CN111332778A - Robot composite clamp for carrying turnover box and carton box - Google Patents
Robot composite clamp for carrying turnover box and carton box Download PDFInfo
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- CN111332778A CN111332778A CN202010251733.8A CN202010251733A CN111332778A CN 111332778 A CN111332778 A CN 111332778A CN 202010251733 A CN202010251733 A CN 202010251733A CN 111332778 A CN111332778 A CN 111332778A
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- cylinders
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- turnover box
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- connecting rod
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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
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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
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/025—Boxes
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention relates to a robot composite clamp for carrying a turnover box and a carton, which comprises a support, a turnover box carrying mechanism and a carton adsorption mechanism, wherein the turnover box carrying mechanism and the carton adsorption mechanism are arranged at the bottom of the support, the support is connected with a mechanical arm, the turnover box carrying mechanism is composed of two first thin cylinders, two guide rod cylinders, an L-shaped hook plate and a turnover box top positioning and pressing mechanism, two slide rails are arranged at the bottom of the support, the two guide rod cylinders are respectively arranged in a cylinder mounting seat, the two cylinder mounting seats are respectively connected onto the two slide rails in a sliding manner through a slide block, an L-shaped hook plate is respectively arranged at the output shaft ends of the two guide rod cylinders, and the two L-shaped hook plates are oppositely arranged.
Description
Technical Field
The invention relates to a carrying composite clamp, in particular to a robot composite clamp for carrying a turnover box and a carton.
Background
The anchor clamps that present customer used can only singly snatch turnover case or carton, and this type of anchor clamps can't realize snatching the turnover case and can snatch the carton again and carry out the pile up neatly. The grabbing mechanism of the carton carrying clamp generally adopts a vacuum sucking mode, one type of clamp does not have an anti-falling protection mechanism because of manual operation carrying, and the other type of robot sucking disc clamp has a protection mechanism, but can not compatibly grab cartons of different specifications and different weights for stacking.
Disclosure of Invention
According to the invention, the carton protection mechanism is arranged, and after the carton is lifted for a short distance, the cylinder drives the protection mechanism to clamp two side surfaces and the bottom of the carton, so that the product damage caused by the fact that the carton falls down after the sucker loses vacuum due to an emergency is effectively prevented; and this flexible protection mechanism can clip the carton of the different specifications of certain size scope, and does not influence whole anchor clamps and snatch the plastics turnover case, and provides a compound anchor clamps of robot for carrying turnover case and carton.
In order to solve the technical problem, the invention provides a robot composite clamp for carrying a turnover box and a carton, which is characterized in that: the turnover box carrying mechanism and the carton adsorption mechanism are arranged at the bottom of the support, the support is connected with the mechanical arm, the turnover box carrying mechanism is composed of two first thin cylinders, two guide rod cylinders, an L-shaped hook plate and a turnover box top positioning and pressing mechanism, two slide rails are arranged at the bottom of the support, the two guide rod cylinders are respectively arranged in a cylinder mounting seat, the two cylinder mounting seats are respectively connected to the two slide rails through a slide block in a sliding manner, the two L-shaped hook plates are respectively arranged at the shaft outlet ends of the two guide rod cylinders and are oppositely arranged, a mounting seat is further arranged at the bottom of the support between the two slide rails, the first thin cylinders are respectively arranged on the two side walls of the mounting seat, the shaft outlet ends of the two first thin cylinders are respectively connected with the cylinder mounting seats, the cylinder mounting seat horizontally slides along the sliding rail under the driving of the first thin cylinders, and the positioning and pressing mechanism at the top of the turnover box is mounted at the bottom of the support between the two first thin cylinders.
Further: the turnover box top positioning and pressing mechanism is composed of two duplex cylinders, a pressing plate and a guide block, wherein the two duplex cylinders are connected to the bottom of the support through second cylinder mounting seats respectively, the output shaft ends of the two duplex cylinders are connected to the top of the pressing plate respectively, the pressing plate is horizontally placed, and the guide block is mounted at the bottoms of four legs of the pressing plate respectively.
And further: the method for carrying and stacking by adopting the turnover box carrying mechanism comprises the following steps:
s1: the robot composite gripper resets, all cylinders are closed, and at the moment, the carton protection mechanism keeps opening;
s2: the roller line conveys the plastic turnover box with the products to a proper position and then positions the plastic turnover box, the robot moves to the upper part of the turnover box, and simultaneously two first thin cylinders are opened, and then two guide rod cylinders are also opened;
s3: after the robot moves to the turnover box grabbing position, the two first thin cylinders are closed to clamp the turnover box, the two duplex cylinders are opened synchronously, and the turnover box is pressed through the guide block on the pressing plate;
s4: after the transfer box is conveyed to the stacking position by the robot, one thin cylinder is opened, one guide rod cylinder is closed, the transfer box is pushed to the right position by the robot by utilizing a hook plate on the other guide rod cylinder, and the upper transfer box and the lower transfer box can be embedded after the transfer box is in place;
s5: and the robot moves to reset and carries the next plastic turnover box in sequence.
And further: the carton adsorption mechanism comprises a carton protection mechanism, two second thin cylinders, a vacuum device and a vacuum chuck, the vacuum chuck is installed at the bottom of the installation seat and connected with the vacuum device arranged on the support, the vacuum chuck is vacuumized through the vacuum device to generate adsorption force, and the two second thin cylinders are installed on two side walls between the two second thin cylinders and connected with the carton protection mechanism.
And further: the carton protection mechanism comprises two flexible retainers, a connecting rod mechanism, fixing plates, springs and guide rods, wherein the two flexible retainers are also L-shaped, the two flexible retainers are respectively connected onto one fixing plate through the guide rods, the springs are arranged between the flexible retainers and the fixing plates, and the second thin cylinder is connected with the fixing plates through the connecting rod mechanism.
And further: the connecting rod mechanism comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is connected with the shaft outlet end of the second thin cylinder, the other end of the first connecting rod is connected onto the second connecting rod, two ends of the first connecting rod are respectively movably connected with the second thin cylinder and the second connecting rod, one end of the second connecting rod is connected with a connecting seat arranged on the side wall of the mounting seat, the other end of the second connecting rod is connected onto a fixing plate, two ends of the second connecting rod are respectively movably connected with the connecting seat and the fixing plate, and the fixing plate pushes the first connecting rod to overturn around the connecting position of the second connecting rod and the connecting seat through the second thin cylinder.
And further: the method for carrying and stacking by adopting the carton adsorption mechanism comprises the following steps:
a1: the robot composite gripper resets, all cylinders are closed, and at the moment, the carton protection mechanism keeps opening;
a2: the corrugated case containing the products is conveyed in place by the roller line and then positioned, the robot moves to the position above the corrugated case, the corrugated case is lifted to a certain height by using the vacuum chuck, the two second thin cylinders are opened to enable the connecting rod mechanism to embrace the two sides of the corrugated case, the clamp plate can be attached to the side face of the corrugated case through the expansion and contraction of the spring on the flexible retainer, and the L-shaped clamp plate can effectively prevent the corrugated case from falling onto the ground after the vacuum is lost;
a3: the robot snatchs and carries to pile up neatly position top after the carton, and accurate pile up neatly carries out after two slim cylinder closed protection devices of second are opened, resets after the pile up neatly is accomplished and carries next carton in proper order.
After adopting the structure, the invention has the beneficial effects that:
1. the composite clamp is provided with a fine positioning mechanism and a stacking side pushing mechanism for grabbing and carrying turnover boxes of specified specifications and different types. The positioning mechanism can guarantee that the robot can accurately grab the turnover box, and the turnover box can be prevented from moving in the carrying process.
2. Adopt 4 vacuum chuck openly to snatching the good carton of packing and hold, the carton mentions high back cylinder drive protection mechanism of short distance and cliies two sides of carton and at the bottom of the pocket, prevents effectively that the sucking disc from leading to the product to damage because the carton drops after emergency loses the vacuum. The flexible protection mechanism can clamp cartons of different specifications within a certain size range, and does not influence the whole clamp to grab the plastic turnover box.
3. Carry the pile up neatly to the plastics turnover case, on the integrated anchor clamps of carton transport pile up neatly function, the protection mechanism of carton can also be compatible the different specifications of certain limit, this composite clamp compact structure, and is multiple functional, and cost control is also fine.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a front view of the cylinder of the present invention as closed.
Fig. 2 is a front view of the first low profile cylinder of the present invention when open.
Fig. 3 is a structural view of the turnover box conveying mechanism of the present invention during conveying.
Fig. 4 is a structural view of the turnover box conveying mechanism during stacking.
Figure 5 is a side view of the cylinder of the present invention closed.
Fig. 6 is a structural view of the carton suction mechanism of the present invention during conveyance.
Fig. 7 is a structural diagram of the carton adsorption mechanism during stacking.
Detailed Description
As shown in fig. 1 and 2, the robot compound fixture for transporting the turnover box and the carton comprises a support 1, a turnover box transporting mechanism and a carton adsorption mechanism, wherein the turnover box transporting mechanism and the carton adsorption mechanism are all installed at the bottom of the support, the support is connected with a mechanical arm, the turnover box transporting mechanism is composed of two first thin cylinders 2, two guide rod cylinders 3, an L-shaped hook plate 4 and a turnover box top positioning and pressing mechanism, two slide rails 5 are arranged at the bottom of the support, the two guide rod cylinders are respectively installed in a cylinder installation seat 6, the two cylinder installation seats are respectively connected to the two slide rails in a sliding manner through a slide block 7, an L-shaped hook plate is respectively installed at the output shaft end of each guide rod cylinder, the two L-shaped hook plates are oppositely arranged, an installation seat 22 is further arranged at the bottom of the support between the two slide rails 5, the turnover box is characterized in that two side walls of the mounting seat are respectively provided with a first thin cylinder, the output shaft ends of the two first thin cylinders are respectively connected with the cylinder mounting seat, the cylinder mounting seat is driven by the first thin cylinders to horizontally slide along the sliding rail, and the top positioning and pressing mechanism of the turnover box is arranged at the bottom of the support between the two first thin cylinders.
The turnover box top positioning and pressing mechanism shown in fig. 1 and 2 is composed of two duplex cylinders 8, a pressing plate 9 and a guide block 10, wherein the two duplex cylinders are respectively connected to the bottom of a support through second cylinder mounting seats 21, the output shaft ends of the two duplex cylinders are respectively connected to the top of the pressing plate, the pressing plate is horizontally arranged, and the guide blocks are respectively mounted at the bottoms of four legs of the pressing plate.
The method for carrying and palletizing by using the turnover box carrying mechanism shown in fig. 1, 2, 3 and 4 comprises the following steps:
s1: the robot composite gripper resets, all cylinders are closed, and at the moment, the carton protection mechanism keeps opening;
s2: the roller line conveys the plastic turnover box with the products to a proper position and then positions the plastic turnover box, the robot moves to the upper part of the turnover box, and simultaneously two first thin cylinders are opened, and then two guide rod cylinders are also opened;
s3: after the robot moves to the turnover box grabbing position, the two first thin cylinders are closed to clamp the turnover box, the two duplex cylinders are opened synchronously, and the turnover box is pressed through the guide block on the pressing plate;
s4: after the transfer box is conveyed to the stacking position by the robot, one thin cylinder is opened, one guide rod cylinder is closed, the transfer box is pushed to the right position by the robot by utilizing a hook plate on the other guide rod cylinder, and the upper transfer box and the lower transfer box can be embedded after the transfer box is in place;
s5: and the robot moves to reset and carries the next plastic turnover box in sequence.
The carton suction mechanism shown in fig. 5 and 6 includes a carton protection mechanism, two second thin air cylinders 11, a vacuum device 12 and a vacuum chuck 13, the vacuum chuck is installed at the bottom of the mounting seat and connected to the vacuum device installed on the bracket, the vacuum chuck generates suction force by performing vacuum pumping through the vacuum device, and the two second thin air cylinders 11 are installed on two side walls therebetween and connected to the carton protection mechanism. The robotic composite clamp for handling totes and cartons as claimed in claim 3, wherein: the carton protection mechanism comprises two flexible retainers 14, a link mechanism, a fixing plate 15, a spring 16 and a guide rod 17, wherein the two flexible retainers are also L-shaped, the two flexible retainers are respectively connected to one fixing plate through the guide rod 23, the spring is arranged between the two flexible retainers and the fixing plate, and the second thin cylinder is connected with the fixing plate through the link mechanism.
The link mechanism as shown in fig. 5 and 6 includes a first link 18 and a second link 19, one end of the first link is connected to an output shaft end of the second thin cylinder, the other end of the first link is connected to the second link, two ends of the first link are respectively movably connected to the second thin cylinder and the second link, one end of the second link is connected to a connecting seat 20 disposed on a side wall of the mounting seat, the other end of the second link is connected to a fixing plate, two ends of the second link are respectively movably connected to the connecting seat and the fixing plate, and the fixing plate pushes the first link to turn around a connection position of the second link and the connecting seat through the second thin cylinder.
The method for carrying and stacking by using the carton adsorption mechanism as shown in fig. 5, 6 and 7 comprises the following steps:
a1: the robot composite gripper resets, all cylinders are closed, and at the moment, the carton protection mechanism keeps opening;
a2: the corrugated case containing the products is conveyed in place by the roller line and then positioned, the robot moves to the position above the corrugated case, the corrugated case is lifted to a certain height by using the vacuum chuck, the two second thin cylinders are opened to enable the connecting rod mechanism to embrace the two sides of the corrugated case, the clamp plate can be attached to the side face of the corrugated case through the expansion and contraction of the spring on the flexible retainer, and the L-shaped clamp plate can effectively prevent the corrugated case from falling onto the ground after the vacuum is lost;
a3: the robot snatchs and carries to pile up neatly position top after the carton, and accurate pile up neatly carries out after two slim cylinder closed protection devices of second are opened, resets after the pile up neatly is accomplished and carries next carton in proper order.
In conclusion, the beneficial effects that adopt to have after above-mentioned structure are: 1. the composite clamp is provided with a fine positioning mechanism and a stacking side pushing mechanism for grabbing and carrying turnover boxes of specified specifications and different types. The positioning mechanism can guarantee that the robot can accurately grab the turnover box, and the turnover box can be prevented from moving in the carrying process. 2. Adopt 4 vacuum chuck openly to snatching the good carton of packing and hold, the carton mentions high back cylinder drive protection mechanism of short distance and cliies two sides of carton and at the bottom of the pocket, prevents effectively that the sucking disc from leading to the product to damage because the carton drops after emergency loses the vacuum. The flexible protection mechanism can clamp cartons of different specifications within a certain size range, and does not influence the whole clamp to grab the plastic turnover box. 3. Carry the pile up neatly to the plastics turnover case, on the integrated anchor clamps of carton transport pile up neatly function, the protection mechanism of carton can also be compatible the different specifications of certain limit, this composite clamp compact structure, and is multiple functional, and cost control is also fine.
Claims (7)
1. The utility model provides a compound anchor clamps of robot for carrying turnover case and carton which characterized in that: the turnover box carrying mechanism and the carton adsorption mechanism are arranged at the bottom of the support, the support is connected with a mechanical arm, the turnover box carrying mechanism is composed of two first thin cylinders (2), two guide rod cylinders (3), an L-shaped hook plate (4) and a turnover box top positioning and pressing mechanism, two sliding rails (5) are arranged at the bottom of the support, the two guide rod cylinders are respectively arranged in a cylinder mounting seat (6), the two cylinder mounting seats are respectively connected on the two sliding rails in a sliding manner through a sliding block (7), the shaft outlet ends of the two guide rod cylinders are respectively provided with an L-shaped hook plate, the two L-shaped hook plates are oppositely arranged, the bottom of the support between the two sliding rails (5) is also provided with a mounting seat, and two first thin cylinders are respectively arranged on two side walls of the mounting seat, the output shaft ends of the two first thin cylinders are respectively connected with a cylinder mounting seat, the cylinder mounting seats are driven by the first thin cylinders to horizontally slide along the sliding rails, and the turnover box top positioning and pressing mechanism is mounted at the bottom of the support between the two first thin cylinders.
2. The robotic composite clamp for handling totes and cartons as claimed in claim 1, wherein: the turnover box top positioning and pressing mechanism is composed of two duplex cylinders (8), a pressing plate (9) and guide blocks (10), wherein the two duplex cylinders are connected to the bottom of the support through second cylinder mounting seats respectively, the shaft outlet ends of the two duplex cylinders are connected to the tops of the pressing plate respectively, the pressing plate is horizontally placed, and the guide blocks are mounted at the bottoms of four legs of the pressing plate respectively.
3. The robotic composite clamp for handling totes and cartons as claimed in claim 2, wherein: the method for carrying and stacking by adopting the turnover box carrying mechanism comprises the following steps:
s1: the robot composite gripper resets, all cylinders are closed, and at the moment, the carton protection mechanism keeps opening;
s2: the roller line conveys the plastic turnover box with the products to a proper position and then positions the plastic turnover box, the robot moves to the upper part of the turnover box, and simultaneously two first thin cylinders are opened, and then two guide rod cylinders are also opened;
s3: after the robot moves to the turnover box grabbing position, the two first thin cylinders are closed to clamp the turnover box, the two duplex cylinders are opened synchronously, and the turnover box is pressed through the guide block on the pressing plate;
s4: after the transfer box is conveyed to the stacking position by the robot, one thin cylinder is opened, one guide rod cylinder is closed, the transfer box is pushed to the right position by the robot by utilizing a hook plate on the other guide rod cylinder, and the upper transfer box and the lower transfer box can be embedded after the transfer box is in place;
s5: and the robot moves to reset and carries the next plastic turnover box in sequence.
4. The robotic composite clamp for handling totes and cartons as claimed in claim 1, wherein: the carton adsorption mechanism comprises a carton protection mechanism, two second thin air cylinders (11), a vacuum device (12) and a vacuum sucker (13), the vacuum sucker is installed at the bottom of the installation seat and connected with the vacuum device arranged on the support, the vacuum sucker performs vacuumizing through the vacuum device to generate adsorption force, and the two second thin air cylinders (11) are installed on two side walls between the two second thin air cylinders and connected with the carton protection mechanism.
5. The robotic composite clamp for handling totes and cartons as claimed in claim 3, wherein: the carton protection mechanism comprises a flexible retainer (14), a link mechanism, a fixing plate (15), a spring (16) and guide rods (17), wherein the flexible retainer is also L-shaped, the number of the flexible retainers is two, the two flexible retainers are respectively connected onto the fixing plate through the guide rods, the spring is arranged between the flexible retainer and the fixing plate, and the second thin cylinder is connected with the fixing plate through the link mechanism.
6. The robotic composite clamp for handling totes and cartons as claimed in claim 4, wherein: the connecting rod mechanism comprises a first connecting rod (18) and a second connecting rod (19), one end of the first connecting rod is connected with the output shaft end of the second thin cylinder, the other end of the first connecting rod is connected onto the second connecting rod, two ends of the first connecting rod are respectively movably connected with the second thin cylinder and the second connecting rod, one end of the second connecting rod is connected with a connecting seat (20) arranged on the side wall of the mounting seat, the other end of the second connecting rod is connected onto the fixing plate, two ends of the second connecting rod are respectively movably connected with the connecting seat and the fixing plate, and the fixing plate pushes the first connecting rod to overturn around the connecting position of the second connecting rod and the connecting seat through the second thin cylinder.
7. The robotic composite clamp for handling totes and cartons as claimed in claim 1, wherein: the method for carrying and stacking by adopting the carton adsorption mechanism comprises the following steps:
a1: the robot composite gripper resets, all cylinders are closed, and at the moment, the carton protection mechanism keeps opening;
a2: the corrugated case containing the products is conveyed in place by the roller line and then positioned, the robot moves to the position above the corrugated case, the corrugated case is lifted to a certain height by using the vacuum chuck, the two second thin cylinders are opened to enable the connecting rod mechanism to embrace the two sides of the corrugated case, the clamp plate can be attached to the side face of the corrugated case through the expansion and contraction of the spring on the flexible retainer, and the L-shaped clamp plate can effectively prevent the corrugated case from falling onto the ground after the vacuum is lost;
a3: the robot snatchs and carries to pile up neatly position top after the carton, and accurate pile up neatly carries out after two slim cylinder closed protection devices of second are opened, resets after the pile up neatly is accomplished and carries next carton in proper order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010251733.8A CN111332778A (en) | 2020-04-01 | 2020-04-01 | Robot composite clamp for carrying turnover box and carton box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010251733.8A CN111332778A (en) | 2020-04-01 | 2020-04-01 | Robot composite clamp for carrying turnover box and carton box |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111332778A true CN111332778A (en) | 2020-06-26 |
Family
ID=71176866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010251733.8A Pending CN111332778A (en) | 2020-04-01 | 2020-04-01 | Robot composite clamp for carrying turnover box and carton box |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111332778A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717660A (en) * | 2020-07-14 | 2020-09-29 | 济南瑞开电气有限公司 | Automatic feeding and discharging machine for plates |
| CN113307031A (en) * | 2021-07-01 | 2021-08-27 | 李东明 | Operation method of robot composite gripper for gripping luggage |
| CN114873291A (en) * | 2022-06-08 | 2022-08-09 | 北京发那科机电有限公司 | Stacking paw |
-
2020
- 2020-04-01 CN CN202010251733.8A patent/CN111332778A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717660A (en) * | 2020-07-14 | 2020-09-29 | 济南瑞开电气有限公司 | Automatic feeding and discharging machine for plates |
| CN111717660B (en) * | 2020-07-14 | 2021-12-03 | 济南瑞开电气有限公司 | Automatic feeding and discharging machine for plates |
| CN113307031A (en) * | 2021-07-01 | 2021-08-27 | 李东明 | Operation method of robot composite gripper for gripping luggage |
| CN114873291A (en) * | 2022-06-08 | 2022-08-09 | 北京发那科机电有限公司 | Stacking paw |
| CN114873291B (en) * | 2022-06-08 | 2024-05-10 | 北京发那科机电有限公司 | Pile up neatly hand claw |
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