CN112917466A - Mechanical arm for taking beverage - Google Patents
Mechanical arm for taking beverage Download PDFInfo
- Publication number
- CN112917466A CN112917466A CN202110334900.XA CN202110334900A CN112917466A CN 112917466 A CN112917466 A CN 112917466A CN 202110334900 A CN202110334900 A CN 202110334900A CN 112917466 A CN112917466 A CN 112917466A
- Authority
- CN
- China
- Prior art keywords
- side wall
- arm
- beverage
- rod
- fixedly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J15/008—Gripping heads and other end effectors with sticking, gluing or adhesive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm for taking beverage from a terminal, which comprises a mechanical terminal taking device, wherein a clamping mechanism and a pasting mechanism are oppositely arranged on the side wall of the mechanical terminal taking device, and the clamping mechanism is connected with the pasting mechanism; fixture includes drive assembly and the relative connecting rod that articulates at drive assembly end, the one end that drive assembly was kept away from to two connecting rods all is connected with the locating piece through the pivot, and the connecting rod can revolute the rotation of axes, fixedly connected with connecting plate on the lateral wall of locating piece, fixed mounting has a plurality of first springs on the lateral wall of connecting plate, the one end fixedly connected with stripper plate of connecting plate is kept away from to first spring, the actuating lever drives the closing lever downstream, the setting is balanced tightly at the fixture block of closing lever end portion and the lateral wall of label, and then can realize taking out the label at the in-process of placing the beverage, be convenient for next time carry out the mark to the beverage when pressing from both sides, do not need the manual work to carry out manual pasting, save a large.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm for taking beverages at the end.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. The mechanical arm is a complex system and has uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.
The mechanical arm generally comprises moving elements (oil cylinders, air cylinders, racks, cams, and the like), a guide device and an arm, and the arm is further provided with a pipeline, a cooling device, a stroke positioning device, an automatic detection device, and the like according to the requirements of the movement and the work of the mechanical arm.
Traditional beverage generally carries through the manual work, can liberate a large amount of labours through the arm, and reduction in production cost, but the arm is because the beverage adopts plastics or easy open can to pack often at the in-process of work, it is direct to press from both sides the clamp to get the beverage and probably lead to the packing to break, and follow-up still probably need the manual work to carry out pasting of label to the beverage body, thereby still can increase manufacturing cost simultaneously with the manpower wasted a large amount of time, consequently need a arm that is used for the beverage end to get.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a mechanical arm for beverage end taking.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mechanical arm for end taking of beverages comprises a mechanical end taking device, wherein a clamping mechanism and a pasting mechanism are oppositely arranged on the side wall of the mechanical end taking device, and the clamping mechanism is connected with the pasting mechanism;
fixture includes drive assembly and the relative connecting rod that articulates on drive assembly is terminal, two drive assembly's one end is all connected with the locating piece through the pivot to the connecting rod, and the connecting rod can revolute the rotation of axes, fixedly connected with connecting plate on the lateral wall of locating piece, fixed mounting has a plurality of first springs on the lateral wall of connecting plate, the one end fixedly connected with stripper plate of connecting plate is kept away from to first spring, pasting the mechanism includes elastic component and storage assembly, elastic component includes actuating lever, closed pole, third spring, the closed pole is connected through the lateral wall of pivot with the actuating lever, and the closed pole can revolute the rotation of axes, the lateral wall fixed connection of third spring and closed pole, the lateral wall fixed connection of the one end of closed pole and actuating lever is kept away from to the third spring.
Preferably, the mechanical end taking device includes a fixing plate, a fixing base, a main arm, a driving arm, and a connecting arm, the fixing base is fixedly mounted on a side wall of the fixing plate, the main arm is disposed on a side wall of the fixing base, the driving arm is disposed on a side wall of the main arm, the connecting arm is disposed on a side wall of the driving arm, a positioning cavity is disposed inside the connecting arm, the driving assembly includes a hydraulic rod fixedly mounted inside the positioning cavity, a transmission rod is fixedly connected to a tail end of an output shaft of the hydraulic rod, a fixing frame is fixedly connected to a side wall of the connecting arm, the transmission rod penetrates from inside of the positioning cavity to inside of the fixing frame, a locking rod is fixedly connected to inside of the fixing frame, the positioning block slides against an outer side wall of the locking rod, and one end of the connecting rod, which is far, and the connecting rod can rotate around the rotating shaft.
Preferably, storage subassembly fixed mounting is at the storage frame on the box lateral wall of admitting air, the inside of storage frame is provided with the second spring relatively, the common fixedly connected with pressure strip of tip of second spring, the inside of storage frame is provided with a plurality of labels, the inside of second spring is provided with a plurality of labels, the pressure strip is kept away from on the lateral wall of second spring and is supported tightly with the label, the storage frame has been kept away from and has been seted up the seal groove on the lateral wall of fixed frame, first landing groove has been seted up to the inside of storage frame, set up the second landing groove corresponding with first landing groove on the lateral wall of the box of admitting air.
Preferably, two the actuating lever symmetry fixed connection is on the lateral wall of transfer line, two the equal fixed mounting in inside of box of admitting air has the gasbag, two equal fixedly connected with connecting pipe on the lateral wall of box of admitting air, the one end that the box of admitting air was kept away from to the connecting pipe is fixed connection with the lateral wall in location chamber.
Preferably, be provided with the conveyer belt on the lateral wall of fixed plate, the beverage has been placed on the lateral wall of conveyer belt, be provided with the viscose on the lateral wall of beverage, be provided with the conveying robot on the lateral wall of fixed plate.
Preferably, a sealing plate is fixedly mounted on the side wall of the output shaft of the hydraulic rod, and the sealing plate is tightly attached to the inside of the connecting arm.
Preferably, a depth camera is fixedly mounted on the side wall of the fixing frame.
Preferably, the tail end of the closing rod is provided with a fixture block, the fixture block is in sliding connection with the side wall of the sealing groove, the fixture block abuts against the side wall of the label, the inner side wall is fixedly provided with a placing block, and the side wall of the placing block is provided with a clamping groove.
Compared with the prior art, the invention has the beneficial effects that:
1. the beverage can be conveyed through the conveyor belt, the depth image information of the beverage is collected through the depth camera arranged on the fixing frame at the moment, the position of the beverage can be captured by utilizing an object three-dimensional pose recognition algorithm, the fixing base is driven to work, the fixing frame can move the position of the beverage through the matching use of the fixing base, the main arm, the driving arm and the connecting arm, the hydraulic rod is started, the hydraulic rod drives the transmission rod to move upwards, the positioning block moves towards the middle part of the locking rod through the connecting rod, the connecting plate moves during the movement of the positioning block, the connecting plate realizes the primary clamping and fixing of the beverage through the first spring and the extrusion plate, meanwhile, the gas in the positioning cavity is discharged into the gas inlet box through the connecting pipe, and the gas pressure in the gas inlet box is gradually increased, make the gasbag begin to expand, the secondary that the inflated gasbag can realize the beverage with the surperficial counterbalance of beverage is tightly fixed, avoids appearing dropping and rock at the in-process of carrying the beverage.
2. Carry out the in-process that the secondary was fixed to the beverage through the gasbag, the gasbag can be pushed the label to the surface of beverage and paste, and the compliance of gasbag self can be so that the label closely laminates with the surface of beverage, at the in-process of placing the beverage, the output shaft of hydraulic stem can drive the transfer line downstream, closing plate can the downstream this moment, thereby with the inside gas resorption of box of admitting air to the inside in location chamber, and the transfer line can make the actuating lever downstream at the in-process of downstream, the actuating lever drives the closed lever downstream, the fixture block that sets up at the closed lever tip offsets tightly with the lateral wall of label, and then can realize taking out the label at the in-process of placing the beverage, be convenient for carry out the subsides mark when getting the beverage next time, do not need the manual pasting of manual work, save a large amount of manpower and manufacturing cost.
Drawings
FIG. 1 is a schematic view of a robotic arm for end-use dispensing of beverages according to the present invention;
FIG. 2 is an enlarged view of part A of the present invention;
FIG. 3 is an enlarged view of portion B of the present invention;
FIG. 4 is an enlarged view of portion C of the present invention;
FIG. 5 is an enlarged view of portion D of the present invention;
FIG. 6 is an enlarged view of section E of the present invention;
fig. 7 is an enlarged view of part F of the present invention.
In the figure: the device comprises a fixing plate 1, a fixing base 2, a main arm 3, a driving arm 4, a conveyor belt 5, a conveying robot 6, a connecting arm 7, a driving rod 8, a connecting pipe 9, a positioning cavity 10, a hydraulic rod 11, a fixing frame 12, a transmission rod 13, a locking rod 14, a beverage 15, a sealing plate 16, a depth camera 17, a positioning block 18, a connecting rod 19, a first spring 20, a squeezing plate 21, a storage frame 22, a second spring 23, a pressing plate 24, a connecting plate 25, an air inlet box 26, an air bag 27, a label 28, a sealing groove 29, a first sliding-off groove 30, a second sliding-off groove 31, a closing rod 32, a third spring 33 and a placing block 34.
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.
Referring to fig. 1-7, a mechanical arm for end-fetching of beverages comprises a mechanical end-fetching device, wherein a clamping mechanism and a pasting mechanism are oppositely arranged on the side wall of the mechanical end-fetching device, and the clamping mechanism is connected with the pasting mechanism;
a conveyor belt 5 is arranged on the side wall of the fixed plate 1, a beverage 15 is placed on the side wall of the conveyor belt 5, viscose is arranged on the side wall of the beverage 15, and a conveying robot 6 is arranged on the side wall of the fixed plate 1;
the clamping mechanism comprises a driving assembly and connecting rods 19 oppositely hinged to the tail ends of the driving assembly, one ends, far away from the driving assembly, of the two connecting rods 19 are connected with a positioning block 18 through rotating shafts, the connecting rods 19 can rotate around the rotating shafts, connecting plates 25 are fixedly connected to the side walls of the positioning block 18, a plurality of first springs 20 are fixedly mounted on the side walls of the connecting plates 25, one ends, far away from the connecting plates 25, of the first springs 20 are fixedly connected with a squeezing plate 21, the pasting mechanism comprises an elastic assembly and a storage assembly, the elastic assembly comprises driving rods 8, a closing rod 32 and a third spring 33, the closing rod 32 is connected with the side wall of the driving rod 8 through the rotating shafts, the closing rod 32 can rotate around the rotating shafts, the third spring 33 is fixedly connected with the side wall of the closing rod 32, one end, far away from the closing rod 32, of the third spring 33 is fixedly, air bags 27 are fixedly arranged in the two air inlet boxes 26, connecting pipes 9 are fixedly connected to the side walls of the two air inlet boxes 26, one ends, far away from the air inlet boxes 26, of the connecting pipes 9 are fixedly connected with the side walls of the positioning cavities 10, and the beverages 15 can be preliminarily clamped through a clamping mechanism;
the mechanical end taking device mechanical arm body comprises a fixing plate 1, a fixing base 2, a main arm 3, a driving arm 4, a connecting arm 7, wherein the fixing base 2 is fixedly installed on the side wall of the fixing base 1, the main arm 3 is arranged on the side wall of the fixing base 2, the driving arm 4 is arranged on the side wall of the main arm 3, the connecting arm 7 is arranged on the side wall of the driving arm 4, a positioning cavity 10 is formed in the connecting arm 7, a driving assembly comprises a hydraulic rod 11 fixedly installed on the inner portion of the positioning cavity 10, a transmission rod 13 is fixedly connected to the tail end of an output shaft of the hydraulic rod 11, a fixing frame 12 is fixedly connected to the side wall of the connecting arm 7, the transmission rod 13 penetrates from the inner portion of the positioning cavity 10 to the inner portion of the fixing frame 12, a locking rod 14 is fixedly connected to the inner portion of the fixing frame 12, a, the connecting rod 19 can rotate around the rotating shaft, a sealing plate 16 is fixedly arranged on the side wall of the output shaft of the hydraulic rod 11, and the sealing plate 16 is tightly attached to the inner part of the connecting arm 7;
the storage assembly is fixedly installed on a storage frame 22 on the side wall of the air inlet box 26, a second spring 23 is oppositely arranged inside the storage frame 22, a pressing plate 24 is fixedly connected to the end portion of the second spring 23, a plurality of labels 28 are arranged inside the storage frame 22, a plurality of labels 28 are arranged inside the second spring 23, the side wall, away from the second spring 23, of the pressing plate 24 is abutted against the labels 28, a sealing groove 29 is formed in the side wall, away from the fixing frame 12, of the storage frame 22, a first sliding groove 30 is formed inside the storage frame 22, a second sliding groove 31 corresponding to the first sliding groove 30 is formed in the side wall of the air inlet box 26, and a depth camera 17 is fixedly installed on the side wall of the fixing frame 12;
the section of the sealing groove 29 is of a slope shape, so that a clamping block at the end part of the closing rod 32 can slide out of the sealing groove 29 onto the side wall of the storage frame 22 in the process of pulling out the label 28, and the label 28 can fall conveniently; the end of the closing rod 32 is provided with a fixture block, the fixture block is slidably connected with the side wall of the sealing groove 29, the fixture block is tightly abutted against the side wall of the label 28, a placing block 34 is fixedly installed on the inner side wall of the label 26, and a clamping groove is formed in the side wall of the placing block 34.
In the invention, when the device is used, the beverage 15 on the conveyor belt 5 is monitored and captured by the depth camera 17, after the depth camera 17 captures the position of the conveyor belt 5, the fixed base 2, the main arm 3, the driving arm 4 and the connecting arm 7 are driven to work, the fixed frame 12 is moved to the position of the beverage 15, the hydraulic rod 11 is started, the hydraulic rod 11 drives the transmission rod 13 to move upwards, the transmission rod 13 enables the positioning block 18 to move towards the middle part of the locking rod 14 by the connecting rod 19, the connecting plate 25 moves in the moving process of the positioning block 18, the connecting plate 25 realizes primary clamping and fixing of the beverage 15 by the first spring 20 and the squeezing plate 21, meanwhile, the sealing plate 16 moves upwards by the output shaft of the hydraulic rod 11 in the upwards moving process, and then the gas in the positioning cavity 10 is discharged into the gas inlet box 26 by the connecting pipe 9, so that the gas pressure in the gas inlet box 26 is gradually increased, the air bag 27 starts to expand, the expanded air bag 27 can be abutted against the surface of the beverage 15 to realize secondary fixing of the beverage 15, falling and shaking in the process of carrying the beverage 15 are avoided, the label 28 can be pushed to the surface of the beverage 15 to be adhered in the process of expanding the air bag 27, and the label 28 can be tightly adhered to the surface of the beverage 15 due to the flexibility of the air bag 27;
the clamped beverage 15 can be placed into the conveying robot 6 through the matching of the fixed base 2, the main arm 3, the driving arm 4 and the connecting arm 7, in the placing process, the output shaft of the hydraulic rod 11 can drive the transmission rod 13 to move downwards, at the moment, the sealing plate 16 can move downwards, so that the gas in the gas inlet box 26 is sucked back into the positioning cavity 10, in the downward movement process of the transmission rod 13, the driving rod 8 can move downwards, the driving rod 8 drives the closing rod 32 to move downwards, the clamping block arranged at the end part of the closing rod 32 is tightly abutted against the side wall of the label 28, the label 28 can be taken out in the placing process of the beverage 15, the label 28 sequentially passes through the first sliding groove 30 and the second sliding groove 31 to fall onto the placing block 34, the labeling can be conveniently carried out in the next clamping process of the beverage 15, manual sticking is not needed, saving a large amount of manpower and production cost.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. A mechanical arm for end taking of beverages is characterized by comprising a mechanical end taking device, wherein a clamping mechanism and a pasting mechanism are oppositely arranged on the side wall of the mechanical end taking device, and the clamping mechanism is connected with the pasting mechanism;
the clamping mechanism comprises a driving assembly and connecting rods (19) which are relatively hinged to the tail ends of the driving assembly, one ends, far away from the driving assembly, of the two connecting rods (19) are connected with positioning blocks (18) through rotating shafts, the connecting rods (19) can rotate around the rotating shafts, connecting plates (25) are fixedly connected to the side walls of the positioning blocks (18), a plurality of first springs (20) are fixedly mounted on the side walls of the connecting plates (25), one ends, far away from the connecting plates (25), of the first springs (20) are fixedly connected with extrusion plates (21), the pasting mechanism comprises an elastic assembly and a storage assembly, the elastic assembly comprises a driving rod (8), a closing rod (32) and a third spring (33), the closing rod (32) is connected with the side walls of the driving rod (8) through rotating shafts, the closing rod (32) can rotate around the rotating shafts, and the third spring (33) is fixedly connected with the side walls of the, one end of the third spring (33) far away from the closing rod (32) is fixedly connected with the side wall of the driving rod (8).
2. The mechanical arm for end taking of beverage as claimed in claim 1, wherein the mechanical arm body of the end taking device comprises a fixed plate (1), a fixed base (2), a main arm (3), a driving arm (4) and a connecting arm (7), the fixed base (2) is fixedly installed on the side wall of the fixed plate (1), the main arm (3) is arranged on the side wall of the fixed base (2), the driving arm (4) is arranged on the side wall of the main arm (3), the connecting arm (7) is arranged on the side wall of the driving arm (4), a positioning cavity (10) is opened inside the connecting arm (7), the driving component comprises a hydraulic rod (11) fixedly installed inside the positioning cavity (10), a transmission rod (13) is fixedly connected to the tail end of an output shaft of the hydraulic rod (11), a fixed frame (12) is fixedly connected to the side wall of the connecting arm (7), the inside of penetrating to fixed frame (12) by the inside of location chamber (10) in transfer line (13), the inside fixedly connected with locking lever (14) of fixed frame (12), the outside wall of locating piece (18) and locking lever (14) slides mutually, the end-to-end connection of locating piece (18) is passed through the pivot and transfer line (13) is kept away from in connecting rod (19), and connecting rod (19) can revolute the rotation of axes.
3. A robotic arm for end-fetching of beverages as defined in claim 2, the storage assembly is fixedly arranged on a storage frame (22) on the side wall of the air inlet box (26), a second spring (23) is oppositely arranged in the storage frame (22), the end parts of the second spring (23) are fixedly connected with a pressing plate (24) together, a plurality of labels (28) are arranged inside the storage frame (22), a plurality of labels (28) are arranged inside the second spring (23), the side wall of the pressure plate (24) far away from the second spring (23) is tightly propped against the label (28), a sealing groove (29) is arranged on the side wall of the storage frame (22) far away from the fixed frame (12), a first sliding groove (30) is formed in the storage frame (22), and a second sliding groove (31) corresponding to the first sliding groove (30) is formed in the side wall of the air inlet box (26).
4. The mechanical arm for taking beverage from one end is characterized in that the two driving rods (8) are symmetrically and fixedly connected to the side wall of the driving rod (13), air bags (27) are fixedly mounted inside the two air inlet boxes (26), connecting pipes (9) are fixedly connected to the side walls of the two air inlet boxes (26), and one ends, far away from the air inlet boxes (26), of the connecting pipes (9) are fixedly connected to the side wall of the positioning cavity (10).
5. A mechanical arm for beverage end-fetching according to claim 4, characterized in that a conveyor belt (5) is arranged on the side wall of the fixed plate (1), a beverage (15) is placed on the side wall of the conveyor belt (5), an adhesive is arranged on the side wall of the beverage (15), and a transport robot (6) is arranged on the side wall of the fixed plate (1).
6. A mechanical arm for end-fetching of beverages as claimed in claim 5, wherein a sealing plate (16) is fixedly mounted on the side wall of the output shaft of the hydraulic rod (11), and the sealing plate (16) is tightly attached to the inside of the connecting arm (7).
7. A robot arm for end-fetching of beverages according to claim 6, characterized in that a depth camera (17) is fixedly mounted on the side wall of the fixed frame (12).
8. The mechanical arm for beverage end taking is characterized in that a clamping block is arranged at the tail end of the closing rod (32), the clamping block is slidably connected with the side wall of the sealing groove (29), the clamping block is tightly abutted against the side wall of the label (28), a placing block (34) is fixedly arranged on the inner side wall of the label (26), and a clamping groove is formed in the side wall of the placing block (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110334900.XA CN112917466B (en) | 2021-03-29 | 2021-03-29 | Mechanical arm for taking beverage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110334900.XA CN112917466B (en) | 2021-03-29 | 2021-03-29 | Mechanical arm for taking beverage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112917466A true CN112917466A (en) | 2021-06-08 |
| CN112917466B CN112917466B (en) | 2022-11-08 |
Family
ID=76176454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110334900.XA Active CN112917466B (en) | 2021-03-29 | 2021-03-29 | Mechanical arm for taking beverage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112917466B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055454A (en) * | 2021-12-15 | 2022-02-18 | 重庆远创光电科技有限公司 | Engine end cover and line box robot vision guide positioner |
| CN114538070A (en) * | 2022-02-15 | 2022-05-27 | 华威特（江苏）生物制药有限公司 | Extraction equipment with self-cleaning mechanism for preparation of streptococcus vaccine |
| CN114669946A (en) * | 2022-04-21 | 2022-06-28 | 和县隆盛精密机械有限公司 | Clamping mechanical arm for mechanical welding and implementation method thereof |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1704203A1 (en) * | 1967-10-11 | 1971-05-06 | Gottfried Mehnert | Method and device for applying a label to a hollow body made of plastic in the blow mold |
| DE29805510U1 (en) * | 1998-03-26 | 1998-06-25 | Weber Marking Systems GmbH, 53572 Unkel | Labeling device |
| JP2003294767A (en) * | 2002-03-29 | 2003-10-15 | Aloka Co Ltd | Specimen pre-processing system |
| CN204078241U (en) * | 2014-08-08 | 2015-01-07 | 江西威力特生物科技有限公司 | A kind of paper label automatic rubbing marking machine structure |
| KR101501201B1 (en) * | 2014-01-09 | 2015-03-12 | (주)한국엘앤피텍 | The air source equipment using a label attaching apparatus |
| CN207890488U (en) * | 2018-02-27 | 2018-09-21 | 江西博莱塑业有限公司 | A kind of transmission process equipment of edible oil pot |
| CN108908326A (en) * | 2018-07-05 | 2018-11-30 | 佛山元聚数控设备有限公司 | Manipulator is used in handware detection |
| WO2019013407A1 (en) * | 2017-07-14 | 2019-01-17 | 한화정밀기계 주식회사 | Label feeder |
| CN110844203A (en) * | 2019-11-27 | 2020-02-28 | 吴辉辉 | Full-automatic aluminum foil cup packaging equipment |
| CN210476967U (en) * | 2019-05-31 | 2020-05-08 | 成都职业技术学院 | Low-damage mechanical clamping device |
| CN210592876U (en) * | 2019-09-24 | 2020-05-22 | 吕梁市鑫隆食品加工有限公司 | Linear labeling machine |
| CN111545271A (en) * | 2020-05-09 | 2020-08-18 | 深圳市嘉胜创新贸易有限公司 | Rubber roll rice huller with anti-sticking function |
| CN111633672A (en) * | 2020-06-12 | 2020-09-08 | 浙江置信汽车部件有限公司 | Auto-parts processing automatic production line manipulator |
| CN112124733A (en) * | 2020-10-29 | 2020-12-25 | 浙江鼎业机械设备有限公司 | Be applied to full-automatic film and seal subsides mark assembly line of cutting packagine machine |
-
2021
- 2021-03-29 CN CN202110334900.XA patent/CN112917466B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1704203A1 (en) * | 1967-10-11 | 1971-05-06 | Gottfried Mehnert | Method and device for applying a label to a hollow body made of plastic in the blow mold |
| DE29805510U1 (en) * | 1998-03-26 | 1998-06-25 | Weber Marking Systems GmbH, 53572 Unkel | Labeling device |
| JP2003294767A (en) * | 2002-03-29 | 2003-10-15 | Aloka Co Ltd | Specimen pre-processing system |
| KR101501201B1 (en) * | 2014-01-09 | 2015-03-12 | (주)한국엘앤피텍 | The air source equipment using a label attaching apparatus |
| CN204078241U (en) * | 2014-08-08 | 2015-01-07 | 江西威力特生物科技有限公司 | A kind of paper label automatic rubbing marking machine structure |
| WO2019013407A1 (en) * | 2017-07-14 | 2019-01-17 | 한화정밀기계 주식회사 | Label feeder |
| CN207890488U (en) * | 2018-02-27 | 2018-09-21 | 江西博莱塑业有限公司 | A kind of transmission process equipment of edible oil pot |
| CN108908326A (en) * | 2018-07-05 | 2018-11-30 | 佛山元聚数控设备有限公司 | Manipulator is used in handware detection |
| CN210476967U (en) * | 2019-05-31 | 2020-05-08 | 成都职业技术学院 | Low-damage mechanical clamping device |
| CN210592876U (en) * | 2019-09-24 | 2020-05-22 | 吕梁市鑫隆食品加工有限公司 | Linear labeling machine |
| CN110844203A (en) * | 2019-11-27 | 2020-02-28 | 吴辉辉 | Full-automatic aluminum foil cup packaging equipment |
| CN111545271A (en) * | 2020-05-09 | 2020-08-18 | 深圳市嘉胜创新贸易有限公司 | Rubber roll rice huller with anti-sticking function |
| CN111633672A (en) * | 2020-06-12 | 2020-09-08 | 浙江置信汽车部件有限公司 | Auto-parts processing automatic production line manipulator |
| CN112124733A (en) * | 2020-10-29 | 2020-12-25 | 浙江鼎业机械设备有限公司 | Be applied to full-automatic film and seal subsides mark assembly line of cutting packagine machine |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055454A (en) * | 2021-12-15 | 2022-02-18 | 重庆远创光电科技有限公司 | Engine end cover and line box robot vision guide positioner |
| CN114055454B (en) * | 2021-12-15 | 2023-07-14 | 重庆远创光电科技有限公司 | Engine end cover and wire box robot vision guiding and positioning device |
| CN114538070A (en) * | 2022-02-15 | 2022-05-27 | 华威特（江苏）生物制药有限公司 | Extraction equipment with self-cleaning mechanism for preparation of streptococcus vaccine |
| CN114538070B (en) * | 2022-02-15 | 2022-12-13 | 华威特（江苏）生物制药有限公司 | Extraction equipment with self-cleaning mechanism for preparation of streptococcus vaccine |
| CN114669946A (en) * | 2022-04-21 | 2022-06-28 | 和县隆盛精密机械有限公司 | Clamping mechanical arm for mechanical welding and implementation method thereof |
| CN114669946B (en) * | 2022-04-21 | 2024-02-23 | 和县隆盛精密机械有限公司 | Clamping mechanical arm for mechanical welding and implementation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112917466B (en) | 2022-11-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112917466B (en) | Mechanical arm for taking beverage | |
| CN107054757B (en) | Bag opening device for bag roll, bag sealing device matched with bag opening device and bag roll packaging equipment | |
| CN109941947A (en) | A kind of auto-filling equipment | |
| US10322444B2 (en) | Apparatus, system, and method for manipulation of nested stamped parts | |
| CN206841897U (en) | Film pasting mechanism | |
| CN109573206A (en) | Manipulator gripping-type fruit automated packaging equipment and method | |
| CN107244060B (en) | Multifunctional in-mold labeling cup making production line | |
| CN110844203B (en) | Full-automatic aluminum foil cup packaging equipment | |
| CN114799870B (en) | Production line of fire control shower head | |
| CN211545205U (en) | Glove grabbing equipment on epidemic prevention glove production line | |
| CN216029207U (en) | Assembly quality of O type circle | |
| CN210553308U (en) | Intelligent production system of valve bag | |
| CN209491494U (en) | A kind of pipe end riveting assembly equipment | |
| CN114544098A (en) | Automatic transfer system of product | |
| CN214166443U (en) | Automatic feeding conveyor | |
| CN215699522U (en) | Automatic mechanism of assembling of pump core | |
| CN104999702A (en) | Automatic take-out method and mechanical arm based on cam mechanism | |
| CN212980629U (en) | Bag discharging device | |
| CN117945134A (en) | Frock is used in production of TR subassembly | |
| CN215034436U (en) | Paper cover ultrasonic automatic welding production line | |
| CN220497578U (en) | Automatic frame unloading conveying mechanism that inserts of product | |
| CN109573128A (en) | The closing lid packing device and method of fruit automated packaging equipment | |
| CN114735305B (en) | Intelligent packaging and sealing box production line | |
| CN216661657U (en) | Cam clamping mechanism | |
| CN215466632U (en) | Mechanism for blowing off and collecting aluminum scraps in full-automatic aluminum hose |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |