CN111547295A - Beer bottle gripping device and method - Google Patents
Beer bottle gripping device and method Download PDFInfo
- Publication number
- CN111547295A CN111547295A CN202010456316.7A CN202010456316A CN111547295A CN 111547295 A CN111547295 A CN 111547295A CN 202010456316 A CN202010456316 A CN 202010456316A CN 111547295 A CN111547295 A CN 111547295A
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- grabbing
- gripping
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- bottle
- rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B21/00—Packaging or unpacking of bottles
- B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
- B65B21/08—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers
- B65B21/12—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers using grippers engaging bottles, e.g. bottle necks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
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Abstract
The invention discloses a beer bottle grabbing device and method, which comprises an installation arm, wherein the middle position of the upper end of the installation arm is connected with a steering piece for driving the installation arm to rotate; the grabbing component comprises an installation plate, a substrate seat is arranged above the installation plate, the upper end of the substrate seat is connected with an output end of a telescopic rod arranged on an installation arm, the telescopic rod is used for adjusting the grabbing height of the grabbing component, and the substrate seat is connected with the installation plate through a rotating mechanism.
Description
Technical Field
The invention relates to the technical field of gripping devices, in particular to a beer bottle gripping device and method.
Background
In the automatic beer boxing process, a mechanical arm is required to transfer beer bottles into a packaging box. In the prior art (with the publication number of CN208616253U), a vacuum chuck manipulator is generally adopted as a manipulator for grabbing a beer bottle, but the vacuum chuck manipulator needs to be provided with a complicated gas path and equipment such as a vacuum pump, so that the manufacturing cost is high, the energy consumption is high during use, when the beer bottle is grabbed, a second driving cylinder drives a dislocation clamping plate assembly to move downwards, the upper end of the neck of the beer bottle enters a clamping hole, and then a first driving cylinder drives a middle clamping plate to move horizontally, so that the neck of the beer bottle is clamped and fixed in the clamping hole; then the clamping plate assembly is driven to move upwards by the second driving cylinder, so that the beer bottle can be lifted; then the straight line driver drives the clamping plate component to move transversely, so that beer bottles can be transferred to the upper part of the packing box; rethread second actuating cylinder drive splint subassembly moves down to splint return in the middle of through the drive of first actuating cylinder, can put into the packing box with the beer bottle, but this kind of mode of snatching is very high to the required precision when snatching, causes the bottleneck damage easily when snatching, needs often to revise when in-service use.
In view of the above problems, a beer bottle gripping device and method are provided.
Disclosure of Invention
The invention aims to provide a beer bottle gripping device and a beer bottle gripping method, which are used for solving the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a beer bottle grabbing device comprises a mounting arm, wherein a steering piece for driving the mounting arm to rotate is connected to the middle position of the upper end of the mounting arm, grabbing components for grabbing beer bottles are arranged at the left end and the right end of the mounting arm respectively, and the mounting arm is driven to rotate through the steering piece;
the grabbing assembly comprises an installation plate, a substrate seat is arranged above the installation plate, the upper end of the substrate seat is connected with the output end of a telescopic rod arranged on an installation arm, the telescopic rod is used for adjusting the grabbing height of the grabbing assembly, the substrate seat is connected with the installation plate through a rotating mechanism, and the rotating mechanism is used for adjusting the installation plate to rotate so as to adjust the grabbing angle;
the lower end of the mounting plate is provided with at least two grabbing pieces, each grabbing piece comprises a connecting block which is arranged on the lower end face of the mounting plate in a sliding manner, a grabbing barrel which is sleeved on the neck of the bottle body is arranged below the connecting block, and the lower end of the grabbing barrel is provided with a guide cone which is used for guiding the upper end of the bottle body to enter the grabbing barrel, so that the bottle neck can smoothly extend into the grabbing barrel through the guide of the guide cone during grabbing;
the upper end of the grabbing barrel is fixedly connected with the connecting block through the flexible piece, so that the flexible piece can be bent during grabbing, and the grabbing barrel is better matched with the bottle neck;
the outside of the grabbing barrel is provided with a pneumatic extrusion piece used for positioning the neck of the bottle body.
As a further scheme of the invention: the diameter of the lower end opening of the guide cone is at least twice that of the grabbing barrel.
As a still further scheme of the invention: the pneumatic extrusion piece includes that the array distributes at the piston sleeve that snatchs a section of thick bamboo outside, and every piston sleeve is inside all sliding fit has a piston piece, it is fixed to be connected through reset spring between the piston piece outside and the piston sleeve inner wall, an extrusion piece is installed to piston piece opposite side, it sets up the opening that the extrusion piece of being convenient for stretched into to snatch a section of thick bamboo surface, the plane of extrusion piece is equipped with the blotter that is used for the extrusion bottle, the air inlet end of piston sleeve is connected the air guide through the air duct and is responsible for, and the air feed end that the air guide was responsible for is connected with the air feed end.
As a still further scheme of the invention: the buffer pad is made of rubber materials.
As a still further scheme of the invention: the flexible piece is including setting up the locating piece at the connecting block lower extreme, and the terminal surface is equipped with spherical chamber and the connecting ball of cooperation in spherical chamber under the locating piece, the connecting ball downside is connected fixedly through the jib with snatch a section of thick bamboo, jib outside array distribution has at least three with the connecting block with snatch a section of thick bamboo top connection's spring beam, be equipped with the pressure sensor who is used for detecting the crooked degree of spring beam on the section of thick bamboo that snatchs at spring beam bottom place, pressure sensor and control panel electric connection.
As a still further scheme of the invention: the rotating mechanism comprises a rotating plate which is rotatably arranged at the lower end of a base plate seat, a positioning rod which is fixedly connected with the mounting plate is arranged at the lower end of the rotating plate, a driven gear ring is arranged on the outer side of the rotating plate, a rotating motor is arranged at the lower end of the base plate seat, and a driving gear arranged at the output end of the rotating motor is meshed with the driven gear ring.
As a still further scheme of the invention: still be equipped with on the mounting panel and be used for adjusting the interval in order to realize the distance regulating part to snatching an interval adjustment between the adjacent connecting block, apart from the regulating part including seting up the spout mouth on the mounting panel, sliding fit has the connecting piece of being connected with the connecting block upper end in the spout mouth, the connecting piece outside is equipped with the arch of embedding spout mouth inner wall recess, the connecting piece upper end is connected fixedly, every with the sliding block that slides and set up on the mounting panel surface the sliding block upper end all is equipped with a transmission location axle, the transmission location axle is fixed with the fixed rotating shaft end connection of shear bar, the push rod is connected to the input of shear bar, the push rod is connected fixedly with the flexible end of adjusting the telescopic link, is close to and adjusts through the bolt locking between the.
Compared with the prior art, the invention has the beneficial effects that: the device is designed aiming at the defects of the existing device, the grabbing end can be guided, so that grabbing is smoother, damage to a bottle opening is reduced, grabbing deviation is detected by the flexible piece, grabbing pieces can be corrected in time, the distance between the grabbing pieces can be adjusted, grabbing and unloading can be performed simultaneously, and the practicability is high.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic diagram of the structure of the pneumatic extrusion of the present invention.
Fig. 3 is a schematic structural view of the distance adjusting member of the present invention.
FIG. 4 is a schematic view of the structure of the flexible member of the present invention
Wherein: the device comprises a steering part 1, a driven gear ring 2, a rotating plate 3, an expansion rod 4, a distance adjusting part 5, a connecting block 6, a connecting ball 7, a suspension rod 8, a pressure sensor 9, a spring rod 10, a grabbing cylinder 11, an air duct 12, a guide cone 13, a pneumatic extrusion part 14, a mounting plate 15, a high-pressure air supply box 16, an air guide main pipe 17, a substrate seat 18, a mounting arm 19 and a rotating motor 20;
the device comprises a sliding groove opening 51, a shear rod 52, a sliding block 53, a transmission positioning shaft 54, a push rod 55 and an adjusting telescopic rod 56;
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
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.
Example 1
Referring to fig. 1-4, in the embodiment of the invention, a beer bottle gripping device comprises a mounting arm 19, the middle position of the upper end of the mounting arm 19 is connected with a steering member 1 for driving the mounting arm to rotate, the left end and the right end of the mounting arm 19 are respectively provided with a gripping assembly for gripping a beer bottle, the mounting arm 19 is driven to rotate by the steering member 1, the gripping assemblies can be switched, so that one gripping assembly is used for gripping the beer bottle, and the other gripping assembly is used for sending the gripped beer bottle into a packaging box, so that the two operations are perfectly matched;
the grabbing assembly comprises an installation plate 15, a substrate base 18 is arranged above the installation plate 15, the upper end of the substrate base 18 is connected with the output end of a telescopic rod 4 arranged on an installation arm 19, the telescopic rod 4 is used for adjusting the grabbing height of the grabbing assembly, the substrate base 18 is connected with the installation plate 15 through a rotating mechanism, and the rotating mechanism is used for adjusting the installation plate 15 to rotate so as to adjust the grabbing angle;
the lower end of the mounting plate 15 is provided with at least two grabbing parts, each grabbing part comprises a connecting block 6 which is slidably arranged on the lower end face of the mounting plate 15, a grabbing barrel 11 which is sleeved on the neck of the bottle body is arranged below the connecting block 6, the lower end of the grabbing barrel 11 is provided with a guide cone 13 which is used for guiding the upper end of the bottle body to enter the grabbing barrel 11, and the diameter of the lower port of the guide cone 13 is at least twice of that of the grabbing barrel 11, so that the bottle neck can smoothly extend into the grabbing barrel 11 under the guidance of the guide cone 13 during grabbing;
the upper end of the grabbing barrel 11 is fixedly connected with the connecting block 6 through a flexible piece, so that the flexible piece can be bent during grabbing, and the grabbing barrel 11 is better matched with the bottle neck;
the outside of the grabbing barrel 11 is provided with a pneumatic extrusion part 14 for positioning the neck of the bottle body, the pneumatic extrusion part 14 comprises piston sleeves 141 distributed outside the grabbing barrel 11 in an array manner, a piston block 143 is matched inside each piston sleeve 141 in a sliding manner, the outside of each piston block 143 is connected and fixed with the inner wall of each piston sleeve 141 through a return spring 142, an extrusion block 144 is installed on the other side of each piston block 143, the surface of the grabbing barrel 11 is provided with an opening into which the extrusion block 144 conveniently extends, the extrusion surface of each extrusion block 144 is provided with a cushion 145 for extruding the bottle body, the air inlet end of each piston sleeve 141 is connected with the main air pipe 17 through an air guide pipe 12, and the air supply end of the main air pipe 17 is connected with the air supply end of the high-pressure air;
the high-pressure air supply box 16 can input air into the box piston sleeve 141 and then push the piston block 143 to move, and the extrusion block at the end part of the piston block 143 can generate extrusion force on the periphery of the neck of the bottle body, so that the bottle body is positioned;
the flexible part comprises a positioning block arranged at the lower end of the connecting block 6, a spherical cavity and a connecting ball 7 matched in the spherical cavity are arranged on the lower end face of the positioning block, the lower side of the connecting ball 7 is fixedly connected with a grabbing cylinder 11 through a hanging rod 8, at least three spring rods 10 for connecting the connecting block 6 with the top of the grabbing cylinder 11 are distributed in an array mode on the outer side of the hanging rod 8, a pressure sensor 9 for detecting the bending degree of the spring rods 10 is arranged on the grabbing cylinder 11 where the bottom of the spring rods 10 is located, and the pressure sensor 9 is electrically connected with the control panel;
when the bottle body grabbing device is used, due to the position deviation of the bottle body and the grabbing barrel, the grabbing barrel can be bent when the bottle body grabbing device is used for grabbing, the hanging rod 8 can rotate along the connecting ball 7 at the moment, the spring rod 10 on one side can be bent at the moment, an extrusion force is further generated on the pressure sensor, the bending degree is reflected by the size of the extrusion force, when the bending degree is larger than a set value, the situation that the position deviation of the bottle body and the grabbing barrel which is originally set is large is shown, and timely maintenance is needed by workers, so that accidents are avoided;
the rotating mechanism comprises a rotating plate 3 which is rotatably arranged at the lower end of a substrate seat 18, a positioning rod which is fixedly connected with an installation plate 15 is arranged at the lower end of the rotating plate 3, a driven gear ring 2 is arranged on the outer side of the rotating plate 3, a rotating motor 20 is arranged at the lower end of the substrate seat 18, a driving gear arranged at the output end of the rotating motor 20 is meshed with the driven gear ring 2, and the rotating motor 20 is matched with a gear and the gear ring for transmission, so that the substrate seat 18 is driven to rotate.
Example 2
The difference from example 1 is: the mounting plate 15 is further provided with a distance adjusting piece 5 for adjusting the distance between adjacent connecting blocks 16 to adjust the distance between the grabbers, the distance adjusting piece 5 comprises a sliding groove opening 51 formed in the mounting plate 15, a connecting piece connected with the upper end of the connecting block 6 is arranged in the sliding groove opening 51 in a sliding fit mode, a protrusion embedded into a groove in the inner wall of the sliding groove opening 51 is arranged on the outer side of the connecting piece, the upper end of the connecting piece is fixedly connected with a sliding block 53 arranged on the surface of the mounting plate 15 in a sliding mode, a transmission positioning shaft 54 is arranged at the upper end of each sliding block 53, the transmission positioning shaft 54 is fixedly connected with the end portion of a fixed rotating shaft of the shear rod 52, the input end of the shear rod 52 is connected with a push rod 55, the push rod 55 is fixedly connected with the telescopic end of an adjusting telescopic rod 56;
when the interval between the adjacent grabbing piece needs to be adjusted, the push rod 55 is driven to move by adjusting the telescopic rod 56, and the push rod 55 drives the branches at the input end of the shear rod 52 to be separated or combined, so that the shear rod 52 drives the sliding block 53 to move, and the adjustment of the grabbing interval is realized.
The working principle of the invention is as follows: the interval of adjacent grabbing piece is adjusted through distance adjusting part 5 at first, the angle of snatching of grabbing piece is adjusted through rotary mechanism, then it catches the subassembly through turning to 1 with one of them and shifts to waiting to snatch regional upside, then drive through telescopic link 4 and grab the piece and move down, under the guide of guide cone 13, the bottle neck can get into and grab inside the cover, it is fixed with the bottle neck through pneumatic extruded article 14 afterwards, rotate installation arm 19 through turning to 1 afterwards, make two snatch the switching of subassembly position, another vacant subassembly of snatching begins to snatch the operation, and snatch the subassembly that finishes and unload and carry out the operation, thereby accomplish and snatch and unload going on simultaneously.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. A beer bottle grabbing device and method comprises an installation arm (19), wherein the middle position of the upper end of the installation arm (19) is connected with a steering piece (1) for driving the installation arm to rotate, grabbing components for grabbing beer bottles are respectively arranged at the left end and the right end of the installation arm (19), and the installation arm (19) is driven to rotate through the steering piece (1);
the grabbing device is characterized in that the grabbing component comprises an installation plate (15), a substrate seat (18) is arranged above the installation plate (15), the upper end of the substrate seat (18) is connected with the output end of a telescopic rod (4) arranged on an installation arm (19), the telescopic rod (4) is used for adjusting the grabbing height of the grabbing component, the substrate seat (18) is connected with the installation plate (15) through a rotating mechanism, and the rotating mechanism is used for adjusting the installation plate (15) to rotate so as to adjust the grabbing angle;
the lower end of the mounting plate (15) is provided with at least two grabbing parts, each grabbing part comprises a connecting block (6) which is arranged on the lower end face of the mounting plate (15) in a sliding mode, a grabbing barrel (11) which is sleeved on the neck of the bottle body is arranged below the connecting block (6), the lower end of the grabbing barrel (11) is provided with a guide cone (13) which is used for guiding the upper end of the bottle body to enter the grabbing barrel (11), and therefore when the grabbing is carried out, the bottle neck can be guided by the guide cone (13) to extend into the grabbing barrel (11) more smoothly;
the upper end of the grabbing barrel (11) is fixedly connected with the connecting block (6) through the flexible piece, so that the flexible piece can be bent during grabbing, and the grabbing barrel (11) is better matched with the bottle neck;
the outer side of the grabbing barrel (11) is provided with a pneumatic extrusion piece (14) used for positioning the neck of the bottle body.
2. The beer bottle gripping device and method according to claim 1, wherein the diameter of the lower end opening of the guide cone (13) is at least twice the diameter of the gripping barrel (11).
3. The beer bottle gripping device and method according to claim 1, wherein the pneumatic pressure member (14) comprises an array of piston sleeves (141) distributed outside the gripping cylinder (11), each piston sleeve (141) having a piston block (143) slidably fitted therein, the outer side of the piston block (143) is fixedly connected with the inner wall of the piston sleeve (141) through a return spring (142), an extrusion block (144) is arranged on the other side of the piston block (143), an opening which is convenient for the extrusion block (144) to extend into is arranged on the surface of the grabbing barrel (11), a buffer pad (145) for extruding the bottle body is arranged on the extrusion surface of the extrusion block (144), the air inlet end of the piston sleeve (141) is connected with an air guide main pipe (17) through an air guide pipe (12), and the air supply end of the air guide main pipe (17) is connected with the air supply end of the high-pressure air supply box (16).
4. The beer bottle gripping apparatus and method according to claim 3, wherein the cushion pad (145) is made of rubber material.
5. The beer bottle gripping device and method according to claim 1, wherein the flexible member comprises a positioning block arranged at the lower end of the connecting block (6), a spherical cavity and a connecting ball (7) matched in the spherical cavity are arranged on the lower end surface of the positioning block, the lower side of the connecting ball (7) is fixedly connected with the gripping cylinder (11) through a hanging rod (8), at least three spring rods (10) for connecting the connecting block (6) with the top of the gripping cylinder (11) are distributed in an array manner outside the hanging rod (8), a pressure sensor (9) for detecting the bending degree of the spring rod (10) is arranged on the gripping cylinder (11) at the bottom of the spring rod (10), and the pressure sensor (9) is electrically connected with the control panel.
6. The beer bottle gripping device and the method thereof according to claim 1, wherein the rotating mechanism comprises a rotating plate (3) rotatably arranged at the lower end of a base plate seat (18), the lower end of the rotating plate (3) is provided with a positioning rod fixedly connected with a mounting plate (15), the outer side of the rotating plate (3) is provided with a driven gear ring (2), the lower end of the base plate seat (18) is provided with a rotating motor (20), and the output end of the rotating motor (20) is provided with a driving gear which is meshed with the driven gear ring (2).
7. The beer bottle gripping device and the method according to claim 1, wherein the mounting plate (15) is further provided with a distance adjusting member (5) for adjusting the distance between adjacent connecting blocks (16) to adjust the distance between the gripping members, the distance adjusting member (5) comprises a sliding groove opening (51) formed in the mounting plate (15), a connecting member connected with the upper end of the connecting block (6) is slidably fitted in the sliding groove opening (51), a protrusion embedded in a groove on the inner wall of the sliding groove opening (51) is arranged on the outer side of the connecting member, the upper end of the connecting member is fixedly connected with a sliding block (53) slidably arranged on the surface of the mounting plate (15), the upper end of each sliding block (53) is provided with a transmission positioning shaft (54), the transmission positioning shaft (54) is fixedly connected with the end of the fixed rotating shaft of the shear rod (52), the input end of the shear rod (52) is connected with a push rod (55), the push rod (55) is fixedly connected with the telescopic end of the adjusting telescopic rod (56), and the sliding block (53) close to the adjusting telescopic rod (56) is locked with the mounting plate (15) through a bolt.
8. An operation method of a beer bottle gripping device according to any one of claims 1-7, characterized in that the distance between adjacent gripping members is adjusted by a distance adjusting member (5), the gripping angle of the gripping members is adjusted by a rotating mechanism, then one of the gripping members is transferred to the upper side of the area to be gripped by a steering member (1), then the gripping member is driven by a telescopic rod (44) to move downwards, the neck of the bottle enters the inside of the gripping sleeve under the guidance of a guide cone (13), then the neck of the bottle is fixed by a pneumatic extrusion member (14), and then a mounting arm (19) is rotated by the steering member (1), so that the positions of the two gripping members are switched, the other gripping member which is empty starts the gripping operation, and the gripping member which has finished gripping performs the unloading operation, thereby completing the gripping and unloading operations at the same time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010456316.7A CN111547295A (en) | 2020-05-26 | 2020-05-26 | Beer bottle gripping device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010456316.7A CN111547295A (en) | 2020-05-26 | 2020-05-26 | Beer bottle gripping device and method |
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| CN111547295A true CN111547295A (en) | 2020-08-18 |
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| CN202010456316.7A Pending CN111547295A (en) | 2020-05-26 | 2020-05-26 | Beer bottle gripping device and method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113603339A (en) * | 2021-08-26 | 2021-11-05 | 山东三金玻璃机械有限公司 | Bottle clamping mechanism with multiple bottle pitches |
| CN113636480A (en) * | 2021-10-12 | 2021-11-12 | 南通为邦电气工程有限公司 | High-safety intelligent energy-saving crane |
| CN115070022A (en) * | 2022-05-12 | 2022-09-20 | 广东瑞振科技有限公司 | Efficient workpiece taking tool, metal part production mold and workpiece taking method |
| CN115535341A (en) * | 2022-11-25 | 2022-12-30 | 成都乾坤动物药业股份有限公司 | Medicine bottle packaging and transferring device and method |
| CN116237970A (en) * | 2023-05-11 | 2023-06-09 | 北京艺力文化发展有限公司 | Grabbing mechanical arm for enamel product processing |
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| CN115070022A (en) * | 2022-05-12 | 2022-09-20 | 广东瑞振科技有限公司 | Efficient workpiece taking tool, metal part production mold and workpiece taking method |
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Application publication date: 20200818 |