CN107055115A - A kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus - Google Patents
A kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus Download PDFInfo
- Publication number
- CN107055115A CN107055115A CN201710380004.0A CN201710380004A CN107055115A CN 107055115 A CN107055115 A CN 107055115A CN 201710380004 A CN201710380004 A CN 201710380004A CN 107055115 A CN107055115 A CN 107055115A
- Authority
- CN
- China
- Prior art keywords
- vertical
- seed plate
- linear guides
- guide rail
- seedling culturing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The present invention relates to a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus, including three-dimensional Linear slide platform and the support frame for being fixed on the three-dimensional Linear slide platform bottom surface, the three-dimensional Linear slide platform be arranged in parallel and the vertical equity linear guides affixed with support frame as described above including two（20、27）Pass through longitudinal sliding block respectively with two ends（5、4）It is slidably connected to the two vertical equities linear guides（20、27）On transverse horizontal linear guides（2）, the transverse horizontal linear guides（2）Upper slip has transverse slider（3）, the transverse slider（3）Upper slip has vertical linearity guide rail（1）, the vertical linearity guide rail（1）Lower end is provided with catching robot.The present invention can be accurately positioned to seed plate, and by the movement in three directions, seed plate is carried on seed plate stacking dolly, realized the carrying of seed plate and acting in agreement for conveying, improved operating efficiency, reduce cost of labor, enrich agricultural facility equipment.
Description
Technical field
The present invention relates to the handling device of agricultural facility technical field, more particularly to a seedling disk, specially a kind of cube
Seedling culturing machine seed plate automatic disk discharging palletizing apparatus.
Background technology
Seed plate, using cooperatively for cube seedling culturing machine cause compacting to beat the courses of work such as cave, earthing, stripping and slicing and realize automation
Operation, it is convenient to be provided for nursery work, still, and the disk that unloads for completing seed plate after planting works still manually to come with stacking
Complete, and it is artificial due to efficient nursery operation and scale, automatic metaplasia can not be met the problems such as unloading disk, stacking not in time
The need for production, the raising of cube seedling culturing machine nursery automaticity is constrained.Simultaneously as labor intensity is big, unloads disk workman and lead to
Often at least it is made up of two people, adds the production cost of nursery enterprise.
The content of the invention
, can in view of the deficiencies of the prior art, the present invention provides a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus
Instead of manually realizing the automatic transporting of seed plate, unloading disk, stacking work, work can be mitigated while automation degree of equipment is improved
Person works measure and reduce manufacturing enterprise's cost.
The present invention is achieved through the following technical solutions, and there is provided a kind of cube seedling culturing machine seed plate automatic disk discharging stacking dress
Put, including three-dimensional Linear slide platform and be fixed on the support frame of the three-dimensional Linear slide platform bottom surface, the three-dimensional Linear slide platform includes
Two be arranged in parallel and the vertical equity linear guides affixed with support frame as described above and two ends are slidably connected to institute by longitudinal sliding block respectively
State to slip on the transverse horizontal linear guides on two vertical equity linear guides, the transverse horizontal linear guides and have horizontal cunning
Being slipped on block, the transverse slider has a vertical linearity guide rail, and the vertical linearity guide rail lower end is provided with catching robot, by
Horizontal and vertical slideway is set on transverse slider, movement of the catching robot in both direction is realized, simplifies equipment knot
Structure；The longitudinal driving device that also includes driving the longitudinal sliding block to move along vertical equity linear guides, drive it is described laterally sliding
The block lateral driver device that transversely horizontal linear track is moved, and drive the vertical linearity guide rail to be moved in transverse slider
Dynamic vertical drive.
This programme has filled up the blank of mechanical handing seed plate, passes through vertical equity linear guides, transverse horizontal linear guides
Position movement of the catching robot in space is realized with vertical linearity guide rail, seed plate can be accurately positioned, passed through
The movement in three directions, seed plate is carried on seed plate stacking dolly, realizes the carrying of seed plate and acting in agreement for conveying, is improved
Operating efficiency, reduces cost of labor, enriches agricultural facility equipment.
Preferably, the catching robot includes being fixed on bearing plate and the fixation of the vertical linearity guide rail lower surface
In vertical linearity guide rail one side and the electric expansion bar that is vertically arranged, the two ends of the bearing plate have been respectively articulated with handgrip, grabbed
Hand can be rotated in the range of certain angle, and the lower end of the electric expansion bar is hinged with two connecting rods, two connecting rod it is another
End is hinged with the handgrip respectively, and the pin joint of connecting rod and handgrip is located at below the pin joint of bearing plate and handgrip.Stretched electronic
When contracting bar is acted, pull handgrip outwardly or inwardly to rotate by connecting rod, realize crawl and release to seed plate, it is simple in construction, make
With reliable.
Preferably, the vertical equity linear guides, transverse horizontal linear guides and vertical linearity guide rail are hollow
Shell structure.This preferred scheme alleviates equipment total quality, saves cost of transportation, while being beneficial to drive device being arranged on
In housing, reduce equipment occupation space.
Preferably, the longitudinal driving device includes two longitudinal directions being fixed in each vertical equity linear guides
Servomotor, the output shaft of the two servo longitudinals motor is connected by longitudinal timing belt, and longitudinal timing belt is indulged with described
It is affixed to sliding block.This preferred scheme drives timing belt to rotate by servomotor, so that drive longitudinal sliding block to move, stability
It is good, it is possible to achieve longitudinal sliding block position is continuously adjusted, it is to avoid the feelings dropped on hand from machinery occur due to rocking for seed plate
Condition.
As optimization, the output shaft of two relative servo longitudinal motors is connected by synchronizing bar in two vertical equity linear guides
Connect.By setting synchronizing bar, the longitudinal sliding block on two vertical equity linear guides is set to realize synchronizing moving, it is to avoid asynchronous to cause
Interference is produced between longitudinal sliding block and vertical equity linear guides.
Preferably, the lateral driver device includes two horizontal servos being fixed in the transverse horizontal linear guides
Motor, the output shaft of described two horizontal servomotors is connected by synchronous cross band, and the synchronous cross band is laterally slided with described
Block is affixed.This preferred scheme drives timing belt to rotate by servomotor, so as to drive transverse slider to move, stability is good, can
To realize continuously adjusting for transverse slider position, it is to avoid situation about being dropped on hand from machinery occurs due to rocking for seed plate.
Preferably, the vertical drive includes two vertical servo electricity being fixed in the vertical linearity guide rail
Machine, the output shaft of the two vertical servomotor is connected by vertical timing belt, the vertical timing belt and the transverse slider
It is affixed.In this preferred scheme, vertical displacement does not occur for transverse slider, during vertical servomotor work, in timing belt to servo electricity
Under the reaction of machine, vertical linearity guide rail is set up or to be moved down in transverse slider.
It is used as optimization, the two ends point of the vertical equity linear guides, transverse horizontal linear guides and vertical linearity guide rail
Limited block is not fixed with it.By setting limited block, prevent each sliding block from being skidded off from each linear guides, it is reliable that raising equipment is used
Property.
Preferably, support frame as described above includes two ends, the guide rail affixed with the two vertical equities linear guides is fixed respectively
Bar, and the four piece supporting legs affixed with two vertical equity linear guides bottom surfaces, four supporting legs are located at two vertical equities respectively
The end of linear guides, the lower end of four supporting legs is plugged with base.The structure of such a support frame can not only play support and slide
The effect of platform, and for the mobile slot milling of seed plate, the seed plate being conveniently crawled passes through, while by setting base increase steady
It is qualitative.
Compared with prior art, the beneficial effects of the invention are as follows：It is simple and compact for structure with reasonable in design, it is easy to process
The characteristics of using；And it ensure that seed plate unloads the precision of disk stacking, improve the efficiency of cube seedling culturing machine；It is practical, it is easy to
Promote the use of.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is front view of the present invention；
Fig. 3 is Fig. 2 top view；
Fig. 4 is Fig. 2 left view；
Fig. 5 ~ Fig. 9 is workflow schematic diagram of the present invention.
Embodiment
For the technical characterstic for illustrating this programme can be understood, below by embodiment, this programme is illustrated.
A kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus as shown in Figure 1, including three-dimensional Linear slide platform and be fixed on
The support frame of three-dimensional Linear slide platform bottom surface, the three-dimensional Linear slide platform includes longitudinal direction arranged in parallel and affixed with support frame
Horizontal linear track 20 and vertical equity linear guides 27, and two ends are slidably connected to by longitudinal sliding block 5, longitudinal sliding block 4 respectively
Transverse horizontal linear guides 2 on vertical equity linear guides 20 and vertical equity linear guides 27, transverse horizontal linear guides 2
Above slip to have to be further opened with slipping in vertical chute, vertical chute on transverse slider 3, transverse slider 3 and have vertical linearity guide rail 1,
The lower end of vertical linearity guide rail 1 is provided with catching robot.
Catching robot in the present embodiment includes being fixed on the bearing plate 12 of the lower surface of vertical linearity guide rail 1 and is fixed on
The one side of vertical linearity guide rail 1 and the electric expansion bar 11 being vertically arranged, the two ends of bearing plate 12 have been respectively articulated with handgrip 13
With handgrip 14, the lower end of handgrip 13 and handgrip 14 is respectively arranged with aduncate grapple, and the lower end of electric expansion bar 11 is hinged
There are a connecting rod 15 and connecting rod 32, the other end of connecting rod 15 and connecting rod 32 is hinged with handgrip 13, handgrip 14 respectively, and connecting rod and handgrip
Pin joint be located at below the pin joint of bearing plate and handgrip.When electric expansion bar is acted, pull handgrip inside by connecting rod
Or outwards rotation, the crawl and release to seed plate are realized, it is simple in construction, using reliable.
In order to mitigate the vertical equity linear guides 20 in equipment own wt, reduction cost of transportation, the present embodiment, longitudinal direction
Horizontal linear track 27, transverse horizontal linear guides 2 and vertical linearity guide rail 1 are hollow shell structure.
The present embodiment also includes driving longitudinal sliding block 5 and longitudinal sliding block 4 and driven along the longitudinal direction that vertical equity linear guides are moved
Dynamic device, driving transverse slider 3 lateral driver device that transversely horizontal linear track 2 is moved, and driving vertical linearity are led
The vertical drive that rail 1 is moved in transverse slider 3.
Preferably, longitudinal driving device is watched including being fixed on the longitudinal direction at the inside two ends of vertical equity linear guides 27
Motor 30 and servo longitudinal motor 31 are taken, the servo longitudinal motor 24 at the inside two ends of vertical equity linear guides 20 is fixed on and indulges
To servomotor 25.Between the output shaft of servo longitudinal motor 30 and servo longitudinal motor 31, and the He of servo longitudinal motor 24
Connected respectively by longitudinal timing belt between the output shaft of servo longitudinal motor 25, longitudinal sliding block 5 and longitudinal sliding block 4 respectively with respectively
It is affixed from longitudinal timing belt on the guide rail at place, when longitudinal timing belt is rotated with servomotor, longitudinal sliding block is driven along longitudinal direction
Horizontal linear track is moved.The output shaft of servo longitudinal motor 24 and servo longitudinal motor 30 is connected by synchronizing bar 23, to protect
Demonstrate,prove the synchronism that longitudinal sliding block 5 and longitudinal sliding block 4 are moved, it is to avoid because it is asynchronous and caused by card machine phenomenon.
Lateral driver device includes the horizontal servomotor 17 for being fixed on the inside two ends of transverse horizontal linear guides 2 and horizontal
The output shaft of servomotor 18, horizontal servomotor 17 and horizontal servomotor 18 is connected by synchronous cross band 28, laterally same
Walk band and transverse slider 3 is affixed, when synchronous cross band is rotated with horizontal servomotor, drive the transversely horizontal line of transverse slider 3
Property guide rail 2 is moved.
Vertical drive includes being fixed on the vertical servomotor 16 of the inside upper and lower ends of vertical linearity guide rail 1 and vertical
Servomotor 19, the output shaft of vertical servomotor 16 and vertical servomotor 19 is connected by vertical timing belt, vertical synchronous
Band and transverse slider 3 are affixed, because vertical displacement does not occur for transverse slider 3, therefore watch in vertical servomotor 16 and vertically
When taking motor 19 and not working, under the traction action of vertical timing belt, vertical linearity guide rail 1 will not be moved down voluntarily, be watched when vertically
When taking motor 16 and the work of vertical servomotor 19, under the reaction force of vertical timing belt, vertical linearity guide rail 1 occurs vertically
Movement.
To avoid transverse slider and each vertical sliding block from skidding off guide rail, the present embodiment is in vertical equity linear guides 20 and 27, horizontal stroke
Limited block is fixedly installed respectively to the two ends of horizontal linear track 2 and vertical linearity guide rail 1.
As priority scheme, it is affixed with two vertical equity linear guides respectively that the support frame in the present embodiment includes two ends
Guide rail fix bar 6, and the four piece supporting legs 7,8,21,29 affixed with two vertical equity linear guides bottom surfaces, four supporting leg difference
Positioned at the end of two vertical equity linear guides.The cross section of four supporting legs is square, with enough anti-bending strengths, and four
The lower end of supporting leg 7,8,21,29 is plugged with base 10,9,22,26 respectively.The structure of such a support frame can not only play support
The effect of slide unit, and be the mobile slot milling of seed plate, the seed plate being conveniently crawled passes through, while by setting base to increase
Stability.
The use process of the present embodiment is divided into 5 steps, as shown in Figures 5 to 9, and the crawl of respectively the 1st step prepares, and the 2nd step is grabbed
Take, the 3rd step is carried, the 4th step is placed, the 5th step backhaul.
1st step is as shown in figure 5, when working, the conveyer belt on cube seedling culturing machine seed plate delivery platform I will complete nursery
The seed plate of operation is delivered to relevant position, and conveyer belt stop motion is for a period of time, within the period, cube seedling culturing machine seedling
The position directly above that disk catching robot moves to seed plate stops, and prepares crawl seed plate.2nd step is as shown in fig. 6, seed plate gripper
Tool hand is moved to downwards at seed plate handle, and under the drive of electric expansion bar, handgrip firmly grasps seed plate.3rd step is as shown in fig. 7, seedling
Disk catching robot stops after carrying above seed plate to the relevant position of seed plate stacking dolly II.4th step is as shown in figure 8, seed plate
Catching robot is translated downwards, and seed plate is placed on seed plate stacking dolly II.5th step is as shown in figure 9, handgrip completes to place dynamic
After work, opened in the case where driving expansion link to drive, unclamp seed plate, and moved under the drive of three-dimensional Linear slide platform to initial position.
So as to which the disk stacking of unloading for completing a seed plate works, remaining needs the seed plate for unloading disk stacking, and its course of work repeats to operate above
Step.
Certainly, described above is also not limited to the example above, the technical characteristic of the invention without description can by or
Realized, will not be repeated here using prior art；Above example and accompanying drawing are merely to illustrate technical scheme not
It is limitation of the present invention, preferred embodiment the present invention is described in detail for reference, the ordinary skill people of this area
Member is it should be appreciated that change, remodeling, the addition that those skilled in the art are made in the essential scope of the present invention
Or replace without departure from spirit of the invention, it should also belong to the claims of the present invention.
Claims (9)
1. a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus, it is characterised in that：Including three-dimensional Linear slide platform and being fixed on
The support frame of the three-dimensional Linear slide platform bottom surface, the three-dimensional Linear slide platform be arranged in parallel and affixed with support frame as described above including two
Vertical equity linear guides（20、27）Pass through longitudinal sliding block respectively with two ends（5、4）It is slidably connected to two vertical equity linear
Guide rail（20、27）On transverse horizontal linear guides（2）, the transverse horizontal linear guides（2）Upper slip has transverse slider
（3）, the transverse slider（3）Upper slip has vertical linearity guide rail（1）, the vertical linearity guide rail（1）Lower end is provided with gripper
Tool hand；
Also include driving the longitudinal sliding block（5、4）Along vertical equity linear guides（20、27）Mobile longitudinal driving device, drive
Move the transverse slider（3）Transversely horizontal linear track（2）Mobile lateral driver device, and drive the vertical linearity
Guide rail（1）In transverse slider（3）The vertical drive of interior movement.
2. a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus according to claim 1, it is characterised in that：It is described to grab
Manipulator is taken to include being fixed on the vertical linearity guide rail（1）The bearing plate of lower surface（12）Be fixed on vertical linearity guide rail
（1）One side and the electric expansion bar being vertically arranged（11）, the bearing plate（12）Two ends be respectively articulated with handgrip（13、
14）, the electric expansion bar（11）Lower end be hinged with two connecting rods（15、32）, two connecting rod（15、32）The other end difference
With the handgrip（13、14）It is hinged, the pin joint of connecting rod and handgrip is located at below the pin joint of bearing plate and handgrip.
3. a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus according to claim 1, it is characterised in that：It is described vertical
To horizontal linear track（20、27）, transverse horizontal linear guides（2）With vertical linearity guide rail（1）It is hollow shell structure.
4. a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus according to claim 3, it is characterised in that：It is described vertical
The two servo longitudinal motors for including being fixed in each vertical equity linear guides to drive device, two servo longitudinal
The output shaft of motor is connected by longitudinal timing belt, and longitudinal timing belt and the longitudinal sliding block are affixed.
5. a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus according to claim 4, it is characterised in that：Two longitudinal directions
Horizontal linear track（20、27）The output shaft of interior two relative servo longitudinal motors passes through synchronizing bar（23）Connection.
6. a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus according to claim 3 or 4, it is characterised in that：Institute
State the two horizontal servomotors that lateral driver device includes being fixed in the transverse horizontal linear guides, described two horizontal servos
The output shaft of motor is connected by synchronous cross band, the synchronous cross band and the transverse slider（3）It is affixed.
7. a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus according to claim 3 or 4, it is characterised in that：Institute
State the two vertical servomotors that vertical drive includes being fixed in the vertical linearity guide rail, the two vertical servomotor
Output shaft connected by vertical timing belt, the vertical timing belt and the transverse slider（3）It is affixed.
8. a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus according to claim 1, it is characterised in that：It is described vertical
To horizontal linear track（20、27）, transverse horizontal linear guides（2）With vertical linearity guide rail（1）Two ends be respectively fixed with limit
Position block.
9. a kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus according to claim 1, it is characterised in that：The branch
Support includes the two ends guide rail fix bar affixed with the two vertical equities linear guides respectively（6）, and with two vertical equities
Four affixed supporting legs of linear guides bottom surface（7、8、21、29）, four supporting legs are respectively positioned at two vertical equity linear guides
End, the lower end of four supporting legs is plugged with base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710380004.0A CN107055115B (en) | 2017-05-25 | 2017-05-25 | Automatic tray unloading and stacking device for seedling trays of square seedling raising machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710380004.0A CN107055115B (en) | 2017-05-25 | 2017-05-25 | Automatic tray unloading and stacking device for seedling trays of square seedling raising machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107055115A true CN107055115A (en) | 2017-08-18 |
| CN107055115B CN107055115B (en) | 2022-11-18 |
Family
ID=59609800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710380004.0A Active CN107055115B (en) | 2017-05-25 | 2017-05-25 | Automatic tray unloading and stacking device for seedling trays of square seedling raising machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107055115B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108238445A (en) * | 2018-03-12 | 2018-07-03 | 杭州国辰机器人科技有限公司 | A kind of printing machine automatic clamping and placing cloth apparatus |
| CN108723266A (en) * | 2018-06-29 | 2018-11-02 | 中民筑友有限公司 | A kind of processing of spiral and sleeve install equipment |
| CN110972613A (en) * | 2019-12-31 | 2020-04-10 | 湖北楚清渔耕农业开发有限公司 | Assembly line for seedling culture |
| CN112345593A (en) * | 2020-10-30 | 2021-02-09 | 杭州鲁尔物联科技有限公司 | High-precision deep soil moisture detection device and implementation method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201745768U (en) * | 2010-06-24 | 2011-02-16 | 江阴纳尔捷机器人有限公司 | Packer moving manipulator |
| CN201873342U (en) * | 2010-11-10 | 2011-06-22 | 白银有色集团股份有限公司 | Manipulator clamp for stacking zinc ingots |
| JP2011173208A (en) * | 2010-02-24 | 2011-09-08 | Denso Wave Inc | Robot |
| CN202862210U (en) * | 2012-11-08 | 2013-04-10 | 山东省科学院自动化研究所 | Stacking manipulator for solar glass tube |
| CN203254422U (en) * | 2013-03-28 | 2013-10-30 | 苏州嘉诺资源再生技术有限公司 | Stacking robot operating system |
| CN203638769U (en) * | 2013-11-15 | 2014-06-11 | 湖南中烟工业有限责任公司 | Cigarette pack stacking device |
| CN205870516U (en) * | 2016-06-06 | 2017-01-11 | 福建工程学院 | Panel mounting truss manipulator |
| CN205870514U (en) * | 2016-07-27 | 2017-01-11 | 赵怀平 | Truss -like loading and unloading car robot |
| CN206735386U (en) * | 2017-05-25 | 2017-12-12 | 山东农业大学 | A kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus |
-
2017
- 2017-05-25 CN CN201710380004.0A patent/CN107055115B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011173208A (en) * | 2010-02-24 | 2011-09-08 | Denso Wave Inc | Robot |
| CN201745768U (en) * | 2010-06-24 | 2011-02-16 | 江阴纳尔捷机器人有限公司 | Packer moving manipulator |
| CN201873342U (en) * | 2010-11-10 | 2011-06-22 | 白银有色集团股份有限公司 | Manipulator clamp for stacking zinc ingots |
| CN202862210U (en) * | 2012-11-08 | 2013-04-10 | 山东省科学院自动化研究所 | Stacking manipulator for solar glass tube |
| CN203254422U (en) * | 2013-03-28 | 2013-10-30 | 苏州嘉诺资源再生技术有限公司 | Stacking robot operating system |
| CN203638769U (en) * | 2013-11-15 | 2014-06-11 | 湖南中烟工业有限责任公司 | Cigarette pack stacking device |
| CN205870516U (en) * | 2016-06-06 | 2017-01-11 | 福建工程学院 | Panel mounting truss manipulator |
| CN205870514U (en) * | 2016-07-27 | 2017-01-11 | 赵怀平 | Truss -like loading and unloading car robot |
| CN206735386U (en) * | 2017-05-25 | 2017-12-12 | 山东农业大学 | A kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108238445A (en) * | 2018-03-12 | 2018-07-03 | 杭州国辰机器人科技有限公司 | A kind of printing machine automatic clamping and placing cloth apparatus |
| CN108723266A (en) * | 2018-06-29 | 2018-11-02 | 中民筑友有限公司 | A kind of processing of spiral and sleeve install equipment |
| CN110972613A (en) * | 2019-12-31 | 2020-04-10 | 湖北楚清渔耕农业开发有限公司 | Assembly line for seedling culture |
| CN112345593A (en) * | 2020-10-30 | 2021-02-09 | 杭州鲁尔物联科技有限公司 | High-precision deep soil moisture detection device and implementation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107055115B (en) | 2022-11-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107055115A (en) | A kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus | |
| CN206735386U (en) | A kind of cube seedling culturing machine seed plate automatic disk discharging palletizing apparatus | |
| CN203922102U (en) | A kind of automatic transporting is piled up equipment | |
| CN206798604U (en) | It is a kind of to grip material head for forming machine and pick and place the manipulator of finished product | |
| CN203451800U (en) | Device for automatically feeding thick pockets to sewing station | |
| CN102180355A (en) | Electric energy meter carrying manipulator suitable for meter box | |
| CN207577663U (en) | Automate sheet processing system | |
| CN206691880U (en) | One kind lifting conveying device | |
| CN205274679U (en) | Novel equipment and production line are carried in moving of full -automatic photovoltaic module production line | |
| CN206921934U (en) | A kind of soft package lithium battery module transplants stacker mechanism | |
| CN106629020A (en) | Automatic double-discharging device | |
| CN107371615A (en) | A kind of fruit harvesting robot arm | |
| CN106628920A (en) | Transferring multi-station lifting machine | |
| CN106720219A (en) | One main laminaria automates drying system | |
| CN205613972U (en) | Automatic guide portable swing arm punching press machine people | |
| CN105947693B (en) | A kind of full-automatic fired brick setting machine | |
| CN206126331U (en) | Multi freedom holds transport formula pile up neatly device tightly | |
| CN210655271U (en) | Universal self-adaptive stacking table | |
| CN206184881U (en) | A unloading system in automation for producing high clean ultra -thin base plate glass | |
| CN112086281A (en) | Automatic iron inserting device and method for iron yoke on transformer iron core | |
| CN111819967A (en) | Transfer trolley | |
| CN207692566U (en) | A kind of hanging bag type agaric picking machine | |
| CN209546722U (en) | A kind of cake ingot stripper | |
| CN206314249U (en) | Automatically a basket machine is unloaded | |
| CN110713019A (en) | Natural rubber block intelligent material taking and stacking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |