CN103964017A - Packaging robot for steel strip assembly line - Google Patents
Packaging robot for steel strip assembly line Download PDFInfo
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- CN103964017A CN103964017A CN201310025966.6A CN201310025966A CN103964017A CN 103964017 A CN103964017 A CN 103964017A CN 201310025966 A CN201310025966 A CN 201310025966A CN 103964017 A CN103964017 A CN 103964017A
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Abstract
The invention relates to a packaging robot for a steel strip assembly line. The packaging robot comprises a machine frame and a steel strip, wherein the steel strip is arranged on the upper side of the machine frame and transversely penetrates through the machine frame; a counting and separating device, a queuing and collating device, a bag-taking device, a clamping device and a grabbing device are sequentially arranged on the machine frame; the machine frame is located on one side of the steel strip and a bag box is arranged in a position adjacent to the clamping device; the bag-taking device can traverse between the bag box and the clamping device; the grabbing device is arranged above the steel strip; the grabbing device can traverse between the queuing and collate device and the clamping device. According to the invention, the packaging robot is adopted to replace manual packaging; the packaging robot can automatically adapt to the speed of the steel strip assembly line; the packaging and counting are accurate and the packaging is uniform; moreover, the production efficiency of factories, the finished product ratio, as well as the accuracy of measurement can be further greatly improved. Therefore, the production development of enterprises can be promoted.
Description
Technical field
The present invention relates to a kind of packaging system, relate in particular to the packaging robot of a kind of use on steel band conveyor line.
Background technology
Steel band conveyor line be a kind of steel band of usining continuous operation as carrier, product is carried out to PROCESS FOR TREATMENT at different operation positions, finally finished product is unloaded to the flow production line getting off.Steel band conveyor line is in hardware stamping industry, electroplating industry, and heat treatment industry, the application of the industries such as surface treatment is all very general, and the wherein production of hair clip is a very typical steel band flow production line.At present, the unloading packing work of the hair clip on steel band conveyor line is all by manually completing, and this manner of packing not only production efficiency is not high, and the cost of labor of using is higher, is unfavorable for the production development of enterprise.
Summary of the invention
The present invention seeks to provide in order to overcome the deficiencies in the prior art the steel band conveyor line packaging robot of a kind of use on steel band conveyor line.
For achieving the above object, the technical solution used in the present invention is: a kind of steel band conveyor line packaging robot, comprise frame and steel band, and described steel band is arranged on the upside of frame, and crosses frame; In described frame, be disposed with counting separating device, queuing collating unit, bag taking device, holding device and grabbing device; Described frame arranges marsupial box in a side of steel band the position adjacent with holding device, and described bag taking device can move around between bag box and holding device; Described grabbing device is arranged on the top of steel band, and described grabbing device can move around between queuing collating unit and holding device.
Preferably, described counting separating device comprises mainboard, T shape plate, cap ned, the first cylinder, the first baffle plate, the second cylinder, the first connecting panel, the 3rd cylinder, second baffle, the first tablet and the first opto-electronic pickup; The diagonal line two ends of described mainboard are fixed with T shape plate and cap ned, and T shape plate and cap ned are arranged on the both sides of steel band; The medial surface of described T shape plate is fixed with the first cylinder in the axial direction; The expansion link portion of described the first cylinder is connected with the first baffle plate; Described cap ned is being fixed with the second cylinder in the radial direction; The push rod portion of described the second cylinder is connected with the 3rd cylinder by the first connecting panel, and described the 3rd cylinder is arranged on the axial direction of the first connecting panel regularly; The expansion link portion of described the 3rd cylinder is connected with second baffle; Described second baffle and the first baffle plate are lived apart in the both sides of steel band stragglyly; The midway location place of described mainboard between the first cylinder and the 3rd cylinder is provided with the first tablet, and is fixed with the first opto-electronic pickup on described the first tablet.
Preferably, described queuing collating unit comprises main L plate, secondary L plate, the first guide-rail plate, four-cylinder, the 3rd baffle plate, the second tablet, the second opto-electronic pickup, bent plate, the first twin shaft cylinder and top clamping plate; Described main L plate and secondary L plate are arranged in frame regularly, and the separation of described main L plate and secondary L plate is in the both sides of steel band; In the axial direction one of described main L plate is fixed with the first guide-rail plate, in the radial direction one, is connected with four-cylinder; The expansion link portion of described four-cylinder is connected with the 3rd baffle plate, and described the 3rd baffle plate can move axially on the first guide-rail plate; The top of described secondary L plate is fixed with the second tablet; Described the second tablet and the first guide-rail plate are respectively arranged with the second opto-electronic pickup in conplane position; Described bent plate is fixed in frame, and is arranged on the downside of main L plate and secondary L plate; Described bent plate is fixed with the first twin shaft cylinder in the radial direction one; The push rod portion of described the first twin shaft cylinder is connected with top clamping plate, and described top clamping plate are arranged on the below of steel band.
Preferably, described bag taking device comprises double-axle sliding cylinder, and the 5th cylinder, the second connecting panel and sucker move around between the bag box that described double-axle sliding cylinder can be in frame and holding device; The upper surface of described double-axle sliding cylinder is fixed with the 5th cylinder, and the expansion link portion of described the 5th cylinder is connected with sucker by the second connecting panel.
Preferably, described holding device comprises whole plate, clamp pawl, adjustable support, pushes away and hold plate, moving jaw and the second twin shaft cylinder, and described whole plate is arranged in frame regularly, and a side of described whole plate is fixed with clamp pawl; The opposite side of described whole plate is provided with adjustable support, and described adjustable support can be done the movement with respect to clamp pawl on the length direction of described whole plate; The upside of described adjustable support is fixed with the second twin shaft cylinder; The cylinder body portion of described the second twin shaft cylinder is held plate and is connected with pushing away by the first interior hexagonal cylindrical screw; The expansion link portion of described twin shaft cylinder fixes by the second interior hexagonal cylindrical screw and moving jaw, and described moving jaw is arranged on and pushes away the below of holding plate.
Preferably, described grabbing device comprise that second pair of oil cylinder, parallel jaw, the 6th cylinder, the 7th cylinder, secondary are pawled, upper and lower jaw and the second guide-rail plate; Between the queuing collating unit that described second pair of oil cylinder can be provided with in frame and holding device, move around; The push rod portion of described second pair of oil cylinder is fixedly connected with a side of parallel jaw by the 3rd connecting panel; The opposite side of described parallel jaw is fixedly connected with upper and lower jaw by screw; Described the 6th cylinder and the 7th cylinder are arranged on the both sides of the support that parallel jaw is provided with symmetrically; The expansion link portion of the expansion link portion of described the 6th cylinder and the 7th cylinder is arranged in same level, and pawls and be connected with secondary; Described secondary is pawled and is arranged on the lateral surface top of upper and lower jaw; Described upper and lower jaw is provided with some the second guide-rail plates in the position of lateral surface bottom, and the claw that described the second guide-rail plate and secondary are pawled is lived apart on the lateral surface of upper and lower jaw stragglyly.
Due to the utilization of technique scheme, the present invention compared with prior art has following advantages:
The present invention program's steel band conveyor line packaging robot, owing to being disposed with counting separating device, queuing collating unit, bag taking device, holding device and grabbing device in described frame; Described frame arranges marsupial box in a side of steel band the position adjacent with holding device, and described bag taking device can move around between bag box and holding device; Described grabbing device is arranged on the top of steel band, and described grabbing device can move around between queuing collating unit and holding device.Steel band conveyor line of the present invention has replaced packing manually with packaging robot, not only can automatically adapt to the speed of steel band conveyor line, and accurately, packing is neat for packing counting; But also can significantly improve the production efficiency of factory, and improve the yield rate of product, improve the accuracy of metering; The production development of promoting enterprise.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, technical solution of the present invention is described further:
Accompanying drawing 1 is the front view of packaging robot for steel band conveyor line of the present invention;
Accompanying drawing 2 is the right elevation of packaging robot for steel band conveyor line of the present invention;
Accompanying drawing 3 is the birds-eye view of packaging robot for steel band conveyor line of the present invention;
Accompanying drawing 4 is the birds-eye view of the counting separating device of packaging robot for steel band conveyor line of the present invention;
Accompanying drawing 5 is the structural representation of the queuing collating unit of packaging robot for steel band conveyor line of the present invention;
Accompanying drawing 6 is the structural representation of the bag taking device of packaging robot for steel band conveyor line of the present invention;
Accompanying drawing 7 is the structural representation of the holding device of packaging robot for steel band conveyor line of the present invention;
Accompanying drawing 8 be steel band conveyor line of the present invention with the grabbing device of packaging robot front view;
Accompanying drawing 9 be steel band conveyor line of the present invention with the grabbing device of packaging robot right elevation;
Wherein: 1, frame; 2, steel band; 3, counting separating device; 4, queuing collating unit; 5, bag taking device; 6, holding device; 7, grabbing device; 8, bag box; 9, mainboard; 10, T shape plate; 11, cap ned; 12, the first cylinder; 13, the first baffle plate; 14, the second cylinder; 15, the first connecting panel; 16, the 3rd cylinder; 17, second baffle; 18, the first tablet; 19, the first opto-electronic pickup; 20, main L plate; 21, secondary L plate; 22, the first guide-rail plate; 23, four-cylinder; 24, the 3rd baffle plate; 25, the second tablet; 26, the second opto-electronic pickup; 27, bent plate; 28, the first twin shaft cylinder; 29, top clamping plate; 30, double-axle sliding cylinder; 31, the 5th cylinder; 32, the second connecting panel; 33, sucker; 34, whole plate; 35, clamp pawl; 36, adjustable support; 37, push away and hold plate; 38, moving jaw; 39, twin shaft cylinder; 40, the first interior hexagonal cylindrical screw; 41, the second interior hexagonal cylindrical screw; 42, second pair of oil cylinder; 43, parallel jaw; 44, the 6th cylinder; 45, the 7th cylinder; 46, secondary is pawled; 47, upper and lower jaw; 48, the second guide-rail plate; 49, the 3rd connecting panel; 50, support; 51, hair clip.
The specific embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Of the present invention a kind of steel band conveyor line packaging robot as described in accompanying drawing, comprises frame 1 and steel band 2, and described steel band 2 is arranged on the upside of frame 1, and crosses frame 1; In described frame 1, be disposed with counting separating device 3, queuing collating unit 4, bag taking device 5, holding device 6 and grabbing device 7; Described frame 1 arranges marsupial box 8 in a side of steel band 2 position adjacent with holding device 6, and described bag taking device 5 can move around between bag box 8 and holding device 6; Described grabbing device 7 is arranged on the top of steel band 2, and described grabbing device 7 can move around between queuing collating unit 6 and holding device 6.
Described counting separating device 3 comprises mainboard 9, T shape plate 10, cap ned 11, the first cylinder 12, the first baffle plate 13, the second cylinder 14, the first connecting panel 15, the 3rd cylinder 16, second baffle 17, the first tablet 18 and the first opto-electronic pickup 19; The diagonal line two ends of described mainboard 9 are fixed with T shape plate 10 and cap ned 11, and T shape plate 10 and cap ned 11 are arranged on the both sides of steel band 2; The medial surface of described T shape plate 10 is fixed with the first gas 12 in the axial direction; The expansion link portion of described the first cylinder 12 is connected with the first baffle plate 13; Described cap ned 11 is being fixed with the second cylinder 14 in the radial direction; The push rod portion of described the second cylinder 14 is connected with the 3rd cylinder 16 by the first connecting panel 15, and described the 3rd cylinder 16 is arranged on the axial direction of the first connecting panel 15 regularly; The expansion link portion of described the 3rd cylinder 16 is connected with second baffle 17; Described second baffle 17 and the first baffle plate 13 are lived apart in the both sides of steel band 2 stragglyly; The midway location place of described mainboard 1 between the first cylinder 12 and the 3rd cylinder 14 is provided with the first tablet 18, and is fixed with the first opto-electronic pickup 19 on described the first tablet 18.
Described queuing collating unit 4 comprises main L plate 20, secondary L plate 21, the first guide-rail plate 22, four-cylinder 23, the 3rd baffle plate 24, the second tablet 25, the second opto-electronic pickup 26, bent plate 27, the first twin shaft cylinder 28 and top clamping plate 29; Described main L plate 20 and secondary L plate 21 are arranged in frame 1 regularly, and described main L plate 20 and the both sides of secondary L plate 21 separations at steel band 2; In the axial direction one of described main L plate 20 is fixed with the first guide-rail plate 22, in the radial direction one, is connected with four-cylinder 23; The expansion link portion of described four-cylinder 23 is connected with the 3rd baffle plate 24, and described the 3rd baffle plate 24 can move axially on the first guide-rail plate 21; The top of described secondary L plate 21 is fixed with the second tablet 25; Described the second tablet 25 and the first guide-rail plate 22 are respectively arranged with the second opto-electronic pickup 26 in conplane position; Described bent plate 27 is fixed in frame 1, and is arranged on the downside of main L plate 20 and secondary L plate 21; Described bent plate 27 is fixed with the first twin shaft 28 in the radial direction one; The push rod portion of described the first twin shaft cylinder 28 is connected with top clamping plate 29, and described top clamping plate 29 are arranged on the below of steel band 2.
Described bag taking device 5 comprises double-axle sliding cylinder 30, the five cylinders 31, the second connecting panel 32 and sucker 33, between the bag box 8 that described double-axle sliding cylinder 30 can be in frame 1 and holding device 5, moves around; The upper surface of described double-axle sliding cylinder 30 is fixed with the 5th cylinder 31, and the expansion link portion of described the 5th cylinder 31 is connected with sucker 33 by the second connecting panel 32.
Described holding device 6 comprises whole plate 34, clamp pawl 35, adjustable support 36, pushes away and hold plate 37, moving jaw 38 and the second twin shaft gas 39, and described whole plate 34 is arranged in frame 1 regularly, and a side of described whole plate 34 is fixed with clamp pawl 35; The opposite side of described whole plate 34 is provided with adjustable support 36 and is arranged on, and described adjustable support 36 can be done the movement with respect to clamp pawl 35 on the length direction of described whole plate 1; The upside of described adjustable support 36 is fixed with the second twin shaft gas 39; The cylinder body portion of described the second twin shaft cylinder 39 is held plate 37 and is connected with pushing away by the first interior hexagonal cylindrical screw 40; The expansion link portion of described twin shaft gas 39 fixes with moving jaw 38 by the second interior hexagonal cylindrical screw 41, and described moving jaw 38 is arranged on and pushes away the below of holding plate 37.
Described grabbing device 7 comprises that second pair of oil cylinder 42, parallel jaw 43, the 6th cylinder 44, the 7th cylinder 45, secondary pawl 46, upper and lower jaw 47 and the second guide-rail plate 48; Between the queuing collating unit 6 that described second pair of oil cylinder 42 can be provided with in frame 1 and holding device 6, move around; The push rod portion of described second pair of oil cylinder 42 is fixedly connected with a side of parallel jaw 43 by the 3rd connecting panel 49; The opposite side of described parallel jaw 43 is fixedly connected with upper and lower jaw 47 by screw (not shown); Described the 6th cylinder 44 and the 7th cylinder 45 are arranged on the both sides of the support 50 that parallel jaw 43 is provided with symmetrically; The expansion link portion of the expansion link portion of described the 6th cylinder 44 and the 7th cylinder 45 is arranged in same level, and pawls and 46 be connected with secondary; The described secondary 46 lateral surface tops that are arranged on upper and lower jaw 47 of pawling; Described upper and lower jaw 47 is provided with some the second guide-rail plates 48 in the position of lateral surface bottom, and pawl 46 claw of described the second guide-rail plate 48 and secondary is lived apart on the lateral surface of upper and lower jaw 47 stragglyly.
Steel band conveyor line of the present invention uses packaging robot in the process of using, hair clip 51 on steel band 1 is along with steel band 1 transportation is first by counting separating device 3, by counting separating device 3 thereon first when the mating reaction between plate 13 and second baffle 17 the hair clip 51 on steel band 1 according to packing requirements, be organized into standard pitch, standard number, after having acted on, counting separating device 3 sends signal, the collating unit 4 that makes to queue up carries out work, the 3rd baffle plate 24 on queuing collating unit 4 blocks transport the hair clip of putting in order 51 coming along with steel band 2, the device 5 of bag taking is simultaneously drawn out by 33 packaging bags that are placed in bag box 8 of sucker and is placed on holding device 6, and holding device 6 clamps the packaging bag on placing after receiving the signal of packaging bag, then the jaw up and down 47 in grabbing device 7 is just applied on the hair clip 51 that is queued the some that the 3rd baffle plate 24 on collating unit 4 blocks, the top clamping plate 29 of queuing collating unit 4 are pressed onto hair clip 51 top on steel band 2 in grabbing device 7 between the second guide-rail plate 48 on upper and lower jaw 47 and are fixed under the drive of the first twin shaft cylinder 28, grabbing device 7 is transported to the hair clip 51 grabbing in the packaging bag of holding device 6 clampings, by secondary 46 the effect of pawling, the hair clip 51 grabbing on grabbing device 7 is placed in packaging bag, and then completed the packing effect to the hair clip 51 on steel band 2.
Steel band conveyor line of the present invention has replaced packing manually with packaging robot, not only can automatically adapt to the speed of steel band conveyor line, and accurately, packing is neat for packing counting; But also can significantly improve the production efficiency of factory, and improve the yield rate of product, improve the accuracy of metering; The production development of promoting enterprise.
Below be only concrete exemplary applications of the present invention, protection scope of the present invention is not constituted any limitation.All employing equivalents or equivalence are replaced and the technical scheme of formation, within all dropping on rights protection scope of the present invention.
Claims (6)
1. a steel band conveyor line packaging robot, comprises frame and steel band, and described steel band is arranged on the upside of frame, and crosses frame; It is characterized in that: in described frame, be disposed with counting separating device, queuing collating unit, bag taking device, holding device and grabbing device; Described frame arranges marsupial box in a side of steel band the position adjacent with holding device, and described bag taking device can move around between bag box and holding device; Described grabbing device is arranged on the top of steel band, and described grabbing device can move around between queuing collating unit and holding device.
2. steel band conveyor line packaging robot according to claim 1, is characterized in that: described counting separating device comprises mainboard, T shape plate, cap ned, the first cylinder, the first baffle plate, the second cylinder, the first connecting panel, the 3rd cylinder, second baffle, the first tablet and the first opto-electronic pickup; The diagonal line two ends of described mainboard are fixed with T shape plate and cap ned, and T shape plate and cap ned are arranged on the both sides of steel band; The medial surface of described T shape plate is fixed with the first cylinder in the axial direction; The expansion link portion of described the first cylinder is connected with the first baffle plate; Described cap ned is being fixed with the second cylinder in the radial direction; The push rod portion of described the second cylinder is connected with the 3rd cylinder by the first connecting panel, and described the 3rd cylinder is arranged on the axial direction of the first connecting panel regularly; The expansion link portion of described the 3rd cylinder is connected with second baffle; Described second baffle and the first baffle plate are lived apart in the both sides of steel band stragglyly; The midway location place of described mainboard between the first cylinder and the 3rd cylinder is provided with the first tablet, and is fixed with the first opto-electronic pickup on described the first tablet.
3. steel band conveyor line packaging robot according to claim 1, is characterized in that: described queuing collating unit comprises main L plate, secondary L plate, the first guide-rail plate, four-cylinder, the 3rd baffle plate, the second tablet, the second opto-electronic pickup, bent plate, the first twin shaft cylinder and top clamping plate; Described main L plate and secondary L plate are arranged in frame regularly, and the separation of described main L plate and secondary L plate is in the both sides of steel band; In the axial direction one of described main L plate is fixed with the first guide-rail plate, in the radial direction one, is connected with four-cylinder; The expansion link portion of described four-cylinder is connected with the 3rd baffle plate, and described the 3rd baffle plate can move axially on the first guide-rail plate; The top of described secondary L plate is fixed with the second tablet; Described the second tablet and the first guide-rail plate are respectively arranged with the second opto-electronic pickup in conplane position; Described bent plate is fixed in frame, and is arranged on the downside of main L plate and secondary L plate; Described bent plate is fixed with the first twin shaft cylinder in the radial direction one; The push rod portion of described the first twin shaft cylinder is connected with top clamping plate, and described top clamping plate are arranged on the below of steel band.
4. steel band conveyor line packaging robot according to claim 1, it is characterized in that: described bag taking device comprises double-axle sliding cylinder, the 5th cylinder, the second connecting panel and sucker, move around between the bag box that described double-axle sliding cylinder can be in frame and holding device; The upper surface of described double-axle sliding cylinder is fixed with the 5th cylinder, and the expansion link portion of described the 5th cylinder is connected with sucker by the second connecting panel.
5. steel band conveyor line packaging robot according to claim 1, it is characterized in that: described holding device comprises whole plate, clamp pawl, adjustable support, pushes away and hold plate, moving jaw and the second twin shaft cylinder, described whole plate is arranged in frame regularly, and a side of described whole plate is fixed with clamp pawl; The opposite side of described whole plate is provided with adjustable support, and described adjustable support can be done the movement with respect to clamp pawl on the length direction of described whole plate; The upside of described adjustable support is fixed with the second twin shaft cylinder; The cylinder body portion of described the second twin shaft cylinder is held plate and is connected with pushing away by the first interior hexagonal cylindrical screw; The expansion link portion of described twin shaft cylinder fixes by the second interior hexagonal cylindrical screw and moving jaw, and described moving jaw is arranged on and pushes away the below of holding plate.
6. steel band conveyor line packaging robot according to claim 1, is characterized in that: described grabbing device comprises that second pair of oil cylinder, parallel jaw, the 6th cylinder, the 7th cylinder, secondary are pawled, upper and lower jaw and the second guide-rail plate; Between the queuing collating unit that described second pair of oil cylinder can be provided with in frame and holding device, move around; The push rod portion of described second pair of oil cylinder is fixedly connected with a side of parallel jaw by the 3rd connecting panel; The opposite side of described parallel jaw is fixedly connected with upper and lower jaw by screw; Described the 6th cylinder and the 7th cylinder are arranged on the both sides of the support that parallel jaw is provided with symmetrically; The expansion link portion of the expansion link portion of described the 6th cylinder and the 7th cylinder is arranged in same level, and pawls and be connected with secondary; Described secondary is pawled and is arranged on the lateral surface top of upper and lower jaw; Described upper and lower jaw is provided with some the second guide-rail plates in the position of lateral surface bottom, and the claw that described the second guide-rail plate and secondary are pawled is lived apart on the lateral surface of upper and lower jaw stragglyly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310025966.6A CN103964017B (en) | 2013-01-24 | 2013-01-24 | Steel band conveyor line packaging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310025966.6A CN103964017B (en) | 2013-01-24 | 2013-01-24 | Steel band conveyor line packaging robot |
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| Publication Number | Publication Date |
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| CN103964017A true CN103964017A (en) | 2014-08-06 |
| CN103964017B CN103964017B (en) | 2016-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310025966.6A Active CN103964017B (en) | 2013-01-24 | 2013-01-24 | Steel band conveyor line packaging robot |
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| CN (1) | CN103964017B (en) |
Cited By (6)
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| CN104003002A (en) * | 2013-02-26 | 2014-08-27 | 张家港市瑞昌智能机器系统有限公司 | Production process step of hairpin packaging robot |
| CN106005513A (en) * | 2016-07-18 | 2016-10-12 | 西安科技大学 | Device for placing finished ballast into packaging box |
| CN106081225A (en) * | 2016-07-25 | 2016-11-09 | 杭州电子科技大学 | Reel core type headband packer |
| CN111232618A (en) * | 2020-03-26 | 2020-06-05 | 张家港市瑞昌智能机器系统有限公司 | Extruding mechanism for waste hair clip |
| CN111284744A (en) * | 2020-03-26 | 2020-06-16 | 张家港市瑞昌智能机器系统有限公司 | Rotary manipulator |
| CN111572877A (en) * | 2020-06-08 | 2020-08-25 | 上海仕泽智能科技有限公司 | Half-open box carrying seat device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111232618A (en) * | 2020-03-26 | 2020-06-05 | 张家港市瑞昌智能机器系统有限公司 | Extruding mechanism for waste hair clip |
| CN111284744A (en) * | 2020-03-26 | 2020-06-16 | 张家港市瑞昌智能机器系统有限公司 | Rotary manipulator |
| CN111572877A (en) * | 2020-06-08 | 2020-08-25 | 上海仕泽智能科技有限公司 | Half-open box carrying seat device |
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|---|---|
| CN103964017B (en) | 2016-04-27 |
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