CN105905604B - Automatic mold rollover unit tool hand and online mould rollover unit - Google Patents

Automatic mold rollover unit tool hand and online mould rollover unit Download PDF

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Publication number
CN105905604B
CN105905604B CN201610411402.XA CN201610411402A CN105905604B CN 105905604 B CN105905604 B CN 105905604B CN 201610411402 A CN201610411402 A CN 201610411402A CN 105905604 B CN105905604 B CN 105905604B
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CN
China
Prior art keywords
arm
rollover unit
motor
sucker
tool hand
Prior art date
Application number
CN201610411402.XA
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Chinese (zh)
Other versions
CN105905604A (en
Inventor
高彦臣
王福业
潘海
王莹丽
李建强
高新兵
Original Assignee
青岛万龙智控科技有限公司
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Filing date
Publication date
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Priority to CN201610411402.XA priority Critical patent/CN105905604B/en
Publication of CN105905604A publication Critical patent/CN105905604A/en
Application granted granted Critical
Publication of CN105905604B publication Critical patent/CN105905604B/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
    • B65G47/914Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683Details of suction cup structure, e.g. grooves or ridges
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • 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
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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

Abstract

The present invention provides automatic mold rollover unit tool hand, and it includes the first arm, the second arm, the 3rd arm, the first sucker, the second sucker, and the manipulator is overturn casing by spinning after the first sucker crawl casing, is transferred to the second sucker of top;After the completion of switching, the first sucker rotates horizontally and allows out position, and the second sucker declines, and the casing after mould turnover is put down.So, on a manipulator, general crawl had both been realized, stacking, the function of being overturn after crawl can have been realized again.The present invention is additionally provided in line mould rollover unit, and it includes automatic mold rollover unit tool hand, support body, front and rear walking mechanism and left and right walking mechanism;The online mould rollover unit free degree is more, fully meets online crawl, stacking, the mould turnover requirement of irradiation production line, greatly improves pipelined process automaticity, decrease substantial amounts of hand labor, improve production efficiency.

Description

Automatic mold rollover unit tool hand and online mould rollover unit

Technical field

The invention belongs to manipulator technical field, relates in particular to automatic mold rollover unit tool hand and completes to turn over inside manipulator Case apparatus.

Background technology

After the completion of the Product processings such as aquatic products, meat products, eggs, Bee Pollen, in order to obtain the longer holding time, commonly use X ray irradiation x is sterilized.In irradiation process, gamma rays penetrate irradiation container in goods, act on microorganism, directly or Ribonucleic acid, protein and the enzyme for destroying microorganism are connect, so as to kill microorganism, plays a part of sterilization.In addition, X ray irradiation x is also widely used in the surface disinfection of packaging material and packing container.

In conventional irradiation production line, radiation chamber is passed sequentially through after packaging products in boxes and is irradiated, it is uniform, abundant in order to ensure Irradiation effect, its mould turnover need to carry out secondary irradiation by product box after once irradiating.In existing production process, mould turnover For process by manually being operated, a small number of producers use acetabular surgery, and labor intensity is big, production efficiency is low;It is further, since box Often weight is larger for product, and artificial carrying, de-stacking stacking workload are big, are carried using manipulator, stacking is increasingly becoming Gesture.

Therefore, design a mechanism hand, meet automatic mould turnover, carrying, de-stacking, stacking requirement while, and can is matched somebody with somebody Close irradiation production line to use, lift the automatization level of irradiation, reduce hand labor, improve production efficiency, it has also become compel The demand cut.

The content of the invention

In view of the shortcomings of the prior art, in order to solve the above problems, the present invention proposes automatic mold rollover unit tool hand and turned over online Case apparatus, realize irradiation process serialization, automation.

To achieve the above object, the present invention provides following technical scheme:

Automatic mold rollover unit tool hand, it includes the first arm 1, the second arm 2, the 3rd arm, the first sucker 101, second and inhaled Disk 202;

First arm 1 is connected with the second arm 2 by vertical axis 104;The vertical axis 104 is rotary shaft, first Arm 1 can be rotated with vertical axis 104 for axle;

Second arm 2 is connected with the 3rd arm 3 by the second vertical axis 205;Second vertical axis 205 is rotation Axle, the 3rd arm 3 can be rotated with the second vertical axis 205 for axle;

First arm 1 also sets up spin rotation mechanism, and the spin rotation mechanism is rotary shaft with trunnion axis 105;The spin Rotation mechanism is fixedly connected with the first sucker 101;

The side wall of second arm 2 sets fluctuating orbit 201, and the second sucker 202 is slidably connected with fluctuating orbit 201.

Further, the spin rotation mechanism includes the first motor 102, sets and hangs down between the first motor 102 and trunnion axis 105 Straight meshed gears, the front end of trunnion axis 105 connect the first sucker 101.

Further, the second motor 103 is set in second arm 2, and second motor 103 is connected with vertical axis 104.

Further, elevating mechanism 203 is set in second arm 2, and the elevating mechanism 203 includes motor, leading screw, biography Motion block, the leading screw are be arranged in parallel with fluctuating orbit 201, and leading screw is connected by drive block with the second sucker 202, and leading screw top connects Motor is connect, is lifted by the second sucker of motor driven 202.

Further, the 3rd motor 204 is set in the 3rd arm 3, between the 3rd motor 204 and the second vertical axis 205 It is driven by pitch wheel.

Online mould rollover unit containing automatic mold rollover unit tool hand, it also includes support body, front and rear walking mechanism 7 and left and right and advanced Mechanism 8;

The support body includes horizontal support 4, longitudinal carrier 5, small horizontal support 6;The horizontal support 4, longitudinal carrier 5, Small horizontal support 6 is two-row structure;

The horizontal support 4 sets left and right traveling track, and longitudinal carrier 5 is set up in the left and right traveling track, longitudinal direction Support 5 is connected with left and right walking mechanism 8;

The longitudinal carrier 5 sets front and rear traveling track, and small horizontal support 6 is set up in the front and rear traveling track, small Horizontal support 6 is connected with front and rear walking mechanism 7;

3rd arm 3 of the automatic mold rollover unit tool hand is set up on small horizontal support 6.

Further, the side wall of the 3rd arm 3 of the automatic mold rollover unit tool hand sets rack 301;The face of rack 301 Walking mechanism up and down is additionally provided with small horizontal support 6, the walking mechanism up and down includes motor and the gear with motor connection, The wheel and rack 301 engages.

Further, the side wall of the 3rd arm 3 of the automatic mold rollover unit tool hand sets positive stop strip;On the small horizontal support 6 It is provided with clamping mechanism 601, the clamping mechanism 601 and the positive stop strip clamping.

Further, the left and right walking mechanism 8 includes the motor and timing belt being set up on support body, the longitudinal carrier 5 The timing belt is connected to, the left and right traveling track for driving transversely support 4 by the timing belt moves.

Further, the front and rear walking mechanism 7 includes the motor and timing belt being set up on longitudinal carrier 5, the small horizontal stroke The timing belt is connected to support 6, is driven along the front and rear traveling track of longitudinal carrier 5 and moved by the timing belt.

The beneficial effects of the invention are as follows:

First:The automatic mold rollover unit tool hand of the present invention realizes automatic crawl, mould turnover operation;Double suction is set on manipulator Disk, casing is overturn by spinning after the first sucker crawl casing, is transferred to the second sucker of top;After the completion of switching, the One sucker rotates horizontally and allows out position, and the second sucker declines, and the casing after mould turnover is put down.So, on a manipulator, both General crawl is realized, stacking, can realize that upset is in the function of stacking after capturing again;

Second:The online mould rollover unit free degree containing automatic mold rollover unit tool hand is more, fully meets irradiation production line Online crawl, stacking, mould turnover requirement, greatly improve irradiation process automaticity, decrease substantial amounts of hand labor, raw Production efficiency greatly improves.

Brief description of the drawings

Fig. 1 is the structural representation of automatic mold rollover unit tool hand of the present invention;

Fig. 2 is the first arm structure schematic diagram of automatic mold rollover unit tool hand of the present invention;

Fig. 3 is the online mould rollover unit structural representation of the present invention;

Fig. 4 is the partial enlargement structural representation of the online mould rollover unit of the present invention;

Fig. 5 is irradiation production line structural representation.

In accompanying drawing:1:First arm;101:First sucker;102:First motor;103:Second motor;104:Vertical axis; 105:Trunnion axis;2:Second arm;201:Fluctuating orbit;202:Second sucker;203:Elevating mechanism;204:3rd motor; 205:Second vertical axis 3:3rd arm;301:Rack;4:Horizontal support;5:Longitudinal carrier;6:Small horizontal support;601:Screens Mechanism;7:Front and rear walking mechanism;8:Left and right walking mechanism;9:Upper and lower walking mechanism.

Embodiment

In order that those skilled in the art more fully understand technical scheme, it is right with reference to the accompanying drawing of the present invention Technical scheme carries out clear, complete description, and based on the embodiment in the application, those of ordinary skill in the art exist The other similar embodiments obtained on the premise of not making creative work, it should all belong to the scope of the application protection.

The present invention devises automatic mold rollover unit tool hand, had both realized general crawl, and de-stacking, stacking, had been turned over after can realizing crawl again Turn the function in stacking;The online mould rollover unit containing automatic mold rollover unit tool hand is have also been devised, its free degree is more, fully meets Online crawl, stacking, the mould turnover requirement of production line are irradiated, greatly improves irradiation process automaticity.

As shown in Figure 1 and Figure 2, automatic mold rollover unit tool hand of the invention, automatic mold rollover unit tool hand, it include the first arm 1, Second arm 2, the 3rd arm, the first sucker 101, the second sucker 202;The arm 2 of first arm 1 and second passes through vertical axis 104 connections;The vertical axis 104 is rotary shaft, and the first arm 1 can be rotated with vertical axis 104 for axle;In second arm 2 Second motor 103 is set, and second motor 103 is connected with vertical axis 104, and the horizontal rotation for the first arm 1 provides power.

Second arm 2 is connected with the 3rd arm 3 by the second vertical axis 205;Second vertical axis 205 is rotation Axle, the 3rd arm 3 can be rotated with the second vertical axis 205 for axle;3rd motor 204 is set in the 3rd arm 3, and one preferably Scheme in, be driven between the 3rd motor 204 and the second vertical axis 205 by pitch wheel.3rd motor 204 passes through Gear drives the rotation of second-hand's arm.

First arm 1 also sets up spin rotation mechanism, and the spin rotation mechanism is rotary shaft with trunnion axis 105;The spin Rotation mechanism is fixedly connected with the first sucker 101;The spin rotation mechanism includes the first motor 102, the first motor 102 and trunnion axis The gear of Vertical Meshing is preferably provided between 105, the front end of trunnion axis 105 connects the first sucker 101, so in the first motor 102 Drive under, the first sucker 101 around can trunnion axis 105 realize spinning.

The side wall of second arm 2 sets fluctuating orbit 201, and the second sucker 202 is slidably connected with fluctuating orbit 201.Described Elevating mechanism 203 is set in two arms 2, and in a preferable scheme, the elevating mechanism 203 includes motor, leading screw, transmission Block, the leading screw are be arranged in parallel with fluctuating orbit 201, and leading screw is connected by drive block with the second sucker 202, the connection of leading screw top Motor, lifted by the second sucker of motor driven 202.

Above-mentioned automatic mold rollover unit tool hand, it can be achieved to operate the automatic crawl of casing, mould turnover, it is specific as follows:

After capturing casing by the first sucker 101, it can be entered by the rotation adjustment position of the first arm 1, the second arm 2 Row stacking, mould turnover operation need to be such as carried out, the spinning of the first sucker 101 overturns casing, is transferred to the second sucker 202 of top; After the completion of switching, the first sucker 101 rotates horizontally and allows out position, and the second sucker 202 declines, the casing after mould turnover is put down.This Sample, on a manipulator, general crawl was both realized, stacking, can realize that upset is in the function of stacking after capturing again.

In order to coordinate irradiation production line to use online, the present invention devises online mould rollover unit(As shown in Figure 3, Figure 4), remove Beyond automatic mold rollover unit tool hand, in addition to support body, front and rear walking mechanism 7 and left and right walking mechanism 8;

The support body includes horizontal support 4, longitudinal carrier 5, small horizontal support 6;The horizontal support 4, longitudinal carrier 5, Small horizontal support 6 is two-row structure;

The horizontal support 4 sets left and right traveling track, and longitudinal carrier 5 is set up in the left and right traveling track, longitudinal direction Support 5 is connected with left and right walking mechanism 8;The left and right walking mechanism 8 includes the motor and timing belt being set up on support body, described Longitudinal carrier 5 is connected to the timing belt, and the left and right traveling track for driving transversely support 4 by the timing belt moves.

The longitudinal carrier 5 sets front and rear traveling track, and small horizontal support 6 is set up in the front and rear traveling track, small Horizontal support 6 is connected with front and rear walking mechanism 7;The front and rear walking mechanism 7 include the motor that is set up on longitudinal carrier 5 with it is same Band is walked, the small horizontal support 6 is connected to the timing belt, and the front and rear traveling rail along longitudinal carrier 5 is driven by the timing belt Move in road.

3rd arm 3 of the automatic mold rollover unit tool hand is set up on small horizontal support 6.

In order to realize the lifting of automatic mold rollover unit tool hand, in a preferred scheme, the 3rd of the automatic mold rollover unit tool hand the The side wall of arm 3 sets rack 301;Walking mechanism up and down is additionally provided with the small horizontal support 6 of the face of rack 301, it is described Upper and lower walking mechanism includes motor and the gear with motor connection, and the wheel and rack 301 engages.In automatic mold rollover unit tool hand It is spacing in order to be carried out to lifting position in lifting process, keep lifting stable, the 3rd arm 3 of the automatic mold rollover unit tool hand Side wall sets positive stop strip;Clamping mechanism 601, the clamping mechanism 601 and the positive stop strip are provided with the small horizontal support 6 Clamping.

Embodiment 1

In this implementation, with reference to irradiation production line as shown in Figure 5, illustrate the use process of online mould rollover unit.In Fig. 5, C For irradiated site, the casing streamline of U-shaped, the position between A, B sets online mould rollover unit as shown in Figure 3, in Fig. 3, is Avoid confusion, illustrate only bilateral support body and wherein the automatic mold rollover unit tool hand of side, the manipulator of opposite side are complete with it It is identical.

In a pipeline, by the movement of front and rear walking mechanism, upper and lower walking mechanism, the casing that will be placed in outside streamline After being captured by the first sucker 101, it is sequentially placed on streamline, after once irradiating, realizes that mould turnover operates.First sucker 101 spinnings overturn casing, are transferred to the second sucker 202 of top;After the completion of switching, the first sucker 101 is rotated horizontally and allowed Out position, the second sucker 202 decline, because the casing of streamline is being advanced always, left and right walking mechanism in the process also one Directly in movement, when ensureing that case is put in the decline of the second sucker 202, the casing after mould turnover is put to origin-location.Then the first sucker 101st, the second sucker 202 playbacks, and the playback of automatic mold rollover unit tool hand, carries out next round mould turnover operation.

In the present embodiment, it is that the production line for coordinating " u "-shaped uses to set the support body of bilateral and automatic mold rollover unit structure, meets life Producing line middle case requires in the mould turnover of traveling process, realizes automated production operation.

The present invention is described in detail above, it is described above, it is only the better embodiment of the present invention, when not The scope of the present invention can be limited, i.e., it is all to make equivalent changes and modifications according to the application scope, it all should still belong to the present invention and cover model In enclosing.

Claims (10)

1. automatic mold rollover unit tool hand, it is characterised in that:It includes the first arm(1), the second arm(2), the 3rd arm, first inhale Disk(101), the second sucker(202);
First arm(1)With the second arm(2)Pass through vertical axis(104)Connection;The vertical axis(104)For rotary shaft, First arm(1)Can be with vertical axis(104)Rotated for axle;
Second arm(2)With the 3rd arm(3)Pass through the second vertical axis(205)Connection;Second vertical axis(205)For Rotary shaft, the 3rd arm(3)Can be with the second vertical axis(205)Rotated for axle;
First arm(1)Spin rotation mechanism is also set up, the spin rotation mechanism is with trunnion axis(105)For rotary shaft;The spin Rotation mechanism and the first sucker(101)It is fixedly connected;
Second arm(2)Side wall sets fluctuating orbit(201), the second sucker(202)With fluctuating orbit(201)It is slidably connected.
2. automatic mold rollover unit tool hand according to claim 1, it is characterised in that:The spin rotation mechanism includes the first motor (102), the first motor(102)With trunnion axis(105)Between set Vertical Meshing gear, trunnion axis(105)Front end connection the One sucker(101).
3. automatic mold rollover unit tool hand according to claim 1, it is characterised in that:Second arm(2)It is interior to set second Motor(103), second motor(103)With vertical axis(104)Connection.
4. automatic mold rollover unit tool hand according to claim 1, it is characterised in that second arm(2)It is interior that lifting is set Mechanism(203), the elevating mechanism(203)Including motor, leading screw, drive block, the leading screw and fluctuating orbit(201)It is parallel to set Put, leading screw passes through drive block and the second sucker(202)Connection, leading screw top connection motor, by the sucker of motor driven second(202) Lifting.
5. automatic mold rollover unit tool hand according to claim 1, it is characterised in that the 3rd arm(3)It is interior to set the 3rd Motor(204), the 3rd motor(204)With the second vertical axis(205)Between be driven by pitch wheel.
6. the online mould rollover unit containing the automatic mold rollover unit tool hand as described in Claims 1 to 5 is any, it is characterised in that:Its Also include support body, front and rear walking mechanism(7)With left and right walking mechanism(8);
The support body includes horizontal support(4), longitudinal carrier(5), small horizontal support(6);The horizontal support(4), longitudinal direction branch Frame(5), small horizontal support(6)It is two-row structure;
The horizontal support(4)Left and right traveling track, longitudinal carrier are set(5)It is set up in the left and right traveling track, longitudinal direction Support(5)With left and right walking mechanism(8)Connection;
The longitudinal carrier(5)Traveling track before and after setting, small horizontal support(6)It is set up in the front and rear traveling track, it is small Horizontal support(6)With front and rear walking mechanism(7)Connection;
3rd arm of the automatic mold rollover unit tool hand(3)It is set up in small horizontal support(6)On.
7. online mould rollover unit according to claim 6, it is characterised in that:3rd arm of the automatic mold rollover unit tool hand (3)Side wall sets rack(301);The rack(301)The small horizontal support of face(6)On be additionally provided with up and down walking mechanism, The walking mechanism up and down includes motor and the gear with motor connection, the wheel and rack(301)Engagement.
8. online mould rollover unit according to claim 6, it is characterised in that:3rd arm of the automatic mold rollover unit tool hand (3)Side wall sets positive stop strip;The small horizontal support(6)On be provided with clamping mechanism(601), the clamping mechanism(601)With The positive stop strip clamping.
9. online mould rollover unit according to claim 6, it is characterised in that:The left and right walking mechanism(8)Including setting up In motor and timing belt on support body, the longitudinal carrier(5)The timing belt is connected to, is driven transversely by the timing belt Support(4)Left and right traveling track movement.
10. online mould rollover unit according to claim 6, it is characterised in that:The front and rear walking mechanism(7)Including setting up In longitudinal carrier(5)On motor and timing belt, the small horizontal support(6)The timing belt is connected to, by the timing belt Drive along longitudinal carrier(5)Front and rear traveling track movement.
CN201610411402.XA 2016-06-12 2016-06-12 Automatic mold rollover unit tool hand and online mould rollover unit CN105905604B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610411402.XA CN105905604B (en) 2016-06-12 2016-06-12 Automatic mold rollover unit tool hand and online mould rollover unit

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Application Number Priority Date Filing Date Title
CN201610411402.XA CN105905604B (en) 2016-06-12 2016-06-12 Automatic mold rollover unit tool hand and online mould rollover unit

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CN105905604B true CN105905604B (en) 2018-01-19

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108673494B (en) * 2018-05-28 2020-03-17 温州职业技术学院 Buzzer piece on-line detection overturning manipulator

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3896926A (en) * 1972-10-06 1975-07-29 Owens Illinois Inc Motion translating apparatus and controls therefor
JPH0395017A (en) * 1989-09-04 1991-04-19 Tohoku Munekata Kk Transfer device
CN201669703U (en) * 2010-05-14 2010-12-15 郑州新大方重工科技有限公司 Turnover mechanical arm
CN103213852A (en) * 2013-04-25 2013-07-24 云南众诚士德柔性自动化设备有限公司 Multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically
CN203993876U (en) * 2014-03-28 2014-12-10 温州职业技术学院 Turn-over and displacement manipulator
CN204341481U (en) * 2014-10-25 2015-05-20 郑建村 A kind of smart code stack machine of ceramic tile packaging line

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3896926A (en) * 1972-10-06 1975-07-29 Owens Illinois Inc Motion translating apparatus and controls therefor
JPH0395017A (en) * 1989-09-04 1991-04-19 Tohoku Munekata Kk Transfer device
CN201669703U (en) * 2010-05-14 2010-12-15 郑州新大方重工科技有限公司 Turnover mechanical arm
CN103213852A (en) * 2013-04-25 2013-07-24 云南众诚士德柔性自动化设备有限公司 Multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically
CN203993876U (en) * 2014-03-28 2014-12-10 温州职业技术学院 Turn-over and displacement manipulator
CN204341481U (en) * 2014-10-25 2015-05-20 郑建村 A kind of smart code stack machine of ceramic tile packaging line

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Denomination of invention: Automatic box turnover manipulator and online box turnover device

Effective date of registration: 20200122

Granted publication date: 20180119

Pledgee: Qingdao Huitong Chinese financing Company limited by guarantee

Pledgor: QINGDAO WANLONG INTELLIGENT CONTROL TECHNOLOGY CO., LTD.

Registration number: Y2020370010001