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WO2016015241A1 - Appareil de préhension de matériau et appareil d'assemblage - Google Patents

Appareil de préhension de matériau et appareil d'assemblage Download PDF

Info

Publication number
WO2016015241A1
WO2016015241A1 PCT/CN2014/083298 CN2014083298W WO2016015241A1 WO 2016015241 A1 WO2016015241 A1 WO 2016015241A1 CN 2014083298 W CN2014083298 W CN 2014083298W WO 2016015241 A1 WO2016015241 A1 WO 2016015241A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
pick
controller
picking
electrode connector
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.)
Ceased
Application number
PCT/CN2014/083298
Other languages
English (en)
Chinese (zh)
Inventor
向智勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kimree Technology Co Ltd
Original Assignee
Kimree Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kimree Technology Co Ltd filed Critical Kimree Technology Co Ltd
Priority to CN201490000185.XU priority Critical patent/CN205668263U/zh
Priority to PCT/CN2014/083298 priority patent/WO2016015241A1/fr
Publication of WO2016015241A1 publication Critical patent/WO2016015241A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A24—TOBACCO; CIGARS; CIGARETTES; SIMULATED SMOKING DEVICES; SMOKERS' REQUISITES
    • A24F—SMOKERS' REQUISITES; MATCH BOXES; SIMULATED SMOKING DEVICES
    • A24F40/00—Electrically operated smoking devices; Component parts thereof; Manufacture thereof; Maintenance or testing thereof; Charging means specially adapted therefor
    • A24F40/70—Manufacture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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
    • 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

Definitions

  • the present invention relates to the field of electronic cigarette technology, and in particular to a material pick-up device and an assembly device capable of automatically picking up materials.
  • the prior art electronic cigarette includes: an atomizer 110 for atomizing the smoke oil to form a smoke for the user to smoke, and a battery rod assembly 120 for supplying power to the atomizer 110,
  • the atomizer 110 has an atomizer electrode connector, the atomizer electrode connector is provided with an atomizer electrode, the battery rod assembly has a battery rod electrode connector, and the battery rod electrode connector is provided with a battery rod electrode, wherein the atomizer electrode connector is connected to the battery rod electrode connector to electrically connect the atomizer electrode and the battery rod electrode, that is, the atomizer 110 and the
  • the battery rod assembly 120 is respectively connected to the atomizer electrode connector as the electronic cigarette electrode connector and the battery rod electrode connector to realize mechanical connection and electrical connection therebetween.
  • the atomizer electrode connector includes an outer electrode 111, an inner electrode 112 interposed in the outer electrode 111, and an insulating ring 113 between the outer electrode 111 and the inner electrode 112.
  • the battery rod electrode connector includes an outer electrode 121, an inner electrode 122 interposed in the outer electrode 121, and an insulating ring 123 between the outer electrode 121 and the inner electrode 122.
  • the electronic cigarette electrode connector is generally assembled by manually assembling it on an assembly line, and the assembly line of the entire electronic cigarette electrode connector needs to be completed by about three to four workers.
  • the existing manual assembly technology works relatively slowly, the assembly efficiency is low, too much manpower is wasted, the production cost of the factory is consumed, and there is a certain risk to the hygiene of the finished product. And if the electronic cigarette electrode connector is contaminated, it will affect the normal power supply of the battery rod assembly 120 to the atomizer 110. Moreover, the existing assembly precision is low, and it is easy to cause material damage during the assembly process, thereby wasting materials and high production cost. Moreover, the assembled materials of the electronic cigarette electrode connector are relatively loose, thereby affecting the service life and user experience of the electronic cigarette. Summary of the invention The invention provides a material pick-up device and an assembly device capable of automatically picking up materials.
  • a material pick-up device for picking up materials for assembling an electronic cigarette electrode connector wherein a package assembly, the material pick-up assembly and the rotating assembly are respectively connected to a controller, wherein the rotating component is used for the rotation
  • the assembly includes: a guide plate through which a rotating shaft is disposed, one end of the rotating shaft is connected with a rotating cylinder electrically connected to the controller, and the other end of the rotating shaft is fixedly connected with a transmission block, the rotating cylinder And the transmission block is disposed at two sides of the guiding plate; the transmission block is disposed through the through hole and the guiding groove with a first slider connected to the material pick-up assembly; the rotating cylinder is used for Rotating the rotating shaft under the control of the controller, so that the transmission block connected to the rotating shaft drives the first sliding block to move along the guiding slot, thereby causing the first slider to drive The material picking assembly moves.
  • the material pick-up device wherein the material pick-up assembly comprises:
  • connecting rod one end of the connecting rod is fixedly connected with the first sliding block, so that the connecting rod is guided by the first sliding block along the guiding groove;
  • the other end of the connecting rod is fixedly provided with a first cylinder fixing plate and a cylinder fixedly disposed on the first cylinder fixing plate, and the cylinder is electrically connected with the controller, and the cylinder is also coupled with the first An arm connection is taken, the cylinder being configured to control the first grabbing arm to grasp the material or to drop the material under the control of the controller.
  • the material picking device wherein the first grabbing arm is at least two; the cylinder controls a plurality of the first grab arms to move correspondingly to each other under the control of the controller The materials are moved away from each other to drop the material.
  • the material pick-up device wherein, if the first grabbing arm is used for grasping an insulating ring, the top end of the first grabbing arm is provided with a resisting sleeve and is movably connected to the resisting sleeve and a thimble made of an elastic material, and the diameter of the thimble is larger than a diameter of the hollow portion of the insulating ring, so that the thimble is pressed into the hollow portion of the insulating ring when the first grabbing arm picks up the insulating ring , the thimble is caused to have an interference fit with the hollow portion of the insulating ring;
  • the elastic sleeve is connected to the resisting sleeve and the thimble So that the first grasping arm places the insulating ring on the material fixing seat for placing the insulating ring, the thimble abuts on the material fixing seat, so that the thimble is oriented The resilient mechanism moves until the thimble is disengaged from the insulating ring.
  • the material pick-up device wherein the guiding groove is n-shaped or semi-circular.
  • the material picking device wherein the rotating component further comprises:
  • the end of the rotating shaft away from the guiding plate is connected to the coupling through the second cylinder fixing plate, and the second cylinder fixing plate is provided with a bearing for accommodating the rotating shaft;
  • the second cylinder fixing plate is provided with two supporting arms extending away from the rotating cylinder, and the plane of the supporting arm is perpendicular to a plane where the second cylinder fixing plate is located, and the supporting arm is away from the
  • the end of the second cylinder fixing plate is provided with a spring column;
  • a pressing block is fixedly connected to a side of the connecting rod adjacent to the first sliding block, and two ends of the pressing block each extend with a resisting arm, and a horizontal plane of the resisting arm and the transmission block
  • the horizontal plane is parallel to move the first slider along the guiding slot to the end of the guiding slot
  • the abutting arm near the end of the guiding slot abuts near the guiding slot end
  • the column of the portion such that the spring column near the end of the guiding groove gives the abutting arm a force away from the end of the guiding groove, so that the first grasping arm is lowered Keep away from the turntable after the material.
  • the column is a telescopic spring, so that the column in a compressed state gives the abutting arm a force away from the end of the guiding groove;
  • the bullet is an electromagnet electrically connected to the controller, and if the controller determines that the first slider moves along the guiding slot to an end of the guiding slot, the controller gives a The electromagnet is energized such that the electromagnet gives the abutment arm a force away from the end of the guide slot.
  • the connecting rod is provided with a first rail in a vertical direction
  • the material picking component further includes:
  • the connecting rod is movably inserted on the first movable plate away from the end of the first sliding block, so that the first movable plate can be vertically moved relative to the connecting rod along the guiding of the first guiding plate ;
  • a second movable plate is fixedly disposed on a side of the first movable plate near the rotary cylinder, and a second sliding plate is disposed on a side of the second movable plate near the rotary cylinder, and the second fixed plate and the second fixed plate
  • the second slider corresponding position is provided with a second guide rail for lateral guidance, and the second slider is used for laterally moving left and right along the guide of the second guide rail, so that the second slider can drive the second activity
  • the board moves laterally to the left and right.
  • An assembly apparatus for assembling an electronic cigarette electrode connector comprising: a rotatable turntable, a material holder, a first material sensing area, an inductor, a controller, and the material pick-up device according to any one of the above;
  • the material fixing seat is disposed on the turntable
  • the first material sensing area is provided with the inductor, so that the sensor senses the material located in the first material sensing area and generates a trigger signal correspondingly;
  • the controller is respectively electrically connected to the inductor and the material pick-up device, so that the controller controls the material pick-up device to pick up the material according to the trigger signal and place the material in the On the material holder.
  • the assembly device further comprising: a material vibrating plate for placing the material and a material guide rail; to the material guide rail, the preset state is an axis of each hollow portion of the material and The plane of the material vibrating plate is vertical;
  • the material guide rail is disposed between the material vibrating plate and the turntable, and is configured to continue conveying the material sent by the material vibrating plate along the turntable direction;
  • the first material sensing area is located at an end of the material guide near the turntable;
  • the material rail is provided with a material valve for fixing the material in the first material sensing area.
  • the assembly device wherein the material pick-up device comprises a third material pick-up device for picking up the insulating ring, a first material pick-up device for picking up the outer electrode, and a second material pick-up device for picking up the inner electrode;
  • the third material pick-up device, the first material pick-up device and the second material pick-up device are sequentially disposed along a rotation direction of the turntable.
  • the assembly device wherein the assembly device further includes:
  • a first pressing arm for pressing to fix the outer electrode on the material holder to the insulating ring
  • a second grasping arm for lifting the outer electrode and the insulating ring which are located on the material fixing base and fixed to each other to move the outer electrode and the insulating ring to a preset position, and
  • the second grabbing arm is further configured to sleeve the outer electrode and the insulating ring that have moved to the preset position on the material fixing seat that has been sleeved with the inner electrode to form the electron Smoke electrode connector;
  • the third material pick-up device, the first material pick-up device, the first pressing arm, the second grabbing arm, the second material pick-up device, and the second pressing arm along The rotation direction of the turntable is sequentially set;
  • the preset position is disposed between the second material pick-up device and the second pressing arm along a rotation direction of the turntable.
  • the assembly device wherein the material pick-up device includes a second material pick-up device for picking up the inner electrode, a third material pick-up device for picking up the insulating ring, and a first material pick-up device for picking up the outer electrode;
  • the second material pick-up device, the third material pick-up device, and the first material pick-up device are sequentially disposed along a rotation direction of the turntable.
  • the assembly device wherein the assembly device further includes:
  • the second material pick-up device, the third material pick-up device, the first material pick-up device and the three pressing arms are sequentially disposed along a rotation direction of the turntable.
  • the assembly device wherein the assembly device further includes:
  • the first discharge rail is provided with a second material sensing area, and the second material sensing area is located under the soldering arm for soldering the electronic cigarette electrode connector;
  • the second material sensing area is provided with an inductor, so that the sensor generates a trigger signal according to the sensing of the electronic cigarette electrode connector located in the second material sensing area;
  • the controller is further electrically connected to the soldering arm and the inductor, respectively, to enable the controller to control the soldering arm to solder the electronic cigarette electrode connector according to the trigger signal.
  • the assembly device wherein the material pick-up device includes a first material pick-up device for picking up an outer electrode, a third material pick-up device for picking up an insulating ring, and a second material pick-up device for picking up the inner electrode;
  • the first material pick-up device, the third material pick-up device and the second material pick-up device are sequentially disposed along a rotation direction of the turntable.
  • the assembly device wherein the assembly device further includes:
  • a fourth pressing arm for pressing the e-cigarette electrode connector on the material holder
  • the first material pick-up device, the third material pick-up device, the second material pick-up device and the fourth pressing arm are sequentially disposed along a rotating direction of the turntable.
  • the assembly apparatus wherein the assembly apparatus further includes a fourth grabbing arm for gripping the electronic cigarette electrode connector, and the fourth grabbing arm is disposed at a direction of rotation of the turntable Said fourth pressing down the arm;
  • the fourth grasping arm is configured to grasp the electronic cigarette electrode connector under the control of the controller and perform 180-degree rotation to perform upper soldering, and the electronic cigarette electrode connector completed by soldering is further Performing a 180 degree rotation to place the electronic cigarette electrode connector on the second discharge rail;
  • the fourth grasping arm is configured to grasp the electronic cigarette electrode connector under the control of the controller, and place the electronic cigarette electrode connector on a transport platform;
  • the controller is further connected to the soldering arm, and the controller is further configured to control the soldering arm to the electronic cigarette electrode connector located on the solder rail Solder
  • An air supply mechanism is disposed in the air nozzle, and the air supply mechanism is connected to the controller, and the controller is configured to control the air supply mechanism to supply air to the air nozzle to make the air nozzle
  • the blown airflow in the direction in which the transport rail extends extends the e-cigarette electrode connector into the transport rail until the e-cigarette electrode connector moves to the solder rail.
  • the invention provides a material pick-up device and an assembly device capable of automatically picking up materials.
  • the rotating component of the material connection, the material picking component and the rotating component are respectively connected to the controller.
  • the rotating component is caused to move the material pick-up assembly under the control of the controller to pick up or drop the material to automatically assemble the electronic cigarette electrode connector, thereby eliminating the need for a manual assembly line in the prior art, thereby reducing labor.
  • the utility model improves the efficiency and saves the cost, and the material picking device is controlled by the controller to pick up the material in the assembly process to realize the assembly, thereby improving the precision in the assembly process, and thus the operation is not inaccurate or
  • the occurrence of material loss caused by excessive force and other conditions further avoids unnecessary waste and improves the performance of the electronic cigarette.
  • the material pick-up device provided by the invention can greatly reduce the pollution of the material during the assembly process, and avoid the occurrence of the battery rod assembly failing to supply the atomizer normally; further, since the material pick-up device includes the pick-up device Rotating the rotating component to drive the material picking component to feed, so the controller controls the material picking component to pick up the material according to the trigger signal and place the material on the material fixing seat, the material picking component motion track It is curved or substantially curved, and does not need to be extracted by the power device after the take-up, and then transmitted laterally and then moved downwards, so that the structure is simple and efficient.
  • FIG. 1 is a schematic cross-sectional view showing the overall structure of an electronic cigarette in the prior art
  • FIG. 2 is a schematic view showing the overall structure of a material pick-up device according to an embodiment of the present invention
  • FIG. 3 is a schematic view showing a partial exploded structure of a preferred embodiment of a material pick-up device according to an embodiment of the present invention
  • 4 is a schematic side view showing a preferred embodiment of a material pick-up device according to an embodiment of the present invention
  • FIG. 5 is a partial structural schematic view of a preferred embodiment of a rotating assembly according to an embodiment of the present invention.
  • FIG. 6 is a schematic cross-sectional view showing a preferred embodiment of a first grasping arm end according to an embodiment of the present invention
  • FIG. 7 is a schematic front view showing a preferred embodiment of a rotating assembly according to an embodiment of the present invention.
  • FIG. 8 is a schematic view showing the overall structure of another preferred embodiment of the material pick-up device according to the embodiment of the present invention.
  • FIG. 9 is a schematic side view showing another preferred embodiment of a material pick-up device according to an embodiment of the present invention.
  • FIG. 10 is a schematic overall structural view of a preferred embodiment of an assembly apparatus according to an embodiment of the present invention.
  • FIG. 11 is a schematic overall structural view of another preferred embodiment of an assembly apparatus according to an embodiment of the present invention.
  • FIG. 12 is a schematic overall structural view of another preferred embodiment of an assembly apparatus according to an embodiment of the present invention. detailed description
  • Embodiment 1 This embodiment describes in detail a specific structure of a material pick-up device that can automatically pick up materials for assembling an electronic cigarette electrode connector:
  • the material of the electronic cigarette electrode connector shown in this embodiment specifically includes an outer electrode, an inner electrode disposed in the outer electrode, and an insulating ring disposed between the outer electrode and the inner electrode.
  • Figure 2 is a schematic view of the overall structure of the material pick-up device
  • the material picking device includes a material picking assembly 200 for picking up the material, and the specific structure of the material picking assembly is shown by a circle 200 shown in FIG.
  • the material picking device includes a rotating component rotatably coupled to the material picking assembly 200 300, that is, the specific structure of the rotating assembly 300 is shown as a circle 300 shown in FIG.
  • the material picking assembly 200 and the rotating component 300 are respectively connected to a controller, and the rotating component 300 is configured to drive the material picking assembly 200 to move to pick up or drop the material under the control of the controller. ;
  • the controller is configured to control the movement of the rotating component 300, so that the rotating component 300 drives the material picking assembly 200 to move over the material to be picked up, and the controller controls The material picking assembly 200 picks up the material.
  • the controller is configured to control the material picking assembly 200 to be separated from the material, so that the material picking assembly 200 drops the material; the controller is used to control the rotation The assembly 300 is moved to cause the rotating assembly 300 to move the material picking assembly 200 away from the material.
  • FIG. 3 is a partial exploded structural view of the material pick-up device
  • FIG. 4 is a schematic overall structural view of the side of the material pick-up device
  • the rotating assembly 300 includes: a guiding plate 301;
  • a rotating shaft 302 is disposed through the guiding plate 301, that is, the rotating shaft 302 is freely rotatable relative to the guiding plate 301;
  • One end of the rotating shaft 302 is connected with a rotary cylinder 303 electrically connected to the controller;
  • the rotating cylinder 303 can drive the rotating shaft 302 to rotate under the control of the controller.
  • the specific structure and working principle of the rotating cylinder 303 are prior art, and are not described in this embodiment.
  • the other end of the rotating shaft 302 is fixedly coupled to the transmission block 304, that is, the rotating cylinder 303 and the transmission block 304 are disposed on both sides of the guide plate 301.
  • the transmission block 304 is provided with a through hole 306, and the guide plate 301 is provided with an arcuate guide groove 305;
  • the guide groove 305 shown in FIG. 3 has an n-shape. It should be understood that the specific shape of the guide groove 305 is not limited in this embodiment, as long as the guide groove 305 has an arc-shaped segment.
  • a first slider 307 connected to the material pick-up assembly 200 is disposed through the through hole 306 and the guiding slot 305 in sequence, that is, the first slider 307 and Said
  • the transmission block 304 is rotationally coupled through the through hole 306 to achieve a rotational connection between the rotating assembly 300 and the material picking assembly 200.
  • the material pick-up assembly 200 and the first slider 307 may be a rotative connection or a fixed connection, which is not specifically limited herein.
  • the first slider 307 can be fixedly connected to the transmission block 304, and the material pick-up assembly 200 and the first slider 307 are connected in rotation to realize A rotational connection between the rotating assembly 300 and the material picking assembly 200.
  • FIG. 5 is a partial schematic structural view of the rotating assembly 200 shown in the embodiment.
  • the rotary cylinder 303 is configured to drive the rotating shaft 302 to rotate under the control of the controller. Since one end of the rotating shaft 302 is fixedly connected to the transmission block 304, the transmission block 304 can also follow the guiding. Guided movement of the slot 305;
  • the transmission block 304 drives the guiding movement of the first slider 307 along the guiding slot 305, because the first slider 307 passes through the through hole 306 and the guiding slot 305 in sequence;
  • the first slider 307 is further connected to the material pick-up assembly 200, so that the first slider 307 along the guiding movement of the guiding slot 305 drives the material pick-up assembly 200 to move.
  • the rotating component 300 can drive the material picking assembly 200 to move under the control of the controller, so that the material picking component 200 can automatically pick up the material and automatically drop the material, and
  • the process of moving the material picking assembly 200 and automatically picking up or automatically dropping the material no manual participation is required, the precision in picking up the material is improved, and the efficiency of picking up or dropping the material is greatly improved, thereby improving the assembly.
  • the efficiency of the e-cigarette electrode connector reduces manual input and reduces the cost of e-cigarette generation.
  • Embodiment 2 This embodiment describes in detail how the material picking assembly 200 is specifically connected to the rotating assembly 300:
  • the material picking assembly 200 includes:
  • a connecting rod 308 one end of the connecting rod 308 is fixedly connected with the first sliding rod 307, so that the connecting rod 308 is guided by the first sliding rod 307 along the guiding movement of the guiding groove 305;
  • the other end of the connecting rod 308 is fixedly disposed with a first cylinder fixing plate 309;
  • the guide groove 305 shown in this embodiment is n-shaped or semi-circular.
  • the material is
  • the first grasping arm 311 is at least two; the cylinder 310 controls a plurality of the first grasping arms 311 to move correspondingly or deviate from each other under the control of the controller;
  • the controller controls a plurality of the first grabbing arms 311 to move correspondingly to each other to grip the material;
  • the controller controls the plurality of the first grab arms 311 to move away from each other to drop the material.
  • the insulating ring has a soft texture, in order to avoid damage to the insulating ring during the process of picking up the insulating ring, unnecessary waste is caused, if the first grabbing arm is used to pick up the insulating ring,
  • the specific structure of the first grabbing arm is shown in Figure 6;
  • the first grabbing arm 311 is set to one;
  • the top end of the first grasping arm 311 is provided with a resisting sleeve 601 and a thimble 602 which is movably connected to the resisting sleeve 601 and is made of an elastic material.
  • the diameter of the thimble 602 is larger than the diameter of the hollow portion of the insulating ring.
  • the first grabbing arm 311 controls the thimble 602 to be pressed into the hollow portion of the insulating ring, because the thimble The diameter of the 602 is larger than the diameter of the hollow portion of the insulating ring, and the thimble 602 is in an interference fit with the hollow portion of the insulating ring.
  • the thimble 602 is interference fit with the hollow portion of the insulating ring, a certain external pressure of expansion is generated to relatively fix the insulating ring and the thimble 602.
  • the first grabbing arm 311 places the picked-up insulating ring on the material fixing base to complete the automatic picking and matching of the insulating ring.
  • the material holder is a device for placing the material during the process of specifically assembling the electronic cigarette electrode connector.
  • an elastic mechanism is respectively disposed inside the resisting sleeve 601 to the resisting sleeve 601 and the thimble 602. 603.
  • the thimble 602 gives the elastic mechanism 603 a force away from the material fixing seat, so that the elastic mechanism 603 is returned.
  • the thimble 602 is moved toward the elastic mechanism 603 until the thimble 602 is disengaged from the insulating ring 301.
  • the elastic mechanism 603 is a spring.
  • the elastic mechanism 603 can be used in other manners, as long as it can be retracted when the force is applied.
  • the specific setting manner is not limited in this embodiment. .
  • the first grabbing arm 311 can automatically pick up the insulating ring, and the insulating ring can be placed on the material fixing seat to realize Automatic assembly of the insulating ring. Moreover, during the picking up, the ferrule 602 is interference-fitted with the insulating ring to pick up the insulating ring, thereby effectively preventing deformation of the insulating ring, avoiding damage to the insulating ring, and improving the safety of the process of picking up the insulating ring.
  • Embodiment 3 This embodiment provides a specific structure of a material pick-up device that can ensure the normal operation of the rotary cylinder:
  • the specific structure of the material pick-up device is as shown in the first embodiment to the second embodiment, and is not described in the embodiment.
  • the rotating assembly 300 further includes:
  • the end of the rotating shaft 302 away from the guiding plate 301 is connected to the coupling 312 through the second cylinder fixing plate 313;
  • the second cylinder fixing plate 313 is provided with a bearing 314 for accommodating the rotating shaft 302;
  • the bearing 314 can then be arranged as a magnetic bearing to prevent the rotating shaft 302 from colliding with the bearing 314 during the rotation to avoid wear, thereby improving the service life of the material pick-up device.
  • the second cylinder fixing plate 313 is provided with two supporting arms 315 extending away from the rotating cylinder 303, and the plane of the supporting arm 315 and the second cylinder fixing plate 313 The plane in which it is located is vertical;
  • FIG. 7 is the rotating assembly 300.
  • a pressing block 317 is fixedly connected to a side of the connecting rod 308 adjacent to the first slider 307;
  • Each of the two ends of the pressure block 317 is extended with a resisting arm 318, and the horizontal plane of the resisting arm 318 is parallel to the horizontal plane of the transmission block 304, so that the first slider 307 is along the
  • the 4 holding arm 318 near the end of the guiding groove 305 abuts the column 316 near the end of the guiding groove to make the approach
  • the column 316 at the end of the guiding groove 305 gives the arm 318 a force away from the end of the guiding groove 305, so that the first grasping arm 311 is placed after the material is lowered. Keep away from the material holder to prevent the first grasping arm 311 from being caught by the material holder.
  • the movement of the first slider 307 along the left end of the guiding slot 305 is taken as an example:
  • the four holding arms 31 of the left end portion of the guiding groove 305 hold the column 316 near the left end of the guiding groove so as to be close to the left end of the guiding groove 305.
  • the column 316 gives the abutting arm 318 a force away from the left end of the guiding groove 305 to move the first grasping arm 311 away from the reclaiming area.
  • the column 316 is a telescopic spring, so that the column 316 in a compressed state gives the 4 holding arm 318 a force away from the end of the guiding groove 305;
  • the spring column 316 is an electromagnet electrically connected to the controller, and if the controller determines that the first slider 307 moves along the guiding slot 305 to the end of the guiding slot 305, the Controller gives The electromagnet is energized such that the electromagnet gives the abutment arm 318 a force away from the end of the guide slot 305.
  • the specific manner in which the controller determines whether the first slider 307 is moved to the end of the guiding slot 305 is not limited.
  • the controller may be predetermined to be located in the center of the guiding slot 305.
  • an inductor may be disposed at an end of the guiding slot 305 to cause the sensor to generate a trigger signal when the first slider 307 is moved to the end of the guiding slot 305.
  • the controller can determine that the first slider 307 is moved to either end of the guiding slot 305 according to the trigger signal.
  • the controller can move the material picking assembly 200 through the first slider 307 moving in the guiding slot 305, that is, as shown in FIG. 5, if the controller controls the When the first slider 307 is moved to the left end of the guiding slot 305, the material picking assembly 200 picks up the material, if the controller controls the movement of the first slider 307 to the guiding slot 305 At the right end, the material picking assembly 200 drops the material.
  • the material picking assembly 200 picks up the material.
  • Embodiment 4 The material pick-up device provided in this embodiment can improve the precision in picking up the material or dropping the material:
  • the material pick-up device shown in this embodiment is as shown in FIG. 8 and FIG. 9, and the connecting rod 308 is first disposed in the vertical direction.
  • Guide rail
  • the material picking component 200 further includes:
  • the connecting rod 308 is movably inserted from the end of the first slider 307 on the first movable panel 202; Specifically, the first movable panel 202 is internally provided with a groove matching the first rail, so that the first movable panel 202 can be vertically aligned with respect to the connecting rod 308 along the guiding of the first rail Straight movement
  • a second movable plate 203 is fixedly disposed on a side of the first movable plate 202 near the rotating cylinder 303, and a second sliding block 204 is disposed on a side of the second movable plate 203 adjacent to the rotating cylinder 303 (see FIG. 9). Shown), the second cylinder fixing plate 313 and the second slider 204 corresponding position is provided with a second guide rail 319 for lateral guidance;
  • the second slider 204 is configured to move laterally to the left and right along the guide of the second rail 319, so that the second slider 204 drives the second movable panel 203 to move laterally to the left and right.
  • the trajectory of the end movement of the first grabbing arm 311 of the assembly 200 is stabilized by the first movable panel 202 and the second movable panel 203, and the first grabbing is avoided.
  • the arm 311 is free to swing to ensure smooth movement of the first grabbing arm 311 during picking up the material to improve the accuracy in picking up the material and to improve the efficiency of picking up the material.
  • Embodiment 5 This embodiment provides an assembly device that can realize automatic assembly of an electronic cigarette electrode connector
  • the assembly device includes:
  • the rack 1000 can be closed in the embodiment, and the pollution in the process of assembling the e-cigarette electrode connector can be further avoided.
  • the rack 1000 can also be non-closed (such as As shown in FIG. 10, other components of the assembly apparatus are placed on the rack 1000 so that the user can view it at any time to ensure smooth assembly process.
  • a material fixing base 1002 wherein the material fixing base 1002 is disposed on the turntable 1001;
  • the material holder 1002 is used to place the material to complete the automatic assembly of the electronic cigarette electrode connector.
  • the specific arrangement manner of the material fixing base 1002 is not limited, as long as the The material holder 1002 can be rotated by the turntable 1001.
  • the material holder 1002 is disposed around the turntable 1001, and the spacing between the adjacent material holders 1002 is equal.
  • the assembly device further includes a first material sensing area disposed on a side of the turntable 1001, and the first material sensing area is provided with an inductor, and if the sensor senses the first material sensing area
  • the material for assembling the electronic cigarette electrode connector can generate a trigger signal correspondingly;
  • the specific setting position of the first material sensing area in this embodiment is not limited.
  • the assembly apparatus further includes a material pick-up device 1003.
  • the specific structure of the material pick-up device 1003 shown in this embodiment is shown in the first embodiment to the fourth embodiment, and is not described in this embodiment.
  • the controller is electrically connected to the inductor and the material pick-up device 1003, respectively, so that the controller controls the material pick-up device 1003 to pick up the material according to the trigger signal and The material is placed on the material holder 1002 to complete the automatic assembly of the electronic cigarette electrode connector.
  • FIGS. 10 and 11 are provided with a material pick-up device 1003. It is to be understood that FIGS. 10 and 11 are merely illustrative, and the assembly is completed for the smooth completion of the assembly of the electronic cigarette electrode connector.
  • the apparatus includes three of the material picking devices 1003, and three of the material picking devices 1003 are disposed around the turntable 1001 as long as they are capable of picking up the materials located in the first material sensing area.
  • the first material sensing area and the material picking device 1003 in the embodiment may be distributed at appropriate positions around the dial 1001.
  • the number of material picking devices 1003 in this embodiment is equal to the number of the first material sensing regions.
  • the controller can control the rotation of the turntable 1001 by the turntable driving device 1101, so that the material fixing base 1002 on the turntable 1001 is rotated to a preset installation position, and the preset installation is performed.
  • the position is a position close to the material pick-up device 1003. If the sensor senses that the material is located in the first material sensing area, correspondingly generates a trigger signal, the controller acquires the trigger signal, and generates, according to the trigger signal, a control device for controlling the material picking device 1003. a control signal of the material, so that the material pick-up device 1003 picks up the material according to the control signal and places the material on the material holder 1002 at a preset installation position.
  • the electronic cigarette electrode connector is automatically assembled, and no manual participation is required in the assembly process, thereby saving manpower, thereby saving cost and improving efficiency. And the assembly is controlled by the controller to control the material pick-up device 1003, thereby improving the precision in the assembly process, thereby avoiding the occurrence of material loss, and further avoiding unnecessary waste.
  • the specific location of the first material sensing area is not limited, as long as the material picking device 1003 can pick up the material located in the first material sensing area, and how the material is transported to The first material sensing area is not limited.
  • the material may be manually placed in the first material sensing area, or the first material sensing area is connected to a platform for storing materials through a sliding rail having a small friction coefficient, and the horizontal plane of the platform is higher than The horizontal level of the first material sensing area is such that material located on the platform can be automatically slid through the sliding rail to the first material sensing area.
  • Embodiment 6 This embodiment illustrates the structure of an assembly device that can automatically transport the material to the first material sensing area:
  • the material can be automatically and smoothly moved to the first material sensing area to avoid collision between materials and avoid loss, and no manual intervention is required. , Improve efficiency.
  • the assembly device further includes a material vibration disk 1102 for placing the material and a material guide rail 1103;
  • a vibration driving device is provided, and the vibration driving device can vibrate the material located on the material vibrating plate 1102 to facilitate the conveying of the material, and in the process of conveying the material.
  • the material picking device 1003 is adapted to grasp the material, so that the material moves to the material guide rail 1103 in a preset state.
  • the material guide rail 1103 is disposed between the material vibrating plate 1102 and the turntable 1001.
  • the material guide rail 1103 is configured to continue to transport the material sent by the material vibrating plate 1102 along the turntable 1001.
  • the material guide rail 1103 can be disposed on the vibrating feeding device, and the material guide rail 1103 can vibrate under the control of the vibrating feeding device to smoothly convey the material located on the material guide rail 1103, thereby avoiding the materials. Collisions occur, reducing unnecessary losses.
  • the preset state is an axis of each hollow portion of the material and the material vibrating plate 1102 The state in which the plane is vertical.
  • the preset state may be different depending on the assembly method, as long as the automatic assembly can be realized, and the specific setting manner is not limited.
  • the first material sensing area is disposed at an end of the material guide rail 1103 near the turntable 1001.
  • the material located on the material vibrating plate 1102 is vibrated and transported to the material guide rail 1103, and moves along the material guide rail 1103, so that the material is transported to the first material sensing area in the preset state. And causing an inductor located in the first material sensing area to sense the material.
  • a material valve may be disposed at an end of the material guide rail 1103, so that the material is in the material valve. Under the blocking action, the fixing is stopped in the first material sensing area to be sensed by the inductor.
  • the material rail 1103 is farther away from the turntable 1001 - the horizontal plane is higher than the material rail 1103 is close to the turntable 1001 - the level at which the end is located. In turn, the time required for transferring the materials is effectively reduced, and the efficiency of automatic assembly is further improved.
  • a material guide rail 1103 and a material vibrating disc 1102 are provided in FIG. 11 as an example. When the assembly apparatus shown in this embodiment is actually applied, three material rails 1103 and three of the materials may be included.
  • the material vibrating plate 1102 is used for conveying the outer electrode, the inner electrode and the insulating ring, respectively.
  • Embodiment 7 In this embodiment, different configurations of the assembly equipment are described in the different assembly order of the materials:
  • the assembly order of the electronic cigarette electrode connector is firstly placing an insulating ring on the material fixing base 1002, followed by an outer electrode, and finally an inner electrode;
  • a third material pick-up device for picking up the insulating ring, a first material pick-up device for picking up the outer electrode, and a second material pick-up device for picking up the inner electrode are sequentially disposed in the rotation direction of the turntable;
  • the assembly device further includes:
  • a first pressing arm for pressing the outer electrode on the material holder 1002 to be relatively fixed to the insulating ring
  • the first pressing arm shown in this embodiment is located downstream of the first material pick-up device along the rotation direction of the turntable 1001.
  • the specific structure of the first pressing arm described in this embodiment is not limited as long as it can move in the direction toward the material fixing base 1002 under the control of the controller to press on the material fixing base 1002.
  • the material can be.
  • the first pressing arm includes an indenter, and the cylinder is connected to the indenter, the controller is electrically connected to the cylinder, and the controller controls the indenter to be away from the cylinder through the cylinder The direction of movement of the material holder 1002 or movement in the direction of the material holder 1002.
  • the second grasping arm of the assembling device is used for lifting The outer electrode and the insulating ring fixed on the material fixing base 1002 and fixed to each other to move the outer electrode and the insulating ring to a preset position;
  • the second grabbing arm is located downstream of the first pressing arm along the rotation direction of the turntable 1001.
  • the second material pick-up device sleeves the inner electrode on the material fixing base 1002; the second grabbing arm is further configured to move the outer electrode that has moved to the preset position and the An insulating ring is sleeved on the material fixing base 1002 on which the inner electrode is sleeved to form the electronic cigarette electrode connector;
  • the second pressing arm is for pressing the electronic cigarette electrode connector located on the material holder 1002.
  • the third material pick-up device, the first material pick-up device, and the The first pressing arm, the second grabbing arm, the second material pick-up device, and the second pressing arm are sequentially disposed along a rotation direction of the turntable.
  • the material holder 1002 shown in this embodiment may include:
  • a positioning groove is disposed at the top end of the base for receiving and positioning the insulating ring, and an inner circumferential surface of the positioning groove is matched with an outer circumferential surface of the insulating ring;
  • a positioning post is fixedly disposed on the base, and one end of the positioning post passes through the positioning slot to pass through the base, and the positioning slot is coaxially disposed with the positioning post, and the positioning post is away from the base
  • the end surface of the one end end is higher than the horizontal plane where the positioning groove is located; the diameter of the positioning post 'J, the diameter of the hollow portion of the insulating ring, so that the insulating ring sleeved on the positioning post Interspersed with the positioning post and received in the positioning groove.
  • the inner circumferential surface of the positioning groove is matched with the outer circumferential surface of the insulating ring to place the insulating ring in the positioning groove.
  • the insulating ring located in the positioning groove cannot be displaced when the electronic cigarette electrode connector is automatically assembled. Otherwise, the automatic assembly cannot be accurately and efficiently performed.
  • the position is offset, and the positioning post is fixedly disposed inside the base. And one end of the positioning post passes through the positioning slot to pass through the base.
  • the positioning groove is disposed coaxially with the positioning post.
  • the horizontal plane of the positioning column away from the end surface of the base is higher than the horizontal plane where the positioning groove is located, and the positioning is performed.
  • the diameter of the column is smaller than the diameter of the hollow portion of the insulating ring.
  • the diameter of the positioning post is smaller than the diameter of the hollow portion of the insulating ring, that is, the gap between the positioning post and the hollow portion of the insulating ring is matched, thereby effectively preventing the hollow portion of the insulating ring from being too tightly coupled with the positioning post.
  • the insulating ring is taken out, it cannot be taken out due to the assembly being too tight.
  • the material fixing seat provided by the embodiment enables the insulating ring to be sleeved on the positioning post and received in the positioning groove to prevent the insulation ring from being displaced, thereby affecting the assembly of the electronic device.
  • the precision of the cigarette electrode connector, and the hollow portion of the insulating ring is gap-fitted with the positioning post, so that the insulating ring can be detached from the material fixing seat efficiently and conveniently, thereby improving assembly efficiency and avoiding assembling the insulation.
  • the ring is damaged during the ring.
  • the controller presets a moving angle to cause the controller to move according to the preset moving angle Controlling the rotation of the turntable 1001;
  • the turntable 1001 is subjected to the force of the first pressing arm. Tilting, damaging the appearance of the turntable 1001, preferably, a first support column is disposed below the turntable 1001;
  • the first supporting column corresponds to the position of the first pressing arm, that is, when the controller controls the first pressing arm to press the material fixing seat 1002, that is, The first pressing arm gives the material fixing base 1002 a downward force, and the controller controls the first supporting column upward to lift the rotating table 1001, so that the rotating plate 1001 is balanced to prevent the rotating plate 1001.
  • the turntable 1001 is tilted by the eccentric force.
  • a precision pressure regulating valve may be disposed in the first pressing arm, the precision pressure regulating valve is electrically connected to the controller, and the controller is predetermined to be capable of being pressed on the material fixing base 1002. The material does not cause a preset pressure at which the turntable 1001 is tilted.
  • the controller adjusts the pressure to the material fixing base 1002 through the precision pressure regulating valve, and the pressure applied to the material fixing base 1002 is equal to the preset pressure to prevent compaction.
  • the turntable 1001 is tilted.
  • a second supporting column may be disposed corresponding to the second pressing arm position, or may be disposed in the second pressing arm The precision pressure regulating valve.
  • the assembly order of the electronic cigarette electrode connector is firstly placing an internal electrode on the material fixing base 1002, followed by an insulating ring, and finally an external electrode;
  • the second material pick-up device, the third material pick-up device, and the first material pick-up device are sequentially disposed along the rotation direction of the turntable 1001.
  • the second material pick-up device places the inner electrode on the material fixing seat
  • the third material pick-up device sleeves the insulating ring on the inner electrode, and the first material pick-up device sleeves the outer electrode on the insulating ring;
  • the assembly apparatus shown in this embodiment further includes a third pressing arm for pressing the electronic cigarette electrode connector;
  • the specific structure of the third pressing arm can participate in the specific structure of the first pressing arm, which is not described in this embodiment.
  • the second material pick-up device, the third material pick-up device, the first material pick-up device and the three pressing arms are sequentially disposed along the rotation direction of the turntable.
  • the first arrangement of the assembly apparatus and the second arrangement are the same for the solder on the e-cigarette electrode connector:
  • the assembly apparatus further includes a third grabbing arm for grasping the electronic cigarette electrode connector located on the material holder 1002 and placing the electronic cigarette electrode connector on the first discharge rail. ;
  • the controller controls the third grabbing arm to grasp the pressed electronic cigarette electrode connector located on the material fixing base 1002, and place the electronic cigarette electrode connector on the first discharging On the rail;
  • the ram moves the finished electronic cigarette electrode connector to the second material sensing region by tilting vibration
  • the first discharge rail is provided with the second material sensing area, and the second material sensing area is located below the soldering arm for soldering the electronic cigarette electrode connector;
  • the specific structure of the soldering arm is not limited, as long as it can solder the finished electronic cigarette electrode connector.
  • the specific structure refer to the prior art, which is not described in this embodiment.
  • the second material sensing area is provided with a sensor, so that the sensor generates a trigger signal according to the electronic cigarette electrode connector of the second material sensing area that is sensed by the sensor;
  • the controller is further electrically connected to the soldering arm and the inductor, respectively, to enable the controller to control the soldering arm to solder the electronic cigarette electrode connector according to the trigger signal.
  • the first discharging rail is provided with a stopper valve; when the inductor senses the electronic cigarette electrode The connector moves to the second material sensing area, and the controller controls the valve movement to Fixing the electronic cigarette electrode connector at a predetermined position;
  • the predetermined position is a position at which the soldering arm can accurately solder the electronic cigarette electrode connector
  • the controller controls the soldering arm to perform soldering on the electronic cigarette electrode connector while controlling the action of the material valve;
  • the controller After the solder is completed, that is, after the preset time period, the controller opens the material valve, and the genuine electronic cigarette electrode connector moves out of the first discharge rail to complete the electronic cigarette electrode connector. Automatic assembly.
  • the assembly order of the electronic cigarette electrode connector is firstly placing an external electrode on the material holder 1002, followed by an insulation ring, and finally an internal electrode;
  • the material pick-up device includes a first material pick-up device for picking up the outer electrode, a third material pick-up device for picking up the insulating ring, and a second material pick-up device for picking up the inner electrode;
  • the first material pick-up device, the third material pick-up device and the second material pick-up device are sequentially disposed along a rotation direction of the turntable.
  • the controller controls the first material pick-up device to place the outer electrode on the material holder 1002, and the controller controls the third material pick-up device to An insulating ring is disposed in the outer electrode, and finally the controller controls the second material pick-up device to place the inner electrode in the insulating ring to form the electronic cigarette electrode connector;
  • the assembly device further includes:
  • the first material pick-up device, the third material pick-up device, the second material pick-up device and the fourth pressing arm are sequentially disposed along a rotating direction of the turntable.
  • the assembly apparatus further includes a fourth grabbing arm for gripping the electronic cigarette electrode connector, And the fourth grabbing arm is disposed downstream of the fourth pressing arm in a rotating direction of the turntable; the fourth grabbing arm is configured to grasp the electronic cigarette electrode under the control of the controller Connecting the head and performing 180-degree rotation to perform upper soldering, and rotating the electronic cigarette electrode connector on which the solder is completed by 180 degrees to place the electronic cigarette electrode connector on the second discharge rail;
  • the electronic cigarette electrode connector is soldered directly through the fourth grasping arm, and the soldering arm is not needed, which simplifies the soldering process.
  • the specific structure of the second discharge rail for transporting the electronic cigarette electrode connector is shown in the first discharge rail, which is not described in this embodiment.
  • the fourth grasping arm 1201 is configured to grasp the electronic cigarette electrode connector under the control of the controller, and place the electronic cigarette electrode connector on the transport platform 1202;
  • a transport rail 1203 capable of rotating the electrode connector 180 degrees is disposed in communication with the transport platform 1202, and the transport rail 1203 is further in communication with the solder rail 1204;
  • the transport platform 1202 In order to smoothly transport the e-cigarette electrode connector from the transport platform 1202 to the solder rail 1204, the transport platform 1202 is located at a higher level than the horizontal surface of the solder rail 1204;
  • the controller is further connected to the soldering arm 1205, and the controller is further configured to control the soldering arm 1205 to solder the electronic cigarette electrode connector on the soldering rail 1204;
  • the assembly apparatus further includes:
  • the specific principle and structure of the air nozzle 1206 are prior art, and are not described in this embodiment.
  • An air supply mechanism is connected to the air nozzle 1206, and the air supply mechanism is connected to the controller, and the controller is configured to control the air supply mechanism to supply air to the air nozzle 1206, so that the The airflow blown by the air nozzle 1206 along the extending direction of the transmission rail 1203 blows the electronic cigarette electrode connector The transfer rail 1203 is inserted until the electronic cigarette electrode connector moves to the solder rail 1204.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un appareil de préhension de matériau et un appareil d'assemblage. L'appareil de préhension de matériau comprend : un élément de préhension de matériau (200) et un élément rotatif (300). L'élément de préhension de matériau (200) et l'élément rotatif (300) sont respectivement reliés à une unité de commande. Ceci permet à l'élément rotatif (300), sous la commande de l'unité de commande, d'entraîner le mouvement de l'élément de préhension de matériau (200), soit pour prendre, soit pour déposer un matériau, ce qui permet d'assembler automatiquement un connecteur d'électrode d'une cigarette électronique, permettant d'éliminer le besoin dans l'état de la technique d'une ligne d'assemblage manuel, de réduire le travail manuel, de réduire les coûts tout en augmentant le rendement, d'augmenter la précision dans un processus d'assemblage, d'éviter les cas de perte de matériau dus à une opération imprécise ou force en excès au cours du processus d'assemblage, d'empêcher les déchets inutiles, et d'augmenter la performance d'une cigarette électronique. L'utilisation de l'appareil de préhension de matériau fournit dans la présente invention permet de réduire considérablement la contamination du matériau pendant le processus d'assemblage.
PCT/CN2014/083298 2014-07-30 2014-07-30 Appareil de préhension de matériau et appareil d'assemblage Ceased WO2016015241A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201490000185.XU CN205668263U (zh) 2014-07-30 2014-07-30 一种物料拾取装置以及装配设备
PCT/CN2014/083298 WO2016015241A1 (fr) 2014-07-30 2014-07-30 Appareil de préhension de matériau et appareil d'assemblage

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PCT/CN2014/083298 WO2016015241A1 (fr) 2014-07-30 2014-07-30 Appareil de préhension de matériau et appareil d'assemblage

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CN106425354A (zh) * 2016-07-20 2017-02-22 梁启明 一种调节盒与导管的自动装配装置
CN107116534A (zh) * 2017-04-18 2017-09-01 温州职业技术学院 槽轮驱动高速搬运机械手
CN107265107A (zh) * 2017-06-21 2017-10-20 芜湖裕东自动化科技有限公司 一种鸡蛋下料器
CN107571233A (zh) * 2017-09-28 2018-01-12 中国矿业大学 一种通过手机蓝牙控制的远距离拾取装置
CN107910719A (zh) * 2017-09-27 2018-04-13 昆山捷皇电子精密科技有限公司 一种用于fpc连接器组装设备的工件转移装置
CN109048970A (zh) * 2018-09-13 2018-12-21 上海新安汽车隔音毡有限公司 一种适用性强的板材夹具
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CN110857153A (zh) * 2018-08-22 2020-03-03 上海优爱宝智能机器人科技股份有限公司 自适应理料机构
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CN110053972A (zh) * 2019-05-31 2019-07-26 广州市申发机电有限公司 一种全自动高速静音上下料装置
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CN106425354A (zh) * 2016-07-20 2017-02-22 梁启明 一种调节盒与导管的自动装配装置
CN106425354B (zh) * 2016-07-20 2024-02-13 梁启明 一种调节盒与导管的自动装配装置
CN107116534A (zh) * 2017-04-18 2017-09-01 温州职业技术学院 槽轮驱动高速搬运机械手
CN107265107A (zh) * 2017-06-21 2017-10-20 芜湖裕东自动化科技有限公司 一种鸡蛋下料器
CN107265107B (zh) * 2017-06-21 2023-08-29 芜湖裕东自动化科技有限公司 一种鸡蛋下料器
CN107910719A (zh) * 2017-09-27 2018-04-13 昆山捷皇电子精密科技有限公司 一种用于fpc连接器组装设备的工件转移装置
CN107571233A (zh) * 2017-09-28 2018-01-12 中国矿业大学 一种通过手机蓝牙控制的远距离拾取装置
CN110857153A (zh) * 2018-08-22 2020-03-03 上海优爱宝智能机器人科技股份有限公司 自适应理料机构
CN109048970B (zh) * 2018-09-13 2023-09-01 上海新安汽车隔音毡有限公司 一种适用性强的板材夹具
CN109048970A (zh) * 2018-09-13 2018-12-21 上海新安汽车隔音毡有限公司 一种适用性强的板材夹具
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CN109205297B (zh) * 2018-10-26 2023-12-19 惠州市新泓威科技有限公司 电子烟装配线自动上下板机
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