CN104786214A - Full-automatic bidirectional stacker robot - Google Patents
Full-automatic bidirectional stacker robot Download PDFInfo
- Publication number
- CN104786214A CN104786214A CN201510174021.XA CN201510174021A CN104786214A CN 104786214 A CN104786214 A CN 104786214A CN 201510174021 A CN201510174021 A CN 201510174021A CN 104786214 A CN104786214 A CN 104786214A
- Authority
- CN
- China
- Prior art keywords
- rod
- screw
- full
- driven gear
- driving gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention relates to a full-automatic bidirectional stacker robot which comprises a base. The base is rotatably connected with a gear disc, a propelling screw rod which is meshed with the gear disc and can drive the gear disc to rotate is arranged at the position, on one side of the gear disc, of the base, a lifting lead screw and a stand column with a lifting sliding rail are vertically arranged on the gear disc, the lifting lead screw is in thread fit with a telescopic cross arm, a horizontal movement sliding rail and a horizontal movement lead screw are arranged on the telescopic cross arm in parallel, the horizontal movement lead screw is in thread fit with a sliding block, the front end of the sliding block is connected with a supporting plate, the supporting plate is rotatably connected with a driven gear I and a driving gear I, the upper portion of the driven gear I is fixedly connected with a rotary arm, a holder is arranged at the front end of the rotary arm, the screw rod, the lifting lead screw, the horizontal movement lead screw and the driving gear I are connected with a drive motor, and the drive motor is in signal connection with a controller. The full-automatic bidirectional stacker robot has the advantages of being simple in structure and free of manual assistance, improving production efficiency and lowering production cost.
Description
Technical field
The present invention relates to a kind of full-automatic bidirectional robot palletizer.
Background technology
Robot palletizer is used in industrial processes the class industrial robot of the task such as crawl, carrying, piling, de-stacking performing workpiece in enormous quantities, package, is the high-new electronic product integrating the subjects such as machinery, electronics, information, intellectual technology, computer science.Along with the development of robot of China industry, technology and research field reach certain level, and robot palletizer technical merit have also been obtained fast development.In industrial production line normal use robot to replace manpower by load-carrying carrying and proper alignment on goods plate.Now general robot palletizer only can complete the piling in a workpiece direction, and piling efficiency is low, takes up room larger.
Along with the development of technology, robot transport palletizing technology importance in the industry more and more highlights.The vitals of robot palletizer tool equipment is clamper, and different clampers can produce different efficiency and reliability in the application.In prior art, traditional clamper, by arranging brake pad at cleat surface, by servomotor and decelerator setting clamping dynamics, makes the brake pad on clamping plate increase the frictional force of article and both sides clamping plate, make article stablize not landing, the safety and reliability of piling are low.
More existing mechanical arm complex structures, volume is large, although versatility is large, specific aim is not good, and when piling meets the tendency, programme-control is complicated, manufactures, processing cost is high; Its bascule is heavier, and institute takes up space large; Installation difficulty is comparatively large, needs repeatedly to debug.Therefore be necessary to be improved.
Summary of the invention
For solving above technical deficiency, the invention provides one and taking up room little, the full-automatic bidirectional robot palletizer that cost ineffective rate is high.
The present invention is achieved by the following measures:
A kind of full-automatic bidirectional robot palletizer of the present invention, comprises pedestal, described pedestal rotates
Be connected with fluted disc, the pedestal of described fluted disc side is provided with and is meshed and the augering screw that can rotate with active toothed disk with fluted disc, described fluted disc is vertically provided with the column of elevating screw and band lifting sliding rail, described elevating screw threaded engagement has the flexible transverse arm that can slide along lifting sliding rail, described flexible transverse arm one end is provided with counterweight, flexible transverse arm is arranged with translation slide rail and translation leading screw in parallel, described translation threads of lead screw is combined with the slide block that can slide along translation slide rail, described slip front is connected with supporting plate, the driving gear I described supporting plate being rotatably connected to driven gear I and being meshed with driven gear I, full wind-up is fixedly connected with above described driven gear I, the front end of described full wind-up is provided with clamper, described screw rod, elevating screw, translation leading screw and driving gear I are all connected with drive motors, described drive motors signal is connected with controller.
Above-mentioned clamper comprises two symmetrical linkages, described linkage comprises master connecting-rod and slave connecting rod, described master connecting-rod and slave connecting rod include two stripe board side by side, Connection Block is rotatably connected between two stripe board upper ends of master connecting-rod, described Connection Block is fixedly connected on the bottom of full wind-up, grip block is connected with between two stripe board lower ends of master connecting-rod, rotating shaft is connected with between two stripe board upper ends of slave connecting rod, and slave connecting rod is connected between two stripe board tops of master connecting-rod by axis of rotation, tractive seat is rotatably connected between two stripe board lower ends of slave connecting rod, described tractive seat is rotatably connected between the slave connecting rod of two linkages, tractive seat center screw thread is installed with tractive screw rod.
Above-mentioned grip block is strip, and be connected to the middle part of grip block between two stripe board lower ends of master connecting-rod by fastening bolt, grip block bottom is outwardly clamping boss, and the surface of described clamping boss is provided with anti-slip veins.
The activity of above-mentioned tractive screw tip passes full wind-up and is connected with driven gear II, and described driven gear II is engaged with driving gear II, and described driving gear II drives and is connected with the clamping motor be connected with controller signals.
Above-mentioned column top is provided with top board, described lifting screw top movable passes top board and is connected with driven gear III, described driven gear III is engaged with driving gear III, described driving gear III is connected with the driving shaft running through top board downwards, and drive motors to be arranged on bottom top board and to be connected with driving shaft.
The invention has the beneficial effects as follows: robot palletizer of the present invention can not only realize mechanical piling to section bar, but also can rotate, thus according to certain row of customer requirement and the number of plies, square crossing piling can be carried out to section bar, not only save piling space like this, and packing effect is also very firm, structure of the present invention is simple, without the need to human assistance, avoids the unexpected injury manually occurred when auxiliary, improve production efficiency, reduce production cost.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is that the present invention stretches the structural representation of transverse arm part.
Fig. 3 is the structural representation of gripper part of the present invention.
Wherein: 1 pedestal, 2 fluted discs, 3 augering screws, 4 columns, 5 elevating screws, 6 flexible transverse arms, 7 translation leading screws, 8 clampers, 9 full wind-ups, 10 slide blocks, 11 top boards, 12 driven gears III, 13 driving gear III, 14 driven gear II, 15 driving gear II, 16 driven gears I, 17 driving gear I, 8-1 master connecting-rods, 8-2 slave connecting rod, 8-3 grip block, 8-4 tractive seat, 8-5 tractive screw rod, 8-6 Connection Block, 8-7 clamps boss.
Detailed description of the invention
Below in conjunction with accompanying drawing, further detailed description is done to the present invention:
As Fig. 1, shown in 2, a kind of full-automatic bidirectional robot palletizer of the present invention, comprise pedestal 1, pedestal 1 is rotatably connected to fluted disc 2, the pedestal 1 of fluted disc 2 side is provided with and is meshed and the augering screw 3 that can rotate with active toothed disk 2 with fluted disc 2, fluted disc 2 is vertically provided with the column 4 of elevating screw 5 and band lifting sliding rail, elevating screw 5 threaded engagement has the flexible transverse arm 6 that can slide along lifting sliding rail, flexible transverse arm 6 one end is provided with counterweight, flexible transverse arm 6 is arranged with translation slide rail and translation leading screw 7 in parallel, translation leading screw 7 threaded engagement has the slide block 10 that can slide along translation slide rail, slide block 10 front end is connected with supporting plate, the driving gear I 17 supporting plate being rotatably connected to driven gear I 16 and being meshed with driven gear I 16, full wind-up 9 is fixedly connected with above driven gear I 16, the front end of full wind-up 9 is provided with clamper 8, screw rod, elevating screw 5, translation leading screw 7 and driving gear I 17 are all connected with drive motors, drive motors signal is connected with controller.Controller can input program, the automatically everything of control robot palletizer.
Column 4 top is provided with top board 11, lifting screw top movable passes top board 11 and is connected with driven gear III 12, driven gear III 12 is engaged with driving gear III 13, driving gear III 13 is connected with the driving shaft running through top board 11 downwards, and drive motors to be arranged on bottom top board 11 and to be connected with driving shaft.Drive motors reduces in bottom and takes up room.
As shown in Figure 3, clamper 8 comprises two symmetrical linkages, linkage comprises master connecting-rod 8-1 and slave connecting rod 8-2, master connecting-rod 8-1 and slave connecting rod 8-2 includes two stripe board side by side, Connection Block 8-6 is rotatably connected between two stripe board upper ends of master connecting-rod 8-1, Connection Block 8-6 is fixedly connected on the bottom of full wind-up 9, grip block 8-3 is connected with between two stripe board lower ends of master connecting-rod 8-1, rotating shaft is connected with between two stripe board upper ends of slave connecting rod 8-2, and slave connecting rod 8-2 is connected between two stripe board tops of master connecting-rod 8-1 by axis of rotation, tractive seat 8-4 is rotatably connected between two stripe board lower ends of slave connecting rod 8-2, tractive seat 8-4 is rotatably connected between the slave connecting rod 8-2 of two linkages, tractive seat 8-4 center screw thread is installed with tractive screw rod 8-5.
Grip block 8-3 is strip, is connected to the middle part of grip block 8-3 between two stripe board lower ends of master connecting-rod 8-1 by fastening bolt, and grip block 8-3 bottom is outwardly clamping boss 8-7, and the surface of clamping boss 8-7 is provided with anti-slip veins.Tractive screw rod 8-5 top movable passes full wind-up 9 and is connected with driven gear II 14, and driven gear II 14 is engaged with driving gear II 15, and driving gear II 15 drives and is connected with the clamping motor be connected with controller signals.
Before robot palletizer starts, flexible transverse arm 6 is positioned at top and is punctured into the shortest, and meanwhile, clamper 8 is in closure state and is located on the same line with the original position picking up goods.
After robot palletizer starts, tractive screw rod 8-5 rotates, and then promotion tractive seat 8-4 moves up, thus under the effect of slave connecting rod 8-2, the master connecting-rod 8-1 of clamper 8 opens, namely grip block 8-3 opens, the slide block 10 of flexible transverse arm 6 travels forward, directly over original position clamper 8 being moved to pick up goods, then start to decline, after dropping to the position of goods, clamper 8 closes, certain altitude is promoted after picking up goods, then fluted disc 2 is at the clockwise under influence 90-degree rotation of augering screw 3, then flexible transverse arm 6 declines, clamper 8 is opened, goods is put down.After this, flexible transverse arm 6 rises to top and is punctured into the shortest, and then fluted disc 2 is rotated counterclockwise 90 degree and gets back to initial position.So far first freight handling is complete.
When initial position got back to by clamper 8, second goods has arrived the original position picking up goods.Robot palletizer repeats a handling process afterwards, and difference is with it, and after fluted disc 2 dextrorotation turn 90 degrees, slide block 10 can micro stretching certain distance forward, makes before second goods be positioned at first goods.So far second freight handling is complete.
When clamper 8 captures the 3rd goods, after fluted disc 2 dextrorotation turn 90 degrees, full wind-up 9 drives clamper 8 dextrorotation to turn 90 degrees, meanwhile, and slide block 10 meeting micro stretching certain distance forward, then, fluted disc 2 is micro-counterclockwise revolves certain angle, makes the 3rd goods be placed on directly over the first two goods, after putting down goods, initial position got back to by flexible transverse arm 6, and full wind-up 9 drives clamper 8 to be rotated counterclockwise 90 degree.So far, the 3rd freight handling is complete.
Clamper 8 captures the process of the 4th goods roughly with the 3rd process, and difference is fluted disc 2, and micro-angle of revolving is slightly large compared with the 3rd process counterclockwise.After initial position got back to by flexible transverse arm 6, the 4th freight handling is complete.So far, the first buttress goods piling is complete, and after transporting the first buttress goods, next process starts.
The above is only the preferred embodiment of this patent; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the art of this patent principle; can also make some improvement and replacement, these improve and replace the protection domain that also should be considered as this patent.
Claims (5)
1. a full-automatic bidirectional robot palletizer, comprises pedestal, it is characterized in that: on described pedestal
Be rotatably connected to fluted disc, the pedestal of described fluted disc side is provided with and is meshed and the augering screw that can rotate with active toothed disk with fluted disc, described fluted disc is vertically provided with the column of elevating screw and band lifting sliding rail, described elevating screw threaded engagement has the flexible transverse arm that can slide along lifting sliding rail, described flexible transverse arm one end is provided with counterweight, flexible transverse arm is arranged with translation slide rail and translation leading screw in parallel, described translation threads of lead screw is combined with the slide block that can slide along translation slide rail, described slip front is connected with supporting plate, the driving gear I described supporting plate being rotatably connected to driven gear I and being meshed with driven gear I, full wind-up is fixedly connected with above described driven gear I, the front end of described full wind-up is provided with clamper, described screw rod, elevating screw, translation leading screw and driving gear I are all connected with drive motors, described drive motors signal is connected with controller.
2. full-automatic bidirectional robot palletizer according to claim 1, it is characterized in that: described clamper comprises two symmetrical linkages, described linkage comprises master connecting-rod and slave connecting rod, described master connecting-rod and slave connecting rod include two stripe board side by side, Connection Block is rotatably connected between two stripe board upper ends of master connecting-rod, described Connection Block is fixedly connected on the bottom of full wind-up, grip block is connected with between two stripe board lower ends of master connecting-rod, rotating shaft is connected with between two stripe board upper ends of slave connecting rod, and slave connecting rod is connected between two stripe board tops of master connecting-rod by axis of rotation, tractive seat is rotatably connected between two stripe board lower ends of slave connecting rod, described tractive seat is rotatably connected between the slave connecting rod of two linkages, tractive seat center screw thread is installed with tractive screw rod.
3. full-automatic bidirectional robot palletizer according to claim 2, it is characterized in that: described grip block is strip, be connected to the middle part of grip block by fastening bolt between two stripe board lower ends of master connecting-rod, grip block bottom is outwardly clamping boss, and the surface of described clamping boss is provided with anti-slip veins.
4. full-automatic bidirectional robot palletizer according to claim 2, it is characterized in that: the activity of described tractive screw tip passes full wind-up and is connected with driven gear II, described driven gear II is engaged with driving gear II, and described driving gear II drives and is connected with the clamping motor be connected with controller signals.
5. full-automatic bidirectional robot palletizer according to claim 1, it is characterized in that: described column top is provided with top board, described lifting screw top movable passes top board and is connected with driven gear III, described driven gear III is engaged with driving gear III, described driving gear III is connected with the driving shaft running through top board downwards, and drive motors to be arranged on bottom top board and to be connected with driving shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510174021.XA CN104786214A (en) | 2015-04-14 | 2015-04-14 | Full-automatic bidirectional stacker robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510174021.XA CN104786214A (en) | 2015-04-14 | 2015-04-14 | Full-automatic bidirectional stacker robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104786214A true CN104786214A (en) | 2015-07-22 |
Family
ID=53551621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510174021.XA Pending CN104786214A (en) | 2015-04-14 | 2015-04-14 | Full-automatic bidirectional stacker robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104786214A (en) |
Cited By (52)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105291098A (en) * | 2015-11-03 | 2016-02-03 | 嘉兴川页奇精密自动化机电有限公司 | Rotation double-arm robot |
| CN105417451A (en) * | 2015-12-29 | 2016-03-23 | 芜湖华强文化科技产业有限公司 | Vehicle body lifter |
| CN105437222A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator |
| CN105798908A (en) * | 2016-04-04 | 2016-07-27 | 合肥博雷电子信息技术有限公司 | Automatic detection intelligent sampling device |
| CN105818142A (en) * | 2016-05-27 | 2016-08-03 | 新昌县城关新胜轴承厂 | Electric object grabbing manipulator |
| CN105883374A (en) * | 2016-06-20 | 2016-08-24 | 建湖恒华机电有限公司 | Corner transporter |
| CN105945934A (en) * | 2016-06-12 | 2016-09-21 | 江苏新光数控技术有限公司 | Three-degree-of-freedom gear transmission manipulator |
| CN106363620A (en) * | 2016-12-09 | 2017-02-01 | 韩喜梅 | Stacking mechanical arm device |
| CN106695322A (en) * | 2016-12-28 | 2017-05-24 | 浙江工业大学 | Star wheel clamping and positioning mechanism of isolator star wheel automatic assembly device |
| CN106826026A (en) * | 2017-04-11 | 2017-06-13 | 湖州佳创自动化科技有限公司 | A kind of transfer clamping device in workpiece welding process between two stations |
| CN107150331A (en) * | 2017-07-13 | 2017-09-12 | 桂林电子科技大学信息科技学院 | Conveying robot car |
| CN107295822A (en) * | 2017-06-09 | 2017-10-27 | 安徽铸星机械制造有限公司 | A kind of translating device of 4 wheel driven cultivator |
| CN107837085A (en) * | 2017-12-09 | 2018-03-27 | 海宁神迹医疗器械有限公司 | A kind of Convenient lifting eeg monitoring device and its method of work |
| CN107853371A (en) * | 2017-09-28 | 2018-03-30 | 贵州梵净山生态农业股份有限公司 | A kind of meat packing production line clamp device control system |
| CN108217216A (en) * | 2018-01-03 | 2018-06-29 | 安溪县雅池茶业有限公司 | A kind of stacking machine with mechanical hand protecting means |
| CN108242210A (en) * | 2018-02-07 | 2018-07-03 | 刘冲 | A kind of special publicity equipment of environmental protection knowledge |
| CN108284295A (en) * | 2018-04-26 | 2018-07-17 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of pipe fitting welding manipulator |
| CN108639791A (en) * | 2018-05-18 | 2018-10-12 | 广西联壮科技股份有限公司 | A kind of power assisting device for loading and unloading bagged material |
| CN108820903A (en) * | 2018-07-21 | 2018-11-16 | 辽宁鑫硕智能机械有限公司 | Color steel plate stacking machine |
| CN108858140A (en) * | 2018-06-27 | 2018-11-23 | 东北大学 | A kind of underloading material transfer robot |
| CN109019047A (en) * | 2018-08-27 | 2018-12-18 | 六安市龙辉文教用品有限责任公司 | A kind of plate palletizing apparatus for pencil processing |
| CN109095194A (en) * | 2018-06-28 | 2018-12-28 | 佛山市川东磁电股份有限公司 | A kind of magnetic element automatic orientation palletizing apparatus |
| CN109089592A (en) * | 2018-06-25 | 2018-12-28 | 邱龙 | A kind of garden shrub species beautification clipping device |
| CN109110683A (en) * | 2018-07-22 | 2019-01-01 | 绿山高科建设科技有限公司 | A kind of construction robot crane |
| CN109367903A (en) * | 2018-11-16 | 2019-02-22 | 镇江市丹徒阳光轴承有限公司 | A kind of packing box position-changing tool |
| CN110255174A (en) * | 2019-07-26 | 2019-09-20 | 林子策 | Mahogany furniture carrying device with mounting structures |
| DE102018107002A1 (en) * | 2018-03-23 | 2019-09-26 | Theegarten-Pactec Gmbh & Co. Kg | Balcony-type packaging machine with a linearly guided robotic arm |
| CN110482242A (en) * | 2019-08-11 | 2019-11-22 | 嘉兴勤慎智能技术有限公司 | A kind of industry robot palletizer |
| CN110642186A (en) * | 2019-09-03 | 2020-01-03 | 镇江市宏业科技有限公司 | Semi-automatic discharging device of rewinding machine |
| CN110748696A (en) * | 2019-10-28 | 2020-02-04 | 曲阜师范大学 | Intelligent remote control device for mine support control valve |
| CN110921570A (en) * | 2018-09-20 | 2020-03-27 | 丰田自动车株式会社 | Conveying device |
| TWI689390B (en) * | 2019-10-28 | 2020-04-01 | 陳逢霖 | Cantilever system of mechanical arm |
| CN110963308A (en) * | 2018-09-28 | 2020-04-07 | 捷普电子(广州)有限公司 | Stacking machine |
| CN111137687A (en) * | 2020-01-22 | 2020-05-12 | 山东交通学院 | Stacking device and stacking method for concrete rectangular groove |
| CN111136635A (en) * | 2019-12-27 | 2020-05-12 | 广东电网有限责任公司 | Archive management robot |
| CN111319987A (en) * | 2020-02-24 | 2020-06-23 | 萧思丽 | Quantitative stacking treatment machine after woven bag forming |
| CN111558841A (en) * | 2020-05-13 | 2020-08-21 | 宁波正元铜合金有限公司 | Hydraulic pressure vibration material disk processingequipment |
| CN111590547A (en) * | 2020-05-26 | 2020-08-28 | 深圳市盛世生物医疗科技有限公司 | Rotary lifting manipulator |
| CN111646226A (en) * | 2020-08-05 | 2020-09-11 | 佛山隆深机器人有限公司 | Pile up neatly conveyer with high stability ability |
| CN111689243A (en) * | 2020-05-07 | 2020-09-22 | 江阴市双平机械有限公司 | Novel hacking machine |
| CN111761578A (en) * | 2020-06-28 | 2020-10-13 | 江苏工程职业技术学院 | Stacking robot and control method thereof |
| CN112297503A (en) * | 2020-09-22 | 2021-02-02 | 刘勇 | Automatic coal slime forming machine with material collecting device |
| CN112476480A (en) * | 2020-11-13 | 2021-03-12 | 河南汇邦智能装备有限公司 | Robot arm capable of automatically feeding and discharging and method thereof |
| CN112499229A (en) * | 2020-11-17 | 2021-03-16 | 曲怡铃 | Single-upright-column plane coordinate mechanical arm on box filling machine |
| CN112757251A (en) * | 2020-12-31 | 2021-05-07 | 南京昱晟机器人科技有限公司 | Intelligent manufacturing industrial robot convenient to operate |
| CN113146597A (en) * | 2021-04-07 | 2021-07-23 | 日达智造科技(如皋)有限公司 | Mechanical arm |
| CN113997263A (en) * | 2021-11-29 | 2022-02-01 | 安徽柳溪智能装备有限公司 | Transfer robot for workpiece transportation |
| CN114261800A (en) * | 2021-12-30 | 2022-04-01 | 焦作力普智能装备有限公司 | Automatic loading equipment |
| CN114476672A (en) * | 2022-03-09 | 2022-05-13 | 扬州欧歌智能科技有限公司 | Multi-station taking and placing equipment |
| CN114538081A (en) * | 2022-03-21 | 2022-05-27 | 卡奥斯工业智能研究院(青岛)有限公司 | Mechanical gripper, stacking robot and stacking system |
| CN114643595A (en) * | 2022-02-23 | 2022-06-21 | 上海篆祁机械设备有限公司 | Mechanical arm for mechanical parts of special-shaped part |
| CN114786866A (en) * | 2021-04-14 | 2022-07-22 | 磐安县科力软管有限公司 | Buckle conveying equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08290382A (en) * | 1995-04-17 | 1996-11-05 | Sony Corp | Sucking device and carrying device |
| US5577414A (en) * | 1993-09-01 | 1996-11-26 | Kabushiki Kaisha Yaskawa Denki | Articulated robot |
| CN201042801Y (en) * | 2007-04-23 | 2008-04-02 | 亚龙科技集团有限公司 | Four-degree of freedom mechanical arm structure |
| CN201198134Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Cylindrical storehouse stacking robot |
| CN102009411A (en) * | 2010-11-11 | 2011-04-13 | 高付生 | Improved manipulator paw |
| CN203697032U (en) * | 2014-02-26 | 2014-07-09 | 温州职业技术学院 | Multi-degree-of-freedom precision manipulator |
-
2015
- 2015-04-14 CN CN201510174021.XA patent/CN104786214A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5577414A (en) * | 1993-09-01 | 1996-11-26 | Kabushiki Kaisha Yaskawa Denki | Articulated robot |
| JPH08290382A (en) * | 1995-04-17 | 1996-11-05 | Sony Corp | Sucking device and carrying device |
| CN201042801Y (en) * | 2007-04-23 | 2008-04-02 | 亚龙科技集团有限公司 | Four-degree of freedom mechanical arm structure |
| CN201198134Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Cylindrical storehouse stacking robot |
| CN102009411A (en) * | 2010-11-11 | 2011-04-13 | 高付生 | Improved manipulator paw |
| CN203697032U (en) * | 2014-02-26 | 2014-07-09 | 温州职业技术学院 | Multi-degree-of-freedom precision manipulator |
Cited By (57)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105291098A (en) * | 2015-11-03 | 2016-02-03 | 嘉兴川页奇精密自动化机电有限公司 | Rotation double-arm robot |
| CN105417451A (en) * | 2015-12-29 | 2016-03-23 | 芜湖华强文化科技产业有限公司 | Vehicle body lifter |
| CN105437222A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator |
| CN105798908A (en) * | 2016-04-04 | 2016-07-27 | 合肥博雷电子信息技术有限公司 | Automatic detection intelligent sampling device |
| CN105818142A (en) * | 2016-05-27 | 2016-08-03 | 新昌县城关新胜轴承厂 | Electric object grabbing manipulator |
| CN105945934A (en) * | 2016-06-12 | 2016-09-21 | 江苏新光数控技术有限公司 | Three-degree-of-freedom gear transmission manipulator |
| CN105883374A (en) * | 2016-06-20 | 2016-08-24 | 建湖恒华机电有限公司 | Corner transporter |
| CN106363620A (en) * | 2016-12-09 | 2017-02-01 | 韩喜梅 | Stacking mechanical arm device |
| CN106695322A (en) * | 2016-12-28 | 2017-05-24 | 浙江工业大学 | Star wheel clamping and positioning mechanism of isolator star wheel automatic assembly device |
| CN106826026B (en) * | 2017-04-11 | 2018-05-29 | 山东华亿钢机股份有限公司 | A kind of transfer clamping device in workpiece welding process between two stations |
| CN106826026A (en) * | 2017-04-11 | 2017-06-13 | 湖州佳创自动化科技有限公司 | A kind of transfer clamping device in workpiece welding process between two stations |
| CN107295822A (en) * | 2017-06-09 | 2017-10-27 | 安徽铸星机械制造有限公司 | A kind of translating device of 4 wheel driven cultivator |
| CN107150331A (en) * | 2017-07-13 | 2017-09-12 | 桂林电子科技大学信息科技学院 | Conveying robot car |
| CN107853371A (en) * | 2017-09-28 | 2018-03-30 | 贵州梵净山生态农业股份有限公司 | A kind of meat packing production line clamp device control system |
| CN107837085A (en) * | 2017-12-09 | 2018-03-27 | 海宁神迹医疗器械有限公司 | A kind of Convenient lifting eeg monitoring device and its method of work |
| CN108217216A (en) * | 2018-01-03 | 2018-06-29 | 安溪县雅池茶业有限公司 | A kind of stacking machine with mechanical hand protecting means |
| CN108217216B (en) * | 2018-01-03 | 2019-08-23 | 安溪县雅池茶业有限公司 | A kind of stacking machine with mechanical hand protecting means |
| CN108242210A (en) * | 2018-02-07 | 2018-07-03 | 刘冲 | A kind of special publicity equipment of environmental protection knowledge |
| DE102018107002A1 (en) * | 2018-03-23 | 2019-09-26 | Theegarten-Pactec Gmbh & Co. Kg | Balcony-type packaging machine with a linearly guided robotic arm |
| CN108284295A (en) * | 2018-04-26 | 2018-07-17 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of pipe fitting welding manipulator |
| CN108639791A (en) * | 2018-05-18 | 2018-10-12 | 广西联壮科技股份有限公司 | A kind of power assisting device for loading and unloading bagged material |
| CN109089592A (en) * | 2018-06-25 | 2018-12-28 | 邱龙 | A kind of garden shrub species beautification clipping device |
| CN108858140A (en) * | 2018-06-27 | 2018-11-23 | 东北大学 | A kind of underloading material transfer robot |
| CN109095194A (en) * | 2018-06-28 | 2018-12-28 | 佛山市川东磁电股份有限公司 | A kind of magnetic element automatic orientation palletizing apparatus |
| CN108820903A (en) * | 2018-07-21 | 2018-11-16 | 辽宁鑫硕智能机械有限公司 | Color steel plate stacking machine |
| CN109110683A (en) * | 2018-07-22 | 2019-01-01 | 绿山高科建设科技有限公司 | A kind of construction robot crane |
| CN109019047A (en) * | 2018-08-27 | 2018-12-18 | 六安市龙辉文教用品有限责任公司 | A kind of plate palletizing apparatus for pencil processing |
| CN110921570A (en) * | 2018-09-20 | 2020-03-27 | 丰田自动车株式会社 | Conveying device |
| CN110963308B (en) * | 2018-09-28 | 2021-11-09 | 捷普电子(广州)有限公司 | Stacking machine |
| CN110963308A (en) * | 2018-09-28 | 2020-04-07 | 捷普电子(广州)有限公司 | Stacking machine |
| CN109367903A (en) * | 2018-11-16 | 2019-02-22 | 镇江市丹徒阳光轴承有限公司 | A kind of packing box position-changing tool |
| CN110255174A (en) * | 2019-07-26 | 2019-09-20 | 林子策 | Mahogany furniture carrying device with mounting structures |
| CN110482242A (en) * | 2019-08-11 | 2019-11-22 | 嘉兴勤慎智能技术有限公司 | A kind of industry robot palletizer |
| CN110642186A (en) * | 2019-09-03 | 2020-01-03 | 镇江市宏业科技有限公司 | Semi-automatic discharging device of rewinding machine |
| CN110748696A (en) * | 2019-10-28 | 2020-02-04 | 曲阜师范大学 | Intelligent remote control device for mine support control valve |
| TWI689390B (en) * | 2019-10-28 | 2020-04-01 | 陳逢霖 | Cantilever system of mechanical arm |
| CN111136635A (en) * | 2019-12-27 | 2020-05-12 | 广东电网有限责任公司 | Archive management robot |
| CN111137687A (en) * | 2020-01-22 | 2020-05-12 | 山东交通学院 | Stacking device and stacking method for concrete rectangular groove |
| CN111319987A (en) * | 2020-02-24 | 2020-06-23 | 萧思丽 | Quantitative stacking treatment machine after woven bag forming |
| CN111689243A (en) * | 2020-05-07 | 2020-09-22 | 江阴市双平机械有限公司 | Novel hacking machine |
| CN111558841B (en) * | 2020-05-13 | 2021-11-02 | 宁波正元铜合金有限公司 | Hydraulic pressure vibration material disk processingequipment |
| CN111558841A (en) * | 2020-05-13 | 2020-08-21 | 宁波正元铜合金有限公司 | Hydraulic pressure vibration material disk processingequipment |
| CN111590547A (en) * | 2020-05-26 | 2020-08-28 | 深圳市盛世生物医疗科技有限公司 | Rotary lifting manipulator |
| CN111761578A (en) * | 2020-06-28 | 2020-10-13 | 江苏工程职业技术学院 | Stacking robot and control method thereof |
| CN111646226A (en) * | 2020-08-05 | 2020-09-11 | 佛山隆深机器人有限公司 | Pile up neatly conveyer with high stability ability |
| CN112297503A (en) * | 2020-09-22 | 2021-02-02 | 刘勇 | Automatic coal slime forming machine with material collecting device |
| CN112476480A (en) * | 2020-11-13 | 2021-03-12 | 河南汇邦智能装备有限公司 | Robot arm capable of automatically feeding and discharging and method thereof |
| CN112499229A (en) * | 2020-11-17 | 2021-03-16 | 曲怡铃 | Single-upright-column plane coordinate mechanical arm on box filling machine |
| CN112757251A (en) * | 2020-12-31 | 2021-05-07 | 南京昱晟机器人科技有限公司 | Intelligent manufacturing industrial robot convenient to operate |
| CN113146597A (en) * | 2021-04-07 | 2021-07-23 | 日达智造科技(如皋)有限公司 | Mechanical arm |
| CN114786866A (en) * | 2021-04-14 | 2022-07-22 | 磐安县科力软管有限公司 | Buckle conveying equipment |
| CN113997263A (en) * | 2021-11-29 | 2022-02-01 | 安徽柳溪智能装备有限公司 | Transfer robot for workpiece transportation |
| CN114261800A (en) * | 2021-12-30 | 2022-04-01 | 焦作力普智能装备有限公司 | Automatic loading equipment |
| CN114643595A (en) * | 2022-02-23 | 2022-06-21 | 上海篆祁机械设备有限公司 | Mechanical arm for mechanical parts of special-shaped part |
| CN114643595B (en) * | 2022-02-23 | 2024-04-16 | 上海篆祁机械设备有限公司 | Manipulator for mechanical parts of special-shaped parts |
| CN114476672A (en) * | 2022-03-09 | 2022-05-13 | 扬州欧歌智能科技有限公司 | Multi-station taking and placing equipment |
| CN114538081A (en) * | 2022-03-21 | 2022-05-27 | 卡奥斯工业智能研究院(青岛)有限公司 | Mechanical gripper, stacking robot and stacking system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104786214A (en) | Full-automatic bidirectional stacker robot | |
| CN204549474U (en) | A kind of efficient stacker | |
| CN210635407U (en) | Stacking robot device | |
| CN102745357A (en) | Boxing machine | |
| CN109720884A (en) | Packing box automatic stacking equipment | |
| CN106002928A (en) | Multi-arm rotary carrying device | |
| CN203832801U (en) | Transverse grouping packing mechanism | |
| CN205614337U (en) | Limit switch kludge | |
| CN105416634A (en) | Product conveying and carrying device | |
| CN205870597U (en) | Remove pile up neatly robotic arm | |
| CN112009920A (en) | Stacker for warehousing and use method thereof | |
| CN204549476U (en) | A kind of mechanical arm of two-way robot palletizer | |
| CN106629024A (en) | Product gripping and transferring mechanism | |
| CN107263518A (en) | A kind of adjustable mechanical hand | |
| CN105035706A (en) | Pull rod type overturning inspection device | |
| CN112318481B (en) | Manipulator transport mechanism | |
| CN109264355B (en) | A manipulator for automation equipment uses | |
| CN106271799A (en) | A kind of Novel magazine tool tool-changing mechanism | |
| CN207346766U (en) | A kind of packed feed shaping grabbing device | |
| CN205870505U (en) | Multi -arm rotation type handling device | |
| CN204872744U (en) | Pull rod formula upset inspection device | |
| CN110176416A (en) | A kind of heavy duty detergent chip picking-up apparatus with dedusting function | |
| CN104163305B (en) | A kind of carrier and the tiered warehouse facility using the carrier | |
| CN208179572U (en) | A kind of novel stacking special plane | |
| CN205293150U (en) | Handling device is carried to product |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150722 |