CN106865213A - A kind of mechanical gripper and the bale breaker including the handgrip - Google Patents
A kind of mechanical gripper and the bale breaker including the handgrip Download PDFInfo
- Publication number
- CN106865213A CN106865213A CN201710272565.9A CN201710272565A CN106865213A CN 106865213 A CN106865213 A CN 106865213A CN 201710272565 A CN201710272565 A CN 201710272565A CN 106865213 A CN106865213 A CN 106865213A
- Authority
- CN
- China
- Prior art keywords
- grapple
- mechanical gripper
- base plate
- rotary shaft
- handgrip
- 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
- 239000000463 material Substances 0.000 claims description 61
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 238000013461 design Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 7
- 239000002994 raw material Substances 0.000 description 6
- 230000006378 damage Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000004806 packaging method and process Methods 0.000 description 4
- 239000004677 Nylon Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000003337 fertilizer Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 229920001778 nylon Polymers 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- WCUXLLCKKVVCTQ-UHFFFAOYSA-M Potassium chloride Chemical compound [Cl-].[K+] WCUXLLCKKVVCTQ-UHFFFAOYSA-M 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- BFNBIHQBYMNNAN-UHFFFAOYSA-N ammonium sulfate Chemical compound N.N.OS(O)(=O)=O BFNBIHQBYMNNAN-UHFFFAOYSA-N 0.000 description 1
- 229910052921 ammonium sulfate Inorganic materials 0.000 description 1
- 235000011130 ammonium sulphate Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 235000011164 potassium chloride Nutrition 0.000 description 1
- 239000001103 potassium chloride Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- 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
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
Abstract
The invention discloses a kind of mechanical gripper and the bale breaker including the handgrip, including a base plate, grapple cylinder and lift cylinder are installed on described base plate, described lift cylinder drives described base plate to move up and down；Described one tooth bar of grapple air cylinder driven is moved up and down, and described tooth bar is engaged with two gears for being located at its both sides, and two gear direction of rotation are conversely, the anglec of rotation is identical；Two described gears drive two rotary shaft rotations, and multigroup grapple is provided with the rotary shaft described in two, and multigroup grapple rotates with described rotary shaft, realizes the folding of pneumatic grapple；The deep-slotted chip breaker coordinated with grapple is provided with described base plate.
Description
Technical field
The invention discloses a kind of mechanical gripper and the bale breaker including the handgrip.
Background technology
Current chemical fertilizer production line is different according to factory formula, generally require three to five kinds of input primary raw material (potassium chloride,
Ammonium sulfate etc.), general 50 kilogram/bag of packaging bag of raw material or 40 kilograms/every bag, the material of packaging bag is nylon braided bag, former
Material bag is put into dog-house by material transport to after factory, is then manually held pocket knife and is cut open bag, then material is poured over feeds intake
In mouthful, and some materials caking is, it is necessary to be manually broken into fritter, the production line of general 50,000 tons of production capacity is, it is necessary to 5
At least need each hour to put into 15 tons of materials of (300 bags) to 6 workmans, and need the work of continuous high intensity.
Working method of unpacking at present is entirely handwork, it is necessary to artificial more, and labour intensity is big, and human body connects during work
Material is touched, it is big to human health damage.With State Council on printing and distributing《Made in China 2025》Notice be opportunity, design research and development one
Mechanical gripper is planted, material is captured automatically, instead of hand labor, applied on automatic bale breaker, realize working continuously.
The content of the invention
At present, in the feeding station of novel intelligent Unpacking, realize crawl and lose the function of putting material, raw material is with five
The form of flower pile puts into production line, and five 5 bags of every layer of piles of flower typically pile up 8 layers, to realize maximum production efficiency, while energy
It is enough to realize cutting material, material is shaken, the function of transport, it is therefore desirable to which design a mechanism handgrip can be carried out to material
Successively (every layer 5 bag) crawl, and can adapt to uneven between every layer of material bag, it is to avoid leakage is grabbed, the phenomenon grabbed more.
To achieve these goals, the invention discloses a kind of mechanical gripper, including a base plate, on described base plate
Grapple cylinder and lift cylinder are installed, described lift cylinder drives described base plate to move up and down；Described grapple cylinder
A tooth bar is driven to move up and down, described tooth bar is engaged with two gears for being located at its both sides, and two gear direction of rotation
Conversely, the anglec of rotation is identical；Two described gears drive two rotary shaft rotations, are provided with many in the rotary shaft described in two
Group grapple, multigroup grapple rotates with described rotary shaft, realizes the folding of pneumatic grapple；It is provided with and grabs on described base plate
The deep-slotted chip breaker that hook coordinates.
Further, described grapple includes four groups, and every group includes two hooks, and one of hook is arranged on rotary shaft
On I, another hook is arranged on rotary shaft II, and two hooks are symmetrical.
Further, wherein two groups of hooks are arranged on two two ends of rotary shaft, two groups of hooks are arranged on lifting air in addition
The both sides of cylinder.
Further, described grapple is arc, and the folding track of grapple and the circular arc of grapple are concentric circles.
Further, described grapple uses spring steel.
Further, grapple cylinder supports frame is fixed with described base plate, for supporting fixed grapple cylinder.
Further, described lift cylinder is fixed on the supporting plate, and guide post is provided with described supporting plate,
Described guide post is connected on described base plate through supporting plate.
Further, described mechanical gripper includes multiple, and multiple mechanical grippers are arranged on a handgrip pallet, described
Handgrip pallet be provided with multiple steam lines, described steam line connection source of the gas, is described grapple cylinder, lift cylinder
Supply.
Further, the cylinder body of described lift cylinder is fixed on described handgrip pallet, and it is whole that it drives base plate to drive
Grapple cylinder and grapple move up and down.
Further, pressure-reducing valve is installed in described steam line；It is provided with for feeling on described handgrip pallet
Answer the sensor of the height of material.
The invention also discloses a kind of bale breaker, it includes foregoing mechanical gripper.
The specific course of work is as follows：
Whole handgrip disk controls lifting position by lowering or hoisting gear, when handgrip disk falls, by multiple photoelectric sensors
The height of material is sensed, after one of sensor sensing is to material, whole handgrip disk stops falling, and lift cylinder is stretched
Go out, the air pressure for stretching out is adjustable, the deadweight of the pressure less than whole handgrip disk of air pressure makes can connecing more preferably for each handgrip unit
Touch material bag, if decline air pressure it is larger, can by whole handgrip unit jack-up come, so as to lose the work of lifting
With.Grapple cylinders retract, makes grapple be rotatably inserted into the middle of material bag, and last lift cylinder resets, and elevating mechanism will be grabbed entirely
Setting stick is lifted.Grapple can grasp material the station specified is transported to by travelling bogie and cut bag, material be shaken, when material falls
After the completion of, grab collection station of the closing quotation with empty material bag to material bag.Grapple cylinder stretches out, pneumatic grapple rotation, material
Bag Automatic-falling.
Beneficial effects of the present invention：
1. mechanical gripper of the invention can realize the automatic crawl to material, transport, the action such as placement, coordinate electric-controlled
System processed can work continuously, and production efficiency is high.
2. the present invention uses pneumatic control, is driven relative to hydraulic pressure or motor, and response speed faster, controls simple circuit side
Just, security performance is high, and maintenance cost is low.
3. the modularized design of mechanical gripper unit of the present invention, can be according to the stacking mode of material and size, to machinery
Hand unit is increased and decreased.
4. the design of the pneumatic grapple of arc form is highly suitable for chemical fertilizer raw material packaging bag (Nylon Bag) in the present invention
Crawl, places.
5. due to material be by artificial code into Wu Huaduo, so every layer of material all can be uneven, give material crawl
Very big difficulty is brought, is had and is leakage grabbed, grab not firm, to drop phenomenon, so that the continuity of the equipment operation of influence, handgrip
The lifting design of unit enables each grapple to press close to material bag as far as possible, substantially increases the Grasping skill of material bag.
6. hand labor is relieved by mechanically actuated, it is to avoid people contacts with material and causes to healthy injury.
Brief description of the drawings
The Figure of description for constituting the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrated for explaining the application, does not constitute the improper restriction to the application.
Overall distribution structure of Fig. 1 mechanical grippers on handgrip pallet；
The concrete structure diagram of Fig. 2 mechanical grippers；
Fig. 3, Fig. 4, Fig. 5 are the three-view diagram of mechanical gripper；
Fig. 6, Fig. 7 are the structural representation of grapple；
In figure：1. pipeline, 2. sensor, 3. mechanical gripper unit, 4. magnetic valve, 5. pressure-reducing valve, 6. handgrip pallet, 7. water
Flat board, 8. grapple cylinder, 9. lift cylinder, 10. rack-and-pinion, 10-1 tooth bars, 10-2 gears, the fixed plate of 11. fairlead 12.
13. riser I, 14. guide posts, 15. connecting rods, 16. guide rod seats, 17. riser II, 18. bearings, 19. axles, 20. base plates, 21.
Riser III, 22. pneumatic grapples, 23 fixed seats, 24 arc hooks.
Specific embodiment
It is noted that described further below is all exemplary, it is intended to provide further instruction to the application.Unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
Be also intended to include plural form, additionally, it should be understood that, when in this manual use term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, working method of unpacking at present is entirely handwork, labor, it is necessary to artificial more
Fatigue resistance is big, and human contact's material during work is big to human health damage.In order to solve technical problem as above, the application is carried
A kind of mechanical gripper and the bale breaker including the handgrip are gone out.
In a kind of typical implementation method of the application, as shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, there is provided a kind of mechanical gripping
Hand, the pneumatic grapple that each unit has multigroup arc structure is captured to material, placed.Grapple is fixed on two with rotary shaft
On, rotary shaft is installed bearing and is fixed on riser I and riser III, and each rotary shaft is connected a gear, two by key
It is engaged with a two-sided rack in the middle of gear, one end of the two-sided rack is connected with grapple cylinder, and cylinder is fixed on riser I and riser
On II, reciprocating motion of the cylinder with carry-over bar passes to gear, two gear direction of rotation conversely, the anglec of rotation is identical, passes through
Two axles that rotarily drive of gear synchronize reciprocal rotary motion, realize the folding of pneumatic grapple, and concrete structure is as follows：
It includes a base plate 20, and grapple cylinder 8 and lift cylinder 9, described lift cylinder 9 are provided with the base plate 20
Described base plate 20 is driven to move up and down；Described grapple cylinder 8 drives a tooth bar 10-1 to move up and down, described tooth bar
10-1 is engaged with two gear 10-2 for being located at its both sides, and two gear 10-2 direction of rotation are conversely, the anglec of rotation is identical；Institute
The two gear 10-2 for stating drive two rotary shafts 19 to rotate, and multigroup grapple is provided with the rotary shaft 19 described in two, multigroup
Grapple rotates with described rotary shaft, realizes the folding of pneumatic grapple 22；It is provided with described base plate and is coordinated with grapple 22
Deep-slotted chip breaker.
It is specific as follows：
Grapple includes four groups, and every group includes two hooks, and one of hook is arranged on rotary shaft I, another hook
On rotary shaft II, and two hooks are symmetrical.
Wherein two groups hooks are arranged on two two ends of rotary shaft, and two groups of hooks are installed in the both sides of lift cylinder in addition.
Further, grapple cylinder supports frame is fixed with base plate, for supporting fixed grapple cylinder, support frame be by
Riser III21, riser II17 and a level board 7 are constituted.
Further, lift cylinder is fixed in fixed plate 12, and guide post 14, institute are provided with described fixed plate 12
The guide post 14 stated is connected on described base plate 20 through fairlead 11, fixed plate 12, handgrip pallet.The piston of lift cylinder
Bar is connected by connecting rod 15 with base plate 20.
Guide rod seat 16 is installed on described base plate 20.
Two rotary shafts sequentially pass through riser III21, riser II17, riser I 13, and are fixed by bearing 18.
Additionally, the pneumatic grapple structure in the present invention aims at the crawl of raw material bag and designs, and as shown in Figure 6, Figure 7, bag
Include circular arc seat 23 and arc hook 24；Because container packing bag is softer, and with certain toughness, but material easily lumps,
Hardness is very high, therefore the institution requests of grapple have certain rigidity, while ensureing that grapple prevents material when crawl
Drop, material bag can smoothly come off when opening.Therefore the material of grapple uses spring steel, and structure uses arc form,
The folding track of grapple and the circular arc of grapple are concentric circles.
Type mechanical gripper of the present invention is multiple sensors by multigroup pipeline, multiple mechanical gripper units, plurality of electromagnetic valve,
Pressure-reducing valve, pneumatic control unit is all installed on handgrip pallet, to be applicable the material that material five spends pile stacking mode, mechanical gripping
Hand is made up of multigroup module, uses pneumatic control.Appropriate increase and decrease can be carried out according to the stacking mode of material.
Lift cylinder is fixed in lift cylinder fixed plate and the connection of handgrip disk, and lift cylinder is connected by connecting rod and base plate
Connect, controlling the lifting of handgrip unit, the air pressure of decline is adjustable, decline the pressure of air pressure less than whole handgrip disk from
It is dynamic, can connecing for each handgrip unit is preferably touched material bag, if the air pressure for declining is larger, can be by whole handgrip list
Unit comes in jack-up, so as to lose the effect of lifting.Lift cylinder fixed plate installs the guiding on two fairleads and handgrip unit
Bar coordinates, and balance and stability is played to handgrip unit baseboard
Whole handgrip disk controls lifting position by lowering or hoisting gear, when handgrip disk falls, by multiple photoelectric sensors
The height of material is sensed, after one of sensor sensing is to material, whole handgrip disk stops falling, and lift cylinder is stretched
Go out, make each contacts baseplate to material.Grapple cylinders retract, makes grapple be rotatably inserted into the middle of material bag, last lift cylinder
Reset, elevating mechanism lifts whole handgrip disk.Grapple can grasp material the station specified is transported to by travelling bogie and
Row cuts bag, shakes material, after the completion of material whereabouts, grabs collection station of the closing quotation with empty material bag to material bag.Grapple cylinder
Stretch out, pneumatic grapple rotation, material bag Automatic-falling.
As can be seen from the above description, the application the above embodiments realize following technique effect：
1. mechanical gripper of the invention can realize the automatic crawl to material, transport, the action such as placement, coordinate electric-controlled
System processed can work continuously, and production efficiency is high.
2. the present invention uses pneumatic control, is driven relative to hydraulic pressure or motor, and response speed faster, controls simple circuit side
Just, security performance is high, and maintenance cost is low.
3. the modularized design of mechanical gripper unit of the present invention, can be according to the stacking mode of material and size, to machinery
Hand unit is increased and decreased.
4. the design of the pneumatic grapple of arc form is highly suitable for chemical fertilizer raw material packaging bag (Nylon Bag) in the present invention
Crawl, places.
5. due to material be by artificial code into Wu Huaduo, so every layer of material all can be uneven, give material crawl
Very big difficulty is brought, is had and is leakage grabbed, grab not firm, to drop phenomenon, so that the continuity of the equipment operation of influence, handgrip
The lifting design of unit enables each grapple to press close to material bag as far as possible, substantially increases the Grasping skill of material bag.
6. hand labor is relieved by mechanically actuated, it is to avoid people contacts with material and causes to healthy injury.
Although above-mentioned be described with reference to accompanying drawing to specific embodiment of the invention, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need the various modifications made by paying creative work or deformation still within protection scope of the present invention.
Claims (10)
1. a kind of mechanical gripper, it is characterised in that including a base plate, grapple cylinder and lifting are provided with described base plate
Cylinder, described lift cylinder drives described base plate to move up and down；Described one tooth bar of grapple air cylinder driven is moved up and down,
Described tooth bar is engaged with two gears for being located at its both sides, and two gear direction of rotation are conversely, the anglec of rotation is identical；It is described
Two gears drive the rotation of two rotary shafts, multigroup grapple is provided with the rotary shaft described in two, multigroup grapple is with institute
The rotary shaft rotation stated, realizes the folding of pneumatic grapple；The deep-slotted chip breaker coordinated with grapple is provided with described base plate.
2. a kind of mechanical gripper as claimed in claim 1, it is characterised in that every group of grapple includes two hooks, one of them
Hook is arranged on rotary shaft I, and another hook is arranged on rotary shaft II, and two hooks are symmetrical.
3. a kind of mechanical gripper as claimed in claim 1, it is characterised in that described grapple includes four groups, wherein two groups of extensions
Hook is arranged on two two ends of rotary shaft, and two groups of hooks are installed in the both sides of lift cylinder in addition.
4. a kind of mechanical gripper as claimed in claim 1, it is characterised in that described grapple is arc, the folding rail of grapple
The circular arc of mark and grapple is concentric circles.
5. a kind of mechanical gripper as claimed in claim 1, it is characterised in that described grapple uses spring steel.
6. a kind of mechanical gripper as claimed in claim 1, it is characterised in that described lift cylinder is fixed on the supporting plate,
Guide post is installed in described supporting plate, described guide post is connected on described base plate through supporting plate.
7. a kind of mechanical gripper as claimed in claim 1, it is characterised in that described mechanical gripper includes multiple, Duo Geji
Tool handgrip is arranged on a handgrip pallet, and multiple steam lines are provided with described handgrip pallet, and described steam line connects
Source of the gas is connect, is described grapple cylinder, lift cylinder supply.
8. a kind of mechanical gripper as claimed in claim 7, it is characterised in that be provided with pressure-reducing valve in described steam line.
9. a kind of mechanical gripper as claimed in claim 7, it is characterised in that be provided with for feeling on described handgrip pallet
Answer the sensor of the height of material.
10. a kind of bale breaker, it is characterised in that including any described mechanical grippers of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710272565.9A CN106865213A (en) | 2017-04-24 | 2017-04-24 | A kind of mechanical gripper and the bale breaker including the handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710272565.9A CN106865213A (en) | 2017-04-24 | 2017-04-24 | A kind of mechanical gripper and the bale breaker including the handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106865213A true CN106865213A (en) | 2017-06-20 |
Family
ID=59161384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710272565.9A Pending CN106865213A (en) | 2017-04-24 | 2017-04-24 | A kind of mechanical gripper and the bale breaker including the handgrip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106865213A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107804694A (en) * | 2017-09-14 | 2018-03-16 | 安徽明洋电子有限公司 | A kind of guide type mobile device for bank light workshop |
| CN109390259A (en) * | 2018-11-09 | 2019-02-26 | 苏州益耐特电子工业有限公司 | A kind of chip package arranging machine automatically grabs unit |
| CN111924241A (en) * | 2020-07-16 | 2020-11-13 | 扬州中欧工业机器人有限公司 | Automatic feeding system and automatic feeding method for packaging bags |
| CN116394292A (en) * | 2023-06-07 | 2023-07-07 | 黑龙江大学 | Mechanical gripper for underwater robot |
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| CN203486567U (en) * | 2013-08-28 | 2014-03-19 | 唐山学院 | Automatic porcelain group blank feeding device |
| CN104227730A (en) * | 2014-09-09 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | Mechanical gripper for material feeding of material mixer |
| CN204355759U (en) * | 2014-12-19 | 2015-05-27 | 深圳雷柏科技股份有限公司 | For the multifunction clips lamps structure of PCBA test equipment |
| CN105857798A (en) * | 2016-06-02 | 2016-08-17 | 合肥旭龙机械有限公司 | Fully-automatic massive treatment bale breaker |
| CN205739450U (en) * | 2016-05-04 | 2016-11-30 | 东莞新爱荣机械自动化设备有限公司 | A kind of Multifunction carrying suction nozzle |
| CN205835332U (en) * | 2016-07-13 | 2016-12-28 | 孙小红 | A kind of delivery type mechanical gripper |
| CN205915351U (en) * | 2016-08-03 | 2017-02-01 | 天津扬天科技有限公司 | Novel hand claw of setting machine ware people that adapts to many brick shape |
| CN206654525U (en) * | 2017-04-24 | 2017-11-21 | 山东森烨生态工程有限公司 | A kind of mechanical gripper and the bale breaker including the handgrip |
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2017
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| EP2172431A1 (en) * | 2008-10-01 | 2010-04-07 | Gr2 GmbH | Gripper unit for the transport of container glass |
| WO2011066897A1 (en) * | 2009-12-01 | 2011-06-09 | Focke & Co. (Gmbh & Co. Kg) | Device for handling large packages comprising a plurality of articles as the content of the packages |
| CN203486567U (en) * | 2013-08-28 | 2014-03-19 | 唐山学院 | Automatic porcelain group blank feeding device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107804694A (en) * | 2017-09-14 | 2018-03-16 | 安徽明洋电子有限公司 | A kind of guide type mobile device for bank light workshop |
| CN107804694B (en) * | 2017-09-14 | 2019-08-30 | 安徽明洋电子有限公司 | A kind of guide type mobile device for bank light workshop |
| CN109390259A (en) * | 2018-11-09 | 2019-02-26 | 苏州益耐特电子工业有限公司 | A kind of chip package arranging machine automatically grabs unit |
| CN111924241A (en) * | 2020-07-16 | 2020-11-13 | 扬州中欧工业机器人有限公司 | Automatic feeding system and automatic feeding method for packaging bags |
| CN111924241B (en) * | 2020-07-16 | 2021-11-30 | 扬州中欧工业机器人有限公司 | Automatic feeding system and automatic feeding method for packaging bags |
| CN116394292A (en) * | 2023-06-07 | 2023-07-07 | 黑龙江大学 | Mechanical gripper for underwater robot |
| CN116394292B (en) * | 2023-06-07 | 2023-08-15 | 黑龙江大学 | Mechanical gripper for underwater robot |
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Application publication date: 20170620 |