CN110561454A - Feeding and discharging robot - Google Patents
Feeding and discharging robot Download PDFInfo
- Publication number
- CN110561454A CN110561454A CN201910878976.1A CN201910878976A CN110561454A CN 110561454 A CN110561454 A CN 110561454A CN 201910878976 A CN201910878976 A CN 201910878976A CN 110561454 A CN110561454 A CN 110561454A
- Authority
- CN
- China
- Prior art keywords
- block
- unloading robot
- loading
- fixing
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
-
- 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
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- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a loading and unloading robot which comprises a base, a fixed plate and fixed columns, wherein supporting bottom columns are arranged on the left side surface and the right side surface of the base, connecting blocks are arranged on the lower side surfaces of the supporting bottom columns, inner threaded holes are formed in the connecting blocks, an electric telescopic rod is arranged on the lower side surface of the base, idler wheels are arranged on the lower side surface of the electric telescopic rod, a fixed block is arranged on the upper side surface of the base, a first groove is formed in the fixed block, a servo motor is arranged in the first groove, and the servo motor is connected with a first motor shaft. This go up unloading robot through being provided with electric telescopic handle and gyro wheel at the base downside, when the unloading robot that goes up is being moved to needs, electric telescopic handle causes gyro wheel and ground contact through driving the gyro wheel lapse, through the roll of gyro wheel, causes the convenient removal of unloading robot of going up, causes the convenient material to different positions of unloading robot to carry.
Description
Technical Field
The invention relates to the technical field of feeding and discharging robots, in particular to a feeding and discharging robot.
Background
The feeding and discharging robot can meet the requirements of 'fast/large-batch processing beat', 'labor cost saving', 'production efficiency improvement' and the like, and the feeding and discharging robot system has high efficiency and high stability, is simple in structure and easy to maintain, can meet the production of different products, and becomes an ideal choice for more and more factories.
The inconvenient removal of the last unloading robot that has now, cause when removing the transport article more troublesome, the last unloading robot that has now in addition does not take supplementary spacing measure when rotating, makes the material loading robot rotate unstablely like this, and the adsorption equipment on the last unloading robot that has now is inconvenient carries out the lateral regulation distance, causes the distance that adsorption equipment absorbed article like this to be limited.
Disclosure of Invention
the invention aims to provide a feeding and discharging robot, which aims to solve the problems that the existing feeding and discharging robot in the background art is inconvenient to move, no auxiliary limiting measure is adopted when the existing feeding and discharging robot rotates, and an adsorption device on the existing feeding and discharging robot is inconvenient to transversely adjust the distance.
In order to achieve the purpose, the invention provides the following technical scheme: a feeding and discharging robot comprises a base, a fixed plate and fixed columns, wherein supporting bottom columns are arranged on the left side surface and the right side surface of the base, a connecting block is arranged on the lower side surface of each supporting bottom column, an inner threaded hole is formed in the connecting block, an electric telescopic rod is arranged on the lower side surface of the base, idler wheels are arranged on the lower side surface of the electric telescopic rod, a fixed block is arranged on the upper side surface of the base, a first groove is formed in the fixed block, a servo motor is arranged in the first groove, the servo motor is connected with a first motor shaft, a first rotating shaft is arranged on the upper side surface of the first motor shaft, the upper end of the first rotating shaft penetrates through the upper side surface of the fixed block, a slide rail is arranged on the upper side surface of the fixed;
the spliced pole right side is inside to be seted up flutedly, and the inside first pneumatic cylinder that is provided with of recess, and first pneumatic cylinder right flank is provided with first hydraulic stem simultaneously, first hydraulic stem right flank is provided with the rectangular block, and the rectangular block downside is provided with the second pneumatic cylinder, and the second pneumatic cylinder downside is provided with the second hydraulic stem simultaneously, the second hydraulic stem downside is provided with first hollow block, and the second hydraulic stem is connected with first hollow block through the connecting screw, and the inside aspirator pump that is provided with of first hollow block simultaneously, the last side of aspirator pump is provided with the outlet duct, and the outlet duct upper end runs through first hollow block and goes up the side, and the side is provided with the mounting on the outlet duct simultaneously.
Preferably, the fixed column sets up the side on the fixed plate, and the side is provided with the fixed plate on the fixed column, and the side is provided with the spliced pole on the fixed plate simultaneously, be provided with the spliced pole between the fixed column, and the fixed column front side is provided with gear motor, and gear motor is connected with the second motor shaft simultaneously, second motor shaft rear end is provided with the second pivot, and second pivot rear end runs through fixed plate and spliced pole in proper order.
Preferably, the last side of aspirator pump is provided with the outlet duct, and the outlet duct upper end runs through first hollow block to the side, and the side is provided with the mounting on the outlet duct simultaneously, first hollow block downside is provided with the spliced pole, and the spliced pole downside is provided with the hollow block of second, and the hollow block of second is inside to be provided with the shunt tubes simultaneously, the side is provided with the aspirator pipe on the shunt tubes, and the aspirator pipe upper end runs through the hollow block of second in proper order to go up the side and the hollow block of first goes up the side and is connected with the aspirator pump, the shunt tubes downside is provided with the aspirator head, and the aspirator head lower extreme.
Preferably, support base pillar, connecting block and internal thread hole and all be provided with two sets ofly, and two sets of support base pillar, two sets of connecting block and two sets of internal thread hole all set up about the axis symmetry of base.
Preferably, the servo motor forms a rotating structure with the fixing plate through the first motor shaft and the first rotating shaft.
Preferably, the fixed plate is rotatably connected with the slide rail through a connection mode between the slide block and the slide rail.
Preferably, the speed reduction motor forms a rotating structure with the connecting column through a second motor shaft and a second rotating shaft.
preferably, the first hydraulic cylinder forms a telescopic structure through the space between the first hydraulic rod and the rectangular block.
Preferably, the air suction heads are provided with seven groups, and the seven groups of air suction heads are distributed at equal intervals.
Compared with the prior art, the invention has the beneficial effects that: the loading and unloading robot is provided with a loading and unloading robot,
(1) By arranging the electric telescopic rod and the idler wheel on the lower side surface of the base, when the feeding and discharging robot needs to move, the electric telescopic rod drives the idler wheel to move downwards, so that the idler wheel is in contact with the ground, the feeding and discharging robot is enabled to move conveniently by rolling of the idler wheel, and the feeding and discharging robot is enabled to carry materials at different positions conveniently;
(2) the sliding block is arranged on the lower side surface of the fixed plate, so that when the loading and unloading robot is used for carrying articles, the fixed plate rotates inside the sliding rail through the sliding block when the adsorption device rotates, and the stability of the adsorption device on the loading and unloading robot is better when the adsorption device rotates;
(3) through being provided with first pneumatic cylinder on the spliced pole, when using the unloading robot to carry article, according to the position at article place, first pneumatic cylinder drives adsorption equipment through first hydraulic stem and carries out the displacement, causes adsorption equipment convenience to adsorb the transport to the article of different positions.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic diagram of the right-view structure of the present invention;
FIG. 3 is a schematic top view of the fixing block of the present invention;
FIG. 4 is a schematic top view of a fixing post according to the present invention;
FIG. 5 is an enlarged view of the structure at A in FIG. 1 according to the present invention;
FIG. 6 is an enlarged view of the structure at B in FIG. 1 according to the present invention;
FIG. 7 is an enlarged view of the structure of FIG. 1 at C according to the present invention.
In the figure: 1. the base, 2, support the foundation, 3, the connecting block, 4, the internal screw hole, 5, electric telescopic handle, 6, the gyro wheel, 7, the fixed block, 8, first recess, 9, servo motor, 10, first motor shaft, 11, first pivot, 12, the slide rail, 13, the fixed plate, 14, the slider, 15, the fixed column, 16, the fixed plate, 17, the spliced pole, 18, gear motor, 19, the second motor shaft, 20, the second pivot, 21, the second recess, 22, first pneumatic cylinder, 23, first hydraulic stem, 24, the rectangular block, 25, the second pneumatic cylinder, 26, the second hydraulic cylinder, 27, first hollow block, 28, the connecting screw, 29, the aspiration pump, 30, the outlet duct, 31, the mounting, 32, the spliced pole, 33, the second hollow block, 34, the shunt tubes, 35, the aspiration pipe, 36, the suction head.
Detailed Description
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
referring to fig. 1-7, the present invention provides a technical solution: the utility model provides a go up unloading robot, as shown in figure 1 and figure 2, the 1 left and right sides face of base all is provided with supports foundation 2, and it is provided with connecting block 3 to support foundation 2 downside, support foundation 2, connecting block 3 and internal thread hole 4 all are provided with two sets ofly, and two sets of support foundations 2, two sets of connecting block 3 and two sets of internal thread hole 4 all set up about base 1's axis symmetry, play the supporting role to base 1 through supporting foundation 2, use the screw to run through internal thread hole 4 simultaneously and be connected with connecting device, cause and be better to base 1 stability, internal thread hole 4 has been seted up on the connecting block 3 simultaneously, the 1 downside of base is provided with electric telescopic handle 5, and electric telescopic handle 5 downside is provided with gyro wheel 6, the side is provided with fixed block 7 on.
As shown in fig. 2, 3 and 5, a first groove 8 is formed inside a fixed block 7, a servo motor 9 is arranged inside the first groove 8, the servo motor 9 forms a rotating structure with a fixed plate 13 through a first motor shaft 10 and a first rotating shaft 11, the servo motor 9 drives the fixed plate 13 to rotate through the first motor shaft 10 and the first rotating shaft 11, so that a suction device on the loading and unloading robot can conveniently adjust the position, meanwhile, the servo motor 9 is connected with the first motor shaft 10, the first rotating shaft 11 is arranged on the upper side surface of the first motor shaft 10, the upper end of the first rotating shaft 11 penetrates through the upper side surface of the fixed block 7, a sliding rail 12 is arranged on the upper side surface of the fixed block 7, the fixed plate 13 is arranged on the upper side surface of the first rotating shaft 11, a sliding block 14 is arranged on the lower side surface of the fixed plate 13, the fixed plate 13 is rotatably connected with the sliding rail 12 through a, so that the rotational stability of the loading and unloading robot is better, and the sliding block 14 is arranged inside the sliding rail 12.
As shown in fig. 1, fig. 2 and fig. 4, a groove 21 is formed inside the right side of the connecting column 17, a first hydraulic cylinder 22 is arranged inside the groove 21, a first hydraulic rod 23 is arranged on the right side of the first hydraulic cylinder 22, the first hydraulic cylinder 22 forms a telescopic structure between the first hydraulic rod 23 and the rectangular block 24, the first hydraulic cylinder 22 drives the rectangular block 24 to move through the first hydraulic rod 23, so that the suction head 36 can conveniently adsorb and carry articles at different positions, the rectangular block 24 is arranged on the right side of the first hydraulic rod 23, a second hydraulic cylinder 25 is arranged on the lower side of the rectangular block 24, and a second hydraulic cylinder 26 is arranged on the lower side of the second hydraulic cylinder 25.
as shown in fig. 2 and 6, a first hollow block 27 is arranged on the lower side surface of the second hydraulic rod 26, the second hydraulic rod 26 is connected with the first hollow block 27 through a connecting screw 28, an air suction pump 29 is arranged inside the first hollow block 27, an air outlet pipe 30 is arranged on the upper side surface of the air suction pump 29, the upper end of the air outlet pipe 30 penetrates through the upper side surface of the first hollow block 27, a fixing piece 31 is arranged on the upper side surface of the air outlet pipe 30, and when the air suction pump 29 needs to be maintained or repaired through the connecting screw 28, the air suction pump is convenient to detach, so that the maintenance and the repair are.
As shown in fig. 1, 2, 4 and 5, the fixing column 15 is disposed on the upper side of the fixing plate 13, the fixing plate 16 is disposed on the upper side of the fixing column 15, the connecting column 17 is disposed on the upper side of the fixing plate 16, the connecting column 17 is disposed between the fixing columns 15, the reduction motor 18 is disposed on the front side of the fixing column 15, the reduction motor 18 forms a rotating structure with the connecting column 17 through the second motor shaft 19 and the second rotating shaft 20, the reduction motor 18 drives the connecting column 17 to rotate through the second motor shaft 19 and the second rotating shaft 20, so that the connecting column 17 is convenient to adjust the position, the reduction motor 18 is connected with the second motor shaft 19, the second rotating shaft 20 is disposed at the rear end of the second motor shaft 19, and the rear end of the second rotating shaft 20.
As shown in fig. 2 and 7, an air outlet pipe 30 is provided on the upper side surface of the getter pump 29, and the upper end of the air outlet pipe 30 penetrates the upper side surface of the first hollow block 27, meanwhile, the upper side surface of the air outlet pipe 30 is provided with a fixing piece 31, the lower side surface of the first hollow block 27 is provided with a connecting column 32, the lower side surface of the connecting column 32 is provided with a second hollow block 33, meanwhile, a shunt tube 34 is arranged in the second hollow block 33, an air suction pipe 35 is arranged on the upper side surface of the shunt tube 34, the upper end of the air suction pipe 35 penetrates through the upper side surface of the second hollow block 33 and the upper side surface of the first hollow block 27 in sequence to be connected with the air suction pump 29, the lower side surface of the shunt pipe 34 is provided with an air suction head 36, the lower end of the air suction head 36 penetrates through the lower side surface of the second hollow block 33, seven groups of air suction heads 36 are arranged, and seven groups of suction heads 36 are equidistantly distributed, so that when the articles are adsorbed and conveyed, the articles are adsorbed and conveyed more stably by the seven groups of suction heads 36.
The working principle is as follows: when the loading and unloading robot is used, the base 1 is fixed by penetrating the internal thread hole 4 through a screw to be connected with a connecting device, an external power supply is connected at the moment, a first hydraulic cylinder 22 is started according to the position of an object, the first hydraulic cylinder 22 drives a rectangular block 24 to adjust the position through a first hydraulic rod 23, so that an air suction head 36 reaches the position of the object, a speed reducing motor 18 is started, the speed reducing motor 18 drives a second rotating shaft 20 to rotate through a second motor shaft 19, so that a connecting column 17 moves up and down, the position is convenient to adjust, at the moment, a second hydraulic cylinder 25 is started, the second hydraulic cylinder 25 drives a first hollow block 27 to move down through a second hydraulic rod 26, so that the air suction head 36 moves down to reach the position of the object, an air suction pump 29 is started, the air suction pump 29 sucks air in a shunt tube 34 through an air suction tube 35, and the sucked air, so that the suction head 36 adsorbs the object, so that the object is adsorbed at the lower side of the suction head 36, the second hydraulic cylinder 25 drives the first hollow block 27 to move upwards through the second hydraulic rod 26, so that the object moves upwards, at the same time, the servo motor 9 is started, the servo motor 9 drives the first rotating shaft 11 to rotate through the first motor shaft 10, so as to drive the first rotating shaft 11 to drive the fixing column 15 to rotate through the fixing plate 13, and the fixing plate 13 drives the sliding block 14 to rotate inside the sliding rail 12, so that the rotation of the fixing plate 13 is more stable, along with the rotation of the fixing plate 13, so that the suction head 36 drives the object to rotate to adjust the position, so that the object is conveniently carried to a specified position, when the loading and unloading robot needs to be moved, the electric telescopic rod 5 is started by taking down the screw on the connecting block 3, the electric telescopic rod 5, at this time, the loading and unloading robot is pushed to move, so that the loading and unloading robot can move conveniently, when the air suction pump 29 needs to be maintained and maintained, the air suction pump 29 is taken down by taking down the connecting screw 28, so that the air suction pump 29 is convenient to maintain and maintain, and after the transportation is finished, the power supply is turned off, and the content which is not described in detail in the specification belongs to the prior art which is well known by persons skilled in the art.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a go up unloading robot, includes base (1), fixed plate (13) and fixed column (15), its characterized in that: the support base pillar (2) is arranged on the left side surface and the right side surface of the base (1), the connecting block (3) is arranged on the lower side surface of the support base pillar (2), the inner threaded hole (4) is formed in the connecting block (3), the electric telescopic rod (5) is arranged on the lower side surface of the base (1), the idler wheels (6) are arranged on the lower side surface of the electric telescopic rod (5), the fixing block (7) is arranged on the upper side surface of the base (1), the first groove (8) is formed in the fixing block (7), the servo motor (9) is arranged in the first groove (8), the servo motor (9) is connected with the first motor shaft (10), the first rotating shaft (11) is arranged on the upper side surface of the first motor shaft (10), the upper end of the first rotating shaft (11) penetrates through the upper side surface of the fixing block (7, the fixed plate (13) is arranged on the upper side face of the first rotating shaft (11), the sliding block (14) is arranged on the lower side face of the fixed plate (13), and meanwhile the sliding block (14) is arranged inside the sliding rail (12);
The novel hollow connecting column is characterized in that a groove (21) is formed in the right side of the connecting column (17), a first hydraulic cylinder (22) is arranged in the groove (21), a first hydraulic rod (23) is arranged on the right side of the first hydraulic cylinder (22), a rectangular block (24) is arranged on the right side of the first hydraulic rod (23), a second hydraulic cylinder (25) is arranged on the lower side of the rectangular block (24), a second hydraulic rod (26) is arranged on the lower side of the second hydraulic cylinder (25), a first hollow block (27) is arranged on the lower side of the second hydraulic rod (26), the second hydraulic rod (26) is connected with the first hollow block (27) through a connecting screw (28), an air suction pump (29) is arranged in the first hollow block (27), an air outlet pipe (30) is arranged on the upper side of the air suction pump (29), and the upper end of the air outlet pipe (30) penetrates through the upper, meanwhile, the upper side surface of the air outlet pipe (30) is provided with a fixing piece (31).
2. The loading and unloading robot of claim 1, wherein: the fixing column (15) is arranged on the upper side face of the fixing plate (13), the fixing plate (16) is arranged on the upper side face of the fixing column (15), the connecting columns (17) are arranged on the upper side face of the fixing plate (16), the connecting columns (17) are arranged between the fixing columns (15), the speed reducing motor (18) is arranged on the front side of the fixing column (15), the speed reducing motor (18) is connected with the second motor shaft (19), the second rotating shaft (20) is arranged at the rear end of the second motor shaft (19), and the rear end of the second rotating shaft (20) penetrates through the fixing plate (16) and the connecting columns (17) in sequence.
3. The loading and unloading robot of claim 1, wherein: side is provided with outlet duct (30) on aspirator pump (29), and outlet duct (30) upper end runs through first hollow block (27) and goes up the side, and outlet duct (30) are gone up the side and are provided with mounting (31) simultaneously, first hollow block (27) downside is provided with spliced pole (32), and spliced pole (32) downside is provided with the hollow block of second (33), and the hollow block of second (33) inside is provided with shunt tubes (34) simultaneously, side is provided with breathing pipe (35) on shunt tubes (34), and breathing pipe (35) upper end runs through in proper order that the hollow block of second (33) goes up the side and first hollow block (27) and goes up the side and aspirator pump (29) and be connected, shunt tubes (34) downside is provided with aspirator head (36), and aspirator head (36) lower extreme runs through the hollow block of second (33) downside.
4. The loading and unloading robot of claim 1, wherein: support foundation (2), connecting block (3) and internal thread hole (4) and all be provided with two sets ofly, and two sets of foundation (2), two sets of connecting block (3) and two sets of internal thread hole (4) of supporting all set up about the axis symmetry of base (1).
5. The loading and unloading robot of claim 1, wherein: the servo motor (9) forms a rotating structure with the fixing plate (13) through the first motor shaft (10) and the first rotating shaft (11).
6. The loading and unloading robot of claim 1, wherein: the fixed plate (13) is rotatably connected with the slide rail (12) through a slide block (14).
7. The loading and unloading robot of claim 2, wherein: the speed reducing motor (18) forms a rotating structure with the connecting column (17) through a second motor shaft (19) and a second rotating shaft (20).
8. The loading and unloading robot of claim 1, wherein: the first hydraulic cylinder (22) forms a telescopic structure through the first hydraulic rod (23) and the rectangular block (24).
9. The loading and unloading robot of claim 3, wherein: the air suction heads (36) are provided with seven groups, and the seven groups of air suction heads (36) are distributed at equal intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910878976.1A CN110561454A (en) | 2019-09-18 | 2019-09-18 | Feeding and discharging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910878976.1A CN110561454A (en) | 2019-09-18 | 2019-09-18 | Feeding and discharging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110561454A true CN110561454A (en) | 2019-12-13 |
Family
ID=68780874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910878976.1A Pending CN110561454A (en) | 2019-09-18 | 2019-09-18 | Feeding and discharging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110561454A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112938445A (en) * | 2021-01-28 | 2021-06-11 | 衡阳师范学院 | Based on commodity circulation is article goods conveyor for website |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101412216A (en) * | 2008-11-20 | 2009-04-22 | 中国农业大学 | Universal fruit tree manipulator |
| CN103448052A (en) * | 2012-06-04 | 2013-12-18 | 盐城市昱博自动化设备有限公司 | Novel vacuum handling manipulator |
| CN209139206U (en) * | 2018-11-05 | 2019-07-23 | 安徽理工大学 | A kind of Material Sorting manipulator |
-
2019
- 2019-09-18 CN CN201910878976.1A patent/CN110561454A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101412216A (en) * | 2008-11-20 | 2009-04-22 | 中国农业大学 | Universal fruit tree manipulator |
| CN103448052A (en) * | 2012-06-04 | 2013-12-18 | 盐城市昱博自动化设备有限公司 | Novel vacuum handling manipulator |
| CN209139206U (en) * | 2018-11-05 | 2019-07-23 | 安徽理工大学 | A kind of Material Sorting manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112938445A (en) * | 2021-01-28 | 2021-06-11 | 衡阳师范学院 | Based on commodity circulation is article goods conveyor for website |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191213 |
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| RJ01 | Rejection of invention patent application after publication |