CN112278887B - A industrial robot presss from both sides and gets device for being directed at article carry out pile up neatly - Google Patents
A industrial robot presss from both sides and gets device for being directed at article carry out pile up neatly Download PDFInfo
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- CN112278887B CN112278887B CN202011108443.4A CN202011108443A CN112278887B CN 112278887 B CN112278887 B CN 112278887B CN 202011108443 A CN202011108443 A CN 202011108443A CN 112278887 B CN112278887 B CN 112278887B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0233—Compliance devices with radial compliance, i.e. perpendicular to the longitudinal wrist axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of palletizing robots, in particular to an industrial robot clamping device for palletizing objects, which comprises a shell, wherein the top of the shell is fixedly connected with a connecting block, the left side and the right side of the connecting block are provided with positioning mechanisms, the top of the connecting block is provided with an installing mechanism, the front side and the rear side of the shell are provided with fixing mechanisms, and the fixing mechanisms are connected with the positioning mechanisms through a transmission mechanism. The transmission mechanism can enhance the clamping force of the positioning plates at the two sides to the articles.
Description
Technical Field
The invention relates to the field of stacking robots, in particular to an industrial robot clamping device for stacking objects.
Background
With the continuous development of economy and the rapid advance of science and technology in China, the robot has quite wide application in the industries of stacking, gluing, spot welding, arc welding, spraying, carrying, measuring and the like. The palletizing robot is a product of the organic combination of machinery and computer programs. Provides higher production efficiency for modern production. Palletizing machines have a fairly wide range of applications in the palletizing industry. The stacking robot greatly saves labor force and space. The stacking robot is flexible and accurate in operation, high in speed and efficiency, high in stability and high in operation efficiency.
With the development of society, the stacking robot is rapidly developed, but the technology is continuously improved, the requirements of people on the stacking robot are higher and higher, and the existing stacking robot cannot meet the use requirements of people; the clamping device is unstable to the centre gripping of article in operation when using for current pile up neatly machine people, lead to article to take place to drop moving the in-process easily, make this pile up neatly machine people's practicality greatly reduced, and the speed of getting article is faster when current pile up neatly machine people moves, article clamp can appear and get the condition that the position is not right, the condition that article damaged appears easily, influence pile up neatly machine people's pile up neatly effect, certain influence has been brought for people's use, therefore, to above current situation, need develop an industrial robot who is used for carrying out the pile up neatly to article and get the device by clamping, in order to overcome not enough in the current practical application.
Disclosure of Invention
The invention aims to provide an industrial robot clamping device for stacking objects, and the industrial robot clamping device is used for solving the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a device is got to industrial robot clamp for carrying out pile up neatly to article, includes the casing, casing top fixed connection is provided with the connecting block, the connecting block left and right sides is provided with positioning mechanism, the connecting block top is provided with installation mechanism, both sides are provided with fixed establishment around the casing, fixed establishment passes through drive mechanism and is connected with positioning mechanism.
As a further scheme of the invention: installation mechanism is including being used for the installation piece of being connected with pile up neatly machine people, the inboard fixed connection of installation piece is provided with the gag lever post, gag lever post outside sliding connection is provided with the movable block, fixed connection is provided with first spring between both ends and the installation piece about the movable block, the inboard bolted connection of movable block is provided with first motor, first motor output sets up the connecting rod fixed connection at the connecting block top with fixed connection.
As a further scheme of the invention: positioning mechanism includes that sliding connection sets up the push pedal inboard at the movable block, both ends downside all is provided with the supporting shoe with movable block fixed connection about the push pedal, both sides be provided with the fixed block with push pedal fixed connection between the supporting shoe, the push pedal left and right sides all articulates and is provided with the pull rod, the pull rod other end is articulated with the movable rod, movable rod outside sliding connection is provided with the supporting seat with casing fixed connection, the inboard sliding connection of movable rod is provided with the bracing piece, fixed connection is provided with first telescopic link between bracing piece and the movable rod, movable rod one end bottom fixed connection is kept away from to the bracing piece is provided with the dead lever, dead lever bottom fixed connection is provided with the locating plate.
As a further scheme of the invention: both sides the locating plate is close to casing one side and all is provided with the buffer board, the buffer board is close to locating plate one side fixed connection and is provided with a plurality of and locating plate sliding connection's slider, fixed connection is provided with first spring between slider and the locating plate.
As a further scheme of the invention: the fixing mechanism comprises a fixing frame arranged at the bottom end of the inner side of the shell, the top of the fixing frame is provided with an adjusting mechanism, a second motor is arranged on the inner side of the fixed frame in a bolted connection mode, transmission rods which are rotatably connected with the fixed frame are arranged on the front side and the rear side of the second motor, belt wheels are fixedly connected with the transmission rod and the outer side of the output end of the second motor, the belt wheels are connected with each other through a belt, the left side and the right side of the transmission rod are respectively provided with a first threaded rod which is rotationally connected with the fixed frame, the first threaded rods are meshed and connected with the transmission rod through bevel gears, the first threaded rods are in sliding connection with sliding chutes arranged on the front and rear side shell walls of the shell, the outer sides of the first threaded rods on the front and rear sides are both in threaded connection with a fixing plate, one side of the fixed plate, which is close to the shell, is provided with a clamping plate, and a second telescopic rod is fixedly connected between the clamping plate and the fixed plate.
As a further scheme of the invention: adjustment mechanism includes that fixed connection sets up the regulating block at fixed frame top, the inboard equal threaded connection in both ends is provided with the second threaded rod about the regulating block, the second threaded rod passes through bolted connection and sets up the third motor drive in the casing inboard.
As a further scheme of the invention: the transmission mechanism comprises a driving rod, the driving rod is connected with the output end of the second motor, a connecting plate is arranged on the outer side of the driving rod in a threaded connection mode, a movable plate connected with the shell in a sliding mode is arranged on the outer side of the connecting plate, limiting blocks are arranged on the front side and the rear side of the connecting plate in a fixed connection mode, the limiting blocks are arranged on the inner side of the movable plate in a sliding mode, and pushing blocks are arranged on the front side and the rear side of the connecting plate in a fixed connection mode.
Compared with the prior art, the invention has the beneficial effects that:
1. the position of the clamping device can be finely adjusted by the aid of the first spring and the movable block through the arrangement of the mounting mechanism, so that the device can better clamp articles;
2. by arranging the positioning mechanism, the device is fixed at the top end of an article by utilizing the extension and retraction of the first telescopic rods at two sides, so that the clamping accuracy is ensured;
3. through setting up fixed establishment, utilize adjustment mechanism to adjust the position of both sides splint, effectively avoid article to press from both sides to get the condition emergence that the position is not right, guarantee the stability that article were got, utilize the second telescopic link to make both sides splint can carry out stable clamp to article and get, and press from both sides the in-process of getting, drive mechanism can promote the push pedal upward movement, and the push pedal utilizes the pull rod can strengthen both sides locating plate and get the dynamics to the clamp of article to the security that the device clamp was got is strengthened.
Drawings
Fig. 1 is a schematic structural view of an industrial robot gripper for palletizing objects.
Fig. 2 is a schematic structural view of a fixing mechanism in an industrial robot gripper for palletizing objects.
Fig. 3 is an enlarged schematic view of a portion a in fig. 1.
Fig. 4 is an enlarged schematic view of a portion B in fig. 2.
Fig. 5 is a schematic structural view of a movable plate in an industrial robot gripper for palletizing objects.
In the figure: 1-mounting block, 2-movable block, 3-limiting rod, 4-first spring, 5-first motor, 6-connecting rod, 7-limiting ring, 8-supporting seat, 9-movable rod, 10-first telescopic rod, 11-supporting rod, 12-fixing rod, 13-positioning plate, 14-buffer plate, 15-sliding block, 16-second spring, 17-shell, 18-sliding groove, 19-fixing plate, 20-first threaded rod, 21-clamping plate, 22-second telescopic rod, 23-movable plate, 24-driving rod, 25-connecting plate, 26-pushing block, 27-limiting block, 28-guiding block, 29-guiding groove, 30-adjusting block, 31-second threaded rod, 32-second motor, 33-transmission rod, 34-belt wheel, 35-push plate, 36-pull rod, 37-supporting block, 38-fixing block and 39-connecting block.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Example 1
Referring to fig. 1-5, in an embodiment of the present invention, an industrial robot gripping device for stacking objects includes a housing 17, a connecting block 39 is fixedly connected to the top of the housing 17, positioning mechanisms are disposed on the left and right sides of the connecting block 39, an installation mechanism is disposed on the top of the connecting block 39, and fixing mechanisms are disposed on the front and rear sides of the housing 17 and connected to the positioning mechanisms through a transmission mechanism.
Example 2
In this embodiment, installation mechanism includes the installation piece 1 that is used for being connected with the pile up neatly machine people, the inboard fixed connection of installation piece 1 is provided with gag lever post 3, sliding connection is provided with movable block 2 in the gag lever post 3 outside, fixed connection is provided with first spring 4 between both ends and the installation piece 1 about movable block 2, the inboard bolted connection of movable block 2 is provided with first motor 5, first motor 5 output and fixed connection set up the connecting rod 7 fixed connection at connecting block 39 top, through setting up installation mechanism, utilize first spring 4 and movable block 2 to finely tune the position of pressing from both sides the device of getting to make the device can be better press from both sides article and get, through setting up first motor 5, can adjust the direction of pressing from both sides the device, do benefit to the accuracy of pressing from both sides the position of getting the improvement.
In this embodiment, the outer side of the connecting rod 7 is fixedly connected with a limiting ring 7 which is rotatably connected with the movable block 2.
In this embodiment, the positioning mechanism includes a push plate 35 slidably connected to an inner side of the movable block 2, the lower sides of the left and right ends of the push plate 35 are both provided with a supporting block 37 fixedly connected to the movable block 2, a fixed block 8 fixedly connected to the push plate 35 is disposed between the supporting blocks 37 at both sides, the left and right sides of the push plate 35 are both provided with a pull rod 36 in a hinged manner, the other end of the pull rod 36 is hinged to the movable rod 9, the outer side of the movable rod 9 is slidably connected to a supporting base 8 fixedly connected to the housing 17, the inner side of the movable rod 9 is slidably connected to a supporting rod 11, a first telescopic rod 10 is fixedly connected between the supporting rod 11 and the movable rod 9, the bottom of the end of the supporting rod 11 far from the movable rod 9 is fixedly connected to a fixed rod 12, the bottom of the fixed rod 12 is fixedly connected to a positioning plate 13, and by the positioning mechanism, by means of the extension and retraction of the first telescopic rods 10 on the two sides, the device is fixed to the top end of an article, and the clamping accuracy is guaranteed.
In this embodiment, both sides the locating plate 13 is close to casing 17 one side and all is provided with buffer board 14, buffer board 14 is close to locating plate 13 one side fixed connection and is provided with a plurality of sliders 15 with locating plate 13 sliding connection, fixed connection is provided with first spring 16 between slider 15 and the locating plate 13.
In this embodiment, the fixing mechanism includes a fixing frame disposed at the bottom end of the inner side of the housing 17, an adjusting mechanism is disposed at the top of the fixing frame, a second motor 32 is bolted to the inner side of the fixing frame, transmission rods 33 rotatably connected to the fixing frame are disposed at the front and rear sides of the second motor 32, belt pulleys 34 are fixedly connected to the outer sides of the output ends of the transmission rods 33 and the second motor 32, the belt pulleys 34 are connected to each other by a belt, first threaded rods 20 rotatably connected to the fixing frame are disposed at the left and right sides of the transmission rods 33, the first threaded rods 20 are engaged with the transmission rods 33 by bevel gears, the first threaded rods 20 are slidably connected to sliding grooves 18 disposed on the wall of the front and rear sides of the housing 17, fixing plates 19 are disposed at the outer sides of the first threaded rods 20 at the front and rear sides, and a clamping plate 21 is disposed at a side of the fixing plate 19 close to the housing 17, fixed connection is provided with second telescopic link 22 between splint 21 and the fixed plate 19, through setting up fixed establishment, utilize adjustment mechanism to adjust the position of both sides splint 21, effectively avoid article to press from both sides the condition that the position is not right to take place, guarantee the stability that article were pressed from both sides and get, utilize second telescopic link 22 to make both sides splint 21 can carry out stable clamp to article and get, and press from both sides the in-process, drive mechanism can promote push pedal 35 upward movement, push pedal 35 utilizes pull rod 26 can strengthen both sides locating plate 13 and press from both sides the dynamics of getting to article, thereby the security that the device clamp was got is strengthened.
In this embodiment, the adjustment mechanism includes that fixed connection sets up the regulating block 30 at fixed frame top, the inboard equal threaded connection in both ends is provided with second threaded rod 31 about regulating block 30, second threaded rod 31 passes through the third motor drive of bolted connection setting in casing 17 inboard.
In this embodiment, drive mechanism includes actuating lever 24, actuating lever 24 is connected with second motor 32 output, threaded connection is provided with connecting plate 25 in the actuating lever 24 outside, the connecting plate 25 outside is provided with fly leaf 23 with casing 17 sliding connection, the equal fixed connection in both sides is provided with stopper 27 around the connecting plate 25, stopper 27 and the spacing groove sliding connection who sets up at fly leaf 23 inboard, the equal fixed connection in both ends top is provided with ejector pad 26 around the connecting plate 25.
In this embodiment, the left and right sides of the movable plate 23 are both fixedly connected with guide blocks 28, and the guide blocks 28 are slidably connected with guide grooves 29 arranged on the inner side of the housing 17.
The working principle of the invention is as follows: utilize the flexible of the first telescopic link 10 in both sides, make the device fix on the article top, guarantee to press from both sides the accuracy of getting, after utilizing positioning mechanism to fix casing 17 in article top, utilize adjustment mechanism to adjust the position of both sides splint 21, effectively avoid article to press from both sides the condition emergence that the position is not right of getting, guarantee the stability that article were pressed from both sides were got, press from both sides the in-process of getting, drive mechanism can promote push pedal 35 upward movement, push pedal 35 utilizes pull rod 26 can strengthen both sides locating plate 13 and get the dynamics of getting to article, thereby strengthen the security that the device was got and is got, meanwhile, both sides splint 21 draw close to article around, utilize second telescopic link 22 to make both sides splint 21 accomplish to press from both sides the stable clamp of article and get.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several variations and modifications without departing from the concept of the present invention, and these should be considered as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (5)
1. The industrial robot clamping device for stacking the objects comprises a shell (17) and is characterized in that a connecting block (39) is fixedly connected to the top of the shell (17), positioning mechanisms are arranged on the left side and the right side of the connecting block (39), an installing mechanism is arranged at the top of the connecting block (39), fixing mechanisms are arranged on the front side and the rear side of the shell (17) and connected with the positioning mechanisms through transmission mechanisms, each fixing mechanism comprises a fixing frame arranged at the bottom end of the inner side of the shell (17), an adjusting mechanism is arranged at the top of the fixing frame, a second motor (32) is connected to the inner side of the fixing frame through bolts, transmission rods (33) rotatably connected with the fixing frame are arranged on the front side and the rear side of the second motor (32), belt wheels (34) are fixedly connected to the outer sides of the output ends of the transmission rods (33) and the second motor (32), the belt wheel (34) is connected through a belt, first threaded rods (20) rotatably connected with a fixed frame are arranged on the left side and the right side of a transmission rod (33), the first threaded rods (20) are meshed with the transmission rod (33) through bevel gears, the first threaded rods (20) are slidably connected with sliding grooves (18) formed in the shell walls on the front side and the rear side of a shell (17), a fixed plate (19) is arranged on the outer side of each first threaded rod (20) on the front side and the rear side in a threaded connection mode, a clamping plate (21) is arranged on one side, close to the shell (17), of the fixed plate (19), second telescopic rods (22) are fixedly connected between the clamping plate (21) and the fixed plate (19), the transmission mechanism comprises a driving rod (24), the driving rod (24) is connected with the output end of a second motor (32), and a connecting plate (25) is arranged on the outer side of the driving rod (24) in a threaded connection mode, the utility model discloses a portable electronic device, including connecting plate (25), connecting plate (25) outside be provided with casing (17) sliding connection's fly leaf (23), the equal fixed connection in both sides is provided with stopper (27) around connecting plate (25), stopper (27) and the spacing groove sliding connection who sets up at fly leaf (23) inboard, the equal fixed connection in both ends top is provided with ejector pad (26) around connecting plate (25).
2. The industrial robot clamping device for palletizing objects according to claim 1, wherein the mounting mechanism comprises a mounting block (1) for connecting with the palletizing robot, a limiting rod (3) is fixedly connected to the inner side of the mounting block (1), a movable block (2) is slidably connected to the outer side of the limiting rod (3), a first spring (4) is fixedly connected between the left end and the right end of the movable block (2) and the mounting block (1), a first motor (5) is connected to the inner side of the movable block (2) through a bolt, and the output end of the first motor (5) is fixedly connected with a connecting rod (6) which is fixedly connected to the top of a connecting block (39).
3. The industrial robot clamping device for palletizing objects according to claim 2, wherein the positioning mechanism comprises a push plate (35) slidably connected and arranged inside a connecting block (39), supporting blocks (37) fixedly connected with the connecting block (39) are arranged on the lower sides of the left and right ends of the push plate (35), a fixed block (38) fixedly connected with the push plate (35) is arranged between the supporting blocks (37) on the two sides, pull rods (36) are hinged on the left and right sides of the push plate (35), the other end of each pull rod (36) is hinged with a movable rod (9), a supporting seat (8) fixedly connected with a shell (17) is arranged on the outer side of the movable rod (9) in a sliding connection manner, a supporting rod (11) is arranged inside the movable rod (9) in a sliding connection manner, and a first telescopic rod (10) is fixedly connected between the supporting rod (11) and the movable rod (9), the support rod (11) is far away from the bottom of one end of the movable rod (9) and is fixedly connected with a fixed rod (12), and the bottom of the fixed rod (12) is fixedly connected with a positioning plate (13).
4. The industrial robot gripping device for palletizing objects according to claim 3, wherein a buffer plate (14) is arranged on one side of the positioning plate (13) close to the housing (17), a plurality of sliding blocks (15) which are slidably connected with the positioning plate (13) are fixedly connected to one side of the buffer plate (14) close to the positioning plate (13), and a first spring (16) is fixedly connected between each sliding block (15) and the positioning plate (13).
5. The industrial robot gripper device for palletizing objects according to claim 4, characterized in that the adjusting mechanism comprises an adjusting block (30) fixedly connected and arranged on the top of the fixed frame, a second threaded rod (31) is arranged on the inner sides of the left and right ends of the adjusting block (30) in a threaded connection manner, and the second threaded rod (31) is driven by a third motor arranged on the inner side of the housing (17) through a bolt connection manner.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011108443.4A CN112278887B (en) | 2020-10-16 | 2020-10-16 | A industrial robot presss from both sides and gets device for being directed at article carry out pile up neatly |
| LU501861A LU501861B1 (en) | 2020-10-16 | 2020-11-04 | Gripping device for industrial robots for palletizing objects |
| DE212020000581.8U DE212020000581U1 (en) | 2020-10-16 | 2020-11-04 | Gripping device for industrial robots for palletizing objects |
| PCT/CN2020/126311 WO2022077624A1 (en) | 2020-10-16 | 2020-11-04 | Industrial robot clamping device for palletizing articles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011108443.4A CN112278887B (en) | 2020-10-16 | 2020-10-16 | A industrial robot presss from both sides and gets device for being directed at article carry out pile up neatly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112278887A CN112278887A (en) | 2021-01-29 |
| CN112278887B true CN112278887B (en) | 2021-10-26 |
Family
ID=74497414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011108443.4A Active CN112278887B (en) | 2020-10-16 | 2020-10-16 | A industrial robot presss from both sides and gets device for being directed at article carry out pile up neatly |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN112278887B (en) |
| DE (1) | DE212020000581U1 (en) |
| LU (1) | LU501861B1 (en) |
| WO (1) | WO2022077624A1 (en) |
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| CN113415562B (en) * | 2021-06-29 | 2022-07-12 | 重庆机电智能制造有限公司 | Light cargo box hanging and taking clamping jaw structure for warehousing |
| CN114055500B (en) * | 2021-12-23 | 2023-04-07 | 菏泽学院 | Automatic food delivery robot |
| CN114906601B (en) * | 2022-05-17 | 2023-08-11 | 深圳市光千合新材料科技有限公司 | Infrared camera module assembly device |
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| CN114987649B (en) * | 2022-06-09 | 2023-04-07 | 南京林业大学 | Large-scale nucleic acid acquisition field service robot |
| CN114888835A (en) * | 2022-06-24 | 2022-08-12 | 付敏 | Micro mechanical arm for picking up particles and use method thereof |
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| CN116986338B (en) * | 2023-08-22 | 2024-02-23 | 杭州上卓实业有限公司 | Pile up neatly device is used in processing of MPP electric power pipe |
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| CN108639776A (en) * | 2018-07-11 | 2018-10-12 | 合肥固泰自动化有限公司 | A kind of robot palletizer spring chuck |
| CN208516476U (en) * | 2018-07-11 | 2019-02-19 | 合肥固泰自动化有限公司 | A kind of robot palletizer spring chuck |
| CN209111070U (en) * | 2018-09-19 | 2019-07-16 | 重庆璐驰机械制造有限公司 | Planetary wheel mechanical hand clamping tongs |
| CN109292443A (en) * | 2018-11-26 | 2019-02-01 | 十堰安川自动化设备有限公司 | A kind of stack robot manipulator device |
| CN209988742U (en) * | 2019-06-10 | 2020-01-24 | 青岛法纳科盛机器人自动化有限公司 | Compound pile up neatly machine people tongs |
| CN110814940B (en) * | 2019-11-18 | 2020-07-31 | 诸暨凯昂科技有限公司 | Bottom grinding robot for processing bottom of crystal glass cup |
| CN110871429A (en) * | 2019-12-01 | 2020-03-10 | 兰杰 | Movable industrial transfer robot |
| CN111331623B (en) * | 2020-04-07 | 2021-06-15 | 淄博职业学院 | Adjustable electric control gripping device |
| CN111498709B (en) * | 2020-05-08 | 2021-04-13 | 通州建总集团有限公司 | Hoisting device for building board |
-
2020
- 2020-10-16 CN CN202011108443.4A patent/CN112278887B/en active Active
- 2020-11-04 DE DE212020000581.8U patent/DE212020000581U1/en active Active
- 2020-11-04 LU LU501861A patent/LU501861B1/en active IP Right Grant
- 2020-11-04 WO PCT/CN2020/126311 patent/WO2022077624A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| DE212020000581U1 (en) | 2021-12-14 |
| WO2022077624A1 (en) | 2022-04-21 |
| CN112278887A (en) | 2021-01-29 |
| LU501861B1 (en) | 2022-05-23 |
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