CN105347027A - Grabbing and lifting device - Google Patents

Grabbing and lifting device Download PDF

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Publication number
CN105347027A
CN105347027A CN201510853928.9A CN201510853928A CN105347027A CN 105347027 A CN105347027 A CN 105347027A CN 201510853928 A CN201510853928 A CN 201510853928A CN 105347027 A CN105347027 A CN 105347027A
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CN
China
Prior art keywords
lifting apparatus
product
plate
lifting
block
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201510853928.9A
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Chinese (zh)
Other versions
CN105347027B (en
Inventor
吕绍林
杨愉强
吴小平
孙庆
戴有发
袁卫
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Bozhong Suzhou Precision Industry Technology Co Ltd
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Bozhong Suzhou Precision Industry Technology Co Ltd
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Publication date
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Priority to CN201510853928.9A priority Critical patent/CN105347027B/en
Publication of CN105347027A publication Critical patent/CN105347027A/en
Application granted granted Critical
Publication of CN105347027B publication Critical patent/CN105347027B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2207/00Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/30Modular constructions

Abstract

The invention discloses a grabbing and lifting device which comprises an abutting device, a sucker device, clamping devices, a driving device and lifting devices, wherein the abutting device is used for being connected with a mechanical arm; the sucker device is used for sucking the upper part of a product; the clamping devices are used for clamping the side part of the product.; the driving device is used for driving the clamping devices; the lifting devices are used for lifting the lower part of the product; the sucker device is mounted on the abutting device; the driving device is mounted on the abutting device, and is connected with the clamping devices; the lifting devices are mounted on the clamping devices, and also comprise air cylinders and lifting blocks; the lifting blocks are driven by the air cylinders and are used for lifting the product; and when driven downwards by the air cylinders, the lifting blocks move transversely to a part below the product. The upper part, the lower part and the two sides of the product are clamped, so that the product is guaranteed not to incline and deviate, and the safety of the product is ensured; and in addition, the grabbing and lifting device is simple in structure, occupies small space, is simple in product grabbing process, and is simple in automatic arrangement.

Description

Capture lifting apparatus
Technical field
The present invention relates to a kind of automation equipment field for conveyor line, particularly relating to a kind of crawl lifting apparatus for capturing weight.
Background technology
Along with development that is economic and science and technology, the utilization of automation equipment is more and more extensive in the industrial production, replaces by automation equipment the problem that man efficiency is low, cost is high.When being particularly shifted to the crawl of weight, automation equipment can solve the low problem of man efficiency to a great extent.In prior art, automation grabbing device has a lot, the grabbing device of different structure for different classes of product design, but for needing to consider the characteristic such as simple, reasonable of grabbing device when capturing the design grabbing device of weight.How simple, quick, and the product that the extraction comparison installed weighs can be ensured, be the problem that this automation equipment industry is to be solved at present.
Therefore, be necessary to provide a kind of lifting apparatus that captures to solve the problems referred to above.
Summary of the invention
The object of the invention is to provide that a kind of structure is simple, the crawl lifting apparatus of handled easily.
For achieving the above object, the present invention is by following technical solution: a kind ofly capture lifting apparatus, it comprises the docking facilities for connecting mechanical arm, draw the Acetabula device on product top, clamp described product side-nip device, drive the actuating device of described holding device and lift the lifting apparatus of described product bottom, described Acetabula device is installed on described docking facilities, described actuating device is installed on docking facilities, described actuating device connects described holding device, described lifting apparatus is installed on holding device, lifting apparatus also comprises cylinder and lifts block by described air cylinder driven and for what lift described product, described cylinder passes downwardly through driving, describedly lift the below that block laterally moves to described product.
Described lifting apparatus comprises and is installed on base plate outside described holding device, is installed on the slideway on described base plate and is movably installed in the slide unit of described slideway, described slide unit is fixed on the output the tip of the axis of described motor, described slide unit have a pair ear outwardly extended from it, one turning cylinder two ends are contained in a bearing respectively, described bearing is contained in described ear respectively, described block of lifting is installed on described turning cylinder, when receiving propulsive effort, described in lift block and rotate around described turning cylinder.
Described lifting apparatus also comprises the pair of side plates laying respectively at described base plate both sides, described side plate has the chute running through its surface; Described block of lifting comprises flat part and the oblique outward extending rake from one end of described flat part, described rake is provided with from outward extending a pair first journal stirrups of its both side surface, described first journal stirrup is installed on described turning cylinder, described flat part is provided with from outward extending a pair second journal stirrups of its both side surface, and a universal driving shaft is placed in described chute through described second journal stirrup.
Described actuating device has the portable plate of a pair horizontal relative motion, described holding device comprises the grip block be individually fixed on described portable plate, the downward longitudinal extension of described grip block, described grip block has clamping face for clamping described product and the opposing outside face and run through the breach of described grip block with described clamping face respectively, and described breach is positioned at the end of described grip block.
Lift block described in promoting when described cylinder downwards, described in lift plate from the outside face of described grip block through described breach, extend beyond described clamping face.
Described holding device also comprise from grip block end extend internally some to bump rubber, wherein bump rubber described in a pair is installed on the both sides of described breach respectively.
Described actuating device comprises the motor being installed on described docking facilities, the drive link being installed on described motor side, the end of described drive link is provided with belt pulley, described motor is connected by belt with described belt pulley, described drive link is arranged with Transmission, during described drive rod rotation, described Transmission moves along described drive link direction, and described Transmission is to downward-extension and lower end is fixedly connected with described portable plate.
The quantity of described Transmission is two, and connected by a coupling spindle between Transmission described in two, the pipe link being positioned at described coupling spindle two ends rotates in opposite direction.
Described Acetabula device comprises and connects some joint pins below described docking facilities and the connecting panel being installed on described joint pin lower end and the some suckers be fixed on below described connecting panel.
Described docking facilities comprise be fixedly connected with described mechanical arm abutting plate, with the adapter plate of described abutting plate parallel interval and the pair of side plates being fixedly connected with described abutting plate and described adapter plate, this is to forming a receiving space between side plate, described actuating device is positioned at described receiving space.
Compared with prior art, the present invention captures lifting apparatus and has following technology effect: live product by upper and lower, sandwich, guarantees that product can not tilt, depart from; Thus ensure that the safety of product.In addition, the lifting apparatus of this crawl lifting apparatus is installed on the outside face of holding device, and the structure that order captures lifting apparatus is simple, takes up room little, and the operation capturing product is simple, and automation arranges comparatively simple.
Accompanying drawing explanation
Fig. 1 is the three-dimensional assembly diagram that the present invention captures lifting apparatus.
Fig. 2 is another angle three-dimensional assembly diagram that the present invention captures lifting apparatus.
Fig. 3 is the structural representation that the present invention captures the Acetabula device of lifting apparatus.
Fig. 4 is the three-dimensional assembly diagram that the present invention captures the actuating device of lifting apparatus.
Fig. 5 is another angle three-dimensional assembly diagram that the present invention captures the actuating device of lifting apparatus.
Fig. 6 is the perspective view that the present invention captures the lifting apparatus of lifting apparatus.
Detailed description of the invention
Refer to shown in Fig. 1 to Fig. 6, the present invention discloses a kind of crawl lifting apparatus 100, for capturing product, particularly expert it comprise the docking facilities 1 for connecting mechanical arm (not shown), the Acetabula device 2 be installed on docking facilities 1, the actuating device 5 be installed on docking facilities 1, the lifting apparatus 4 that is installed on the holding device 3 on actuating device 5 and is installed on holding device 3.Acetabula device 2 draws product top, and holding device 3 clamps described product sidepiece, and lifting apparatus 4 lifts described product bottom.
As shown in Figure 1 to Figure 2, docking facilities 1 comprise be fixedly connected with mechanical arm abutting plate 12, with the adapter plate 13 of abutting plate 12 parallel interval one segment distance and be positioned at abutting plate 12 both sides and be fixedly connected with the pair of side plates 14 of abutting plate 12 and adapter plate 13.This is to forming a receiving space 15 between side plate 14.
As shown in Figure 3, Acetabula device 2 comprises some joint pins 21 of connection plate 13 and is installed on the connecting panel 22 of joint pin 21 lower end.Connecting panel 22 is platy structure, is provided with some suckers 23 below connecting panel 22.But when needing to extract product, moved by mechanical arm, whole crawl lifting apparatus 100 is moved down, causes sucker 23 to hold the upper surface of product.
As shown in Fig. 4 to Fig. 5, be arranged on the adapter plate 13 of receiving space 15, be provided with the actuating device 5 driving holding device 3.Actuating device 5 comprises the motor 51 be installed on adapter plate 13, and in the present embodiment, motor 51 is installed on regulating plate 511, and regulating plate 511 is secured by bolts on adapter plate 13.When motor 51 position needs mobile, the position of mobile regulating plate 511 and adapter plate 13.Actuating device 5 also comprises the drive link 52 being installed on motor 51 side, the end of drive link 52 is provided with belt pulley 53, motor 51 is connected by belt 54 with belt pulley 53, the propulsive effort of motor 51 transfers on drive link 52 by belt 54, belt pulley 53, drive link 52 is arranged with Transmission 55, when drive link 52 rotates, Transmission 55 moves along drive link 52 longitudinal direction.Transmission 55 extends downward the below of adapter plate 13, and Transmission 55 lower end is fixedly connected with portable plate 56.Portable plate 56 is fixed with slide block 57.Actuating device 5 also comprises the slide rail 58 be installed on adapter plate 13.Slide block 57 and slide rail 58 cooperatively interact, and when motor 51 drives, propulsive effort drives to portable plate 56 by the Transmission 55 on drive link 52, and portable plate 56 is with movable slider 57, and slide block 57 moves along slide rail 58 extending direction.
In the present embodiment, the quantity of Transmission 52 is two, is connected between two Transmissions 52 by a coupling spindle 59, and by coupling spindle 59, when the drive link 52 be fixed together with motor 51 rotates counterclockwise, another drive link 52 rotates clockwise.Two drive links 52 keep opposite sense to rotate, and drive two Transmissions 55 in opposite directions or reverse motions.Thus drive two portable plates 56, slide block 57 on portable plate 56 in opposite directions or reverse motions.
As shown in Figure 4, actuating device 5 is also equipped with induction mechanism 6, induction mechanism 6 comprises and is installed on sensing chip 61 on described Transmission 55 and the in a row and some photoelectric sensors 62 of a mutually isolated segment distance of shape.In the present embodiment, three photoelectric sensors 62 are installed on a mounting bar 63 respectively, and mounting bar 63 is installed on adapter plate 13.Three photoelectric sensors 62, according to the state of holding device 3, are pre-installed on mounting bar 63 respectively.When the photoelectric sensor 62 of diverse location senses the sensing chip 61 that motion comes, the controller (not shown) capturing lifting apparatus 100 will send the instruction of different conditions, impel drive link 52 cw or rotate counterclockwise, thus change original mode of operation, guarantee that holding device 3 works on towards next operation, thus ensure that the whole operation of whole crawl lifting apparatus 100 can be carried out smoothly.
A pair holding device 3 is installed on two portable plates 56 respectively.Holding device 3 comprises the grip block 31 be installed on portable plate 56, grip block 31 is longitudinal extension downwards, and be installed vertically on the lower surface of portable plate 56, relative thirty years of age of two grip blocks 31, its have respectively for the clamping face 311 of product clamping and with clamping face 311 opposing outside face 312 and run through the breach 313 of grip block 31, breach 313 is positioned at the end of grip block 31.Holding device 3 also comprise from grip block 31 end extend internally some to bump rubber 32, wherein a pair bump rubber 32 is installed on the both sides of breach 313 respectively.
As shown in Figure 1, Figure 2, shown in composition graphs 6, lifting apparatus 4 is installed on the outside face 312 of grip block 31.Lifting apparatus 4 comprises the base plate 41 be installed on the outside face 312 of grip block 31, lays respectively at the pair of side plates 42 of base plate 41 both sides.Side plate 42 has the chute 421 running through its surface, and chute 421 is offer into arc line type downwards gradually from the top of side plate 42, chute 421 extending to the close base plate 41 of the bottom of side plate gradually away from base plate 41 from the top of side plate.Base plate 41 is long strip type, and vertical is installed on grip block 31, and side plate 42 is near the lower edge of base plate 41.Lifting apparatus 4 also comprises the vertically arranged mount pad 43 with base plate 41, and mount pad 43 is near the lower edge of base plate 41.Lifting apparatus 4 also comprises the cylinder 44 be installed on mount pad 43, and the output shaft of cylinder 44 is to downward-extension.Lifting apparatus 4 also comprises the slideway 45 be installed on base plate 41, and the bearing of trend of slideway 45 is identical with the bearing of trend of output shaft.Slideway 45 is provided with the slide unit 46 moved corresponding thereto, and slide unit 46 is fixed on output the tip of the axis.Slide unit 46 have a pair ear 461 outwardly extended from it, one turning cylinder 481 two ends are contained in a bearing 47 respectively, bearing 47 is contained in the accepting hole (instruction) of ear 461 respectively, and lifting apparatus 4 also comprises being installed on, and turning cylinder 481 lifts block 49.
Lift block 49 for platy structure, comprise flat part 491 and the oblique outward extending rake 492 from one end of flat part 491.Rake 492 is provided with from outward extending a pair first journal stirrups 493 of its both side surface, and this is installed on turning cylinder 481 the first journal stirrup 493.Lift block 49 moving axis 481 that can rotate to rotate.Flat part 491 is provided with and is placed in chute 421 from outward extending a pair second journal stirrup 494, universal driving shafts 482 of its both side surface through the second journal stirrup 494, and when lifting block 49 and moving, universal driving shaft 482 drives and lifts the direction displacement of block along chute 421.During initial position, the output shaft of motor 44 does not push downwards, lifts block 49 and is output axle to free state, lift the end of block 49, does not exceed the clamping face 311 of grip block 31.When product needed is lifted, motor 44 starts, and output shaft runs downwards, drives to lift block 49 moving axis 481 that rotates and rotate, and runs along the track of chute 421, lifts block 49 front end and passes breach 313 from outside face 312 and run forward, extend beyond clamping face 311.Thus hold the below of product, ensure that product does not depart from clamping process.
In the clamping process of whole product, mechanical arm installation requirements, move to predeterminated position, and move down, sucker 23 holds the upper surface of product, grip block 31 is driven by motor 51, causes grip block 31 to come closer, and clamps the amount side of product, restart lifting apparatus 4, motor 44 starts, and causes and lifts the lower surface that block 49 lifts product, thus ensure that product not by landing.By upper and lower, both sides are multidirectional clamps product, guarantee that product can not tilt, depart from; Thus ensure that the safety of product.In addition, the structure of product is simple, takes up room little, and the operation capturing product is simple, and automation arranges comparatively simple.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, without departing from the concept of the premise of the invention, can also make some distortion and improvement, these all belong to protection scope of the present invention.

Claims (10)

1. one kind captures lifting apparatus, it is characterized in that: it comprises the docking facilities for connecting mechanical arm, draw the Acetabula device on product top, clamp the holding device of described product sidepiece, drive the actuating device of described holding device and lift the lifting apparatus of described product bottom, described Acetabula device is installed on described docking facilities, described actuating device is installed on described docking facilities, described actuating device connects described holding device, described lifting apparatus is installed on described holding device, described lifting apparatus also comprises cylinder and lifts block by described air cylinder driven and for what lift described product, described cylinder drives downwards, describedly lift the below that block laterally moves to described product.
2. capture lifting apparatus as claimed in claim 1, it is characterized in that: described lifting apparatus comprises the base plate be installed on outside described holding device, be installed on the slideway on described base plate and be movably installed in the slide unit of described slideway, described slide unit is fixed on the output the tip of the axis of described motor, described slide unit have a pair ear outwardly extended from it, one turning cylinder two ends are contained in a bearing respectively, described bearing is contained in described ear respectively, described block of lifting is installed on described turning cylinder, when being subject to propulsive effort, described block of lifting rotates around described turning cylinder.
3. capture lifting apparatus as claimed in claim 2, it is characterized in that: described lifting apparatus also comprises the pair of side plates laying respectively at described base plate both sides, described side plate has the chute running through its surface; Described block of lifting comprises flat part and the oblique outward extending rake from one end of described flat part, described rake is provided with from outward extending a pair first journal stirrups of its both side surface, described first journal stirrup is installed on described turning cylinder, described flat part is provided with from outward extending a pair second journal stirrups of its both side surface, and a universal driving shaft is placed in described chute through described second journal stirrup.
4. capture lifting apparatus as claimed in claim 3, it is characterized in that: described actuating device has the portable plate of a pair horizontal relative motion, described holding device comprises the grip block be individually fixed on described portable plate, the downward longitudinal extension of described grip block, described grip block has clamping face for clamping described product and the opposing outside face and run through the breach of described grip block with described clamping face respectively, and described breach is positioned at the end of described grip block.
5. capture lifting apparatus as claimed in claim 4, it is characterized in that: described in promoting when described cylinder, lift block downwards, described in lift plate from the outside face of described grip block through described breach, extend beyond described clamping face.
6. capture lifting apparatus as claimed in claim 4, it is characterized in that: described holding device also comprise from described grip block end extend internally some to bump rubber, wherein bump rubber described in a pair is installed on the both sides of described breach respectively.
7. capture lifting apparatus as claimed in claim 4, it is characterized in that: described actuating device comprises the motor being installed on described docking facilities, the drive link being installed on described motor side, the end of described drive link is provided with belt pulley, described motor is connected by belt with described belt pulley, described drive link is arranged with Transmission, during described drive rod rotation, described Transmission moves along described drive link direction, and described Transmission is to downward-extension and lower end is fixedly connected with described portable plate.
8. capture lifting apparatus as claimed in claim 7, it is characterized in that: the quantity of described Transmission is two, connected by a coupling spindle between Transmission described in two, the pipe link being positioned at described coupling spindle two ends rotates in opposite direction.
9. capture lifting apparatus as claimed in claim 1, it is characterized in that: described Acetabula device comprises and connects some joint pins below described docking facilities and the connecting panel being installed on described joint pin lower end and the some suckers be fixed on below described connecting panel.
10. capture lifting apparatus as claimed in claim 9, it is characterized in that: described docking facilities comprise be fixedly connected with described mechanical arm abutting plate, with the adapter plate of described abutting plate parallel interval and the pair of side plates being fixedly connected with described abutting plate and described adapter plate, this is to forming a receiving space between side plate, described actuating device is positioned at described receiving space.
CN201510853928.9A 2015-11-30 2015-11-30 Capture lifting apparatus Active CN105347027B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201510853928.9A CN105347027B (en) 2015-11-30 2015-11-30 Capture lifting apparatus

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CN105347027A true CN105347027A (en) 2016-02-24
CN105347027B CN105347027B (en) 2018-05-25

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105712076A (en) * 2016-04-06 2016-06-29 广州达意隆包装机械股份有限公司 Clamping device for sheet article
CN106743714A (en) * 2017-01-19 2017-05-31 柏涛涛 A kind of gripper jaw being applied in logistics stacking machine and a kind of logistics stacking machine
CN110382381A (en) * 2018-01-19 2019-10-25 深圳市大疆百旺科技有限公司 Mobile palletizing mechanical and its clamping jaw

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US4627785A (en) * 1984-05-14 1986-12-09 Monforte Robotics, Inc. Exchangeable multi-function end effector tools
CN101637909A (en) * 2009-08-26 2010-02-03 四川宏华石油设备有限公司 Clamping mechanism
CN203158811U (en) * 2013-03-19 2013-08-28 Abb技术有限公司 Gripping device
CN103264397A (en) * 2013-06-05 2013-08-28 南通通用机械制造有限公司 Multifunctional robot palletizer gripper
CN203245888U (en) * 2013-04-12 2013-10-23 安徽永成电子机械技术有限公司 Clamping device matched with sucking discs
CN104226524A (en) * 2014-09-18 2014-12-24 苏州博众精工科技有限公司 General glue spraying conveyer line
CN205222050U (en) * 2015-11-30 2016-05-11 苏州博众精工科技有限公司 Snatch lifting device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4627785A (en) * 1984-05-14 1986-12-09 Monforte Robotics, Inc. Exchangeable multi-function end effector tools
CN101637909A (en) * 2009-08-26 2010-02-03 四川宏华石油设备有限公司 Clamping mechanism
CN203158811U (en) * 2013-03-19 2013-08-28 Abb技术有限公司 Gripping device
CN203245888U (en) * 2013-04-12 2013-10-23 安徽永成电子机械技术有限公司 Clamping device matched with sucking discs
CN103264397A (en) * 2013-06-05 2013-08-28 南通通用机械制造有限公司 Multifunctional robot palletizer gripper
CN104226524A (en) * 2014-09-18 2014-12-24 苏州博众精工科技有限公司 General glue spraying conveyer line
CN205222050U (en) * 2015-11-30 2016-05-11 苏州博众精工科技有限公司 Snatch lifting device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105712076A (en) * 2016-04-06 2016-06-29 广州达意隆包装机械股份有限公司 Clamping device for sheet article
CN106743714A (en) * 2017-01-19 2017-05-31 柏涛涛 A kind of gripper jaw being applied in logistics stacking machine and a kind of logistics stacking machine
CN110382381A (en) * 2018-01-19 2019-10-25 深圳市大疆百旺科技有限公司 Mobile palletizing mechanical and its clamping jaw

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