CN109335094B - Ordered small particle grabbing and distance reducing device - Google Patents
Ordered small particle grabbing and distance reducing device Download PDFInfo
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- CN109335094B CN109335094B CN201811133594.8A CN201811133594A CN109335094B CN 109335094 B CN109335094 B CN 109335094B CN 201811133594 A CN201811133594 A CN 201811133594A CN 109335094 B CN109335094 B CN 109335094B
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- 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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
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Abstract
The invention discloses an ordered small particle grabbing and distance reducing device which comprises a longitudinal distance reducing component, a transverse distance reducing component and a small particle clamping component, wherein the longitudinal distance reducing component is arranged on the front end of the small particle grabbing component; the small particle clamping assembly is fixedly connected to a billet below a fork shearing mechanism of the transverse distance reducing assembly through threads; the transverse distance reducing assembly is connected with the longitudinal distance reducing assembly through the scissor mechanisms at two ends and is used for avoiding the influence of transverse and longitudinal movement interference; the small particulate matter clamping assembly grabs the small particulate matters which are orderly arranged and have large distances; the transverse distance reducing component acts to realize transverse distance reduction; after the transverse distance reducing assembly finishes acting, the longitudinal distance reducing assembly starts acting to realize longitudinal distance reducing; after the three actions are completed, the whole distance reducing process is completed. The small particle grabbing device can grab and shorten the distance of small particles in order, is accurate in positioning and high in grabbing efficiency, and saves a large amount of labor cost.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment, and particularly relates to an ordered small particle grabbing and distance reducing device.
Background
In industrial processes, it is often necessary to handle particulate materials. Granular materials are not easy to grab and convey due to the fact that the granular materials are numerous and small in shape, and the characteristics of irregular shapes and different sizes exist in common solid particles, so that the conveying is inconvenient due to the characteristics, the manual handling is often needed, and time and labor are wasted.
The Chinese patent with the application number of '201611162576.3' discloses a granule material distributing and assembling machine which can realize the steps of automatically loading upper and lower covers of a product, automatically distributing, weighing and testing, automatically punching pearl cotton to the product and carrying out box cover and the like, and has high automation degree; but the device can not realize snatching and the contraction pitch to the particulate matter, and the structure is comparatively complicated.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the ordered small particle grabbing and distance reducing device which can realize ordered grabbing and distance reducing of small particles, is accurate in positioning and high in grabbing efficiency, and saves a large amount of labor cost.
Therefore, the invention adopts the following technical scheme:
a device for grabbing and reducing ordered small particles comprises a longitudinal reducing component, a transverse reducing component and a small particle clamping component; the small particle clamping assembly is fixedly connected to a billet below a fork shearing mechanism of the transverse distance reducing assembly through threads; the transverse distance reducing assembly is connected with the longitudinal distance reducing assembly through the scissor mechanisms at two ends and is used for avoiding the influence of transverse and longitudinal movement interference; the small particulate matter clamping assembly grabs the small particulate matters which are orderly arranged and have large distances; the transverse distance reducing component acts to realize transverse distance reduction; after the transverse distance reducing assembly finishes acting, the longitudinal distance reducing assembly starts acting to realize longitudinal distance reducing; after the three actions are completed, the whole distance reducing process is completed.
Preferably, the small particle clamping assembly comprises a clamping lower swing arm claw, a spring fixing electromagnet seat, a clamping action spring, a clamping upper swing arm and a main support frame; the clamping lower swing arm claws comprise a left part and a right part and are hinged with the main support frame through pin shafts; the clamping lower swing arm claw, the clamping upper swing arm and the spring fixing electromagnet seat are hinged through a pin shaft; the clamping action spring is connected with the spring fixing electromagnet seat through a blind pin hole; the clamping upper swing arm comprises a left part and a right part which are hinged through a pin shaft and are connected with the main support frame through a waist-shaped hole.
Preferably, the transverse distance reducing component comprises a clamping jaw transverse distance reducing slider, a transverse distance reducing guide rod fixing seat, a scissor mechanism fixing cross beam up-and-down moving guide rail fixing seat, a scissor mechanism fixing cross beam, a scissor mechanism vertical rod and a scissor mechanism swing rod; the clamping jaw transverse distance-reducing sliding block is hinged with a swing rod of the scissor fork mechanism through a pin shaft, and can rotate relative to each other; the clamping jaw transverse contraction distance sliding block is connected with the transverse contraction distance guide rod through a hole of the clamping jaw transverse contraction distance sliding block and can slide on the transverse contraction distance guide rod; the transverse distance-reducing guide rod is fixed on the transverse distance-reducing guide rod fixing seat through a positioning hole and a set screw; the vertical rod of the scissor mechanism and the swing rod of the scissor mechanism are hinged through a pin shaft and can rotate mutually; the vertical rod of the scissor mechanism is connected with the fixed cross beam of the scissor mechanism through the miniature bearing, and the miniature bearing on the vertical rod of the scissor mechanism can roll in the bearing raceway on the fixed cross beam of the scissor mechanism, so that the vertical rod of the scissor mechanism can horizontally move; the shear fork mechanism fixing cross beam and the shear fork mechanism fixing cross beam fixing seat are connected with the sliding block through screws, so that the guide rail can move up and down along the shear fork mechanism fixing cross beam to move linearly; the scissor mechanism fixing cross beam up-and-down moving guide rail is fixed on the scissor mechanism fixing cross beam up-and-down moving guide rail fixing seat through screws.
Preferably, the longitudinal distance-reducing component comprises a longitudinal moving guide rail, a longitudinal moving slide block, a longitudinal moving upright rod, a longitudinal moving copper nut fixing seat, a longitudinal moving driving screw rod, a longitudinal moving driving motor, a longitudinal distance-reducing scissor mechanism guide rod, a longitudinal distance-reducing scissor mechanism slide block, a longitudinal distance-reducing scissor mechanism swing rod and a longitudinal distance-reducing scissor mechanism fixing beam; two ends of the fixed cross beam of the transverse moving scissor mechanism are connected with the longitudinal moving upright rod through a guide rail sliding block mechanism; the longitudinal moving upright stanchion is connected with the rack through a longitudinal moving guide rail and a longitudinal moving slide block; the longitudinal movement driving motor drives the longitudinal movement driving screw rod to further drive the longitudinal movement copper nut to move; the longitudinal moving copper nut is connected with the longitudinal moving copper nut fixing seat and the longitudinal moving upright rod into a whole through threaded connection; the longitudinal distance-reducing scissor mechanism guide rod is connected with a hole on the longitudinal distance-reducing scissor mechanism sliding block, and the longitudinal distance-reducing scissor mechanism sliding block can freely move on the longitudinal distance-reducing scissor mechanism guide rod; the swing rod of the longitudinal pitch reducing scissor mechanism is hinged with the slide block of the longitudinal pitch reducing scissor mechanism through a pin shaft and can rotate relative to each other; the swing rod of the longitudinal pitch reducing scissor mechanism can realize the relative movement of the swing rod relative to the fixed cross beam of the longitudinal pitch reducing scissor mechanism through the rolling of the miniature bearing on the fixed cross beam of the longitudinal pitch reducing scissor mechanism.
Compared with the prior art, the invention has the beneficial effects that:
(1) can realize snatching in order and the distance that contracts little particulate matter.
(2) The location is accurate, snatchs efficiently, has saved a large amount of human costs.
(3) Simple structure, convenient use and high automation degree.
Drawings
Fig. 1 is a schematic diagram of the general structure of an ordered small particle grabbing and distance reducing device provided by the invention.
Fig. 2 is a schematic structural diagram of a small particle clamping assembly in the ordered small particle grabbing and distance reducing device provided by the invention.
Fig. 3 is a schematic structural diagram of a transverse distance reduction assembly in the ordered small particle grabbing and distance reduction device provided by the invention.
Fig. 4 is a schematic structural diagram of a longitudinal distance reduction assembly in the ordered small particle grabbing and distance reduction device provided by the invention.
Description of reference numerals: 1. a longitudinal distance reduction assembly; 2. a lateral distance reduction assembly; 3. a small particulate matter clamping assembly; 1-1, longitudinally moving a guide rail; 1-2, longitudinally moving a sliding block; 1-3, longitudinally moving the vertical rod; 1-4, longitudinally moving the copper nut; 1-5, longitudinally moving a copper nut fixing seat; 1-6, longitudinally moving a driving screw rod; 1-7, longitudinally moving a driving motor; 1-8, a guide rod of a longitudinal distance-reducing fork-shearing mechanism; 1-9, a sliding block of a longitudinal distance-reducing fork-shearing mechanism; 1-10, a swing rod of a longitudinal distance-reducing fork-shearing mechanism; 1-11, fixing a cross beam by a longitudinal distance-reducing fork-shearing mechanism; 2-1, transversely reducing the distance of the clamping jaw by a sliding block; 2-2, transversely reducing the distance of the guide rod; 2-3, transversely reducing the distance to fix the guide rod; 2-4, fixing a crossbeam up-and-down moving guide rail by a scissor mechanism; 2-5, fixing a crossbeam up-and-down moving guide rail fixing seat by a scissor mechanism; 2-6, fixing a crossbeam fixing seat by a scissor mechanism; 2-7, fixing a cross beam by a scissor mechanism; 2-8, shearing a fork mechanism vertical rod; 2-9, a scissor mechanism swing rod; 3-1, clamping a lower swing arm claw; 3-2, fixing an electromagnet seat by a spring; 3-3, clamping action springs; 3-4, clamping an upper swing arm; 3-5, a main supporting frame.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are provided for illustration only and are not to be construed as limiting the invention.
As shown in figure 1, the invention discloses an ordered small particle grabbing and distance reducing device, which comprises a longitudinal distance reducing component 1, a transverse distance reducing component 2 and a small particle clamping component 3; the small particle clamping assembly 3 is fixedly connected to a billet below the fork shearing mechanism of the transverse pitch reducing assembly 2 through threads; the transverse distance reducing assembly 2 is connected with the longitudinal distance reducing assembly 1 through scissor mechanisms at two ends and is used for avoiding the influence of transverse and longitudinal movement interference; the small particulate matter clamping assembly 3 is used for clamping small particulate matters which are arranged in order and have large distances; the transverse distance reducing component 2 acts to realize transverse distance reduction; after the transverse distance reducing component 2 finishes acting, the longitudinal distance reducing component 1 starts acting to realize longitudinal distance reducing; after the three actions are completed, the whole distance reducing process is completed.
Specifically, as shown in fig. 2, the small particle clamping assembly 3 comprises a lower clamping swing arm claw 3-1, a spring fixing electromagnet seat 3-2, a clamping action spring 3-3, an upper clamping swing arm 3-4 and a main support frame 3-5; the clamping lower swing arm claws 3-1 comprise a left part and a right part and are hinged with the main support frame 3-5 through pin shafts; the clamping lower swing arm claw 3-1, the clamping upper swing arm 3-4 and the spring fixing electromagnet seat 3-2 are hinged through a pin shaft; the clamping action spring 3-3 is connected with the spring fixing electromagnet seat 3-2 through a blind pin hole; the clamping upper swing arms 3-4 comprise a left part and a right part which are hinged through pin shafts and are connected with the main support frame 3-5 through waist-shaped holes.
Specifically, as shown in fig. 3, the transverse distance reducing assembly 2 comprises a clamping jaw transverse distance reducing slider 2-1, a transverse distance reducing guide rod 2-2, a transverse distance reducing guide rod fixing seat 2-3, a scissor mechanism fixing cross beam up-down moving guide rail 2-4, a scissor mechanism fixing cross beam up-down moving guide rail fixing seat 2-5, a scissor mechanism fixing cross beam fixing seat 2-6, a scissor mechanism fixing cross beam 2-7, a scissor mechanism vertical rod 2-8 and a scissor mechanism swing rod 2-9; the clamping jaw transverse distance-reducing sliding block 2-1 is hinged with the scissor mechanism swing rod 2-9 through a pin shaft, and can rotate relative to each other; the clamping jaw transverse contraction distance sliding block 2-1 is connected with the transverse contraction distance guide rod 2-2 through a hole of the clamping jaw transverse contraction distance sliding block and can slide on the transverse contraction distance guide rod 2-2; the transverse distance-reducing guide rod 2-2 is fixed on the transverse distance-reducing guide rod fixing seat 2-3 through a positioning hole and a set screw; the vertical rod 2-8 of the scissor mechanism is hinged with the swing rod 2-9 of the scissor mechanism through a pin shaft, and can rotate mutually; the vertical rods 2-8 of the scissor mechanism are connected with the fixed cross beams 2-7 of the scissor mechanism through miniature bearings, and the miniature bearings on the vertical rods 2-8 of the scissor mechanism can roll in bearing raceways on the fixed cross beams 2-7 of the scissor mechanism, so that the vertical rods 2-8 of the scissor mechanism can horizontally move; the shear fork mechanism fixing cross beam 2-7 and the shear fork mechanism fixing cross beam fixing seat 2-6 are connected with a sliding block through screws, so that the guide rail 2-4 can move up and down along the shear fork mechanism fixing cross beam to move linearly; the upper and lower moving guide rails 2-4 of the fixed cross beam of the scissors mechanism are fixed on the upper and lower moving guide rail fixing seats 2-5 of the fixed cross beam of the scissors mechanism through screws.
Specifically, as shown in fig. 4, the longitudinal distance reducing component 1 includes a longitudinal moving guide rail 1-1, a longitudinal moving slider 1-2, a longitudinal moving upright rod 1-3, a longitudinal moving copper nut 1-4, a longitudinal moving copper nut fixing seat 1-5, a longitudinal moving driving screw rod 1-6, a longitudinal moving driving motor 1-7, a longitudinal distance reducing scissor mechanism guide rod 1-8, a longitudinal distance reducing scissor mechanism slider 1-9, a longitudinal distance reducing scissor mechanism swing rod 1-10, and a longitudinal distance reducing scissor mechanism fixing beam 1-11; two ends of the fixed cross beam 2-7 of the transverse moving scissor mechanism are connected with the longitudinal moving upright rod 1-3 through a guide rail slider mechanism; the longitudinal moving upright stanchion 1-3 is connected with the frame through a longitudinal moving guide rail 1-1 and a longitudinal moving slide block 1-2; the longitudinal movement driving motor 1-7 drives the longitudinal movement driving screw rod 1-6 to further drive the longitudinal movement copper nut 1-4 to move; the longitudinal moving copper nut 1-4 is connected with the longitudinal moving copper nut fixing seat 1-5 and the longitudinal moving upright rod 1-3 into a whole through threaded connection; the guide rod 1-8 of the longitudinal distance reducing fork mechanism is connected with a hole on the sliding block 1-9 of the longitudinal distance reducing fork mechanism, and the sliding block 1-9 of the longitudinal distance reducing fork mechanism can freely move on the guide rod 1-8 of the longitudinal distance reducing fork mechanism; the swing rods 1-10 of the longitudinal pitch reducing scissor mechanism are hinged with the slide blocks 1-9 of the longitudinal pitch reducing scissor mechanism through pin shafts and can rotate relative to each other; the swing rod 1-10 of the longitudinal distance reducing scissors mechanism realizes the relative movement of the swing rod 1-10 relative to the fixed cross beam 1-11 of the longitudinal distance reducing scissors mechanism through the rolling of the miniature bearing on the fixed cross beam 1-11 of the longitudinal distance reducing scissors mechanism.
Examples
The technical process of the ordered small particle grabbing and distance reducing device provided by the invention is as follows:
the small particulate matter clamping component 3 grabs the small particulate matters which are orderly arranged and have large distances; then the transverse distance reducing component 2 acts to realize transverse distance reduction; after the transverse distance reducing component 2 finishes acting, the longitudinal distance reducing component 1 starts acting to realize longitudinal distance reducing action; after the three actions are completed, the whole distance reducing process is completed.
The technical process of the small particulate matter clamping assembly comprises the following steps: the left and right clamping lower swing arm claws 3-1 are connected in a manner similar to a scissors, and in a normal state, the clamping action springs 3-3 apply tension to the upper half parts of the clamping lower swing arm claws 3-11 to force the upper half parts to open, and meanwhile, the lower half parts are in a clamping state; when the lower end of the lower clamping swing arm claw 3-1 is required to be opened, the electromagnet in the spring fixing electromagnet seat 3-2 is electrified and sucked to force the upper end of the lower clamping swing arm claw 3-1 to be tightened, and at the moment, the lower half part of the lower clamping swing arm claw 3-1 is automatically in an opened state; the space required by the fork shearing mechanism which floats up and down is solved on a connecting pin shaft for clamping the upper swing arm 3-4 and a waist-shaped hole on the main support frame 3-5; the lower half part of the lower swing arm claw 3-1 is clamped and opened when the power is on, the whole clamping mechanism is aligned to the small particle materials, the power is off, and the lower half part of the lower swing arm claw 3-1 is clamped and clamped under the action of the clamping action spring 3-3, so that the small particle materials can be clamped.
The technical process of the transverse distance reducing assembly comprises the following steps: after the lower clamping jaw clamps small-particle articles, the lower scissor mechanism fixing beam fixing base 2-6 and the scissor mechanism fixing beam 2-7 are driven by the motor to move upwards along the scissor mechanism fixing beam up-and-down moving guide rail 2-4; at the moment, the vertical rod 2-8 of the scissors mechanism is pulled to move upwards, so that a pin shaft between the vertical rod 2-8 of the scissors mechanism and the swing rod 2-9 of the scissors mechanism is pulled to move upwards; further forcing the swing rod 2-9 of the scissors mechanism to swing and realizing the action of transverse distance reduction.
The technical process of the longitudinal distance reducing assembly comprises the following steps: after transverse distance reduction is finished, the longitudinal movement driving motor 1-7 starts to act, power is transmitted to the transverse movement scissor mechanism fixing cross beam 2-7 through the longitudinal movement driving screw rod 1-6, the longitudinal movement copper nut 1-4, the longitudinal movement copper nut fixing seat 1-5 and the longitudinal movement upright rod 1-3, and therefore longitudinal distance reduction action is achieved.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and scope of the present invention should be included in the present invention.
Claims (2)
1. The utility model provides an orderly tiny particle snatchs and pitch reduction device, gets subassembly (3) including vertical pitch reduction subassembly (1), horizontal pitch reduction subassembly (2) and tiny particle clamp, its characterized in that: the small particle clamping assembly (3) is fixedly connected to a billet below a fork shearing mechanism of the transverse pitch reducing assembly (2) through threads; the transverse distance reducing assembly (2) is connected with the longitudinal distance reducing assembly (1) through scissor mechanisms at two ends and used for avoiding the influence of transverse and longitudinal movement interference; the small particulate matter clamping assembly (3) is used for clamping small particulate matters which are orderly arranged and have large distances; the transverse distance reducing component (2) acts to realize transverse distance reduction; after the transverse distance reducing component (2) finishes acting, the longitudinal distance reducing component (1) starts acting to realize longitudinal distance reducing; after the three actions are finished, the whole distance reducing process is finished;
the small particle clamping assembly (3) comprises a clamping lower swing arm claw (3-1), a spring fixing electromagnet seat (3-2), a clamping action spring (3-3), a clamping upper swing arm (3-4) and a main support frame (3-5); the clamping lower swing arm claws (3-1) comprise a left part and a right part and are hinged with the main support frame (3-5) through pin shafts; the clamping lower swing arm claw (3-1), the clamping upper swing arm (3-4) and the spring fixing electromagnet seat (3-2) are hinged through a pin shaft; the clamping action spring (3-3) is connected with the spring fixing electromagnet seat (3-2) through a blind pin hole; the clamping upper swing arms (3-4) comprise a left part and a right part which are hinged through pin shafts and are connected with the main support frame (3-5) through waist-shaped holes;
the transverse distance reducing assembly (2) comprises a clamping jaw transverse distance reducing sliding block (2-1), a transverse distance reducing guide rod (2-2), a transverse distance reducing guide rod fixing seat (2-3), a shearing fork mechanism fixing cross beam up-and-down moving guide rail (2-4), a shearing fork mechanism fixing cross beam up-and-down moving guide rail fixing seat (2-5), a shearing fork mechanism fixing cross beam fixing seat (2-6), a shearing fork mechanism fixing cross beam (2-7), a shearing fork mechanism vertical rod (2-8) and a shearing fork mechanism swing rod (2-9); the clamping jaw transverse distance-reducing sliding block (2-1) is hinged with the fork shearing mechanism swing rod (2-9) through a pin shaft, and the clamping jaw transverse distance-reducing sliding block and the fork shearing mechanism swing rod can rotate relative to each other; the clamping jaw transverse contraction distance sliding block (2-1) is connected with the transverse contraction distance guide rod (2-2) through a hole of the clamping jaw transverse contraction distance sliding block and can slide on the transverse contraction distance guide rod (2-2); the transverse distance-reducing guide rod (2-2) is fixed on the transverse distance-reducing guide rod fixing seat (2-3) through a positioning hole and a set screw; the vertical rod (2-8) of the scissor mechanism is hinged with the swing rod (2-9) of the scissor mechanism through a pin shaft, and the vertical rod and the swing rod can rotate mutually; the vertical rod (2-8) of the scissor mechanism is connected with the fixed cross beam (2-7) of the scissor mechanism through a miniature bearing, and the miniature bearing on the vertical rod (2-8) of the scissor mechanism can roll in a bearing raceway on the fixed cross beam (2-7) of the scissor mechanism, so that the vertical rod (2-8) of the scissor mechanism can horizontally move; the shear fork mechanism fixing cross beam (2-7) and the shear fork mechanism fixing cross beam fixing base (2-6) are connected with the sliding block through screws, so that the guide rail (2-4) can move linearly along the shear fork mechanism fixing cross beam up and down; the scissor mechanism fixed cross beam up-down moving guide rail (2-4) is fixed on the scissor mechanism fixed cross beam up-down moving guide rail fixing seat (2-5) through screws.
2. The ordered small particle grasping and distance reducing device according to claim 1, wherein: the longitudinal distance reducing component (1) comprises a longitudinal moving guide rail (1-1), a longitudinal moving sliding block (1-2), a longitudinal moving upright rod (1-3), a longitudinal moving copper nut (1-4), a longitudinal moving copper nut fixing seat (1-5), a longitudinal moving driving screw rod (1-6), a longitudinal moving driving motor (1-7), a longitudinal distance reducing fork shearing mechanism guide rod (1-8), a longitudinal distance reducing fork shearing mechanism sliding block (1-9), a longitudinal distance reducing fork shearing mechanism swing rod (1-10) and a longitudinal distance reducing fork mechanism fixing cross beam (1-11); two ends of the fixed cross beam (2-7) of the scissor mechanism are connected with the longitudinal moving upright rod (1-3) through a guide rail slider mechanism; the longitudinal moving upright stanchion (1-3) is connected with the rack through a longitudinal moving guide rail (1-1) and a longitudinal moving slide block (1-2); the longitudinal movement driving motor (1-7) drives the longitudinal movement driving screw rod (1-6) to further drive the longitudinal movement copper nut (1-4) to move by driving the longitudinal movement driving screw rod; the longitudinal moving copper nut (1-4) is connected with the longitudinal moving copper nut fixing seat (1-5) and the longitudinal moving upright rod (1-3) into a whole through threaded connection; the guide rod (1-8) of the longitudinal distance reducing fork shearing mechanism is connected with a hole on the sliding block (1-9) of the longitudinal distance reducing fork shearing mechanism, and the sliding block (1-9) of the longitudinal distance reducing fork shearing mechanism can freely move on the guide rod (1-8) of the longitudinal distance reducing fork shearing mechanism; the swing rods (1-10) of the longitudinal distance reducing fork shearing mechanism are hinged with the slide blocks (1-9) of the longitudinal distance reducing fork shearing mechanism through pin shafts and can rotate relative to each other; the swing rod (1-10) of the longitudinal distance reducing fork shearing mechanism realizes the relative movement of the swing rod (1-10) relative to the fixed cross beam (1-11) of the longitudinal distance reducing fork shearing mechanism through the rolling of the miniature bearing on the fixed cross beam (1-11) of the longitudinal distance reducing fork shearing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811133594.8A CN109335094B (en) | 2018-09-27 | 2018-09-27 | Ordered small particle grabbing and distance reducing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811133594.8A CN109335094B (en) | 2018-09-27 | 2018-09-27 | Ordered small particle grabbing and distance reducing device |
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| CN109335094A CN109335094A (en) | 2019-02-15 |
| CN109335094B true CN109335094B (en) | 2020-10-20 |
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| CN201811133594.8A Active CN109335094B (en) | 2018-09-27 | 2018-09-27 | Ordered small particle grabbing and distance reducing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111667726A (en) * | 2020-06-15 | 2020-09-15 | 南昌富佑多科技有限公司 | VR teaching is with multi-functional connection structure that extends |
| CN111924187B (en) * | 2020-06-24 | 2024-09-17 | 浙江海悦机器人有限公司 | Flexible head mechanism of grabbing for soft bag case packer |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004131144A (en) * | 2002-10-11 | 2004-04-30 | Morishita Kikai Seisakusho:Kk | Container gripping apparatus |
| CN1847118B (en) * | 2006-04-26 | 2014-03-12 | 福建海源自动化机械股份有限公司 | Stacker |
| CN202781136U (en) * | 2012-09-28 | 2013-03-13 | 上海电机学院 | Feedback type electromagnetic clamping device |
| US8876182B2 (en) * | 2012-10-01 | 2014-11-04 | Festo Corporation | Integrated two dimensional robotic palm for variable pitch positioning of multiple transfer devices |
| CN203544443U (en) * | 2013-02-08 | 2014-04-16 | 青岛创想机器人制造有限公司 | Robot sucker clamp used for compressing packages or encasement space |
| CN203558241U (en) * | 2013-09-30 | 2014-04-23 | 广州达意隆包装机械股份有限公司 | Motor drive telescopic grouping mechanism and case packer comprising mechanism |
| CN105479475A (en) * | 2014-09-19 | 2016-04-13 | 常州峰成科技有限公司 | Electromagnetic clamping structure for transfer robot |
| CN206677948U (en) * | 2017-05-02 | 2017-11-28 | 象山福德图机械有限公司 | Auto parts machinery clamp device in a kind of workshop |
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