CN109896295B - Automatic sponge feeding device - Google Patents
Automatic sponge feeding device Download PDFInfo
- Publication number
- CN109896295B CN109896295B CN201910250161.9A CN201910250161A CN109896295B CN 109896295 B CN109896295 B CN 109896295B CN 201910250161 A CN201910250161 A CN 201910250161A CN 109896295 B CN109896295 B CN 109896295B
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- sponge
- plate
- lifting
- clamping jaw
- screw rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 230000003139 buffering effect Effects 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims description 28
- 238000000034 method Methods 0.000 abstract description 21
- 230000008569 process Effects 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 5
- 210000000078 claw Anatomy 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
Abstract
The invention relates to the field of field planting technology, in particular to an automatic sponge feeding device, which comprises a horizontal moving mechanism, a clamping jaw mechanism, a sponge buffering mechanism and a first section support, wherein the sponge buffering mechanism is arranged on the section support, the horizontal moving mechanism and the clamping jaw mechanism are fixedly connected with the sponge buffering mechanism, and the clamping jaw mechanism is arranged on the horizontal moving mechanism. According to the invention, the stacked sponge sheets can be lifted upwards through the lifting mechanism, so that the effect of automatically supplying the sponge sheets is achieved, the sponge sheets are accurately and singly grabbed through the clamping jaw mechanism on the clamping jaw mechanism, then are conveyed to the position right above the accurate position through the horizontal moving mechanism, and the sponge sheets are slowly put down, so that the whole process is more accurate, and the sponge sheets are prevented from tilting in the conveying process.
Description
Technical Field
The invention relates to the field of field planting technology, in particular to an automatic sponge feeding device.
Background
In plant factories and hydroponic plants, after greening in a seedling growing room, the hydroponic seedlings need to be manually or mechanically worked, sponge pieces are firstly placed on a mechanism by manual work, so that the sponge pieces are torn into sponge strips one by one, then the sponge strips are torn into sponge blocks, and then the sponge blocks are directly clamped and inserted into field planting cups, so that the process is called field planting.
In the prior art, when the sponge sheets stacked by the sponge sheets are independently and separately conveyed on a mechanism, the sponge sheets are subjected to the next procedure, the sponge sheets are easily pushed onto a conveying belt in the process, the inclination of the sponge sheets is required to be manually adjusted, the labor time is occupied, and the efficiency is low.
Disclosure of Invention
Therefore, the sponge automatic feeding device is required to be provided, and the stacked sponge sheets can be lifted to the position of the clamping jaw mechanism through each part and the matching relation of the sponge automatic feeding device, so that the sponge sheets are clamped and transferred to the next procedure through the clamping jaw mechanism, and the efficiency is effectively improved.
In order to achieve the above purpose, the invention provides an automatic sponge feeding device, which comprises a horizontal moving mechanism, a clamping jaw mechanism, a sponge buffering mechanism and a first section support, wherein the sponge buffering mechanism is arranged on the section support, the horizontal moving mechanism and the clamping jaw mechanism are fixedly connected with the sponge buffering mechanism, and the clamping jaw mechanism is arranged on the horizontal moving mechanism. The sponge sheet stacking mechanism can directly lift the stacked sponge sheets to the clamping jaw mechanism through the sponge buffering mechanism, so that the clamping jaw mechanism can singly clamp the sponge sheets to be transported through the horizontal moving mechanism, and the sponge sheets are directly placed on the next working procedure.
Further, the sponge buffer storage mechanism comprises a servo motor, an encoder, a lifting installation seat, a screw rod and a sponge supporting platen, wherein the lifting installation seat is fixedly connected to the first section bar support, the servo motor and the encoder are arranged on the lifting installation seat, the output ends of the servo motor and the encoder are fixedly connected with the screw rod, and the sponge supporting platen is arranged on the screw rod. So that the sponge sheet can be stably and automatically lifted.
Still further, the lifting mount pad includes both sides board, a bottom plate, a roof, a backplate and a bearing mount pad, servo motor and encoder's output passes the roof and is connected with the bearing mount pad, be equipped with first bearing and lead screw top fixed connection in the bearing mount pad to be equipped with the second bearing and be connected with the lead screw bottom plate, both sides board is equipped with the guide rail respectively, the cover is established a lifting seat on the lead screw, lifting seat both sides are equipped with the guide slot with guide rail complex, be equipped with the supporting cover board on the lifting seat, be equipped with the connecting plate on the supporting cover board, connecting plate and sponge supporting platen fixed connection. Through the connecting effect of each part, the lifting process is more stable.
Furthermore, the top plate and the bottom plate are connected with a module cover plate, gaps are reserved between the module cover plate and the two side plates, a first sensor is arranged on the two side plates of the lifting installation seat, and a second sensor is arranged on the two sides of the lifting seat. Is used for reminding people to install the sponge sheet additionally.
Furthermore, the lifting seat is in threaded fit connection with the screw rod. So that the screw rod can drive the lifting seat to stably lift.
Further, horizontal migration mechanism includes rodless cylinder, link, fixed plate and second section bar support, the link is connected on the second section bar support, the link includes a backplate, be provided with slide rail and rodless cylinder relatively on the backplate, be equipped with the slider on the slide rail, rodless cylinder drive slider slides along the slide rail, slider and clamping jaw mechanism fixed connection. The clamping jaw mechanism carries the sponge sheet in the buffer mechanism to the next device platform.
Still further, clamping jaw mechanism includes triaxial cylinder, cylinder mounting panel and gas claw, triaxial cylinder passes through the fixed plate and is connected with the slider, triaxial cylinder's output and cylinder mounting panel fixed connection, gas claw fixed mounting is on the cylinder mounting panel. So that the sponge sheet can be stably clamped up.
Further, the air claw is provided with a clamping jaw block, and the clamping jaw block is Z-shaped or other shapes. The shape of the sponge sheet clamped by the sponge sheet is wider.
Furthermore, a drag chain installation frame is arranged on the fixing plate, a drag chain is connected to the drag chain installation frame, and the drag chain is connected with the second section bar bracket through an installation piece. The connecting wire on the triaxial cylinder is protected in the process of horizontally reciprocating movement.
Further, the first section bar support comprises a support base and a support frame vertically fixed on the support frame, and at least two guide rod adjusting blocks and a guide rod vertically arranged on the guide rod adjusting blocks are arranged on the support base. Form a stable frame structure and effectively prevent the sponge sheet from tilting during rising.
Compared with the prior art, the technical scheme has the following beneficial effects:
1. according to the invention, the stacked sponge sheets can be lifted upwards through the lifting mechanism, so that the effect of automatically supplying the sponge sheets is achieved, the sponge sheets are accurately and singly grabbed through the clamping jaw mechanism on the clamping jaw mechanism, then are conveyed to the position right above the accurate position through the horizontal moving mechanism, and the sponge sheets are slowly put down, so that the whole process is more accurate, and the sponge sheets are prevented from tilting in the conveying process.
2. According to the invention, the sensor mounting frame is arranged on the lifting mechanism, so that the sensor mounting frame can ascend and descend along with the lifting seat in the lifting mechanism, in the ascending process, the operation of the servo motor and the encoder is controlled through the sensor in the sensor mounting frame, and when the sensors touch together, the servo motor and the encoder can stop operating, so that a person can know to add the sponge sheet.
Drawings
FIG. 1 is a schematic view of a sponge automatic feeding device according to the present invention;
FIG. 2 is a schematic view of a sponge automatic feeding device according to the present invention;
FIG. 3 is a schematic diagram of a sponge buffer mechanism according to an embodiment;
FIG. 4 is a schematic diagram of a sponge buffer mechanism according to an embodiment;
FIG. 5 is a schematic view of the horizontal movement mechanism and the jaw mechanism in an embodiment;
FIG. 6 is a schematic view of a horizontal moving mechanism according to an embodiment;
fig. 7 is a schematic structural view of a jaw mechanism in an embodiment.
Reference numerals illustrate:
1. the device comprises a first section bar bracket, 101, a supporting base, 1011, a guide rod, 1012, a guide rod adjusting block, 102, a supporting frame, 2, a sponge buffer mechanism, 201, a lifting installation seat, 202, a servo motor and encoder, 203, a bearing installation seat, 204, a screw rod, 205, a nut, 206, a lifting seat, 207, a supporting cover plate, 208, a connecting plate, 209, a sponge supporting platen, 210, a guide rail, 211, a sensor, 212, a module cover plate, 3, a clamping jaw mechanism, 301, a triaxial cylinder, 302, a cylinder installation plate, 303, an air jaw, 304, a clamping jaw block, 4, a horizontal moving mechanism, 401, a connecting frame, 402, a rodless cylinder, 403, a sliding block, 404, a drag chain, 405, a drag chain installation frame, 406, a fixed plate, 407 and a sliding rail.
Detailed Description
In order to describe the technical content, constructional features, achieved objects and effects of the technical solution in detail, the following description is made in connection with the specific embodiments in conjunction with the accompanying drawings.
Referring to fig. 1-7, the sponge automatic feeding device of the present embodiment includes a horizontal moving mechanism 4, a clamping jaw mechanism 3, a sponge buffering mechanism 2 and a first section bar bracket 1, the first section bar bracket 1 includes a supporting base 101 and a supporting frame 102 vertically fixed on the supporting frame 102, the supporting base 101 is provided with a plurality of guide rod adjusting blocks 1012 and a guide rod 1011 vertically arranged on the guide rod adjusting blocks 1012, and the guide rod adjusting blocks 1012 are provided with three slots for adjusting the placing position of the guide rod 1011 for preventing the sponge sheet from toppling over in the rising process, the supporting base 101 is formed by four horizontally placed supporting bars, one of the supporting bars cuts off a section of the supporting frame, a notch appears on the rectangular frame, and the position direction of the notch faces the sponge buffering mechanism 2.
In this embodiment, the sponge buffer mechanism 2 is disposed on the first section bar support 1, the sponge buffer mechanism 2 includes a servo motor and encoder 202, a lifting mounting seat 201, a screw rod 204 and a sponge supporting platen 209, the lifting mounting seat 201 is fixedly connected to the first section bar support 1, the servo motor and encoder 202 are disposed on the lifting mounting seat 201, an output end of the servo motor and encoder 202 is fixedly connected with the screw rod 204, and the sponge supporting platen 209 is disposed on the screw rod 204. Specifically, the lifting mounting seat 201 includes two side plates, a bottom plate, a top plate, a back plate and a bearing mounting seat, where the two side plates and the back plate are vertically and fixedly mounted on the bottom plate to form a rectangular frame body with a containing cavity.
In this embodiment, the servo motor and the encoder 202 are installed on the top plate, the output end of the servo motor and the encoder 202 passes through the top plate and is connected with a bearing installation seat 203, the bearing installation seat 203 is installed on the back plate, the screw rod 204 is arranged in the rectangular frame body, a first bearing is arranged in the bearing installation seat 203 and is fixedly connected with the top of the screw rod 204, the bottom of the screw rod 204 is connected with the bottom plate through a second bearing, and the servo motor and the encoder 202 drive the screw rod 204 to rotate through cooperation with the bearing installation seat 203.
In this embodiment, the two side plates are respectively provided with a guide rail 210, and the guide rail 210 may be formed by digging a groove on the side plate or protruding a track on the side plate. The screw rod 204 is sleeved with a lifting seat 206, the lifting seat 206 is provided with a lifting plate, guide grooves matched with the guide rails 210 are formed in two sides of the lifting plate, a sleeve is connected to the back of the lifting plate, the screw rod 204 is embedded into the sleeve, and the sleeve is in threaded fit connection with the screw rod. In another embodiment, a nut 205 may be disposed at the connection between the lifting seat 206 and the screw rod 204, and the internal thread of the nut 205 is matched with the external thread of the screw rod 204, so that the screw rod 204 can move up and down when rotating, and guide grooves matched with the guide rails 210 are disposed on two sides of the lifting seat 206.
In this embodiment, the lifting seat 206 is provided with a supporting cover plate 207, a certain gap is left between the supporting cover plate 207 and the lifting seat 206, specifically, two wing plates are protruding from two sides of the lifting plate, the two wing plates are perpendicular to the forming surface of the lifting plate, two sides of the supporting cover plate 207 are connected with two wing plates of the lifting plate, and a gap is formed between the supporting cover plate 207 and the lifting plate. The upper end and the lower end of the module cover plate 212 are fixedly connected with the corresponding top plate and bottom plate through screws, and the top plate and the bottom plate are relatively protruded relative to the two side plates, so that a certain gap is formed between the module cover plate 212 and the two side plates, the gap is used for enabling the two wing plates of the lifting plate to have enough lifting space when the lifting plate is lifted, and the module cover plate 212 is used for comprising parts inside the lifting installation seat 201. The lower extreme side connection of support apron 207 is equipped with a connecting plate 208, the upper end of connecting plate 208 passes through screw fixed connection with the lower extreme of sponge support platen 209, connecting plate 208 is located the breach of support base 101.
In this embodiment, the two side plates of the lifting mounting seat 201 are provided with a first sensor 211, the first sensor 211 is located at the upper ends of the two side plates, two sides of the lifting seat 206 are provided with a second sensor 211, and the second sensor 211 can follow the lifting seat 206 to ascend and touch the first sensor 211 for prompting the manual addition of the sponge sheet. The horizontal moving mechanism 4 and the clamping jaw mechanism 3 are positioned above the sponge buffering mechanism 2.
In this embodiment, the jaw mechanism 3 is provided on the horizontal movement mechanism 4. The horizontal moving mechanism 4 comprises a rodless cylinder 402, a connecting frame 401 and a fixing plate 406, the connecting frame 401 is connected to a second section bar bracket, the second section bar bracket is not shown in the figure, the second section bar bracket is made of the same material as the first section bar bracket 1, and has a similar structure, and is used for supporting and fixing the connecting frame 401, the connecting frame 401 comprises a back plate, a slide rail 407 is arranged on the back plate, and the slide rail 407 can be formed by digging a groove in the back plate or protruding a track on the back plate. The top of backplate is connected with a roof perpendicularly, rodless cylinder 402 fixed mounting is in the below of roof, and rodless cylinder 402 side is connected with the side of backplate, and rodless cylinder 402 and slide rail 407 level are relative to set up. The slide rail 407 is provided with a slide block 403, and the rodless cylinder 402 drives the slide block 403 to horizontally reciprocate along the slide rail 407.
In this embodiment, the slider 403 is connected to the jaw mechanism 3, specifically, the jaw mechanism 3 includes a triaxial cylinder 301, a cylinder mounting plate 302, and an air claw 303, where the triaxial cylinder 301 is connected to the slider 403 through a fixing plate 406, the triaxial cylinder 301 is mounted on one side end of the fixing plate 406, and the other side end of the fixing plate 406 is fixedly mounted on the slider 403, so that the rodless cylinder 402 drives the triaxial cylinder 301 to move horizontally through the slider 403, the output end of the triaxial cylinder 301 is fixedly connected to the rectangular cylinder mounting plate 302 through a connecting piece, the triaxial cylinder 301 pushes the cylinder mounting plate 302 to move vertically up and down through an air pipe inside the device, the air pipe is not illustrated in the figure, the air claw 303 is fixedly connected to four corners corresponding to the rectangular cylinder mounting plate 302, and the air claw 303 is provided with a Z-shaped clamping jaw 304 for clamping a sponge sheet. The fixed plate 406 is provided with a drag chain mounting frame 405, the drag chain mounting frame 405 is formed by right-angle connecting pieces with two different sizes, the lower end of the drag chain mounting frame 405 is fixedly arranged on the fixed plate 406, the upper end of the drag chain mounting frame 405 is connected with one end of the drag chain 404 in parallel with a horizontal plane, the other end of the drag chain 404 is connected with a second section bar bracket through a mounting plate, and the drag chain 404 is used for reciprocating occasions and can play a role in traction and protection on an air pipe which is not illustrated in the drawing.
In the concrete operation, by stacking the sponge sheets on the sponge supporting platen 209 on the sponge buffer mechanism 2, arranging a guide rod on a guide rod adjusting block according to the size of the sponge sheets, driving a bearing in a bearing mounting seat 203 through a servo motor and an encoder 202 to drive a screw rod 204 to rotate, enabling a lifting seat 206 of the screw rod 204 to move upwards along a guide rail 210 by very combining with a nut 205, enabling the uppermost sponge sheet to stop when being clamped by a clamping jaw mechanism 3, pushing a cylinder mounting plate 302 to move downwards through a triaxial cylinder 301 on the clamping jaw mechanism 3, enabling the air claw 303 to drive a Z-shaped clamping jaw block 304 to clamp the topmost sponge sheet, lifting the cylinder through a triaxial cylinder 301 to enable the sponge sheet to be separated from the sponge buffer mechanism 2, driving a sliding block 403 to move horizontally on a sliding rail 407 through a rodless cylinder 402 on a horizontal moving mechanism 4, thereby tow chain 404 and tow chain mounting bracket 405 play an auxiliary movement's effect, simultaneously slider 403 drives fixed plate 406 horizontal migration, thereby make its fixed plate 406 drive clamping jaw mechanism 3 and press from both sides the sponge piece and move next process, then place its sponge piece through clamping jaw mechanism 3, sensor 212 of lifting mount pad 201 lower extreme also can follow the rising when lifting seat 206 rises, two sensors 212 will contact when lifting seat 206 rises to the top, thereby make its servo motor and encoder 202 stop the operation or with other device warning manual work packing sponge piece, thereby effectively solved artificial labour big, take up artificial time, also can make its artificial body decline in long-term work, lead to the inefficiency problem.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the statement "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article or terminal device comprising the element. Further, herein, "greater than," "less than," "exceeding," and the like are understood to not include the present number; "above", "below", "within" and the like are understood to include this number.
While the embodiments have been described above, other variations and modifications will occur to those skilled in the art once the basic inventive concepts are known, and it is therefore intended that the foregoing description and drawings illustrate only embodiments of the invention and not limit the scope of the invention, and it is therefore intended that the invention not be limited to the specific embodiments described, but that the invention may be practiced with their equivalent structures or with their equivalent processes or with their use directly or indirectly in other related fields.
Claims (5)
1. The utility model provides a sponge automatic feeding device which characterized in that: the sponge buffering mechanism is arranged on the profile support, the horizontal moving mechanism and the clamping jaw mechanism are fixedly connected with the sponge buffering mechanism, and the clamping jaw mechanism is arranged on the horizontal moving mechanism;
the sponge buffer mechanism comprises a servo motor and an encoder, a lifting installation seat, a screw rod and a sponge supporting platen, wherein the lifting installation seat is fixedly connected to the first section bar bracket, the servo motor and the encoder are arranged on the lifting installation seat, the output ends of the servo motor and the encoder are fixedly connected with the screw rod, and the sponge supporting platen is arranged on the screw rod;
the lifting installation seat comprises two side plates, a bottom plate, a top plate, a back plate and a bearing installation seat, wherein the output ends of the servo motor and the encoder penetrate through the top plate and are connected with the bearing installation seat, a first bearing is arranged in the bearing installation seat and is fixedly connected with the top of the screw rod, a second bearing is arranged in the bearing installation seat and is connected with the bottom plate of the screw rod, the two side plates are respectively provided with guide rails, the screw rod is sleeved with a lifting seat, guide grooves matched with the guide rails are formed in the two sides of the lifting seat, a supporting cover plate is arranged on the lifting seat, a connecting plate is arranged on the supporting cover plate, and the connecting plate is fixedly connected with the sponge supporting platen;
the top plate and the bottom plate are connected with a module cover plate, a gap is reserved between the module cover plate and the two side plates, a first sensor is arranged on the two side plates of the lifting installation seat, and a second sensor is arranged on the two sides of the lifting seat;
the lifting seat is in threaded fit connection with the screw rod; the horizontal movement mechanism comprises a rodless cylinder, a connecting frame, a fixing plate and a second section bar support, wherein the connecting frame is connected to the second section bar support, the connecting frame comprises a back plate, a sliding rail and a rodless cylinder are oppositely arranged on the back plate, a sliding block is arranged on the sliding rail, the rodless cylinder drives the sliding block to slide along the sliding rail, and the sliding block is fixedly connected with the clamping jaw mechanism.
2. The automatic sponge feeding device according to claim 1, wherein: the clamping jaw mechanism comprises a triaxial air cylinder, an air cylinder mounting plate and an air jaw, wherein the triaxial air cylinder is connected with the sliding block through a fixing plate, the output end of the triaxial air cylinder is fixedly connected with the air cylinder mounting plate, and the air jaw is fixedly mounted on the air cylinder mounting plate.
3. An automatic sponge feeding device according to claim 2, wherein: the air jaw is provided with a clamping jaw block, and the clamping jaw block is Z-shaped.
4. An automatic sponge feeding device according to claim 2, wherein: the fixed plate is provided with a drag chain installation frame, the drag chain installation frame is connected with a drag chain, and the drag chain is connected with the second section bar bracket through an installation piece.
5. The automatic sponge feeding device according to claim 1, wherein: the first section bar support comprises a support base and a support frame vertically fixed on the support frame, wherein the support base is provided with at least two guide rod adjusting blocks and a guide rod vertically arranged on the guide rod adjusting blocks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910250161.9A CN109896295B (en) | 2019-03-29 | 2019-03-29 | Automatic sponge feeding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910250161.9A CN109896295B (en) | 2019-03-29 | 2019-03-29 | Automatic sponge feeding device |
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| Publication Number | Publication Date |
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| CN109896295A CN109896295A (en) | 2019-06-18 |
| CN109896295B true CN109896295B (en) | 2023-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910250161.9A Active CN109896295B (en) | 2019-03-29 | 2019-03-29 | Automatic sponge feeding device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817396B (en) * | 2019-12-12 | 2024-03-15 | 华南理工大学广州学院 | Material feeding unit of sponge |
| CN110921341A (en) * | 2019-12-27 | 2020-03-27 | 苏州凯尔博精密机械有限公司 | Inhale cotton feed mechanism of sound |
| CN112320352A (en) * | 2020-10-22 | 2021-02-05 | 浙江万丰科技开发股份有限公司 | Filter screen grabbing machine |
| CN115921695B (en) * | 2023-03-15 | 2023-06-30 | 四川宜宾力源电机有限公司 | Punching machine loading attachment |
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|---|---|---|---|---|
| SU1250452A1 (en) * | 1984-10-03 | 1986-08-15 | Научно-производственное объединение "Атомкотломаш" | Industrial robot grip |
| JP2002087594A (en) * | 2000-09-13 | 2002-03-27 | Honda Motor Co Ltd | Workpiece feeding device |
| CN205932435U (en) * | 2016-08-17 | 2017-02-08 | 苏州冠科工业设备有限公司 | Cup arranging machine with sponge sucker structure |
| CN210162792U (en) * | 2019-03-29 | 2020-03-20 | 福建省中科生物股份有限公司 | Automatic sponge feeding device |
-
2019
- 2019-03-29 CN CN201910250161.9A patent/CN109896295B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1250452A1 (en) * | 1984-10-03 | 1986-08-15 | Научно-производственное объединение "Атомкотломаш" | Industrial robot grip |
| JP2002087594A (en) * | 2000-09-13 | 2002-03-27 | Honda Motor Co Ltd | Workpiece feeding device |
| CN205932435U (en) * | 2016-08-17 | 2017-02-08 | 苏州冠科工业设备有限公司 | Cup arranging machine with sponge sucker structure |
| CN210162792U (en) * | 2019-03-29 | 2020-03-20 | 福建省中科生物股份有限公司 | Automatic sponge feeding device |
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