CN105710879A - Intelligent package dismounting auxiliary system and method for electric energy meter paper box - Google Patents
Intelligent package dismounting auxiliary system and method for electric energy meter paper box Download PDFInfo
- Publication number
- CN105710879A CN105710879A CN201610228833.2A CN201610228833A CN105710879A CN 105710879 A CN105710879 A CN 105710879A CN 201610228833 A CN201610228833 A CN 201610228833A CN 105710879 A CN105710879 A CN 105710879A
- Authority
- CN
- China
- Prior art keywords
- electric energy
- end effector
- energy meter
- waist
- large arm
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent package dismounting auxiliary system and method for an electric energy meter paper box. The system comprises a waist base capable of rotating. The upper portion of the waist base is connected with one end of a large arm capable of vertically stretching and contracting, the other end of the large arm is connected with one end of a small arm capable of horizontally stretching and contracting, and the other end of the small arm is connected with a tail end executer capable of being opened and closed through a wrist part. By means of the intelligent package dismounting auxiliary system and method for the electric energy meter paper box, paper box package belt dismounting, paper box striping, electric energy meter sorting and other procedures can be achieved; paper boxes with fixed size specifications can be dismounted, and electric energy meters of different specifications are grabbed; and electric energy meter grabbing, sorting and re-stacking are achieved. The work efficiency of producing and machining is improved, the cost is reduced, a production line is developed into a flexible manufacturing system, and the intelligent package dismounting auxiliary system and method for the electric energy meter paper box are suitable for modern automatic large-scale production.
Description
Technical field
The present invention relates to a kind of electric energy meter carton intelligence to unpack aid system and method.
Background technology
Each new electric energy meter is equipped with carton, and electric energy meter carton volume is relatively larger, needs when installing electric energy meter to remove carton.At present, the ammeter of domestic electrical network is unpacked still by being accomplished manually, and labor intensity is big, production efficiency is low.Needing substantial amounts of labour force to tear table case open particularly in when concentrating and change electric energy meter, tear electric energy meter carton open and waste staff's substantial amounts of unnecessary time, process is changed in the installation having delayed entirety, causes work efficiency low.
Summary of the invention
It is an object of the invention to provide a kind of electric energy meter carton intelligence to unpack aid system and method, to solve above-mentioned technical problem；The present invention effectively reduces cost, and makes production line develop into flexible manufacturing system, adapts to the big production of modern automation.
To achieve these goals, the present invention adopts the following technical scheme that
Electric energy meter carton intelligence is unpacked aid system, including the waist seat that can rotate, the top of described waist seat connect can one end of large arm of vertical telescopic, the other end of described large arm connect can one end of forearm of horizontal extension, the other end of described forearm is connected by wrist can the end effector of opening and closing.
Further, described waist seat includes pedestal, described pedestal is fixed with waist pedestal, described waist pedestal is fixed with motor；Being provided with waist gyroaxis on waist pedestal, waist gyroaxis periphery is fixedly connected with waist gear wheel；It is provided with a pair taper roll bearing between inside and the waist gyroaxis of waist pedestal；Being provided with little gear on the output shaft of motor, this little gear engages with waist gear wheel；Waist gyroaxis is fixing with large arm one end to be connected.
Further, described motor adopts motor.
Further, described large arm includes connection the first connecting plate that the first hydraulic cylinder and three the first guide rods, the first piston bar of the first hydraulic cylinder and three the first guide rods are all vertical, and large arm connects forearm by vertical the second connecting plate connecting the first connecting plate.
Further, described forearm includes the second hydraulic cylinder and two the second guide rods, and being arranged in of the second piston rod of described second hydraulic cylinder and all vertical described second connecting plate of connection of two the second guide rods, the second piston rod and two the second guide rods is triangular prism shaped.
Further, described first guide rod and the second guide rod are hollow-core construction.
Further, described wrist includes the hydraulic cylinder gripper shoe for fixing the second hydraulic cylinder, and described hydraulic cylinder gripper shoe is connected with end effector by tie-beam.
Further, described end effector includes housing, is provided with piston in described housing, and the end of piston connects two fingers by the gear of cooperating, can drive two finger opening and closing by the reciprocating motion of piston.
Further, the top of described large arm is provided with upper limit travel switch, and bottom is provided with lower bound range switch, described upper limit travel switch and lower bound range switch and is all connected with controller, and the outfan of controller connects electromagnetic valve.
Electric energy meter carton intelligence is unpacked the method for work of aid system, comprises the following steps:
Step one, forearm protracts, and stops after reaching setting position；
Step 2, large arm retracted downward, drive forearm and end effector to decline, end effector opens simultaneously, and after dropping to setting position, the electric energy meter carton that clamp is clamped by end effector；
Step 3, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and waist seat rotates counterclockwise 90 °；
Step 4, large arm retracted downward, drive forearm and end effector to decline, after arriving setting height, carton is put on setting position and unpacks by end effector；
Step 5, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and waist seat rotates clockwise 90 ° and returns to original position；
Step 6, after unpacking, waist seat rotates counterclockwise 90 °, large arm retracted downward, drives forearm and end effector to decline, and end effector opens simultaneously, stops declining after dropping to setting position, and the electric energy meter that clamp is clamped by end effector；
Step 7, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and waist seat rotates clockwise 90 °；
Step 8, large arm retracted downward, drive forearm and end effector to decline, after arriving setting height, electric energy meter is put into setting position by end effector, and a sorting piling terminates；
Step 9, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and forearm is toward after-contraction, and end effector closes, and returns to original position.
Relative to prior art, the method have the advantages that
The present invention can realize the operations such as the dismounting of packed in cases band, carton drawing, electric energy meter sorting；The carton of fixed dimension specification can be disassembled, capture the electric energy meter of different size；Realize the crawl of electric energy meter, sorting and piling again.Improve the work efficiency of production and processing, reduce cost, and make production line develop into flexible manufacturing system, adapt to the big production of modern automation.
Accompanying drawing explanation
Fig. 1 is waist holder structure schematic diagram；
Fig. 2 is wrist part structure schematic diagram；
Fig. 3 is end effector structures schematic diagram；
Wherein, 1. motor, 2. waist gyroaxis, 3. taper roll bearing, 4. waist pedestal, 5. waist gear wheel, 6. pedestal, 7. hydraulic cylinder gripper shoe, 8. tie-beam, 9. end effector, 10. piston, 11. fingers.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described with embodiment.
Refer to shown in Fig. 1 to Fig. 3, one electric energy meter carton intelligence of the present invention is unpacked aid system, including the waist seat that can rotate, the top of waist seat connects can one end of large arm of vertical telescopic, the other end of large arm connects one end of the forearm of energy horizontal extension, and the other end of forearm connects the end effector 9 of energy opening and closing by wrist.
As it is shown in figure 1, waist seat includes pedestal 6, pedestal 6 is fixed with waist pedestal 4, waist pedestal 4 is fixed with motor 1；Being provided with waist gyroaxis 2 on waist pedestal 4, waist gyroaxis 2 periphery is fixedly connected with waist gear wheel 5.It is provided with a pair taper roll bearing 3 between inside and the waist gyroaxis 2 of waist pedestal 4.Being provided with little gear on the output shaft of motor 1, this little gear engages with waist gear wheel 5.
The output shaft of motor 1 drives the waist gear wheel 5 of horizontal positioned to horizontally rotate, and waist gear wheel 5 drives waist gyroaxis 2 to horizontally rotate, and then large arm can be driven to horizontally rotate.
Motor 1 adopts motor.Because the precision that electronic mode controls can be significantly high, and compact conformation, other hydraulic system and auxiliary element thereof need not be designed, therefore the pivotal drive form of waist seat is that motor via reducer structure realizes.Waist seat is first revolute joint of whole system, affects big on the final precision of mechanical hand, therefore adopts motor to drive the gyration realizing waist.General motor all can not directly drive, it is contemplated that the specific requirement of rotating speed and moment of torsion, adopts the gear train assembly of big speed ratio to carry out the amplification slowed down with moment of torsion.Because gear drive also exists backlash, affect transmission accuracy, therefore adopt one-stage gear transmission, adopt big gear ratio (more than 100), simultaneously in order to reduce the overall structure of mechanical hand, gear adopts the material of high intensity, high rigidity, high accuracy processing and manufacturing, reduces the error because gear drive causes as far as possible.
Waist gyroaxis 2 is connected by flange is fixing with large arm one end.Large arm includes the first hydraulic cylinder and three the first guide rods, the first piston bar of the first hydraulic cylinder and three the first guide rods and all vertically connects the first connecting plate, and large arm connects forearm by vertical the second connecting plate connecting the first connecting plate.Large arm and forearm are vertically arranged.
Forearm includes the second hydraulic cylinder and two the second guide rods, and it is triangular prism shaped that the second piston rod of the second hydraulic cylinder and two the second guide rods all vertically connect being arranged in of the second connecting plate, the second piston rod and two the second guide rods.
Vertical arm (large arm) lifting of mechanical hand and the stretching motion of horizontal arm (forearm) are all rectilinear motion.The realization of rectilinear motion is usually pneumatic gearing, hydraulic drive and motor-driven ball-screw and realizes.Consider that the weight of carrying workpiece is bigger, it is considered to the quality of processing work reaches 30KG, belongs to medium-sized weight, simultaneously takes account of the dynamic property of mechanical hand and the stability of motion, safety, the rigidity of arm is had higher requirement.Considering, the driving of two arms all selects hydraulic driving mode, and directly driving by hydraulic cylinder, hydraulic cylinder is driving element, is carried out again movement parts, need not redesign other executive item；And hydraulic cylinder realizes rectilinear motion, control simple, it is easy to accomplish the control of computer.Because hydraulic system is provided that very big driving force, therefore all it is easier to realize in the intensity of driving force and structure, it is important to the stability of robot movement and meeting of rigidity.Therefore the design principle of arm hydraulic cylinder is that the diameter of cylinder obtains big a bit (when overall structure allows), then carries out the check of intensity.
For reducing quality, the first guide rod and the second guide rod are hollow-core construction.By setting up guide rod, motion rigidity and the stability of mechanical hand, the reasonable problem solving structure, stability can be significantly improved.
As in figure 2 it is shown, wrist includes the hydraulic cylinder gripper shoe 7 for fixing the second hydraulic cylinder, hydraulic cylinder gripper shoe 7 is connected with end effector 9 by tie-beam 8.
The arm motion (including the gyration of waist seat) of robot, give the end effector of robot 9 movement position in its work space, and be arranged on the wrist of robot arm end, then give end effector of robot athletic posture in its work space.Robot wrist is the least significant end of robot manipulator, and it is with robot arm routing motion, it is achieved the space motion path of the end effector being arranged in wrist and athletic posture, completes required operation action.
Concrete analysis by sorting palletizing operation that mechanical hand is unpacked, consider the concrete form of mechanical hand and specific requirement when sorting palletizing operation that mechanical hand is unpacked, security and the reliability is improved under the premise meeting system process requirement, structure for making mechanical hand is as far as possible simple, reduce the difficulty controlled, wrist of the present invention does not increase degree of freedom, in practice it has proved that this is entirely capable of meeting job requirements, and it is fully sufficient that 3 degree of freedom realize machine mechanical hand sorting palletizing operation of unpacking.
As it is shown on figure 3, end effector 9 includes housing, being provided with piston 10 in housing, the end of piston 10 connects two fingers 11 by the gear of cooperating, drives the opening and closing of two fingers 11 by the reciprocating motion of piston 10.
End effector 9 is mounted on robot wrist for carrying out the attachment device of certain operation or operation.The kind of end effector of robot is a lot, to adapt to different work and the operation requirement of robot.End effector can be divided into carrying with, processing with and measure with etc..
Robot gripper and robot hand.General industry robot hand, mostly is double; two finger paw.Press the motion mode of finger, rotary type and mobile model can be divided into, divide by method of clamping, have external clamping and inner bearing type two kinds.
In conjunction with concrete working condition, the present embodiment adopts the lever-type paw of connecting rod.Driving piston reciprocating moves, and by piston rod end tooth bar, middle tooth bar and sector rack make finger open or close.The minimum aperture of finger is set up by the diameter of processing work.The present embodiment is that 50mm designs according to the diameter of workpiece.
The top of large arm is provided with upper limit travel switch, and bottom is provided with lower bound range switch, upper limit travel switch and lower bound range switch and is all connected with controller, and the outfan of controller connects electromagnetic valve.Vertical lift and horizontal extension realize driving with hydraulic pressure, and hydraulic cylinder is controlled by corresponding electromagnetic valve.Upper limit travel switch and lower bound range switch are for limiting the amplitude of large arm oscilaltion.
Electric energy meter carton intelligence is unpacked the method for work of aid system, comprises the following steps:
Step one, forearm protracts, and stops after reaching setting position；
Step 2, large arm retracted downward, drive forearm and end effector to decline, end effector opens simultaneously, and after dropping to setting position, the carton that clamp is clamped by end effector；
Step 3, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and waist seat rotates counterclockwise 90 °；
Step 4, large arm retracted downward, drive forearm and end effector to decline, after arriving setting height, carton is put on setting position and unpacks by end effector；
Step 5, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and waist seat rotates clockwise 90 ° and returns to original position；
Step 6, after unpacking, waist seat rotates counterclockwise 90 °, large arm retracted downward, drives forearm and end effector to decline, and end effector opens simultaneously, stops declining after dropping to setting position, and the electric energy meter that clamp is clamped by end effector；
Step 7, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and waist seat rotates clockwise 90 °；
Step 8, large arm retracted downward, drive forearm and end effector to decline, after arriving setting height, electric energy meter is put into setting position by end effector, and a sorting piling terminates；
Step 9, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and forearm is toward after-contraction, and end effector closes, and returns to original position.
The specific embodiment of the present invention is described in conjunction with accompanying drawing although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme, those skilled in the art need not pay various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
1. electric energy meter carton intelligence is unpacked aid system, it is characterized in that, including the waist seat that can rotate, the top of described waist seat connects can one end of large arm of vertical telescopic, the other end of described large arm connect can one end of forearm of horizontal extension, the other end of described forearm is connected by wrist can the end effector of opening and closing.
2. as claimed in claim 1 electric energy meter carton intelligence is unpacked aid system, it is characterised in that described waist seat includes pedestal, described pedestal is fixed with waist pedestal, described waist pedestal is fixed with motor；Being provided with waist gyroaxis on waist pedestal, waist gyroaxis periphery is fixedly connected with waist gear wheel；It is provided with a pair taper roll bearing between inside and the waist gyroaxis of waist pedestal；Being provided with little gear on the output shaft of motor, this little gear engages with waist gear wheel；Waist gyroaxis is fixing with large arm one end to be connected.
3. as claimed in claim 2 electric energy meter carton intelligence is unpacked aid system, it is characterised in that described motor adopts motor.
4. as claimed in claim 1 electric energy meter carton intelligence is unpacked aid system, it is characterized in that, described large arm includes the first hydraulic cylinder and three the first guide rods, the first piston bar of the first hydraulic cylinder and all vertical connection the first connecting plate of three the first guide rods, large arm connects forearm by vertical the second connecting plate connecting the first connecting plate.
5. as claimed in claim 4 electric energy meter carton intelligence is unpacked aid system, it is characterized in that, described forearm includes the second hydraulic cylinder and two the second guide rods, being arranged in of second piston rod of described second hydraulic cylinder and all vertical described second connecting plate of connection of two the second guide rods, the second piston rod and two the second guide rods is triangular prism shaped.
6. as claimed in claim 5 electric energy meter carton intelligence is unpacked aid system, it is characterised in that described first guide rod and the second guide rod are hollow-core construction.
7. as claimed in claim 5 electric energy meter carton intelligence is unpacked aid system, it is characterised in that described wrist includes the hydraulic cylinder gripper shoe for fixing the second hydraulic cylinder, and described hydraulic cylinder gripper shoe is connected with end effector by tie-beam.
8. as claimed in claim 1 electric energy meter carton intelligence is unpacked aid system, it is characterized in that, described end effector includes housing, is provided with piston in described housing, the end of piston connects two fingers by the gear of cooperating, can drive two finger opening and closing by the reciprocating motion of piston.
9. as claimed in claim 1 electric energy meter carton intelligence is unpacked aid system, it is characterized in that, the top of described large arm is provided with upper limit travel switch, and bottom is provided with lower bound range switch, described upper limit travel switch and lower bound range switch are all connected with controller, and the outfan of controller connects electromagnetic valve.
10. electric energy meter carton intelligence is unpacked the method for work of aid system, it is characterised in that unpacks aid system based on the electric energy meter carton intelligence according to any one of claim 1 to 9, comprises the following steps:
Step one, forearm protracts, and stops after reaching setting position；
Step 2, large arm retracted downward, drive forearm and end effector to decline, end effector opens simultaneously, and after dropping to setting position, the electric energy meter carton that clamp is clamped by end effector；
Step 3, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and waist seat rotates counterclockwise 90 °；
Step 4, large arm retracted downward, drive forearm and end effector to decline, after arriving setting height, carton is put on setting position and unpacks by end effector；
Step 5, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and waist seat rotates clockwise 90 ° and returns to original position；
Step 6, after unpacking, waist seat rotates counterclockwise 90 °, large arm retracted downward, drives forearm and end effector to decline, and end effector opens simultaneously, stops declining after dropping to setting position, and the electric energy meter that clamp is clamped by end effector；
Step 7, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and waist seat rotates clockwise 90 °；
Step 8, large arm retracted downward, drive forearm and end effector to decline, after arriving setting height, electric energy meter is put into setting position by end effector, and a sorting piling terminates；
Step 9, large arm protrudes upward, and drives forearm and end effector to rise, stops protruding upward after arriving setting height, and forearm is toward after-contraction, and end effector closes, and returns to original position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610228833.2A CN105710879A (en) | 2016-04-13 | 2016-04-13 | Intelligent package dismounting auxiliary system and method for electric energy meter paper box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610228833.2A CN105710879A (en) | 2016-04-13 | 2016-04-13 | Intelligent package dismounting auxiliary system and method for electric energy meter paper box |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105710879A true CN105710879A (en) | 2016-06-29 |
Family
ID=56161044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610228833.2A Pending CN105710879A (en) | 2016-04-13 | 2016-04-13 | Intelligent package dismounting auxiliary system and method for electric energy meter paper box |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105710879A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263358A (en) * | 2017-07-25 | 2017-10-20 | 许坚玉 | A kind of liftable cantilevered supporting arrangement |
| CN107263359A (en) * | 2017-07-25 | 2017-10-20 | 许坚玉 | The support meanss that a kind of auxiliary boom is installed |
| CN108481361A (en) * | 2018-03-14 | 2018-09-04 | 中国石油大学(华东) | A kind of rail mounted mechanical arm with repair function |
| CN110053839A (en) * | 2019-04-24 | 2019-07-26 | 广州广林科技有限公司 | A kind of intelligence unpacking equipment |
| CN115922769A (en) * | 2022-12-28 | 2023-04-07 | 上海宝冶集团有限公司 | Intelligent grabbing robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1958112B1 (en) * | 2005-12-09 | 2014-04-30 | Cornerstone Automation System, Inc. | Automated box opening apparatus |
| CN104443602A (en) * | 2014-10-20 | 2015-03-25 | 国网重庆市电力公司电力科学研究院 | Automatic unpacking system and method of electric energy meter |
| CN204339434U (en) * | 2014-05-29 | 2015-05-20 | 袁川来 | A kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator |
| CN105173282A (en) * | 2015-10-10 | 2015-12-23 | 国网重庆市电力公司电力科学研究院 | Detaching and recycling system for electric energy meter package boxes |
| CN105269563A (en) * | 2015-11-30 | 2016-01-27 | 宁波新芝华东环保科技有限公司 | Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions |
-
2016
- 2016-04-13 CN CN201610228833.2A patent/CN105710879A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1958112B1 (en) * | 2005-12-09 | 2014-04-30 | Cornerstone Automation System, Inc. | Automated box opening apparatus |
| CN204339434U (en) * | 2014-05-29 | 2015-05-20 | 袁川来 | A kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator |
| CN104443602A (en) * | 2014-10-20 | 2015-03-25 | 国网重庆市电力公司电力科学研究院 | Automatic unpacking system and method of electric energy meter |
| CN105173282A (en) * | 2015-10-10 | 2015-12-23 | 国网重庆市电力公司电力科学研究院 | Detaching and recycling system for electric energy meter package boxes |
| CN105269563A (en) * | 2015-11-30 | 2016-01-27 | 宁波新芝华东环保科技有限公司 | Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263358A (en) * | 2017-07-25 | 2017-10-20 | 许坚玉 | A kind of liftable cantilevered supporting arrangement |
| CN107263359A (en) * | 2017-07-25 | 2017-10-20 | 许坚玉 | The support meanss that a kind of auxiliary boom is installed |
| CN108481361A (en) * | 2018-03-14 | 2018-09-04 | 中国石油大学(华东) | A kind of rail mounted mechanical arm with repair function |
| CN110053839A (en) * | 2019-04-24 | 2019-07-26 | 广州广林科技有限公司 | A kind of intelligence unpacking equipment |
| CN115922769A (en) * | 2022-12-28 | 2023-04-07 | 上海宝冶集团有限公司 | Intelligent grabbing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105710879A (en) | Intelligent package dismounting auxiliary system and method for electric energy meter paper box | |
| CN201405355Y (en) | Connecting rod-lever type pneumatic manipulator | |
| CN203371542U (en) | Mechanical arm for carrying | |
| CN201357413Y (en) | Clamping manipulator | |
| CN208231391U (en) | A kind of machining workpiece holding transfer device | |
| CN201287337Y (en) | Mechanical arm for assembling link lever cover | |
| CN105328697A (en) | Modularized six-degree-freedom mechanical hand and control method thereof | |
| CN207682389U (en) | A kind of transportation manipulator | |
| CN106976073A (en) | A kind of fruits and vegetables sorting manipulator | |
| CN107745379A (en) | A kind of multi-joint conveying robot | |
| CN206580247U (en) | The high horizontal rotation manipulator of degree of stability | |
| CN101497196A (en) | Translational clamping mechanical claw with uniform speed | |
| CN205272018U (en) | Modularization six -degree -of -freedom manipulator | |
| CN208034711U (en) | Bag handgrip | |
| CN203127182U (en) | End product cartoning mechanical arm | |
| CN206998971U (en) | A kind of part pick-and-place craft power assistant arm | |
| CN206665677U (en) | A kind of robot manipulator structure for the folded bag of feed | |
| CN106166739A (en) | A kind of linear type parallel robot | |
| CN210878802U (en) | Machine tool material transfer system based on six-degree-of-freedom robot | |
| CN203901298U (en) | Mechanical arm structure of robot | |
| CN201645487U (en) | Gearing mesh type manipulator | |
| CN114378804A (en) | Mechanical claw with buffering effect | |
| CN205552113U (en) | Feeding mechanical arm in vertical punch press sucking disc formula | |
| CN210233030U (en) | Convertible double-arm robot | |
| CN209831628U (en) | Human-machine cooperation robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160629 |
|
| RJ01 | Rejection of invention patent application after publication |