CN103193079A - Carrying manipulator for producing environment-friendly bricks - Google Patents
Carrying manipulator for producing environment-friendly bricks Download PDFInfo
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- CN103193079A CN103193079A CN2013101270658A CN201310127065A CN103193079A CN 103193079 A CN103193079 A CN 103193079A CN 2013101270658 A CN2013101270658 A CN 2013101270658A CN 201310127065 A CN201310127065 A CN 201310127065A CN 103193079 A CN103193079 A CN 103193079A
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Abstract
The invention relates to a carrying manipulator for producing environment-friendly bricks. The carrying manipulator comprises a lifting body, a manipulator fixing body and a plurality of manipulator units, the manipulator fixing body is fixedly connected to the bottom of the lifting body, and the manipulator units are arrayed at the bottom of the manipulator fixing body. The lifting body drives the manipulator fixing body to ascend and descend, and accordingly the manipulator units are capable of ascending and descending. During working, the manipulator units automatically grab finished bricks, then the lifting body drives the manipulator fixing body to ascend to enable the finished bricks to be away from an original support surface, after the carrying manipulator for producing the environment-friendly bricks is moved to a predetermined place integrally, the lifting body drives the manipulator fixing body to descend, and the manipulator units loosen the finished bricks in the predetermined place, so that integral carrying is completed.
Description
Technical field
The present invention and a kind of transportation manipulator, the end that refers to a kind of conveyor line that is arranged on automated production environmental protection brick or main equipment especially be in order to moving down finished bricks from belt conveyor, thereby make things convenient for the transportation manipulator of subsequent packages transport.
Background technology
As everyone knows, fragment of brick for building is a kind of woof of construction building, and in concrete construction, the workmen utilizes fragment of brick to assemble the basic framework that forms building, then carries out follow-up other construction operations again.Traditional building brick all is to be fired by earth to form, and thisly fires the fragment of brick that forms by earth and need destroy a large amount of cultivated land resources but make, and country has prohibited this mode of production now.In order to substitute traditional adobe, country widelys popularize the environmental protection brick now, the environmental protection brick refers to utilize a kind of of raw materials such as fly ash, cinder, gangue, mine tailings, residue of chemical industry or natural sand, tidal land mud, industrial waste, waste incineration slag or several as primary raw material, a kind of novel wall material of making without high-temperature calcination.The strength of material height of environmental protection brick, good endurance, dimensional standard, complete, the color and luster homogeneous of profile have the outward appearance of primitive simplicity and nature, can do dry wall and also can do any outer decoration.Therefore, be a kind of extremely promising renewal product that replaces clay brick.
But the auto transferring device of finished bricks is not set all in the conveyor line of automated production environmental protection brick or main equipment at present; so after the production of finishing finished bricks, need to carry by manpower; and this mode of transport is not only under the work efficiency, and the most fatal shortcoming is the situation that the porter damages finished bricks accidentally to occur through regular meeting.
Though some automated handling equipment also occurred at above-mentioned problem, all too complexity use in concrete the application is very inconvenient in mechanism, and this is the major defect for prior art.
Summary of the invention
The invention provides a kind of production environmental protection brick transportation manipulator, its end that is arranged on the conveyor line of automated production environmental protection brick or main equipment is in order to move down finished bricks from belt conveyor, thereby make things convenient for the work of subsequent packages transportation, and this is exactly to be main purpose of the present invention.
The technical solution adopted in the present invention is: a kind of production environmental protection brick transportation manipulator, its end that is arranged on the conveyor line of automated production environmental protection brick or main equipment be in order to moving down finished bricks from belt conveyor, thereby make things convenient for the work of subsequent packages transportation.
This production environmental protection brick comprises lifting body, manipulator fixed body and some manipulator unit with transportation manipulator, wherein, this manipulator fixed body is fixedly connected on the bottom of this lifting body, and some these manipulator unit are arranged and are arranged on this manipulator fixed body bottom.
This lifting body drives this manipulator fixed body and carries out lifting action, thereby make some these manipulator unit can carry out lifting action, in concrete work, at first grasp the finished bricks body automatically by this manipulator unit, then this lifting body drives this manipulator fixed body and rises and make the finished bricks body leave original bearing surface, this production environmental protection brick moves to after the predetermined place with transportation manipulator integral body afterwards, this lifting body drives this manipulator fixed body and descends, this manipulator unit is decontroled the finished bricks body in predetermined place, thereby finish whole carrying action, in concrete enforcement, this lifting body is slidingly arranged in the driving, this lifting body can be laterally mobile with respect to this driving, thereby reach the purpose of the finished bricks body of this manipulator unit extracting of horizontal movement.
Each this manipulator unit all comprises first cramping body and second cramping body, between this first cramping body and this second cramping body, determine a grasping part, by this first cramping body and this second cramping body in opposite directions and reverse motions can change the transverse width of this grasping part, thereby make the conversion between seized condition and non-seized condition of this manipulator unit.
In work, this manipulator unit at first is in non-seized condition, this moment, this first cramping body and this second cramping body lay respectively at the both sides of finished bricks body, then, this first cramping body and this second cramping body move toward one another, this manipulator unit is in seized condition, this moment, this first cramping body and this second cramping body are clamped in the both sides of finished bricks body, and this production environmental protection brick moves to after the predetermined place with transportation manipulator integral body, this first cramping body and this second cramping body reverse motions, this manipulator unit is in non-seized condition, puts down the finished bricks body in predetermined place, thereby finishes whole carrying action.
This first cramping body and this second cramping body all comprise clamping plate and movement arm, wherein, these clamping plate are fixedly connected on the bottom of this movement arm, this manipulator unit also comprises back timber and air pressure actuator, the top slide of this movement arm is arranged in this back timber, this air pressure actuator is arranged between this movement arm of this movement arm of this first cramping body and this second cramping body, this air pressure actuator comprises air pressure generating means and push rod, wherein, this push rod is arranged on this air pressure generating means two ends, this movement arm of this first cramping body and this movement arm of this second cramping body are connected with this push rod at these air pressure generating means two ends respectively, and this this first cramping body of air pressure actuator driven in synchronism and this second cramping body are in opposite directions and reverse motions.
This manipulator unit also comprises locking automatic reset device, and this locking automatic reset device is connected on this first cramping body and this second cramping body.
This locking automatic reset device comprises locking ratchet and locking ratchet, wherein, this locking ratchet is connected with this movement arm, this locking ratchet rotates synchronously in the time of this movement arm motion, the lateral surface of this locking ratchet is provided with some pawls, and each this pawl all has sliding surface and holds face, and this sliding surface radian smoothly is fit to slide, this holds the precipitous suitable braking of the face gradient, forms a breaker slot between two adjacent arbitrarily these pawls.
This locking ratchet one end is articulated on this manipulator unit, and its other end is set up on the lateral surface of this locking ratchet, this locking ratchet synchronous forward is rotated in the time of this movement arm proper motion, this moment, the pawl head of this locking ratchet slides at this sliding surface of some these pawls, when this movement arm arrives the preposition stop motion, perhaps when this movement arm motion appearance is unusual, the pawl head of this locking ratchet is connected to rapidly in nearby this breaker slot, thereby fixing integrally-built position, promote safety factor, reach and prevent that this air pressure generating means from dying, prevent the purpose of connection loosing, be connected with back-moving spring between this locking ratchet and this manipulator unit, this this locking ratchet of back-moving spring pulling is close on this sliding surface this locking ratchet and slides.
This locking ratchet also is connected with reset cylinder, and the cylinder rod of this reset cylinder is connected on this locking ratchet, and this reset cylinder drives this locking ratchet makes the pawl head of this locking ratchet leave this breaker slot.
This manipulator unit also comprises device at the bottom of the automatic shovel, automatically shovel end device is connected to this clamping plate bottom of this first cramping body and this second cramping body, when this manipulator unit is in seized condition, automatically shovel end device holder is located at the bottom of finished bricks body, thereby the finished bricks body can not deviate between this first cramping body and this second cramping body, when this manipulator unit is in non-seized condition, automatically shovel end device launches automatically, thereby the finished bricks body can be deviate between this first cramping body and this second cramping body smoothly.
Automatically shovel end device comprises top wheel, drive link, shovel board and retracing spring, wherein, this top wheel is arranged on the top of this drive link, this shovel board is fixedly connected on the bottom of this drive link, automatically shovel end device is articulated on these clamping plate, and this retracing spring is connected this and shovels between end device and this clamping plate automatically.
When this manipulator unit is in non-seized condition, when this first cramping body and this second cramping body lay respectively at finished bricks body both sides, automatically shovel end device launches automatically, when this first cramping body and this second cramping body move toward one another, this manipulator unit is transformed in the process of seized condition by non-seized condition.
This top wheel contact finished bricks body, and along with progressively close of this first cramping body and this second cramping body, this top wheel rolls from bottom to top in the finished bricks surface, and drive this shovel board upset synchronously and shovel and hold in the palm on the bottom surface of finished bricks body.
This production environmental protection brick moves to transportation manipulator integral body after the predetermined place, this first cramping body and this second cramping body reverse motions, and this top wheel rolls from the top down in the finished bricks surface, and drives this shovel board upset synchronously and make this shovel board leave the finished bricks body.
Beneficial effect of the present invention is: each this manipulator unit of the present invention all comprises first cramping body and second cramping body, between this first cramping body and this second cramping body, determine a grasping part, by this first cramping body and this second cramping body in opposite directions and reverse motions can change the transverse width of this grasping part, thereby make the conversion between seized condition and non-seized condition of this manipulator unit, in work, this manipulator unit at first is in non-seized condition, this moment, this first cramping body and this second cramping body lay respectively at the both sides of finished bricks body, then, this first cramping body and this second cramping body move toward one another, this manipulator unit is in seized condition, this moment, this first cramping body and this second cramping body are clamped in the both sides of finished bricks body, this production environmental protection brick moves to after the predetermined place with transportation manipulator integral body, this first cramping body and this second cramping body reverse motions, this manipulator unit is in non-seized condition, put down the finished bricks body in predetermined place, thereby finish whole carrying action.
Description of drawings
Fig. 1 is integral structure scheme drawing of the present invention.
Fig. 2 is the perspective view of manipulator unit of the present invention.
Fig. 3 is the planar structure scheme drawing of manipulator unit of the present invention.
Fig. 4 is the structural representation of the locking automatic reset device part of the present invention.
Fig. 5 shovels the structural representation of end device part automatically for the present invention.
The specific embodiment
Shown in Fig. 1 to 5, a kind of production environmental protection brick transportation manipulator, its end that is arranged on the conveyor line of automated production environmental protection brick or main equipment be in order to moving down finished bricks from belt conveyor, thereby make things convenient for the work of subsequent packages transportation.
This production environmental protection brick comprises lifting body 10, manipulator fixed body 20 and some manipulator unit 30 with transportation manipulator.
Wherein, this manipulator fixed body 20 is fixedly connected on the bottom of this lifting body 10, and some these manipulator unit 30 are arranged and are arranged on this manipulator fixed body 20 bottoms.
This lifting body 10 drives this manipulator fixed body 20 and carries out lifting action, thereby makes some these manipulator unit 30 can carry out lifting action.
In concrete work, at first grasp the finished bricks body automatically by this manipulator unit 30, these manipulator fixed body 20 risings of these lifting body 10 drives then make the finished bricks body leave original bearing surface, this production environmental protection brick moves to after the predetermined place with transportation manipulator integral body afterwards, this lifting body 10 drives this manipulator fixed body 20 and descends, this manipulator unit 30 is decontroled the finished bricks body in predetermined place, thereby finishes whole carrying action.
In concrete enforcement, this lifting body 10 is slidingly arranged in the driving 40, and this lifting body 10 can be driven a vehicle 40 laterally mobile with respect to this, thereby reaches the purpose of the finished bricks body that this manipulator unit 30 of horizontal movement grasps.
Each this manipulator unit 30 all comprises first cramping body 50 and second cramping body 60, determines a grasping part 100 between this first cramping body 50 and this second cramping body 60.
By this first cramping body 50 and this second cramping body 60 in opposite directions and reverse motions can change the transverse width of this grasping part 100, thereby make the conversion between seized condition and non-seized condition of this manipulator unit 30.
In work, this manipulator unit 30 at first is in non-seized condition, and this moment, this first cramping body 50 and this second cramping body 60 lay respectively at the both sides of finished bricks body.
Then, this first cramping body 50 and these second cramping body, 60 move toward one another, this manipulator unit 30 is in seized condition, and this moment, this first cramping body 50 and this second cramping body 60 are clamped in the both sides of finished bricks body.
This production environmental protection brick moves to after the predetermined place with transportation manipulator integral body, this first cramping body 50 and these second cramping body, 60 reverse motions, this manipulator unit 30 is in non-seized condition, puts down the finished bricks body in predetermined place, thereby finishes whole carrying action.
This first cramping body 50 and this second cramping body 60 all comprise clamping plate 71 and movement arm 72, and wherein, these clamping plate 71 are fixedly connected on the bottom of this movement arm 72.
This manipulator unit 30 also comprises back timber 31 and air pressure actuator 32.
The top slide of this movement arm 72 is arranged in this back timber 31.
This air pressure actuator 32 is arranged between this movement arm 72 of this movement arm 72 of this first cramping body 50 and this second cramping body 60.
This air pressure actuator 32 comprises air pressure generating means 321 and push rod 322, and wherein, this push rod 322 is arranged on this air pressure generating means 321 two ends.
This movement arm 72 of this first cramping body 50 and this movement arm 72 of this second cramping body 60 are connected with this push rod 322 at these air pressure generating means 321 two ends respectively.
This this first cramping body 50 of air pressure actuator 32 driven in synchronism and this second cramping body 60 are in opposite directions and reverse motions.
This manipulator unit 30 also comprises locking automatic reset device 80, and this locking automatic reset device 80 is connected on this first cramping body 50 and this second cramping body 60.
This locking automatic reset device 80 comprises locking ratchet 81 and locking ratchet 82, and wherein, this locking ratchet 81 is connected with this movement arm 72, and this locking ratchet 81 rotates synchronously in the time of these movement arm 72 motions.
The lateral surface of this locking ratchet 81 is provided with some pawls 811, and each this pawl 811 all has sliding surface 812 and holds face 813.
These sliding surface 812 radians smoothly are fit to slide, and this holds the precipitous suitable braking of face 813 gradients.
Between two adjacent arbitrarily these pawls 811, form a breaker slot 814.
These locking ratchet 82 1 ends are articulated on this manipulator unit 30, and its other end is set up on the lateral surface of this locking ratchet 81.
These locking ratchet 81 synchronous forward are rotated in the time of these movement arm 72 proper motions, and this moment, the pawl head of this locking ratchet 82 slides at this sliding surface 812 of some these pawls 811.
When this movement arm 72 arrives the preposition stop motion, perhaps when these movement arm 72 motion appearance are unusual, the pawl head of this locking ratchet 82 is connected to rapidly in nearby this breaker slot 814, thereby fixing integrally-built position, promote safety factor, reach and prevent that this air pressure generating means 321 from dying, prevent the purpose of connection loosing.
Be connected with back-moving spring 83 between this locking ratchet 82 and this manipulator unit 30, this back-moving spring 83 pulls this locking ratchet 82 makes this locking ratchet 82 be close to slip on this sliding surface 812.
This locking ratchet 82 also is connected with reset cylinder 84, and the cylinder rod of this reset cylinder 84 is connected on this locking ratchet 82.
This reset cylinder 84 drives this locking ratchet 82 makes the pawl head of this locking ratchet 82 leave this breaker slot 814.
This manipulator unit 30 also comprises device 90 at the bottom of the automatic shovel, and this shovels these clamping plate 71 bottoms that end device 90 is connected to this first cramping body 50 and this second cramping body 60 automatically.
When this manipulator unit 30 was in seized condition, this shoveled 90 holders of end device automatically and is located at the bottom of finished bricks body, thereby the finished bricks body can not deviate between this first cramping body 50 and this second cramping body 60.
When this manipulator unit 30 was in non-seized condition, this shoveled end device 90 automatically and launches automatically, thereby the finished bricks body can be deviate between this first cramping body 50 and this second cramping body 60 smoothly.
Automatically shovel end device 90 comprises top wheel 91, drive link 92, shovel board 93 and retracing spring 94, and wherein, this top wheel 91 is arranged on the top of this drive link 92, and this shovel board 93 is fixedly connected on the bottom of this drive link 92.
Automatically shovel end device 90 is articulated on these clamping plate 71.
This retracing spring 94 is connected this and shovels between end device 90 and these clamping plate 71 automatically.
When this manipulator unit 30 is in non-seized condition, when this first cramping body 50 and this second cramping body 60 lay respectively at finished bricks body both sides.Automatically shovel end device 90 launches automatically.
When this first cramping body 50 and these second cramping body, 60 move toward one another, this manipulator unit 30 is transformed in the process of seized condition by non-seized condition.
This top wheel 91 contact finished bricks bodies, and along with progressively close of this first cramping body 50 and this second cramping body 60, this top wheel 91 roll from bottom to top in the finished bricks surface, and drive these shovel board 93 upsets synchronously and shovel holds in the palm on the bottom surface of finished bricks body.
This production environmental protection brick moves to after the predetermined place with transportation manipulator integral body, this first cramping body 50 and these second cramping body, 60 reverse motions, this top wheel 91 rolls from the top down in the finished bricks surface, and drives these shovel board 93 upsets synchronously and make this shovel board 93 leave the finished bricks body.
This cover manipulator of the present invention need not by the program of complexity or reaches the controller control that people use always, as long as can look for object and check and correction automatically by the sensor on the manipulator.
Claims (9)
1. production environmental protection brick transportation manipulator, it is characterized in that: comprise lifting body, manipulator fixed body and some manipulator unit, wherein, this manipulator fixed body is fixedly connected on the bottom of this lifting body, some these manipulator unit are arranged and are arranged on this manipulator fixed body bottom, this lifting body drives this manipulator fixed body and carries out lifting action, thereby makes some these manipulator unit can carry out lifting action
In the time of work, at first grasp the finished bricks body automatically by this manipulator unit, then this lifting body drives this manipulator fixed body and rises and make the finished bricks body leave original bearing surface, this production environmental protection brick moves to after the predetermined place with transportation manipulator integral body afterwards, this lifting body drives this manipulator fixed body and descends, this manipulator unit is decontroled the finished bricks body in predetermined place, thereby finishes whole carrying action
Each this manipulator unit all comprises first cramping body and second cramping body, between this first cramping body and this second cramping body, determine a grasping part, by this first cramping body and this second cramping body in opposite directions and reverse motions can change the transverse width of this grasping part, thereby make the conversion between seized condition and non-seized condition of this manipulator unit
In work, this manipulator unit at first is in non-seized condition, this moment, this first cramping body and this second cramping body lay respectively at the both sides of finished bricks body, then, this first cramping body and this second cramping body move toward one another, this manipulator unit is in seized condition, and this moment, this first cramping body and this second cramping body are clamped in the both sides of finished bricks body, this production environmental protection brick moves to after the predetermined place with transportation manipulator integral body, this first cramping body and this second cramping body reverse motions, this manipulator unit is in non-seized condition, puts down the finished bricks body in predetermined place, thereby finish whole carrying action
This first cramping body and this second cramping body all comprise clamping plate and movement arm, wherein, these clamping plate are fixedly connected on the bottom of this movement arm, this manipulator unit also comprises back timber and air pressure actuator, the top slide of this movement arm is arranged in this back timber, this air pressure actuator is arranged between this movement arm of this movement arm of this first cramping body and this second cramping body, this air pressure actuator comprises air pressure generating means and push rod, wherein, this push rod is arranged on this air pressure generating means two ends, this movement arm of this first cramping body and this movement arm of this second cramping body are connected with this push rod at these air pressure generating means two ends respectively, and this this first cramping body of air pressure actuator driven in synchronism and this second cramping body are in opposite directions and reverse motions.
2. a kind of production environmental protection brick transportation manipulator as claimed in claim 1, it is characterized in that: this manipulator unit also comprises locking automatic reset device, this locking automatic reset device is connected on this first cramping body and this second cramping body,
This locking automatic reset device comprises locking ratchet and locking ratchet, wherein, this locking ratchet is connected with this movement arm, this locking ratchet rotates synchronously in the time of this movement arm motion, the lateral surface of this locking ratchet is provided with some pawls, each this pawl all has sliding surface and holds face, forms a breaker slot between two adjacent arbitrarily these pawls.
3. a kind of production environmental protection brick transportation manipulator as claimed in claim 2, it is characterized in that: this locking ratchet one end is articulated on this manipulator unit, and its other end is set up on the lateral surface of this locking ratchet, this locking ratchet synchronous forward is rotated in the time of this movement arm proper motion, this moment, the pawl head of this locking ratchet slides at this sliding surface of some these pawls, when this movement arm arrives the preposition stop motion, perhaps occur unusual the time when the motion of this movement arm, the pawl head of this locking ratchet is connected to rapidly in nearby this breaker slot.
4. a kind of production environmental protection brick transportation manipulator as claimed in claim 3, it is characterized in that: be connected with back-moving spring between this locking ratchet and this manipulator unit, this this locking ratchet of back-moving spring pulling is close on this sliding surface this locking ratchet and slides.
5. a kind of production environmental protection brick transportation manipulator as claimed in claim 4, it is characterized in that: this locking ratchet also is connected with reset cylinder, the cylinder rod of this reset cylinder is connected on this locking ratchet, and this reset cylinder drives this locking ratchet makes the pawl head of this locking ratchet leave this breaker slot.
6. a kind of production environmental protection brick transportation manipulator as claimed in claim 1, it is characterized in that: this manipulator unit also comprises device at the bottom of the automatic shovel, automatically shovel end device is connected to this clamping plate bottom of this first cramping body and this second cramping body, when this manipulator unit is in seized condition, automatically shovel end device holder is located at the bottom of finished bricks body, thereby the finished bricks body can not deviate between this first cramping body and this second cramping body, when this manipulator unit is in non-seized condition, automatically shovel end device launches automatically, thereby the finished bricks body can be deviate between this first cramping body and this second cramping body smoothly.
7. a kind of production environmental protection brick transportation manipulator as claimed in claim 6, it is characterized in that: this shovels end device automatically and comprises top wheel, drive link, shovel board and retracing spring, wherein, this top wheel is arranged on the top of this drive link, this shovel board is fixedly connected on the bottom of this drive link, automatically shovel end device is articulated on these clamping plate, and this retracing spring is connected this and shovels between end device and this clamping plate automatically.
8. a kind of production environmental protection brick transportation manipulator as claimed in claim 7, it is characterized in that: when this manipulator unit is in non-seized condition, when this first cramping body and this second cramping body lay respectively at finished bricks body both sides, automatically shovel end device launches automatically, when this first cramping body and this second cramping body move toward one another, this manipulator unit is transformed in the process of seized condition by non-seized condition, this top wheel contact finished bricks body, and along with progressively close of this first cramping body and this second cramping body, this top wheel rolls from bottom to top in the finished bricks surface, and drive this shovel board upset synchronously and shovel holder on the bottom surface of finished bricks body
This production environmental protection brick moves to transportation manipulator integral body after the predetermined place, this first cramping body and this second cramping body reverse motions, and this top wheel rolls from the top down in the finished bricks surface, and drives this shovel board upset synchronously and make this shovel board leave the finished bricks body.
9. a kind of production environmental protection brick transportation manipulator as claimed in claim 1, it is characterized in that: this lifting body is slidingly arranged in the driving, and this lifting body can be laterally mobile with respect to this driving.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013101270658A CN103193079A (en) | 2013-04-14 | 2013-04-14 | Carrying manipulator for producing environment-friendly bricks |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101270658A CN103193079A (en) | 2013-04-14 | 2013-04-14 | Carrying manipulator for producing environment-friendly bricks |
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| CN103193079A true CN103193079A (en) | 2013-07-10 |
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| CN2013101270658A Pending CN103193079A (en) | 2013-04-14 | 2013-04-14 | Carrying manipulator for producing environment-friendly bricks |
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Cited By (6)
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| CN106115253A (en) * | 2016-08-26 | 2016-11-16 | 深圳市华星光电技术有限公司 | Gas chromatogram glass bushing pipe removing fixture |
| CN107175653A (en) * | 2017-06-23 | 2017-09-19 | 天津市双象工程液压件有限责任公司 | A kind of cylinder barrel is uprightly piled up with clamping turning manipulator |
| CN107285009A (en) * | 2017-06-23 | 2017-10-24 | 天津市双象工程液压件有限责任公司 | Equipment is moved in a kind of cylinder barrel clamping upset |
| CN108861615A (en) * | 2018-08-07 | 2018-11-23 | 燕山大学 | A kind of automatic conveying device based on Dual-motors Driving |
| CN109650041A (en) * | 2018-12-26 | 2019-04-19 | 海安格瑞姆机电科技有限公司 | A kind of deposit conveying robot unit |
| CN113232033A (en) * | 2021-04-23 | 2021-08-10 | 张龙 | Automatic material taking anti-skidding mechanical arm based on big data |
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Application publication date: 20130710 |