CN108502551A - Handling gripper and stacking machine with it - Google Patents
Handling gripper and stacking machine with it Download PDFInfo
- Publication number
- CN108502551A CN108502551A CN201810541269.9A CN201810541269A CN108502551A CN 108502551 A CN108502551 A CN 108502551A CN 201810541269 A CN201810541269 A CN 201810541269A CN 108502551 A CN108502551 A CN 108502551A
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- Prior art keywords
- grip block
- handling gripper
- holding part
- clamp assemblies
- plate
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- 230000000712 assembly Effects 0.000 claims abstract description 40
- 238000000429 assembly Methods 0.000 claims abstract description 40
- 230000009471 action Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Warehouses Or Storage Devices (AREA)
Abstract
The present invention provides a kind of handling gripper and with its stacking machine, handling gripper includes：Supporting rack；Clamp assemblies, clamp assemblies are mounted on supporting rack, and clamp assemblies have the grasping part for goods clamping；Holding part, the lower section for being at least partially disposed at grasping part of holding part, to be supported on the bottom of cargo in clamp assemblies goods clamping.The handling gripper solves the problems, such as that the bearing capacity of the clamp for stacking of stacking machine in the prior art is poor.
Description
Technical field
The present invention relates to automated production fields, in particular to a kind of handling gripper and with its stacking machine.
Background technology
In modern industrial production, product is packed into last procedure after sack or chest be packaged into cargo, is needed pair
Bale Cargo carried, arranged, being arranged, pile, in order to facilitate forklift transport, generally by cargo by certain stacking that puts in order
On wooden (or plastics) pallet.
Traditional be all using manually carried, arranged, being arranged, pile, it is this to adopt with the increase of amount of product throughput
Manually carry out pile mode there are pile speed excessively slowly, labor intensity it is big, and high labor cost, not
Can meet the needs of manufacturing enterprise is to efficiently packing pipeline.And the Bale Cargo of the various different shape sizes of product packaging
Afterwards, artificial carrying, stacking are relatively difficult.
In order to overcome these difficulties, occur a variety of palletizing mechanical equipment on the market, these palletizing mechanical equipment can replace
The labor intensity of worker, but the structure of the clamp for stacking of these palletizing mechanical equipment is complex, compatible shape is poor, and it is existing
Some clamp for stacking are unable to the larger cargo of load capacity, only rely on chucking power gripping cargo, and bearing capacity is poor.
Invention content
The main purpose of the present invention is to provide a kind of handling gripper and with its stacking machine, to solve in the prior art
Stacking machine clamp for stacking the poor problem of bearing capacity.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of handling gripper, including：Supporting rack；
Clamp assemblies, clamp assemblies are mounted on supporting rack, and clamp assemblies have the grasping part for goods clamping；Holding part, support
The lower section for being at least partially disposed at grasping part of gripping member, to be supported on the bottom of cargo in clamp assemblies goods clamping.
Further, clamp assemblies include：First grip block, the first grip block are mounted on supporting rack；Second grip block,
Second grip block is movably mounted at relative to the first grip block on supporting rack, shape between the first grip block and the second grip block
At grasping part.
Further, holding part has for avoiding the evacuation position of cargo and being used to support in the holding position of cargo bottom
It sets, is mounted on to holding part position-adjustable on the second grip block to be in evacuation position or holding position.
Further, holding part includes interconnecting piece and the holding part hinged with interconnecting piece, and interconnecting piece is fixed on the second clamping
Plate, so that holding part is swingably arranged relative to the second grip block.
Further, holding part includes fixed plate and the supporting plate that is arranged in fixed plate, and fixed plate is straight panel body, and supporting plate is
One plate section of L shaped plate, supporting plate is connect with fixed plate, another plate section of supporting plate is used for holding cargo.
Further, handling gripper further includes driving cylinder, drives the cylinder body of cylinder to be mounted on the first grip block, driving
The piston rod of cylinder is connect with holding part, to drive holding part to swing.
Further, handling gripper further includes：Turn-screw, turn-screw are installed in rotation on supporting rack, and second
Be provided on grip block with the matched drive block of turn-screw, the second grip block is connect with drive block, so that the second grip block
It is moved along turn-screw under the action of turn-screw and drive block.
Further, it is provided with guided way on supporting rack, is provided on the second grip block and the matched guiding of guided way
Block, guided way extend along the extending direction of turn-screw.
Further, supporting rack includes main frame body and the support plate that is arranged below main frame body, turn-screw and guided way
It is respectively mounted on the supporting plate.
Further, supporting rack includes main frame body, and main frame body is arrow rack, clamp assemblies and holding part be it is multiple, it is more
A clamp assemblies and multiple holding parts are arranged correspondingly, and multiple clamp assemblies are arranged along the extending direction interval of main frame body.
According to another aspect of the present invention, a kind of stacking machine, including robot palletizer and setting are provided in stacking machine
Handling gripper on the motion arm of people, handling gripper are above-mentioned handling gripper.
Handling gripper in the present invention includes supporting rack and clamp assemblies, and clamp assemblies are mounted on supporting rack, due to folder
Holding component has the grasping part for being used for goods clamping, and the lower section for being at least partially disposed at grasping part of holding part, in this way,
When clamp assemblies goods clamping, the holding part can be utilized to be supported on the bottom of cargo, and then realize the support to cargo, carried
The high bearing capacity of handling gripper so that the handling gripper can solve in the prior art with the larger cargo of load capacity
Stacking machine clamp for stacking the poor problem of bearing capacity.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 shows the structural schematic diagram of the embodiment of handling gripper according to the present invention；
Fig. 2 shows the front views of the handling gripper in Fig. 1；And
Fig. 3 shows the side view of the handling gripper in Fig. 1.
Wherein, above-mentioned attached drawing includes the following drawings label：
10, supporting rack；11, guided way；12, main frame body；13, support plate；20, clamp assemblies；201, grasping part；21、
First grip block；22, the second grip block；30, holding part；31, interconnecting piece；32, holding part；321, fixed plate；322, supporting plate；
40, cylinder is driven；50, turn-screw；60, drive block；70, guide pad；80, hog frame；91, auxiliary connection board；92, fixture method
It is blue；100, driving motor.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
The present invention provides a kind of handling gripper, please refer to Fig.1 to Fig. 3, handling gripper includes：Supporting rack 10；Clamping group
Part 20, clamp assemblies 20 are mounted on supporting rack 10, and clamp assemblies 20 have the grasping part 201 for goods clamping；Holding
Part 30, the lower section for being at least partially disposed at grasping part 201 of holding part 30, to be supported on goods in 20 goods clamping of clamp assemblies
The bottom of object.
Handling gripper in the present invention includes supporting rack 10 and clamp assemblies 20, and clamp assemblies 20 are mounted on supporting rack 10
On, since clamp assemblies 20 have the grasping part 201 for goods clamping, and sky is clamped in being at least partially disposed at for holding part 30
Between 201 lower section the holding part 30 can be utilized to be supported on the bottom of cargo in this way, in 20 goods clamping of clamp assemblies,
And then support of the realization to cargo, improve the bearing capacity of handling gripper so that the handling gripper can be larger with load capacity
Cargo, solve the problems, such as that the bearing capacity of the clamp for stacking of stacking machine in the prior art is poor.
The concrete structure of clamp assemblies 20 in the present embodiment, as shown in figures 1 and 3, clamp assemblies 20 include：First folder
Plate 21 is held, the first grip block 21 is mounted on supporting rack 10；Second grip block 22, the second grip block 22 is relative to the first grip block
21 are movably mounted on supporting rack 10, and grasping part 201 is formed between the first grip block 21 and the second grip block 22.This
Sample can more easily realize the clamping to cargo.
In order to realize holding of the holding part 30 to cargo, as shown in Figure 1 to Figure 3, holding part 30 has for avoiding cargo
Evacuation position and be used to support in the holding position of cargo bottom, be mounted on the second grip block to 30 position-adjustable of holding part
To be in evacuation position or holding position on 22.
The concrete structure of holding part 30 in the present embodiment, as shown in Figure 1 to Figure 3, holding part 30 include 31 He of interconnecting piece
The holding part 32 hinged with interconnecting piece 31, interconnecting piece 31 are fixed on the second grip block 22, so that holding part 32 is relative to the second folder
Plate 22 is held swingably to be arranged.In this way, holding part 32 can more easily be made to be in evacuation position or holding position.
In an embodiment of the present invention, as shown in Figure 1 to Figure 3, holding part 32 includes fixed plate 321 and setting solid
Supporting plate 322 on fixed board 321, fixed plate 321 are straight panel body, and supporting plate 322 is L shaped plate, the plate section and fixed plate of supporting plate 322
Another plate section of 321 connections, supporting plate 322 is used for holding cargo.
Preferably, fixed plate 321 extends along the extending direction of cargo, and supporting plate 322 is multiple, and multiple supporting plates 322 are along fixation
The extending direction of plate 321 is arranged at intervals in fixed plate 321.
In another embodiment of the present invention, holding part 32 is the L-shaped being spliced by the first plate body and the second plate body
Plate, the first plate body is hinged with interconnecting piece 31, and the second plate body is used to support cargo.
In order to realize the driving to holding part 32, as shown in Figure 1, handling gripper further includes driving cylinder 40, cylinder is driven
40 cylinder body is mounted on the first grip block 21, and the piston rod of driving cylinder 40 is connect with holding part 32, to drive holding part 32
It swings.In this way, the holding part 32 can more easily be driven to move.
In order to realize that as shown in figures 1 and 3, handling gripper further includes to the transmission of the second grip block 22：Turn-screw
50, turn-screw 50 is installed in rotation on supporting rack 10, is provided on the second grip block 22 and is matched with turn-screw 50
Drive block 60, the second grip block 22 is connect with drive block 60, so that the second grip block 22 is in turn-screw 50 and drive block 60
Under the action of moved along turn-screw 50.In this way, when turn-screw 50 rotates, the second grip block 22 can be controlled along the biography
Dynamic leading screw 50 moves.Preferably, which extends along the arranged direction of the first grip block 21 and the second grip block 22.
In order to drive the turn-screw 50 to rotate, as shown in figures 1 and 3, which includes driving motor 100, should
Driving motor 100 is drivingly connected with turn-screw 50, to drive the turn-screw 50 to rotate.
In order to realize the guiding to second grip block 22, as shown in figure 3, guided way 11 is provided on supporting rack 10, the
It is provided on two grip blocks 22 and prolongs along the extending direction of turn-screw 50 with 11 matched guide pad 70 of guided way, guided way 11
It stretches.Preferably, there is guided way 11 lug boss, lug boss to extend along the extending direction of guided way 11, and guide pad 70 has and this
The matched groove of lug boss, guide pad 70 are fastened on by the groove on the lug boss.
In order to realize the installation of clamp assemblies 20, as shown in Figure 1, supporting rack 10 includes main frame body 12 and is arranged in main frame body
The support plate 13 of 12 lower sections, turn-screw 50 and guided way 11 are installed in support plate 13.Preferably, supporting rack 10 further includes
One side wall of hog frame 80, the hog frame 80 is connect with support plate 13, and another side wall and the main frame body 12 of hog frame 80 connect
It connects.Preferably, hog frame 80 is tripod, and hog frame 80 is multiple, and multiple hog frames 80 are between the extending direction of main frame body 12
Every setting.
In addition, being provided with fixture flange 92 on main frame body 12, which passes through the fixture flange 92 and robot
Motion arm connects.The side of fixture flange 92 is provided with auxiliary connection board 91, fixture flange 92 by the auxiliary connection board 91 with
Main frame body 12 connects.
In the present embodiment, supporting rack 10 includes main frame body 12, and main frame body 12 is arrow rack, clamp assemblies 20 and holding part
30 be multiple, and multiple clamp assemblies 20 and multiple holding parts 30 are arranged correspondingly, and multiple clamp assemblies 20 are along main frame body
12 extending direction interval setting.Preferably, clamp assemblies 20 and holding part 30 are two.
Preferably, main frame body 12 includes first crossbeam, second cross beam and multiple longerons, and first crossbeam and second cross beam are flat
Row setting, multiple longerons are arranged in parallel and are located between first crossbeam and second cross beam to connect first crossbeam and second cross beam.
The present invention also provides a kind of stacking machine, including robot palletizer and it is arranged on the motion arm of robot palletizer
Handling gripper, handling gripper are above-mentioned handling gripper.
It can be seen from the above description that the above embodiments of the present invention realize following technique effect：
Handling gripper in the present invention includes supporting rack 10 and clamp assemblies 20, and clamp assemblies 20 are mounted on supporting rack 10
On, since clamp assemblies 20 have the grasping part 201 for goods clamping, and sky is clamped in being at least partially disposed at for holding part 30
Between 201 lower section the holding part 30 can be utilized to be supported on the bottom of cargo in this way, in 20 goods clamping of clamp assemblies,
And then support of the realization to cargo, improve the bearing capacity of handling gripper so that the handling gripper can be larger with load capacity
Cargo, solve the problems, such as that the bearing capacity of the clamp for stacking of stacking machine in the prior art is poor.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not
Those of be necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (11)
1. a kind of handling gripper, which is characterized in that including：
Supporting rack (10)；
Clamp assemblies (20), the clamp assemblies (20) are mounted on support frame as described above (10), and the clamp assemblies (20) have
Grasping part (201) for goods clamping；
Holding part (30), the lower section for being at least partially disposed at the grasping part (201) of the holding part (30), in the folder
Hold the bottom that the cargo is supported on when the cargo is clamped in component (20).
2. handling gripper according to claim 1, which is characterized in that the clamp assemblies (20) include：
First grip block (21), first grip block (21) are mounted on support frame as described above (10)；
Second grip block (22), second grip block (22) are movably mounted at institute relative to first grip block (21)
It states on supporting rack (10), the grasping part is formed between first grip block (21) and second grip block (22)
(201)。
3. handling gripper according to claim 2, which is characterized in that the holding part (30) has for avoiding the goods
It the evacuation position of object and is used to support in the holding position of the cargo bottom, installs to holding part (30) position-adjustable
To be in the evacuation position or the holding position on second grip block (22).
4. handling gripper according to claim 2, which is characterized in that the holding part (30) include interconnecting piece (31) and with
The hinged holding part (32) of the interconnecting piece (31), the interconnecting piece (31) is fixed on second grip block (22), so that institute
Holding part (32) is stated relative to second grip block (22) to be swingably arranged.
5. handling gripper according to claim 4, which is characterized in that the holding part (32) include fixed plate (321) and
The supporting plate (322) being arranged in the fixed plate (321), the fixed plate (321) are straight panel body, and the supporting plate (322) is L-shaped
One plate section of plate, the supporting plate (322) is connect with the fixed plate (321), another plate section of the supporting plate (322) is used for
Cargo described in holding.
6. handling gripper according to claim 4, which is characterized in that the handling gripper further includes driving cylinder (40),
The cylinder body of the driving cylinder (40) is mounted on first grip block (21), the piston rod of the driving cylinder (40) and institute
Holding part (32) connection is stated, to drive the holding part (32) to swing.
7. handling gripper according to claim 2, which is characterized in that the handling gripper further includes：
Turn-screw (50), the turn-screw (50) are installed in rotation on support frame as described above (10), second clamping
It is provided on plate (22) and the turn-screw (50) matched drive block (60), second grip block (22) and the biography
Motion block (60) connects, so that second grip block (22) is under the action of the turn-screw (50) and the drive block (60)
It is mobile along the turn-screw (50).
8. handling gripper according to claim 7, which is characterized in that support frame as described above is provided with guided way on (10)
(11), it is provided on second grip block (22) and the guided way (11) matched guide pad (70), the guided way
(11) extend along the extending direction of the turn-screw (50).
9. handling gripper according to claim 8, which is characterized in that support frame as described above (10) includes main frame body (12) and sets
The support plate (13) below the main frame body (12) is set, the turn-screw (50) and the guided way (11) are installed in institute
It states in support plate (13).
10. handling gripper according to claim 1, which is characterized in that support frame as described above (10) includes main frame body (12), institute
It is arrow rack to state main frame body (12), and the clamp assemblies (20) and the holding part (30) are multiple, multiple clamping groups
Part (20) and multiple holding parts (30) are arranged correspondingly, and multiple clamp assemblies (20) are along the main frame body (12)
Extending direction interval setting.
11. a kind of stacking machine, including robot palletizer and the handling gripper that is arranged on the motion arm of the robot palletizer,
It is characterized in that, the handling gripper is the handling gripper described in any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810541269.9A CN108502551A (en) | 2018-05-30 | 2018-05-30 | Handling gripper and stacking machine with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810541269.9A CN108502551A (en) | 2018-05-30 | 2018-05-30 | Handling gripper and stacking machine with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108502551A true CN108502551A (en) | 2018-09-07 |
Family
ID=63401977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810541269.9A Withdrawn CN108502551A (en) | 2018-05-30 | 2018-05-30 | Handling gripper and stacking machine with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108502551A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109110514A (en) * | 2018-10-19 | 2019-01-01 | 山东省药用玻璃股份有限公司 | Dissipate bottle stacking composite fixture |
| CN109677953A (en) * | 2018-12-24 | 2019-04-26 | 台州高知科技有限公司 | Bagged material loading system |
| CN110587643A (en) * | 2019-10-18 | 2019-12-20 | 珠海格力智能装备有限公司 | Clamp and transfer robot |
| CN112607416A (en) * | 2020-12-21 | 2021-04-06 | 山东中清智能科技股份有限公司 | Multi-block ice-block grabbing mechanism |
| CN114476658A (en) * | 2022-03-02 | 2022-05-13 | 何斌 | A transport manipulator for intelligent manufacturing line |
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|---|---|---|---|---|
| US20010024612A1 (en) * | 2000-03-24 | 2001-09-27 | Guenter Graeler | Device for palletizing parcels |
| CN2894965Y (en) * | 2006-04-05 | 2007-05-02 | 上海发那科机器人有限公司 | Staking-carrying servo tongs |
| CN104760834A (en) * | 2015-04-03 | 2015-07-08 | 江苏新美星包装机械股份有限公司 | Clamping device for stacker |
| CN106395359A (en) * | 2016-09-06 | 2017-02-15 | 沈阳远大科技园有限公司 | Stacking clamp |
| CN107458887A (en) * | 2017-09-13 | 2017-12-12 | 云南昆船电子设备有限公司 | A kind of Lamina bale unstacking and stacking machine device people's fixture |
| CN208249364U (en) * | 2018-05-30 | 2018-12-18 | 珠海格力智能装备有限公司 | Handling gripper and stacking machine with it |
-
2018
- 2018-05-30 CN CN201810541269.9A patent/CN108502551A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010024612A1 (en) * | 2000-03-24 | 2001-09-27 | Guenter Graeler | Device for palletizing parcels |
| CN2894965Y (en) * | 2006-04-05 | 2007-05-02 | 上海发那科机器人有限公司 | Staking-carrying servo tongs |
| CN104760834A (en) * | 2015-04-03 | 2015-07-08 | 江苏新美星包装机械股份有限公司 | Clamping device for stacker |
| CN106395359A (en) * | 2016-09-06 | 2017-02-15 | 沈阳远大科技园有限公司 | Stacking clamp |
| CN107458887A (en) * | 2017-09-13 | 2017-12-12 | 云南昆船电子设备有限公司 | A kind of Lamina bale unstacking and stacking machine device people's fixture |
| CN208249364U (en) * | 2018-05-30 | 2018-12-18 | 珠海格力智能装备有限公司 | Handling gripper and stacking machine with it |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109110514A (en) * | 2018-10-19 | 2019-01-01 | 山东省药用玻璃股份有限公司 | Dissipate bottle stacking composite fixture |
| CN109677953A (en) * | 2018-12-24 | 2019-04-26 | 台州高知科技有限公司 | Bagged material loading system |
| CN110587643A (en) * | 2019-10-18 | 2019-12-20 | 珠海格力智能装备有限公司 | Clamp and transfer robot |
| CN112607416A (en) * | 2020-12-21 | 2021-04-06 | 山东中清智能科技股份有限公司 | Multi-block ice-block grabbing mechanism |
| CN114476658A (en) * | 2022-03-02 | 2022-05-13 | 何斌 | A transport manipulator for intelligent manufacturing line |
| CN114476658B (en) * | 2022-03-02 | 2024-04-05 | 周世月 | Carrying manipulator for intelligent manufacturing production line |
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Application publication date: 20180907 |