CN116692383A - Moving trolley structure for carrying and carrying method thereof - Google Patents
Moving trolley structure for carrying and carrying method thereof Download PDFInfo
- Publication number
- CN116692383A CN116692383A CN202310941969.8A CN202310941969A CN116692383A CN 116692383 A CN116692383 A CN 116692383A CN 202310941969 A CN202310941969 A CN 202310941969A CN 116692383 A CN116692383 A CN 116692383A
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- tool
- supporting
- carrying
- axis
- storage bin
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- 238000000034 method Methods 0.000 title claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 239000000463 material Substances 0.000 claims abstract description 26
- 238000007599 discharging Methods 0.000 claims abstract description 16
- 230000006698 induction Effects 0.000 claims abstract description 6
- 238000010926 purge Methods 0.000 claims abstract description 5
- 238000003860 storage Methods 0.000 claims description 33
- 238000004140 cleaning Methods 0.000 claims description 17
- 230000001939 inductive effect Effects 0.000 claims description 11
- 230000007723 transport mechanism Effects 0.000 claims description 7
- 238000003754 machining Methods 0.000 claims description 5
- 238000006467 substitution reaction Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000007664 blowing Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a moving trolley structure for carrying and a carrying method thereof, which are characterized in that for the same workpiece, a workpiece with a fixed processing technology can enter an automatic working state, after the workpiece enters the automatic state, an XZ shaft carrying mechanism, a six-shaft robot manipulator and a purging mechanism work according to various induction switches, the feeding and discharging mechanisms and the induction switches are additionally arranged, and the material operation of the workpiece feeding and discharging platforms of the garage trolley accords with the requirements of customers on improving productivity and quality and effectively reducing manpower.
Description
Technical Field
The invention relates to the technical field of intelligent feeding, in particular to a movable trolley structure for carrying.
Background
The existing semi-automatic mechanical hand discharging device generally adopts a manual substrate carrying operation mode, so that the labor intensity is high and the safety is low; in the process of moving up and down, operators easily scratch the base plate datum plane, so that the positioning accuracy is low and the processing quality of parts is affected.
The patent 202220488861.9 discloses a tool plate rotary feeding and discharging device, which is characterized in that after manual feeding, a chain plate and chain structure is adopted to transversely convey, but the transmission is unstable, the tool plate is easy to clamp, the structure is complex, and the tool plate is difficult to maintain; the substrate storage and positioning precision is not high, and the material taking of the mechanical arm is affected;
the feed bin is not designed, the requirements of continuity, balance and proportionality cannot be met, and the applicability is narrow; the production efficiency is low, so that equipment is occupied and stagnated; is not beneficial to popularization and mass processing of workpieces.
Disclosure of Invention
In order to solve the problems, the invention provides a flexible loading and unloading trolley structure.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the movable trolley structure for carrying comprises a trolley frame and a multi-axis robot, wherein a feed line and a discharge line are distributed in the trolley frame; the feeding line and the discharging line are respectively provided with a feed bin and a manual position bracket group opposite to the feed bin; the storage bin and the manual position bracket group are composed of a plurality of layers of bracket groups; the surface of the trolley frame behind the feed line bin and the discharge line bin is provided with a replacing processing station, and the replacing processing station is composed of a layer of bracket group;
the bracket group consists of a pair of support plates; the surface of the supporting plate is in a side Z shape, a guide surface is arranged on a vertical surface of the supporting plate, and an inductive switch for detecting the tool in place is arranged on the guide surface; the upper surface of the transverse part of the supporting plate is also provided with a locating pin;
the two sides in the trolley frame are provided with XZ shaft carrying mechanisms running between the storage bin and the manual position bracket group; the X Z axis carrying mechanism consists of an X direction driving mechanism and a Z direction driving mechanism arranged on the X direction driving mechanism, the Z direction driving mechanism is connected with and drives a tray, a pair of supporting guide bars are arranged on the surface of the tray, and the supporting distance of the supporting guide bars is smaller than the distance of the supporting plates of the bracket group;
the device also comprises a controller, wherein the controller is arranged on the trolley frame, and the controller receives the inductive switch signal and is used for controlling the XZ axis carrying mechanism and the multi-axis robot to take materials.
Preferably, the multi-axis robot is a six-axis robot.
Preferably, a cleaning station is further arranged in the surface of the trolley frame after the processing station, a layer of bracket group is arranged at the cleaning station, and a purging device is further arranged at the rear part of the trolley frame.
Preferably, the tray is provided with a lifting device which is connected with the supporting guide bar; the backup pad of feed bin is from horizontal part to front portion and rear portion, and rear portion fixed mounting is in the dolly frame, and front portion horizontal portion rotates to be installed in rear portion horizontal portion, and rear portion horizontal portion bottom is fixed with the baffle and is used for supporting front portion horizontal portion.
Preferably, a plurality of rollers for supporting the tool are further arranged on the outer side of the vertical surface below the supporting plate of the uppermost support group of the storage bin.
Preferably, a plurality of rollers for supporting the tool are further arranged on the outer side of the lower vertical surface of the supporting plate of the machining station.
Preferably, the manual position support group is also provided with an in-out station, the in-out station is provided with a layer of support group, and a plurality of rollers for supporting the tool are further arranged on the outer sides of the supporting plates of the in-out station support group, the storage bin and the lower vertical surface of the supporting plates of the position support group.
Preferably, the roller arrangement is inclined inwardly.
Preferably, the XZ axis carrying mechanism is fixed on the side frame at the bottom of the trolley through an X-direction driving mechanism.
Preferably, the X-direction driving mechanism and the Z-direction driving mechanism are both composed of a servo motor screw rod driving mechanism and a guide rail.
A method of handling a mobile cart structure for handling, comprising the steps of: dividing a trolley into a feed line and a discharge line, arranging a workpiece on a tool by a worker, arranging the workpiece on a bracket group of a manual position bracket group, moving the tool to the top layer of a storage bin by an XZ axis carrying mechanism capable of moving in the X axis direction and the Z axis direction, and controlling the XZ axis carrying mechanism to carry the tool on the next layer by a controller if the tool is arranged above a top layer induction switch of the storage bin; when the tool is positioned on the top layer of the storage bin, the multi-axis robot grabs the tool to a rear processing station, and the multi-axis robot grabs the tool to a cleaning station after the tool is processed;
after the cleaning, snatch frock to the substitution processing station of material discharging line through multiaxis robot, carry to artifical position support group by XZ axle transport mechanism again, if artifical position support group inductive switch responds to its top still has the frock, then control XZ axle transport mechanism frock through the controller and put in the next floor.
The invention has the beneficial effects that: the production process can meet the requirements of continuity, balance and proportionality flexibility; the production efficiency is improved, the production synchronization is shortened, the equipment occupation and stagnation are reduced, and the workload of transportation is reduced; the production cost is reduced, and the production management is simplified.
Drawings
Fig. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a perspective view of the present invention.
Fig. 3 is an enlarged view of a portion of fig. 2.
Fig. 4 is a schematic structural view of the bracket set according to the present invention.
FIG. 5 is a schematic diagram of the XZ axis handling mechanism of the present invention.
Fig. 5 is a schematic structural view of the tray assembly.
Fig. 6 is a schematic structural diagram of a two-bin bracket set according to an embodiment.
Description of the embodiments
Examples
As shown in fig. 1, 2, 3, 4 and 5, a mobile trolley structure for carrying comprises a trolley frame 1 and a six-axis robot, wherein a feed line and a discharge line are distributed in the trolley frame 1; the feeding line and the discharging line are respectively provided with a feed bin 2 and a manual position bracket group 3 opposite to the feed bin 2; the storage bin 2 and the manual position bracket group 3 are composed of a plurality of layers of bracket groups; the surface of the trolley frame 1 behind the feed line and discharge line bin 2 is provided with a substitute processing station 4, and the substitute processing station 4 is composed of a layer of bracket group;
the bracket group is composed of a pair of support plates 41; the surface of the supporting plate 41 is in a side Z shape, a guide surface is arranged on a vertical surface of the supporting plate 41, and an inductive switch 42 for detecting the tool in place is arranged on the guide surface; the upper surface of the transverse part of the supporting plate 41 is also provided with a locating pin;
the two sides in the trolley frame 1 are provided with XZ shaft carrying mechanisms 5 which run between the storage bin 2 and the manual position bracket group 3; the XZ axis carrying mechanism 5 consists of an X-direction driving mechanism and a Z-direction driving mechanism arranged on the X-direction driving mechanism, wherein the Z-direction driving mechanism is connected with and drives a tray 51, a pair of supporting guide bars 52 are arranged on the surface of the tray 51, and the supporting guide bars 52 are U-shaped; and the supporting interval of the supporting guide bars 52 is smaller than the interval of the supporting plates 41 of the bracket group;
the device also comprises a controller, wherein the controller is arranged on the trolley frame 1, and the controller receives signals of the inductive switch 42 and is used for controlling the XZ axis carrying mechanism 5 and the multi-axis robot to take materials.
The manual position support group 3 is also provided with an in-out station in front, a layer of support group is arranged at the in-out station, and a plurality of rollers 43 for supporting the tool are also arranged on the outer sides of the lower vertical surfaces of the support plates 41 of the in-out station support group, the storage bin 2 and the support plates 41 of the position support group 3.
And a plurality of rollers 43 for supporting the tool are also arranged on the outer side of the lower vertical surface of the supporting plate 41 of the machining station 4.
A plurality of rollers 43 for supporting the tool are also arranged on the outer side of the vertical surface below the supporting plate 41 of the uppermost support group of the storage bin 2.
The surface of the trolley frame 1 behind the machining station 4 is also provided with a cleaning station, a layer of bracket group is arranged at the cleaning station, and a purging device is also arranged at the rear part of the trolley frame 1. When the processing is finished, the manipulator clamps and places the cleaning position, and the air blowing cleaning device cleans the cleaning position.
A method of handling a mobile cart structure for handling, comprising the steps of: dividing a trolley into a feed line and a discharge line, arranging a workpiece on a tool by a worker, arranging the workpiece on a bracket group of a manual position bracket group 3, moving the tool to the top layer of a storage bin 2 by an XZ axis carrying mechanism 5 capable of moving in the X axis direction and the Z axis direction, and controlling the XZ axis carrying mechanism 5 to carry out tool arrangement on the next layer by a controller if the tool is arranged above a top layer induction switch 42 of the storage bin 2; when the tool is positioned on the top layer of the storage bin 2, the multi-axis robot grabs the tool to a rear generation processing station 4, and the multi-axis robot grabs the tool to a cleaning station after the tool is processed;
after the cleaning, snatch frock to the substitution processing station 4 of material discharging line through multiaxis robot, carry to artifical position support group 3 by XZ axle transport mechanism 5 again, if artifical position support group 3 inductive switch 42 senses its top still has the frock, then control XZ axle transport mechanism 5 frock through the controller and put in the next floor.
The specific operator clamps the product to be processed on the tooling plate, pushes the tooling plate to the feeding position of the manual position bracket set 3 after the tooling plate is clamped, presses a start button, and when the inductive switch 42 senses the material, the XZ axis carrying mechanism 5 works (wherein the XZ axis carrying mechanism 5 belongs to a driving mechanism for common two-axis motion and adopts a motor screw rod mechanism), the clamped tooling plate is carried to the upper layer of the stock bin 2 for the multi-axis robot manipulator to take materials, and the manipulator takes materials and sends the materials to the processing station 4; when the machine tool is used for processing and the upper layer of the storage bin 2 is provided with materials, the newly-fed materials are transported to the lower layer of the storage bin 2 for storage through the XZ axis transport mechanism 5; when no material exists above, the XZ axis carrying mechanism 5 takes materials from the lower layer of the storage bin to the top layer; when the machine tool machining is finished, the manipulator clamps are placed at the blowing cleaning position, the manipulator clamps are placed at the upper layer of the manipulator discharging line storage bin 2 after cleaning, when the upper layer senses materials, the materials are continuously supplied at the rear, the materials are stored to the lower layer of the storage bin 2 or the manual position support group 3 through the XZ shaft carrying mechanism 5.
For the same workpiece, the workpiece with fixed processing technology can enter an automatic working state, and after the feeding and discharging tables of the material warehouse trolley enter the automatic state, the XZ axis carrying mechanism 5, the six-axis robot manipulator and the purging mechanism work according to the induction switches 42. The feeding and discharging table of the material warehouse trolley is operated by the feeding and discharging device, the feeding and discharging table is provided with the feeding bin 2, the XZ shaft carrying mechanism 5 and the inductive switch 42, so that the capacity and the quality of the material warehouse trolley are improved according to clients, and the manpower requirement is effectively reduced.
The material feeding and discharging line structure of the equipment is the same, any side can be used as a material to be fed, and meanwhile, the manual position bracket group 3 and the material bin 2 belong to multiple layers and can be used for material storage.
Examples
According to the first embodiment, in addition to the structure of the first embodiment, the tray 51 is provided with a lifting device, and the lifting device is connected with the supporting bar 52; the support plate 41 of the storage bin 2 is divided into a front part and a rear part from the transverse part, the rear part is fixedly arranged on the trolley frame 1, the front transverse part 411 is rotatably arranged on the rear transverse part 412, and a baffle 413 is fixedly arranged at the bottom of the rear transverse part 412 and used for supporting the front transverse part 411.
As shown in fig. 6, the tray 51 is provided with a lifting device (lifting motor), and two supporting bars 52 are fixedly connected through a U-shaped part at the front end of the lifting motor; so that the supporting bars 52 have a vertical lifting function when entering the lower layer of the silo 2.
When the upper tooling of the stock bin 2 is taken away, the sensing device 42 senses the tooling, and drives the XZ axis carrying mechanism 5 to carry out the displacement of the next tooling, the front transverse part 411 is rotatably arranged on the rear transverse part 412, the baffle 413 is fixed at the bottom of the rear transverse part 412 and used for supporting the front transverse part 411, and the front transverse part 411 has a unidirectional overturning function; the lifting device on the tray 51 directly drives the supporting guide bar 52 to continuously ascend, the side edge of the tool pushes the roller 43 of the front transverse part 411 to turn over, then under the condition of heavy side, the front transverse part 411 can fall back, and when the supporting guide bar 52 brings the tool to descend again, the front transverse part 411 and the roller 43 thereof are blocked by the baffle 413, so that the tool can be left at the first layer. Therefore, the running track of the XZ axis carrying mechanism 5 is reduced, and the efficiency is improved; in specific operation, if the first layer is just taken away during storage, the workpieces at the lower layer of the storage bin 2 can be directly lifted, and the operation efficiency is improved.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (9)
1. The movable trolley structure for carrying comprises a trolley frame (1) and a multi-axis robot and is characterized in that a feed line and a discharge line are distributed in the trolley frame (1); the feeding line and the discharging line are respectively provided with a feed bin (2) and a manual position bracket group (3) opposite to the feed bin (2); the storage bin (2) and the manual position bracket group (3) are composed of a plurality of layers of bracket groups; a replacing processing station (4) is arranged on the surface of the trolley frame (1) behind the feed bin (2) of the feed line and the discharge line, and the replacing processing station (4) is composed of a layer of bracket group;
the bracket group is composed of a pair of support plates (41); the surface of the supporting plate (41) is in a side Z shape, a guide surface is arranged on a vertical surface of the supporting plate (41), and an inductive switch (42) for detecting the tooling in place is arranged on the guide surface; the upper surface of the transverse part of the supporting plate (41) is also provided with a locating pin;
XZ shaft carrying mechanisms (5) running between the storage bin (2) and the manual position bracket group (3) are arranged on two sides in the trolley frame (1); the XZ axis conveying mechanism (5) consists of an X-direction driving mechanism and a Z-direction driving mechanism arranged on the X-direction driving mechanism, the Z-direction driving mechanism is connected with and drives a tray (51), a pair of supporting guide bars (52) are arranged on the surface of the tray (51), and the supporting distance of the supporting guide bars (52) is smaller than the distance of the supporting plates (41) of the bracket group;
the robot feeding device further comprises a controller, wherein the controller is arranged on the trolley frame (1), and the controller receives signals of the inductive switch (42) and is used for controlling the XZ-axis carrying mechanism (5) and the multi-axis robot to feed materials.
2. The mobile cart structure for carrying according to claim 1, wherein the multi-axis robot is a six-axis robot.
3. The mobile trolley structure for carrying according to claim 1, wherein a cleaning station is further arranged in the surface of the trolley frame (1) behind the replacing processing station (4), a layer of bracket group is arranged at the cleaning station, and a purging device is further arranged at the rear part of the trolley frame (1).
4. A travelling car structure for handling according to claim 1, characterized in that the pallet (51) is provided with lifting means by means of which the supporting bars (52) are connected; the support plate (41) of the storage bin (2) is divided into a front part and a rear part from a transverse part, the rear part is fixedly arranged on the trolley frame (1), the front transverse part (411) is rotatably arranged on the rear transverse part (412), and a baffle (413) is fixedly arranged at the bottom of the rear transverse part (412) and used for supporting the front transverse part (411).
5. The mobile trolley structure for carrying according to claim 1, wherein a plurality of rollers (43) for supporting the tool are further installed on the outer side of the lower vertical surface of the supporting plate (41) of the uppermost support group of the storage bin (2).
6. The mobile trolley structure for carrying according to claim 1, wherein a plurality of rollers (43) for supporting the tool are further installed on the outer side of the lower vertical surface of the supporting plate (41) of the machining station (4).
7. The mobile trolley structure for carrying according to claim 1, wherein an in-out station is further arranged in front of the manual position support group (3), a layer of support group is arranged at the in-out station, and a plurality of rollers (43) for supporting the tool are further arranged on the outer sides of the vertical surfaces of the support plates (41) of the in-out station support group, the storage bin (2) and the support plates (41) of the position support group (3).
8. A travelling car structure for carrying according to claim 6, characterized in that the rollers (43) are arranged inclined inwards.
9. A method of handling a mobile cart structure for handling, comprising the steps of: dividing a trolley into a feed line and a discharge line, arranging a workpiece on a tool by a worker, arranging the workpiece on a bracket group of a manual position bracket group (3), moving the tool to the top layer of a storage bin (2) by an XZ axis carrying mechanism (5) capable of moving in the X axis and the Z axis, and controlling the XZ axis carrying mechanism (5) to put the tool on the next layer by a controller if the tool is arranged above a top layer induction switch (42) of the storage bin (2); when the tool is positioned on the top layer of the storage bin (2), the tool is grabbed to a rear processing station (4) by a multi-axis robot, and the multi-axis robot grabs the tool to a cleaning station after the tool is processed;
after the cleaning, snatch frock to the substitution processing station (4) of material discharging line through multiaxis robot, carry to artifical position support group (3) by XZ axle transport mechanism (5) it again, if artifical position support group (3) inductive switch (42) is responded to its top and is had the frock in addition, then put in next floor through controller control XZ axle transport mechanism (5) frock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310941969.8A CN116692383B (en) | 2023-07-28 | Moving trolley structure for carrying and carrying method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310941969.8A CN116692383B (en) | 2023-07-28 | Moving trolley structure for carrying and carrying method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116692383A true CN116692383A (en) | 2023-09-05 |
| CN116692383B CN116692383B (en) | 2024-08-16 |
Family
ID=
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006080210A (en) * | 2004-09-08 | 2006-03-23 | Matsushita Electric Ind Co Ltd | Work feeder and work feeding method, and work storing apparatus and method |
| CN109454622A (en) * | 2018-12-26 | 2019-03-12 | 莱森姆智能科技(常州)有限公司 | A kind of mobile robot's platform and its working method |
| CN111285038A (en) * | 2018-12-06 | 2020-06-16 | 鸿富锦精密电子（成都）有限公司 | Transport vehicle and automatic feeding and discharging processing equipment |
| CN217147748U (en) * | 2022-04-07 | 2022-08-09 | 广东印翰科技有限公司 | Tray feeding mechanism |
| CN219078430U (en) * | 2022-12-06 | 2023-05-26 | 广东鑫信智能装备有限公司 | Automatic feeding and discharging machine for hot press |
| CN116175256A (en) * | 2023-04-04 | 2023-05-30 | 杭州纳志机器人科技有限公司 | Automatic positioning method for loading and unloading of trolley type robot |
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006080210A (en) * | 2004-09-08 | 2006-03-23 | Matsushita Electric Ind Co Ltd | Work feeder and work feeding method, and work storing apparatus and method |
| CN111285038A (en) * | 2018-12-06 | 2020-06-16 | 鸿富锦精密电子（成都）有限公司 | Transport vehicle and automatic feeding and discharging processing equipment |
| CN109454622A (en) * | 2018-12-26 | 2019-03-12 | 莱森姆智能科技(常州)有限公司 | A kind of mobile robot's platform and its working method |
| CN217147748U (en) * | 2022-04-07 | 2022-08-09 | 广东印翰科技有限公司 | Tray feeding mechanism |
| CN219078430U (en) * | 2022-12-06 | 2023-05-26 | 广东鑫信智能装备有限公司 | Automatic feeding and discharging machine for hot press |
| CN116175256A (en) * | 2023-04-04 | 2023-05-30 | 杭州纳志机器人科技有限公司 | Automatic positioning method for loading and unloading of trolley type robot |
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