CN106276235A - A kind of cylinder material with two grades of push function grasps conveyer device - Google Patents
A kind of cylinder material with two grades of push function grasps conveyer device Download PDFInfo
- Publication number
- CN106276235A CN106276235A CN201610819920.5A CN201610819920A CN106276235A CN 106276235 A CN106276235 A CN 106276235A CN 201610819920 A CN201610819920 A CN 201610819920A CN 106276235 A CN106276235 A CN 106276235A
- Authority
- CN
- China
- Prior art keywords
- axle
- delivery device
- time delay
- claw
- electric cylinder
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0217—Elongated
Abstract
The invention discloses a kind of cylinder material with two grades of push function and grasp conveyer device, including left jamming claw, delivery device pedestal, claw mounting seat, right jamming claw, left folding half gear, right folding half gear and driving half gear, chain delivery device, time delay axis mechanism, electric cylinder delivery device are installed on described delivery device pedestal and control box, described claw mounting seat and delivery device pedestal connect by hexagon socket head cap screw is fixing, and described claw mounting seat both sides are hinged with right jamming claw axle with left jamming claw axle respectively.Conveyer device should be grasped with the cylinder material of two grades of push function, use Chain conveyer as the pusher of the first order, the propelling movement of distance can be realized, i.e. tentatively bar is sent in target machine, and chain change of curvature at sprocket wheel, can make to push away hook and automatically take in apparatus, do not affect the grasping of material, realize the compact Layout in structure, material can be pushed to target machine deeper inside, it is achieved the crawl conveying task of different-diameter bar.
Description
Technical field
The present invention relates to conveyer device technical field, a kind of cylinder material with two grades of push function grasps defeated
Send device.
Background technology
Along with the development of automatic control technology, plant equipment is increasingly towards working automation, and compact conformationization develops, this
2 is one of important indicator of weighing and develop mechanical advanced person's degree.Modern factories increasingly introduces industrial robot generation
Complete a certain amount of work for people, but in compact space, complete the crawl of cylinder material and indefinite location push, existing
Industrial robot does not the most possess this function.Present cylinder material-transporting system be the most all cylinder material posture changing by
Industrial robot with handgrip completes, and the conveying of cylinder material is then come by the pushing machinery that other set is fixing in space
Completing, the working method not only efficiency so separated is low, and apparatus floor space is big, is unfavorable for the cloth of cylinder material memorizer tool
Put, and the indefinite position feeding of cylinder material can not be realized, it is impossible to realize factory's expectation machinery compact Layout, reduce occupation of land face
Long-pending target, there is significant limitation in this in industrial practice.Material crawl conveyer device with two-stage push function is
Compages volume is minimum, is suitable for multiple cylinder bar grasping feeding, can realize cylinder bar indefinite angle feeding, be suitable for multiple
A kind of novel material that realizes that the design that robot is installed requires and designs grasps and the machinery of propelling movement.
Summary of the invention
It is an object of the invention to provide a kind of cylinder material with two grades of push function and grasp conveyer device, to solve
The problem proposed in above-mentioned background technology.
For achieving the above object, the present invention provides following technical scheme: a kind of cylinder material with two grades of push function
Grasping conveyer device, including left jamming claw, delivery device pedestal, claw mounting seat, right jamming claw, left folding half gear, right folding half
Gear and driving half gear, described delivery device pedestal is provided with chain delivery device, time delay axis mechanism, electric cylinder delivery device
Connect by hexagon socket head cap screw is fixing with controlling box, described claw mounting seat and delivery device pedestal, described claw mounting seat two
Side is hinged with right jamming claw axle with left jamming claw axle respectively；
Described chain delivery device include drive sprocket axle, push motor, drive sprocket, propelling movement chain, driven chain wheel shaft and from
Movable sprocket, the side of described drive sprocket axle is inserted on the corresponding hole of delivery device pedestal, described drive sprocket axle and drive chain
Wheel is by bonded, and described drive sprocket axle connects installs deep groove ball bearing, described active on the axle pushing motor one end
Sprocket shaft and the output shaft pushing motor pass through bonded, and the side of described driven chain wheel shaft is inserted in delivery device pedestal phase
On the hole answered, described driven chain wheel shaft and driven sprocket are by bonded, and described propelling movement chain rides over drive sprocket and driven sprocket
On, the chain link of described propelling movement chain is hinged with and pushes away hook, described in push away hook with to push away hook link hinged, described in push away the other end of hook link with
The chain link pushing chain is hinged, and described deep groove ball bearing is arranged on bearing block, and described bearing block and delivery device pedestal pass through spiral shell
Nail is fixing to be connected, and described bearing block is connected by screw is fixing with transparent cover, and described transparent cover is connected with the inner ring of deep groove ball bearing, institute
State propelling movement motor to be arranged in propelling movement motor mounting seat, described propelling movement motor mounting seat and delivery device pedestal
Connect by screw is fixing；
Described time delay axle construction includes time delay axle driving shaft, time delay axle driven shaft and drive plate, described time delay axle driving shaft with from
Movable sprocket axle is by bonded, and described time delay axle driving shaft is arranged on axle bed, and described axle bed is by screw and delivery device base
Seat is fixing to be connected, and described time delay axle driving shaft is connected by moving sets with drive plate, and described time delay axle driven shaft leads to drive plate
Crossing screw thread pair to be connected, the prominent conical surface of described time delay axle driven shaft embeds the recessed conical surface of time delay axle driving shaft, described time delay axle
Another axle head of driven shaft is inserted on the corresponding hole of delivery device pedestal；
Described electric cylinder delivery device includes before electric cylinder crane after crane, electric cylinder, electric cylinder, rises before described electric cylinder
The side of fall frame is hinged with time delay axle driving shaft, and before described electric cylinder, the opposite side of crane and time delay axle driven shaft are by being bonded
Connecing, before described electric cylinder, the card sleeve of crane is fixing with electric cylinder is connected, and after described electric cylinder, the both sides of crane are cut with scissors respectively
Being connected on delivery device pedestal, after described electric cylinder, crane is hinged with electric cylinder；
Described left folding half gear and left jamming claw are by bonded, and described left folding half gear is locked by locking nut
On left jamming claw, described right folding half gear and right jamming claw are by bonded, and described right folding half gear is locked by locking nut
Being fixed on right jamming claw, described driving half gear and left jamming claw are by bonded, and described driving half gear is locked by locking nut
Fastening on left jamming claw, described driving half gear engages with driving gear, and described driving gear is defeated with claw motor
Shaft is by bonded, and described claw motor is arranged in claw motor mounting seat by screw, and described claw walks
Enter motor mount to be mounted by means of bolts in claw mounting seat.
Preferably, described claw mounting seat is connected by bolt and handgrip installing plate are fixing.
Preferably, the axle center of described time delay axle driven shaft is thread spindle, and time delay axle driven shaft is by thread spindle and transmission
Dish is connected by screw thread pair.
Compared with prior art, the invention has the beneficial effects as follows: should grasp defeated with the cylinder material of two grades of push function
Send device, use Chain conveyer as the pusher of the first order, the propelling movement of distance can be realized, i.e. tentatively bar is sent into target
In machine, and chain change of curvature at sprocket wheel, can make to push away hook and automatically take in apparatus, not affect the grasping of material, in order to
Realize the compact Layout in structure, introduce the concept of time delay power transmission shaft, due to time delay power transmission shaft, a motor can be made to complete
Material one-level pushes and rises the action of electric cylinder, and when being specially propelling movement motor work, drive sprocket drives driven sprocket
Rotating, driven sprocket drives time delay axle driving shaft to rotate, and time delay axle driving shaft band nutating disk rotates, due to depositing of screw thread pair
, the drive plate of rotation constantly approaches time delay axle driven shaft, and drive plate slides in time delay axle driving shaft simultaneously, treat drive plate with
Time delay axle driven shaft is engaged, then time delay axle driving shaft drives time delay axle driven shaft to rotate, and crane before driving electric cylinder then rises
Playing electric cylinder, electric cylinder works, it is achieved the second level pushes task, is pushed to target machine deeper inside by material, in order to realize not
Task is carried with the crawl of diameter bar.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the dog transmission part-structure schematic diagram of the present invention；
Fig. 3 is that the chain of the present invention pushes structural representation；
Fig. 4 is the time delay axle construction schematic diagram of the present invention；
In figure: 1 drive sprocket axle, 2 left jamming claws, 3 bearing blocks, 4 transparent covers, 5 chain delivery devices, 6 electric cylinder delivery devices, 7 electronic
Crane, 8 delivery device pedestals, 9 time delay axis mechanisms, 10 handgrip installing plates, 11 claw mounting seats, 12 axle beds, 13 cutting ferrules before cylinder
Axle, 14 control crane after box, 15 electric cylinders, 16 push motors, 17 right jamming claws, 18 push motor mounting seats, 19
Locking nut, 20 left folding half gears, 21 right folding half gears, 22 hexagon socket head cap screws, 23 claw motors, 24 pawl stepping electricity
Machine mounting seat, 25 drive gears, 26 electric cylinders, 27 drive half gears, 28 drive sprockets, 29 push chains, 30 push away hook link, 31 push away
Hook, 32 driven sprockets, 33 driven chain wheel shafts, 34 time delay axle driving shafts, 35 time delay axle driven shafts, 36 drive plates, 37 right jamming claw axles,
38 left jamming claw axles.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to Fig. 1-4, the present invention provides a kind of technical scheme: a kind of cylinder material with two grades of push function grasps
Conveyer device, opens including left jamming claw 2, delivery device pedestal 8, claw mounting seat 11, right jamming claw 17, left folding half gear 20, the right side
Close half gear 21 and drive half gear 27, described delivery device pedestal 8 is provided with chain delivery device 5, time delay axis mechanism 9, electricity
Dynamic cylinder delivery device 6 and control box 14, described claw mounting seat 11 and delivery device pedestal 8 are fixing even by hexagon socket head cap screw 22
Connecing, described claw mounting seat 11 both sides are hinged with right jamming claw axle 37 with left jamming claw axle 38 respectively；
Described chain delivery device 5 includes drive sprocket axle 1, pushes motor 16, drive sprocket 28, propelling movement chain 29, driven chain
Wheel shaft 33 and driven sprocket 32, the side of described drive sprocket axle 1 is inserted on the corresponding hole of delivery device pedestal 8, described active
Sprocket shaft 1 and drive sprocket 28 are by bonded, and described drive sprocket axle 1 connects to be installed on the axle pushing motor 16 one end
Deep groove ball bearing, described drive sprocket axle 1 and the output shaft pushing motor 16 pass through bonded, described driven chain wheel shaft 33
Side be inserted on the corresponding hole of delivery device pedestal 8, described driven chain wheel shaft 33 and driven sprocket 32 are by bonded, described
Push chain 29 and ride over drive sprocket 28 with on driven sprocket 32, the chain link of described propelling movement chain 29 is hinged with and pushes away hook 31, described in push away
Hook 31 with to push away hook link 30 hinged, described in push away the other end of hook link 30 hinged with the chain link pushing chain 29, described deep-groove ball axle
Holding and be arranged on bearing block 3, described bearing block 3 is connected by screw is fixing with delivery device pedestal 8, and described bearing block 3 is with saturating
Lid 4 connects by screw is fixing, and described transparent cover 4 is connected with the inner ring of deep groove ball bearing, and described propelling movement motor 16 is arranged on
Pushing in motor mounting seat 18, described propelling movement motor mounting seat 18 and delivery device pedestal 8 are fixing even by screw
Connect；
Described time delay axle construction 9 includes time delay axle driving shaft 34, time delay axle driven shaft 35 and drive plate 36, and described time delay axle is actively
Axle 34 and driven chain wheel shaft 33 are by bonded, and described time delay axle driving shaft 34 is arranged on axle bed 12, and described axle bed 12 passes through
Screw is fixing with delivery device pedestal 8 to be connected, and described time delay axle driving shaft 34 is connected by moving sets with drive plate 36, described biography
Moving plate 36 can slide along time delay axle driving shaft 34 inwall, it is impossible to relative time delay axle driving shaft 34 inwall rotate, described time delay axle from
Moving axis 35 is connected by screw thread pair with drive plate 36, and the axle center of described time delay axle driven shaft 35 is thread spindle, and time delay axle is driven
Axle 35 is connected by screw thread pair with drive plate 36 by thread spindle, and the prominent conical surface of described time delay axle driven shaft 35 embeds time delay axle
The recessed conical surface of driving shaft 34, keeps both concentrics, and another axle head of described time delay axle driven shaft 35 is inserted in delivery device base
On seat 8 corresponding holes；
Described electric cylinder delivery device 6 includes before electric cylinder crane 15 after crane 7, electric cylinder 26, electric cylinder, described electronic
Before cylinder, the side of crane 7 is hinged with time delay axle driving shaft 34, and before described electric cylinder, the opposite side of crane 7 is driven with time delay axle
Axle 35 is by bonded, and before described electric cylinder, the card sleeve 13 of crane 7 is fixing with electric cylinder 26 is connected, and rises after described electric cylinder
The both sides of fall frame 15 are respectively hinged on delivery device pedestal 8, and after described electric cylinder, crane 15 is hinged with electric cylinder 26；
Described left folding half gear 20 and left jamming claw 2 are by bonded, and described left folding half gear 20 is locked by locking nut 19
Fastening on left jamming claw 2, described right folding half gear 21 and right jamming claw 17 are by bonded, and described right folding half gear 21 leads to
Crossing locking nut 19 to be locked on right jamming claw 17, described driving half gear 27 and left jamming claw 2 pass through bonded, described driving
Half gear 27 is locked on left jamming claw 2 by locking nut 19, and described driving half gear 27 engages with driving gear 25, institute
Stating driving gear 25 with the output shaft of claw motor 23 by bonded, described claw motor 23 is installed by screw
In claw motor mounting seat 24, described claw motor mounting seat 24 is mounted by means of bolts on claw mounting seat
On 11.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
Understand and these embodiments can be carried out multiple change without departing from the principles and spirit of the present invention, revise, replace
And modification, the scope of the present invention be defined by the appended.
Claims (3)
1. the cylinder material with two grades of push function grasps a conveyer device, including left jamming claw (2), delivery device pedestal
(8), claw mounting seat (11), right jamming claw (17), left folding half gear (20), right folding half gear (21) and driving half gear
(27), it is characterised in that: chain delivery device (5), time delay axis mechanism (9), electric cylinder are installed on described delivery device pedestal (8)
Delivery device (6) and control box (14), described claw mounting seat (11) and delivery device pedestal (8) are by hexagon socket head cap screw (22)
Fixing connection, described claw mounting seat (11) both sides are hinged with right jamming claw axle (37) with left jamming claw axle (38) respectively；
Described chain delivery device (5) includes drive sprocket axle (1), pushes motor (16), drive sprocket (28), propelling movement chain
(29), driven chain wheel shaft (33) and driven sprocket (32), the side of described drive sprocket axle (1) is inserted in delivery device pedestal (8)
On corresponding hole, described drive sprocket axle (1) and drive sprocket (28) are by bonded, and described drive sprocket axle (1) connection pushes away
Send installation deep groove ball bearing on the axle of motor (16) one end, described drive sprocket axle (1) and propelling movement motor (16)
Output shaft is by bonded, and the side of described driven chain wheel shaft (33) is inserted on the corresponding hole of delivery device pedestal (8), described from
Movable sprocket axle (33) and driven sprocket (32) are by bonded, and described propelling movement chain (29) rides over drive sprocket (28) and driven sprocket
(32), on, the chain link of described propelling movement chain (29) is hinged with and pushes away hook (31), described in push away hook (31) with to push away hook link (30) hinged, institute
Stating the other end pushing away hook link (30) hinged with the chain link pushing chain (29), described deep groove ball bearing is arranged on bearing block (3),
Described bearing block (3) is connected by screw is fixing with delivery device pedestal (8), and described bearing block (3) and transparent cover (4) pass through screw
Fixing connection, described transparent cover (4) is connected with the inner ring of deep groove ball bearing, and described propelling movement motor (16) is arranged on propelling movement stepping
On motor mount (18), described propelling movement motor mounting seat (18) is connected by screw is fixing with delivery device pedestal (8)；
Described time delay axle construction (9) includes time delay axle driving shaft (34), time delay axle driven shaft (35) and drive plate (36), described in prolong
Time axle driving shaft (34) with driven chain wheel shaft (33) by bonded, described time delay axle driving shaft (34) is arranged on axle bed (12)
On, described axle bed (12) is connected by screw and delivery device pedestal (8) are fixing, described time delay axle driving shaft (34) and drive plate
(36) being connected by moving sets, described time delay axle driven shaft (35) is connected by screw thread pair with drive plate (36), described time delay axle
The prominent conical surface of driven shaft (35) embeds the recessed conical surface of time delay axle driving shaft (34), another of described time delay axle driven shaft (35)
Axle head is inserted on the corresponding hole of delivery device pedestal (8)；
Described electric cylinder delivery device (6) includes before electric cylinder crane (15) after crane (7), electric cylinder (26), electric cylinder,
Before described electric cylinder, the side of crane (7) is hinged with time delay axle driving shaft (34), another of crane (7) before described electric cylinder
Side and time delay axle driven shaft (35) are passed through bonded, the card sleeve (13) of crane (7) and electric cylinder (26) before described electric cylinder
Fixing connection, after described electric cylinder, the both sides of crane (15) are respectively hinged on delivery device pedestal (8), after described electric cylinder
Crane (15) is hinged with electric cylinder (26)；
Described left folding half gear (20) and left jamming claw (2) are by bonded, and described left folding half gear (20) passes through locking screw
Female (19) are locked on left jamming claw (2), and described right folding half gear (21) and right jamming claw (17) pass through bonded, the described right side
Folding half gear (21) is locked on right jamming claw (17) by locking nut (19), described driving half gear (27) and left card
Pawl (2) is by bonded, and described driving half gear (27) is locked on left jamming claw (2) by locking nut (19), described
Driving half gear (27) and engage with driving gear (25), described driving gear (25) is logical with the output shaft of claw motor (23)
Crossing bonded, described claw motor (23) is arranged on claw motor mounting seat (24) by screw, described claw
Motor mounting seat (24) is mounted by means of bolts in claw mounting seat (11).
A kind of cylinder material with two grades of push function the most according to claim 1 grasps conveyer device, and its feature exists
In: described claw mounting seat (11) is connected by bolt and handgrip installing plate (10) are fixing.
A kind of cylinder material with two grades of push function the most according to claim 1 grasps conveyer device, and its feature exists
In: the axle center of described time delay axle driven shaft (35) is thread spindle, and time delay axle driven shaft (35) is by thread spindle and drive plate
(36) it is connected by screw thread pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610819920.5A CN106276235B (en) | 2016-09-13 | 2016-09-13 | A kind of cylinder material grasping conveying device with two level push function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610819920.5A CN106276235B (en) | 2016-09-13 | 2016-09-13 | A kind of cylinder material grasping conveying device with two level push function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106276235A true CN106276235A (en) | 2017-01-04 |
| CN106276235B CN106276235B (en) | 2018-08-10 |
Family
ID=57710757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610819920.5A Expired - Fee Related CN106276235B (en) | 2016-09-13 | 2016-09-13 | A kind of cylinder material grasping conveying device with two level push function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106276235B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3907125A (en) * | 1973-09-17 | 1975-09-23 | Reishauer Ag | Apparatus for the delivery and removal of palettes provided with work-pieces on machine tools |
| EP0022331A1 (en) * | 1979-06-30 | 1981-01-14 | Fanuc Ltd. | Workpiece manipulator |
| JPS6152945A (en) * | 1984-08-23 | 1986-03-15 | Aoki Kensetsu:Kk | Method and device for sizing and feeding of bar stock |
| JPS61168432A (en) * | 1985-01-19 | 1986-07-30 | Mitsubishi Heavy Ind Ltd | Positioning truck of frame material |
| CN102030188A (en) * | 2010-10-09 | 2011-04-27 | 临安市新三联照明电器有限公司 | Feeding mechanism for automatic screwing machine of semi-spiral energy-saving lamp tube |
| CN102234022A (en) * | 2010-04-30 | 2011-11-09 | 阿罗尔股份有限公司 | Gripping device for automatic bottle-topping machines |
| CN104400379A (en) * | 2014-11-28 | 2015-03-11 | 江阴吉爱倍万达精工有限公司 | Adjustable clamping mechanism of bearing conveying device |
| CN205312610U (en) * | 2016-01-26 | 2016-06-15 | 东莞市铭海通机械有限公司 | Subordinate material mechanism of lithium ion round battery automatic |
| CN206126120U (en) * | 2016-09-13 | 2017-04-26 | 河南理工大学 | Cylinder material is grabbed and is held conveyor with second grade propelling movement function |
-
2016
- 2016-09-13 CN CN201610819920.5A patent/CN106276235B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3907125A (en) * | 1973-09-17 | 1975-09-23 | Reishauer Ag | Apparatus for the delivery and removal of palettes provided with work-pieces on machine tools |
| EP0022331A1 (en) * | 1979-06-30 | 1981-01-14 | Fanuc Ltd. | Workpiece manipulator |
| JPS6152945A (en) * | 1984-08-23 | 1986-03-15 | Aoki Kensetsu:Kk | Method and device for sizing and feeding of bar stock |
| JPS61168432A (en) * | 1985-01-19 | 1986-07-30 | Mitsubishi Heavy Ind Ltd | Positioning truck of frame material |
| CN102234022A (en) * | 2010-04-30 | 2011-11-09 | 阿罗尔股份有限公司 | Gripping device for automatic bottle-topping machines |
| CN102030188A (en) * | 2010-10-09 | 2011-04-27 | 临安市新三联照明电器有限公司 | Feeding mechanism for automatic screwing machine of semi-spiral energy-saving lamp tube |
| CN104400379A (en) * | 2014-11-28 | 2015-03-11 | 江阴吉爱倍万达精工有限公司 | Adjustable clamping mechanism of bearing conveying device |
| CN205312610U (en) * | 2016-01-26 | 2016-06-15 | 东莞市铭海通机械有限公司 | Subordinate material mechanism of lithium ion round battery automatic |
| CN206126120U (en) * | 2016-09-13 | 2017-04-26 | 河南理工大学 | Cylinder material is grabbed and is held conveyor with second grade propelling movement function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106276235B (en) | 2018-08-10 |
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Granted publication date: 20180810 Termination date: 20210913 |