CN110450185A - A kind of moulded paper pulp product dry and wet base transfer robot - Google Patents
A kind of moulded paper pulp product dry and wet base transfer robot Download PDFInfo
- Publication number
- CN110450185A CN110450185A CN201910708337.0A CN201910708337A CN110450185A CN 110450185 A CN110450185 A CN 110450185A CN 201910708337 A CN201910708337 A CN 201910708337A CN 110450185 A CN110450185 A CN 110450185A
- Authority
- CN
- China
- Prior art keywords
- vacuum
- hose
- wet base
- paper pulp
- valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229920001131 Pulp (paper) Polymers 0.000 title claims abstract description 36
- 238000007664 blowing Methods 0.000 claims abstract description 45
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 45
- 238000009434 installation Methods 0.000 claims abstract description 3
- 230000008676 import Effects 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 239000011324 bead Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000012876 carrier material Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000007731 hot pressing Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of moulded paper pulp product dry and wet base transfer robot, including pedestal, the manipulator of installation on the base, which is characterized in that the end of the manipulator is fixedly connected with a suction cup carrier；The side of the suction cup carrier is equipped with multiple vacuum chucks for being used to draw dry body, and the other side of suction cup carrier is equipped with multiple for drawing the vacuum type chambers of wet base.The present invention is controlled suction cup carrier using six axis robot and carries out three-dimensional motion, vacuum chuck and vacuum type chamber are integrated in suction cup carrier, dry body, wet base can be drawn respectively, blowback blowing, realize the automatic transfer work of dry and wet base, reduce the investment of equipment, production cost is reduced, efficiency and the performance of enterprises is substantially improved.
Description
Technical field
The invention belongs to paper pulp model equipment technical fields, and in particular to a kind of moulded paper pulp product dry and wet base transfer machine
People.
Background technique
The paper products such as paper tableware or fresh-keeping holding tray made of paper are made of paper material, not only low in cost, and can also be passed through
It buries or the modes such as burning is handled, and be not to cause serious environmental pollution, the value of environmental protection with higher, and then increasingly
Popularization and application is in people's lives.
The paper products such as paper tableware or fresh-keeping holding tray made of paper are usually to be produced using paper mould device, and paper pulp is logical
It crosses dehumidifier of pressurizeing in paper pulp model formation machine and wet base (forming) is made, reusable heat presses forming machine to carry out hot pressing to wet base to make
It (is formed) at dry body, trimming finally is carried out to dry body with bead cutter and obtains finished product.It will use molding machine in process of production, determine
Three kinds of type machine, bead cutter equipment need wet base that forming machine is taken out and be sent to from molding machine in work, dry body are taken from forming machine
It is sent to bead cutter out.Previous traditional mode of operation uses artificial branch mode, thermocompression forming generate a large amount of high-temperature vapors and
Cause working environment severe, so that staff's work must be slowly careful, to ensure itself safety, working efficiency is low.
As it can be seen that the prior art could be improved and improve.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of moulded paper pulp product dry and wet bases
Transfer robot, degree of intelligence is high, reliable and stable, can be automatically performed the transfer work of dry body, wet base.
In order to achieve the above object, this invention takes following technical schemes:
A kind of moulded paper pulp product dry and wet base transfer robot, including pedestal, the manipulator of installation on the base, wherein
The end of the manipulator is fixedly connected with a suction cup carrier；The side of the suction cup carrier is equipped with multiple for drawing the vacuum of dry body
Sucker, the other side of suction cup carrier are equipped with multiple for drawing the vacuum type chamber of wet base.
In the moulded paper pulp product dry and wet base transfer robot, the manipulator is six axis robot.
In the moulded paper pulp product dry and wet base transfer robot, the vacuum chuck is arranged in array.
In the moulded paper pulp product dry and wet base transfer robot, the vacuum type chamber is arranged in array.
In the moulded paper pulp product dry and wet base transfer robot, further include vacuum manifold, air blowing general pipeline, shunt it is integrated
Block；The second angle pedestal valve that the manipulator is fixed with the first angle pedestal valve connecting with vacuum manifold, connect with air blowing general pipeline, it is described
First angle pedestal valve and the second angle pedestal valve are connected to the import for shunting integrated package；The outlet for shunting integrated package is connected with the
One hose, first hose are connected to vacuum type chamber.
In the moulded paper pulp product dry and wet base transfer robot, the vacuum manifold is also connected with vacuum hose, institute
It states vacuum hose and is connected with vacuum solenoid；The air blowing general pipeline is also connected with the first air blowing hose, the first air blowing hose
It is connected with two-position three way magnetic valve, the outlet of the two-position three way magnetic valve is connected with what the import with vacuum solenoid was connected
Second air blowing hose；The outlet of the vacuum solenoid is connected with the second hose being connected to vacuum chuck.
In the moulded paper pulp product dry and wet base transfer robot, the vacuum type chamber is equipped with multiple stomatas；The suction
Plate rail is equipped with the cavity communicated with stomata, and the cavity is communicated with the first hose.
In the moulded paper pulp product dry and wet base transfer robot, there are two the cavity is set, the suction cup carrier is equipped with
Two pipe fittings communicated with cavity；The shunting integrated package is set there are two outlet is shunted, and the both ends of first hose are distinguished
Connect with pipe fitting, shunting outlet；There are two the vacuum solenoid is set.
In the moulded paper pulp product dry and wet base transfer robot, the manipulator is fixed with solenoid valve valve island, described
The outlet on solenoid valve valve island is connected separately with third hose, the 4th hose；The third hose is connected to the sky of the first angle pedestal valve
Gas entrance；4th hose is connected to the air intake of the second angle pedestal valve；Solenoid valve valve island is connected with an air supply pipe.
The utility model has the advantages that
The present invention provides a kind of moulded paper pulp product dry and wet base transfer robots, and degree of intelligence is high, reliable and stable, can
It is automatically performed the transfer work of dry body, wet base.
The present invention is controlled suction cup carrier using six axis robot and carries out three-dimensional motion, and vacuum chuck and vacuum type chamber are integrated
In in suction cup carrier, dry body, wet base can be drawn respectively, blowback blowing, realize the automatic transfer work of dry and wet base, can subtract
The investment of few equipment, reduces production cost, efficiency and the performance of enterprises is substantially improved.
Detailed description of the invention
Fig. 1 is the structural perspective one of moulded paper pulp product dry and wet base transfer robot provided by the invention.
Fig. 2 is the enlarged drawing of the part H in Fig. 1.
Fig. 3 is the structural perspective two of moulded paper pulp product dry and wet base transfer robot provided by the invention.
Fig. 4 is the enlarged drawing of the part I in Fig. 3.
Fig. 5 is the enlarged drawing of the part J in Fig. 3.
Fig. 6 is the top view of suction cup carrier in moulded paper pulp product dry and wet base transfer robot provided by the invention.
Fig. 7 is J-J cross-sectional view in Fig. 6.
Fig. 8 is the main view of suction cup carrier in moulded paper pulp product dry and wet base transfer robot provided by the invention.
Fig. 9 is H-H cross-sectional view in Fig. 8.
Figure 10 is the left view of suction cup carrier in moulded paper pulp product dry and wet base transfer robot provided by the invention.
Figure 11 is the first angle pedestal valve, the second angled seat in moulded paper pulp product dry and wet base transfer robot provided by the invention
Valve and the structure connection diagram for shunting integrated package.
Specific embodiment
The present invention provides a kind of moulded paper pulp product dry and wet base transfer robot, to make the purpose of the present invention, technical solution
And effect is clearer, clear, the present invention is described in more detail as follows in conjunction with drawings and embodiments.It should be appreciated that this
Place is described, and specific examples are only used to explain the present invention, is not intended to limit the present invention.
In the description of the present invention, it is to be understood that, term " first ", " second ", " third ", " the 4th " are only used for retouching
Purpose is stated, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.
Please referring to Fig. 1, Fig. 8, the present invention provides a kind of moulded paper pulp product dry and wet base transfer robot, including pedestal 911,
The manipulator 91 being mounted on pedestal 911, the manipulator 91 are six axis robot.Manipulator 91 end 912 (or connection
Portion) it is fixedly connected with a suction cup carrier 94；The side of suction cup carrier 94 is equipped with multiple for drawing the vacuum chuck 941 of dry body, sucker
The other side of frame 94 is equipped with multiple for drawing the vacuum type chamber 944 of wet base.Wherein, as shown in Fig. 6, Fig. 8, Fig. 9, vacuum chuck
941 are arranged in array.Vacuum type chamber 944 is arranged in array.Six axis robot is electrically connected at control device, which can
With but be not limited to PLC controller, control device controls its six mechanical joints of six axis robot automatic swing, to control suction
Plate rail completes three-dimensional motion, then using vacuum type chamber 944 come the wet base of automatic sucking, then blowback blowing, realize wet base from
Transfer work of the type machine to forming machine；Sizing work finish, six axis robot using vacuum chuck come automatic sucking dry body, then
Blowback blowing realizes transfer work of the dry body from forming machine to bead cutter.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 8, Figure 11, which is also wrapped
It includes vacuum manifold 92, air blowing general pipeline 93, shunt integrated package 97；Manipulator 91 is fixed with the first angled seat connecting with vacuum manifold 92
Valve 95, the second angle pedestal valve 96 connecting with air blowing general pipeline 93, the first angle pedestal valve 95 and the second angle pedestal valve 96 are connected to shunting
The import of integrated package 97；The outlet for shunting integrated package 97 is connected with the first hose 971, and the first hose 971 is connected to vacuum type chamber
944.Air blowing general pipeline 93 is equipped with an air blowing pressure reducing valve 931, for adjusting the air pressure in air blowing general pipeline circulation.
In the present embodiment, the air blowing general pipeline 93 and vacuum manifold 92 for being layed in ground are long straight metal tube, such as stainless
Steel pipe.The air blowing general pipeline 93 and vacuum manifold 92 being fixed on manipulator 91 by plastic pipe clip 913 use PVC wired hose,
Wherein, air blowing general pipeline 93 is connected to the import 961 of the second angle pedestal valve 96, and the setting of the second angle pedestal valve 96 is for realizing to wet
The frequent switching of base air blowing (wet base is placed by blowback to station)；The vacuum manifold 92 be connected to the first angle pedestal valve 95 into
Mouth 951, the setting of the first angle pedestal valve are for realizing the frequency to wet base vacsorb (shifting its position by drawing wet base)
Numerous switching.First hose 971 is connected to the outlet 972 for shunting integrated package 97.
Vacuum manifold 92 and air blowing general pipeline 93, which are connected to, shunts integrated package 97, by shunting the setting of integrated package 97, uses
In the work switching (vacsorb and air blowing blowing work switching) of the first angle pedestal valve 95 and the second angle pedestal valve 96, complete to wet base
The switch operating of blowback blowing, vacsorb.Be, when the first angle pedestal valve in the open state, then the second angle pedestal valve is in
Closed state, this moment, vacuum type chamber 944 are in vacuum state, and suction cup carrier 94 utilizes the vacuum type chamber to match with wet base shape
To wet base vacsorb；When the second angle pedestal valve in the open state, then the first angle pedestal valve is in close state, this moment, vacuum
Type chamber puts the air blowing of wet base using vacuum type chamber full of air (having the air of certain pressure to flow out from vacuum type chamber), suction cup carrier
Material.
Specifically, as shown in Fig. 7, Fig. 9, vacuum type chamber 944 is equipped with multiple thin and close stomatas 946；Suction cup carrier 94 is equipped with
The cavity 945 communicated with stomata 946, cavity 945 are communicated with the first hose 971.Due to the first hose and shunting 97 phase of integrated package
Connection, the first hose are sequentially communicated in cavity, stomata；When the first angle pedestal valve is in close state, air flow to outer from stomata
Boundary completes the blowback blowing to wet base；When the first angle pedestal valve in the open state, vacuum state is formed in stomata, to wet base
Carry out vacsorb.
As shown in Fig. 6, Fig. 8, Fig. 9, Figure 10, Figure 11, in the present embodiment, there are two cavity 945 is set, each cavity 945
It is connected with the stomata 946 of multiple vacuum type chambers 944；Suction cup carrier 94 is set there are two the pipe fitting 942 communicated with cavity 945, this
It quarter shunts integrated package 97 and sets there are two outlet 972 is shunted, the both ends of the first hose 971 are exported with pipe fitting 942, shunting respectively
972 connect.As shown in Fig. 1, Fig. 8, suction cup carrier 94 is equipped with a connection end 943, which passes through bolt and manipulator
91 end 912 is fixedly connected.First hose 971 is PU wired hose.
As shown in Fig. 2, Fig. 4, Fig. 5, Figure 11, vacuum manifold 92 is also connected with vacuum hose 991, and vacuum hose 991 connects
There is vacuum solenoid 99；Air blowing general pipeline 93 is also connected with the first air blowing hose 994, and the first air blowing hose 994 is connected with two three
Three-way electromagnetic valve 993, the outlet of two-position three way magnetic valve 993 are connected with second to be connected with the import of vacuum solenoid 99 and blow
Hose 992；The outlet of vacuum solenoid 99 is connected with the second hose 995 being connected to vacuum chuck 941.The vacuum hose 991,
First air blowing hose 994, the second air blowing hose 992, the second hose 995 are all made of PU hose.
The second air blowing hose 992, vacuum hose 991 and vacuum solenoid 99 are controlled by the work of vacuum solenoid 99
On-off switching.When the gas circuit between vacuum hose 991 and vacuum solenoid 99 communicates, then the second air blowing hose 992 and vacuum
Gas circuit partition between solenoid valve 99, this moment, the second hose 995 communicated with vacuum solenoid 99 is in vacuum state, therefore
Vacsorb is carried out to dry body by vacuum chuck 941；Conversely, between the second air blowing hose 992 and vacuum solenoid 99
Gas circuit communicates, and this moment, the circulation of the second hose 995 has pressure air, and pressure air is flowed out by vacuum chuck 941, therefore can be complete
The blowback blowing for the dry body drawn in pairs works.The setting of vacuum solenoid 99 is to put to dry body vacsorb, blowback
Expect the frequent switching of operation.Two-position three way magnetic valve 993 for control the first air blowing hose 994 and the second air blowing hose 992 it
Between gas path on-off.
In the present embodiment, there are two vacuum solenoid 99 is set, vacuum hose 991 and the second air blowing hose 992 lead to respectively
It crosses three-way connection and is connected with two isocons, isocon is correspondingly connected to vacuum solenoid 99, uses two vacuum solenoids 99
It works at the same time, to increase air mass flow, to improve the absorption of vacuum chuck, blowback effect.
As shown in Fig. 2, Fig. 4, Figure 11, manipulator 91 is fixed with solenoid valve valve island 98, the outlet difference on solenoid valve valve island 98
It is connected with third hose 981, the 4th hose 982；Third hose 981 is connected to the air intake of the first angle pedestal valve 95；4th is soft
Pipe 982 is connected to the air intake of the second angle pedestal valve 96；Solenoid valve valve island 98 is connected with an air supply pipe 983.Since angle pedestal valve is
The guiding angle pedestal valve operated using the single-acting pneumatic actuator protected with spring safety, have short time frequent starting,
It is quick on the draw, acts accurate feature, accurately control gas flow with pneumatic control.In the present embodiment, the first angle pedestal valve
95 and second angle pedestal valve 96 using double acting angle pedestal valve (on actuator band there are two working hole), therefore, third hose 981 and the
Four hoses 982 are respectively equipped with two, are connected respectively in the first angle pedestal valve 95, the second angle pedestal valve 96, to control their work
Make state.Air supply pipe 983 is that solenoid valve valve island 98 provides control air, allows solenoid valve valve island 98 to control the first angle pedestal valve respectively and beats
It opens (closing of the second angle pedestal valve) or closes (the second angle pedestal valve opening).
Control device carries out electric control to electric components such as above-mentioned solenoid valve, control valves, to utilize six shaft mechanicals
Hand and suction cup carrier realize dry body, the vacsorb of wet base, blowback blowing.
In conclusion degree of intelligence is high the present invention provides a kind of moulded paper pulp product dry and wet base transfer robot, stablize
Reliably, the transfer work of dry body, wet base can be automatically performed.
The present invention is controlled suction cup carrier using six axis robot and carries out three-dimensional motion, and vacuum chuck and vacuum type chamber are integrated
In in suction cup carrier, dry body, wet base can be drawn respectively, blowback blowing, realize the automatic transfer work of dry and wet base, can subtract
The investment of few equipment, reduces production cost, efficiency and the performance of enterprises is substantially improved.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
Claims (9)
1. a kind of moulded paper pulp product dry and wet base transfer robot, including pedestal, the manipulator of installation on the base, feature exists
In the end of the manipulator is fixedly connected with a suction cup carrier；The side of the suction cup carrier is equipped with multiple for drawing dry body
Vacuum chuck, the other side of suction cup carrier are equipped with multiple for drawing the vacuum type chamber of wet base.
2. moulded paper pulp product dry and wet base transfer robot according to claim 1, which is characterized in that the manipulator is
Six axis robot.
3. moulded paper pulp product dry and wet base transfer robot according to claim 1, which is characterized in that the vacuum chuck
It is arranged in array.
4. moulded paper pulp product dry and wet base transfer robot according to claim 1, which is characterized in that the vacuum type chamber
It is arranged in array.
5. moulded paper pulp product dry and wet base transfer robot according to claim 1, which is characterized in that further include that vacuum is total
Pipe, shunts integrated package at air blowing general pipeline；The manipulator is fixed with the first angle pedestal valve connecting with vacuum manifold and air blowing general pipeline
Second angle pedestal valve of connection, first angle pedestal valve and the second angle pedestal valve are connected to the import for shunting integrated package；Described point
The blocking outlet of adfluxion is connected with the first hose, and first hose is connected to vacuum type chamber.
6. moulded paper pulp product dry and wet base transfer robot according to claim 5, which is characterized in that the vacuum manifold
It is also connected with vacuum hose, the vacuum hose is connected with vacuum solenoid；It is soft that the air blowing general pipeline is also connected with the first air blowing
Pipe, the first air blowing hose are connected with two-position three way magnetic valve, and the outlet of the two-position three way magnetic valve is connected with and vacuum
The second air blowing hose that the import of solenoid valve is connected；The outlet of the vacuum solenoid is connected be connected to vacuum chuck
Two hoses.
7. moulded paper pulp product dry and wet base transfer robot according to claim 6, which is characterized in that the vacuum type chamber
Equipped with multiple stomatas；The suction cup carrier is equipped with the cavity communicated with stomata, and the cavity is communicated with the first hose.
8. moulded paper pulp product dry and wet base transfer robot according to claim 7, which is characterized in that the cavity is equipped with
Two, the suction cup carrier sets that there are two the pipe fittings that communicate with cavity；The shunting integrated package is set there are two shunting outlet, described
The both ends of first hose connect with pipe fitting, shunting outlet respectively；There are two the vacuum solenoid is set.
9. moulded paper pulp product dry and wet base transfer robot according to claim 5, which is characterized in that the manipulator is solid
Surely there is solenoid valve valve island, the outlet on solenoid valve valve island is connected separately with third hose, the 4th hose；The third hose connects
It is connected to the air intake of the first angle pedestal valve；4th hose is connected to the air intake of the second angle pedestal valve；The solenoid valve valve
Island is connected with an air supply pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910708337.0A CN110450185B (en) | 2019-08-01 | 2019-08-01 | Pulp molding product dry and wet blank transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910708337.0A CN110450185B (en) | 2019-08-01 | 2019-08-01 | Pulp molding product dry and wet blank transfer robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110450185A true CN110450185A (en) | 2019-11-15 |
| CN110450185B CN110450185B (en) | 2023-12-05 |
Family
ID=68484662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910708337.0A Active CN110450185B (en) | 2019-08-01 | 2019-08-01 | Pulp molding product dry and wet blank transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110450185B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06247507A (en) * | 1993-02-26 | 1994-09-06 | Tokyo Electron Yamanashi Kk | Conveyer arm |
| CN205817851U (en) * | 2016-07-21 | 2016-12-21 | 中山市鑫光智能系统有限公司 | A kind of six-joint robot |
| CN206254190U (en) * | 2016-09-30 | 2017-06-16 | 东莞市李群自动化技术有限公司 | A kind of manipulator of quick blowing |
| JP6275910B1 (en) * | 2017-09-26 | 2018-02-07 | 大和エンジニアリング株式会社 | Suction head |
| CN107745972A (en) * | 2017-11-24 | 2018-03-02 | 天津商业大学 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
| CN108214532A (en) * | 2017-12-29 | 2018-06-29 | 广东欧珀移动通信有限公司 | Suction means |
| CN108262759A (en) * | 2018-02-26 | 2018-07-10 | 东莞市隆盛智能装备有限公司 | A kind of paper pulp die robot feeding jig |
| CN108297124A (en) * | 2018-03-09 | 2018-07-20 | 上海发那科机器人有限公司 | A kind of robot closed assembly silicon steel sheet paw |
| CN207858873U (en) * | 2018-02-05 | 2018-09-14 | 郑州旭飞光电科技有限公司 | Glass substrate Qu Pian robots |
| CN207917998U (en) * | 2017-12-19 | 2018-09-28 | 华工法利莱切焊系统工程有限公司 | A kind of quick absorption of sucker and relieving mechanism |
| CN108955847A (en) * | 2017-05-26 | 2018-12-07 | 发那科株式会社 | Measure the weight measurement system and method for the weight of part |
| CN109366469A (en) * | 2018-12-18 | 2019-02-22 | 广东华工佳源环保科技有限公司 | A kind of paper mould is at sizing manipulator |
| CN210551320U (en) * | 2019-08-01 | 2020-05-19 | 广东华工佳源环保科技有限公司 | Dry and wet blank transfer robot for paper pulp molded product |
-
2019
- 2019-08-01 CN CN201910708337.0A patent/CN110450185B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06247507A (en) * | 1993-02-26 | 1994-09-06 | Tokyo Electron Yamanashi Kk | Conveyer arm |
| CN205817851U (en) * | 2016-07-21 | 2016-12-21 | 中山市鑫光智能系统有限公司 | A kind of six-joint robot |
| CN206254190U (en) * | 2016-09-30 | 2017-06-16 | 东莞市李群自动化技术有限公司 | A kind of manipulator of quick blowing |
| CN108955847A (en) * | 2017-05-26 | 2018-12-07 | 发那科株式会社 | Measure the weight measurement system and method for the weight of part |
| JP6275910B1 (en) * | 2017-09-26 | 2018-02-07 | 大和エンジニアリング株式会社 | Suction head |
| CN107745972A (en) * | 2017-11-24 | 2018-03-02 | 天津商业大学 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
| CN207917998U (en) * | 2017-12-19 | 2018-09-28 | 华工法利莱切焊系统工程有限公司 | A kind of quick absorption of sucker and relieving mechanism |
| CN108214532A (en) * | 2017-12-29 | 2018-06-29 | 广东欧珀移动通信有限公司 | Suction means |
| CN207858873U (en) * | 2018-02-05 | 2018-09-14 | 郑州旭飞光电科技有限公司 | Glass substrate Qu Pian robots |
| CN108262759A (en) * | 2018-02-26 | 2018-07-10 | 东莞市隆盛智能装备有限公司 | A kind of paper pulp die robot feeding jig |
| CN108297124A (en) * | 2018-03-09 | 2018-07-20 | 上海发那科机器人有限公司 | A kind of robot closed assembly silicon steel sheet paw |
| CN109366469A (en) * | 2018-12-18 | 2019-02-22 | 广东华工佳源环保科技有限公司 | A kind of paper mould is at sizing manipulator |
| CN210551320U (en) * | 2019-08-01 | 2020-05-19 | 广东华工佳源环保科技有限公司 | Dry and wet blank transfer robot for paper pulp molded product |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110450185B (en) | 2023-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205519281U (en) | Stamping manipulator with oil spout and blow bits function | |
| CN207107849U (en) | A kind of bottle embryo conveying device | |
| CN110450185A (en) | A kind of moulded paper pulp product dry and wet base transfer robot | |
| CN103964674A (en) | Front air blowing and supplying system of bottle-making machine | |
| CN206618252U (en) | A kind of sebific duct water-blowing device after static pressure detection | |
| CN210551320U (en) | Dry and wet blank transfer robot for paper pulp molded product | |
| CN207831908U (en) | A kind of novel evacuated heat-treatment furnace negative pressure control pressurer system | |
| CN204647660U (en) | A kind of air distributor | |
| CN204488114U (en) | A kind of woven bag flanging knuckle manipulator control system | |
| CN110466966A (en) | A kind of moulded paper pulp product production system | |
| CN205492418U (en) | Tealeaves softens cycle operation device that completes | |
| CN213452009U (en) | Pneumatic plug valve | |
| GB2360279A (en) | Blank mould valving system for I.S. glass moulding machine | |
| CN218925192U (en) | Stainless steel adjustable negative pressure air pipe of rubberizing coating machine | |
| CN214793674U (en) | Air tightness detection device and air tightness detection system | |
| CN110435982A (en) | A kind of non-woven cloth semi finished package on-line spray water-tight equipment | |
| CN210257350U (en) | Multi-valve body vacuum pumping valve group | |
| CN219358791U (en) | Cutting tool for structural part | |
| CN219121988U (en) | Infusion filter detection device | |
| CN205393867U (en) | A two effect pneumatic control system for dividing piece together anchor clamps | |
| CN206816922U (en) | A kind of gas signal of valve used pneumatic actuator returns news system | |
| CN214467865U (en) | Low-energy-consumption steam pipeline adjusting device | |
| CN217487142U (en) | Edible fungus early-stage culture room | |
| CN205852837U (en) | A kind of mechanical hand with adsorption function | |
| CN204528661U (en) | One brewages clinker conveyor system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210204 Address after: 526000 room 1507, 15th floor, Fumin Building, 18 Beijiang Avenue, high tech Zone, Zhaoqing City, Guangdong Province (office only) Applicant after: Guangdong Huagong Huanyuan Environmental Protection Technology Co.,Ltd. Address before: 526238 Guangdong Zhaoqing hi tech Zone Tianhe aluminum and Steel Products Co., Ltd. workshop A Applicant before: JUST BIODEGRADABLE TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |