CN110525986A - A kind of multi-purpose robot palletizer and working method - Google Patents
A kind of multi-purpose robot palletizer and working method Download PDFInfo
- Publication number
- CN110525986A CN110525986A CN201910711218.0A CN201910711218A CN110525986A CN 110525986 A CN110525986 A CN 110525986A CN 201910711218 A CN201910711218 A CN 201910711218A CN 110525986 A CN110525986 A CN 110525986A
- Authority
- CN
- China
- Prior art keywords
- fixture
- robot
- fixedly mounted
- base
- mounting base
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of multi-purpose robot palletizer and working methods, a kind of multi-purpose robot palletizer includes: robot base, it is located at the walking mechanism of robot base bottom, the palletizing mechanical arm assembly being fixedly mounted in robot base, and it is connected to the clamp portion of palletizing mechanical arm one end；The palletizing mechanical arm assembly includes being fixedly mounted on robot base servo turntable, the clamp portion includes the fixture mounting base being socketed on the outside of shaft, three groups of fixtures being fixedly mounted in fixture mounting base, three groups of fixtures are respectively and fixedly installed on three cylinders；The side of the fixture mounting base is equipped with stacking information recognition device, communicating machine people's controller.The present invention compared with the existing technology, increases a variety of type fixtures on original single robot palletizer, allows to flexible Application to workshop without being limited by product category, saves production cost and production time.
Description
Technical field
The invention belongs to industrial equipment field, especially a kind of multi-purpose robot palletizer and working method.
Background technique
Different stacking heaps is used according to the difference of product type, particularly may be divided into pocket type heap, tank type reactor and cylindrical tube
Material class stacking heap is needed during different stacking heap de-stackings using different robot palletizers.It is numerous in product category
In large-scale stacking workshop, especially have the equipment workshop for improving production line, is often equipped with the stacking heap of multiple product categories, this
Sample just increases the dispensing of stacking machine type and quantity, increases production cost.
Summary of the invention
Goal of the invention: providing a kind of multi-purpose robot palletizer and working method, to solve of the existing technology above-mentioned ask
Topic.
A kind of technical solution: multi-purpose robot palletizer characterized by comprising robot base is located at robot base
The walking mechanism of bottom, the palletizing mechanical arm assembly being fixedly mounted in robot base, and it is connected to palletizing mechanical arm one
The clamp portion at end；
The palletizing mechanical arm assembly includes being fixedly mounted on robot base servo turntable, is fixedly mounted on servo turntable
On the first rotating part, be driven the first linking arm for being mounted on the first rotating part, be fixedly mounted on first linking arm one end
Second rotating part, transmission are mounted on the second linking arm of the second rotating part, and are fixedly mounted on the of second linking arm one end
Three rotating parts, one end of the third rotating part extend outward shaft, rotating shaft transmission jockey portion, the clamp portion
Including the fixture mounting base being socketed on the outside of shaft, three groups of fixtures being fixedly mounted in fixture mounting base, the fixture installation
Seat is in triangle cylindricality, and three groups of fixtures are respectively and fixedly installed on three cylinders；The side of the fixture mounting base is equipped with code
Pile information recognition device, communicating machine people's controller.
In a further embodiment, three groups of fixtures include: back to the first fixture being mounted in fixture mounting base,
Second fixture and third fixture；First fixture is clamshell fixture, and second fixture is vacuum chuck, described the
Three fixtures are clamp type butting joint fixture.
In a further embodiment, the robot base is equipped with guard shield, and the side of the guard shield is set
There are control plane and warning light.
In a further embodiment, the walking mechanism includes the connection frame being fixedly mounted in robot base, card
Two groups of synchronizing shafts on connection frame are connect, and are socketed in the traveling wheel of synchronizing shaft two sides；The synchronizing shaft passes through transmission device
Be sequentially connected air motor；The air motor is connected to the air accumulator being fixedly mounted in robot base by tracheae, described
The side of air accumulator is equipped with the disengaging of gas in motor-operated control valve control air accumulator；The traveling wheel is connected to the dedicated vehicle in workshop
On rail.
In a further embodiment, power supply unit and avoiding obstacles by supersonic wave device are additionally provided in the robot.
In a further embodiment, the vacuum chuck includes Suction cup assembly, the tracheae being connected on sucker, and
Control valve group on tracheae is set, the clamshell fixture includes the connection pedestal being fixedly mounted in fixture mounting base, Gu
Dingan County drives air cylinder group mounted in the clamping jaw of connection two sides of base, and the leveling air cylinder group being fixedly mounted on connection pedestal is hinged on
The connection rod set of two sides after connection pedestal is gone forward, and it is connected to the clip claw assembly of the connection rod set other end；
The clip claw assembly includes the transmission guide rod being fixedly attached on connection pedestal, and the arc for being connected to transmission guide rod both ends connects
Bar, and it is fixedly connected on the clamping jaw of the curved rod other end；The power output rod of the clamping jaw driving air cylinder group is fixedly connected
Hinged seat, the hinged crank in one end of the hinged seat, the other end of the crank offer through-hole, and the transmission guide rod passes through song
Handle and fixation be connected on crank, and then make power output rod drive crank before and after rotation, thus drive transmission guide rod drive folder
Rotation before and after pawl；
The power output end of the leveling air cylinder group is fixedly connected with screed, so that screed be driven to move up and down；
The clamp type butting joint fixture includes the hydraulic push rod group being fixedly mounted in fixture mounting base, is fixedly connected on hydraulic thrust
The arc of two groups of relative symmetries on bar embraces pincers.
In a further embodiment, including following work step:
S1, robot palletizer rest on de-stacking station according to instruction, and under original state, robot palletizer controls manipulator motion
Identification device is set to scan the product information on stacking heap；
Product information after scanning is sent to controller by S2, identification device, and controller is by the Working mould in information and date library
Formula matching, switching working mode；
S3, operating mode are classified according to the type of the stacking of product, and operating mode is divided into according to product: pocket type stacking, case
Formula stacking and pipe-type stacking correspond to different fixtures under each operating mode；
After S4, operating mode determine, robot controller controls the rotation of third rotating part, so that fixture mounting base is driven to rotate,
So that the fixture for meeting product category is turned to underface, starts to work.
The utility model has the advantages that the present invention is compared with the existing technology, increase a variety of type folders on original single robot palletizer
Tool allows to flexible Application to workshop without being limited by product category, saves production cost and production time；Secondly
It drives walking mechanism to move on dedicated track by air motor, does not have to fuel and be connected to no electric wire, it is made flexibly more to change trains
Interior running position, it is easy to operate, it is pollution-free to workshop.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram of the multi-purpose robot palletizer of the present invention.
Fig. 2 is the left view of the multi-purpose robot palletizer of the present invention.
Fig. 3 is the lower view of the multi-purpose robot palletizer of the present invention.
Fig. 4 is the right view of the multi-purpose robot palletizer of the present invention.
Fig. 5 is the front view of the multi-purpose robot palletizer of the present invention.
Fig. 6 be 4 in Fig. 5 at partial enlarged view.
Fig. 7 is the perspective view of the first fixture in the present invention.
Fig. 8 is the side view of the first fixture in the present invention.
Fig. 9 is the side view of third fixture in the present invention.
Appended drawing reference are as follows: robot base 1, palletizing mechanical arm assembly 2, servo turntable 20, the first rotating part 21, first
It is linking arm 22, the second rotating part 23, the second linking arm 24, third rotating part 25, shaft 26, walking mechanism 3, connection frame 30, same
Walk axis 31, traveling wheel 32, transmission device 33, air motor 34, tracheae 35, air accumulator 36, clamp portion 5, fixture mounting base 50, the
One fixture 51, clamping jaw driving air cylinder group 511, leveling air cylinder group 512, connection rod set 513, clip claw assembly 514, passes connection pedestal 510
Dynamic guide rod 5140, curved rod 5141, clamping jaw 5142, hinged seat 515, crank 516, screed 517, the second fixture 52, sucker
Component 520, third fixture 53, hydraulic push rod group 530, arc embrace pincers 531, control plane 6, warning light 7, avoiding obstacles by supersonic wave device
8, identification device 9.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
It is found by the applicant that the fixture on stacking industrial robot in existing Workshop Production is in the production of specific station
It is easy to be limited by palletized products or manner of packing, different fixtures adapt to different types of stacking production in palletization
Product.Because a kind of robot palletizer of wide adaptation range of the invention can largely reduce the production cost of medium-sized and small enterprises,
And the waiting time of later period robot palletizer replacement.
A kind of multi-purpose robot palletizer as shown in Figures 1 to 9, comprising: robot base 1, palletizing mechanical arm assembly 2,
Servo turntable 20, the first rotating part 21, the first linking arm 22, the second rotating part 23, the second linking arm 24, third rotating part
25, shaft 26, walking mechanism 3, connection frame 30, synchronizing shaft 31, traveling wheel 32, transmission device 33, air motor 34, tracheae 35,
Air accumulator 36, clamp portion 5, fixture mounting base 50, the first fixture 51, connection pedestal 510, clamping jaw driving air cylinder group 511, leveling gas
Cylinder group 512, connection rod set 513, clip claw assembly 514, transmission guide rod 5140, curved rod 5141, clamping jaw 5142, hinged seat 515, song
Handle 516, screed 517, the second fixture 52, Suction cup assembly 520, third fixture 53, hydraulic push rod group 530, arc armful pincers 531,
Control plane 6, warning light 7, avoiding obstacles by supersonic wave device 8, identification device 9.
Wherein, multiple mounting plates are equipped with inside robot base 1 as shown in Figure 1, outside is equipped with guard shield, walking mechanism
3 are located at 1 bottom of robot base, and palletizing mechanical arm assembly 2 is fixedly mounted on the mounting plate of robot base 1, clamp portion 5
It is mounted on one end of palletizing mechanical arm.Walking mechanism 3 drives the movement of the realization integral position of robot base 1.
The as shown in Figure 2 palletizing mechanical arm assembly 2 include be fixedly mounted on 1 servo turntable 20 of robot base, Gu
First rotating part 21 of the Dingan County on servo turntable 20, is driven the first linking arm 22 being mounted on the first rotating part 21,
It is fixedly mounted on second rotating part 23 of 22 one end of the first linking arm, transmission is mounted on the second linking arm of the second rotating part 23
24, and be fixedly mounted on the third rotating part 25 of 24 one end of the second linking arm, one end of the third rotating part 25 is to extension
Stretch out shaft 26.
Preferably, servo turntable 20, the first rotating part 21, be equipped with inside 23 third rotating part 25 of the second rotating part and watch
Motor is taken, the first servo motor inside servo turntable 20 drives servo turntable 20 to realize the rotation in 360, to make to pacify
The first rotating part 21 on servo turntable 20 rotates, and the second servo motor inside the first rotating part 21 drives transmission to connect
The first linking arm 22 connect realizes any rotation in 0-180 ° of direction, and the first linking arm 22 drives the second rotating part 23 real in turn
Show any rotation in 0-180 ° of direction, the third servo motor in the second rotating part 23 is to drive the second linking arm 24 to realize
Rotation in 0-360 °, the 4th servo motor in third rotating part 25 drive shaft 26 to carry out 0 to rotating at any angle.
Preferably, the model 180DK-M35015 of first servo motor, the second servo motor model number are DMKE-
20180804, third servo motor model number is DMKE-20180804, and the 4th servo motor model number is PLF120
Preferably, the transmission connection of shaft 26 clamp portion 5, the clamp portion 5 include being socketed in the fixture peace in 26 outside of shaft
Fill seat 50, three groups of fixtures being fixedly mounted in fixture mounting base 50, the fixture mounting base 50 be in triangle cylindricality, described three groups
Fixture is respectively and fixedly installed on three cylinders；The side of the fixture mounting base 50 is equipped with stacking information recognition device 9, connection
Robot controller, control are provided with information storage database, can carry out analysis matching to the stacking information of identification.
Three groups of fixtures as shown in Figure 5 to Figure 6 include: back to the first fixture 51, second being mounted in fixture mounting base 50
Fixture 52 and third fixture 53；First fixture 51 is clamshell fixture, and second fixture 52 is vacuum chuck, institute
Stating third fixture 53 is clamp type butting joint fixture, and the clamshell fixture is suitable for the product and greater weight paper of bag type package
Box stacking heap；The vacuum chuck is suitable for small-sized carton type palletized products heap；The clamp type butting joint fixture is applicable in
In pipe dress type stacking heap.
Preferably, multiple heat sinks are offered on the guard shield that the robot base 1 is equipped with, it can be outer to protection
Electrical component inside shell radiates.The side of the guard shield is equipped with control plane 6, and control plane 6 is equipped with urgent
Shutdown switch can stop current operation, and warning light 7 is connect with controller can be in machine when voltage, air pressure or chance barrier
Alarm.
Walking mechanism 3 as shown in Figs. 3-4 includes the connection frame 30 being fixedly mounted in robot base 1, is connected to connection
Two groups of synchronizing shafts 31 on frame 30, and it is socketed in the traveling wheel 32 of 31 two sides of synchronizing shaft；The synchronizing shaft 31 passes through transmission dress
Set 33 transmission connection air motors 34；The air motor 34 is fixedly mounted in robot base 1 by the connection of tracheae 35
Air accumulator 36, the side of the air accumulator 36 are equipped with the disengaging of gas in motor-operated control valve control air accumulator 36, in air accumulator 36
Gas drive air motor 34 to operate and then transmission device 33 and traveling wheel 32 driven to rotate, the transmission device 33 in this device
For driving belt, it is socketed in the synchronous rotation that front and back synchronizing shaft 31 keeps front and back wheel；It is dedicated that the traveling wheel 32 is connected to workshop
Track on.
Preferably, power supply unit and avoiding obstacles by supersonic wave device 8 are additionally provided in the robot；Power supply unit can be machine
Various circuit elements power supply inside people, avoiding obstacles by supersonic wave device 8 are able to detect that the running environment on robot periphery avoids sending out
Raw damaged in collision machine.
Preferably, vacuum chuck includes Suction cup assembly 520, the tracheae 35 being connected on sucker, and setting tracheae 35
On control valve group.The clamshell fixture as shown in Fig. 7 to Fig. 8 includes the connection pedestal being fixedly mounted in fixture mounting base 50
510, the clamping jaw 5142 for being fixedly mounted on connection 510 two sides of pedestal drives air cylinder group 511, is fixedly mounted on connection pedestal 510
Leveling air cylinder group 512, be hinged on the connection rod set 513 of front and rear sides on connection pedestal 510, and be connected to connection rod set 513
5142 component 514 of clamping jaw of the other end；
5142 component 514 of clamping jaw includes the transmission guide rod 5140 being fixedly attached on connection pedestal 510, is connected to transmission and leads
The curved rod 5141 at 5140 both ends of bar, and it is fixedly connected on the clamping jaw 5142 of 5141 other end of curved rod；The clamping jaw
The power output rod of 5142 driving air cylinder groups 511 is fixedly connected with hinged seat 515, the hinged crank in one end of the hinged seat 515
516, the other end of the crank 516 offers through-hole, and the transmission guide rod 5140 passes through crank 516 and fixation is connected to crank
On 516, power output rod rotates before and after driving crank 516, thus rotated before and after driving transmission guide rod 5140 to drive clamping jaw 5142,
5142 relative motion of clamping jaw being symmetrically installed finally is set to realize the clamping of palletized products.
The power output end of the leveling air cylinder group 512 is fixedly connected with screed 517, to drive about 517 screed
Movement；The product holding level side at 5142 both ends of clamping jaw when screed 517 can press palletized products when moving up and down
To alignment, article is made to keep stable center of gravity in the sky after clamping, while preferably facilitating putting for palletized products.
As shown in figure 9, clamp type butting joint fixture includes the hydraulic push rod group 530 being fixedly mounted in fixture mounting base 50,
The arc for being fixedly connected on two groups of relative symmetries on hydraulic push rod embraces pincers 531, can realize large area to the product of pipe-type
Contact, makes that it is equally loaded, avoids the excessive deformation for causing tubing of 5142 grip force of clamping jaw.
Working principle is as follows: firstly, robot palletizer rests on de-stacking station according to instruction, under original state, stacking
Robot control manipulator motion enables identification device 9 to scan the product information on stacking heap；Identification device 9 will be after scanning
Product information is sent to controller, and controller matches the operating mode in information and date library, switching working mode；Working mould
Formula is classified according to the type of the stacking of product, and operating mode is divided into according to product: pocket type stacking, box stacking and tubing
Class stacking corresponds to different fixtures under each operating mode；After operating mode determines, robot controller controls third rotation
Portion 25 rotates, so that fixture mounting base 50 be driven to rotate, the fixture for meeting product category is made to turn to underface, started to work.
The present invention increases a variety of type fixtures on original single robot palletizer, allows to flexible Application to production vehicle
Between without being limited by product category, save production cost and production time；Walking mechanism 3 is driven secondly by air motor 34
It is moved on dedicated track, does not have to fuel and be connected to no electric wire, it is made flexibly to replace the running position in workshop, it is easy to operate,
It is pollution-free to workshop.It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to upper
The detail in embodiment is stated, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out more
Kind equivalents, these equivalents all belong to the scope of protection of the present invention.
Claims (7)
1. a kind of multi-purpose robot palletizer characterized by comprising robot base is located at the walking of robot base bottom
Mechanism, the palletizing mechanical arm assembly being fixedly mounted in robot base, and it is connected to the clamp portion of palletizing mechanical arm one end；
The palletizing mechanical arm assembly includes being fixedly mounted on robot base servo turntable, is fixedly mounted on servo turntable
On the first rotating part, be driven the first linking arm for being mounted on the first rotating part, be fixedly mounted on first linking arm one end
Second rotating part, transmission are mounted on the second linking arm of the second rotating part, and are fixedly mounted on the of second linking arm one end
Three rotating parts, one end of the third rotating part extend outward shaft, rotating shaft transmission jockey portion, the clamp portion
Including the fixture mounting base being socketed on the outside of shaft, three groups of fixtures being fixedly mounted in fixture mounting base, the fixture installation
Seat is in triangle cylindricality, and three groups of fixtures are respectively and fixedly installed on three cylinders；The side of the fixture mounting base is equipped with code
Pile information recognition device, communicating machine people's controller.
2. a kind of multi-purpose robot palletizer according to claim 1, which is characterized in that three groups of fixtures include: back to
The first fixture, the second fixture and the third fixture being mounted in fixture mounting base；First fixture is clamshell fixture, institute
Stating the second fixture is vacuum chuck, and the third fixture is clamp type butting joint fixture.
3. a kind of multi-purpose robot palletizer according to claim 1, which is characterized in that the robot base is equipped with anti-
Shell is protected, the side of the guard shield is equipped with control plane and warning light.
4. a kind of multi-purpose robot palletizer according to claim 1, which is characterized in that the walking mechanism includes fixed peace
Connection frame in robot base, two groups of synchronizing shafts being connected on connection frame, and it is socketed in the row of synchronizing shaft two sides
Walk wheel；The synchronizing shaft connects air motor by drive；The air motor is connected to by tracheae and is fixedly mounted
Air accumulator in robot base, the side of the air accumulator are equipped with the disengaging of gas in motor-operated control valve control air accumulator；
The traveling wheel is connected on the dedicated track in workshop.
5. a kind of multi-purpose robot palletizer according to claim 1, which is characterized in that be additionally provided with power supply in the robot
Device and avoiding obstacles by supersonic wave device.
6. a kind of multi-purpose robot palletizer according to claim 2, which is characterized in that the vacuum chuck includes sucker
Component, the tracheae being connected on sucker, and the control valve group being arranged on tracheae, the clamshell fixture include being fixedly mounted
Connection pedestal in fixture mounting base is fixedly mounted on the clamping jaw driving air cylinder group of connection two sides of base, the company of being fixedly mounted on
The leveling air cylinder group on pedestal is connect, the connection rod set of two sides after connection pedestal is gone forward is hinged on, and is connected to the connection rod set other end
Clip claw assembly；
The clip claw assembly includes the transmission guide rod being fixedly attached on connection pedestal, and the arc for being connected to transmission guide rod both ends connects
Bar, and it is fixedly connected on the clamping jaw of the curved rod other end；The power output rod of the clamping jaw driving air cylinder group is fixedly connected
Hinged seat, the hinged crank in one end of the hinged seat, the other end of the crank offer through-hole, and the transmission guide rod passes through song
Handle and fixation be connected on crank, and then make power output rod drive crank before and after rotation, thus drive transmission guide rod drive folder
Rotation before and after pawl；
The power output end of the leveling air cylinder group is fixedly connected with screed, so that screed be driven to move up and down；
The clamp type butting joint fixture includes the hydraulic push rod group being fixedly mounted in fixture mounting base, is fixedly connected on hydraulic thrust
The arc of two groups of relative symmetries on bar embraces pincers.
7. a kind of multi-purpose robot palletizer working method, which is characterized in that including following work step:
S1, robot palletizer rest on de-stacking station according to instruction, and under original state, robot palletizer controls manipulator motion
Identification device is set to scan the product information on stacking heap；
Product information after scanning is sent to controller by S2, identification device, and controller is by the Working mould in information and date library
Formula matching, switching working mode；
S3, operating mode are classified according to the type of the stacking of product, and operating mode is divided into according to product: pocket type stacking, case
Formula stacking and pipe-type stacking correspond to different fixtures under each operating mode；
After S4, operating mode determine, robot controller controls the rotation of third rotating part, so that fixture mounting base is driven to rotate,
So that the fixture for meeting product category is turned to underface, starts to work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910711218.0A CN110525986A (en) | 2019-08-02 | 2019-08-02 | A kind of multi-purpose robot palletizer and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910711218.0A CN110525986A (en) | 2019-08-02 | 2019-08-02 | A kind of multi-purpose robot palletizer and working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110525986A true CN110525986A (en) | 2019-12-03 |
Family
ID=68661222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910711218.0A Pending CN110525986A (en) | 2019-08-02 | 2019-08-02 | A kind of multi-purpose robot palletizer and working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110525986A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141731A (en) * | 2020-09-17 | 2020-12-29 | 无锡满夫智能装备科技有限公司 | Stacking industrial robot manufactured intelligently |
| CN112591557A (en) * | 2020-12-04 | 2021-04-02 | 福德机器人（成都）有限责任公司 | Automatic feeding and head wire cutting combined robot for material collecting and coiling barrel |
| CN115043019A (en) * | 2022-06-27 | 2022-09-13 | 南京理工大学 | Self-adaptive welded pipe stacking line and method based on product parameterization |
| CN115072293A (en) * | 2022-06-14 | 2022-09-20 | 利兰智能装备(苏州)有限公司 | Equipment for automatically stacking carton stacks in container |
| CN115196074A (en) * | 2022-09-16 | 2022-10-18 | 江苏精益智控科技有限公司 | Equipment for replacing manual steel coil tightening |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110062860A (en) * | 2009-12-04 | 2011-06-10 | 삼성중공업 주식회사 | Apparatus and method for lomgi measurement |
| CN105666502A (en) * | 2016-04-12 | 2016-06-15 | 山东国兴智能科技有限公司 | Full-automatic oiling serving robot for unmanned oiling station and oiling serving method |
| CN205310289U (en) * | 2015-11-11 | 2016-06-15 | 江苏汇博机器人技术股份有限公司 | Nimble changeable robot clamp |
| CN105690362A (en) * | 2016-04-14 | 2016-06-22 | 林飞飞 | Multifunctional palletizing robot based on Stewart parallel connection platform |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN107283397A (en) * | 2016-04-13 | 2017-10-24 | 泰科电子(上海)有限公司 | For the robot assembly system of connector assembly and assemble method and robot |
| CN207632131U (en) * | 2017-12-20 | 2018-07-20 | 东莞市火线自动化科技有限公司 | A kind of four axis robot palletizers |
| CN209097722U (en) * | 2018-11-20 | 2019-07-12 | 四会市大业有色金属有限公司 | A kind of aluminium ingot palletizing mechanical arm fixture |
-
2019
- 2019-08-02 CN CN201910711218.0A patent/CN110525986A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110062860A (en) * | 2009-12-04 | 2011-06-10 | 삼성중공업 주식회사 | Apparatus and method for lomgi measurement |
| CN205310289U (en) * | 2015-11-11 | 2016-06-15 | 江苏汇博机器人技术股份有限公司 | Nimble changeable robot clamp |
| CN105666502A (en) * | 2016-04-12 | 2016-06-15 | 山东国兴智能科技有限公司 | Full-automatic oiling serving robot for unmanned oiling station and oiling serving method |
| CN107283397A (en) * | 2016-04-13 | 2017-10-24 | 泰科电子(上海)有限公司 | For the robot assembly system of connector assembly and assemble method and robot |
| CN105690362A (en) * | 2016-04-14 | 2016-06-22 | 林飞飞 | Multifunctional palletizing robot based on Stewart parallel connection platform |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN207632131U (en) * | 2017-12-20 | 2018-07-20 | 东莞市火线自动化科技有限公司 | A kind of four axis robot palletizers |
| CN209097722U (en) * | 2018-11-20 | 2019-07-12 | 四会市大业有色金属有限公司 | A kind of aluminium ingot palletizing mechanical arm fixture |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141731A (en) * | 2020-09-17 | 2020-12-29 | 无锡满夫智能装备科技有限公司 | Stacking industrial robot manufactured intelligently |
| CN112591557A (en) * | 2020-12-04 | 2021-04-02 | 福德机器人（成都）有限责任公司 | Automatic feeding and head wire cutting combined robot for material collecting and coiling barrel |
| CN115072293A (en) * | 2022-06-14 | 2022-09-20 | 利兰智能装备(苏州)有限公司 | Equipment for automatically stacking carton stacks in container |
| CN115072293B (en) * | 2022-06-14 | 2023-12-12 | 利兰智能装备(苏州)有限公司 | Automatic stacking equipment for paper box stacks in container |
| CN115043019A (en) * | 2022-06-27 | 2022-09-13 | 南京理工大学 | Self-adaptive welded pipe stacking line and method based on product parameterization |
| CN115196074A (en) * | 2022-09-16 | 2022-10-18 | 江苏精益智控科技有限公司 | Equipment for replacing manual steel coil tightening |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110525986A (en) | A kind of multi-purpose robot palletizer and working method | |
| CN105835079A (en) | Stacking manipulator | |
| CN203045155U (en) | Vibrating disc type laser welding tool | |
| CN202592381U (en) | Rail-mounted warehouse transportation robot | |
| CN102658542A (en) | Rail type intelligent machine transporting truck | |
| CN111958807B (en) | Automatic sleeper production line | |
| CN107458644A (en) | Bag film packing device | |
| CN112706151A (en) | Manipulator for industrial workshop automatic production line | |
| CN111731174A (en) | Truck with automatic loading device for loading and unloading bagged goods | |
| CN217228052U (en) | Automatic vanning mechanism of assembly line | |
| CN205613965U (en) | Punch press integral type swing arm punching press machine people | |
| CN106629089B (en) | Stacking system and implementation method thereof | |
| CN207120919U (en) | Bag film packing device | |
| CN212829319U (en) | Automatic material device of grabbing of paper bag machine | |
| CN211167697U (en) | Industrial robot packing unloader | |
| CN112692817A (en) | Material transports arm | |
| CN112170113A (en) | Detect ejection of compact formula work piece gluing machine | |
| CN219030989U (en) | Overturning device for paper boxes | |
| CN217971662U (en) | Unstacking robot | |
| CN110625996A (en) | Carton hook bending, dispensing and assembling integrated machine | |
| CN111390886B (en) | Rotary manipulator | |
| CN214234748U (en) | Detect ejection of compact formula work piece gluing machine | |
| CN209598498U (en) | A kind of transportation system of stator welding processing | |
| CN211251531U (en) | Carton hook bending, dispensing and assembling integrated machine | |
| CN113400286A (en) | Novel stacking robot with simple structure and low cost |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191203 |