CN109502356A - It is a kind of can automatic clamping and classify flexible clamp for stacking - Google Patents
It is a kind of can automatic clamping and classify flexible clamp for stacking Download PDFInfo
- Publication number
- CN109502356A CN109502356A CN201811405925.9A CN201811405925A CN109502356A CN 109502356 A CN109502356 A CN 109502356A CN 201811405925 A CN201811405925 A CN 201811405925A CN 109502356 A CN109502356 A CN 109502356A
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- fixed
- stacking
- fixed plate
- clamping
- product
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- 210000000078 claw Anatomy 0.000 claims abstract description 24
- 230000005611 electricity Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000012360 testing method Methods 0.000 abstract description 5
- 239000011521 glass Substances 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 235000012206 bottled water Nutrition 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000012163 sequencing technique 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses it is a kind of can automatic clamping and the flexible clamp for stacking classified, including fixed plate, the top two sides of fixed plate are respectively equipped with the driving device that driving fixed plate moves up and down, the two sides of the bottom of fixed plate are respectively equipped with fixed part, servo electric cylinders mould group is installed on the outside of fixed part, the tache motorice of the servo electric cylinders mould group of two sides is contrary, the tache motorice of servo electric cylinders mould group is equipped with servo motor and gear end cap by connecting plate, the bottom of fixed part is installed by wired rail, line rail is equipped with sliding block, sliding block face on gear end cap and other side fixed part is simultaneously rotatably connected to a connecting rod, clip claw assembly is fixed on connecting rod, laser-correlation sensor is equipped on the inside of clip claw assembly, lead limit switch and sucker, laser-correlation sensor and lead limit switch will test signal and be sent to the end PC.The present invention can product to different height size on same production line and glass etc. be easily sliding, frangible product clamps, and can also classify and stack product, have wide range of applications.
Description
Technical field
The present invention relates to palletizing mechanical apparatus field, in particular to it is a kind of can automatic clamping and the flexible stacking folder classified
Tool.
Background technique
As people are to the increasingly demand with a products application to different places, many companies need to produce different rulers
Very little and shape same a product, and during traditional manufacturing, in order to by different size of product it is last together
Process be packed into chest be packaged into cargo after classifies, be all using manually moved to take and carry out sort pile by the way of, this
Kind mode makes the large labor intensity, high labor cost of worker in process of production, and logistic efficiency is low, and is easy to appear work
Situations such as people accidentally drops product, leads to damage of product and injury to personnel.With the development of modern industry, enterprise is in order to increase
Add benefit, needs constantly to carry out recruitment, and domestic competitive pressure is big, causes manually to reduce enterprise at increase
Profit, and domestic aging causes to recruit within certain times less than worker than more serious, so, it designs a full-featured
Can carry out automatically clamp various sizes of product be able to carry out again sorting pile fixture be the industry fields such as logistics concern
Hot issue.
For the prior art of clamp for stacking design, mainly there are four aspect disadvantages at present:
1, adaptive ability is poor.In existing clamp for stacking, sucker is all in the top of fixture, and product surface injustice can make
Poor sealing of sucker during absorption, phenomena such as causing product to fall off.
2, it is excessively single to clamp driving method.Current most of clamp for stacking are all using motor driven screw rod slide block mechanism
Fixture is driven to be clamped, this mode without feedback signal, leads to the bad control of clamping force, work as clamping force in clamping process
When excessive, damage of product is caused, when clamping force is too small, it will cause products to slide after clamping.
3, application range is limited to.Most of clamp for stacking designs are directed to bottled water, chest and fertilizer bag etc. at present
Similar products, and the products such as, frangible smooth for surface just do not clamp mode well, result in answering for clamp for stacking in this way
It is small with range.
4, the sized products of different height on same production line cannot be clamped.The stacking folder of current most of designs
Tool can clamp different width dimensions product, but all existing does not have feedback device on fixture, cause in the production line
Clamp for stacking cannot be according to the size of product height dimension come the problem of carrying out position adjusting.
Summary of the invention
The purpose of the present invention is to provide it is a kind of can automatic clamping and the flexible clamp for stacking classified, to solve above-mentioned background
The problem of being proposed in technology.
Used technical solution to solve above-mentioned technical problem: it is a kind of can automatic clamping and the flexible stacking folder classified
Tool, including fixed plate, the top two sides of the fixed plate are respectively equipped with the driving device that driving fixed plate moves up and down, described solid
The two sides of the bottom of fixed board are respectively equipped with fixed part, and servo electric cylinders mould group is equipped on the outside of the fixed part, and the described of two sides is watched
The tache motorice for taking electric cylinders mould group is contrary, the tache motorice of the servo electric cylinders mould group by connecting plate be equipped with servo motor and
Wired rail is installed in gear end cap, the bottom of the fixed part, and the line rail is equipped with sliding block, and the gear end cap and the other side are solid
Determine the sliding block face in portion and be rotatably connected to a connecting rod, clip claw assembly is fixed on the connecting rod, the clip claw assembly
Inside is equipped with laser-correlation sensor, lead limit switch and sucker, the output end and stroke of the laser-correlation sensor
The output end of limit switch is connect with the input terminal at the end PC.
Further, the clip claw assembly includes three flexible clamping jaws being arranged successively, the laser-correlation sensor peace
On intermediate flexible clamping jaw, the quantity of the lead limit switch on each clip claw assembly is two and is separately mounted to
On the flexible clamping jaw of two sides.
Further, each flexible clamping jaw passes through spring shim and locking nut is fixed on connecting rod.
Further, the side of the driving device is equipped with hydraulic bjuffer, the driving device and hydraulic bjuffer
It is fixed in fixed plate by mounting base.
Further, offer T-slot in the fixed plate on the position of face hydraulic bjuffer, the T-slot it is interior
Hydraulic bjuffer locating part is fixed on wall.
Further, the sliding block is equipped with ball bearing connector, and the ball bearing connector is equipped with ball axis
It holds, the both ends of the connecting rod are connect with ball bearing and gear end cap respectively.
It further, further include mounting plate, two driving devices are separately fixed at the two sides of mounting plate.
The invention has the following advantages:
1, the present invention drives clip claw assembly to be clamped by using servo electric cylinders mould group, therefore can accurately detect and work as
The servo pulse amount of front position and by it compared with the pulsed quantity preset, to judge the type of the product of current stacking clamping
Number, then product is placed into the model specified location, to realize the purpose that classification is stacked.
2, the laser-correlation sensor on clip claw assembly can detecte whether be placed with product between the clip claw assembly of two sides,
And will test signal and feed back to the end PC to initiate motion command to driving device and servo electric cylinders mould group, it can be to same to reach
The purpose that the product of different height size is clamped on one production line.
3, the lead limit switch on clip claw assembly can will test signal feedback to the end PC to control servo electric cylinders mould group
Stroke prevents product from damaging or because clamping force is excessive because of clamping force mistake to control the clamping dynamics of clip claw assembly
It is small and the case where slid after clamping.
4, straight line clamping by being combined together with rotation clamping and mutually tying clip claw assembly with sucker by the present invention
It is combined, adjust clip claw assembly can according to the working environment of product effectively, to realize that clamping is various sizes of
Easy sliding, the frangible product such as product and glass, ensure that the safety of clamping, has wide range of applications.
Detailed description of the invention
The present invention is described further with reference to the accompanying drawings and examples:
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is partial structural diagram of the invention；
Operation schematic diagram when Fig. 3 is present invention clamping product；
Fig. 4 is the operation schematic diagram that clip claw assembly unclamps 1 in the present invention.
Specific embodiment
Referring to figs. 1 to Fig. 3, the present invention be it is a kind of can automatic clamping and the flexible clamp for stacking classified comprising fixed plate
1, the top two sides of fixed plate 1 are respectively equipped with the driving device 2 that driving fixed plate 1 moves up and down, and driving device 2 is preferably gas
Cylinder, the two sides of the bottom of fixed plate 1 are respectively equipped with fixed part 3, and fixed part 3 is made of aluminum profile, and fixed part 3 passes through interior hexagonal spiral shell
Bolt and locking nut are fixed on fixed part 1, and the outside of fixed part 3 is equipped with servo electric cylinders mould group 4, the servo electric cylinders mould of two sides
The tache motorice of group 4 is contrary, and the tache motorice of servo electric cylinders mould group 4 is equipped with servo motor 6 and gear end cap by connecting plate 5
7, servo motor 6 and gear end cap 7 are bolted and are fixed on connecting plate 5, and wired rail 8, line are installed in the bottom of fixed part 3
Rail 8 is equipped with sliding block 9, and 9 face of sliding block on gear end cap 7 and other side fixed part 3 is simultaneously rotatably connected to a connecting rod 10, even
Clip claw assembly is fixed on bar 10, the inside of clip claw assembly is equipped with laser-correlation sensor 11, lead limit switch 12 and inhales
Disk 13, the output end of laser-correlation sensor 11 and the output end of lead limit switch 12 are connect with the input terminal at the end PC.Code
Pile fixture further includes mounting plate 20, and the two sides for being fixed on mounting plate 20, clamp for stacking is bolted in two driving devices 2 respectively
It is attached by mounting plate 20 and recent people.
Wherein, clip claw assembly includes three flexible clamping jaws 14 being arranged successively, and laser-correlation sensor 11 is mounted on centre
Flexible clamping jaw 14 on, the quantity of the lead limit switch 12 on each clip claw assembly is two and is separately mounted to the soft of two sides
On property clamping jaw 14.Each flexibility clamping jaw 14 is fixed on connecting rod 10 by spring shim and locking nut.
The side of driving device 2 is equipped with hydraulic bjuffer 15, and driving device 2 and hydraulic bjuffer 15 pass through mounting base
16 are fixed in fixed plate 1.T-slot is offered in fixed plate 1 on the position of face hydraulic bjuffer 15, on the inner wall of T-slot
It is fixed with hydraulic bjuffer locating part 17.
Sliding block 9 is equipped with ball bearing connector 18, and ball bearing connector 18 is equipped with ball bearing 19, connecting rod 10
Both ends are connect with ball bearing 19 and gear end cap 7 respectively, ball bearing 19 can prevent connecting rod 10 when clamping product by
Biggish power and occur integrally bending deformation.Wherein, gear end cap 7 include synchronous belt, driving wheel and driven wheel, driving wheel with watch
The connection of motor 6 is taken, driven wheel is connect by ball bearing with the end of connecting rod 10, and servo motor is connected by the driving of gear end cap 7
Bar 10 rotates, so that each flexible clamping jaw 14 be driven to rotate clamping product.
When needing to clamp easily sliding various sizes of product or glass etc., frangible product, pass through flexible clamping jaw first
Laser-correlation sensor 11 on 14 carries out product testing, when being placed with product between the flexible clamping jaw 14 that two sides are not detected
When, laser-correlation sensor 11 can feed back the signal that product is not detected to the end PC, and cylinder drives clamp for stacking at this time
Whole linear motion downwards, the hydraulic bjuffer 15 for being mounted on cylinder side can effectively make cylinder carry out buffer deceleration to stopping
Only, it avoids cylinder from hitting under by biggish pressure with piston rod, plays a degree of protective effect.And it is hydraulic slow
The maximum distance that cylinder moves downward can be limited by rushing device locating part 17 then, prevent clamp for stacking and mechanical equipment etc. from colliding.
After cylinder pushes entire clamp for stacking to move downward, the magnetic switch in cylinder can feed back one in place signal said to the end PC
The movement of the bright vertical downward movement of cylinder at this time stops, and then laser-correlation sensor 11 feeds back the signal for detecting product
To the end PC, PC termination receives the movement of servo electric cylinders mould group 4 of control two sides after signal, to drive 14 phase of flexible clamping jaw of two sides
To horizontal rectilinear motion.When the flexible clamping jaw 14 of two sides arrives feeding position, the stroke being mounted on two sides flexibility clamping jaw 14 is limited
The mechanical contact of bit switch 12 is contacted with product, and lead limit switch 12 is compressed into the position preset, at this point, stroke limit
Switch 12 can feed back the servo electric cylinders mould group 4 that the signal that a clamping product movement is completed is moved to the end PC, the end PC controlled level
Stop motion prevents product from damaging or because clamping force is excessive because of folder to control the clamping dynamics of flexible clamping jaw 14
Clamp force is too small and the case where landing after clamping.At the same time, servo electric cylinders mould group 4 detects current servo pulse amount simultaneously
By it compared with the pulsed quantity preset.For example, if current servo pulse amount is sentenced in the pulsed quantity range a of setting
Break current stacking clamping product model size a, so that the product to be placed on to the specified location of the type product；Such as
The current servo pulse amount of fruit then judges the model size of the product of current stacking clamping in the pulsed quantity range b of setting
B, so that the product to be placed on to the specified location of the type product.And so on, to realize the purpose that classification is stacked.
During clamping, the main function of sucker 13 is to prevent product from sliding from flexible clamping jaw 14, is played to product and equipment
Protective effect reduces the breakage rate of product and the failure rate of equipment.By in conjunction with the advantages of sucker 13 and flexible clamping jaw 14 come pair
Product is clamped, this clamp for stacking can avoid the feelings slid because that there are leakproofness is poor, clamping dynamics is inadequate for the product of clamping
Condition occurs.
Referring to Fig. 4, after reaching discharge position, servo motor 6 drives driving wheel, synchronous belt and driven wheel rotation, thus
So that the flexible clamping jaw 14 of two sides is separated and product is placed on specified location, completes the sorting operation of entire stacking clamping.
After the completion of clamp for stacking sorting work, cylinder, servo electric cylinders mould group 4, flexible clamping jaw 14 and entire clamp for stacking are all
It need to be resetted.The sequencing of entire reseting procedure can be adjusted according to actual working environment, can also all be carried out simultaneously
It resets.
The present invention is combined together and by straight line being clamped and being rotated clamping by 13 phase knot of clip claw assembly and sucker
It is combined, flexibility is high, adjust clip claw assembly can according to the working environment of product effectively, to realize clamping not
With the product of size and glass etc., easily sliding, frangible product, ensure that the safety of clamping, has wide range of applications.Laser pair
It penetrates sensor 11 and can detecte whether be placed with product between the clip claw assembly of two sides, and will test signal feedback to the end PC with right
Driving device and servo electric cylinders mould group initiate motion command, can be to the production of different height size on same production line to reach
The purpose that product are clamped.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned embodiment party
Formula within the scope of knowledge possessed by those of ordinary skill in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (7)
1. one kind can automatic clamping and classify flexible clamp for stacking, it is characterised in that: including fixed plate (1), the fixed plate
(1) top two sides are respectively equipped with the driving device (2) that driving fixed plate (1) moves up and down, the bottom two of the fixed plate (1)
Side is respectively equipped with fixed part (3), and servo electric cylinders mould group (4), the servo electricity of two sides are equipped on the outside of the fixed part (3)
The tache motorice of cylinder mould group (4) is contrary, and the tache motorice of the servo electric cylinders mould group (4) is equipped with servo by connecting plate (5)
Wired rail (8) is installed in motor (6) and gear end cap (7), the bottom of the fixed part (3), and the line rail (8) is equipped with sliding block
(9), sliding block (9) face on the gear end cap (7) and other side fixed part (3) and it is rotatably connected to a connecting rod (10),
Clip claw assembly is fixed on the connecting rod (10), the inside of the clip claw assembly is equipped with laser-correlation sensor (11), stroke
Limit switch (12) and sucker (13), the output of the output end and lead limit switch (12) of the laser-correlation sensor (11)
End is connect with the input terminal at the end PC.
2. it is according to claim 1 can automatic clamping and classify flexible clamp for stacking, it is characterised in that: the set of jaws
Part includes three flexible clamping jaws (14) being arranged successively, and the laser-correlation sensor (11) is mounted on intermediate flexible clamping jaw
(14) on, the quantity of the lead limit switch (12) on each clip claw assembly is two and is separately mounted to the flexibility of two sides
On clamping jaw (14).
3. it is according to claim 2 can automatic clamping and classify flexible clamp for stacking, it is characterised in that: each flexibility
Clamping jaw (14) is fixed on connecting rod (10) by spring shim and locking nut.
4. according to claim 1 can automatic clamping and the flexible clamp for stacking classified, it is characterised in that: the driving fills
The side for setting (2) is equipped with hydraulic bjuffer (15), and the driving device (2) and hydraulic bjuffer (15) pass through mounting base
(16) it is fixed on fixed plate (1).
5. it is according to claim 4 can automatic clamping and classify flexible clamp for stacking, it is characterised in that: the fixed plate
(1) T-slot is offered on the position of face hydraulic bjuffer (15) on, is fixed with hydraulic bjuffer on the inner wall of the T-slot
Locating part (17).
6. it is according to claim 1 can automatic clamping and classify flexible clamp for stacking, it is characterised in that: the sliding block
(9) ball bearing connector (18) are equipped with, the ball bearing connector (18) is equipped with ball bearing (19), the connecting rod
(10) both ends are connect with ball bearing (19) and gear end cap (7) respectively.
7. it is according to any one of claims 1 to 6 can automatic clamping and classify flexible clamp for stacking, it is characterised in that:
It further include mounting plate (20), two driving devices (2) are separately fixed at the two sides of mounting plate (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811405925.9A CN109502356A (en) | 2018-11-23 | 2018-11-23 | It is a kind of can automatic clamping and classify flexible clamp for stacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811405925.9A CN109502356A (en) | 2018-11-23 | 2018-11-23 | It is a kind of can automatic clamping and classify flexible clamp for stacking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109502356A true CN109502356A (en) | 2019-03-22 |
Family
ID=65750328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811405925.9A Pending CN109502356A (en) | 2018-11-23 | 2018-11-23 | It is a kind of can automatic clamping and classify flexible clamp for stacking |
Country Status (1)
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|---|---|
| CN (1) | CN109502356A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394785A (en) * | 2019-07-17 | 2019-11-01 | 浙江海洋大学 | A kind of sorting aquatic products grabbing device |
| CN110561480A (en) * | 2019-09-19 | 2019-12-13 | 常州工学院 | Modular robot finger and gripper |
| CN110576555A (en) * | 2019-10-21 | 2019-12-17 | 安徽鲲鹏装备模具制造有限公司 | Mechanical clamp for sound insulation pad foaming mold base |
| CN110842099A (en) * | 2019-11-21 | 2020-02-28 | 春兴铸造(苏州工业园区)有限公司 | Automatic punching press anchor clamps of robot with indicate response function |
| CN111361986A (en) * | 2020-04-07 | 2020-07-03 | 广东顺德马元机器人科技有限公司 | Automatic phenanthrene taking system for flexible material processing |
| CN111806771A (en) * | 2020-07-21 | 2020-10-23 | 豪德机械（上海）有限公司 | Flexible plate stack packaging gripper |
| CN112729184A (en) * | 2020-12-14 | 2021-04-30 | 湖州嘉升电气设备有限公司 | Height detection and classification device of automatic equipment box |
| CN113126581A (en) * | 2021-04-08 | 2021-07-16 | 重庆途益物流有限公司 | Intelligent logistics goods stacking control system and use method thereof |
| CN113370109A (en) * | 2021-07-26 | 2021-09-10 | 北京化工大学 | Vacuum adsorption clamp for variable-diameter thin-wall plastic inner container |
| CN113636338A (en) * | 2021-10-13 | 2021-11-12 | 徐州华恒机器人系统有限公司 | Pneumatic self-locking gripper |
| CN115229462A (en) * | 2022-07-07 | 2022-10-25 | 安徽巨一科技股份有限公司 | Gear and gear shaft automatic assembly mechanism shift |
| CN116787475A (en) * | 2023-08-25 | 2023-09-22 | 郑州宝冶钢结构有限公司 | Tool clamp capable of clamping workpieces of different sizes |
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| WO2012143130A1 (en) * | 2011-04-20 | 2012-10-26 | ASYS Tecton GmbH | Tray gripping device |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394785A (en) * | 2019-07-17 | 2019-11-01 | 浙江海洋大学 | A kind of sorting aquatic products grabbing device |
| CN110561480A (en) * | 2019-09-19 | 2019-12-13 | 常州工学院 | Modular robot finger and gripper |
| CN110576555A (en) * | 2019-10-21 | 2019-12-17 | 安徽鲲鹏装备模具制造有限公司 | Mechanical clamp for sound insulation pad foaming mold base |
| CN110842099B (en) * | 2019-11-21 | 2021-07-30 | 春兴铸造(苏州工业园区)有限公司 | Automatic punching press anchor clamps of robot with indicate response function |
| CN110842099A (en) * | 2019-11-21 | 2020-02-28 | 春兴铸造(苏州工业园区)有限公司 | Automatic punching press anchor clamps of robot with indicate response function |
| CN111361986A (en) * | 2020-04-07 | 2020-07-03 | 广东顺德马元机器人科技有限公司 | Automatic phenanthrene taking system for flexible material processing |
| CN111806771A (en) * | 2020-07-21 | 2020-10-23 | 豪德机械（上海）有限公司 | Flexible plate stack packaging gripper |
| CN112729184A (en) * | 2020-12-14 | 2021-04-30 | 湖州嘉升电气设备有限公司 | Height detection and classification device of automatic equipment box |
| CN113126581A (en) * | 2021-04-08 | 2021-07-16 | 重庆途益物流有限公司 | Intelligent logistics goods stacking control system and use method thereof |
| CN113370109A (en) * | 2021-07-26 | 2021-09-10 | 北京化工大学 | Vacuum adsorption clamp for variable-diameter thin-wall plastic inner container |
| CN113636338A (en) * | 2021-10-13 | 2021-11-12 | 徐州华恒机器人系统有限公司 | Pneumatic self-locking gripper |
| CN115229462A (en) * | 2022-07-07 | 2022-10-25 | 安徽巨一科技股份有限公司 | Gear and gear shaft automatic assembly mechanism shift |
| CN116787475A (en) * | 2023-08-25 | 2023-09-22 | 郑州宝冶钢结构有限公司 | Tool clamp capable of clamping workpieces of different sizes |
| CN116787475B (en) * | 2023-08-25 | 2023-11-28 | 郑州宝冶钢结构有限公司 | Tool clamp capable of clamping workpieces of different sizes |
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