CN109775390B - Bagged material transfer device end effector - Google Patents
Bagged material transfer device end effector Download PDFInfo
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- CN109775390B CN109775390B CN201811598394.XA CN201811598394A CN109775390B CN 109775390 B CN109775390 B CN 109775390B CN 201811598394 A CN201811598394 A CN 201811598394A CN 109775390 B CN109775390 B CN 109775390B
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- 239000000463 material Substances 0.000 title claims abstract description 108
- 210000001847 Jaw Anatomy 0.000 claims description 17
- 239000003570 air Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 methods Methods 0.000 abstract description 6
- 210000000481 Breast Anatomy 0.000 description 6
- 239000000969 carriers Substances 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 230000000670 limiting Effects 0.000 description 4
- 239000008187 granular materials Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000037250 Clearance Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000035512 clearance Effects 0.000 description 1
- 230000001808 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reactions Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000010410 layers Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reactions Methods 0.000 description 1
- 239000006072 pastes Substances 0.000 description 1
- 230000002093 peripheral Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000004642 transportation engineering Methods 0.000 description 1
Abstract
The invention discloses an end effector of a bagged material transfer device, which comprises a connecting part connected with the transfer device and a bearing part for supporting the bottom of bagged materials, and is characterized in that: a pushing opening facing the side wall of the carriage is formed in one side of the bearing part, and a pushing device for horizontally pushing out bagged materials from the pushing opening is arranged on the bearing part. The end effector of the bagged material transferring device can lead bagged materials to be stacked together in a carriage more closely and can not be impacted greatly in the stacking process.
Description
Technical Field
The invention relates to automatic loading equipment, in particular to an end effector of a bagged material transfer device.
Background
At present, most of powdery and granular materials are packaged in a bag in industry, so that the bag is low in cost, and metering and taking are convenient to use. After the production and packaging of the materials are completed, the packaged bagged materials need to be transferred to a transport tool, so that the bagged materials are transported from a manufacturer to a use factory. The prior manual carrying and loading are mostly carried out, the carrying efficiency is low, the labor intensity is high, meanwhile, dust raised in the carrying process can cause damage to carriers, and therefore automatic and semi-automatic devices are mostly adopted to carry out loading on bagged materials in the current market. When loading bagged materials by using an automatic or semi-automatic device, the bagged materials need to be picked up from a stacking position and then neatly stacked on a transport vehicle, and at the moment, an end effector for clamping and placing the bagged materials needs to be used. The end effector picks up bagged materials placed somewhere outside the carriage, then moves into the carriage, and deposits the materials. But because carriage inner space is limited, especially when placing carriage edge breast board department with the material in bags, end effector often can and carriage breast board between take place to interfere, lead to originally should support the material in bags of tight carriage breast board can not paste tightly with the carriage breast board to influence the other side stability and the compactedness of whole material in the carriage.
Chinese patent No. 201810096608.7 discloses an end effector of robot that adapts to the transport of compact space bagged materials, and the device is though can improve the degree of laminating of bagged materials and carriage to a certain extent, because the device encircles the outside at bagged materials, when blowing to the carriage edge, need make and snatch the subassembly side and laminate the carriage tightly, then make the riser grab the tooth and rotate downwards, make the material that is snatched drop in the carriage. The device has two problems in use, firstly, because the materials fall under the action of gravity, when the materials contact with a carriage or other stacked bagged materials, impact can be generated, and raised dust and/or the broken granular materials in the bags are generated; second, when stacking the material to the carriage edge, the subassembly that snatchs of one side can be in bags material and carriage inner wall between to lead to the in bags material to place the carriage back, there is the clearance between materials in bags and the carriage inner wall, lead to stacking between the materials in bags or between materials in bags and the carriage inner wall inseparably, lead to the materials in bags taking place to rock in the transportation, there is the potential safety hazard.
Disclosure of Invention
In view of the shortcomings of the prior art, the present invention provides an end effector of a bagged material transfer device, which can stack bagged materials in a carriage more tightly without being impacted greatly during the stacking process.
The technical purpose of the invention is realized by the following technical scheme: the utility model provides a bagged materials transfer device end effector, includes the connecting portion of being connected with transfer device and carries out the bearing part that supports bagged materials bottom, characterized by: a pushing opening facing the side wall of the carriage is formed in one side of the bearing part, and a pushing device for horizontally pushing out bagged materials from the pushing opening is arranged on the bearing part.
Through above-mentioned technical scheme, can use the material feeding unit of peripheral hardware to send the pocket into in the load-bearing part when getting the material. When the materials are placed in the carriage, the mechanical arm or the robot is used for moving the end effector to the outer side of the placing position of the carriage and enabling the pushing port to face the placing position, then the bottom surface of the bearing part is close to the surface of the bottom of the carriage, and then the bagged materials are pushed to the placing position of the carriage through the pushing device until the bagged materials are separated from the bearing part and are close to the carriage breast board or the bagged materials stacked in the carriage. When the bagged materials are required to be stacked on the upper layers of other bagged materials, the lower surfaces of the bagged materials to be placed are parallel and level with the upper surfaces of the placed bagged materials or slightly higher than the surfaces of the placed bagged materials, and then the bagged materials in the bearing parts are pushed out from the pushing openings through the pushing devices so as to be placed on the upper surfaces of the stacked bagged materials. Carry out horizontal propelling movement to the material like this, can avoid the material to take place great impact when deviating from in the bearing part with the carriage or place between the bagged materials in the carriage, lead to the material in the bag to receive great impact, the material takes place further breakage or produces the raise dust. Adopt the mode of propelling movement to place the material simultaneously, the propelling movement mouth is towards the carriage lateral wall, and the bearing part can not be in between carriage breast board and the bagged materials of waiting to place, can directly promote the state of supporting tightly with the carriage lateral wall with bagged materials during the propelling movement to make bagged materials stack inseparabler in the carriage, neat, the phenomenon of avoiding stacking back bagged materials and collapsing takes place.
Preferably, the bearing part comprises at least two supporting rods arranged along the pushing direction.
Through the technical scheme, the bagged materials can be conveniently extracted. The conveying of bagged materials is generally carried out through a roller conveying line in actual production, the direction of the bagged materials can be adjusted through a shaping mechanism in the conveying process, the bagged materials are conveyed along the length direction, and finally the bagged materials are neatly arranged at the tail end of the roller conveying line. When the end effector is used, a notch for inserting the supporting rod can be formed in one side of the roller conveying belt, so that the supporting rod can penetrate into the space between the rollers, and then bagged materials on the rollers are lifted, so that the bagged materials are grabbed.
Preferably, the bearing part comprises a plurality of bearing units, and the bearing units are arranged along the length direction of the bagged materials through connecting pieces.
Through above-mentioned technical scheme, can once snatch and stack a plurality of bagged materials, when snatching bagged materials, firmly generally make the clamping jaw carry out the centre gripping along bagged materials's width direction for the centre gripping, bagged materials can be hung in anchor clamps both sides along length direction's both ends after by the centre gripping like this, make the focus be in on the anchor clamps to improve the balancing ability, make bagged materials be difficult to drop from anchor clamps.
Preferably, the bearing unit is divided into a fixed bearing unit and an overturning bearing unit, the overturning bearing unit is located at the outer end of the bearing part, an overturning mechanism is arranged between the fixed bearing unit and the overturning bearing unit, the overturning mechanism comprises a rotating shaft fixedly connected with the overturning bearing unit, the rotating shaft is connected above the fixed bearing unit, and a driving assembly for driving the rotating shaft to rotate towards the fixed bearing unit is further arranged on the fixed bearing unit.
Through above-mentioned technical scheme, the rotation axis is connected in fixed bearing unit top and with upset bearing unit fixed connection, and when rotatory axial fixity bearing unit direction took place to rotate, upset bearing unit took place to overturn round rotatory axial fixity bearing unit direction under the drive of rotation axis, was in fixed bearing unit top at last to realize the upset and overlap. Therefore, when the width of the carriage is smaller, the whole length of the bearing part can be reduced without disassembling the bearing unit at the end part of the bearing part, so that the length of the bearing part is consistent with the width of the carriage, and the interference between the bearing part and the side wall of the carriage is avoided. When the vehicle with wider width needs to be reloaded, the overturning and bearing unit is controlled to overturn the end part of the bearing part again. The whole length of the bearing part can be conveniently and quickly changed in a turnover mode, so that the bearing part is suitable for the loading requirements of vehicles with different widths.
Preferably, a fixed connecting seat is installed above the fixed bearing unit, an overturning connecting seat is installed above the overturning bearing unit, and the rotating shaft is rotatably connected to the fixed connecting seat and is fixedly connected with the fixed connecting seat.
Through above-mentioned technical scheme, fixed connection seat and upset connecting seat set up in fixed bearing unit and upset bearing unit's top, when normal use upset bearing unit, contradict between upset bearing unit side and the fixed bearing unit side to make the upset bearing unit can be in this department all the time steadily under the effect of gravity, need not other connecting pieces. Meanwhile, the fixed connecting seat is arranged above the fixed bearing unit, the rotating shaft is rotatably connected in the fixed connecting seat, the overturning bearing unit overturns upwards during overturning, interference cannot occur, and normal work of the fixed bearing unit cannot be influenced after overturning.
Preferably, the driving assembly includes a driven gear fixed to an end of the rotating shaft, and a driving gear engaged with the driven gear.
Preferably, the driving gear is fixedly connected with a swing rod, and one end of the swing rod, which is positioned outside the driving gear, is in transmission connection with a driving piece for driving the swing rod to swing.
Preferably, the driving part comprises a cylinder body and a piston rod, a cylinder body seat is rotatably connected to the cylinder body, the cylinder body seat is fixed to the fixed bearing unit, a connector is fixedly connected to the end of the piston rod, and one end, far away from the cylinder body, of the connector is rotatably connected with the swing rod.
Preferably, the bearing part is provided with a clamping device.
Through above-mentioned technical scheme, can firmly the centre gripping with bagged materials on the bracing piece through clamping device, avoid bagged materials to drop from the supporting part at the in-process that removes.
Preferably, the clamping device comprises a clamping jaw, and a clamping jaw air cylinder for driving the clamping jaw to move is mounted on the bearing unit.
Through the technical scheme, the clamping jaw can be close to or far away from the supporting rod through the clamping jaw air cylinder, so that the bagged materials can be clamped.
Compared with the prior art, the invention has the beneficial effects that: the bagged materials are pushed out from the bearing part in a horizontal pushing mode, so that the bagged materials cannot receive large impact when being pulled out from the bearing part, and further crushing of dust and granular materials is avoided. Meanwhile, the bearing part is divided into a plurality of bearing units, and the whole length of the bearing part can be flexibly, conveniently and quickly changed according to the width of the carriage by turning over the bearing units, so that repeated disassembly of the bearing units is avoided, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic view of the embodiment in operation;
FIG. 2 is a perspective view of the embodiment;
FIG. 3 is a perspective view of the carrying unit in the embodiment;
FIG. 4 is a perspective view of another perspective of the carrying unit in the embodiment;
FIG. 5 is a perspective view of the frame body of the carrying unit in the embodiment;
FIG. 6 is a perspective view of the connection between the bodies of the carrying units in the embodiment;
FIG. 7 is a perspective view of another perspective of the embodiment;
FIG. 8 is an enlarged view taken at A in FIG. 7;
FIG. 9 is a perspective view of the turnover carrying unit in the turnover process of the embodiment;
fig. 10 is a rear view of the embodiment of the turnover carrying unit when the turnover is completed.
Reference numerals: 1. a transfer device; 2. a bearing part; 20. a carrying unit; 21. a frame body; 211. a fixed seat; 212. connecting holes; 213. a limiting groove; 22. a support bar; 23. a contact block; 24. a material pushing cylinder; 25. a clamping jaw cylinder; 26. a push port; 27. a clamping jaw; 28. a turnover mechanism; 281. fixing the connecting seat; 282. a rotating shaft; 283. turning over the connecting seat; 284. a driven gear; 285. a driving gear; 286. a swing rod; 29. a drive member; 292. a connector; 293. a piston rod; 294. a cylinder body; 295. a cylinder body seat; 210. turning over the bearing unit; 214. a fixed bearing unit; 215. a connecting member; 216. clamping the block; 3. a connecting portion.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
As shown in fig. 1, a bagged material transfer apparatus end effector includes a coupling portion 3 coupled to a robot arm or a robot as a transfer apparatus 1 and a carrier portion 2 for placing bagged materials.
As shown in fig. 2, the carrying part 2 is fixedly connected below the connecting part 3, and when the connecting part 3 is moved by a manipulator or a robot, the carrying part 2 is moved correspondingly by the connecting part 3. The bearing part 2 comprises a frame body 21 which is longitudinally arranged, the frame body 21 can be formed by combining a plurality of sub-frame bodies, at least two horizontal support rods 22 are fixed on the surface of the lower end of the frame body 21 vertical to the frame body 21, and the upper end of the frame body 21 is connected with the connecting part 3. The other side of the frame body 21 opposite to the support rod 22 is provided with a pushing device, and the pushing device can adopt a material pushing cylinder 24. The frame body 21 is provided with a through hole for the piston rod to pass through, and a pushing opening 26 for the bagged materials to be loaded or pushed out of the bearing part 2 is formed above one end of the support rod 22 which is not connected with the frame body 21. When the piston rod of the pushing cylinder 24 extends, the bagged materials are pushed out of the bearing part 2 from the pushing opening 26.
As shown in fig. 3 to 5, the carrier section 2 is formed by connecting a plurality of carrier units 20 arranged in a straight line. The bearing unit 20 comprises a frame body 21, the frame body 21 is vertical and is arranged along the length direction of bagged materials, three support rods 22 are fixed at the lower end of one side of the frame body 21, and the support rods 22 are arranged at the lower end of the frame body 21 at equal intervals along the length direction of the bagged materials and are perpendicular to the surface of the frame body 21. Two limiting grooves 213 are formed in the upper end of the frame body 21, the clamping jaws 27 are slidably arranged in the limiting grooves 213, and the clamping jaws 27 are located between two adjacent supporting rods 22. The opposite side of support body 21 is provided with clamping jaw cylinder 25, and this side of support body 21 is provided with horizontally fixing base 211, and clamping jaw cylinder 25 fixes on fixing base 211, and clamping jaw cylinder 25 upper end has stretched out the cylinder pole, and clamping jaw 27 fixes at cylinder pole tip. The side of the frame body 21 is further provided with a material pushing cylinder 24, the material pushing cylinder 24 is perpendicular to the frame body 21 and fixed on the frame body 21, a piston rod 293 of the material pushing cylinder 24 penetrates through the frame body 21, and when the piston rod of the material pushing cylinder 24 extends out, bagged materials placed on the support rod 22 can be horizontally pushed out from the support rod 22. Two connecting holes 212 are formed in two sides of the frame body 21 of each carrying unit 20, and two adjacent carrying units 20 are connected through a connecting piece 215, so that a carrying part 2 capable of simultaneously placing a plurality of bagged materials is formed. The two ends of the connecting member 215 are provided with the clamping blocks 216, the clamping blocks 216 are cylindrical, and when two adjacent bearing units 20 are connected, the clamping blocks 216 are clamped in the connecting holes 212 and are in interference fit with the connecting holes 212, so that the purpose of connecting the two bearing units is achieved. Each carrying unit 20 can store and carry a bag of bagged materials, and the number of the carrying units 20 can be determined according to the number of the bags of the bagged materials carried at one time.
As shown in fig. 7 to 10, the carrying unit 20 is divided into a fixed carrying unit 214 and a turn-over carrying unit 210. The fixed bearing unit 214 is located at the middle of the bearing part 2, and the tilting bearing unit 210 is located at the end of the bearing part 2. The turn-over supporting unit 210 is coupled to the outside of the fixed supporting unit 214 by a rotation shaft 282. A fixed connection seat 281 is installed above the outer end of the fixed bearing unit 214, a turning connection seat 283 is fixedly installed above the inner end of the turning bearing unit 210, the fixed connection seat 281 and the turning connection seat 283 are connected through a rotation shaft 282, one end of the rotation shaft 282 is fixedly connected with the turning connection seat 283, and the other end of the rotation shaft 282 penetrates through the fixed connection seat 281 and is rotatably connected with the fixed connection seat 281. One end of the rotation shaft 282 passing through the fixed connection seat 281 is fixedly connected with a driven gear 284. The driving gear 285 is provided on the frame 21 below the driven gear 284, and the driving gear 285 is engaged with the driven gear 284, so that the driving gear 285 rotates to drive the rotation shaft 282 to rotate through the driven gear 284. The driving gear 285 is provided with a swing rod 286, one section of the swing rod 286 is fixed on the driving gear 285 and rotates together with the driving gear 285, and the other end of the swing rod 286 is positioned outside the driving gear 285. One end of the swing rod 286, which is positioned at the outer side of the driving gear 285, is in transmission connection with a turnover cylinder. The overturning air cylinder comprises a cylinder body 294 and a piston rod 293, wherein a cylinder body seat 295 is installed at one end, far away from the piston rod 293, of the cylinder body 294, the cylinder body seat 295 is fixed on the frame body 21, and the cylinder body seat 295 is rotatably connected with the cylinder body 294. The piston rod 293 is provided with a connector 292, and the connector 292 is fixed at the end of the piston rod 293 and is rotatably connected with one end of the swing rod 286, which is positioned outside the driving gear 285. When the piston rod 293 of the turning cylinder extends, the piston rod 293 drives the swing rod 286 to rotate towards the turning bearing unit 210, the swing rod 286 rotates towards the turning bearing unit 210 while the driving gear 285 also rotates towards the turning bearing unit 210, at this time, the driven gear 284 engaged with the driving gear 285 rotates towards the fixed bearing unit 214, meanwhile, the turning connecting seat 283 fixedly connected to the rotating shaft 282 and the turning bearing unit 210 are driven to rotate towards the upper part of the fixed bearing unit 214, and finally, the turning bearing unit 210 is turned to the upper part of the fixed bearing unit 214 integrally to realize folding, so that the overall length of the bearing part 2 is reduced. The arrangement of the turnover bearing unit 210 can flexibly change the number of the bagged materials carried by the bearing part 2 at each time, thereby being suitable for vehicles with different widths to charge. When the length of the bearing part 2 is changed, the bearing unit at the end part does not need to be detached, so that the device has higher working efficiency and can be more flexibly used for loading various vehicles. The upper part of the outer end of the turning bearing unit 210 is further provided with a contact block 23, when the turning bearing unit 214 is turned over, the contact block 23 can be abutted against the upper edge of the fixed bearing unit 214, so that the limiting effect is achieved.
The above description is intended to be illustrative of the present invention and not to limit the scope of the invention, which is defined by the claims appended hereto.
Claims (8)
1. The utility model provides a bagged materials transfer device end effector, includes connecting portion (3) and the bearing part (2) that support bagged materials bottom that are connected with transfer device (1), characterized by: a pushing opening (26) facing the side wall of the carriage is formed in one side of the bearing part (2), and a pushing device (24) for horizontally ejecting the bagged materials from the pushing opening (26) is arranged on the bearing part (2); the bearing part (2) comprises a plurality of bearing units (20), and the bearing units (20) are connected with each other through connecting pieces (215) along the length direction of the bagged materials; the bearing unit (20) is divided into a fixed bearing unit (214) and an overturning bearing unit (210), the overturning bearing unit (210) is arranged at the outer end of the bearing part (2), an overturning mechanism (28) is arranged between the fixed bearing unit (214) and the overturning bearing unit (210), the overturning mechanism (28) comprises a rotating shaft (282) fixedly connected with the overturning bearing unit (210), the rotating shaft (282) is connected above the fixed bearing unit (214), and a driving assembly for driving the rotating shaft (282) to rotate towards the fixed bearing unit (214) is further arranged on the fixed bearing unit (214).
2. The bagged material transfer device end effector of claim 1, wherein: the bearing part (2) comprises at least two supporting rods (22) arranged along the pushing direction.
3. The bagged material transfer device end effector of claim 1, wherein: the fixed bearing unit (214) is provided with a fixed connecting seat (281) above, the overturning bearing unit (210) is provided with an overturning connecting seat (283) above, and the rotating shaft (282) is rotatably connected on the fixed connecting seat (281) and is fixedly connected with the fixed connecting seat (281).
4. The bagged material transfer device end effector of claim 3, wherein: the driving assembly includes a driven gear (284) fixed to an end of the rotation shaft (282), and further includes a driving gear (285) engaged with the driven gear (284).
5. The bagged material transfer device end effector of claim 4, wherein: the swing rod (286) is fixedly connected to the driving gear (285), and a driving piece (29) for driving the swing rod (286) to swing is connected to one end, located on the outer side of the driving gear (285), of the swing rod (286) in a transmission mode.
6. The bagged material transfer device end effector of claim 5, wherein: the driving piece (29) comprises a cylinder body (294) and a piston rod (293), a cylinder body seat (295) is connected to the cylinder body (294) in a rotating mode, the cylinder body seat (295) is fixed to the fixed bearing unit (214), a connector (292) is fixedly connected to the end portion of the piston rod (293), and one end, far away from the cylinder body (294), of the connector (292) is connected with the swing rod (286) in a rotating mode.
7. The bagged material transfer device end effector of claim 1, wherein: the bearing part (2) is provided with a clamping device (27).
8. The bagged material transfer device end effector of claim 7, wherein: the clamping device (27) comprises a clamping jaw (27), and a clamping jaw air cylinder (25) for driving the clamping jaw (27) to move is mounted on the bearing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598394.XA CN109775390B (en) | 2018-12-24 | 2018-12-24 | Bagged material transfer device end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598394.XA CN109775390B (en) | 2018-12-24 | 2018-12-24 | Bagged material transfer device end effector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109775390A CN109775390A (en) | 2019-05-21 |
| CN109775390B true CN109775390B (en) | 2020-07-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811598394.XA Active CN109775390B (en) | 2018-12-24 | 2018-12-24 | Bagged material transfer device end effector |
Country Status (1)
| Country | Link |
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| CN (1) | CN109775390B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070248446A1 (en) * | 2006-04-25 | 2007-10-25 | Wildner Jay R | Multifunction manipulator for palletizing bagged material |
| KR101005317B1 (en) * | 2008-06-23 | 2011-01-04 | 허강 | Unmanned vehicle loading system using robot apparatus |
| CN101342994B (en) * | 2008-08-20 | 2011-01-12 | 哈尔滨博实自动化股份有限公司 | Holder fork parallel move type palletizing mechanical arm |
| CN203495954U (en) * | 2013-10-12 | 2014-03-26 | 哈尔滨博实自动化股份有限公司 | Slant compression-bar type mechanical arm |
| CN103707308A (en) * | 2013-12-25 | 2014-04-09 | 衢州中科数字化工程技术有限公司 | Lateral package grabbing paw |
| WO2017041007A1 (en) * | 2015-09-04 | 2017-03-09 | Douglas Machine Inc. | Improved robotic article handling system & operations |
| CN205602717U (en) * | 2016-03-29 | 2016-09-28 | 徐州伊维达技术有限公司 | Automatic pile up neatly loading system of bagged materials |
| CN106217400A (en) * | 2016-08-18 | 2016-12-14 | 南通通机股份有限公司 | A kind of novel robot handgrip |
| CN107776462B (en) * | 2017-11-03 | 2019-09-24 | 徐州德坤电气科技有限公司 | A kind of intelligent vehicle support carries the control method of transport vehicle |
| CN207888667U (en) * | 2018-01-25 | 2018-09-21 | Abb瑞士股份有限公司 | Sheet member de-stacking device and arm-and-hand system |
| CN108100659A (en) * | 2018-01-31 | 2018-06-01 | 青岛宝佳自动化设备有限公司 | A kind of end effector of robot for adapting to tight space bagged material and carrying |
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2018
- 2018-12-24 CN CN201811598394.XA patent/CN109775390B/en active Active
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| CN109775390A (en) | 2019-05-21 |
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