CN102612927A - Fruit picking execution device - Google Patents
Fruit picking execution device Download PDFInfo
- Publication number
- CN102612927A CN102612927A CN201210096608XA CN201210096608A CN102612927A CN 102612927 A CN102612927 A CN 102612927A CN 201210096608X A CN201210096608X A CN 201210096608XA CN 201210096608 A CN201210096608 A CN 201210096608A CN 102612927 A CN102612927 A CN 102612927A
- Authority
- CN
- China
- Prior art keywords
- supportive body
- chuck
- gripping arm
- hydraulic cylinder
- vertical part
- 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.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a fruit picking execution device, which comprises a support main body, a support main body control assembly, a grabbing arm assembly, a clamping head assembly and a cutting assembly, wherein the support main body is 7-shaped; the support main body comprises a horizontal piece and a vertical piece which are connected; the support main body control assembly is arranged on the outer side surface of the support main body; the grabbing arm assembly is arranged at the bottom of the vertical piece of the support main body; the clamping head assembly is arranged in the middle of the vertical piece of the support main body; and the cutting assembly is arranged on the horizontal piece of the support main body. The fruit picking execution device disclosed by the invention is provided aiming at large fruits and has high picking efficiency and accurate picking; the fruit picking execution device is provided with a pair of rotary grabbing arms; and targets with larger sections can be gripped through the grabbing arms, so that fruits which are larger in volume, heavier or complex in appearance can be prevented from freely falling off, the fruits can be prevented from falling and being damaged, and the fruit picking quality can be ensured.
Description
Technical field
The present invention relates to the fruit picking technical field, particularly a kind of picking fruit actuating unit that is applicable to large-scale picking fruit.
Background technology
At present, the mechanization degree that fruit-growing industry is produced is quite low, and the function ratio of Work machine is more single, and utilization rate of equipment and installations is also low.Along with the progress of science and technology, mechanization, multi-functional Work machine will have good application prospects.Gather with regard to the operation with regard to fruit; Mostly the fruit picking actuator that occurs at present is to propose to the harvesting of small-sized fruit; Like publication number is the disclosed fruit picking apparatus of United States Patent (USP) of US5428947, the disclosed fruit picking apparatus of United States Patent (USP) that application number is US19970931108, the disclosed fruit picking of United States Patent (USP) that application number is US19990473439 etc.; All only be applicable to the harvesting of small-sized fruit; And to large-scale or heavier fruit (like the banana of bunchiness or the coconut of bunchiness etc.), not special-purpose at present harvesting equipment.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art,, a kind of picking efficiency height is provided, plucks picking fruit actuating unit accurately to large-scale fruit.
Technical scheme of the present invention is: a kind of picking fruit actuating unit; Comprise supportive body, supportive body Control Component, gripping arm assembly, chuck component and cutting assembly, supportive body is " 7 " font, and supportive body comprises the horizontal element and vertical part that is connected; The supportive body Control Component is located at the lateral surface of supportive body; The gripping arm assembly is located at the vertical part bottom of supportive body, and chuck component is located at the vertical part middle part of supportive body, and cutting assembly is located on the horizontal element of supportive body.
In the said supportive body, horizontal element is the hollow box like structure of lower opening, and vertically part is vertical at horizontal element one end, and cutting assembly is located in the horizontal element; Vertically part is the hollow box like structure, is respectively equipped with groove on the two sides that vertically part is relative; The supportive body Control Component is located on the junction lateral surface of horizontal element and vertical part.
Said chuck component comprises two fixed heads and two groups of chuck movable components, and two fixed heads pass the groove on the relative two sides of vertical part side by side, and two groups of chuck movable components are located at the two ends of fixed head respectively; Each chuck movable component comprises swing arm, chuck and first hydraulic cylinder respectively; Swing arm one end is articulated between two fixed heads; The swing arm other end and chuck are hinged, and first hydraulic cylinder, one end and chuck are hinged, and the first hydraulic cylinder other end is hinged through the vertical part of first bearing pin and supportive body.
One end of said chuck is provided with separator, and in the harvesting process, separator is inserted into waits to shear the zone between target and other targets, when pushing target to be sheared to two zones between the chuck, waiting to shear target and other targets are kept apart.
The surface of said chuck is an arc column shape, and the surface distributed of chuck has a plurality of protruding nails.
Said gripping arm assembly comprises gripping arm installing rack and two groups of gripping arm movable components, and the gripping arm installing rack passes the groove on the relative two sides of vertical part and is fixed in vertical part bottom, and two groups of gripping arm movable components are located at the two ends of gripping arm installing rack respectively; Each gripping arm movable component comprises the gripping arm and second hydraulic cylinder respectively, and second hydraulic cylinder, one end and gripping arm are hinged, and the second hydraulic cylinder other end is with vertically part is hinged, and gripping arm and gripping arm installing rack are hinged.
Said supportive body Control Component comprises that supportive body connects the 3rd hydraulic cylinder at the oscillating oil cylinder of support, adjustment supportive body swing, oscillating oil cylinder supporting bracket and adjustment supportive body angle of inclination; Supportive body connection support and oscillating oil cylinder supporting bracket are all L-shaped; The vertical part that supportive body connects support is fixedly connected with supportive body; The bottom surface of oscillating oil cylinder is connected support with supportive body horizontal component connects; The end face of oscillating oil cylinder is connected with the horizontal component of oscillating oil cylinder supporting bracket; The horizontal component of oscillating oil cylinder supporting bracket is provided with first projection that external harvesting equipment extension arm is used, and the vertical part of oscillating oil cylinder supporting bracket is provided with and connects second projection that the 3rd hydraulic cylinder is used.
Said cutting assembly comprises chain saw gripper shoe, chain saw and the 4th hydraulic cylinder, and chain saw is located on the chain saw gripper shoe, and the 4th hydraulic cylinder one end and chain saw gripper shoe are hinged, and the horizontal element of the 4th hydraulic cylinder other end and supportive body is hinged.
When this picking fruit actuating unit uses; Plucking actuating unit is installed on the extension arm of harvesting equipment; Its principle is: pluck actuating unit near after waiting to shear target, through the swing and the gradient of supportive body Control Component adjustment supportive body, then embrace fruit through the gripping arm assembly earlier; Clamp the branch of fruit top through chuck component, through cutting assembly branch is cut off at last.
The present invention has following beneficial effect with respect to prior art:
This picking fruit actuating unit has the pair of rotatable gripping arm, can embrace the bigger target in cross section through gripping arm, thus stop volume more greatly, fruit heavier or complex contour freely falls, and prevents fruit tumble injury, guarantees the picking fruit quality.
This picking fruit actuating unit has the chuck of pair of swing formula; And on the arc column shape surface of chuck a plurality of protruding nails are arranged; The stiction that this makes effective operation interval (being equivalent to wobble area) of chuck big, can produce greatly, the chucking power that can apply is also bigger, so can clamp heavier target.
The cutting assembly of this picking fruit actuating unit is located at device top, therefore is fit to very much cut off the target of growth downwards, like banana, coconut etc.; Simultaneously, adopt chain saw as cutting tool in the cutting assembly, the effect that can be implemented in less driving force is cut off bigger target down, and its picking efficiency is high; In addition, the horizontal element that cutting assembly is installed on supportive body is inner, and horizontal element forms containment vessel, shows in the containment vessel when chain saw cuts again and cuts, and can effectively prevent the phenomenon that the chain saw mistake is cut.
This picking fruit actuating unit can be according to actual needs through the supportive body Control Component, and therefore the swing of free adjustment device and gradient can be used for cutting off the target of arbitrarily angled growth, and its scope of application is wider.
Therefore this picking fruit actuating unit is provided with separator in the chuck outer end, can separate target to be cut and other targets through separator, can prevent effectively that chain saw from showing when cutting branch beyond the target to be cut or fruit saw wound.
Description of drawings
Fig. 1 is the structural representation of this picking fruit actuating unit.
Fig. 2 is that the A of Fig. 1 is to view.
Fig. 3 is that the B of Fig. 1 is to view.
Fig. 4 is the structural representation of cutting assembly in this picking fruit actuating unit.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is done further detailed description, but embodiment of the present invention is not limited thereto.
Embodiment
A kind of picking fruit actuating unit of present embodiment, as shown in Figure 1, comprise supportive body, supportive body Control Component, gripping arm assembly, chuck component and cutting assembly; Supportive body is " 7 " font; Supportive body comprises the horizontal element 1 and vertical part 2 that is connected, and the supportive body Control Component is located at the lateral surface of supportive body, and the gripping arm assembly is located at the vertical part bottom of supportive body; Chuck component is located at the vertical part middle part of supportive body, and cutting assembly is located on the horizontal element of supportive body.
In the supportive body, horizontal element is the hollow box like structure of lower opening, and vertically part is vertical at horizontal element one end, and cutting assembly is located in the horizontal element; Vertically part is the hollow box like structure, is respectively equipped with groove on the two sides that vertically part is relative; The supportive body Control Component is located on the junction lateral surface of horizontal element and vertical part.
Like Fig. 1 or shown in Figure 3, chuck component comprises two fixed heads 3 and two groups of chuck movable components, and two fixed heads pass the two ends that 4, two groups of chuck movable components of groove on the relative two sides of vertical part are located at fixed head respectively side by side; Each chuck movable component comprises swing arm 5, chuck 6 and first hydraulic cylinder 7 respectively; Swing arm one end is articulated between two fixed heads; The swing arm other end and chuck are hinged, and first hydraulic cylinder, one end and chuck are hinged, and the first hydraulic cylinder other end is hinged through the vertical part of first bearing pin and supportive body.
One end of chuck 6 is provided with separator 8, and in the harvesting process, separator is inserted into waits to shear the zone between target and other targets, when pushing target to be sheared to two zones between the chuck, waiting to shear target and other targets are kept apart.
The surface of chuck 6 is an arc column shape, and the surface distributed of chuck has a plurality of protruding nails.
Like Fig. 1 or shown in Figure 3, the gripping arm assembly comprises gripping arm installing rack 9 and two groups of gripping arm movable components, and the gripping arm installing rack passes the groove on the relative two sides of vertical part and is fixed in vertical part bottom, and two groups of gripping arm movable components are located at the two ends of gripping arm installing rack respectively; Each gripping arm movable component comprises that respectively the gripping arm 10 and second hydraulic cylinder 11, the second hydraulic cylinders, one end and gripping arm are hinged, and the second hydraulic cylinder other end is with vertically part is hinged, and gripping arm and gripping arm installing rack are hinged.
Like Fig. 1 or shown in Figure 2; The supportive body Control Component comprises that supportive body connects the 3rd hydraulic cylinder (not shown) at the oscillating oil cylinder 13 of support 12, adjustment supportive body swing, oscillating oil cylinder supporting bracket 14 and adjustment supportive body angle of inclination; Supportive body connection support and oscillating oil cylinder supporting bracket are all L-shaped; The vertical part that supportive body connects support is fixedly connected with supportive body; The bottom surface of oscillating oil cylinder is connected support with supportive body horizontal component connects; The end face of oscillating oil cylinder is connected with the horizontal component of oscillating oil cylinder supporting bracket, and the horizontal component of oscillating oil cylinder supporting bracket is provided with first projection 15 that external harvesting equipment extension arm is used, and the vertical part of oscillating oil cylinder supporting bracket is provided with and connects second projection 16 that the 3rd hydraulic cylinder is used.
As shown in Figure 4, cutting assembly comprises chain saw gripper shoe 17, chain saw 19 and the 4th hydraulic cylinder 18, and chain saw is located on the chain saw gripper shoe, and the 4th hydraulic cylinder one end and chain saw gripper shoe are hinged, and the horizontal element of the 4th hydraulic cylinder other end and supportive body is hinged.
In the said structure, horizontal element in the supportive body and vertical part are formed by a plurality of gripper shoe welding respectively.
The vertical plane that is positioned at the supportive body outside is provided with a plurality of holes; Supportive body in the supportive body Control Component connects support and is locked through these holes and corresponding bolts; The horizontal component of supportive body link is connected with the rotatable inner ring of oscillating oil cylinder through bolt, and the outer ring of oscillating oil cylinder is connected with the horizontal component of oscillating oil cylinder supporting bracket through bolt.
The vertical part bottom of supportive body is provided with the gripping arm installing rack; The gripping arm installing rack is made up of two installing plates; Be positioned at installing plate end up and down and be respectively equipped with through hole; Gripping arm is hinged through second bearing pin and installing plate in the through hole, also is provided with through hole in each gripping arm, and hinged through the 3rd bearing pin and corresponding second hydraulic cylinder in the through hole.
Two fixed heads are installed in the vertical part middle and lower part of supportive body, and two fixed heads are measure-alike and be arranged in parallel, and the two ends of each fixed head are respectively equipped with through hole, and corresponding swing arm is hinged in through hole and fixed head through the 4th bearing pin.The mounting flange of chuck is provided with a projection, and the centre of projection is provided with a through hole, and it is hinged that chuck passes through this through hole and the 5th bearing pin and first hydraulic cylinder, one end, and the other end of first hydraulic cylinder is connected with vertical part through first bearing pin.Each corresponding chuck of first Driven by Hydraulic Cylinder is swung at vertical direction along arc track.
The horizontal element of supportive body forms the open containment vessel in a bottom; Be used to protect chain saw; The gripper shoe that is positioned at bottom one end is provided with installs the through hole that chain saw is used, and a chain saw gripper shoe also is set on the chain saw, and gripper shoe is provided with through hole; And hinged in the through hole through the 6th bearing pin and the 4th hydraulic cylinder, the through hole swing of the 4th Driven by Hydraulic Cylinder chain saw on the chain saw gripper shoe.
When this picking fruit actuating unit uses; Plucking actuating unit is installed on the extension arm of harvesting equipment; Its principle is: pluck actuating unit near after waiting to shear target, through the swing and the gradient of supportive body Control Component adjustment supportive body, then embrace fruit through the gripping arm assembly earlier; Clamp the branch of fruit top through chuck component, through cutting assembly branch is cut off at last.Its course of work is specially: when device was in original state, chain saw was positioned at the containment vessel of horizontal element formation and is in stopped status, and two gripping arms are in open configuration, and two chucks also are in open configuration; When device during near fruit to be gathered or branch to be cut off, the 3rd hydraulic cylinder starts the gradient with the adjustment supportive body, and oscillating oil cylinder starts the swing with the adjustment supportive body; To intermediary movements, draw close to clamping branch by two chucks through the corresponding chuck of swing arm driving for first hydraulic cylinder, and in this process, separator also inserts waits to shear the zone between target and other targets, will target sheared changes with other targets and keep apart; The corresponding gripping arm of second Driven by Hydraulic Cylinder is to intermediary movements, and two gripping arms are embraced fruit with joint efforts; Sawtooth high-speed motion on the chain saw, the 4th Driven by Hydraulic Cylinder chain saw are shown containment vessel and sawed-off waiting to shear target; After shearing completion; Chain saw quits work, and the 4th Driven by Hydraulic Cylinder chain saw oppositely returns containment vessel, at this moment; Being sheared the fruit that gets off is fixed by gripping arm assembly and chuck component; After extension arm moved to put area with this picking fruit actuating unit and fruit, first hydraulic cylinder and second hydraulic cylinder are reset to initial position can unload fruit, and device is waited for the next round operation.
As stated, can realize preferably that just the present invention, the foregoing description are merely preferred embodiment of the present invention, be not to be used for limiting practical range of the present invention; Be that all equalizations of doing according to content of the present invention change and modification, all contained by claim of the present invention scope required for protection.
Claims (8)
1. the picking fruit actuating unit is characterized in that, comprises supportive body, supportive body Control Component, gripping arm assembly, chuck component and cutting assembly; Supportive body is " 7 " font; Supportive body comprises the horizontal element and vertical part that is connected, and the supportive body Control Component is located at the lateral surface of supportive body, and the gripping arm assembly is located at the vertical part bottom of supportive body; Chuck component is located at the vertical part middle part of supportive body, and cutting assembly is located on the horizontal element of supportive body.
2. picking fruit actuating unit according to claim 1 is characterized in that, in the said supportive body, horizontal element is the hollow box like structure of lower opening, and vertically part is vertical at horizontal element one end, and cutting assembly is located in the horizontal element; Vertically part is the hollow box like structure, is respectively equipped with groove on the two sides that vertically part is relative; The supportive body Control Component is located on the junction lateral surface of horizontal element and vertical part.
3. picking fruit actuating unit according to claim 2; It is characterized in that; Said chuck component comprises two fixed heads and two groups of chuck movable components, and two fixed heads pass the groove on the relative two sides of vertical part side by side, and two groups of chuck movable components are located at the two ends of fixed head respectively; Each chuck movable component comprises swing arm, chuck and first hydraulic cylinder respectively; Swing arm one end is articulated between two fixed heads; The swing arm other end and chuck are hinged, and first hydraulic cylinder, one end and chuck are hinged, and the first hydraulic cylinder other end is hinged through the vertical part of first bearing pin and supportive body.
4. picking fruit actuating unit according to claim 3 is characterized in that, an end of said chuck is provided with separator.
5. picking fruit actuating unit according to claim 3 is characterized in that, the surface of said chuck is an arc column shape, and the surface distributed of chuck has a plurality of protruding nails.
6. picking fruit actuating unit according to claim 2; It is characterized in that; Said gripping arm assembly comprises gripping arm installing rack and two groups of gripping arm movable components; The gripping arm installing rack passes the groove on the relative two sides of vertical part and is fixed in vertical part bottom, and two groups of gripping arm movable components are located at the two ends of gripping arm installing rack respectively; Each gripping arm movable component comprises the gripping arm and second hydraulic cylinder respectively, and second hydraulic cylinder, one end and gripping arm are hinged, and the second hydraulic cylinder other end is with vertically part is hinged, and gripping arm and gripping arm installing rack are hinged.
7. picking fruit actuating unit according to claim 2; It is characterized in that; Said supportive body Control Component comprises that supportive body connects the 3rd hydraulic cylinder at the oscillating oil cylinder of support, adjustment supportive body swing, oscillating oil cylinder supporting bracket and adjustment supportive body angle of inclination; Supportive body connection support and oscillating oil cylinder supporting bracket are all L-shaped; The vertical part that supportive body connects support is fixedly connected with supportive body, and the bottom surface of oscillating oil cylinder is connected support with supportive body horizontal component connects, and the end face of oscillating oil cylinder is connected with the horizontal component of oscillating oil cylinder supporting bracket; The horizontal component of oscillating oil cylinder supporting bracket is provided with first projection that external harvesting equipment extension arm is used, and the vertical part of oscillating oil cylinder supporting bracket is provided with and connects second projection that the 3rd hydraulic cylinder is used.
8. picking fruit actuating unit according to claim 2; It is characterized in that; Said cutting assembly comprises chain saw gripper shoe, chain saw and the 4th hydraulic cylinder; Chain saw is located on the chain saw gripper shoe, and the 4th hydraulic cylinder one end and chain saw gripper shoe are hinged, and the horizontal element of the 4th hydraulic cylinder other end and supportive body is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210096608XA CN102612927B (en) | 2012-04-01 | 2012-04-01 | Fruit picking execution device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210096608XA CN102612927B (en) | 2012-04-01 | 2012-04-01 | Fruit picking execution device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102612927A true CN102612927A (en) | 2012-08-01 |
| CN102612927B CN102612927B (en) | 2013-11-13 |
Family
ID=46553411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210096608XA Expired - Fee Related CN102612927B (en) | 2012-04-01 | 2012-04-01 | Fruit picking execution device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102612927B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN103609258A (en) * | 2013-11-19 | 2014-03-05 | 昆明理工大学 | Automatic fruit-picking and leave-removing device |
| CN104798538A (en) * | 2015-04-20 | 2015-07-29 | 东北农业大学 | Self-adaptive push-out type fruit and vegetable capturing end executer |
| CN106612951A (en) * | 2016-10-13 | 2017-05-10 | 张万福 | Cutting tool and fruit collection tool |
| CN107711077A (en) * | 2017-09-30 | 2018-02-23 | 尚盼盼 | A kind of Chinese medicine betel nut picking robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008206438A (en) * | 2007-02-26 | 2008-09-11 | Iseki & Co Ltd | Fruit harvesting robot |
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN101803511A (en) * | 2009-12-29 | 2010-08-18 | 浙江工业大学 | Flexible end effector for cone picking robot |
| US20110047951A1 (en) * | 2009-08-25 | 2011-03-03 | Francis Wilson Moore | Fruit tree pruner and harvesting machine |
| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
-
2012
- 2012-04-01 CN CN201210096608XA patent/CN102612927B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008206438A (en) * | 2007-02-26 | 2008-09-11 | Iseki & Co Ltd | Fruit harvesting robot |
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| US20110047951A1 (en) * | 2009-08-25 | 2011-03-03 | Francis Wilson Moore | Fruit tree pruner and harvesting machine |
| CN101803511A (en) * | 2009-12-29 | 2010-08-18 | 浙江工业大学 | Flexible end effector for cone picking robot |
| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN103444359B (en) * | 2013-08-30 | 2016-07-13 | 华南农业大学 | A kind of Banana device and picking and picking method |
| CN103609258A (en) * | 2013-11-19 | 2014-03-05 | 昆明理工大学 | Automatic fruit-picking and leave-removing device |
| CN103609258B (en) * | 2013-11-19 | 2016-06-08 | 昆明理工大学 | A kind of automatic fruit-picking and leave-removing device |
| CN104798538A (en) * | 2015-04-20 | 2015-07-29 | 东北农业大学 | Self-adaptive push-out type fruit and vegetable capturing end executer |
| CN106612951A (en) * | 2016-10-13 | 2017-05-10 | 张万福 | Cutting tool and fruit collection tool |
| CN107711077A (en) * | 2017-09-30 | 2018-02-23 | 尚盼盼 | A kind of Chinese medicine betel nut picking robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102612927B (en) | 2013-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102612926B (en) | Mechanized fruit picking, collecting and transporting system and method | |
| CN102612927B (en) | Fruit picking execution device | |
| CN102729245A (en) | Manipulator | |
| CN104722629A (en) | Full-automatic high-speed punching machine | |
| CN108406740B (en) | Grabbing and clamping manipulator with multiple freedom degree movement tracks | |
| CN105151812A (en) | Brick plate separation stacking line | |
| CN112088621B (en) | Flower transplanting paw with leaf gathering function | |
| CN102069501A (en) | Manipulator paw structure and manipulator | |
| CN214114656U (en) | Hoisting equipment for steel | |
| CN108555955A (en) | Fixture and robot with it | |
| CN105443050A (en) | Petroleum drilling and exploitation device, automatic pipe discharging device and tubular column supporting mechanism | |
| CN117428744A (en) | Manipulator for forging bracket processing | |
| CN104816332A (en) | Angle cutter for angle of 45 degrees | |
| CN204449736U (en) | A kind of pneumatic clamping mechanism | |
| CN207682861U (en) | A kind of water dividing gap equipment | |
| CN115868319A (en) | A arm that is used for famous high-quality tea list bud to pick | |
| CN207548737U (en) | A kind of mechanical arm of multi-joint | |
| CN108481297A (en) | A kind of industry crawl mechanical equipment | |
| CN205771929U (en) | A kind of wired fixing equipment | |
| CN211104054U (en) | Automatic change manipulator device | |
| CN211137737U (en) | Edging device for squarer | |
| CN210615600U (en) | Novel robot welding frock positioner | |
| CN210909709U (en) | Be applied to fixture of product knocking equipment | |
| CN208650878U (en) | A kind of automatic grabbing device for tunnel arch | |
| CN109076790B (en) | Multi-point clamping type trunk full-amplitude excitation harvesting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131113 Termination date: 20190401 |