CN105347027B - Capture lifting apparatus - Google Patents

Capture lifting apparatus Download PDF

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Publication number
CN105347027B
CN105347027B CN201510853928.9A CN201510853928A CN105347027B CN 105347027 B CN105347027 B CN 105347027B CN 201510853928 A CN201510853928 A CN 201510853928A CN 105347027 B CN105347027 B CN 105347027B
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CN
China
Prior art keywords
lifting apparatus
product
plate
driving
block
Prior art date
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Application number
CN201510853928.9A
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Chinese (zh)
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CN105347027A (en
Inventor
吕绍林
杨愉强
吴小平
孙庆
戴有发
袁卫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bozhon Precision Industry Technology Co Ltd
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Bozhon Precision Industry Technology Co Ltd
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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 present invention is a kind of crawl lifting apparatus, it includes the docking facilities for connecting mechanical arm, draw the Acetabula device on product top, clamp the product side-nip device, it drives the driving device of the clamping device and lifts the lifting apparatus of the product lower part, the Acetabula device is installed on the docking facilities, the driving device is installed on docking facilities, the driving device connects the clamping device, the lifting apparatus is installed on clamping device, lifting apparatus further includes cylinder and is driven by the cylinder and lifted block for lifting the product, the cylinder passes downwardly through driving, the lower section lifted block and laterally move to the product.Product is lived by upper and lower, sandwich, it is ensured that product will not be tilted, departed from;So as to ensure that the security of product.It in addition, the structure of the crawl lifting apparatus is simple, occupies little space, captures that the process of product is simple, and automated setting is relatively simple.

Description

Capture lifting apparatus
Technical field
The present invention relates to a kind of automation equipment fields for assembly line more particularly to a kind of for capturing grabbing for weight Take lifting apparatus.
Background technology
With economic and science and technology development, the utilization of automation equipment is more and more extensive in the industrial production, by automatic Change equipment come the problem of substituting man efficiency low, of high cost.When particularly being shifted to the crawl of weight, automation equipment can be Largely solve the problems, such as that man efficiency is low.In the prior art, automation grabbing device has very much, for different classes of The product design grabbing device of different structure, but for crawl weight design grabbing device when need consideration grabbing device Simply, the characteristics such as reasonable.It is how simple, quick, and can guarantee the product of the extraction comparison weight of installation, it is the current automation Equipment Industry problem to be solved.
Therefore, it is necessary to a kind of crawl lifting apparatus is provided to solve the above problems.
The content of the invention
Present invention aims at provide a kind of simple in structure, crawl lifting apparatus for being conveniently operated.
To achieve the above object, the present invention by following technical solution:A kind of crawl lifting apparatus, including for connecting The docking facilities of mechanical arm, the Acetabula device for drawing product top, the clamping product side-nip device, the driving folder Hold the driving device of device and lift the lifting apparatus of the product lower part, the Acetabula device be installed on the docking facilities, The driving device is installed on docking facilities, and the driving device connects the clamping device, and the lifting apparatus is installed on folder Device is held, lifting apparatus further includes cylinder and driven by the cylinder and lifted block, the cylinder for lifting the product Pass downwardly through driving, the lower section lifted block and laterally move to the product.
The lifting apparatus include be installed on the bottom plate on the outside of the clamping device, the slideway being installed on the bottom plate and The slide unit of the slideway is movably installed in, the slide unit is fixed on the output the tip of the axis of the motor, has on the slide unit From outwardly extending a pair of of the ear in its surface, a rotation axis both ends are contained in respectively in a bearing, and the bearing is contained in respectively The ear, the block of lifting is installed in the rotation axis, and when receiving driving force, the block of lifting turns around the rotation axis It is dynamic.
The lifting apparatus further includes a pair of side plates for being located at the bottom plate both sides respectively, has on the side plate through it The sliding slot on surface;The block of lifting includes flat part and from the oblique outwardly extending rake in one end of the flat part, described to incline Inclined portion is equipped with from outwardly extending a pair of first journal stirrup of its both side surface, and first journal stirrup is installed in the rotation axis, The flat part is equipped with from outwardly extending a pair of second journal stirrup of its both side surface, and a universal driving shaft is pacified through second journal stirrup It is put in the sliding slot.
The driving device has the movable plate of a pair of laterally opposed activity, and the clamping device includes being individually fixed in institute The grip block on movable plate, the downward Longitudinal extending of grip block are stated, the grip block is respectively provided with to clamp the product Clamping face and the outer surface opposite with the clamping face and the notch through the grip block, the notch be located at the clamping The end of plate.
Block is lifted described in being pushed down on when the cylinder, the block of lifting is lacked from the outer surface of the grip block through described Mouthful, extend beyond the clamping face.
The clamping device further includes several to buffer stopper, the buffering described in one pair of which that extends internally from grip block end Block is respectively arranged in the both sides of the notch.
The driving device includes being installed on the motor of the docking facilities, being installed on the drive link of the motor side, The end of the drive link is equipped with belt pulley, and the motor is connected by belt with the belt pulley, is arranged on the drive link Have a driving member, during the drive rod rotation, the driving member is moved along the drive link direction, the driving member extend downwardly and Lower end is fixedly connected with the movable plate.
The quantity of the driving member is two, by a connection axis connection between two driving members, positioned at the connection The connecting rod at axis both ends is rotated in the opposite sense.
The Acetabula device includes several connecting poles connected below the docking facilities and is installed under the connecting pole The connecting plate at end and several suckers being fixed below the connecting plate.
The docking facilities include the buttcover plate being mutually fixedly connected with the mechanical arm and the buttcover plate parallel interval Installing plate and be fixedly connected with a pair of side plates of the buttcover plate and the installing plate, this to formed between side plate one accommodate it is empty Between, the driving device is located at the receiving space.
Compared with prior art, present invention crawl lifting apparatus has following technical effect:It is lived by upper and lower, sandwich Product, it is ensured that product will not be tilted, departed from;So as to ensure that the security of product.In addition, the crawl lifting apparatus lifts dress The outer surface for being installed on clamping device is put, the structure of order crawl lifting apparatus is simple, occupies little space, and captures the process letter of product Single, automated setting is relatively simple.
Description of the drawings
Fig. 1 is the three-dimensional assembly diagram of present invention crawl lifting apparatus.
Fig. 2 is another angle three-dimensional assembly diagram of present invention crawl lifting apparatus.
Fig. 3 is the structure diagram of the Acetabula device of present invention crawl lifting apparatus.
Fig. 4 is the three-dimensional assembly diagram of the driving device of present invention crawl lifting apparatus.
Fig. 5 is another angle three-dimensional assembly diagram of the driving device of present invention crawl lifting apparatus.
Fig. 6 is the dimensional structure diagram of the lifting apparatus of present invention crawl lifting apparatus.
Specific embodiment
It please refers to Fig.1 to shown in Fig. 6, the invention discloses a kind of crawl lifting apparatus 100, for capturing product, are particularly Expert it includes connecting the docking facilities 1 of mechanical arm (not shown), the Acetabula device 2 being installed on docking facilities 1, peace Loaded on docking facilities 1 driving device 5, the clamping device 3 that is installed in driving device 5 and be installed on clamping device 3 Lifting apparatus 4.Acetabula device 2 draws product top, and clamping device 3 clamps the product side, and lifting apparatus 4 lifts the production Product lower part.
As shown in Figure 1 to Figure 2, docking facilities 1 include the buttcover plate 12 being mutually fixedly connected with mechanical arm and buttcover plate 12 The installing plate 13 of parallel interval a distance and positioned at 12 both sides of buttcover plate and it is fixedly connected with the one of buttcover plate 12 and installing plate 13 To side plate 14.This is to forming a receiving space 15 between side plate 14.
As shown in figure 3, Acetabula device 2 includes several connecting poles 21 of connection plate 13 and is installed on 21 lower end of connecting pole Connecting plate 22.Connecting plate 22 is platy structure, and 22 lower section of connecting plate is equipped with several suckers 23.But when needing to extract product, It is moved by mechanical arm, makes entirely to capture lifting apparatus 100 and move down, sucker 23 is caused to hold the upper surface of product.
As shown in Fig. 4 to Fig. 5, on the installing plate 13 in receiving space 15, the driving of driving clamping device 3 is provided with Device 5.Driving device 5 includes being installed on motor 51 on installing plate 13, and in the present embodiment, motor 51 is installed on adjustable plate 511 On, adjustable plate 511 is secured by bolts on installing plate 13.When 51 position of motor needs mobile, mobile adjustable plate 511 and peace The position of loading board 13.Driving device 5 further includes the drive link 52 for being installed on 51 side of motor, and the end of drive link 52 is equipped with Belt pulley 53, motor 51 are connected with belt pulley 53 by belt 54, and the driving force of motor 51 is transmitted to by belt 54, belt pulley 53 On drive link 52, driving member 55 is arranged on drive link 52, when drive link 52 rotates, driving member 55 is along 52 longitudinal direction of drive link Movement.Driving member 55 extends downward into the lower section of installing plate 13, and 55 lower end of driving member is fixedly connected with movable plate 56.On movable plate 56 It is fixed with sliding block 57.Driving device 5 further includes the slide 58 being installed on installing plate 13.Sliding block 57 cooperates with slide 58, When motor 51 drives, driving force is driven by the driving member 55 on drive link 52 to movable plate 56, and movable plate 56 is with movable slider 57, sliding block 57 is moved along 58 extending direction of slide.
In the present embodiment, the quantity of driving member 52 is two, is connected, passed through by a coupling spindle 59 between two driving members 52 Coupling spindle 59, when the drive link 52 being fixed together with motor 51 rotates counterclockwise, another drive link 52 rotates clockwise. Two drive links 52 keep opposite direction to rotate, and drive two driving members, 55 opposite or reverse motions.So as to drive two movable plates 56, Sliding block 57 on movable plate 56 is opposite or reverse motions.
As shown in figure 4, being also equipped with induction mechanism 6 in driving device 5, induction mechanism 6 includes being installed on the driving member 55 On sensing chip 61 and shape be in a row and several photoelectric sensors 62 of mutually isolated a distance.In the present embodiment, three light Electric inductor 62 is respectively arranged on a mounting bar 63, and mounting bar 63 is installed on installing plate 13.Three photoelectric sensors 62 According to the state of clamping device 3, it is pre-installed on respectively on mounting bar 63.When the photoelectric sensor 62 of different position senses what movement came Sensing chip 61, the controller (not shown) of crawl lifting apparatus 100 will send the instruction of different conditions, promote 52 up time of drive link Pin rotates counterclockwise, so as to change original working condition, it is ensured that and clamping device 3 works on towards next process, from And ensureing the entire process of entire crawl lifting apparatus 100 can be smoothed out.
A pair of of clamping device 3 is respectively arranged on two movable plates 56.Clamping device 3 includes being installed on movable plate 56 Grip block 31,31 downward Longitudinal extending of grip block, and be installed vertically on the lower surface of movable plate 56, two grip blocks 31 it is opposite and It is vertical, it is respectively provided with for the clamping face 311 of product clamping and the outer surface 312 opposite with clamping face 311 and through grip block 31 notch 313, notch 313 are located at the end of grip block 31.Clamping device 3 further includes what is extended internally from 31 end of grip block It is several to buffer stopper 32, one pair of which buffer stopper 32 is respectively arranged in the both sides of notch 313.
As shown in Figure 1, Figure 2, with reference to shown in Fig. 6, lifting apparatus 4 is installed on the outer surface 312 of grip block 31.Lifting apparatus 4 Including be installed on the outer surface 312 of grip block 31 bottom plate 41, respectively be located at 41 both sides of bottom plate a pair of side plates 42.Side plate 42 With the sliding slot 421 through its surface, sliding slot 421 is to open up into arc line type gradually downward from the top of side plate 42, and sliding slot 421 is certainly The separate bottom plate 41 on the top of side plate gradually extends to the close bottom plate 41 of the lower part of side plate.Bottom plate 41 is long strip type, vertical It is installed on grip block 31, side plate 42 is close to the lower edge of bottom plate 41.Lifting apparatus 4 further includes and 41 vertically arranged installation of bottom plate Seat 43, mounting base 43 is close to the lower edge of bottom plate 41.Lifting apparatus 4 further includes the cylinder 44 being installed in mounting base 43, cylinder 44 Output shaft extend downwardly.Lifting apparatus 4 further includes the slideway 45 being installed on bottom plate 41, the extending direction of slideway 45 and output The extending direction of axis is identical.Slideway 45 is equipped with the slide unit 46 moved corresponding thereto, and slide unit 46 is fixed on output the tip of the axis.It is sliding Having on platform 46 from outwardly extending a pair of of the ear 461 in its surface, 481 both ends of a rotation axis are contained in respectively in a bearing 47, Bearing 47 is contained in respectively in the accepting hole (not indicating) of ear 461, and lifting apparatus 4, which further includes, to be installed in rotation axis 481 Lift block 49.
Block 49 is lifted as platy structure, including flat part 491 and from the oblique outwardly extending rake in one end of flat part 491 492.Rake 492 is equipped with from outwardly extending a pair of first journal stirrup 493 of its both side surface, this installs the first journal stirrup 493 In in rotation axis 481.Lifting block 49 can rotate around rotation axis 481.Flat part 491 is equipped with outwardly extending from its both side surface A pair of second journal stirrup 494, a universal driving shaft 482 are placed in through the second journal stirrup 494 in sliding slot 421, when lifting the movement of block 49, connection Direction displacement of the block along sliding slot 421 is lifted in the drive of moving axis 482.During initial position, the output shaft of motor 44 does not push downwards, support It lifts block 49 and is output axis to free state, the end of block 49 is lifted, without departing from the clamping face 311 of grip block 31.When product needs When lifting, motor 44 starts, and output shaft is run downwards, and drive is lifted block 49 and rotated around rotation axis 481, and along sliding slot 421 Track is run, and is lifted 49 front end of block and is moved forwards from outer surface 312 through notch 313, extends beyond clamping face 311.So as to hold in the palm The firmly lower section of product ensures that product does not depart from clamping process.
In the clamping process of entire product, mechanical arm installation requirements are moved to predeterminated position, and move down, sucker 23 hold the upper surface of product, and grip block 31 is driven by motor 51, and grip block 31 is caused to come closer, and clamps the amount of product Lifting apparatus 4 is restarted in side, and motor 44 starts, and causes to lift the lower surface that block 49 lifts product, so as to ensure that product It is not slid.Product is clamped by the way that upper and lower, both sides are multidirectional, it is ensured that product will not be tilted, departed from;So as to ensure that product Security.It in addition, the structure of product is simple, occupies little space, captures that the process of product is simple, and automated setting is more simple It is single.
Above-described is only some embodiments of the present invention.For those of ordinary skill in the art, not On the premise of departing from the invention design, various modifications and improvements can be made, these belong to the protection model of the present invention It encloses.

Claims (9)

1. a kind of crawl lifting apparatus, it is characterised in that:It includes connecting the docking facilities of mechanical arm, draws product The Acetabula device in portion, the clamping device of the clamping product side drive the driving device of the clamping device and lift described The lifting apparatus of product lower part, the Acetabula device is installed on the docking facilities, the driving device is installed on the docking Device, the driving device connect the clamping device, and the lifting apparatus is installed on the clamping device, the lifting apparatus It further includes cylinder and is driven by the cylinder and lifted block for lifting the product, the cylinder drives downwards, the support Lift the lower section that block laterally moves to the product;The driving device is provided with induction mechanism, and the induction mechanism includes sensing Piece and shape is in a row and three photoelectric sensors of mutually isolated a distance, three photoelectric sensors are respectively arranged in one On mounting bar, mounting bar is installed on installing plate;The docking facilities include docking with what the mechanical arm was mutually fixedly connected Plate with the installing plate of the buttcover plate parallel interval and is fixedly connected with a pair of side plates of the buttcover plate and the installing plate, should To forming a receiving space between side plate, the driving device is located at the receiving space;For driving the clamping device The driving device is arranged on the installing plate in the receiving space.
2. crawl lifting apparatus as described in claim 1, it is characterised in that:The lifting apparatus includes being installed on the clamping Bottom plate on the outside of device, the slideway being installed on the bottom plate and the slide unit for being movably installed in the slideway, the slide unit are fixed In having on the output the tip of the axis of motor, the slide unit from outwardly extending a pair of of the ear in its surface, a rotation axis both ends are divided Be not contained in a bearing, the bearing is contained in the ear respectively, and the block of lifting is installed in the rotation axis, when by During to driving force, the block of lifting is rotated around the rotation axis.
3. crawl lifting apparatus as claimed in claim 2, it is characterised in that:The lifting apparatus is further included respectively positioned at described A pair of side plates of bottom plate both sides has the sliding slot through its surface on the side plate;The block of lifting includes flat part and from institute State one end of flat part tiltedly outwardly extending rake, the rake is equipped with from its both side surface outwardly extending a pair of the One journal stirrup, first journal stirrup are installed in the rotation axis, and the flat part is equipped with outwardly extending from its both side surface A pair of second journal stirrup, a universal driving shaft are placed in through second journal stirrup in the sliding slot.
4. crawl lifting apparatus as claimed in claim 3, it is characterised in that:The driving device has a pair of laterally opposed work Dynamic movable plate, the clamping device include the grip block being individually fixed on the movable plate, and the grip block is longitudinal downwards Extension, the grip block are respectively provided with to clamp the clamping face of the product and the outer surface opposite with the clamping face and pass through The notch of the grip block is worn, the notch is located at the end of the grip block.
5. crawl lifting apparatus as claimed in claim 4, it is characterised in that:Block is lifted described in being pushed down on when the cylinder, The block of lifting extends beyond the clamping face from the outer surface of the grip block through the notch.
6. crawl lifting apparatus as claimed in claim 4, it is characterised in that:The clamping device is further included from the grip block End extends internally several to buffer stopper, and buffer stopper described in one pair of which is respectively arranged in the both sides of the notch.
7. crawl lifting apparatus as claimed in claim 4, it is characterised in that:The driving device includes being installed on the docking The motor of device, the drive link for being installed on the motor side, the end of the drive link are equipped with belt pulley, the motor and institute It states belt pulley to connect by belt, is arranged with driving member on the drive link, during the drive rod rotation, the driving member is along institute The movement of drive link direction is stated, the driving member extends downwardly and lower end is fixedly connected with the movable plate.
8. crawl lifting apparatus as claimed in claim 7, it is characterised in that:The quantity of the driving member is two, described in two By a connection axis connection between driving member, the connecting rod positioned at the coupling spindle both ends is rotated in the opposite sense.
9. crawl lifting apparatus as described in claim 1, it is characterised in that:The Acetabula device includes described pair of tipping of connection It puts several connecting poles of lower section and is installed on the connecting plate of the connecting pole lower end and is fixed on several below the connecting plate Sucker.
CN201510853928.9A 2015-11-30 2015-11-30 Capture lifting apparatus Active CN105347027B (en)

Priority Applications (1)

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

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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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CN105347027B true CN105347027B (en) 2018-05-25

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105712076B (en) * 2016-04-06 2018-09-21 广州达意隆包装机械股份有限公司 A kind of sheets clamp device
CN106743714B (en) * 2017-01-19 2018-12-07 柏涛涛 A kind of gripper jaw and a kind of logistics stacking machine applied in logistics stacking machine
CN208022396U (en) * 2018-01-19 2018-10-30 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
CN103264397A (en) * 2013-06-05 2013-08-28 南通通用机械制造有限公司 Multifunctional robot palletizer gripper
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
CN205222050U (en) * 2015-11-30 2016-05-11 苏州博众精工科技有限公司 Snatch lifting device

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CN104226524B (en) * 2014-09-18 2016-04-06 苏州博众精工科技有限公司 A kind of universal glue spraying pipeline

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* 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
CN205222050U (en) * 2015-11-30 2016-05-11 苏州博众精工科技有限公司 Snatch lifting device

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