CN209868586U - Stacking robot with adjustable grabbing range - Google Patents
Stacking robot with adjustable grabbing range Download PDFInfo
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- CN209868586U CN209868586U CN201920378794.3U CN201920378794U CN209868586U CN 209868586 U CN209868586 U CN 209868586U CN 201920378794 U CN201920378794 U CN 201920378794U CN 209868586 U CN209868586 U CN 209868586U
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- 230000001681 protective effect Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
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Abstract
The utility model relates to a pile up neatly machine people of adjustable scope of snatching belongs to pile up neatly equipment technical field, including the organism, rotate the arm mechanism that sets up on the organism and set up the bag tongs at arm mechanism tip, the bag tongs includes roof and the articulated L shape nipper that sets up on the roof, the inside slip of L shape nipper is provided with L shape extension board, it is provided with the lead screw to rotate on the interior roof of L shape nipper, be provided with on the roof of L shape extension board with lead screw thread fit's threaded sleeve, be provided with the slide bar in another L shape nipper, and be provided with the slide cartridge that cup joints with the slide bar slip on another L shape extension board, connect through the horizontal pole between slide cartridge and the threaded sleeve, set up on the L shape nipper and supply the gliding sliding gap of horizontal pole, be provided with on the L shape nipper and be used for driving screw pivoted drive assembly, the utility model discloses the length that, Saving time and reducing cost.
Description
Technical Field
The utility model belongs to the technical field of the pile up neatly equipment technique and specifically relates to a pile up neatly machine people of adjustable scope of snatching is related to.
Background
The stacking robot is a vertical multi-joint robot with special functions, and is widely applied to the fields of petroleum, chemical industry, food processing, beverages and the like. The stacking requirements of different types of packages can be set by the computer according to parameters such as different material packages, stacking sequence, layer number and the like.
The palletizing robot is usually a multi-joint robot, and a driving mechanism of the palletizing robot is mainly directly connected with a joint through a servo motor and a speed reducer. The arm ends of the arms can only rotate around the joint kinematic pairs, so that the working position mechanism of the robot has nonlinear kinematic coupling. In order to enable the end effector to be in the required working position, a driving servo motor for coordinately controlling each joint of the arm is needed, namely, the motion of each joint must be compensated in a control algorithm, so that the difficulty of motion analysis of a working position mechanism is increased, and a position control system is more complex.
Chinese patent No. CN101362329A discloses a palletizing robot for palletizing bag packages, which includes a wrist, an arm mechanism, a wrist posture adjusting mechanism, a frame, a servo driving system, a base, and a bag gripper, where the bag gripper includes a top plate, parallel guide rails, left and right support plates, a finger mechanism, and a pressing plate mechanism. The parallel guide rail and the left and right support plates form a rectangular frame. The finger mechanism is composed of a left symmetrical mechanism and a right symmetrical mechanism, wherein one side of the finger mechanism comprises a plurality of L-shaped fingers, a plurality of connecting rods, a stack of bearing frames and a rotating shaft. The L-shaped fingers are fixed on the connecting rods in parallel, the pair of bearing frames are fixed on the connecting rods, and the rotating shaft is arranged between the bearing frames. And the left support plate and the right support plate are respectively fixed with a cylinder, and the piston rod ends of the cylinders are connected to the rotating shaft. The pressing plate mechanism is composed of a vertical cylinder and a pressing plate. The stacking robot can bear larger weight, and is very easy to grab bag packages placed on the flat ground.
Above-mentioned pile up neatly machine people often is used in the feed factory for the manger bag on the conveyer belt is grabbed and the pile up neatly on the empty ground on one side of the conveyer belt, but current pile up neatly machine people snatchs the manger bag at every turn on the conveyer belt, only can snatch a bag fodder, if the order requirement of feed factory is big sometimes, the efficient of needs pile up neatly, just need order the big pile up neatly machine people of a bag tongs in addition and install on the station, realize snatching two bags simultaneously, thereby accelerate pile up neatly efficiency, but so not only waste time, and the cost is increased.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an adjustable pile up neatly machine people who snatchs scope has the length of adjustable bag tongs and then improves pile up neatly efficiency, saves time and reduce cost's advantage.
The above object of the present invention can be achieved by the following technical solutions:
a palletizing robot with adjustable grabbing range comprises a robot body, an arm mechanism and bag grippers, wherein the arm mechanism is rotatably arranged on the robot body, the bag grippers are arranged at the end parts of the arm mechanism, each bag gripper comprises a top plate and L-shaped grabbing plates which are hinged to the top plate and located on two sides of the top plate, the interiors of the two L-shaped grabbing plates are both hollow, one ends of the two L-shaped grabbing plates are open, L-shaped supporting plates are slidably arranged in the L-shaped grabbing plates, a lead screw is rotatably arranged on the inner top wall of one L-shaped grabbing plate along the length direction of the L-shaped grabbing plate, threaded sleeves in threaded fit with the lead screw are arranged on the top wall of the L-shaped supporting plate close to the lead screw, sliding rods with the length direction of the lead screw are arranged in the other L-shaped grabbing plate, sliding cylinders in sliding sleeve fit with the sliding rods are arranged on the other L-shaped supporting plate, the L-shaped grabbing plate is provided with a sliding seam for the cross rod to slide, and the side, away from the other L-shaped grabbing plate which is opposite to the L-shaped grabbing plate, of the L-shaped grabbing plate is provided with a driving assembly for driving the screw rod to rotate.
According to the technical scheme, the arm mechanism is rotated, so that the bag gripper is positioned right above the conveyor belt, the length directions of the two L-shaped gripping plates are consistent with the length direction of the conveyor belt, then the driving assembly is started to enable the screw rod to start to rotate, and the screw rod rotates to drive the threaded sleeve to move along the length direction of the screw rod due to the fact that the threaded sleeve on one L-shaped supporting plate is in threaded fit with the screw rod, so that one L-shaped supporting plate slides out of the open end of the L-shaped gripping plate, and the sliding cylinder on the other L-shaped supporting plate is connected with the threaded sleeve through the cross rod, so that the sliding cylinder can slide on the sliding rod along with the movement of the threaded sleeve, and synchronously slides out of the other L-shaped gripping plate; after slipping out, the length of the bag gripper is increased, so that two feed bags can be gripped on the conveying belt simultaneously, the stacking efficiency of the stacking robot is improved, the stacking robot does not need to be replaced, and the effects of saving time and reducing cost are achieved.
Furthermore, the upper end of the opening of the L-shaped grabbing plate is provided with a baffle for shielding part of the opening of the L-shaped grabbing plate, rolling bearings are arranged on the inner walls of the baffle and the L-shaped grabbing plate, which are opposite to the baffle, and the lead screw penetrates through the inner ring of each rolling bearing and is in interference fit with the inner ring of each rolling bearing.
By implementing the technical scheme, the arrangement of the baffle plate enables the threaded sleeve not to completely slide away from the screw rod when sliding on the screw rod, so that the L-shaped support plate is prevented from completely separating from the L-shaped grabbing plate; and the arrangement of the rolling bearing enables the screw rod to still rotate under the condition that the screw rod is fixed in the L-shaped grabbing plate.
Further, drive assembly is including setting up the servo motor on the face of L shape nipper, servo motor's output shaft with the length direction of lead screw is unanimous, servo motor's output shaft tip is provided with the initiative spur gear, the lead screw pass antifriction bearing and be located L shape nipper outer one end be provided with the driven spur gear of initiative spur gear meshing.
Implement above-mentioned technical scheme, start servo motor, servo motor's the epaxial initiative spur gear of output begins to rotate this moment to drive driven spur gear and rotate, driven spur gear just can take the lead screw to realize rotating this moment, reaches the comparatively convenient effect of drive lead screw rotation.
Furthermore, L shape extension board includes that branch and a plurality of L shape that set up along the length direction interval of branch grab the pole, the screw sleeve sets up branch deviates from one side that the L shape grabbed the pole.
Implement above-mentioned technical scheme, it is gapped between the pole is grabbed to a plurality of L shapes, can be more light when snatching the feedbag to the feedbag can block into the L shape after snatching and grab the gap between the pole, thereby make the bag tongs more stable at the in-process of snatching the feedbag and removing.
Further, a track for the machine body to move is arranged on the ground below the machine body, and the length direction of the track is parallel to the length direction of the conveyor belt.
Implement above-mentioned technical scheme, the length direction of track and conveyer belt is unanimous, consequently the machine body can realize being close to and keeping away from the conveyer belt when moving on the track, consequently can realize the position control of pile up neatly robot to increase pile up neatly machine people's pile up neatly scope.
Furthermore, a dovetail groove is formed in the rail along the length direction of the rail, a sliding plate is arranged at the bottom of the machine body, a dovetail block which slides in the dovetail groove is arranged on the surface of the sliding plate, and a driving mechanism used for driving the sliding plate to move along the length direction of the rail is arranged on the sliding plate.
According to the technical scheme, the driving mechanism is started, the sliding plate moves along the length direction of the rail, the dovetail block starts to move in the length direction of the dovetail groove, and the dovetail block and the dovetail groove are in the shape characteristics, so that the dovetail block only moves along the direction of the dovetail groove and cannot be separated from the dovetail groove in other directions, and the sliding plate can normally and stably move along the length direction of the rail.
Further, lie in dovetail one side on the track be provided with the holding tank that the length direction of dovetail is unanimous, actuating mechanism is including setting up the rotation motor on the sliding plate, the vertical downwardly extending of output shaft that rotates the motor is to in the holding tank, be provided with the rack along the length direction of holding tank on the inner wall of holding tank, the output shaft that rotates the motor lie in the tip of holding tank be provided with rack toothing's meshing gear.
Implement above-mentioned technical scheme, the motor is rotated in the start-up, rotates the meshing gear on the motor output shaft this moment and begins to rotate, because be provided with in the holding tank with the meshing gear engaged's rack, consequently the meshing gear just can remove along the length direction of rack under the pivoted condition to drive the sliding plate and remove at orbital length direction, reach the drive sliding plate and remove comparatively convenient effect on the track.
To sum up, the utility model discloses following beneficial effect has:
the bag gripper is positioned right above the conveyor belt by rotating the arm mechanism, the length directions of the two L-shaped gripping plates are consistent with the length direction of the conveyor belt, then the driving assembly is started to enable the screw rod to start to rotate, and the screw rod rotates to drive the screw sleeve to move along the length direction of the screw rod due to the fact that the screw sleeve on one L-shaped supporting plate is in threaded fit with the screw rod, so that one L-shaped supporting plate slides out of the opening end of the L-shaped gripping plate, and the sliding cylinder on the other L-shaped supporting plate slides on the sliding rod along with the movement of the screw sleeve due to the fact that the sliding cylinder is connected with the screw sleeve through the cross rod, and therefore the sliding cylinder synchronously slides out of the other L-shaped gripping plate; after slipping out, the length of the bag gripper is increased, so that two feed bags can be gripped on the conveying belt simultaneously, the stacking efficiency of the stacking robot is improved, the stacking robot does not need to be replaced, and the effects of saving time and reducing cost are achieved.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a partial cross-sectional view of an embodiment of the present invention showing an L-shaped grab plate;
fig. 3 is an exploded and partially cut away view of an embodiment of the present invention showing the connection of the sliding panel to the rail.
Reference numerals: 1. a body; 11. an arm mechanism; 2. a bag gripper; 21. a top plate; 22. an L-shaped grabbing plate; 221. a lead screw; 2211. a driven spur gear; 222. a slide bar; 223. a baffle plate; 224. a rolling bearing; 225. sliding and sewing; 3. an L-shaped support plate; 31. a threaded sleeve; 32. a sliding cylinder; 33. a strut; 34. an L-shaped grab bar; 4. a cross bar; 5. a servo motor; 51. a driving spur gear; 6. a track; 61. a dovetail groove; 62. accommodating grooves; 621. a rack; 7. a sliding plate; 71. a dovetail block; 72. rotating the motor; 721. engaging the gear.
Detailed Description
The technical solution of the embodiment of the present invention will be described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the palletizing robot with the adjustable grabbing range comprises a robot body 1, an arm mechanism 11 rotatably arranged on the robot body 1 and a bag gripper 2 arranged at the end of the arm mechanism 11, wherein the bag gripper 2 comprises a top plate 21 and L-shaped grabbing plates 22 hinged to the top plate 21 and located at two sides of the top plate 21, the two L-shaped grabbing plates 22 are both hollow and have one open end, L-shaped supporting plates 3 are slidably arranged inside the two L-shaped grabbing plates 22, a lead screw 221 is rotatably arranged on the inner top wall of one L-shaped grabbing plate 22, the length direction of the lead screw 221 is consistent with the length direction of the L-shaped grabbing plate 22, a threaded sleeve 31 in threaded fit with the lead screw 221 is arranged on the top wall of the L-shaped supporting plate 3 close to the lead screw 221, that is, an internal thread in threaded fit with the lead screw 221 is arranged on the inner wall of; a sliding rod 222 is arranged in the other L-shaped grabbing plate 22, the length direction of the sliding rod 222 is consistent with that of the screw rod 221, a sliding cylinder 32 in sliding sleeve connection with the sliding rod 222 is arranged on the other L-shaped supporting plate 3, the sliding cylinder 32 is connected with the threaded sleeve 31 through a cross rod 4, sliding seams 225 for the sliding of the cross rod 4 are formed in the two L-shaped grabbing plates 22, the length direction of the sliding seams 225 is consistent with that of the screw rod 221, and a driving assembly for driving the screw rod 221 to rotate is arranged on the side, away from the opposite other L-shaped grabbing plate 22, of the L-shaped grabbing plate 22.
As shown in fig. 1 and 2, a baffle 223 is arranged at the upper end of the opening of the L-shaped gripping plate 22, the baffle 223 covers part of the opening of the L-shaped gripping plate 22, and the baffle 223 is arranged so that the threaded sleeve 31 cannot completely slide away from the lead screw 221 when sliding on the lead screw 221, thereby preventing the L-shaped support plate 3 from completely separating from the L-shaped gripping plate 22; the inner walls of the baffle 223 and the L-shaped grabbing plate 22 facing the baffle 223 are provided with rolling bearings 224, the lead screw 221 penetrates through the inner ring of the rolling bearing 224 and is in interference fit with the inner ring of the rolling bearing 224, and the rolling bearings 224 enable the lead screw 221 to still rotate under the condition that the lead screw 221 is fixed in the L-shaped grabbing plate 22; in the embodiment, the opening of the L-shaped grasping plate 22 provided with the sliding rod 222 is also provided with a baffle 223, the sliding rod 222 is fixedly arranged in the L-shaped grasping plate 22, and one end of the sliding rod 222 is fixedly connected with the baffle 223.
As shown in fig. 1 and 2, the driving assembly is a servo motor 5 arranged on the plate surface of the L-shaped grabbing plate 22 away from the other L-shaped grabbing plate 22, the output shaft of the servo motor 5 is in accordance with the length direction of the lead screw 221, the end of the output shaft of the servo motor 5 is provided with a driving spur gear 51, one end of the lead screw 221, which passes through the rolling bearing 224 and is located outside the L-shaped grabbing plate 22, is provided with a driven spur gear 2211 meshed with the driving spur gear 51; in this embodiment, a protective cover for covering the two gears is provided on the L-shaped grip plate provided with the servo motor 5 at the engagement position of the driving spur gear 51 and the driven spur gear 2211 (the protective cover is hidden in fig. 2 to show the engagement relationship), so that the driving spur gear 51 and the driven spur gear 2211 are not exposed to the outside when engaged.
The servo motor 5 is started, at this time, the driving spur gear 51 on the output shaft of the servo motor 5 starts to rotate, so as to drive the driven spur gear 2211 to rotate, at this time, the driven spur gear 2211 drives the lead screw 221 to rotate, because the threaded sleeve 31 on one of the L-shaped support plates 3 is in a threaded fit state with the lead screw 221, the lead screw 221 rotates to drive the threaded sleeve 31 to move along the length direction of the lead screw 221, so that one of the L-shaped support plates 3 slides out from the opening end of the L-shaped gripping plate 22, and the sliding cylinder 32 on the other L-shaped support plate 3 is connected with the threaded sleeve 31 through the cross rod 4, so that the sliding cylinder 32 also slides on the sliding rod 222 along with the movement of the threaded sleeve 31, and slides out from the other L-shaped gripping plate 22 synchronously, so that the gripping length of the bag gripper 2 is increased in the length direction of.
As shown in fig. 1 and 2, the L-shaped support plate 3 comprises a strut 33 and a plurality of L-shaped gripping rods 34 arranged at intervals along the length direction of the strut 33, and the threaded sleeve 31 is arranged on the side of the strut 33 facing away from the L-shaped gripping rods 34; a plurality of L shape are grabbed and are had a clearance between the pole 34, can be more relaxed when snatching the feedbag to the feedbag can block into the L shape after snatching and grab in the gap between the pole 34, thereby make bag tongs 2 more stable at the in-process of snatching the feedbag and removing.
As shown in fig. 1 and 3, a track 6 for moving the machine body 1 is arranged on the ground under the machine body 1, and the length direction of the track 6 is parallel to the length direction of the conveyor belt; the track 6 is provided with a dovetail groove 61 along the length direction of the track 6, the bottom of the machine body 1 is provided with a sliding plate 7, a dovetail block 71 sliding in the dovetail groove 61 is arranged on the surface of the sliding plate 7, and the sliding plate 7 is provided with a driving mechanism for driving the sliding plate 7 to move along the length direction of the track 6.
As shown in fig. 1 and 3, an accommodating groove 62 is provided on one side of the dovetail groove 61 on the rail 6, a length direction of the accommodating groove 62 is identical to a length direction of the dovetail groove 61, the driving mechanism is a rotating motor 72 provided on the sliding plate 7, an output shaft of the rotating motor 72 vertically extends downwards into the accommodating groove 62, a rack 621 is provided on an inner wall of the accommodating groove 62 along the length direction of the accommodating groove 62, and an end portion of the output shaft of the rotating motor 72, which is located on the accommodating groove 62, is provided with a meshing gear 721 meshed with the rack 621.
The rotating motor 72 is started, at this time, the meshing gear 721 on the output shaft of the rotating motor 72 starts to rotate, and since the rack 621 meshed with the meshing gear 721 is arranged in the accommodating groove 62, the meshing gear 721 moves along the length direction of the rack 621 under the condition of rotation, so as to drive the sliding plate 7 to move along the length direction of the track 6; in the moving process, the dovetail block 71 starts to move in the length direction of the dovetail groove 61, and the characteristics of the shapes of the dovetail block 71 and the dovetail groove 61 itself make the dovetail block 71 only move along the dovetail groove 61 and not separate from the dovetail groove 61 in other directions, so that the sliding plate 7 can normally and stably move along the length direction of the rail 6; therefore, the machine body 1 can move on the rail 6 to be close to and far away from the conveyor belt, so that the position adjustment of the palletizing robot can be realized, and the palletizing range of the palletizing robot is enlarged.
The specific working process is as follows: firstly, the rotating motor 72 is started, the positions of the machine body 1 and the sliding plate 7 on the track 6 are adjusted, then the servo motor 5 is started, the two L-shaped support plates 3 respectively slide out of the two L-shaped grabbing plates 22, and the length of the bag grabbing hand 2 is increased.
Claims (7)
1. The utility model provides a pile up neatly machine people of adjustable scope of snatching, includes organism (1), rotates arm mechanism (11) that sets up on organism (1) and sets up bag tongs (2) at arm mechanism (11) tip, its characterized in that, bag tongs (2) include roof (21) and articulated L shape grabs board (22) that set up on roof (21) and lie in roof (21) both sides, two the inside of L shape grabs board (22) all sets up and one end opening hollowly, the inside slip of L shape grabs board (22) is provided with L shape extension board (3), one on the interior roof of L shape grabs board (22) and rotate along the length direction of L shape grabs board (22) and be provided with lead screw (221), be provided with on the roof that L shape extension board (3) are close to lead screw (221) with lead screw (221) screw thread fit's threaded sleeve (31), another be provided with the slide bar unanimous with lead screw (221) length direction in the L shape grabs board (22) (222) And a sliding cylinder (32) which is in sliding sleeve connection with the sliding rod (222) is arranged on the other L-shaped support plate (3), the sliding cylinder (32) is connected with the threaded sleeve (31) through a cross rod (4), a sliding seam (225) for the cross rod (4) to slide is formed in the L-shaped grabbing plate (22), and a driving assembly for driving the screw rod (221) to rotate is arranged on the side, away from the opposite L-shaped grabbing plate (22), of the L-shaped grabbing plate (22).
2. The palletizing robot with adjustable grabbing range according to claim 1, wherein: the opening upper end of the L-shaped grabbing plate (22) is provided with a baffle (223) for shielding partial opening of the L-shaped grabbing plate (22), rolling bearings (224) are arranged on the inner walls of the baffle (223) and the L-shaped grabbing plate (22) opposite to the baffle (223), and the lead screw (221) penetrates through the inner ring of the rolling bearing (224) and is in interference fit with the inner ring of the rolling bearing (224).
3. Palletizing robot with adjustable grabbing range, according to claim 2, characterized in that: drive assembly is including setting up servo motor (5) on the face of L shape nipper (22), the output shaft of servo motor (5) with the length direction of lead screw (221) is unanimous, the output shaft tip of servo motor (5) is provided with initiative spur gear (51), lead screw (221) pass antifriction bearing (224) and be located L shape nipper (22) outer one end be provided with driven spur gear (2211) of initiative spur gear (51) meshing.
4. Palletizing robot with adjustable grabbing range, according to claim 3, characterized in that: the L-shaped support plate (3) comprises a support rod (33) and a plurality of L-shaped grabbing rods (34) arranged at intervals along the length direction of the support rod (33), and the threaded sleeve (31) is arranged on one side, away from the L-shaped grabbing rods (34), of the support rod (33).
5. The palletizing robot with adjustable grabbing range according to claim 1, wherein: a track (6) for the machine body (1) to move is arranged on the ground below the machine body (1), and the length direction of the track (6) is parallel to the length direction of the conveyor belt.
6. Palletizing robot with adjustable grabbing range, according to claim 5, characterized in that: the improved structure of the automobile engine is characterized in that a dovetail groove (61) is formed in the rail (6) along the length direction of the rail (6), a sliding plate (7) is arranged at the bottom of the engine body (1), a dovetail block (71) which slides in the dovetail groove (61) is arranged on the surface of the sliding plate (7), and a driving mechanism used for driving the sliding plate (7) to move along the length direction of the rail (6) is arranged on the sliding plate (7).
7. The palletizing robot with adjustable grabbing range, as claimed in claim 6, wherein: lie in dovetail (61) one side on track (6) be provided with holding tank (62) that the length direction of dovetail (61) is unanimous, actuating mechanism is including setting up rotating motor (72) on sliding plate (7), the vertical downwardly extending of output shaft of rotating motor (72) is to in holding tank (62), be provided with rack (621) along the length direction of holding tank (62) on the inner wall of holding tank (62), the output shaft of rotating motor (72) lie in the tip of holding tank (62) be provided with meshing gear (721) of rack (621) meshing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920378794.3U CN209868586U (en) | 2019-03-23 | 2019-03-23 | Stacking robot with adjustable grabbing range |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920378794.3U CN209868586U (en) | 2019-03-23 | 2019-03-23 | Stacking robot with adjustable grabbing range |
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| Publication Number | Publication Date |
|---|---|
| CN209868586U true CN209868586U (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920378794.3U Active CN209868586U (en) | 2019-03-23 | 2019-03-23 | Stacking robot with adjustable grabbing range |
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| CN (1) | CN209868586U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347405A (en) * | 2020-05-25 | 2020-06-30 | 佛山隆深智能装备有限公司 | Carrying manipulator for plate-type furniture |
| CN114988133A (en) * | 2022-06-27 | 2022-09-02 | 青岛科光生物技术有限公司 | Pile up neatly device is used in fertile production of marine alga |
-
2019
- 2019-03-23 CN CN201920378794.3U patent/CN209868586U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347405A (en) * | 2020-05-25 | 2020-06-30 | 佛山隆深智能装备有限公司 | Carrying manipulator for plate-type furniture |
| CN114988133A (en) * | 2022-06-27 | 2022-09-02 | 青岛科光生物技术有限公司 | Pile up neatly device is used in fertile production of marine alga |
| CN114988133B (en) * | 2022-06-27 | 2023-06-30 | 青岛科光生物技术有限公司 | Stacking device for seaweed fertilizer production |
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Address after: 611246 No. 728, Shunjin West Street, Sanjiang Town, Chongzhou City, Chengdu City, Sichuan Province Patentee after: Sichuan Wangda Biological Feed Co.,Ltd. Address before: 611246 No. 728, Shunjin West Street, Sanjiang Town, Chongzhou City, Chengdu City, Sichuan Province Patentee before: SICHUAN WANGDA FEED Co.,Ltd. |