CN102069530A - Manipulator of stacker crane - Google Patents
Manipulator of stacker crane Download PDFInfo
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- CN102069530A CN102069530A CN2010105583249A CN201010558324A CN102069530A CN 102069530 A CN102069530 A CN 102069530A CN 2010105583249 A CN2010105583249 A CN 2010105583249A CN 201010558324 A CN201010558324 A CN 201010558324A CN 102069530 A CN102069530 A CN 102069530A
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- 230000007246 mechanism Effects 0.000 claims abstract description 93
- 238000004140 cleaning Methods 0.000 claims abstract description 51
- 235000008733 Citrus aurantifolia Nutrition 0.000 claims description 6
- 240000006909 Tilia x europaea Species 0.000 claims description 6
- 235000011941 Tilia x europaea Nutrition 0.000 claims description 6
- 210000003734 kidney Anatomy 0.000 claims description 6
- 239000004571 lime Substances 0.000 claims description 6
- 239000011449 brick Substances 0.000 abstract description 39
- 239000000463 material Substances 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011452 unfired brick Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The invention discloses a manipulator of a stacker crane, which relates to the technical field of stacking machinery. The manipulator comprises a stand, a cleaning mechanism and a clamping mechanism, wherein the cleaning mechanism comprises a hairbrush and an air pipe; a tilting driving mechanism is hinged with a tilting mechanism; the tilting driving mechanism and the tilting mechanism are respectively hinged with the stand; and the cleaning mechanism and the tilting mechanism are fixedly connected. When the tilting mechanism is at the inferior limit position, the lower end face of the hairbrush is lower than the lower end face of the clamping mechanism; when the cleaning mechanism is at the superior limit position, the lower end face of the hairbrush is higher than the lower end face of the clamping mechanism. In the technical scheme, the manipulator has a simple structure and is convenient to operate and adjust; the hairbrush of the cleaning mechanism can be avoided entraining residual materials and the cleaning effect on the surfaces of unburned bricks is greatly improved. The stacking quality on the unburned bricks is improved and the unburned bricks are compact and are not easy to collapse after being stacked. The clamping mechanism can be used for adjusting the gap between the clamping face and the unburned bricks so that the manipulator has a medium clamping force, the unburned brick clamping effect is improved and the unburned bricks are ensured not to damage.
Description
Technical field
The present invention relates to the palletizing mechanical technical field, particularly relate to a kind of manipulator of stacking machine.
Background technology
The manipulator of prior art is to be fixed on the elevating mechanism of stacking machine, the adobe that brick machine suppresses is delivered to adobe on the conveyer by the slab clamp machine on the cloth trolley, conveyer again adobe deliver to the stacking machine manipulator under, the manipulator of last stacking machine is caught away adobe and is carried out sign indicating number and stamp, finish a circulation and will be pressed into adobe to compound through the brick machine, slab clamp machine adobe from the inner clamping of brick machine and be transported on the conveyer, conveyer adobe be delivered to the setting machine tong under, the manipulator of stacking machine is transported to adobe on the steam-cured car and carries out sign indicating number and stamp the handling process that waits complexity from conveyer again; Because the adobe initial strength that has just pressed is low, repeatedly carrying causes the breakage of adobe easily, and the yield rate of the adobe behind the piling is low, and damaged adobe need manually be piled up, and labour intensity is big, is unfavorable for realizing whole-course automation production; Simultaneously slab clamp machine is taken back the die cavity position to the adobe of delivering on the conveyer easily again when getting back to the die cavity position, in pressing process next time, the die cavity of mould is damaged by pressure.
For this reason, the applicant has invented " fully automatic hydroform of brick and intelligent stacking device ", patent No. ZL200820129473.1, Granted publication CN201291507Y, manipulator is installed on the mechanical arm of robot palletizer in this patent, manipulator enters brick machine die cavity top under the drive of robot arm, residual material to plane in the adobe when entering cleans, grab brick in the middle of being advanced into adobe then down, after grabbing brick brick is lifted, adobe and die cavity are broken away from, from brick machine, withdraw from then, the mechanical arm rotation is piled up adobe on the steam-cured car, this manipulator is by frame, line slideway and slide block, crossbeam, clamp module, closing up drive unit and clearing apparatus forms, clearing apparatus is made up of hairbrush and airduct, when manipulator enters brick machine inner mould die cavity top, hairbrush on the manipulator cleans the residual material on plane in the adobe, clearing apparatus is fixedly mounted on a side of frame, in order to guarantee that manipulator is when entering press inside, can be swept into the residual material in the adobe, clamp module can not run into adobe simultaneously, like this, the lower end that the hairbrush of back clearing apparatus is installed will be lower than clamp module bottom, because of clearing apparatus is fixed on the frame, after the residual material of cleaning drops on the mould, clamp module and clearing apparatus will enter and carry out clamping in the adobe that suppresses, because of the hairbrush of clearing apparatus is lower than clamp module, like this when brick folding, the lower end of hairbrush can touch the residual material on framed, residual material can enter in the hairbrush, in circulation next time, the unclean clearly lip-deep residual material of adobe of the hairbrush of clearing apparatus, because of there is residual material on the adobe surface, like this layer of the piled bricks that goes out of manipulator sign indicating number with layer between have residual material, it is inconsistent that the brick that sign indicating number goes out is stamped height, piled bricks integral body is irregular, easily collapse, cause the adobe damage, clamp module is a kind of short stroke diaphragm cylinder simultaneously, when clamp module carries out brick folding in the middle of entering adobe, the clamping face of two clamp modules and adobe needs less clamping gap, when the clamping gap is big, the clamping face of clamp module does not reach the face that is held of adobe, thereby can't brick folding, when the clamping gap hour, the clamping face of clamp module is easy to the adobe folder broken, and the gap between clamp module and the adobe is not easy to adjust.
Summary of the invention
The cleaning agency that technical problem to be solved by this invention is to overcome manipulator in the prior art cleans the not defective of the residual material on clean adobe surface, provide a kind of simple in structure, be convenient to operation, can improve cleaning effect to the adobe surface, thus the manipulator of the stacking machine of the piling quality of raising adobe.
The present invention solves the problems of the technologies described above the technical scheme that is adopted to be: a kind of manipulator of stacking machine, comprise frame, cleaning agency and clamping device, cleaning agency is made up of hairbrush and tracheae, clamping device is arranged on the frame below, also comprise swing lifting mechanism, swing lifting mechanism comprises wobble drive mechanism and swing mechanism, and wobble drive mechanism and swing mechanism are hinged, wobble drive mechanism and swing mechanism are hinged with frame respectively, and cleaning agency is fixedlyed connected with swing mechanism.Wobble drive mechanism drives swing mechanism and swings up and down, move up and down thereby drive cleaning agency, when swing mechanism was positioned at the limit inferior position, the lower surface of hairbrush was lower than the lower surface of clamping device, when cleaning agency was positioned at the limes superiors position, the lower surface of hairbrush was higher than the lower surface of clamping device.
Described swing mechanism comprises two cover rocking arm, fork and connecting rods; rocking arm, fork and connecting rod are symmetrically distributed in the both sides of frame; an end of rocking arm and fork is hinged with frame respectively; the other end of rocking arm and fork and rod hinge connection, and two connecting rods of symmetry are fixedlyed connected with the two ends of cleaning agency simultaneously.
Described rocking arm is a kind of V-structure, and the summit and the frame of V-type are hinged, and two other end points of V-type is hinged with connecting rod and wobble drive mechanism respectively.
Described wobble drive mechanism is two cover cylinders, and two cover cylinders symmetries are horizontally disposed on frame, and an end and the frame of cylinder are hinged, and the other end and rocking arm are hinged.
Described clamping device comprises line slideway mechanism and grip unit, grip unit is suspended on the below of frame by line slideway mechanism, the crossbeam of adjacent grip unit connects by position-limit mechanism, and the two ends that close up driving mechanism are connected with two grip unit that are positioned at the outer end.
Described grip unit comprises crossbeam, tong, gripper cylinder and connecting rod, and tong top and crossbeam are hinged, and the middle part of the tong that two clamping faces are relative is hinged with gripper cylinder and connecting rod respectively.
Also be provided with adjusting rod between described gripper cylinder and the connecting rod, the adjusting rod two ends are connected with connecting rod with gripper cylinder by screw thread, and the two ends thread rotary orientation of adjusting rod is opposite.
Described position-limit mechanism comprises limiting plate and stop screw, and the limiting plate two ends respectively have a kidney slot hole.
The described driving mechanism that closes up comprises that two are closed up cylinder, and two are closed up on the direction vertical with grip unit of below that the cylinder symmetry is fixed on frame, and two piston rods that close up cylinder are fixedlyed connected with the crossbeam that is positioned at outermost grip unit.
In sum, the present invention has the following advantages compared to existing technology: the robot manipulator structure of stacking machine of the present invention is simple, is convenient to operation and adjustment, can avoid the hairbrush of cleaning agency to carry residual material secretly, has improved the cleaning effect to the adobe surface greatly.Improved the piling quality of adobe, closely knit behind the adobe piling, be difficult for collapsing.Clamping device can be adjusted the gap between clamping face and the adobe, makes it have the moderate dynamics of holding that adds, and has improved adobe clamping effect, guarantees that adobe does not damage.
Description of drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the zoomed-in view of limiting plate.
1. frames among the figure, 2. cleaning agency, 21. hairbrush, 22. tracheae, 3. clamping device, 31. line slideway mechanisms, 311. line slideway, 312. slide blocks, 32. grip unit, 321. crossbeam, 322. tongs, 3221. clamping faces, 323. gripper cylinder, 324. adjusting rods, 325. connecting rods, 33. position-limit mechanism, 331. limiting plates, 3311. kidney slot holes, 332. stop screw, 34. close up driving mechanism, and 341. close up cylinder, 4. swing lifting mechanism, 41. wobble drive mechanisms, 411. oscillating cylinders, 42. swing mechanism, 421. rocking arm, 422. forks, 423. connecting rods
The specific embodiment
See figures.1.and.2, the manipulator of stacking machine comprises frame 1, cleaning agency 2 and clamping device 3, and cleaning agency 2 has hairbrush 21 and tracheae 22.Also comprise swing lifting mechanism 4, swing lifting mechanism 4 comprises wobble drive mechanism 41 and swing mechanism 42, wobble drive mechanism 41 is hinged with swing mechanism 42, wobble drive mechanism 41 and swing mechanism 42 are hinged with frame 1 respectively, cleaning agency 2 is fixedlyed connected with swing mechanism 42, wobble drive mechanism 41 drives swing mechanism 42 and swings up and down, thereby driving cleaning agency 2 moves up and down, when cleaning agency 2 moves to the limit inferior position, the lower surface of hairbrush 21 is lower than the lower surface of grip unit 32, when cleaning agency 2 moved to the limes superiors position, the lower surface of hairbrush 21 was higher than the lower surface of grip unit 32.
Like this, when manipulator enters press inside, wobble drive mechanism 41 drives swing mechanism 42 and descends, the hairbrush 21 that drives cleaning agency 2 is in the limit inferior position, manipulator is in the motion that enters press inside, hairbrush 21 lower ends are cleaned plane in the adobe, be lower than the lower surface of grip unit 32 because of the lower surface of hairbrush 21, grip unit 32 can not touch adobe, after grip unit 32 and adobe align, when entering adobe clamping adobe, wobble drive mechanism 41 drives swing mechanism 42 and rises, the hairbrush 21 that drives cleaning agency 2 is in the limes superiors position, manipulator moves down and enters adobe when carrying out brick folding, and because of the lower surface of hairbrush 21 is higher than the lower surface of grip unit 32, hairbrush 21 bottoms can not touch from the adobe the plane and clean the residual material that gets off to drop on plane on the mould center, the cleaning that keeps hairbrush guarantees the residual material on the clean adobe of cleaning surface in circulation next time.
See figures.1.and.2, swing mechanism 42 comprises two cover Rocker arm 4 21, fork 422 and connecting rods 423, two cover Rocker arm 4s 21, fork 422 and connecting rod 423 are symmetrically distributed in the both sides of frame 1; end of Rocker arm 4 21 and fork 422 is hinged with frame 1 respectively; the other end and the connecting rod 423 of Rocker arm 4 21 and fork 422 are hinged, and two connecting rods 423 of symmetry are fixedlyed connected with the two ends of cleaning agency 2 simultaneously.
With reference to Fig. 1, Rocker arm 4 21 is a kind of V-structures, and the summit of V-type and frame 1 are hinged, and two other end points of V-type is hinged with connecting rod 423 and wobble drive mechanism 41 respectively.
See figures.1.and.2, wobble drive mechanism 41 is that two cover oscillating cylinders, 411, two cover oscillating cylinders, 411 symmetries are horizontally disposed on frame 1, and an end and the frame 1 of oscillating cylinder 411 are hinged, and the other end and Rocker arm 4 21 are hinged.
Like this, under the driving of the oscillating cylinder 411 of wobble drive mechanism 42; Rocker arm 4 21 rotates; drive fork 422 swings; moving up and down of the connecting rod 423 that connects in the middle of making; thus the hairbrush 21 and the tracheae that drive cleaning agency 2 move up and down; when cleaning agency 2 moves to the limit inferior position, plane in the adobe is cleaned, when cleaning agency 2 moves to the limes superiors position; manipulator carries out the clamping adobe; two cover Rocker arm 4s 21; fork 422 and connecting rod 423 and two cover oscillating cylinders 411, be symmetrically distributed in the both sides of frame 1, make the two ends of cleaning agency 2 stressed evenly; the efficient that raising is cleaned is cleaned on the last plane of can logarithm arranging the plural piece adobe of every row.
See figures.1.and.2, clamping device 3 comprises line slideway mechanism 31 and several grip unit 32, is five grip unit 32 shown in the figure.Five grip unit 32 of clamping device 3 are suspended on the below of frame 1 by line slideway mechanism 31.Line slideway mechanism 31 comprises that two line slideways 311 and 312, two line slideways 311 of several slide blocks are fixed on the below of frame 1, and slide block 312 slides on line slideway 311.Each grip unit 32 has a crossbeam 321, and crossbeam 321 is fixedlyed connected with each slide block 312 on two line slideways 311 respectively, and grip unit 32 is suspended on the line slideway 311 by slide block 312.The crossbeam 321 that is positioned at the grip unit 32 in centre position can be fixedlyed connected with frame 1.The crossbeam 321 of adjacent grip unit 32 connects by position-limit mechanism 33, close up driving mechanism 34 and be fixed on frame 1 below, while is connected with two grip unit 32 that five grip unit 32 are positioned at the outer end, drive grip unit 32 and move on line slideway 311, position-limit mechanism 33 drives all the other and does not move on line slideway 311 with the grip unit 32 that frame 1 is fixed.
See figures.1.and.2, grip unit 32 comprises crossbeam 321, tong 322, gripper cylinder 323 and connecting rod 325, the lower side of tong 322 has clamping face 3221, tong 322 tops and crossbeam 321 that two clamping faces 3221 are relative are hinged, and two tongs, 322 middle parts are hinged with gripper cylinder 323 and connecting rod 325 respectively.Gripper cylinder 323 is connected by the adjusting rod 324 that two ends have screw thread with connecting rod 325; Plural number to tong 322 and crossbeam 321 hinged after, every pair of tong is connected by gripper cylinder 323, connecting rod 325 and adjusting rod 324 has again formed a grip unit 32 jointly, the two ends thread rotary orientation of adjusting rod 324 is opposite.
Like this, when gripper cylinder 323 enters compressed air, when piston rod stretches out, the 322 relative 3221 pairs of adobes of clamping face of two tongs are relaxation states, in the time of in piston rod is withdrawn cylinder, the 322 relative 3221 pairs of adobes of clamping face of two tongs are clamped conditions, when two tongs, 322 relative clamping faces 3221 are relaxation states, the face that is held 3221 spacings of clamping face 3221 and adobe exist when excessive or too small, regulate the gap that clamping face 3221 and adobe are held face by rotation adjusting rod 324, when in the piston rod withdrawal cylinder, the 322 relative 3221 pairs of adobes of clamping face of two tongs apply clamping force, clamp adobe, adjusting rod 324 two ends thread rotary orientations are opposite, positive and reverse return modulation pole 324, and two relative clamping faces 3221 will draw in and separate, simple in structure, operation is very easy in adjusting.
With reference to Fig. 1, Fig. 2 and Fig. 3, position-limit mechanism 33 comprises limiting plate 331 and stop screw 332, limiting plate 331 two ends respectively have a kidney slot hole 3311, stop screw 332 slides in kidney slot hole 3311, adjacent two crossbeams 321 are provided with two limiting plates 331, two limiting plates 331 are symmetrically distributed in the two ends of crossbeam 321, fixedly connected with the crossbeam 321 of grip unit 32 in the kidney slot hole 3311 that stop screw 332 passes limiting plate 331, the crossbeam 321 of grip unit 32 positions by limiting plate 331 and stop screw 332.
See figures.1.and.2, close up driving mechanism 34 and comprise that two are closed up cylinder 341, two are closed up on the vertical direction of below that cylinder 341 symmetries are fixed on frame 1 and grip unit 32, and two piston rods that close up cylinder 341 are fixedlyed connected with the crossbeam 321 that five grip unit 32 are positioned at outermost grip unit 32 respectively.
Gapped between the adobe that suppresses because of brick machine, no gap could guarantee the piled bricks reality that sign indicating number goes out between every adobe of needs when the piling adobe, be difficult for collapsing, like this, when entering, compressed air closes up cylinder 341, when two piston rods that close up cylinder 341 stretch out simultaneously, driving outermost grip unit 32 moves, outermost grip unit 32 drives its adjacent grip unit 32 by limiting plate 331 and stop screw 332 and moves, make the spacing of each grip unit 32 identical at last, identical with the spacing between the adobe that brick machine suppresses, when manipulator enters brick machine inside, a plurality of grip unit 32 are corresponding with a plurality of adobes, after grip unit 32 clamps adobes, compressed air enters and closes up cylinder 341, two piston rods that close up cylinder 341 are withdrawn simultaneously, drive outermost grip unit 32 and draw in to the centre, fit until the adobe face of adjacent two grip unit 32 clampings, adobe face was fitted when adobe was piled up on steam-cured car, and piled bricks is difficult for collapsing.
The cleaning agency of manipulator and the course of work of clamping device are as follows:
When brick machine during at pressing unfired brick, the cleaning of manipulator and clamping device are parked in the outside of brick machine, wobble drive mechanism 41 drives two cover Rocker arm 4s 21 of swing mechanism 42, fork 422 and connecting rod 423 are to turning down, thereby make cleaning agency 2 be in the limit inferior position, the grip unit 32 of closing up cylinder 341 drivings two outsides moves, grip unit 32 makes under limiting plate 331 and stop screw 332 spacing that spacing is in the greatest limit position between the grip unit 32, the spacing of this moment is consistent with the adobe spacing that brick machine suppresses, and gripper cylinder 323 drives connecting rod 325 makes two clamping faces, 3221 relative tongs 322 be in open configuration with adjusting rod 324 two ends.After brick machine is pressed into adobe, the cleaning of manipulator and clamping device enter the inside of brick machine, the cleaning of manipulator and clamping device are entering time the state before still keeping entering of brick machine, the hairbrush 21 of cleaning agency 2 is in the limit inferior position, residual material to the upper surface of adobe cleans, behind the inside that the cleaning and the clamping device of manipulator enters brick machine, cylinder 411 drives two cover Rocker arm 4s 21 of swing mechanism 42, fork 422 and upwards revolution of connecting rod 423, thereby make cleaning agency 2 be in the limes superiors position, the cleaning of manipulator and clamping device integral body move down, grip unit 32 enters in the brick machine repressed brick base, gripper cylinder 323 drives connecting rods 325 and with adjusting rod 324 two ends two clamping faces, 3221 relative tongs 322 is in to close up state, clamping is carried out in adobe, then, the cleaning of manipulator and clamping device clamping adobe integral body are outwards lifted and are moved, the grip unit 32 of closing up cylinder 341 drivings two outsides moves, grip unit 32 makes under limiting plate 331 and stop screw 332 spacing that spacing is in the least limit position between the grip unit 32, adobe is contacted, the cleaning of manipulator and clamping device go out the adobe integral retaining that each brick machine suppresses, and pile up on steam-cured car, after piling up once, the cleaning of manipulator and clamping device are got back to the outside of brick machine, cleaning agency 2, clamping device 3 and swing lifting mechanism 4 return to initial position, wait for the circulation of clamping next time and piling.
Claims (9)
1. the manipulator of a stacking machine, comprise frame (1), cleaning agency (2) and clamping device (3), cleaning agency (2) is made up of hairbrush (21) and tracheae (22), clamping device (3) is arranged on frame (1) below, it is characterized in that: also comprise swing lifting mechanism (4), swing lifting mechanism (4) comprises wobble drive mechanism (41) and swing mechanism (42), wobble drive mechanism (41) is hinged with swing mechanism (42), wobble drive mechanism (41) and swing mechanism (42) are hinged with frame (1) respectively, cleaning agency (2) is fixedlyed connected with swing mechanism (42), when swing mechanism (42) is positioned at the limit inferior position, the lower surface of hairbrush (21) is lower than the lower surface of clamping device (3), when cleaning agency (2) was positioned at the limes superiors position, the lower surface of hairbrush (21) was higher than the lower surface of clamping device (3).
2. the manipulator of a kind of stacking machine shown in claim 1, it is characterized in that: described swing mechanism (42) comprises two cover rocking arm (421), fork (422) and connecting rods (423); rocking arm (421), fork (422) and connecting rod (423) are symmetrically distributed in the both sides of frame (1); an end of rocking arm (421) and fork (422) is hinged with frame (1) respectively; the other end and the connecting rod (423) of rocking arm (421) and fork (422) are hinged, and two connecting rods (423) of symmetry are fixedlyed connected with the two ends of cleaning agency (2) simultaneously.
3. the manipulator of a kind of stacking machine shown in claim 2, it is characterized in that: described rocking arm (421) is a kind of V-structure, the summit of V-type and frame (1) are hinged, and two other end points of V-type is hinged with connecting rod (423) and wobble drive mechanism (41) respectively.
4. the manipulator of a kind of stacking machine shown in claim 1, it is characterized in that: described wobble drive mechanism (41) is two cover cylinders (411), two cover cylinder (411) symmetries are horizontally disposed on frame (1), one end of cylinder (411) and frame (1) are hinged, and the other end and rocking arm (421) are hinged.
5. the manipulator of a kind of stacking machine shown in claim 1, it is characterized in that: described clamping device (3) comprises line slideway mechanism (31) and grip unit (32), grip unit (32) is suspended on the below of frame (1) by line slideway mechanism (31), the crossbeam (321) of adjacent grip unit (32) connects by position-limit mechanism (33), and the two ends that close up driving mechanism (34) are connected with two grip unit (32) that are positioned at the outer end.
6. the manipulator of a kind of stacking machine shown in claim 5, it is characterized in that: described grip unit (32) comprises crossbeam (321), tong (322), gripper cylinder (323) and connecting rod (325), tong (322) top and crossbeam (321) are hinged, and the middle part of the tong (322) that two clamping faces (3221) are relative is hinged with gripper cylinder (323) and connecting rod (325) respectively.
7. the manipulator of a kind of stacking machine shown in claim 6, it is characterized in that: described gripper cylinder (323) is connected by the adjusting rod (324) that two ends have screw thread with connecting rod (325), and the two ends thread rotary orientation of adjusting rod (324) is opposite.
8. the manipulator of a kind of stacking machine shown in claim 5, it is characterized in that: described position-limit mechanism (33) comprises limiting plate (331) and stop screw (332), limiting plate (331) two ends respectively have a kidney slot hole (3311).
9. the manipulator of a kind of stacking machine shown in claim 5, it is characterized in that: the described driving mechanism (34) that closes up comprises that two are closed up cylinder (341), two are closed up on the direction vertical with grip unit (32) of below that cylinder (341) symmetry is fixed on frame (1), and two piston rods that close up cylinder (341) are fixedlyed connected with the crossbeam that is positioned at outermost grip unit (32) (321).
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| CN2010105583249A CN102069530B (en) | 2010-11-25 | 2010-11-25 | Manipulator of stacker crane |
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| CN2010105583249A CN102069530B (en) | 2010-11-25 | 2010-11-25 | Manipulator of stacker crane |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102502269A (en) * | 2011-09-30 | 2012-06-20 | 洛阳中冶重工机械有限公司 | Stacking method for green bricks and stacking device for green bricks |
| CN102874605A (en) * | 2012-09-12 | 2013-01-16 | 马鞍山科达机电有限公司 | Trapezoid stacking device of stacker crane |
| CN103433931A (en) * | 2013-08-16 | 2013-12-11 | 洛阳中冶重工机械有限公司 | Green brick clamping component |
| CN104227840A (en) * | 2014-09-22 | 2014-12-24 | 东莞信柏结构陶瓷有限公司 | Ceramic product preparation device and ceramic product preparation method |
| CN105084042A (en) * | 2015-09-02 | 2015-11-25 | 洛阳中冶重工机械有限公司 | Automatic post-brick-unloading grouping and loading device and technology for baked bricks |
| CN105599986A (en) * | 2015-10-23 | 2016-05-25 | 佛山市加倍达机械设备有限公司 | High-speed tile loading device for ceramic tile packaging line |
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| CN108327046A (en) * | 2018-04-02 | 2018-07-27 | 山东银蕨智能科技有限公司 | A kind of automatic brick-clamping mechanical hand of fire resisting brick adobe brick pressing device |
| CN108527356A (en) * | 2018-06-06 | 2018-09-14 | 重庆卓工科技有限公司 | A kind of adobe chucking device |
| CN108527635A (en) * | 2018-06-21 | 2018-09-14 | 河南省众邦伟业科技有限公司 | A kind of concrete foamed bricks machining production line |
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| CN102502269A (en) * | 2011-09-30 | 2012-06-20 | 洛阳中冶重工机械有限公司 | Stacking method for green bricks and stacking device for green bricks |
| CN102874605A (en) * | 2012-09-12 | 2013-01-16 | 马鞍山科达机电有限公司 | Trapezoid stacking device of stacker crane |
| CN102874605B (en) * | 2012-09-12 | 2014-09-24 | 安徽科达机电有限公司 | Trapezoid stacking device of stacker crane |
| CN103433931B (en) * | 2013-08-16 | 2016-05-11 | 洛阳中冶重工机械有限公司 | A kind of clamp assemblies of adobe |
| CN103433931A (en) * | 2013-08-16 | 2013-12-11 | 洛阳中冶重工机械有限公司 | Green brick clamping component |
| CN104227840B (en) * | 2014-09-22 | 2016-08-24 | 东莞信柏结构陶瓷股份有限公司 | Ceramic preparation facilities and ceramic preparation method |
| CN104227840A (en) * | 2014-09-22 | 2014-12-24 | 东莞信柏结构陶瓷有限公司 | Ceramic product preparation device and ceramic product preparation method |
| CN105084042A (en) * | 2015-09-02 | 2015-11-25 | 洛阳中冶重工机械有限公司 | Automatic post-brick-unloading grouping and loading device and technology for baked bricks |
| CN105599986A (en) * | 2015-10-23 | 2016-05-25 | 佛山市加倍达机械设备有限公司 | High-speed tile loading device for ceramic tile packaging line |
| CN107059686A (en) * | 2017-01-05 | 2017-08-18 | 芜湖铭知识产权咨询有限公司 | Bore clamping manipulator in a kind of road |
| CN107059686B (en) * | 2017-01-05 | 2019-03-29 | 李威 | A kind of road cone clamping manipulator |
| CN106672313A (en) * | 2017-02-17 | 2017-05-17 | 湖南傲派自动化设备有限公司 | Casing clamp |
| CN108327046A (en) * | 2018-04-02 | 2018-07-27 | 山东银蕨智能科技有限公司 | A kind of automatic brick-clamping mechanical hand of fire resisting brick adobe brick pressing device |
| CN108527356A (en) * | 2018-06-06 | 2018-09-14 | 重庆卓工科技有限公司 | A kind of adobe chucking device |
| CN108527635A (en) * | 2018-06-21 | 2018-09-14 | 河南省众邦伟业科技有限公司 | A kind of concrete foamed bricks machining production line |
| CN111717696A (en) * | 2019-03-22 | 2020-09-29 | 罗普伺达有限公司 | Clamping device for film for display panel |
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| CN102069530B (en) | 2013-09-18 |
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