CN105417149A - Framework robot - Google Patents

Framework robot Download PDF

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Publication number
CN105417149A
CN105417149A CN201510994865.9A CN201510994865A CN105417149A CN 105417149 A CN105417149 A CN 105417149A CN 201510994865 A CN201510994865 A CN 201510994865A CN 105417149 A CN105417149 A CN 105417149A
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CN
China
Prior art keywords
travel line
framework
support
driver element
lifting table
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
CN201510994865.9A
Other languages
Chinese (zh)
Other versions
CN105417149B (en
Inventor
朱贺
王志强
刘超
王�锋
杜繁荣
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.)
Qingdao Phaestus Is Engineering Co Ltd
Original Assignee
Qingdao Phaestus Is Engineering Co Ltd
Priority date (The priority date 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 date listed.)
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Priority to CN201510994865.9A priority Critical patent/CN105417149B/en
Publication of CN105417149A publication Critical patent/CN105417149A/en
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Publication of CN105417149B publication Critical patent/CN105417149B/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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • 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
    • B65G65/00Loading or unloading
    • B65G65/02Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a framework robot which comprises a control device, a basic framework, a lifting platform, a manipulator and a height-adjustable conveying line, wherein the lifting platform is slidingly connected with the basic framework; the manipulator comprises a support, a plurality of tongs and driving elements; the tongs are symmetrically arranged on the support; the driving elements are used for driving at least one tong or a pair of tongs to move; a lifting and pulling device used for driving the lifting platform is arranged on the basic framework and fixedly connected with the lifting platform; the lifting platform comprises a platform support, a horizontal sliding track, at least one group of lifting mechanisms and driving components; the horizontal sliding track is arranged in the platform support; the lifting mechanism can move up and down and are connected with the support; the height-adjustable conveying line is arranged corresponding to the lower position of the lifting platform; and the control device is electrically connected with the driving elements, the lifting and pulling device, the driving components and the lifting mechanisms respectively. According to the framework robot, the labor intensity is reduced; the production efficiency is improved; and regular arrangement and output of to-be-output materials can be achieved simultaneously.

Description

A kind of framework robot
Technical field
The invention belongs to robot device's technical field, more particularly, relate to a kind of can implementation rule material export framework robot architecture.
Background technology
In prior art to regular or random be arranged in packed on lorry or lump material is unloaded time, mainly through manually unloading, labour intensity is large and this working environment is usually comparatively severe, such as: mainly chemical fertilizer, bag of cement handling, glace for building, ashlar etc.; Cost of labor along with the development of society more and more higher, productivity effect reduces and adopts the material unloaded after manual discharging can not by certain regularly arranged output; In addition, car unloader can also be adopted to unload, but the crawl of car unloader is limited in scope, when needing the goods of unloading too high, then cannot realize unloading fortune to goods, need a dead lift to remove stage makeup and costume to suitable position, and rear goods irregular arrangement of having removed stage makeup and costume, need to carry out re-starting to arrange and put in order, waste a large amount of time, reduce production efficiency.
Summary of the invention
The technical problem to be solved in the present invention: the present invention proposes a kind of framework robot, solve the labour intensity that in prior art, material unloading exists large, production efficiency is low and outputting material can not present the problem that systematicness exports, reduce labour intensity, improve production efficiency and can realize exporting the systematicness arrangement of outputting material simultaneously.
The object of the invention is to be achieved through the following technical solutions:
A kind of framework robot, it is characterized in that, comprise control setup, basic framework, lifting table, manipulator and the height adjustable travel line for accepting material, described lifting table to be arranged in described basic framework and with described basic framework sliding block joint, described manipulator comprises support, be symmetricly set on multiple handgrip on support and for driving the driver element of at least one or a pair handgrip action, described basic framework is provided with the pulling apparatus for driving lifting table, described pulling apparatus is fixedly connected with described lifting table, described lifting table comprises platform support, be arranged on the horizontal slide rail in platform support, at least one group can up-and-down movement lifting mechanism and for driving described lifting mechanism along the driven unit of described horizontal slide rail horizontal slip, described lifting mechanism is connected with described support, described height adjustable travel line is corresponding with the lower position of described lifting table to be arranged, described control setup respectively with described driver element, pulling apparatus, driven unit, lifting mechanism is electrically connected.
The present invention compared with prior art has many advantages and good effect:
The present invention proposes a kind of framework robot, comprise control setup, basic framework, lifting table, manipulator and the height adjustable travel line for accepting material, manipulator in the present invention comprises support, be symmetricly set on multiple handgrip on support and for driving the driver element of at least one or a pair handgrip action, at least one or a pair manipulator are controlled separately by driver element is next corresponding, can realize that more than one piece captures simultaneously, single-piece delivers or deliver simultaneously, make the material of unloading present rule and export; Lifting table is set in basic framework simultaneously, lifting table slides up and down along basic framework, arrange one in the platform support inside of lifting table can along the horizontal slide rail horizontal motion of its inside and simultaneously himself can the lifting mechanism of up-and-down movement simultaneously, be connected with the support of manipulator by lifting table, 2 liftings can be realized by lifting table and lifting mechanism, carrying out making it meet the requirement of different height of removing stage makeup and costume when removing stage makeup and costume goods crawl unloading, improve production efficiency; In addition, the alterable height travel line in the present invention different correspondence automatically can regulate height, convenient operation and unloading according to the height delivering material.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram of framework robot of the present invention;
Fig. 2 is the STRUCTURE DECOMPOSITION figure of framework robot of the present invention;
Fig. 3 is the three-dimensional structure diagram of the basic framework of framework robot of the present invention;
Fig. 4 is the three-dimensional structure diagram of the height adjustable travel line of framework robot of the present invention;
Fig. 5 is the three-dimensional structure diagram of the lifting table of framework robot of the present invention;
Fig. 6 is the three-dimensional structure diagram of the manipulator of framework robot of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
Shown in Fig. 1-Fig. 6, the present invention proposes a kind of embodiment of framework robot, comprise control setup, basic framework 1, lifting table 2, manipulator 3 and the height adjustable travel line 4 for accepting material, described lifting table 2 to be arranged in described basic framework 1 and with described basic framework 1 sliding block joint, described manipulator 3 comprises support 31, be symmetricly set on multiple handgrips 32 on support 31 and for driving the driver element 33 of at least one or a pair handgrip action, described basic framework 1 is provided with the pulling apparatus 5 for driving lifting table 2, described pulling apparatus 5 is fixedly connected with described lifting table 2, described lifting table 2 comprises platform support 21, be arranged on the horizontal slide rail 22 in platform support 21, at least one group can up-and-down movement lifting mechanism 23 and for driving described lifting mechanism 23 along the driven unit 24 of described horizontal slide rail 22 horizontal slip, described lifting mechanism 23 is connected with described support 31, described height adjustable travel line 4 is corresponding with the lower position of described lifting table 2 to be arranged, described control setup respectively with described driver element 33, pulling apparatus 5, driven unit 24, lifting mechanism 23 is electrically connected.
Concrete, a kind of embodiment of framework robot is proposed in the present embodiment, comprise basic framework 1, basic framework 1 is the shoring of foundation of whole framework robot, basic framework 1 inside arranges a lifting table 2 that can slide up and down along basic framework 1 short transverse, the bottom of lifting table 2 is mainly connected with manipulator 3, by lifting table 2 oscilaltion driving mechanical hand 3 synchronization lifting, realize the unloading to differing heights material, rising or the decline of lifting table 2 realize mainly through the pulling apparatus 5 being arranged on basic framework 1 top, pulling apparatus 5 and lifting table 2 are fixed together, lifting table 2 is made to rise or decline by the application force of pulling apparatus 5, simultaneously for realizing the unloading of the interior among a small circle material to certain altitude, in lifting table 2 inside, one lifting mechanism 23 is also set, further, lifting mechanism 23 bottom of manipulator 3 mainly and in lifting table 2 is connected and fixed, platform support 21 inside of lifting table 2 is provided with horizontal slide rail 22, lifting mechanism 23 is arranged on horizontal slide rail 22, horizontal slip back and forth in the horizontal slide rail 22 of platform support 21 inside under the driving effect of driven unit 24, thus drive connected manipulator 3 to slidably reciprocate, for realizing the distance adjustment of the horizontal direction among a small circle of manipulator 3, simultaneously lifting mechanism 23 self can do the up-and-down movement of vertical direction by driving device hand 3, when receiving the signal that control setup sends, lifting mechanism 23 can drive connected manipulator 3 in the vertical direction to move up and down, realize the adjustment of manipulator 3 little stroke within a certain height, when carrying out cargo handing can by both lifting table 2 and lifting mechanism 23 carry out with the use of, improve production efficiency, lifting mechanism 23 is at least provided with 1 group, can be provided with 1 group, also correspondence can arrange 2 groups or many groups, when using, can realize alternately with the use of or use simultaneously, selection mode is flexible and changeable.
Manipulator 3 structure in the present embodiment comprises support 31, multiple handgrip 32, handgrip 32 is symmetrical arranged at the two ends of support 31, preferably, support 31 both sides arrange installation shaft, handgrip 32 is symmetrical arranged on the mounting shaft, driver element 33 for driving at least one or the action of a pair handgrip 32, driver element 33 one end and support hinged, the other end is connected with handgrip 32.
Concrete, driver element 33 can be 2 kinds with the type of attachment of handgrip 32: be a kind ofly provided with multiple for described driver element 33, and driver element 33 described in each all at least and correspondingly with the handgrip 32 that its homonymy is arranged to connect.Being a driver element 33 drives the action of a handgrip 32 or a driver element 33 to drive multiple multiple handgrips 32 action arranged with its homonymy, can meet to capture the more than one piece of material, capture separately or demand that single-piece is delivered, delivered simultaneously.
Another kind of type of attachment is: described driver element 33 is provided with multiple, and the driver element 33 described in each is all to being at least connected with a pair handgrip 32 be oppositely arranged.Namely each driver element 33 drives the simultaneously action of one or more pairs of handgrip 32, can realize equally capturing the more than one piece of material, capture separately or single-piece delivery, to deliver simultaneously.
By manipulator 3 structure in the present embodiment, achieve the Production requirement that the crawl of material more than one piece, single-piece are thrown in, can certainly more than one piece capture simultaneously, more than one piece is thrown in, achieve the independent control that single-piece material is captured, a material in the handgrip 32 be arranged in order does not affect the crawl of next material when cannot capture, next material can proceed to capture or throw in, and improves production efficiency; And unloading can be captured accordingly to material successively by handgrip, make material present certain regularly arranged output, meet Production requirement.
Described control setup is electrically connected with described driver element 33, pulling apparatus 5, driven unit 24, lifting mechanism 23 respectively.All detect mainly through control setup when driver element 33, pulling apparatus 5 and driven unit 24, lifting mechanism 23 action and send control signal to realize.
Further, height adjustable travel line 4 in the present embodiment comprises travel line support 41 and is arranged on the high-end travel line 42 of travel line support 41 upper end, inclination travel line 43, bottom travel line 44 and travel line pulling apparatus 45, described bottom travel line 45 is fixedly connected with described travel line support 41, described travel line pulling apparatus 45 is fixedly connected with inclination travel line 43 with described high-end travel line 42, described travel line support 41 is provided with the first sliding rail 411 of short transverse and second sliding rail 412 vertical with short transverse, described high-end travel line 42 and described first sliding rail 411 sliding block joint, the two ends of described inclination travel line 43 respectively with described first sliding rail 411 and the second sliding rail 412 sliding block joint, one end of described inclination travel line 43 is arranged on the below of described high-end travel line 42, the other end is arranged on the top of described bottom travel line 44 and overlapping at least partially with described bottom travel line 44.
During material unloading, high-end travel line 42 and inclination travel line 43 can be declined or rise to proper height by travel line pulling apparatus 45, then the mass transport unloaded grabs on high-end travel line 42 by manipulator 3, then be transported on inclination travel line 43 by high-end travel line 42, finally be transported on bottom travel line 44, due to high-end travel line 42 and the first sliding rail 411 sliding block joint, the two ends of inclination travel line 43 are connected with the second sliding rail 412 correspondence with the first sliding rail 411, and inclination travel line 43 is overlapping with bottom travel line 44 at least partially, can article height drop be avoided the impact of equipment and article self and the two ends of travel line can not be moved by actv. when material unloads on the conveyor line.
Preferably, described travel line pulling apparatus 45 comprises travel line motor, sprocket wheel and chain, and described travel line motor is connected with described sprocket wheel, and described chain is connected with described high-end travel line 42 and inclination travel line 43.By travel line driven by motor sprocket rotation, sprocket wheel drives the high-end travel line 42 that is connected with chain and inclination travel line 43 to move up and down.
Preferably, the steel rope that pulling apparatus 5 in the present embodiment comprises motor 51, retarder, winder 52 and is wrapped in winder, described motor 51 is connected with described retarder, and described retarder is connected with described winder 52, and described steel rope is fixedly connected with described lifting table 2.
Further, described basic framework 1 is quadra, and bottom, described quadra 1 both sides is provided with the road wheel 6 for sliding.Arrange road wheel 6 can conveniently whole framework robot be moved in the bottom of basic framework 1, make it meet and be applied to different occasions.
Preferably, described lifting mechanism 23 comprises motor, nut 231 and screw mandrel 232, and described motor is connected with nut 231, and described nut 231 is threaded with described screw mandrel 232, described screw mandrel 232 is connected with a plate 7, and described connecting panel 7 is fixedly connected with described support 31.Rotated by driven by motor nut 231, nut 231 drives screw mandrel 232 to do the straight-line motion up and down of vertical direction.Screw mandrel 232 drives connecting panel 7 up-and-down movement be connected with the support 31 of manipulator 3, thus drives handgrip 32 up-and-down movement be arranged on support 31.
Further, described driven unit 24 comprises drive motor 241, reductor 242, screw and long screw 243, described drive motor 241 is connected with described reductor 242, described reductor 242 is connected with described screw, described screw is connected with described long screw 243, and described long screw 243 is connected with described lifting mechanism 23.Pass through, driving lifting mechanism 23 to run along horizontal slide rail 22 is also that cooperation by screw and long screw 243 realizes, and does not repeat at this.
Further, in described basic framework 1, be provided with sliding rail 11, described lifting table 2 is provided with coordinate with described sliding rail slide part 25.Sliding rail 11 can be corresponding for line slideway, slide part 25 correspondence for sliding block or slide roller, do not enumerate at this.
The specific works flow process of the present embodiment middle frame robot is as follows:
Action 1: framework robot makes driven unit 24 action when receiving the specific instruction or the order of visual identification programming control that control setup sends, drive lifting mechanism 23 " horizontal direction " action, lifting mechanism 23 is driven to arrive ad-hoc location, lifting mechanism 23 driving mechanical hand 3 vertically drops to assigned address, control setup gives driver element 33 instruction action, drives handgrip 32 to capture material; Lifting mechanism 23 rises, manipulator 3 is driven on the high-end travel line 42 of travel line, handgrip 32 on manipulator 3 simultaneously or the action successively from one end, material simultaneously or " single " be delivered on high-end travel line 42, material is sent on inclination travel line 43 by high-end travel line 42; Inclination travel line 43 is sent on bottom travel line 44.
Action 2: according to action 1, robot completes the pickup by row of ground floor; Complete in the stroke range of lifting mechanism 23 and successively pick up.
Action 3: after action 1 and action 2 complete, lifting table 2 Shang Ge mechanism resets, pulling apparatus 5 action, and lifting table 2 drops to can assigned address, and repetitive operation 1 and 2, until it is complete to unload.
The above is only preferred embodiment of the present invention, and be not restriction the present invention being made to other form, any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the Equivalent embodiments of equivalent variations.But everyly do not depart from technical solution of the present invention content, any simple modification, equivalent variations and the remodeling done above embodiment according to technical spirit of the present invention, still belong to the protection domain of technical solution of the present invention.

Claims (10)

1. a framework robot, it is characterized in that, comprise control setup, basic framework, lifting table, manipulator and the height adjustable travel line for accepting material, described lifting table to be arranged in described basic framework and with described basic framework sliding block joint, described manipulator comprises support, be symmetricly set on multiple handgrip on support and for driving the driver element of at least one or a pair handgrip action, described basic framework is provided with the pulling apparatus for driving lifting table, described pulling apparatus is fixedly connected with described lifting table, described lifting table comprises platform support, be arranged on the horizontal slide rail in platform support, at least one group can up-and-down movement lifting mechanism and for driving described lifting mechanism along the driven unit of described horizontal slide rail horizontal slip, described lifting mechanism is connected with described support, described height adjustable travel line is corresponding with the lower position of described lifting table to be arranged, described control setup respectively with described driver element, pulling apparatus, driven unit, lifting mechanism is electrically connected.
2. framework robot according to claim 1, it is characterized in that, described height adjustable travel line comprises travel line support and is arranged on the high-end travel line of travel line pedestal upper end, inclination travel line, bottom travel line and travel line pulling apparatus, described bottom travel line is fixedly connected with described travel line support, described travel line pulling apparatus is fixedly connected with inclination travel line with described high-end travel line, described travel line support is provided with the first sliding rail of short transverse and second sliding rail vertical with short transverse, described high-end travel line and described first sliding rail sliding block joint, the two ends of described inclination travel line respectively with described first sliding rail and the second sliding rail sliding block joint, one end of described inclination travel line is arranged on the below of described high-end travel line, the other end is arranged on the top of described bottom travel line and overlapping at least partially with described bottom travel line.
3. framework robot according to claim 2, is characterized in that, described travel line pulling apparatus comprises travel line motor, sprocket wheel and chain, and described travel line motor is connected with described sprocket wheel, and described chain is connected with described high-end travel line and inclination travel line.
4. framework robot according to claim 2, it is characterized in that, the steel rope that described pulling apparatus comprises motor, retarder, winder and is wrapped in winder, described motor is connected with described retarder, described retarder is connected with described winder, and described steel rope is fixedly connected with described lifting table.
5. framework robot according to claim 1, is characterized in that, described basic framework is quadra, and bottom, described quadra both sides is provided with the road wheel for sliding.
6. framework robot according to claim 3, is characterized in that, described driver element is provided with many groups, and described driver element is hydraulic ram or cylinder, and driver element described in each all at least and correspondingly with the handgrip that its homonymy is arranged to connect.
7. framework robot according to claim 3, is characterized in that, described driver element is provided with many groups, and described driver element is hydraulic ram or cylinder, and the driver element described in each is all to being at least connected with a pair handgrip be oppositely arranged.
8. framework robot according to claim 1, is characterized in that, described lifting mechanism comprises motor, nut and screw mandrel, described motor is connected with nut, described nut is connected with described wire rod thread, and described screw mandrel is connected with a plate, and described connecting panel is fixedly connected with described support.
9. framework robot according to claim 1, it is characterized in that, described driven unit comprises drive motor, reductor, screw and long screw, described drive motor is connected with described reductor, described reductor is connected with described screw, described screw is connected with described long screw, and described long screw is connected with described platform lifting mechanism.
10. framework robot according to claim 1, is characterized in that, is provided with sliding rail in described basic framework, described lifting table is provided with coordinate with described sliding rail slide part.
CN201510994865.9A 2015-12-28 2015-12-28 A kind of framework robot Active CN105417149B (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106167180A (en) * 2016-08-15 2016-11-30 上海交通大学 Automatically unload robot system
CN107840156A (en) * 2017-11-20 2018-03-27 海安交睿机器人科技有限公司 Automatic laminating device
CN107900838A (en) * 2017-11-22 2018-04-13 中国矿业大学 A kind of optical mirror plane polissoir
CN108840122A (en) * 2018-06-27 2018-11-20 邓援超 A kind of automatic loading machine
WO2019213902A1 (en) * 2018-05-10 2019-11-14 深圳蓝胖子机器人有限公司 Goods loading and unloading vehicle, goods transfer system and method for automatically adjusting layout of goods
CN112123326A (en) * 2020-08-14 2020-12-25 中航宝胜智能技术(上海)有限公司 Gantry type mobile carrying robot
CN114834907A (en) * 2022-06-10 2022-08-02 武汉利德测控技术有限公司 Stacking device is transported to material

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CN101249289A (en) * 2008-03-21 2008-08-27 王兴章 Material taking device of filter assembling machine
CN103359484A (en) * 2013-07-30 2013-10-23 四川省品信机械有限公司 Gantry type blank grabbing machine
CN103964224A (en) * 2014-05-16 2014-08-06 青岛德和丰科贸有限公司 Loading robot
CN204643188U (en) * 2015-06-01 2015-09-16 青岛沃隆花生机械有限公司 Belt stacker
CN205346283U (en) * 2015-12-28 2016-06-29 青岛汇智智能系统工程有限公司 Frame machine people

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JPH03106606A (en) * 1989-09-20 1991-05-07 Toto Ltd Inverting method for molded product
US5252024A (en) * 1991-11-04 1993-10-12 General Motors Corporation Transfer method for various sizes of assemblies
CN101249289A (en) * 2008-03-21 2008-08-27 王兴章 Material taking device of filter assembling machine
CN103359484A (en) * 2013-07-30 2013-10-23 四川省品信机械有限公司 Gantry type blank grabbing machine
CN103964224A (en) * 2014-05-16 2014-08-06 青岛德和丰科贸有限公司 Loading robot
CN204643188U (en) * 2015-06-01 2015-09-16 青岛沃隆花生机械有限公司 Belt stacker
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106167180A (en) * 2016-08-15 2016-11-30 上海交通大学 Automatically unload robot system
CN107840156A (en) * 2017-11-20 2018-03-27 海安交睿机器人科技有限公司 Automatic laminating device
CN107900838A (en) * 2017-11-22 2018-04-13 中国矿业大学 A kind of optical mirror plane polissoir
WO2019213902A1 (en) * 2018-05-10 2019-11-14 深圳蓝胖子机器人有限公司 Goods loading and unloading vehicle, goods transfer system and method for automatically adjusting layout of goods
CN108840122A (en) * 2018-06-27 2018-11-20 邓援超 A kind of automatic loading machine
CN108840122B (en) * 2018-06-27 2024-06-21 邓援超 Automatic loading machine
CN112123326A (en) * 2020-08-14 2020-12-25 中航宝胜智能技术(上海)有限公司 Gantry type mobile carrying robot
CN114834907A (en) * 2022-06-10 2022-08-02 武汉利德测控技术有限公司 Stacking device is transported to material
CN114834907B (en) * 2022-06-10 2024-06-14 武汉利德测控技术有限公司 Material transferring and stacking device

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