CN109262644A - A kind of dyestripping fixture, multi-axis robot and its control method - Google Patents
A kind of dyestripping fixture, multi-axis robot and its control method Download PDFInfo
- Publication number
- CN109262644A CN109262644A CN201811405257.XA CN201811405257A CN109262644A CN 109262644 A CN109262644 A CN 109262644A CN 201811405257 A CN201811405257 A CN 201811405257A CN 109262644 A CN109262644 A CN 109262644A
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- CN
- China
- Prior art keywords
- clamp plate
- lining paper
- dyestripping
- upper clamp
- axis robot
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 19
- 230000003028 elevating effect Effects 0.000 claims abstract description 3
- 239000010893 paper waste Substances 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000011017 operating method Methods 0.000 abstract description 2
- 239000012528 membrane Substances 0.000 description 5
- 241000252254 Catostomidae Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000000945 filler Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 101000684887 Homo sapiens Scavenger receptor class A member 5 Proteins 0.000 description 1
- 102000004940 SCARA5 Human genes 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- 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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of dyestripping fixtures, multi-axis robot and its control method, the dyestripping fixture includes connecting plate, action clips and suction lining paper disk, it is respectively equipped with action clips on connecting plate and inhales lining paper disk, the action clips and suction lining paper disk all pass through connecting plate and are connected with drive shaft, the drive shaft is able to carry out horizontal rotation, and it can in axial direction carry out elevating movement, the action clips include executive component, lower clamp plate, upper clamp plate connecting plate and upper clamp plate, the lower clamp plate is mounted on executive component, the upper clamp plate is mounted on the side of executive component by upper clamp plate connecting plate, the lower clamp plate and upper clamp plate form a clamp structure.The dyestripping fixture had not only reduced hardware cost and the flow-disturbing to laminar winds, but also can improve the purpose of the speed of service, and its operating method is also fairly simple.
Description
Technical field
The present invention relates to drugs packaging field more particularly to a kind of dyestripping fixtures, multi-axis robot and its control method.
Background technique
In the prior art, such as the inner packing of tearing open of pre-encapsulated injector bottle placer device sets and is generally divided into preheating, tears outer membrane
Paper removes three independent stations of internal lining paper or tears outer membrane paper, removes two independent stations of internal lining paper, after the completion of tearing interior packet open, in advance
Encapsulated injector pallet is transferred to transferring platform by mechanical arm and send into filling and stopper-adding station in pre- encapsulating bottle placer, with into
Enter the process of next step.
Currently, the pre- encapsulating of robot tears inner membrance and removes liner using six shaft mechanical people to realize.Such as Publication No.
The patent of CN205441106U, which discloses a kind of pre-encapsulated injector bottle placer, tears inner packing open and sets, and it uses six-joint robots
Switch the position of three fixtures by manipulator to realize the operation torn outer membrane paper, remove internal lining paper, transfer tray, still, is tearing
Outer membrane paper is gone in the operation of internal lining paper, and six shaft mechanical people have that cost height and mechanical arm are larger, and operating method is more multiple
It is miscellaneous, and it is larger to the flow-disturbing of laminar winds during exercise, is generally difficult to realization and runs at high speed, influences working efficiency.
Summary of the invention
(1) technical problems to be solved
Based on this, the present invention is improved for existing fixture, propose a kind of dyestripping fixture, multi-axis robot and
Its control method, by the redesign to fixture so that the multi-axis robot of such as four axis robots etc be also able to achieve it is pre-
Tearing for encapsulating and goes liner to act at inner membrance, not only reduces costs to reach, but also can improve the purpose of the speed of service, operation side
Method is also fairly simple.
(2) technical solution
In order to solve the above technical problems, the dyestripping fixture includes connecting plate, fortune the invention proposes a kind of dyestripping fixture
Dynamic fixture and suction lining paper disk, action clips are respectively equipped on connecting plate and inhale lining paper disk, the action clips and suction lining paper disk
All it is connected by connecting plate with drive shaft, the drive shaft is able to carry out horizontal rotation, and can in axial direction be gone up and down
Movement, the action clips include executive component, lower clamp plate, upper clamp plate connecting plate and upper clamp plate, and the lower clamp plate is mounted on
On executive component, the upper clamp plate is mounted on the side of executive component, the lower clamp plate and upper clamp plate by upper clamp plate connecting plate
Form a clamp structure.
Further, the action clips further include elastic slice, and the elastic slice is mounted on the lower section of lower clamp plate, the lower clamp plate
It is equipped with a notch with the rear portion of the upper clamp plate connecting plate corresponding position, the action clips are specially air-actuated jaw, described
Executive component is specifically pneumatic apparatus.
Further, the suction lining paper disk includes suction cup carrier, sucker and pneumatic joint, is equipped with gas inside the suction cup carrier
Road is communicated with sucker, pneumatic joint respectively, and the pneumatic joint is connect by vacuum pipe with vacuum system.
Further, the number for inhaling the sucker on lining paper disk is multiple.
Further, the multi-axis robot includes dyestripping fixture according to any one of claims 1-4.
Further, the multi-axis robot is specially tetra- axis robot of SCARA.
Further, the multi-axis robot has the mechanical arm of three sections or more, and the mechanical arm of final section, which connects, to be driven
Moving axis, and the mechanical arm of the final section is able to drive drive shaft and is horizontally moved.
In addition, a kind of control method of multi-axis robot as described in any one of the above embodiments, the control has also been devised in the present invention
Method processed includes dyestripping method, and the dyestripping method includes the following steps:
S1: forming one side that a clamp structure clamps the nest box fixed for the lower clamp plate and upper clamp plate, more at this time
Axis robot drives action clips to move along dyestripping direction, and the film sealed above nest box is carried off directly；
S2: multi-axis robot drives action clips upwards forward to tear up film to nest box diagonal direction by drive shaft, and
It is sent to above waste paper collection port, executive component drives upper clamp plate and lower clamp plate to open, and film is thrown into waste-basket.
Further, the rear portion of the lower clamp plate and the upper clamp plate connecting plate corresponding position is equipped with a notch, described
Step S1 is further comprised: at the end of carrying off film, the notch at the rear portion of the lower clamp plate being just be stopped to the edge of nest box fillet, is protected
Card upper clamp plate and lower clamp plate just clamp the film sealed above nest box.
Further, the control method further includes internal lining paper method, described to go internal lining paper method specifically: multiaxis machine
Device people drives dyestripping fixture to rotate a certain angle by drive shaft, is placed exactly in the suction lining paper disk above nest box, multiaxis
Robot is driven by drive shaft again inhales the decline of lining paper disk, when the sucker on suction lining paper disk is pressed on the internal lining paper of nest box, even
The vacuum pipe for connecing sucker is opened, and the sucker draws internal lining paper, and then internal lining paper is moved to waste paper and collected by multi-axis robot
Above mouthful, vacuum pipe is passed through compressed air, and internal lining paper is blown into waste-basket.
(3) beneficial effect
The present invention is compared with the prior art, the beneficial effect comprise that
1) dyestripping fixture of the invention can use tetra- axis robot of SCARA can come complete six-joint robot completion function
Can, save cost；
2) speed of service of multi-axis robot of the present invention improves dyestripping much higher than the speed of service of six-joint robot simultaneously
Efficiency, be able to satisfy the requirement of high speed fluid filler；
3) structure of six axis multi-axis robot below (such as four axis robots) is simpler with respect to the mechanism of six-joint robot,
So that the mechanical arm of robot is opposite with respect to the mechanical arm of six-joint robot to want small, and operation is more simple, can have at runtime
Effect reduces the flow-disturbing to laminar winds, reduces the risk of pharmaceutical production.
Detailed description of the invention
The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, and attached drawing is schematically without that should manage
Solution is carries out any restrictions to the present invention, in the accompanying drawings:
Fig. 1 is four axis robot dyestripping fixture side views of the invention；
Fig. 2 is four axis robot dyestripping fixture top views of the invention；
Fig. 3 is four axis robot dyestripping fixture axonometric drawings of the invention；
Fig. 4 is the cylinder collet enlarged drawing of air-actuated jaw of the present invention；
Fig. 5 carries off side schematic diagram for dyestripping fixture of the present invention；
Fig. 6 is the work side view of four axis robot dyestripping fixtures of the invention；
Fig. 7 is the work top view of four axis robot dyestripping fixtures of the invention.
Description of symbols:
1. four axis robot connecting flanges, 2. connecting plates, 3. air-actuated jaws, 31. pneumatic apparatus, 32. lower clamp plates,
33. upper clamp plate connecting plate, 34. upper clamp plates, 35. elastic slices, 36. notches, 4. inhale lining paper disk, 41. suction cup carriers, 42. suckers, 43. gas
Dynamic connector, 5. 4 axis robots, 6. dyestripping fixtures, 7. nest boxes.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
The present invention connects four axis robot connecting flanges 1 used as the SCARA flapping articulation manipulator of four axis robots
(specific in kind reference can be made to Fig. 6-7), to be connect by four axis robot connecting flanges 1 with connecting plate 2, to drive dyestripping fixture
6 work.
As shown in Figure 1-3, the tetra- axis robot dyestripping fixture of SCARA utilizes the driving on four axis robot arms
Axis can only rotate horizontally, the characteristic that cannot be overturn, and be equipped with air-actuated jaw 3 at the both ends of dyestripping fixture 6 and inhale lining paper disk 4, and lead to
It crosses connecting plate 2 to be connected with four axis robot connecting flanges 1, to be driven by the drive shaft of four axis robots to be moved.Institute
The air-actuated jaw 3 stated includes pneumatic apparatus 31, lower clamp plate 32, upper clamp plate connecting plate 33, upper clamp plate 34 and elastic slice 35, is worth
One is mentioned that, the present invention only elaborates technology of the invention by taking four relatively broad axis robot SCARA as an example herein
Scheme, four axis robots can certainly be multi-axis robot, including as five axis and six-joint robot can be torn using this
Film fixture, as long as the mechanical arm of robot may be implemented that dyestripping fixture 6 is driven to be torn inner membrance accordingly and/or liner is gone to act
?.
As shown in the cylinder collet enlarged drawing of the air-actuated jaw of Fig. 3-4, lower clamp plate 32 is mounted on pneumatic apparatus 31,
And a notch 36 is equipped with the rear portion of 33 corresponding position of upper clamp plate connecting plate；Upper clamp plate 34 is installed by upper clamp plate connecting plate 33
In the side of pneumatic apparatus 31；Elastic slice 35 is mounted on the lower section of lower clamp plate 32, and forms one in front end with upper clamp plate 34
Elastic clip.It should be noted that its elastic slice 35 is not to carry off film and the necessary component of dyestripping operation.
The suction lining paper disk 4 includes suction cup carrier 41, sucker 42 and pneumatic joint 43, is equipped with air flue inside suction cup carrier 41,
Respectively with sucker 42, pneumatic joint 43 communicated, and pneumatic joint 43 is connect by vacuum pipe with vacuum system, to control sucker
42 inhale/blow the work of internal lining paper.
It should be pointed out that multiple suckers 42 can be equipped on the suction lining paper disk 4.In addition, its air-actuated jaw 3 is specific
It can be substituted with electric fixture or hydraulic operated fixture.
If carrying off for Fig. 5 is actually that dyestripping operates the figure finished, when dyestripping starts, lower folder shown in the schematic diagram of side
Plate 32 and upper clamp plate 34 form one side that an elastic clip clamps the nest box fixed, and tetra- axis robot band of SCARA is taken offence at this time
Dynamic fixture 3 is moved and (is moved along dyestripping direction) along the arrow direction of Fig. 5, and the film sealed above nest box is carried off directly.At the end of carrying off film,
The subsequent notch 36 of lower clamp plate 32 just be stopped at the edge of nest box fillet, guarantees that upper clamp plate 34 is just pressed from both sides with lower clamp plate 32
The film firmly sealed above nest box, to guarantee that nest box will not be clipped to.Then, four axis robots drive air-actuated jaw 3 diagonally square to nest box
It to upwards forward tearing up film, and is sent to above waste paper collection port, pneumatic apparatus 31 drives upper clamp plate 34 and lower clamp plate 32
It opens, finally film is thrown into waste-basket.
When suction internal lining paper starts, four axis robot dyestripping fixtures 6 rotate a certain angle, and are placed exactly in suction lining paper disk 4
Above nest box, the drive shaft decline of tetra- axis robot arm of SCARA connection, when sucker 42 is pressed on the internal lining paper of nest box,
Vacuum is opened, and sucker 42 draws internal lining paper.Then tetra- axis robot of SCARA moves internal lining paper to waste paper collection port, very
Vacant duct is passed through compressed air, and internal lining paper is blown into waste-basket.
As shown in fig. 6-7, four axis robots (SCARA) 5 can carry out above-mentioned tear to nest box 7 by dyestripping fixture 6
Membrane operations and internal lining paper is gone to operate, the dotted portion in Fig. 7 indicates the internal lining paper for needing to remove, and is located at the inside (film of film
Size and nest box it is in the same size), multiple medicine bottles being covered with below internal lining paper in Fig. 5, and four axis robots can be passed through
Mechanical arm drive drive shaft, to drive the drive shaft and dyestripping fixture 6 to be horizontally moved and/or rotate horizontally and up and down
It is mobile, it should be pointed out that the drive shaft itself is able to carry out horizontal rotation (referring to the anticlockwise arrow of Fig. 7),
And can be carried out along its axial direction elevating movement (go to need when internal lining paper dyestripping fixture 6 rotate horizontally and on move down
It is dynamic).In addition, four axis robots include three section mechanical arms, first segment, the second section, third section mechanical arm are sequentially connected, so that machine
Device people has Three Degree Of Freedom, in addition, the mechanical arm of third section i.e. final section connects drive shaft, drive shaft passes through four axis machines
Device people connecting flange 1 and connecting plate 2 connect dyestripping fixture 6, finally to drive dyestripping fixture 6 to be horizontally moved and/or level
It rotates and moves up and down.And since the speed of service of SCARA is much higher than the speed of service of six-joint robot, dyestripping is improved
Efficiency is able to satisfy the requirement of high speed fluid filler；Furthermore the structure of four axis robot SCARA wants letter with respect to the mechanism of six-joint robot
It is single, so that four axis robot SCARA mechanical arms are opposite with respect to the mechanical arm of six-joint robot to want small, can effectively reduce at runtime
To the flow-disturbing of laminar winds, the risk of pharmaceutical production is reduced, and this dyestripping fixture 6 is particularly suitable for four axis robot SCARA5 and carries out
Dyestripping works and internal lining paper is gone to work, and its is easy to operate.
It is noted that be referred to as " being fixed on " another element when element, it can directly on the other element or
There may also be elements placed in the middle by person.When an element is considered as " connection " another element, it can be directly to
Another element may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Each technical characteristic of embodiment described above can carry out arbitrarily
Combination, for simplicity of description, it is not all possible to each technical characteristic in above-described embodiment combination be all described, so
And as long as there is no contradiction in the combination of these technical features, it all should be considered as described in this specification.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair
Various modifications and variations are made in the case where bright spirit and scope, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (10)
1. a kind of dyestripping fixture, which is characterized in that the dyestripping fixture includes connecting plate, action clips and inhales lining paper disk, even
It is respectively equipped with action clips on fishplate bar and inhales lining paper disk, the action clips and suction lining paper disk all pass through connecting plate and drive shaft phase
Even, the drive shaft is able to carry out horizontal rotation, and can in axial direction carry out elevating movement, and the action clips include holding
Units, lower clamp plate, upper clamp plate connecting plate and upper clamp plate, the lower clamp plate are mounted on executive component, and the upper clamp plate is logical
The side that upper clamp plate connecting plate is mounted on executive component is crossed, the lower clamp plate and upper clamp plate form a clamp structure.
2. dyestripping fixture according to claim 1, which is characterized in that the action clips further include elastic slice, the elastic slice
It is mounted on the lower section of lower clamp plate, the rear portion of the lower clamp plate and the upper clamp plate connecting plate corresponding position is equipped with a notch, institute
Stating action clips is specially air-actuated jaw, and the executive component is specifically pneumatic apparatus.
3. dyestripping fixture according to claim 1, which is characterized in that the suction lining paper disk include suction cup carrier, sucker and
Pneumatic joint, the suction cup carrier inside are equipped with air flue, communicate respectively with sucker, pneumatic joint, the pneumatic joint passes through vacuum
Pipeline is connect with vacuum system.
4. dyestripping fixture according to claim 3, which is characterized in that the number for inhaling the sucker on lining paper disk is more
It is a.
5. a kind of multi-axis robot, which is characterized in that the multi-axis robot includes according to any one of claims 1-4 tears
Film fixture.
6. multi-axis robot according to claim 5, which is characterized in that the multi-axis robot is specially tetra- axis of SCARA
Robot.
7. multi-axis robot according to claim 5, which is characterized in that the multi-axis robot has the machine of three sections or more
Tool arm, the mechanical arm of final section connects drive shaft, and the mechanical arm of the final section is able to drive drive shaft and carries out water
Translation is dynamic.
8. a kind of control method of such as described in any item multi-axis robots of claim 5-7, which is characterized in that the controlling party
Method includes dyestripping method, and the dyestripping method includes the following steps:
S1: the lower clamp plate and upper clamp plate are formed into one side that a clamp structure clamps the nest box fixed, at this time multiaxis machine
Device people drives action clips to move along dyestripping direction, and the film sealed above nest box is carried off directly；
S2: multi-axis robot drives action clips upwards forward to tear up film to nest box diagonal direction by drive shaft, and is sent to
Above waste paper collection port, executive component drives upper clamp plate and lower clamp plate to open, and film is thrown into waste-basket.
9. control method according to claim 8, which is characterized in that the lower clamp plate is corresponding with the upper clamp plate connecting plate
The rear portion of position is equipped with a notch, and the step S1 is further comprised: at the end of carrying off film, by lacking for the rear portion of the lower clamp plate
Mouth just be stopped at the edge of nest box fillet, guarantees that upper clamp plate and lower clamp plate just clamp the film sealed above nest box.
10. control method according to claim 8, which is characterized in that the control method further includes internal lining paper method,
It is described to go internal lining paper method specifically: multi-axis robot drives dyestripping fixture to rotate a certain angle by drive shaft, makes described
Suction lining paper disk is placed exactly in above nest box, and multi-axis robot is driven by drive shaft again inhales the decline of lining paper disk, when on suction lining paper disk
Sucker when being pressed on the internal lining paper of nest box, the vacuum pipe of connecting sucker is opened, and the sucker draws internal lining paper, then multiaxis
Robot moves internal lining paper to waste paper collection port, and vacuum pipe is passed through compressed air, and internal lining paper is blown into waste-basket
It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811405257.XA CN109262644A (en) | 2018-11-23 | 2018-11-23 | A kind of dyestripping fixture, multi-axis robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811405257.XA CN109262644A (en) | 2018-11-23 | 2018-11-23 | A kind of dyestripping fixture, multi-axis robot and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109262644A true CN109262644A (en) | 2019-01-25 |
Family
ID=65191379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811405257.XA Pending CN109262644A (en) | 2018-11-23 | 2018-11-23 | A kind of dyestripping fixture, multi-axis robot and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109262644A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171612A (en) * | 2019-04-26 | 2019-08-27 | 楚天科技股份有限公司 | A kind of dyestripping method and device of air-actuated jaw |
| CN110328685A (en) * | 2019-07-08 | 2019-10-15 | 昆明理工大学 | A kind of dyestripping end effector of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000074249A (en) * | 1999-05-19 | 2000-12-15 | 김형벽 | Auto Loading Unit of a Pad |
| CN205441106U (en) * | 2015-12-31 | 2016-08-10 | 楚天科技股份有限公司 | Prefilled syringe seals syringe liquid filling machine and tears endocyst device open |
| CN206050305U (en) * | 2016-07-04 | 2017-03-29 | 北京中科同志科技股份有限公司 | Coating-removing machine |
| CN207415391U (en) * | 2017-08-26 | 2018-05-29 | 广东利迅达机器人***股份有限公司 | A kind of more folder positions robot clamp of circuit board carrying |
| CN209207547U (en) * | 2018-11-23 | 2019-08-06 | 楚天科技股份有限公司 | A kind of dyestripping fixture and multi-axis robot |
-
2018
- 2018-11-23 CN CN201811405257.XA patent/CN109262644A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000074249A (en) * | 1999-05-19 | 2000-12-15 | 김형벽 | Auto Loading Unit of a Pad |
| CN205441106U (en) * | 2015-12-31 | 2016-08-10 | 楚天科技股份有限公司 | Prefilled syringe seals syringe liquid filling machine and tears endocyst device open |
| CN206050305U (en) * | 2016-07-04 | 2017-03-29 | 北京中科同志科技股份有限公司 | Coating-removing machine |
| CN207415391U (en) * | 2017-08-26 | 2018-05-29 | 广东利迅达机器人***股份有限公司 | A kind of more folder positions robot clamp of circuit board carrying |
| CN209207547U (en) * | 2018-11-23 | 2019-08-06 | 楚天科技股份有限公司 | A kind of dyestripping fixture and multi-axis robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171612A (en) * | 2019-04-26 | 2019-08-27 | 楚天科技股份有限公司 | A kind of dyestripping method and device of air-actuated jaw |
| CN110328685A (en) * | 2019-07-08 | 2019-10-15 | 昆明理工大学 | A kind of dyestripping end effector of robot |
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