CN114249133A - Carton stacking manipulator with overturning assembly - Google Patents
Carton stacking manipulator with overturning assembly Download PDFInfo
- Publication number
- CN114249133A CN114249133A CN202111458500.6A CN202111458500A CN114249133A CN 114249133 A CN114249133 A CN 114249133A CN 202111458500 A CN202111458500 A CN 202111458500A CN 114249133 A CN114249133 A CN 114249133A
- Authority
- CN
- China
- Prior art keywords
- push
- motor
- pull
- telescopic
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241000252254 Catostomidae Species 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Images
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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- 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
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/025—Boxes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Manipulator (AREA)
Abstract
The invention provides a carton stacking manipulator with a turning assembly, which comprises a mechanical arm structure, a mounting plate, the turning assembly, a telescopic motor A, a telescopic arm A and a main sucker, wherein the mounting plate is fixedly connected with the main sucker; the mechanical arm structure is connected with the mounting plate; the overturning assembly comprises a rotating motor A, a rotating arm, a rotating plate, a push-pull motor and a push-pull lath; the rotating motor A is arranged on the mounting plate, one end of the rotating arm is connected with the rotating motor A, and the other end of the rotating arm is connected with the rotating plate; the push-pull motor is arranged on the upper surface of the rotating plate; the position of the rotating plate corresponding to the push-pull motor is provided with a strip-shaped guide hole, and the push-pull lath is vertically inserted in the strip-shaped guide hole and the position of the push-pull lath exposed out of the upper surface of the rotating plate is connected with the power output end of the push-pull motor; one end of the telescopic arm A is connected with the power output end of the telescopic motor A, and the other end of the telescopic arm A penetrates through the rotating plate and extends out of the rotating plate to be connected with the main sucker. On the one hand, the carton can be adsorbed and fixed, and on the other hand, the carton can be supported by the downward surface, so that the stability during transfer is improved.
Description
Technical Field
The invention relates to the technical field of carton processing, in particular to a carton stacking manipulator with a turning assembly.
Background
Among the prior art, to the pile up neatly of carton, either manual operation, or adopt pile up neatly manipulator cooperation operation, and adopt pile up neatly manipulator to carry out the pile up neatly, work efficiency is high to the pile up neatly regularity is high, also can cooperate the production line to use, has been used on manufacturing enterprise's carton production line by the wide application. The mode that the pile up neatly machinery hand among the prior art mainly adopted the sucking disc adsorbs the carton, carries out the position transfer again, and the defect that such structure exists is: stability is not enough, when the weight or the volume of carton are great, just need to change the pile up neatly machinery hand, in view of this kind of condition, the urgent need be solved.
Disclosure of Invention
Based on this, the invention aims to provide a carton stacking manipulator with a turnover assembly, which can adsorb and fix a carton on one hand and support the downward surface of the carton on the other hand through the matching of a sucker and the turnover assembly, so that the stability during transfer is improved.
The invention provides a carton stacking manipulator with a turning assembly, which comprises a mechanical arm structure, a mounting plate, the turning assembly, a telescopic motor A, a telescopic arm A and a main sucker, wherein the mounting plate is fixedly connected with the main sucker; the free end of the mechanical arm structure is connected with the mounting plate; the overturning assembly comprises a rotating motor A, a rotating arm, a rotating plate, a push-pull motor and a push-pull lath; the rotating motor A is arranged on the mounting plate, one end of the rotating arm is connected with the power output end of the rotating motor A, and the other end of the rotating arm is connected with the rotating plate; the push-pull motor is arranged on the upper surface of the rotating plate and close to the side edge of the rotating plate; the position of the rotating plate corresponding to the push-pull motor is provided with a strip-shaped guide hole, and the push-pull lath is vertically inserted into the strip-shaped guide hole and the position of the push-pull lath exposed out of the upper surface of the rotating plate is connected with the power output end of the push-pull motor; the telescopic motor A is arranged on the lower surface of the mounting plate and is coaxially arranged with the rotating plate; one end of the telescopic arm A is connected with the power output end of the telescopic motor A, and the other end of the telescopic arm A penetrates through the rotating plate and extends out of the rotating plate to be connected with the main sucker.
As preferred scheme, arm structure includes flexible motor B, flexible arm B, changes motor B, connecting axle, flexible arm B's one end with flexible motor B's power take off end is connected, flexible arm B's the other end with change motor B and connect, change motor B's power take off end with the connecting axle is connected, the free end of connecting axle with the mounting panel is connected.
As a preferred scheme, an auxiliary adsorption component is arranged below the mounting plate; the auxiliary adsorption component comprises a mounting sleeve ring, a plurality of telescopic motors C, a plurality of telescopic arms C and a plurality of auxiliary suckers, and the mounting sleeve ring is sleeved on the outer surface of the telescopic arm A and is coaxially arranged with the telescopic arm A; the inner diameter of the mounting lantern ring is larger than the outer diameter of the telescopic arm A; the mounting lantern ring is connected with the bottom of the mounting plate through a connecting rod; the outer side surface of the mounting sleeve ring is circumferentially provided with a plurality of extension arms in an array mode, the telescopic motors C are correspondingly mounted on the lower surfaces of the extension arms, and the power output ends of the telescopic motors C are connected with the auxiliary suckers through the telescopic arms C.
Preferably, the number of the extension arms is N, and N is more than or equal to 2.
Preferably, a telescopic motor D is arranged at the top of the push-pull lath, a power output end of the telescopic motor D is connected with a push-pull rod, the push-pull rod penetrates through the push-pull lath along the length direction of the push-pull lath, and a supporting block is connected to one side of the push-pull rod extending out of the push-pull lath.
The invention has the beneficial effects that: after the main suction disc adsorbs the carton, the overturning assembly can correspondingly promote the push-pull lath to overturn to the downward side surface to be supported, so that the main suction disc is assisted to transfer the carton, and the stability is improved; the relative distance between the axes of the push-pull lath and the rotating plate can be adjusted adaptively according to the size of the carton, so that the cartons with different sizes can be ensured to be attached and contacted with the side surfaces of the cartons, and the applicability is improved.
Drawings
Fig. 1 is a perspective view (bottom view) of the present invention.
Fig. 2 is a perspective view (front view) of the present invention.
Figure 3 is a side view of the push-pull slats with a telescopic motor D.
The reference signs are: the device comprises a telescopic motor B10, a telescopic arm B11, a rotary motor B13, a connecting shaft 14, a strip-shaped guide hole 12, a rotating arm 15, a mounting lantern ring 16, a telescopic arm A17, an extension arm 18, a telescopic motor C19, an auxiliary suction cup 20, a rotating plate 21, a push-pull lath 22, a main suction cup 23, a connecting rod 24, a mounting plate 26, a rotary motor A25, a telescopic motor A27, a push-pull motor 28, an auxiliary adsorption component 29, a telescopic motor D30, a push-pull rod 31, a supporting block 32 and a mechanical arm structure 33.
Detailed Description
For a better understanding of the features and technical solutions of the present invention, together with the specific objects and functions attained by the invention, reference is made to the following detailed description and accompanying drawings that form a part hereof.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-3, the present invention provides a carton palletizing robot with a flipping unit, which includes a robot arm structure 33, a mounting plate 26, a flipping unit, a telescopic motor a27, a telescopic arm a17, and a main suction cup 23.
The free end of the arm structure 33 is connected to the mounting plate 26. The mechanical arm structure 33 comprises a telescopic motor B10, a telescopic arm B11, a rotating motor B13 and a connecting shaft 14, one end of the telescopic arm B11 is connected with a power output end of a telescopic motor B10, the other end of the telescopic arm B11 is connected with a rotating motor B13, a power output end of the rotating motor B13 is connected with the connecting shaft 14, and a free end of the connecting shaft 14 is connected with the mounting plate 26. The telescopic motor B10 can drive the rotary motor B13 and the connecting shaft 14 to realize telescopic action through the telescopic arm B11, and the rotary motor B13 can drive the connecting shaft 14 to realize rotary action.
The overturning assembly comprises a rotating motor A25, a rotating arm 15, a rotating plate 21, a push-pull motor 28 and a push-pull lath 22; the rotating motor A25 is arranged on the mounting plate 26, one end of the rotating arm 15 is connected with the power output end of the rotating motor A25, and the other end of the rotating arm 15 is connected with the rotating plate 21; a push-pull motor 28 is installed on the upper surface of the rotating plate 21 and near the side edge of the rotating plate 21; the position of the rotating plate 21 corresponding to the push-pull motor 28 is provided with a strip-shaped guide hole 12, and the push-pull lath 22 is vertically inserted in the strip-shaped guide hole and the position of the push-pull lath exposed out of the upper surface of the rotating plate 21 is connected with the power output end of the push-pull motor 28; in actual operation, the rotating motor a25 drives the rotating plate 21, the push-pull motor 28, and the push-pull slat 22 to rotate by a predetermined angle through the rotating arm 15, and then the push-pull motor 28 causes the push-pull slat 22 to displace by a predetermined distance, thereby performing a supporting operation. The relative distance between the axes of the push-pull lath and the rotating plate can be adjusted adaptively according to the size of the carton, so that the cartons with different sizes can be ensured to be attached and contacted with the side surfaces of the cartons, and the applicability is improved.
In a preferred embodiment, a telescopic motor D30 is disposed on the top of the push-pull lath 22, a push-pull rod 31 is connected to the power output end of the telescopic motor D30, the push-pull rod 31 is disposed to penetrate along the length direction of the push-pull lath 22, and a supporting block 32 is connected to one side of the push-pull rod 31 extending out of the push-pull lath 22. When the length of the carton is longer, the telescopic motor D30 makes the push-pull rod 31 drive the supporting block 32 to extend out, so that the supporting distance is increased, and the stability of the supporting is further ensured.
The telescopic motor A27 is arranged on the lower surface of the mounting plate 26 and is coaxially arranged with the rotating plate 21; one end of the telescopic arm A17 is connected with the power output end of the telescopic motor A27, and the other end of the telescopic arm A17 penetrates through the rotating plate 21 and extends out of the rotating plate 21 to be connected with the main suction cup 23. When needing to adsorb the operation, flexible motor A27 drives main sucking disc 23 through flexible arm A17 and stretches out set distance, and main sucking disc 23 passes through the pipeline to be connected with the vacuum source, through the surface contact of main sucking disc 23 with the carton to adsorb the operation.
An auxiliary suction assembly 29 is disposed below the mounting plate 26. The auxiliary adsorption component 29 comprises an installation lantern ring 16, a plurality of telescopic motors C19, a plurality of telescopic arms C and a plurality of auxiliary suckers 20, and the auxiliary suckers 20 are connected with a negative pressure air source through pipelines. The mounting collar 16 is sleeved on the outer surface of the telescopic arm A17 and is coaxially arranged with the telescopic arm A17; the inner diameter of the mounting collar 16 is greater than the outer diameter of the telescoping arm a 17; the mounting collar 16 is connected to the bottom of a mounting plate 26 by a connecting rod 24; a plurality of extension arms 18 are circumferentially arranged on the outer side surface of the mounting lantern ring 16 in an array manner, each telescopic motor C19 is correspondingly mounted on the lower surface of each extension arm 18, and the power output end of each telescopic motor C19 is connected with the auxiliary suction cup 20 through the telescopic arm C. The number of extension arms 18 is set to N, N is more than or equal to 2, and the number of extension arms 18 is set to 4 in the embodiment. When meetting the great carton of size, flexible motor C19 drives supplementary sucking disc 20 through flexible arm C and stretches out set distance to make supplementary sucking disc 20 can adsorb the carton side with the cooperation of main sucking disc 23, thereby the increase is to the lifting surface area of carton, stability when promoting the transfer.
The operating principle of the present embodiment is:
1. the robotic arm structure 33 urges the mounting plate 26 into a predetermined position with the cartons to be palletized;
2. the telescopic motor A27 causes the main suction cup 23 to move downwards to suck the carton;
3. after the rotating motor A25 drives the rotating plate 21 to rotate for a set angle through the rotating arm 15, the push-pull lath 22 is positioned at the lower part of the carton, and the push-pull motor 28 drives the push-pull lath 22 to move towards the bottom of the carton until the push-pull lath is attached to and contacted with the bottom of the carton;
4. the robotic arm structure 33 causes the mounting plate 26 to move or rotate a predetermined angle to stack the cartons in a predetermined position, and so on.
The above-mentioned embodiments only express one embodiment of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (5)
1. The utility model provides a take carton pile up neatly machinery hand of upset subassembly which characterized in that: comprises a mechanical arm structure (33), a mounting plate (26), a turnover assembly, a telescopic motor A (27), a telescopic arm A (17) and a main suction cup (23); the free end of the mechanical arm structure (33) is connected with the mounting plate (26); the overturning assembly comprises a rotating motor A (25), a rotating arm (15), a rotating plate (21), a push-pull motor (28) and a push-pull lath (22); the rotating motor A (25) is arranged on the mounting plate (26), one end of the rotating arm (15) is connected with the power output end of the rotating motor A (25), and the other end of the rotating arm (15) is connected with the rotating plate (21); the push-pull motor (28) is installed on the upper surface of the rotating plate (21) and close to the side edge of the rotating plate (21); the position of the rotating plate (21) corresponding to the push-pull motor (28) is provided with a strip-shaped guide hole (12), and the push-pull lath (22) is vertically inserted into the strip-shaped guide hole and the position of the push-pull lath, which is exposed out of the upper surface of the rotating plate (21), is connected with the power output end of the push-pull motor (28); the telescopic motor A (27) is arranged on the lower surface of the mounting plate (26) and is coaxially arranged with the rotating plate (21); one end of the telescopic arm A (17) is connected with the power output end of the telescopic motor A (27), and the other end of the telescopic arm A (17) penetrates through the rotating plate (21) and extends out of the rotating plate (21) to be connected with the main sucker (23).
2. The carton palletizing manipulator with a turning assembly as claimed in claim 1, wherein: arm structure (33) are including flexible motor B (10), flexible arm B (11), rotating electrical machines B (13), connecting axle (14), the one end of flexible arm B (11) with the power take off end of flexible motor B (10) is connected, the other end of flexible arm B (11) with rotating electrical machines B (13) are connected, the power take off end of rotating electrical machines B (13) with connecting axle (14) are connected, the free end of connecting axle (14) with mounting panel (26) are connected.
3. The carton palletizing manipulator with a turning assembly as claimed in claim 1, wherein: an auxiliary adsorption component (29) is arranged below the mounting plate (26); the auxiliary adsorption component (29) comprises an installation lantern ring (16), a plurality of telescopic motors C (19), a plurality of telescopic arms C and a plurality of auxiliary suckers (20), wherein the installation lantern ring (16) is sleeved on the outer surface of the telescopic arm A (17) and is coaxially arranged with the telescopic arm A (17); the inner diameter of the mounting collar (16) is larger than the outer diameter of the telescopic arm A (17); the mounting collar (16) is connected with the bottom of the mounting plate (26) through a connecting rod (24); a plurality of extension arms (18) are circumferentially arranged on the outer side surface of the mounting lantern ring (16), the telescopic motors C (19) are correspondingly mounted on the lower surfaces of the extension arms (18), and the power output ends of the telescopic motors C (19) are connected with the auxiliary suckers (20) through the telescopic arms C.
4. The carton palletizing manipulator with a turning assembly as claimed in claim 3, wherein: the number of the extension arms (18) is set to be N, and the N is more than or equal to 2.
5. The carton palletizing manipulator with a turning assembly as claimed in claim 1, wherein: the telescopic mechanism is characterized in that a telescopic motor D (30) is arranged at the top of the push-pull lath (22), a power output end of the telescopic motor D (30) is connected with a push-pull rod (31), the push-pull rod (31) penetrates through the push-pull lath (22) along the length direction of the push-pull lath, and one side, extending out of the push-pull lath (22), of the push-pull rod (31) is connected with a supporting block (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458500.6A CN114249133B (en) | 2021-12-02 | 2021-12-02 | Carton stacking manipulator with overturning assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458500.6A CN114249133B (en) | 2021-12-02 | 2021-12-02 | Carton stacking manipulator with overturning assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114249133A true CN114249133A (en) | 2022-03-29 |
| CN114249133B CN114249133B (en) | 2024-04-19 |
Family
ID=80793767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111458500.6A Active CN114249133B (en) | 2021-12-02 | 2021-12-02 | Carton stacking manipulator with overturning assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114249133B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
| CN104944165A (en) * | 2014-03-27 | 2015-09-30 | 蔡钱玉 | Suction cup type stacking machine |
| CN105397831A (en) * | 2015-12-28 | 2016-03-16 | 桂林电子科技大学 | Multi-suction-cup manipulator capable of grabbing irregular objects |
| CN106078783A (en) * | 2016-08-08 | 2016-11-09 | 江门市弘程精密制造有限公司 | A kind of four axle loading and unloading manipulators |
| CN207726377U (en) * | 2018-01-11 | 2018-08-14 | 广州市致诚纸品有限公司 | A kind of manipulator for carton stacking |
| CN109132581A (en) * | 2018-07-26 | 2019-01-04 | 王顺岭 | A kind of stacking machine with staggeredly heap playing function |
| CN211366173U (en) * | 2019-09-05 | 2020-08-28 | 深圳蓝胖子机器人有限公司 | Carton stacking gripper and mechanical arm |
| CN212421300U (en) * | 2020-03-25 | 2021-01-29 | 东莞市兆恒机械有限公司 | Rotatable manipulator structure |
| CN212445266U (en) * | 2020-03-25 | 2021-02-02 | 东莞市兆恒机械有限公司 | Manipulator with auxiliary grabbing structure |
| CN213106894U (en) * | 2020-08-13 | 2021-05-04 | 苏州金策自动化工程有限公司 | Manipulator for transferring large-scale packaging carton |
-
2021
- 2021-12-02 CN CN202111458500.6A patent/CN114249133B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
| CN104944165A (en) * | 2014-03-27 | 2015-09-30 | 蔡钱玉 | Suction cup type stacking machine |
| CN105397831A (en) * | 2015-12-28 | 2016-03-16 | 桂林电子科技大学 | Multi-suction-cup manipulator capable of grabbing irregular objects |
| CN106078783A (en) * | 2016-08-08 | 2016-11-09 | 江门市弘程精密制造有限公司 | A kind of four axle loading and unloading manipulators |
| CN207726377U (en) * | 2018-01-11 | 2018-08-14 | 广州市致诚纸品有限公司 | A kind of manipulator for carton stacking |
| CN109132581A (en) * | 2018-07-26 | 2019-01-04 | 王顺岭 | A kind of stacking machine with staggeredly heap playing function |
| CN211366173U (en) * | 2019-09-05 | 2020-08-28 | 深圳蓝胖子机器人有限公司 | Carton stacking gripper and mechanical arm |
| CN212421300U (en) * | 2020-03-25 | 2021-01-29 | 东莞市兆恒机械有限公司 | Rotatable manipulator structure |
| CN212445266U (en) * | 2020-03-25 | 2021-02-02 | 东莞市兆恒机械有限公司 | Manipulator with auxiliary grabbing structure |
| CN213106894U (en) * | 2020-08-13 | 2021-05-04 | 苏州金策自动化工程有限公司 | Manipulator for transferring large-scale packaging carton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114249133B (en) | 2024-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206711882U (en) | A kind of grasping mechanism of solar silicon wafers | |
| CN211003521U (en) | Automatic feeding mechanism of punch press | |
| CN105752184A (en) | Wall surface carrying mechanism | |
| CN110255183A (en) | A kind of new model sucker gripper | |
| CN114311008A (en) | Angle self-interacting sucking disc manipulator actuating mechanism | |
| CN210260258U (en) | A tongs and robot for panel letter sorting | |
| CN114249133A (en) | Carton stacking manipulator with overturning assembly | |
| CN113526156A (en) | Grabbing robot | |
| CN211639910U (en) | Material sucking manipulator | |
| CN208117363U (en) | A kind of automatic feeding | |
| CN213036845U (en) | Novel cavity glass carries spacingly device | |
| CN114476230A (en) | Automatic bag opening mechanism and lathe are inhaled in upset vacuum | |
| CN217147775U (en) | Rotating device for sucking carrier plate glass and spacer paper | |
| CN215478274U (en) | Optical disc taking and placing mechanical arm | |
| CN208163674U (en) | A kind of four station automatic rotary mechanical arms | |
| CN215202045U (en) | Adsorption type mechanical arm with good degree of freedom | |
| CN220741195U (en) | Grabbing device for robot | |
| CN217780086U (en) | Automatic blanking device for ceramic tile production | |
| CN114290366A (en) | Sucker manipulator with adjustable angle and size | |
| CN216189192U (en) | Stacking mechanism for producing plastic uptake boxes | |
| CN220011355U (en) | Robot stacking system | |
| CN219006100U (en) | Powder, graininess material package grab and inhale all-in-one | |
| CN208801363U (en) | A kind of vertical pneumatic sucker manipulator | |
| CN220561571U (en) | Robot end picking device compatible with various plate types for sucking and carrying | |
| CN219807495U (en) | Paper transferring manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |