CN108861544A - It pushed away for material, grab dual-purpose device - Google Patents
It pushed away for material, grab dual-purpose device Download PDFInfo
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- CN108861544A CN108861544A CN201810697459.XA CN201810697459A CN108861544A CN 108861544 A CN108861544 A CN 108861544A CN 201810697459 A CN201810697459 A CN 201810697459A CN 108861544 A CN108861544 A CN 108861544A
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- grab
- module
- dual
- away
- purpose device
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- 239000000463 material Substances 0.000 title claims abstract description 80
- 229920001971 elastomer Polymers 0.000 claims description 21
- 239000005060 rubber Substances 0.000 claims description 21
- 230000009471 action Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 5
- 239000000843 powder Substances 0.000 description 29
- 230000002146 bilateral effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 229920000297 Rayon Polymers 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013312 flour Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 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
-
- 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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
It pushed away for material the present invention relates to a kind of, grab dual-purpose device, wherein, device pushes away including two groups and grabs module and a main frame module, and main frame module includes a pressure plate, two groups push away and grab the two sides that module is respectively arranged on pressure plate, and every group pushes away that grab module include side push pedal and feeding clamping jaw unit.Using the device of this kind of structure, side can be carried out to material to push away or grab, in crawl, the feeding clamping jaw unit of pressure plate and two sides cooperates, make the three face stress of material being crawled, reduce the degree of deformation, it is more stable in clamping moving process to be not easy to loosen, preferably complete crawl work, it is fast in some supplied materials speed of movement, when the not high material of status requirement precision, side push pedal, which can be used, pushes material mobile, save the time of mobile material, this is used for material and pushes away, material can be grabbed by grabbing dual-purpose device, side can also be carried out to material to push away, it applies more widely, in the transport of all kinds of materials, has good adaptability.
Description
Technical field
The present invention relates to a kind of machinery equipment field, in particular to a kind of side push away and grab dual-purpose structure, in particular to
It is a kind of to be pushed away for material, grab dual-purpose device.
Background technique
In the prior art to some materials (packaging bag as being mounted with flour, cement powder) for being easy to happen deformation
In transportational process, mainly transported by the way of manual work, it is different from the metastable material of common shape, these
It is easy to happen deformation when being easy to happen the common mechanical carrier of material of deformation, can not be removed using the equipment of the prior art
Fortune.
Simultaneously when carrying the material that these are easily deformed, usually only need to be pushed, according to common
Chucking device is carried, then can spend one section of ineffective time in the folding control of manipulator, be unfavorable for production efficiency.
The side for so designing a kind of device cooperation robot to realize to powder lot in bags such as pushes away and grabs at the functions, can replace people
Heavy labor, realize production mechanization and automation.Reduce the human cost of enterprise, while for avoiding people some
In the carrying of material (such as powder), production environment to if the harm of human health at extremely urgent needs.
Summary of the invention
The purpose of the present invention is overcome it is above-mentioned in the prior art the shortcomings that, a kind of functional, function-stable, suitable is provided
Answer range is wide to push away for material, grab dual-purpose device.
To achieve the goals above, the material that is used for of the invention pushes away, grabs dual-purpose device with following composition：
This pushes away for material, grabs dual-purpose device, is mainly characterized by, and the device pushes away including two groups and grabs module and one
A main frame module；
The main frame module includes a pressure plate；
It is pushed away described in two groups and grabs the two sides that module is respectively arranged on the pressure plate；
It is pushed away described in every group and grabs module and include side push pedal and feeding clamping jaw unit, the side push pedal and feeding clamping jaw list
Member is adjacent.
Preferably, pushing away described in every group, to grab module include an at least horizontal fixed link, and the feeding clamping jaw unit is fixed
In the inside of the horizontal fixed link, the side push pedal is set to the outside of the horizontal fixed link.
More preferably, pushing away described in every group and grabbing module includes a rotary shaft, and the rotary shaft is parallel with the horizontal fixed link,
The rotating shaft terminal is respectively equipped with a bearing block, and the rotating shaft terminal further respectively has a swing rod, and each swing rod is equal
It is connected with a crank；
Swing rod described in two grabbed in module is pushed away described in every group to be connected with the one side on the outside of the horizontal fixed link
It connects, and swing rod described in two is respectively arranged on the both ends of the horizontal fixed link；The side push pedal is fixed on described in two
In one side on the outside of swing rod.
Further, the device further includes a drive module, and the drive module is respectively and described in four
Crank is connected, and for pushing the crank-operated, grabs module action to push away described in driving two groups.
Further, the drive module includes four power source piston-cylinder units, four power source piston-cylinder units point
Corresponding not adjacent with crank described in four, each power source piston-cylinder unit includes a power source cylinder；
Each power source cylinder passes through cylinder ear mount and is fixed in the pressure plate, and the power source cylinder
Push rod end oscillating bearing is installed, the other end of the oscillating bearing is connected with adjacent crank.
Preferably, the main frame module includes at least two limiting buffer rubber blocks, each limiting buffer
One end of rubber block is fixed in the pressure plate, the other end of each limiting buffer rubber block with corresponding one group
Abutting for module selective is grabbed in described pushing away.
More preferably, the main frame module includes four limiting buffer rubber blocks, limiting buffer rubber described in four
Block is grabbed the one-to-one correspondence of four swing rods in module with described pushing away respectively and is abutted.
Preferably, the main frame module includes cruciform bracing unit and frame vertical beam unit, the cruciform bracing
Unit is connected by the frame vertical beam unit with the pressure plate.
More preferably, the cruciform bracing unit includes an at least crossbeam, and the frame vertical beam unit includes at least one
Vertical beam is mutually perpendicular between the crossbeam and vertical beam.
More preferably, the main frame module includes robot flange connecting plate, the robot flange connecting plate
It is connected on one side with the cruciform bracing unit, the another side of the robot flange connecting plate is connected with external robots
It connects.
It pushed away using this for material, grab dual-purpose device, including two groups push away and grab module and a main frame module, it is described
Main frame module includes a pressure plate, and pushing away described in every group and grabbing module includes side push pedal and feeding clamping jaw unit, is being grabbed
When easily-deformable material, the feeding clamping jaw unit of pressure plate and two sides cooperates, and makes the three face stress of material being crawled, and reduces
The degree of deformation, clamp it is more stable in moving process be not easy to loosen, the crawl of easily-deformable material is preferably completed, mobile one
When the material that a little supplied materials speed are fast, status requirement precision is not high, side push pedal can be used and push material mobile, save mobile material
Time, this is used for material and pushes away, grabs dual-purpose device and can grab to material, can also carry out side to material and push away, the scope of application
It is more extensive, in the transport of all kinds of materials, have good adaptability, substitute manual handling, reduces labor intensity, mention
High production operation efficiency.
Detailed description of the invention
Fig. 1 is the schematic perspective view for pushing away for material, grabbing dual-purpose device of the invention.
Fig. 2 is the main view for pushing away for material, grabbing dual-purpose device of the invention.
Fig. 3 is the top view for pushing away for material, grabbing dual-purpose device of the invention.
Appended drawing reference
1 main frame module
101 robot flange connecting plates
102 crossbeams
103 vertical beams
104 pressure plates
105 limiting buffer rubber blocks
2 push away and grab module
201 rotary shafts
202 bearing blocks
203 swing rods
204 cranks
205 side push pedals
206 horizontal fixed links
207 feeding clamping jaws
3 power source cylinders
301 cylinder ear mounts
302 oscillating bearings
Specific embodiment
It is further to carry out combined with specific embodiments below in order to more clearly describe technology contents of the invention
Description.
This pushes away for material, grabs dual-purpose device, wherein the device pushes away including two groups and grabs module 2 and a main frame
Frame module 1；
The main frame module 1 includes a pressure plate 104；
It is pushed away described in two groups and grabs the two sides that module 2 is respectively arranged on the pressure plate 104；
Pushed away described in every group grab module 2 include side push pedal 205 and feeding clamping jaw unit, the side push pedal 205 with take
Feed collet pawl unit is adjacent.
In the above-described embodiments, pushing away described in every group and grabbing module 2 includes at least one horizontal fixed link 206, the feeding
Clamping jaw unit is fixed on the inside of the horizontal fixed link 206, and the side push pedal 205 is set to the horizontal fixed link 206
Outside.
In the above-described embodiments, pushed away described in every group grab module 2 include a rotary shaft 201, the rotary shaft 201 with it is described
Horizontal fixed link 206 it is parallel, which is respectively equipped with a bearing block 202, and 201 both ends of rotary shaft are also distinguished
Equipped with a swing rod 203, each swing rod 203 is connected with a crank 204；
One of swing rod 203 described in two grabbed in module 2 with 206 outside of horizontal fixed link is pushed away described in every group
Face is connected, and swing rod 203 described in two is respectively arranged on the both ends of the horizontal fixed link 206；The side push pedal 205 is solid
In the one side in 203 outside of swing rod described in two.
In the above-described embodiments, the device further includes a drive module, the drive module respectively with four institutes
The crank 204 stated is connected, and for pushing the crank 204 to act, grabs the movement of module 2 to push away described in driving two groups.
In the above-described embodiments, the drive module includes four power source piston-cylinder units, four power source cylinder lists
Member is corresponding adjacent with crank 204 described in four respectively, and each power source piston-cylinder unit includes a power source cylinder
3；
Each power source cylinder 3 is fixed in the pressure plate 104 by cylinder ear mount 301, and this is dynamic
The push rod end of power source gas cylinder 3 is equipped with oscillating bearing 302, and the other end of the oscillating bearing 302 is connected with adjacent crank 204
It connects.
In the above-described embodiments, the main frame module 1 includes at least two limiting buffer rubber blocks 105, Mei Yisuo
The one end for the limiting buffer rubber block 105 stated is fixed in the pressure plate 104, each limiting buffer rubber block
105 other end grabs abutting for the selectivity of module 2 with pushing away described in corresponding one group.
In the above-described embodiments, the main frame module 1 includes four limiting buffer rubber blocks 105, described in four
Limiting buffer rubber block 105 is grabbed the one-to-one correspondence of four swing rods 203 in module 2 with described pushing away respectively and is abutted.
In the above-described embodiments, the main frame module 1 includes cruciform bracing unit and frame vertical beam unit, described
Cruciform bracing unit is connected by the frame vertical beam unit with the pressure plate 104.
In the above-described embodiments, the cruciform bracing unit includes an at least crossbeam 102, the frame vertical beam unit
Including an at least vertical beam, it is mutually perpendicular between the crossbeam 102 and vertical beam 103.
In the above-described embodiments, the main frame module 1 includes robot flange connecting plate 101, the robot
The one side of flange connecting plate 101 is connected with the cruciform bracing unit, the robot flange connecting plate 101 it is another
Face is connected with external robots.
The pushing away for material of above-described embodiment grabs dual-purpose device and can be used for removing automatically for powder lot in bags and other logistics
Fortune, stacking.The crawl in palletization to powder lot in bags can be solved with such structure, it is specified to carry powder lot in bags arrival
Position.The pack powder fast to supplied materials speed, status requirement precision is not high can quickly push pack powder to reach with side push pedal 205
Designated position.It, which constitutes to push away including 1, two group of main frame module, grabs module 2 and drive module；The wherein main frame module
1 includes the modules such as pressure plate 104, limiting buffer rubber block 105 and robot flange connecting plate 101；Two groups push away that grab module 2 equal
It include the components such as feeding clamping jaw, side push pedal 205, swing rod 203, crank 204, rotary shaft 201, bearing block 202；Drive module packet
The components such as power source cylinder 3 are included；It is a kind of dual--purpose mechamism that this, which pushes away for material, grabs dual-purpose device, be can be used for according to outside
The command signal that robot is given the side of powder lot in bags is pushed away or grabbed, pushing away, grabbing for material in above-mentioned fact Example
Dual-purpose device, which is also not limited to, carries powder lot in bags, can also carry to unclassified stores.
With reference to the accompanying drawing the structure for pushing away for material, grabbing dual-purpose device in 1 to 3 pair of above-described embodiment and use into
Row further description, wherein Fig. 1 is the schematic perspective view for pushing away for material, grabbing dual-purpose device of the invention, Fig. 2
For the main view for pushing away for material, grabbing dual-purpose device of the invention, Fig. 3 is that the material that is used for of the invention pushes away, grabs dual-purpose dress
The top view set.
Pushing away for material, grabbing dual-purpose device mainly in above-described embodiment includes 1, two group of main frame module and pushes away and grab module
2, drive module forms.
Main frame module 1 includes robot flange connecting plate 101, pressure plate 104,4 limiting buffer rubber blocks 105, frame
Frame crossbeam unit and frame vertical beam unit.
Cruciform bracing unit is installed on the lower section of robot flange connecting plate 101, the upper end of frame vertical beam unit and frame
Crossbeam unit connection, lower end is equipped with 104,4 limiting buffer rubber blocks 105 of pressure plate and is mounted in pressure plate 104.
Wherein, in this embodiment, cruciform bracing unit includes 2 crossbeams 102, and frame vertical beam unit includes 4
It is parallel to each other between 103,2 crossbeams 102 of vertical beam, is also parallel to each other between 4 vertical beams 103, every crossbeam 102 and two vertical beams
103 are connected, and crossbeam 102 is perpendicular to vertical beam 103.
Two groups push away grab module 2 structure it is identical, wherein every group push away grab module 2 include a side push pedal 205, two it is horizontal solid
Fixed pole 206, a feeding clamping jaw unit, a swing rod 203 of bearing block 202, two of rotary shaft 201, two and two cranks
204, wherein feeding clamping jaw unit includes four feeding clamping jaws 207 (in other embodiments, can also be according to the actual situation
The feeding clamping jaw 207 of different number is set)；
By taking wherein one group pushes away and grabs module 2 as an example, as described in Figure 1, two horizontal fixed links 206 are mutually to flat, four extracting jaws
Uniformly the inside of two horizontal fixed links 206 is arranged in pawl 207, and is fixedly connected with this two horizontal 206 phases of fixed link；A piece rotation
The both ends of shaft 201 are respectively equipped with two bearing blocks 202 (rotary shaft 201 is installed on bearing block 202), two swing rods
203 are also respectively arranged on the both ends of the rotary shaft 201, and (swing rod 203 is fixed in rotary shaft 201, is done rotation around bearing block 202 and is opened
Resultant motion), the side of each swing rod 203 is adjacent with bearing block 202 described in one, and the other side of the swing rod 203 is then
Adjacent with a crank 204, i.e. the both ends of the rotary shaft 201 are additionally provided with two cranks 204；The inside of two swing rods 203
The inside of lower half portion is connected with the outside of horizontal fixed link 206 described in two, and the lower half portion of two swing rods 203 is outer
Side is then connected (side push pedal 205 is for quickly pushing powder lot in bags to reach designated position) with the side push pedal 205,
Two bearing blocks 202 are individually fixed in the both ends of two cruciform bracings 102.
Above-mentioned two groups push away that grab module 2 be bilateral symmetry, are located at and described push away for material, grab dual-purpose device
Two sides, two groups push away that grab module 2 altogether include two rotary shafts 201, four, 203, four cranks of swing rod of bearing block 202, four
204, two side push pedal 205, four horizontal fixed links 206 and eight extracting jaw pawls 207.
One end of 4 limiting buffer rubber blocks in main frame is connected with the pressure plate, and 4 limiting buffer rubbers
The then conflict with four above-mentioned swing rod selectivity respectively of the other end of blob of viscose.
Drive module include four power source piston-cylinder units, four power source piston-cylinder units respectively with crank described in four
Correspondence is adjacent, and each power source piston-cylinder unit includes a power source cylinder；Each power source cylinder is logical
It crosses cylinder ear mount to be fixed in the pressure plate, and the push rod end of the power source cylinder is equipped with oscillating bearing, the joint shaft
The other end held is connected with adjacent crank.I.e. described every group for pushing away for material, grabbing in dual-purpose device, which pushes away, grabs module
It is driven by two groups of power source piston-cylinder units, two groups push away that grab module be symmetrical structure.
When receiving instruction, the push rod of power source cylinder does stretching motion, and feeding clamping jaw is driven to open and close around rotary shaft
Movement, plays the clamping to powder lot in bags, and since powder mobility is larger, powder lot in bags is easily deformed during clamping, this
When main frame below pressure plate simultaneously play the role of choking material, make three face stress around powder lot in bags, then powder lot in bags exists.
Wherein robot flange connecting plate is to push away for material, grab the mistake that dual-purpose device is connect with external mechanical human arm
Cross part.
Pushing away for material in above-described embodiment grabs dual-purpose device and can solve a robot in palletization to bag
The side of dress powder pushes away and grabs two kinds of functions, can grab powder lot in bags and reach designated position progress stacking.The fast, position to supplied materials speed
Setting the not high pack powder of precision prescribed can quickly push pack powder arrival designated position to carry out stacking with side push pedal.
As shown in Figure 1, 2, being pushed away for material, grabbing dual-purpose device when receiving instruction in above-described embodiment, power source
The push rod of cylinder does stretching motion, drives feeding clamping jaw to do open and close movement around rotary shaft, plays the clamping to powder lot in bags, by
Larger in powder mobility, powder lot in bags is easily deformed during clamping, and at this moment the pressure plate below main frame plays simultaneously
The effect for choking material makes three face stress around powder lot in bags, then powder lot in bags is more reliable in clamping moving process is not easy pine
It is de-.
As shown in Figures 1 to 3, two side push pedals 205 are located at the two sides that dual-purpose device is pushed away, grabbed for material, when next
Powder lot in bags without grab stacking when, power source cylinder intake makes device be in closed state, quickly pushes bag with side push pedal
It fills powder and reaches designated position.For the pack powder fast to supplied materials speed, status requirement precision is not high, side pushes away powder lot in bags and arrives
Up to designated position, then speed is faster, more efficient.
Wherein, it pushes away and grabs module and driven by two groups of power source piston-cylinder units for every group, strength is bigger, stronger when crawl.
This pushes away for material, grabs dual-purpose device as bilateral symmetry, and structure is simpler, in robot flange connecting plate and machine
After device people connection, follow-up robot instruction or so movement is more flexible.
It pushed away using this for material, grab dual-purpose device, including two groups push away and grab module and a main frame module, it is described
Main frame module includes a pressure plate, and pushing away described in every group and grabbing module includes side push pedal and feeding clamping jaw unit, is being grabbed
When easily-deformable material, the feeding clamping jaw unit of pressure plate and two sides cooperates, and makes the three face stress of material being crawled, and reduces
The degree of deformation, clamp it is more stable in moving process be not easy to loosen, the crawl of easily-deformable material is preferably completed, mobile one
When the material that a little supplied materials speed are fast, status requirement precision is not high, side push pedal can be used and push material mobile, save mobile material
Time, this is used for material and pushes away, grabs dual-purpose device and can grab to material, can also carry out side to material and push away, the scope of application
It is more extensive, in the transport of all kinds of materials, have good adaptability, substitute manual handling, reduces labor intensity, mention
High production operation efficiency.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (10)
1. a kind of push away for material, grab dual-purpose device, which is characterized in that the device pushes away including two groups and grabs module and one
Main frame module；
The main frame module includes a pressure plate；
It is pushed away described in two groups and grabs the two sides that module is respectively arranged on the pressure plate；
It is pushed away described in every group and grabs module and include side push pedal and feeding clamping jaw unit, the side push pedal and feeding clamping jaw unit phase
Face.
2. according to claim 1 push away for material, grab dual-purpose device, which is characterized in that pushed away described in every group and grab mould
Block includes at least one horizontal fixed link, and the feeding clamping jaw unit is fixed on the inside of the horizontal fixed link, the side
Push plate is set to the outside of the horizontal fixed link.
3. according to claim 2 push away for material, grab dual-purpose device, which is characterized in that pushed away described in every group and grab mould
Block includes a rotary shaft, and the rotary shaft is parallel with the horizontal fixed link, which is respectively equipped with a bearing block, and
The rotating shaft terminal further respectively has a swing rod, and each swing rod is connected with a crank；
Pushed away described in every group swing rod described in two grabbed in module with being connected on the outside of the horizontal fixed link on one side, and
Swing rod described in two is respectively arranged on the both ends of the horizontal fixed link；The side push pedal be fixed on two described in outside swing rod
In the one side of side.
4. according to claim 3 push away, grab dual-purpose device for material, which is characterized in that the device further includes
One drive module, the drive module is connected with crank described in four respectively, for pushing the crank-operated, from
And it is pushed away described in driving two groups and grabs module action.
5. according to claim 4 push away for material, grab dual-purpose device, which is characterized in that the drive module packet
Four power source piston-cylinder units are included, four power source piston-cylinder units are corresponding adjacent with crank described in four respectively, each described
Power source piston-cylinder unit include a power source cylinder；
Each power source cylinder passes through cylinder ear mount and is fixed in the pressure plate, and the power source cylinder pushes away
Rod end is equipped with oscillating bearing, and the other end of the oscillating bearing is connected with adjacent crank.
6. according to claim 1 push away for material, grab dual-purpose device, which is characterized in that the main frame module
Including at least two limiting buffer rubber blocks, the pressure plate is fixed in one end of each limiting buffer rubber block
On, the other end of each limiting buffer rubber block grabs abutting against for module selective with pushing away described in corresponding one group
Touching.
7. according to claim 6 push away for material, grab dual-purpose device, which is characterized in that the main frame module
Including four limiting buffer rubber blocks, limiting buffer rubber block described in four grabs four pendulum in module with described pushing away respectively
Bar one-to-one correspondence abuts.
8. according to claim 1 push away for material, grab dual-purpose device, which is characterized in that the main frame module
Including cruciform bracing unit and frame vertical beam unit, the cruciform bracing unit by the frame vertical beam unit with it is described
Pressure plate be connected.
9. according to claim 8 push away for material, grab dual-purpose device, which is characterized in that the cruciform bracing list
Member includes an at least crossbeam, and the frame vertical beam unit includes an at least vertical beam, is mutually hung down between the crossbeam and vertical beam
Directly.
10. according to claim 8 push away for material, grab dual-purpose device, which is characterized in that the main frame module
Including robot flange connecting plate, the one side of the robot flange connecting plate is connected with the cruciform bracing unit,
The another side of the robot flange connecting plate is connected with external robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810697459.XA CN108861544A (en) | 2018-06-29 | 2018-06-29 | It pushed away for material, grab dual-purpose device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810697459.XA CN108861544A (en) | 2018-06-29 | 2018-06-29 | It pushed away for material, grab dual-purpose device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108861544A true CN108861544A (en) | 2018-11-23 |
Family
ID=64297296
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810697459.XA Withdrawn CN108861544A (en) | 2018-06-29 | 2018-06-29 | It pushed away for material, grab dual-purpose device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998833A (en) * | 2019-04-04 | 2019-07-12 | 山东大学 | A kind of shifting machine |
| CN114524267B (en) * | 2022-03-25 | 2024-03-12 | 联恒工业（沈阳）有限公司 | Semi-automatic unloading mechanism of assembly floor |
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|---|---|---|---|---|
| DE3810499A1 (en) * | 1988-03-28 | 1989-10-12 | Siemens Ag | Gripper for an automatic handling device |
| CN202828979U (en) * | 2012-06-26 | 2013-03-27 | 牧羊有限公司 | Stacking robot gripping hand |
| CN103144119A (en) * | 2013-03-26 | 2013-06-12 | 广州创研自动化设备有限公司 | Robot conveying claw mechanism |
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| CN205932397U (en) * | 2016-05-03 | 2017-02-08 | 张锦然 | Gripping device |
| CN207078741U (en) * | 2017-08-25 | 2018-03-09 | 佛山建邦机械有限公司 | It is a kind of that there is the robot gripper for pushing away the neat function of case |
| CN208683907U (en) * | 2018-06-29 | 2019-04-02 | 中建材凯盛机器人（上海）有限公司 | Material is supported to push away, grab dual-purpose device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998833A (en) * | 2019-04-04 | 2019-07-12 | 山东大学 | A kind of shifting machine |
| CN114524267B (en) * | 2022-03-25 | 2024-03-12 | 联恒工业（沈阳）有限公司 | Semi-automatic unloading mechanism of assembly floor |
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