the screw is separated from the screw extracting manipulator and falls into a material box or a conveying belt; and stopping the screw extraction manipulator when the number of the screws reaches the specified number, taking out the screws on the material box or the conveyer belt, and performing cyclic action.
5. The screw extraction counting system according to claim 4, wherein the sensor is a photoelectric switch or an electromagnetic switch, and the control unit is a single-chip microcomputer.
6. The screw extraction and counting system according to claim 4, wherein the screw array machine is provided with an index plate, N clamping grooves are uniformly distributed on the circumferential surface of the index plate, each time one screw is separated from the clamping grooves, the index plate intermittently rotates for 360/N degrees each time, the separated screws are rotated to screw outlets one by one, a first group of sensors are arranged at the screw outlets, the first group of sensors sense that the screws reach the screw outlets, and an induction signal is fed back to the control unit to control the index plate to stop rotating.
7. The screw extraction and counting system according to claim 6, wherein a second set of sensors is further arranged at the screw outlet, the second set of sensors sense that screws arrive at the screw outlet, and feedback sensing signals to the control unit, and the control unit controls the screw extraction manipulator to take out the screws.
8. The screw extraction counting system of claim 7, wherein when a screw at the screw outlet is removed, the second set of sensors sense the removal of the screw, and transmit a sensing signal to a control unit to effect counting.
9. The screw extraction counting system of claim 7, wherein the screw outlet is provided with a fixed plate, the second set of sensors is mounted at the screw outlet by the fixed plate, and the sensing position is opposite to a clamping groove on the indexing disc rotating to the screw outlet.
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 CN106737613A (en) | 2017-05-31 |
| CN106737613B true CN106737613B (en) | 2023-10-20 |
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| 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 |
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Families Citing this family (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 |
| CN108098774B (en) * | 2017-12-25 | 2019-10-01 | 重庆厚朴开物科技有限公司 | Manipulator is used in a kind of assembly |
| CN116852396B (en) * | 2023-08-22 | 2024-02-09 | 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 |
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| CN106737613A (en) | 2017-05-31 |
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