CN107791013A - A kind of automatic lock screw device - Google Patents
A kind of automatic lock screw device Download PDFInfo
- Publication number
- CN107791013A CN107791013A CN201711194708.5A CN201711194708A CN107791013A CN 107791013 A CN107791013 A CN 107791013A CN 201711194708 A CN201711194708 A CN 201711194708A CN 107791013 A CN107791013 A CN 107791013A
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- CN
- China
- Prior art keywords
- fixed
- screwdriver
- electric screwdriver
- fixed plate
- lock screw
- 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.)
- Pending
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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
- B23P19/04—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 for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
The invention discloses a kind of automatic lock screw device, including base, base is provided with manipulator seat, manipulator seat is provided with manipulator, manipulator is six axis robot, the end axis connecting screw knife mainboard of manipulator, and screw locking mechanism and material draw frame machine are fixed with screwdriver mainboard.The device integrates material absorption, positioning and lock screw, and automaticity is higher, and accuracy is higher.
Description
Technical field
The present invention relates to the technical field of non-standard automatic equipment, and in particular to a kind of automatic lock screw device.
Background technology
With scientific and technical innovation progress, automation equipment is advanced by leaps and bounds in manufacturing development, labour-intensive production before
Industry is substituted manually to reduce production cost by industrial robot is introduced, but the automaticity of equipment is high not enough at present, machine
Device man-based development is limited, and use range can not meet growing automated production demand, be particularly due to robotic arm
Flexibility is smaller, flexible inadequate, is difficult flexibly to be sent to parts using robotic arm according to actual demand in use
Target location, especially in lock screw technological operation, because screw is smaller, screw can not be such as accurately placed in target position
Put, screw locking process will be difficult to smoothly realize, the final production efficiency for influenceing equipment.
The content of the invention
It is an object of the invention to overcome problem above existing for prior art, there is provided a kind of automatic lock screw device,
The device integrates material absorption, positioning and lock screw, and automaticity is higher, and accuracy is higher.
To reach above-mentioned purpose, reach above-mentioned technique effect, technical scheme is as follows：A kind of automatic lock screw dress
Put, including base, the base are provided with manipulator seat, the manipulator seat is provided with manipulator, and the manipulator is six axles
Manipulator, the end axis connecting screw knife mainboard of the manipulator, be fixed with the screwdriver mainboard screw locking mechanism and
Material draw frame machine.
Preferably, the screw locking mechanism includes screwdriver riser, the screwdriver riser is vertically fixed on described
On screwdriver mainboard, the one side lower end of the screwdriver riser is fixed with seat under screwdriver, and seat is provided with the screwdriver
Can be along the electric screwdriver of seat linear slide under the screwdriver, the end of the electric screwdriver is provided with the electric screwdriver head for being capable of aspiration feeding, institute
State electric screwdriver head and be provided with the stomata that screw is provided.
Preferably, the screw locking mechanism also includes guiding driving mechanism, the guiding driving mechanism includes can
Drive the telescopic cylinder of the electric screwdriver stretching motion and two line slideways for the electric screwdriver sliding motion, the line slideway
Sliding block is provided with, electric screwdriver fixed plate is fixed between the sliding block, the electric screwdriver is fixed in the electric screwdriver fixed plate, described to stretch
Contracting cylinder is fixed on cylinder block, and the cylinder block is fixed on the upper end of seat under the screwdriver.
Preferably, the end of the telescopic cylinder is provided with joint, the joint runs through the cylinder block, and the electric screwdriver is consolidated
Fixed board is provided with groove, the joint and groove mutual cooperation clamping close to one end of the cylinder block.
Preferably, being provided with electric screwdriver fixed mechanism between the electric screwdriver fixed plate and the electric screwdriver, the electric screwdriver fixes machine
Structure includes the first arc fixed plate and the second arc fixed plate, and first arc fixed plate is fixed on the electric screwdriver fixed plate
On side, second arc fixed plate is fixed on first arc fixed plate, and the first arc fixed plate and the second arc
The fixing groove for fixing the electric screwdriver is enclosed between shape fixed plate.
Preferably, the side of the screwdriver riser is provided with adjusting hole, the both ends of the adjusting hole are provided with adjustment block, two
Adjustment screw mandrel is provided between the individual adjustment block, is socketed with camera fixed block on the adjustment screw mandrel, the camera fixed block is worn
The adjusting hole is crossed, the end of the camera fixed block is fixed with camera, and the both ends of the camera fixed block are fixed with light source and consolidated
Determine frame, the light source fixing frame fixes the light source of taper.
Preferably, the six axis robot includes the first mechanical arm, one end of first mechanical arm is rotatable
Axis connection on the manipulator seat, the other end of first mechanical arm is hinged with the second mechanical arm, described second
The end of mechanical arm is hinged with the 3rd mechanical arm, and the end axis of the 3rd mechanical arm are connected with along own axes circumference
4th mechanical arm of rotation, the end of the 4th mechanical arm is hinged with the 5th mechanical arm, the 5th mechanical arm
End and the screwdriver mainboard middle part axis connection.
Preferably, the material draw frame machine includes sucker fixed plate, the both ends of the sucker fixed plate are provided with sucker
Fixed sheet metal, the sucker fix sheet metal and are provided with multiple suckers, and one end that two suckers fix sheet metal is equipped with thrust
Block, the thrust block are vertically fixed on the sucker and fixed on the end face of sheet metal, and two thrust blocks are located at homonymy.
Preferably, the sucker, which fixes sheet metal, is provided with three waist holes, the sucker is fixed in the waist hole.
Preferably, the base is provided with two screen foot stools staggered relatively, it is fixed between the screen foot stool
Keyboard metal plate, screen fixed plate is fixed between the upper end of the screen foot stool, display is fixed with the screen fixed plate,
The base plane of the base is provided with multiple runners, and the lower screws of the runners are connected with pin cup..
The beneficial effects of the invention are as follows：The present invention automatic lock screw device, collect material draw, positioning with lock screw in
One, automaticity is higher, adds the degree of accuracy of equipment, and (be fixed on robot end by mobile cursor
Light source and camera) increase equipment using flexible, positioning and displacement are more accurate, more save the time, and automation is more efficient,
Further reduce production efficiency.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
The embodiment of the present invention is shown in detail by following examples and its accompanying drawing.
Brief description of the drawings
Technical scheme in technology in order to illustrate the embodiments of the present invention more clearly, in being described below to embodiment technology
The required accompanying drawing used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present invention
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is preferred embodiment of the present invention automatic lock screw device overall structure diagram；
Fig. 2 is the robot manipulator structure schematic diagram of preferred embodiment of the present invention automatic lock screw device；
Fig. 3 is the screw locking mechanism wherein viewing angle constructions signal of preferred embodiment of the present invention automatic lock screw device
Figure；
Fig. 4 is the electric screwdriver fixed mechanism structural representation of preferred embodiment of the present invention automatic lock screw device；
Fig. 5 is another viewing angle constructions signal of the screw locking mechanism of preferred embodiment of the present invention automatic lock screw device
Figure；
Fig. 6 is the structural representation of the camera fixed position of preferred embodiment of the present invention automatic lock screw device；
Fig. 7 is the runners and pin cup structure schematic diagram of preferred embodiment of the present invention automatic lock screw device；
Fig. 8 is the structural representation of the material draw frame machine of the preferred embodiment of the present invention；
Wherein：
1. base, 2. manipulator seats；
3. manipulator, 301. first mechanical arms, 302. second mechanical arms, 303. the 3rd mechanical arms, 304. the 4th
Mechanical arm, 305. the 5th mechanical arms；
4. screwdriver mainboard, 5. screwdriver risers, 6. screw locking mechanisms, seat under 7. screwdrivers, 8. electric screwdrivers, 9. electric screwdrivers
Head, 10. stomatas, 11. telescopic cylinders, 12. line slideways, 13. sliding blocks, 14. electric screwdriver fixed plates, 15. cylinder blocks, 16. joints,
17. groove；
18. the first arc fixed plate, 19. second arc fixed plates, 20. fixing grooves；
21. adjusting hole, 22. adjustment blocks, 23. adjustment screw mandrels, 24. camera fixed blocks, 25. cameras, 26. light source fixing frames,
27. light source；
28. screen foot stool, 29. keyboard metal plates, 30. screen fixed plates, 31. displays；
32. runners, 33. pin cups；
34. material draw frame machine, 35. sucker fixed plates, 36. suckers fix sheet metal, 37. suckers, 38. thrust blocks, 39. waists
Hole.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Embodiment
As shown in figure 1, a kind of automatic lock screw device is disclosed in the present embodiment, including base 1, base 1 are provided with machine
Tool hand seat 2, manipulator seat 2 are provided with manipulator 3, and manipulator 3 is six axis robot, the end axis connecting screw knife of manipulator 3
Mainboard 4, screw locking mechanism 6 and material draw frame machine 34 are fixed with screwdriver mainboard 4.
Screw locking mechanism 6 includes screwdriver riser 5, and screwdriver riser 5 is vertically fixed on screwdriver mainboard 4, screw
The one side lower end of knife riser 5 is fixed with seat 7 under screwdriver, and seat 7 is provided with and can slided along the straight line of seat under screwdriver 7 under screwdriver
Dynamic electric screwdriver 8, the end of electric screwdriver 8 are provided with the electric screwdriver head 9 for being capable of aspiration feeding, and electric screwdriver head 9 is provided with the stomata 10 for providing screw.
Stomata 10 can be connected with the screw feeding mechanism (such as vibrating disk) in the external world, and screw is directly drawn into stomata by way of aspiration
10 positions enter electric screwdriver head 9, then by the lock screw of electric screwdriver 8, realize the automation mechanized operation of lock screw, operating efficiency is higher, more
Save manpower.
Screw locking mechanism 6 also includes guiding driving mechanism, and guiding driving mechanism includes that the stretching motion of electric screwdriver 8 can be driven
Telescopic cylinder 11 and power supply batch 8 sliding motions two line slideways 12, line slideway 12 is provided with sliding block 13, sliding block 13 it
Between be fixed with electric screwdriver fixed plate 14, electric screwdriver 8 is fixed in electric screwdriver fixed plate 14, and telescopic cylinder 11 is fixed on cylinder block 15, gas
Cylinder seat 15 is fixed on the upper end of seat 7 under screwdriver.The setting of guiding driving mechanism makes lock screw position relatively stable, by flexible
Cylinder 11 provides power, realizes the locking technique of automation.
The end of telescopic cylinder 11 is provided with joint 16, and joint 16 runs through cylinder block 15, and electric screwdriver fixed plate 14 is close to cylinder block
15 one end is provided with groove 17, joint 16 and the mutual cooperation clamping of groove 17., can be by flexible gas when needing to change or repairing
Cylinder 11 is flexibly dismantled with electric screwdriver fixed plate 14, and directly joint 16 and groove 17 are engaged by clamping when deployed, both protected
The normal operation of equipment has been demonstrate,proved, has reduced the maintenance cost of equipment again.
Electric screwdriver fixed mechanism is provided between electric screwdriver fixed plate 14 and electric screwdriver 8, electric screwdriver fixed mechanism is fixed including the first arc
The arc fixed plate 19 of plate 18 and second, the first arc fixed plate 18 are fixed on the side of electric screwdriver fixed plate 14, and the second arc is consolidated
Fixed board 19 is fixed on the first arc fixed plate 18, and is enclosed between the first arc fixed plate 18 and the second arc fixed plate 19
For fixing the fixing groove 20 of electric screwdriver 8.First arc fixed plate 18 and the docking of the second arc fixed plate 19 form fixing groove 20, should
Fixing groove 20 is fixed by socket electric screwdriver 8, electric screwdriver 8 is slided up and down with electric screwdriver fixed plate 14, ensure the operation of equipment according to
Default mode is carried out.
The side of screwdriver riser 5 is provided with adjusting hole 21, and the both ends of adjusting hole 21 are provided with adjustment block 22, two adjustment blocks 22
Between be provided with adjustment screw mandrel 23, adjust screw mandrel 23 on be socketed with camera fixed block 24, camera fixed block 24 passes through adjusting hole 21, phase
The end of machine fixed block 24 is fixed with camera 25 (practical for CCD camera in the present embodiment), and the both ends of camera fixed block 24 are consolidated
Surely there is light source fixing frame 26, light source fixing frame 26 fixes the light source 27 of taper.Coordinated by light source 27 and camera 25, accurate judgement
The position of screw is beaten, electric screwdriver 8 is then moved to and then lock screw by the position for treating nailing by manipulator 3 again, it is ensured that lock spiral shell
The precision and accuracy of silk, substantially reduce the defect rate of lock screw, production efficiency is higher, further reduces production cost.
Six axis robot includes the first mechanical arm 301, and the rotatable axis connection in one end of the first mechanical arm 301 is in machine
On tool hand seat 2, the other end of the first mechanical arm 301 is hinged with the second mechanical arm 302, the end of the second mechanical arm 302
The 3rd mechanical arm 303 is hinged with, the end axis of the 3rd mechanical arm 303 are connected with the 4th machine to be rotated in a circumferential direction along own axes
Tool arm 304, the end of the 4th mechanical arm 304 are hinged with the 5th mechanical arm 305, the end of the 5th mechanical arm 305 with
The middle part axis connection of screwdriver mainboard 4.Six axis robot makes grasping movement more flexible, can adapt to the behaviour under varying environment
Make, it is flexible stronger.
Base 1 is provided with two screen foot stools 28 staggered relatively, and keyboard metal plate 29 is fixed between screen foot stool 28, screen
Screen fixed plate 30 is fixed between the upper end of curtain foot stool 28, display 31 is fixed with screen fixed plate 30.Can be by putting
The automatic operating of the 31 flexible control device of keyboard and display of keyboard metal plate 29 is placed in, operation is directly digitized, subtracts
The floor space of equipment is lacked.
The base plane of base 1 is provided with multiple runners 32, and the lower screws of runners 32 are connected with pin cup 33.Pin cup 33
Setting make device integrally can flexible modulation, equipment can further be increased according to the working face for being actually needed adjusting device
Flexibility, and more facilitate the balance quality of adjusting device, ensure the normal operation of also equipment.
The material draw frame machine 34 includes sucker fixed plate 35, and the both ends of the sucker fixed plate 35 are fixed provided with sucker
Sheet metal 36, the sucker fix sheet metal 36 and are provided with multiple suckers 37, and one end that two suckers fix sheet metal 36 is equipped with
Thrust block 38, the thrust block 38 are vertically fixed on the sucker and fixed on the end face of sheet metal 36, two thrust blocks 38
In homonymy.Thrust block 38 prevents the axial float of institute's absorbing material, so as to keep the normal operation of equipment.
The sucker fixes sheet metal and is provided with three waist holes 39, and the sucker 37 is fixed in the waist hole 39.Waist hole 39
Setting make the fixed position of sucker 37 more flexible, can according to be actually needed along waist hole 39 length direction finely tune sucker
37 position, ensure flexibility, the accuracy of equipment.
In the use of the present invention, manipulator 3 rotates, make (the now screw locking machine of sucker 37 in material draw frame machine 34
Structure 6 is located at another orientation of the end of manipulator 3) above material, after absorbing material, transfer the material into lock screw
Station, then blowing, after the completion of blowing, manipulator 3 continues to walk around, and screw locking mechanism 6 is rotated to the station of lock screw,
Then light source 27 and camera 25 coordinate, and accurate judgement beats the position of screw, then again will by flexible preferably six axis robot
Electric screwdriver 8 is finely tuned and is moved to the position of screw to be locked, guiding driving mechanism guiding and provide power carry out lock screw, it is complete
Into lock screw processing step and enter subsequent processing, equipment accuracy is higher, and the device in the present embodiment is applied to automatic
On the production line processing technology of change, equipment using flexible and production efficiency are high.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. a kind of automatic lock screw device, including base, it is characterised in that：The base is provided with manipulator seat, the machinery
Hand seat is provided with manipulator, and the manipulator is six axis robot, and the end axis connecting screw knife mainboard of the manipulator is described
Screw locking mechanism and material draw frame machine are fixed with screwdriver mainboard.
2. automatic lock screw device according to claim 1, it is characterised in that：The screw locking mechanism includes screwdriver
Riser, the screwdriver riser are vertically fixed on the screwdriver mainboard, and the one side lower end of the screwdriver riser is fixed
There is a seat under screwdriver, be provided with can be along the electric screwdriver of seat linear slide under the screwdriver, the electric screwdriver for seat under the screwdriver
End be provided with and be capable of the electric screwdriver head of aspiration feeding, the electric screwdriver head is provided with the stomata for providing screw.
3. automatic lock screw device according to claim 2, it is characterised in that：The screw locking mechanism also includes being oriented to
Drive mechanism, the guiding driving mechanism include the telescopic cylinder that can drive the electric screwdriver stretching motion and slided for the electric screwdriver
Two line slideways of dynamic motion, the line slideway is provided with sliding block, electric screwdriver fixed plate is fixed between the sliding block, described
Electric screwdriver is fixed in the electric screwdriver fixed plate, and the telescopic cylinder is fixed on cylinder block, and the cylinder block is fixed on the spiral shell
The upper end of seat under silk knife.
4. automatic lock screw device according to claim 3, it is characterised in that：The end of the telescopic cylinder is provided with and connect
Head, the joint run through the cylinder block, and the electric screwdriver fixed plate is provided with groove, the joint close to one end of the cylinder block
With groove mutual cooperation clamping.
5. automatic lock screw device according to claim 3, it is characterised in that：The electric screwdriver fixed plate and the electric screwdriver it
Between be provided with electric screwdriver fixed mechanism, the electric screwdriver fixed mechanism includes the first arc fixed plate and the second arc fixed plate, described
One arc fixed plate is fixed on the side of the electric screwdriver fixed plate, and second arc fixed plate is fixed on first arc
The fixing groove for fixing the electric screwdriver is enclosed in fixed plate, and between the first arc fixed plate and the second arc fixed plate.
6. automatic lock screw device according to claim 2, it is characterised in that：The side of the screwdriver riser, which is provided with, adjusts
Whole hole, the both ends of the adjusting hole are provided with adjustment block, adjustment screw mandrel are provided between two adjustment blocks, described to adjust on screw mandrel
Camera fixed block is socketed with, the camera fixed block passes through the adjusting hole, and the end of the camera fixed block is fixed with camera,
The both ends of the camera fixed block are fixed with light source fixing frame, and the light source fixing frame fixes the light source of taper.
7. automatic lock screw device according to claim 1, it is characterised in that：The six axis robot includes the first machinery
Arm, the rotatable axis connection in one end of first mechanical arm on the manipulator seat, first mechanical arm
The other end is hinged with the second mechanical arm, and the end of second mechanical arm is hinged with the 3rd mechanical arm, the 3rd machine
The end axis of tool arm are connected with the 4th mechanical arm to be rotated in a circumferential direction along own axes, the end hinge of the 4th mechanical arm
It is connected to the 5th mechanical arm, the end of the 5th mechanical arm and the middle part axis connection of the screwdriver mainboard.
8. automatic lock screw device according to claim 1, it is characterised in that：The material draw frame machine is consolidated including sucker
Fixed board, the both ends of the sucker fixed plate are provided with sucker and fix sheet metal, and the sucker fixes sheet metal and is provided with multiple suckers, two
One end that the sucker fixes sheet metal is equipped with thrust block, and the thrust block is vertically fixed on the end face that the sucker fixes sheet metal
On, two thrust blocks are located at homonymy.
9. automatic lock screw device according to claim 1, it is characterised in that：The sucker fixes sheet metal and is provided with three
Waist hole, the sucker are fixed in the waist hole.
10. automatic lock screw device according to claim 1, it is characterised in that：The base is provided with two and put relatively
The screen foot stool put, keyboard metal plate is fixed between the screen foot stool, screen is fixed between the upper end of the screen foot stool
Fixed plate, display is fixed with the screen fixed plate, the base plane of the base is provided with multiple runners, the runners
Lower screws be connected with pin cup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711194708.5A CN107791013A (en) | 2017-11-24 | 2017-11-24 | A kind of automatic lock screw device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711194708.5A CN107791013A (en) | 2017-11-24 | 2017-11-24 | A kind of automatic lock screw device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107791013A true CN107791013A (en) | 2018-03-13 |
Family
ID=61536545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711194708.5A Pending CN107791013A (en) | 2017-11-24 | 2017-11-24 | A kind of automatic lock screw device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107791013A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108817889A (en) * | 2018-06-26 | 2018-11-16 | 芜湖优能自动化设备有限公司 | A kind of machinery valve body assembly line automatic catching robot |
| CN110405456A (en) * | 2018-04-28 | 2019-11-05 | 山西裕鼎精密科技有限公司 | Automatically screw device and screw dismounting method are torn open |
| CN110732866A (en) * | 2018-07-20 | 2020-01-31 | 富鼎电子科技(嘉善)有限公司 | Automatic screw locking device and screw locking mechanism thereof |
| CN113001154A (en) * | 2021-03-08 | 2021-06-22 | 南通市久正人体工学股份有限公司 | Mechanical arm motion control and target grabbing assembly system based on preset track |
| CN113399992A (en) * | 2021-07-01 | 2021-09-17 | 湖南炬神电子有限公司 | Novel six auto-screwdriving machines of robotic arm |
| CN115157370A (en) * | 2022-08-02 | 2022-10-11 | 成都清洋宝柏包装有限公司 | Blade replacing device |
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| CN207858221U (en) * | 2017-11-24 | 2018-09-14 | 苏州弘瀚自动化科技有限公司 | A kind of automatic lock screw device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405456A (en) * | 2018-04-28 | 2019-11-05 | 山西裕鼎精密科技有限公司 | Automatically screw device and screw dismounting method are torn open |
| CN108817889A (en) * | 2018-06-26 | 2018-11-16 | 芜湖优能自动化设备有限公司 | A kind of machinery valve body assembly line automatic catching robot |
| CN110732866A (en) * | 2018-07-20 | 2020-01-31 | 富鼎电子科技(嘉善)有限公司 | Automatic screw locking device and screw locking mechanism thereof |
| CN113001154A (en) * | 2021-03-08 | 2021-06-22 | 南通市久正人体工学股份有限公司 | Mechanical arm motion control and target grabbing assembly system based on preset track |
| CN113001154B (en) * | 2021-03-08 | 2021-09-24 | 南通市久正人体工学股份有限公司 | Mechanical arm motion control and target grabbing assembly system based on preset track |
| CN113399992A (en) * | 2021-07-01 | 2021-09-17 | 湖南炬神电子有限公司 | Novel six auto-screwdriving machines of robotic arm |
| CN115157370A (en) * | 2022-08-02 | 2022-10-11 | 成都清洋宝柏包装有限公司 | Blade replacing device |
| CN115157370B (en) * | 2022-08-02 | 2023-12-29 | 成都清洋宝柏包装有限公司 | Blade replacing device |
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