CN114229490B - Conveying device of embedded unstacking end effector - Google Patents
Conveying device of embedded unstacking end effector Download PDFInfo
- Publication number
- CN114229490B CN114229490B CN202111676205.8A CN202111676205A CN114229490B CN 114229490 B CN114229490 B CN 114229490B CN 202111676205 A CN202111676205 A CN 202111676205A CN 114229490 B CN114229490 B CN 114229490B
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- Prior art keywords
- bottom plate
- conveying
- lifting bottom
- lifting
- telescopic
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- 239000012636 effector Substances 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 132
- 230000005484 gravity Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000035559 beat frequency Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000000707 wrist Anatomy 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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
-
- 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
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a conveying device of an embedded unstacking end effector, which comprises at least two conveying mechanisms arranged in parallel, wherein the conveying directions of all the conveying mechanisms are the same; a lifting bottom plate is hinged between the conveying mechanisms, and the hinged shaft of the lifting bottom plate is perpendicular to the conveying direction of the conveying mechanisms; the lifting bottom plate driving mechanism can drive the lifting bottom plate to swing around the hinge shaft; still articulated being provided with telescopic machanism between the conveying mechanism, telescopic machanism's articulated shaft is on a parallel with the articulated shaft of lifting bottom plate, telescopic machanism's flexible end is provided with flexible first fixed plate, the lifting bottom plate supports in flexible first fixed plate below, be provided with on the flexible first fixed plate and get goods mechanism. The invention has the advantages that: the device can be when getting goods on transferring conveying mechanism with the goods, does not have the idle running that the goods removed among the prior art, and overall work efficiency is higher, and overall structure is simple, the cost is lower.
Description
Technical Field
The invention relates to the field of unstackers, in particular to a conveying device with an embedded unstacking end effector.
Background
Currently, destacking mechanisms fall into two general categories: one type is a robot wrist mounted end effector. The structure is divided into two types: a pneumatic sucking disc type mechanical clamping jaw type. The bag-packed goods, box-packed goods and box-packed goods can be unstacked, and the defect is that the manufacturing cost is high and one-stroke idle stroke is formed.
The other type is a unstacker, mainly comprising two forms of unstackers, wherein one is unstacking box type and box type cargoes, and the tail end of a three-axis or four-axis motion mechanism is provided with a pneumatic sucker or a mechanical clamping jaw, and the cargoes are transplanted after being grabbed. One is unstacking the bagged goods, generally, a roller is inserted at the bottom of the bagged materials, and the roller rotates to convey the bagged materials after advancing. Facing the box-type or box-type materials, sucking discs or mechanical clamping jaws are arranged at the tail end of the triaxial moving mechanism for transplanting. The three-axis moving mechanism and the robot moving mechanism have the defect of high price, and the efficiency is relatively lower than that of the drum-type transplanting of the unstacking machine.
The carrying end actuating mechanism is basically arranged at the end of the robot and the unstacking mechanism. The robot and the unstacking mechanism drive the tail end executing mechanism to act, so that the carrying and unstacking actions are realized. The actions realized by the rotary stacker are all transplanting objects, and the rotary stacker needs to rotate even if the rotary stacker is unstacked by the rotary drum, so that the rotary drum tail end mechanism can conveniently rotate and convey. The beat frequency is low, the relative efficiency is low, and the transplanting cost of the robot is high.
Disclosure of Invention
The technical problems to be solved by the invention are as follows:
The unstacking mechanism in the prior art has the technical problems of idle stroke, low moving efficiency and high cost in operation.
The invention solves the technical problems by the following technical means:
the conveying device of the embedded unstacking end effector comprises at least two conveying mechanisms which are arranged in parallel, wherein the conveying directions of all the conveying mechanisms are the same;
a lifting bottom plate is hinged between the conveying mechanisms, and the hinged shaft of the lifting bottom plate is perpendicular to the conveying direction of the conveying mechanisms;
The lifting bottom plate driving mechanism can drive the lifting bottom plate to swing around the hinge shaft;
Still articulated being provided with telescopic machanism between the conveying mechanism, telescopic machanism's articulated shaft is on a parallel with the articulated shaft of lifting bottom plate, telescopic machanism's flexible end is provided with flexible first fixed plate, the lifting bottom plate supports in flexible first fixed plate below, be provided with on the flexible first fixed plate and get goods mechanism.
When the conveying device of the embedded unstacking end effector is actually applied, the unstacking goods: the lifting bottom plate driving mechanism works, the lifting bottom plate is driven to tilt, the telescopic mechanism stretches out, the telescopic head fixing plate is lifted along the lifting bottom plate in a sliding mode, the goods taking mechanism is used for taking goods, then the lifting bottom plate driving mechanism works, the lifting bottom plate falls down, the telescopic mechanism retracts, the goods are pulled, the bottom of the goods is pulled to the conveying mechanism completely, the goods taking mechanism is loosened finally, the goods fall on the conveying mechanism by means of gravity, and finally the conveying mechanism conveys the goods to other mechanisms backwards. Compared with the prior art, the device can transfer goods to the conveying mechanism when getting goods, and the empty travel of goods movement in the prior art does not exist, so that the whole working efficiency is higher, the whole structure is simple, and the cost is lower.
Preferably, the conveying mechanism adopts a conveying belt.
Preferably, the conveying device further comprises a bottom plate, wherein a vertical plate is arranged on the bottom plate, and the conveying mechanism is arranged on the vertical plate.
Preferably, the first end of the lifting bottom plate is hinged between the conveying mechanisms, and the second end of the lifting bottom plate is bent downwards.
Preferably, a deflector rod is arranged on the lifting bottom plate;
The lifting bottom plate driving mechanism can stretch out and draw back, the first end of the lifting bottom plate driving mechanism is hinged between the conveying mechanisms, the second end of the lifting bottom plate driving mechanism is hinged at the end part of the deflector rod, and the hinge shafts at the two ends of the lifting bottom plate driving mechanism are parallel to the hinge shafts of the lifting bottom plate.
Preferably, the telescopic mechanism adopts an air cylinder.
Preferably, the telescopic head fixing plate is provided with a supporting roller, the rotation axis of the supporting roller is perpendicular to the telescopic direction of the telescopic mechanism, and the supporting roller can roll on the lifting bottom plate.
Preferably, the lifting bottom plate is provided with a guide groove, and the supporting roller is positioned in the guide groove and can roll along the guide groove.
Preferably, the goods taking mechanism adopts a sucker.
The sucking disc can suck box-packed goods and box-packed goods, and the sucking is reliable, convenient and quick.
Preferably, the goods taking mechanism adopts clamping jaws.
The clamping jaw can clamp bagged goods, and the clamping is reliable and has a simple structure.
The invention has the advantages that:
1. When the conveying device of the embedded unstacking end effector is actually applied, the unstacking goods: the lifting bottom plate driving mechanism works, the lifting bottom plate is driven to tilt, the telescopic mechanism stretches out, the telescopic head fixing plate is lifted along the lifting bottom plate in a sliding mode, the goods taking mechanism is used for taking goods, then the lifting bottom plate driving mechanism works, the lifting bottom plate falls down, the telescopic mechanism retracts, the goods are pulled, the bottom of the goods is pulled to the conveying mechanism completely, the goods taking mechanism is loosened finally, the goods fall on the conveying mechanism by means of gravity, and finally the conveying mechanism conveys the goods to other mechanisms backwards. Compared with the prior art, the device can transfer goods to the conveying mechanism when getting goods, and the empty travel of goods movement in the prior art does not exist, so that the whole working efficiency is higher, the whole structure is simple, and the cost is lower.
2. The sucking disc can suck box-packed goods and box-packed goods, and the sucking is reliable, convenient and quick.
3. The clamping jaw can clamp bagged goods, and the clamping is reliable and has a simple structure.
Drawings
FIGS. 1 and 2 are perspective views of a conveyor with embedded destacking end effectors in accordance with various aspects of an embodiment of the present invention;
FIGS. 3-5 are front, top, and left views of a conveyor with an end effector embedded therein, in accordance with an embodiment of the present invention;
FIG. 6 is a perspective view of a conveyor with an in-line destacking end effector in accordance with an embodiment of the present invention (suction cup extended state);
FIG. 7 is an enlarged view of a portion of FIG. 6A;
FIGS. 8-10 are front, top, left side views (suction cup extended) of a conveyor for an in-line destacking end effector in accordance with an embodiment of the present invention;
FIGS. 11 and 13 are schematic views showing a base plate mounted on a driving device according to an embodiment of the present invention;
FIG. 12 is an enlarged view of a portion of B in FIG. 11;
FIG. 14 is an enlarged view of a portion of C of FIG. 13;
FIGS. 15 and 16 are schematic views of the installation of a pneumatic clamping jaw in accordance with embodiments of the present invention;
FIG. 17 is a perspective view of another view of a conveyor of an in-line destacking end effector according to an embodiment of the present invention;
Fig. 18 is a partial enlarged view of D in fig. 17;
Wherein,
A conveying mechanism-1;
Lifting the bottom plate-2; a deflector rod-21;
Lifting the bottom plate driving mechanism-3;
A telescopic mechanism-4;
a retractable head fixing plate-5; a support roller-51; a support section-52; pin-53; a bracket-54; a support arm-55;
A goods taking mechanism-6;
A bottom plate-7; a vertical plate-71; a flange-72; a skid block-73;
A driving device-8; and a sliding groove-81.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, a conveying device of an embedded unstacking end effector comprises a conveying mechanism 1, a lifting bottom plate 2, a lifting bottom plate driving mechanism 3, a telescopic mechanism 4, a telescopic head fixing plate 5, a goods taking mechanism 6 and a bottom plate 7.
For ease of understanding and description, the direction indicated by the arrow at the top of the conveyor 1 in fig. 1 is the rightward direction, and the rest of the orientations are analogically based thereon, it being understood that this orientation setting is for convenience of description and understanding only and is not to be construed as limiting the invention.
As shown in fig. 1 and 2, the bottom plate 7 has a rectangular plate structure, the bottom plate 7 is provided with four vertical plates 71, the vertical plates 71 are respectively positioned at four corners of the rectangular bottom plate 7, and the conveying mechanism 1 is mounted on the vertical plates 71. Further, as shown in fig. 3 and 5, a flange 72 is provided at the bottom of the bottom plate 7.
As shown in fig. 11-14, in practical application, the bottom plate 7 can be mounted on a rotating plate of a driving device 8 through the flange 72, a motor is arranged in the driving device 8, the rotating plate and the flange 72 can be driven to rotate around a vertical axis, and then the whole embedded unstacking end effector is driven to rotate, so that the direction corresponding to goods is adjusted, and the goods can be taken conveniently.
As shown in fig. 12 and 14, a sliding groove 81 is formed on one side of the driving device 8, a sliding block 73 is formed at the bottom of the bottom plate 7, the sliding block 73 is slidably mounted in the sliding groove 81, the sliding groove 81 is in a circular arc shape with the rotation axis of the flange 72 as the center, the sliding groove 81 is opened to the outside, as shown in fig. 17 and 18, the section of the sliding block 73 is L-shaped, and the sliding block 73 and the goods taking mechanism 6 are respectively located on two sides of the flange 72.
The conveying mechanisms 1 are at least two in parallel, in this embodiment, two conveying mechanisms are arranged, one conveying mechanism is arranged in front of the other conveying mechanism, the conveying directions of all the conveying mechanisms 1 are the same, and all the conveying mechanisms 1 adopt conveying belts in this embodiment, the two conveying belts are respectively arranged on corresponding vertical plates 71 through bolts, the two conveying belts are driven by the same motor, and the rotating speeds of the two conveying belts are the same.
As shown in fig. 1, a lifting base plate 2 is hinged between the conveying mechanisms 1, and the hinge shaft of the lifting base plate 2 is perpendicular to the conveying direction of the conveying mechanisms 1; specifically, the right end of the lifting bottom plate 2 is hinged on the bottom plate 7 between the conveying mechanisms 1, the left end of the lifting bottom plate 2 is bent downwards, and the bent part is a flat plate.
As shown in fig. 1, the lifting base plate driving mechanism 3 is further included, and the lifting base plate driving mechanism 3 can drive the lifting base plate 2 to swing around a hinge shaft thereof; specifically, a deflector rod 21 is arranged on the lifting bottom plate 2, and the deflector rod 21 is of a strip-shaped sheet structure and is positioned above the right end of the lifting bottom plate 2; the lifting bottom plate driving mechanism 3 can stretch out and draw back, for example, the lifting bottom plate driving mechanism 3 can adopt an air cylinder, a first end of the lifting bottom plate driving mechanism 3 is hinged on a bottom plate 7 arranged between the conveying mechanisms 1, a second end of the lifting bottom plate driving mechanism 3 is hinged at the end part of the deflector rod 21, and hinge shafts at two ends of the lifting bottom plate driving mechanism 3 are parallel to hinge shafts of the lifting bottom plate 2. In this embodiment, as shown in fig. 4, two lifting base plate driving mechanisms 3 are symmetrically arranged, one in front and one in back.
As shown in fig. 1, a telescopic mechanism 4 is further hinged between the conveying mechanisms 1, the telescopic mechanism 4 adopts an air cylinder, and the right end of the air cylinder is hinged on the bottom plate 7 and is located between the two lifting bottom plate driving mechanisms 3. The hinge shaft of telescopic machanism 4 is on a parallel with the hinge shaft of lifting bottom plate 2, telescopic end of telescopic machanism 4 is provided with flexible first fixed plate 5, telescopic machanism 4 perpendicular to flexible first fixed plate 5, lifting bottom plate 2 supports in flexible first fixed plate 5 below.
As shown in fig. 1, the supporting roller 51 is disposed on the telescopic head fixing plate 5, the rotation axis of the supporting roller 51 is perpendicular to the telescopic direction of the telescopic mechanism 4, and the supporting roller 51 can roll on the lifting bottom plate 2. The lifting base plate 2 is provided with a guide groove (not shown in the figure), the supporting roller 51 is positioned in the guide groove and can roll along the guide groove, and the guide groove plays a role in guiding the rolling of the supporting roller 51.
Specifically, as shown in fig. 1, two supporting arms 55 are symmetrically arranged on two sides below the telescopic head fixing plate 5, the supporting arms 55 are parallel to the telescopic mechanism 4, the supporting arms 55 are of a strip-shaped plate structure, the telescopic head fixing plate 5 is of a transverse H-shaped plate structure, the supporting arms 55 and the telescopic head fixing plate 5 can be integrally arranged, the supporting arms 55 can be formed by bending, the supporting rollers 51 can be made of bearings or other wheels capable of realizing rotation in the prior art, and the supporting rollers 51 are respectively rotatably arranged at the end parts of the corresponding supporting arms 55.
As shown in fig. 1, the telescopic head fixing plate 5 is provided with a cargo taking mechanism 6. The goods taking mechanism 6 adopts a sucker or a clamping jaw, and the suction direction or the clamping direction of the sucker or the clamping jaw faces to the left for taking out goods at the left end. The sucker or the clamping jaw is in the prior art and is commercially available. The structure of the chuck is shown in fig. 1 and 2, and the structure of the pneumatic clamping jaw is shown in fig. 15 and 16.
Specifically, as shown in fig. 6 and 7, two ㄈ -shaped supporting portions 52 are symmetrically disposed on two sides of the telescopic head fixing plate 5, an L-shaped bracket 54 is mounted on the supporting portion 52 through a pin 53, the pin 53 is parallel to the hinge axis of the lifting base plate 2, the bracket 54 is located in a ㄈ -shaped opening of the supporting portion 52, the bracket 54 can only swing up and down in a ㄈ -shaped opening under the limitation of the ㄈ -shaped opening, and a suction cup or a clamping jaw is mounted on the corresponding bracket 54.
Working principle:
when the conveying device of the embedded unstacking end effector is actually applied, the unstacking goods: the lifting bottom plate driving mechanism 3 works and drives the lifting bottom plate 2 to tilt, the tilting end of the lifting bottom plate 2 is parallel to the top surface of the conveying mechanism 1 and lower than the top surface of the conveying mechanism 1, and the tilting end of the lifting bottom plate 2 is the position where the left end of the lifting bottom plate 2 bends downwards. Meanwhile, the telescopic mechanism 4 stretches out, the telescopic head fixing plate 5 slides and rises along the lifting bottom plate 2, namely, in the state shown in fig. 8-10, the goods taking mechanism 6 takes goods, when the sucking disc is adopted, the sucking disc adsorbs box type goods, and the plane of the sucking disc can be naturally adjusted to be closely adsorbed with the box type goods through the swing connection structure of the bracket 54 and the supporting part 52; when the clamping jaw is adopted, the swinging connecting structure can swing, the bracket 54 and the supporting part 52 can also be fixedly connected through bolts, the swinging is prevented, and the clamping jaw can be adjusted according to actual requirements.
Then lifting bottom plate actuating mechanism 3 work, lifting bottom plate 2 falls down, and telescopic machanism 4 withdraws, and the pulling goods makes the whole pulling of goods bottom to conveying mechanism 1 on, gets goods mechanism 6 and loosens at last, and the goods relies on gravity to fall on conveying mechanism 1, and conveying mechanism 1 carries goods to other mechanisms backward at last. Compared with the prior art, the device can transfer goods to the conveying mechanism 1 when getting goods, and the empty travel of goods movement in the prior art does not exist, so that the whole working efficiency is higher, the whole structure is simple, and the cost is lower.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The conveying device of the embedded unstacking end effector comprises at least two conveying mechanisms (1) which are arranged in parallel, wherein the conveying directions of all the conveying mechanisms (1) are the same; the method is characterized in that:
a lifting bottom plate (2) is hinged between the conveying mechanisms (1), and the hinged shaft of the lifting bottom plate (2) is perpendicular to the conveying direction of the conveying mechanisms (1);
the lifting base plate driving mechanism (3) is capable of driving the lifting base plate (2) to swing around a hinge shaft of the lifting base plate driving mechanism (3);
A telescopic mechanism (4) is further hinged between the conveying mechanisms (1), the hinge shaft of the telescopic mechanism (4) is parallel to the hinge shaft of the lifting base plate (2), a telescopic head fixing plate (5) is arranged at the telescopic end of the telescopic mechanism (4), and the lifting base plate (2) is supported below the telescopic head fixing plate (5); the lifting bottom plate driving mechanism (3) works to drive the lifting bottom plate (2) to tilt, the tilting end of the lifting bottom plate (2) is parallel to the top surface of the conveying mechanism (1) and lower than the top surface of the conveying mechanism (1), the telescopic mechanism (4) stretches out, the telescopic head fixing plate (5) is driven to slide and lift along the lifting bottom plate (2), and the telescopic head fixing plate (5) is provided with the goods taking mechanism (6);
A deflector rod (21) is arranged on the lifting bottom plate (2); the lifting bottom plate driving mechanism (3) can stretch out and draw back, a first end of the lifting bottom plate driving mechanism (3) is hinged between the conveying mechanisms (1), a second end of the lifting bottom plate driving mechanism (3) is hinged at the end part of the deflector rod (21), and hinge shafts at two ends of the lifting bottom plate driving mechanism (3) are parallel to hinge shafts of the lifting bottom plate (2);
the telescopic head fixing plate (5) is provided with a supporting roller (51), the rotation axis of the supporting roller (51) is perpendicular to the telescopic direction of the telescopic mechanism (4), and the supporting roller (51) can roll on the lifting bottom plate (2).
2. The in-line unstacking end effector transport device of claim 1, wherein: the conveying mechanism (1) adopts a conveying belt.
3. The in-line unstacking end effector transport device of claim 1, wherein: the conveying mechanism is characterized by further comprising a bottom plate (7), wherein a vertical plate (71) is arranged on the bottom plate (7), and the conveying mechanism (1) is arranged on the vertical plate (71).
4. The in-line unstacking end effector transport device of claim 1, wherein: the first end of the lifting bottom plate (2) is hinged between the conveying mechanisms (1), and the second end of the lifting bottom plate (2) is bent downwards.
5. The in-line unstacking end effector transport device of claim 1, wherein: the telescopic mechanism (4) adopts an air cylinder.
6. The in-line unstacking end effector transport device of claim 1, wherein: the lifting bottom plate (2) is provided with a guide groove, and the supporting roller (51) is positioned in the guide groove and can roll along the guide groove.
7. The in-line unstacking end effector transport device of claim 1, wherein: the goods taking mechanism (6) adopts a sucker.
8. The in-line unstacking end effector transport device of claim 1, wherein: the goods taking mechanism (6) adopts clamping jaws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111676205.8A CN114229490B (en) | 2021-12-31 | 2021-12-31 | Conveying device of embedded unstacking end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111676205.8A CN114229490B (en) | 2021-12-31 | 2021-12-31 | Conveying device of embedded unstacking end effector |
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| Publication Number | Publication Date |
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| CN114229490A CN114229490A (en) | 2022-03-25 |
| CN114229490B true CN114229490B (en) | 2024-06-18 |
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| CN202111676205.8A Active CN114229490B (en) | 2021-12-31 | 2021-12-31 | Conveying device of embedded unstacking end effector |
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| CN (1) | CN114229490B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN206529038U (en) * | 2017-02-28 | 2017-09-29 | 福建省格绿木业有限公司 | Multifunctional plate autoloader |
| CN112660819A (en) * | 2020-12-28 | 2021-04-16 | 中烟物流技术有限责任公司 | Grabbing device suitable for automatic loading and uninstallation of smoke box |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101933657B (en) * | 2010-08-27 | 2012-07-25 | 中国烟草总公司郑州烟草研究院 | Automatic and random sample split-charging device for cigarette inspection |
| CN208378369U (en) * | 2017-11-30 | 2019-01-15 | 保定流云精密机械制造有限公司 | A kind of photovoltaic module detection turnover device |
| CN108314303A (en) * | 2018-03-13 | 2018-07-24 | 罗金山 | A kind of glass side facing attachment easy to remove |
| CN108674985A (en) * | 2018-05-24 | 2018-10-19 | 蚌埠朝阳玻璃机械有限公司 | A kind of overturning suction piece device of photoelectric glass |
| CN213616682U (en) * | 2020-11-15 | 2021-07-06 | 浙江微通智能科技有限公司 | Full-automatic loading and unloading goods robot |
| CN213562634U (en) * | 2020-11-15 | 2021-06-29 | 浙江微通智能科技有限公司 | Robot end effector |
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2021
- 2021-12-31 CN CN202111676205.8A patent/CN114229490B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206529038U (en) * | 2017-02-28 | 2017-09-29 | 福建省格绿木业有限公司 | Multifunctional plate autoloader |
| CN112660819A (en) * | 2020-12-28 | 2021-04-16 | 中烟物流技术有限责任公司 | Grabbing device suitable for automatic loading and uninstallation of smoke box |
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| CN114229490A (en) | 2022-03-25 |
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