CN112850124A - Automatic loading and unloading device - Google Patents
Automatic loading and unloading device Download PDFInfo
- Publication number
- CN112850124A CN112850124A CN202011637646.2A CN202011637646A CN112850124A CN 112850124 A CN112850124 A CN 112850124A CN 202011637646 A CN202011637646 A CN 202011637646A CN 112850124 A CN112850124 A CN 112850124A
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- traverse
- vertical
- driving mechanism
- steering
- driving
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- 238000003754 machining Methods 0.000 claims description 2
- 238000003801 milling Methods 0.000 claims description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
An automatic loading and unloading device comprises: the mechanical arm pushing device comprises a rack, a driving mechanism and a pushing mechanism, wherein the driving mechanism is fixedly arranged on the rack, the pushing mechanism comprises a supporting block, a pushing cylinder and a mechanical arm, the driving mechanism is in driving connection with the supporting block, the pushing cylinder is connected with the supporting block, and the pushing cylinder is in driving connection with the mechanical arm. The pushing mechanism is driven to move to the designated position through the driving mechanism, so that the part clamped by the manipulator gradually moves to the designated position, the manipulator is also pushed when the part is pushed to the designated position, the pushing cylinder can detect the reverse acting force of the designated position to the part, the manipulator is stopped to be continuously pushed, the manipulator is prevented from continuously pushing the part to the designated position, and the part is prevented from being excessively pushed to the designated position to cause damage.
Description
Technical Field
The invention relates to the technical field of device conveying, in particular to an automatic loading and unloading device.
Background
At present, an automatic loading and unloading device generally drives a manipulator which clamps a part to move towards a specified part through a motor so that the part is pushed onto the specified part, but the driving of the motor is relatively uncontrollable, the part is easily driven excessively by the motor, and the part is excessively pushed towards the specified part to cause part damage.
Disclosure of Invention
Therefore, there is a need for an automatic loading and unloading device.
The technical scheme for solving the technical problems is as follows: an automatic loading and unloading device comprises: the mechanical arm pushing device comprises a rack, a driving mechanism and a pushing mechanism, wherein the driving mechanism is fixedly arranged on the rack, the pushing mechanism comprises a supporting block, a pushing cylinder and a mechanical arm, the driving mechanism is in driving connection with the supporting block, the pushing cylinder is connected with the supporting block, and the pushing cylinder is in driving connection with the mechanical arm.
In one embodiment, the robot includes a clamp cylinder.
In one embodiment, the driving mechanism comprises a traverse driving mechanism, a vertical driving mechanism and a steering mechanism, the traverse driving mechanism is in driving connection with the vertical driving mechanism, the vertical driving mechanism is in driving connection with the steering mechanism, and the steering mechanism is in driving connection with the supporting block.
In one embodiment, the transverse moving driving mechanism comprises a transverse moving sliding block, a transverse moving guide rail, a transverse moving motor and a transverse moving traction belt, the transverse moving guide rail is fixedly arranged on the rack through a stand column, the transverse moving motor is in driving connection with the transverse moving traction belt, the transverse moving traction belt is connected with the transverse moving sliding block, the transverse moving sliding block is arranged on the transverse moving guide rail in a sliding mode, and the vertical driving mechanism is connected with the transverse moving sliding block.
In one embodiment, the vertical driving mechanism comprises a vertical sliding block, a vertical guide rail and a vertical driver, the vertical guide rail is fixedly connected with the transverse sliding block, the vertical guide rail is perpendicular to the transverse sliding guide rail, the vertical driver is in driving connection with the vertical sliding block, the vertical sliding block is arranged on the vertical guide rail in a sliding mode, and the steering mechanism is connected with the vertical sliding block.
In one embodiment, the vertical drive comprises a vertical drive cylinder.
In one embodiment, the steering mechanism comprises a fixed arm, a steering arm and a steering driving cylinder, the fixed arm is fixedly connected with the vertical slider, a supporting arm is arranged at one end of the fixed arm, the other end of the fixed arm is rotatably connected with one end of the steering arm, one end of the steering driving cylinder is fixedly connected with one end, far away from the fixed arm, of the supporting arm, the other end of the steering driving cylinder is rotatably connected with the middle part of the steering arm, the steering arm is driven by the steering driving cylinder to rotate from a direction parallel to the traverse guide rail to a direction parallel to the vertical guide rail, and the supporting block is connected with one end, far away from the fixed arm, of the steering arm.
In one embodiment, the automatic sewing machine further comprises a needle placing driving mechanism, the needle placing driving mechanism comprises a needle placing sliding block, a needle placing sliding rail, a needle placing motor, a needle placing traction belt and a needle placing container, the needle placing guiding rail is fixedly arranged on the rack through an upright post, the needle placing guiding rail is perpendicular to the transverse moving guiding rail, the needle placing motor is in driving connection with the needle placing traction belt, the needle placing traction belt is connected with the needle placing sliding block, the needle placing sliding block is slidably arranged on the needle placing guiding rail, the needle placing container is connected with the needle placing sliding block, and the needle placing container is movably aligned with the manipulator.
In one embodiment, the needle placing container is provided with a plurality of needle placing grooves, and the needle placing grooves are movably aligned with the manipulator.
In one embodiment, the automatic loading and unloading device comprises the automatic loading and unloading device in any one of the above embodiments.
The invention has the beneficial effects that: according to the automatic loading and unloading device, the driving mechanism drives the pushing mechanism to move to the designated position, so that the part clamped by the manipulator gradually moves to the designated position, the manipulator is pushed when the part is pushed to the designated position, the pushing cylinder can detect the reverse acting force of the designated position on the part, the manipulator is stopped to be pushed continuously, the manipulator is prevented from being pushed to the designated position continuously, and the part is prevented from being damaged due to excessive pushing to the designated position.
Drawings
Fig. 1 is a schematic structural diagram of an automatic loading and unloading device according to an embodiment.
In the attached drawings, 10, an automatic loading and unloading device; 100. a frame; 200. a pushing mechanism; 210. a support block; 220. propelling the cylinder; 230. a manipulator; 300. a traverse driving mechanism; 310. transversely moving the sliding block; 311. leading the belt to penetrate through the groove; 320. transversely moving the guide rail; 330. transversely moving the traction belt; 340. a lateral moving gear; 400. a vertical drive mechanism; 410. a vertical slide block; 420. a vertical drive; 500. a steering mechanism; 510. a fixed arm; 520. a steering arm; 530. a steering drive cylinder; 540. a support arm; 600. a needle placement driving mechanism; 610. a needle placing sliding block; 620. a needle placing slide rail; 630. placing a needle traction belt; 640. a needle placing container; 641. a needle placing groove; 650. a needle placing gear.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The technical solutions of the present invention will be further described below with reference to the accompanying drawings of the embodiments of the present invention, and the present invention is not limited to the following specific embodiments.
It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar parts. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "rear", "left", "right", "top", "bottom", etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the drawings, it is only for convenience of description and simplicity of description, but does not indicate or imply that the equipment or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limiting the patent, and the specific meanings of the terms will be understood by those skilled in the art according to specific situations.
As shown in fig. 1, in one embodiment, an automatic loading and unloading apparatus 10 includes: the mechanical arm comprises a rack 100, a driving mechanism and a pushing mechanism 200, wherein the driving mechanism is fixedly arranged on the rack 100, the pushing mechanism 200 comprises a supporting block 210, a pushing cylinder 220 and a mechanical arm 230, the driving mechanism is in driving connection with the supporting block 210, the pushing cylinder 220 is connected with the supporting block 210, and the pushing cylinder 220 is in driving connection with the mechanical arm 230.
Specifically, the pushing mechanism 200 is driven by the driving mechanism to move to the designated position, so that the part clamped by the manipulator 230 gradually moves to the designated position, when the part is pushed to the designated position, the manipulator 230 is pushed, the pushing cylinder 220 can detect the reverse acting force of the designated position on the part, the manipulator 230 is stopped being pushed continuously, the manipulator 230 is prevented from continuously pushing the part to the designated position, and the part is prevented from being damaged due to the fact that the part is excessively pushed to the designated position.
To pick up parts, in one embodiment, the robot 230 includes a gripper cylinder. The robot 230 is driven by the clamp cylinder to clamp the parts.
In order to realize the pushing of the parts, as shown in fig. 1, in one embodiment, the driving mechanism includes a traverse driving mechanism 300, a vertical driving mechanism 400 and a steering mechanism 500, the traverse driving mechanism 300 is in driving connection with the vertical driving mechanism 400, the vertical driving mechanism 400 is in driving connection with the steering mechanism 500, and the steering mechanism 500 is in driving connection with the supporting block 210. When the part is clamped, the manipulator 230 is driven to move downwards through the vertical driving mechanism 400, so that the manipulator 230 gradually clamps the part, after the part is clamped, the steering mechanism 500 drives the vertical driving mechanism 400 to rotate, the vertical driving mechanism 400 is pulled up, the transverse moving driving mechanism 300 drives the vertical driving mechanism 400 and the steering mechanism 500 to move to the specified position, so that the part is gradually close to the specified position, after the part is jacked to the specified position, the propelling cylinder 220 detects pressure change, the pushing force can be adjusted, and the part is prevented from being jacked badly.
In order to drive the vertical driving mechanism 400 to move to a specific position, as shown in fig. 1, in one embodiment, the traverse driving mechanism 300 includes a traverse slider 310, a traverse guide 320, a traverse motor and a traverse traction belt 330, the traverse guide 320 is fixedly disposed on the rack 100 through a pillar, the traverse motor is drivingly connected to the traverse traction belt 330, the traverse traction belt 330 is connected to the traverse slider 310, the traverse slider 310 is slidably disposed on the traverse guide 320, and the vertical driving mechanism 400 is connected to the traverse slider 310.
Specifically, the traverse motor drives the traverse traction belt 330 to rotate, the traverse traction belt 330 rotates to pull the traverse slider 310 to move along the traverse guide 320, and the vertical driving mechanism 400 slides to a specified position along with the traverse slider 310. In order to make the vertical mechanism more kinematically stable, in one embodiment, the number of the traverse rails 320 is two, and the traverse rails 320 are parallel. The vertical driving mechanism 400 of the traverse slider 310 is stabilized by providing two traverse rails 320 to stabilize the traverse slider 310 sliding on the traverse rails 320. In one embodiment, the traverse guide 320 is disposed on opposite sides of the traverse slide 310, and the traverse traction belt 330 is disposed between the traverse guide 320. By increasing the distance between the two traverse rails 320, the traverse slide 310 with a larger area is positioned between the two traverse rails 320, so that the traverse slide 310 slides more stably. In order to reduce the friction between the traverse traction belt 330 and the traverse slider 310, in one embodiment, the traverse slider 310 is provided with a belt slot 311 through which the traverse traction belt 330 is inserted. By arranging the leading belt through slot 311, the traverse traction belt 330 is arranged in the leading belt through slot 311, so that the traverse traction belt 330 and the traverse slider 310 are prevented from generating sliding friction to influence the sliding of the traverse slider 310 and damage the traverse traction belt 330 and the traverse slider 310. To better drive the traverse traction belt 330, in one embodiment, the traverse driving mechanism 300 further comprises two traverse gears 340, one traverse gear 340 is drivingly connected to the traverse motor, and the traverse traction belt 330 is a traverse track having one side engaged with one traverse gear 340 and the other side engaged with the other traverse gear 340. Through the engagement of the traverse traction belt 330 and the traverse gears 340 at the two sides, the connection strength of the traverse traction belt 330 and the traverse gears 340 is enhanced, and the traverse traction belt 330 is prevented from slipping to influence the movement of the traverse slider 310.
To achieve the part clamping, in one embodiment, the manipulator 230 includes a first gripper and a second gripper, a first end of the first gripper is rotatably connected to a first end of the second gripper, and a second end of the first gripper is movably abutted to a second end of the second gripper. And grabbing and releasing the part by movably clamping the second end of the first clamping hand and the second end of the second clamping hand. In one embodiment, the first gripper comprises a connecting block and a first hand, the first hand is rotatably connected with the connecting block, the second gripper is rotatably connected with the connecting block, a second end of the second gripper is movably abutted to one end, far away from the connecting block, of the first hand, and the connecting block is connected with the pushing cylinder. By spacing the connecting block apart the first and second gripper arms, the robot 230 is enabled to open and close more flexibly. In one embodiment, the first hand is in driving connection with the clamp cylinder and the second clamp hand is in driving connection with the clamp cylinder. The free ends of the first and second clamping hands are driven to approach or depart from each other by the clamping air cylinder.
In order to drive the manipulator 230 to grasp a part downwards, as shown in fig. 1, in one embodiment, the vertical driving mechanism 400 includes a vertical slider 410, a vertical guide rail and a vertical driver 420, the vertical guide rail is fixedly connected with the traverse slider 310, the vertical guide rail is perpendicular to the traverse guide rail 320, the vertical driver 420 is in driving connection with the vertical slider 410, the vertical slider 410 is slidably disposed on the vertical guide rail, and the steering mechanism 500 is connected with the vertical slider 410. The vertical slider 410 is driven by the vertical driver 420 to move in the vertical direction along the vertical slide rail, so that the manipulator 230 moves upwards to be close to the part, after the manipulator 230 grabs the stable part, the vertical slider 410 moves upwards for a certain distance, after the part is grabbed from the placed position, the manipulator 230 is upwards lifted by the steering mechanism 500, so that the part faces to the specified position, is gradually close to the specified position under the driving of the transverse moving driving mechanism 300, and is propped against the specified position.
To protect the robot 230, as shown in fig. 1, in one embodiment, the vertical drive 420 includes a vertical drive cylinder. When the manipulator 230 is driven to clamp a part through the vertical driving cylinder, when the manipulator 230 does not clamp the part, the manipulator 230 collides against other positions, the vertical driving cylinder can detect pressure, the pushing force to the manipulator 230 is reduced, and the manipulator 230 is prevented from being damaged.
To pull the manipulator 230 up after picking up the parts, as shown in fig. 1, in one embodiment, the steering mechanism 500 includes a stationary arm 510, a steering arm 520 and a steering drive cylinder 530, the fixed arm 510 is fixedly connected with the vertical sliding block 410, one end of the fixed arm 510 is provided with a supporting arm 540, the other end of the fixed arm 510 is rotatably connected with one end of the steering arm 520, one end of the steering driving cylinder 530 is fixedly connected with one end of the supporting arm 540 far away from the fixed arm 510, the other end of the steering driving cylinder 530 is rotatably connected to the middle of the steering arm 520, the steering arm 520 is rotated from a direction parallel to the traverse guide 320 to a direction parallel to the vertical guide by the steering driving cylinder 530, the support block 210 is connected to an end of the steering arm 520 remote from the fixed arm 510. The steering arm 520 is turned up by the steering driving cylinder 530 so that the steering arm 520 has a vertical state and is changed to a horizontal state, so that the part is directed to a designated position, and the part is gradually brought close to the designated position by the driving of the traverse driving mechanism 300. Wherein the support arm 540 is used to fix the steering driving cylinder 530, connecting the steering cylinder with the traverse driving mechanism 300.
In order to make the grasping of the parts more flexible, as shown in fig. 1, in one embodiment, the apparatus further includes a needle placing driving mechanism 600, the needle placing driving mechanism 600 includes a needle placing slider 610, a needle placing slide rail 620, a needle placing motor, a needle placing traction belt 630, and a needle placing container 640, the needle placing guide rail is fixedly disposed on the rack 100 through an upright column, the needle placing guide rail is perpendicular to the traverse guide rail 320, the needle placing motor is drivingly connected to the needle placing traction belt 630, the needle placing traction belt 630 is connected to the needle placing slider 610, the needle placing slider 610 is slidably disposed on the needle placing guide rail, the needle placing container 640 is connected to the needle placing slider 610, and the needle placing container 640 is movably aligned with the manipulator 230. The needle placement container 640 is used for containing the pushed part.
Specifically, the needle placing slider 610 is driven by the needle placing motor to move, so that the needle placing slider 610 is gradually away from or close to one side of the traverse slide rail, and the needle placing container 640 is also gradually close to or away from the traverse slide rail. In order to better drive the needle placing traction belt 630, in one embodiment, the needle placing driving mechanism 600 further includes two needle placing gears 650, one needle placing gear 650 is in driving connection with the needle placing motor, the needle placing traction belt 630 is a needle placing track, one side of the needle placing track is meshed with one needle placing gear 650, and the other side of the needle placing track is meshed with the other needle placing gear 650. The intensity of connection between the needle placing traction belt 630 and the needle placing gear 650 is enhanced through the engagement between the needle placing traction belt 630 and the needle placing gears 650 on two sides, and the influence on the movement of the needle placing sliding block 610 caused by the slippage of the needle placing traction belt 630 is avoided.
In order to accommodate the components, as shown in fig. 1, in one embodiment, the needle placing container 640 has a plurality of needle placing grooves 641, and the needle placing grooves 641 are movably aligned with the robot 230. The plurality of needle placing grooves 641 are formed to accommodate the parts, so that the parts can stand in different needle placing grooves 641 one by one, and the clamping of the manipulator 230 is facilitated. In one embodiment, the needle placing grooves 641 are distributed in multiple rows and multiple columns.
In one embodiment, a milling cutter machining apparatus is provided, which includes the automatic loading and unloading device 10 described in any of the above embodiments.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides an automatic unloader that goes up which characterized in that includes: the mechanical arm pushing device comprises a rack, a driving mechanism and a pushing mechanism, wherein the driving mechanism is fixedly arranged on the rack, the pushing mechanism comprises a supporting block, a pushing cylinder and a mechanical arm, the driving mechanism is in driving connection with the supporting block, the pushing cylinder is connected with the supporting block, and the pushing cylinder is in driving connection with the mechanical arm.
2. The automatic loading and unloading device of claim 1, wherein the robot comprises a clamp cylinder.
3. The automatic loading and unloading device of claim 1, wherein the driving mechanism comprises a traverse driving mechanism, a vertical driving mechanism and a steering mechanism, the traverse driving mechanism is in driving connection with the vertical driving mechanism, the vertical driving mechanism is in driving connection with the steering mechanism, and the steering mechanism is in driving connection with the supporting block.
4. The automatic loading and unloading device as claimed in claim 3, wherein the traverse driving mechanism comprises a traverse slide block, a traverse guide rail, a traverse motor and a traverse traction belt, the traverse guide rail is fixedly arranged on the rack through a column, the traverse motor is in driving connection with the traverse traction belt, the traverse traction belt is connected with the traverse slide block, the traverse slide block is slidably arranged on the traverse guide rail, and the vertical driving mechanism is connected with the traverse slide block.
5. The automatic loading and unloading device of claim 4, wherein the vertical driving mechanism comprises a vertical slider, a vertical guide rail and a vertical driver, the vertical guide rail is fixedly connected with the traverse slider, the vertical guide rail is perpendicular to the traverse guide rail, the vertical driver is in driving connection with the vertical slider, the vertical slider is slidably arranged on the vertical guide rail, and the steering mechanism is connected with the vertical slider.
6. The automatic loading and unloading device of claim 5, wherein the vertical drive comprises a vertical drive cylinder.
7. The automatic loading and unloading device as claimed in claim 5, wherein the steering mechanism includes a fixed arm, a steering arm and a steering driving cylinder, the fixed arm is fixedly connected to the vertical slider, a supporting arm is disposed at one end of the fixed arm, the other end of the fixed arm is rotatably connected to one end of the steering arm, one end of the steering driving cylinder is fixedly connected to one end of the supporting arm away from the fixed arm, the other end of the steering driving cylinder is rotatably connected to a middle portion of the steering arm, the steering arm is driven by the steering driving cylinder to rotate from a direction parallel to the traverse guide to a direction parallel to the vertical guide, and the supporting block is connected to one end of the steering arm away from the fixed arm.
8. The automatic loading and unloading device of claim 1, further comprising a needle placement driving mechanism, wherein the needle placement driving mechanism comprises a needle placement sliding block, a needle placement sliding rail, a needle placement motor, a needle placement traction belt and a needle placement container, the needle placement guiding rail is fixedly arranged on the rack through an upright column, the needle placement guiding rail is perpendicular to the transverse moving guiding rail, the needle placement motor is in driving connection with the needle placement traction belt, the needle placement traction belt is connected with the needle placement sliding block, the needle placement sliding block is slidably arranged on the needle placement guiding rail, the needle placement container is connected with the needle placement sliding block, and the needle placement container is movably aligned with the manipulator.
9. The automatic loading and unloading device as claimed in claim 8, wherein the needle container is provided with a plurality of needle placing grooves, and the needle placing grooves are movably aligned with the manipulator.
10. Milling cutter machining equipment, characterized in that it comprises an automatic loading and unloading device as claimed in any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011637646.2A CN112850124A (en) | 2020-12-31 | 2020-12-31 | Automatic loading and unloading device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011637646.2A CN112850124A (en) | 2020-12-31 | 2020-12-31 | Automatic loading and unloading device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112850124A true CN112850124A (en) | 2021-05-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011637646.2A Pending CN112850124A (en) | 2020-12-31 | 2020-12-31 | Automatic loading and unloading device |
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| CN (1) | CN112850124A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130012692A (en) * | 2011-07-26 | 2013-02-05 | 이민지 | Transferring device for accuracy movement of gantry robot |
| CN204711671U (en) * | 2015-06-27 | 2015-10-21 | 新昌县金晖制冷配件有限公司 | Automatic loading and unloading device |
| CN108081540A (en) * | 2017-12-25 | 2018-05-29 | 芜湖蓝博塑胶有限公司 | Injection molding machine blanking mechanical hand |
| CN108188297A (en) * | 2017-12-28 | 2018-06-22 | 乐清市先驱自动化设备有限公司 | A kind of mechanical processing automation loading and unloading manipulator |
| CN209466577U (en) * | 2019-01-22 | 2019-10-08 | 广东速博智能科技有限公司 | Full-automatic loading and unloading production system |
| CN110449965A (en) * | 2019-08-09 | 2019-11-15 | 台州北平机床有限公司 | A kind of automatic loading and unloading device of lathe |
| CN210116988U (en) * | 2018-10-18 | 2020-02-28 | 李荣根 | Quick plate taking and placing device and taking and placing equipment thereof |
-
2020
- 2020-12-31 CN CN202011637646.2A patent/CN112850124A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130012692A (en) * | 2011-07-26 | 2013-02-05 | 이민지 | Transferring device for accuracy movement of gantry robot |
| CN204711671U (en) * | 2015-06-27 | 2015-10-21 | 新昌县金晖制冷配件有限公司 | Automatic loading and unloading device |
| CN108081540A (en) * | 2017-12-25 | 2018-05-29 | 芜湖蓝博塑胶有限公司 | Injection molding machine blanking mechanical hand |
| CN108188297A (en) * | 2017-12-28 | 2018-06-22 | 乐清市先驱自动化设备有限公司 | A kind of mechanical processing automation loading and unloading manipulator |
| CN210116988U (en) * | 2018-10-18 | 2020-02-28 | 李荣根 | Quick plate taking and placing device and taking and placing equipment thereof |
| CN209466577U (en) * | 2019-01-22 | 2019-10-08 | 广东速博智能科技有限公司 | Full-automatic loading and unloading production system |
| CN110449965A (en) * | 2019-08-09 | 2019-11-15 | 台州北平机床有限公司 | A kind of automatic loading and unloading device of lathe |
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Application publication date: 20210528 |