CN112917466B - Mechanical arm for taking beverage - Google Patents
Mechanical arm for taking beverage Download PDFInfo
- Publication number
- CN112917466B CN112917466B CN202110334900.XA CN202110334900A CN112917466B CN 112917466 B CN112917466 B CN 112917466B CN 202110334900 A CN202110334900 A CN 202110334900A CN 112917466 B CN112917466 B CN 112917466B
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- side wall
- arm
- rod
- fixedly connected
- beverage
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/008—Gripping heads and other end effectors with sticking, gluing or adhesive means
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- 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
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- 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
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- 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 end taking of beverages, which comprises two air inlet boxes of 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 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 amount of manpower and manufacturing cost.
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 the 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 motion and work requirements 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 end taking of beverages.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mechanical arm for taking beverages at the end comprises a mechanical end taking device and two air inlet boxes, 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 articulates the connecting rod on drive assembly is terminal relatively, two drive assembly's one end is kept away from to the connecting rod 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, pasting mechanism includes elastic component and storage assembly, elastic component includes two actuating levers, closed pole, third spring, the closed pole is connected with the lateral wall of actuating lever through the pivot, 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 arm body in the mechanical end taking device comprises a fixed plate, a fixed base, a main arm, a driving arm and a connecting arm, wherein the fixed base is fixedly mounted on a side wall of the fixed plate, the main arm is arranged on a side wall of the fixed base, the driving arm is arranged on a side wall of the main arm, the connecting arm is arranged on a side wall of the driving arm, a positioning cavity is formed in the connecting arm, the driving assembly comprises a hydraulic rod fixedly mounted in the positioning cavity, a transmission rod is fixedly connected to the tail end of an output shaft of the hydraulic rod, a fixed frame is fixedly connected to the side wall of the connecting arm, the transmission rod penetrates through the inside of the positioning cavity to the inside of the fixed frame, a locking rod is fixedly connected to the inside of the fixed frame, the positioning block slides relative to the outer side wall of the locking rod, one end, far away from the positioning block, of the connecting rod is connected with the tail end of the transmission rod through a rotating shaft, 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, a conveyor belt is arranged on the side wall of the fixing plate, beverages are placed on the side wall of the conveyor belt, viscose is arranged on the side wall of the beverages, and a conveying robot is arranged on the side wall of the fixing 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 clamping block, the clamping block is in sliding connection with the side wall of the sealing groove, the clamping block abuts against the side wall of the label, the inner side wall of the air inlet box 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. according to the beverage bottle, the beverage can be conveyed through the conveyor belt, at the moment, the depth image information of the beverage is collected through the depth camera arranged on the fixing frame, 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 of the locking rod through the connecting rod, the connecting plate moves in the moving process of the positioning block, the connecting plate achieves primary clamping and fixing of the beverage through the first spring and the extrusion plate, meanwhile, gas in the positioning cavity is discharged into the gas inlet box through the connecting pipe, the gas pressure in the gas inlet box is gradually increased, the gas bag starts to expand, the expanded gas bag can abut against the surface of the beverage to achieve secondary fixing of the beverage, and falling and shaking in the process of conveying the beverage are avoided.
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 section 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 conveying 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 driving 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 compacting 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-down groove 30, a second sliding-down 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 and two air inlet boxes 26, 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 an extrusion plate 21, the pasting mechanism comprises an elastic assembly and a storage assembly, the elastic assembly comprises two driving rods 8, a closing rod 32 and a third spring 33, the closing rod 32 is connected with the side walls of the driving rods 8 through rotating shafts, the closing rod 32 can rotate around the rotating shafts, the third spring 33 is fixedly connected with the side walls of the closing rod 32, one end, far away from the closing rod 32, of the third spring 33 is fixedly connected with the side walls of the driving rods 8, the two driving rods 8 are symmetrically and fixedly connected to the side walls 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 inlet boxes 26, one ends of the connecting pipes 9 are fixedly connected with the side walls of the positioning cavity 10, and can be used for primarily clamping mechanism for clamping of a beverage 15;
the mechanical arm body in the mechanical end taking device comprises a fixing plate 1, a fixing base 2, a main arm 3, a driving arm 4 and a connecting arm 7, wherein the fixing base 2 is fixedly installed on the side wall of the fixing plate 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, the tail end of an output shaft of the hydraulic rod 11 is fixedly connected with a transmission rod 13, a fixing frame 12 is fixedly connected on the side wall of the connecting arm 7, the transmission rod 13 penetrates through 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, the positioning block 18 slides relative to the outer side wall of the locking rod 14, one end, far away from the positioning block 18 of the connecting rod 19 is connected with the tail end of the transmission rod 13 through a rotating shaft, the connecting rod 19 can rotate around the rotating shaft, a sealing plate 16 is fixedly installed on the side wall of the output shaft of the hydraulic rod 11, and the sealing plate 16 is tightly attached to the inner portion of the connecting arm 7;
the storage assembly is fixedly arranged on a storage frame 22 on the side wall of an air inlet box 26, a second spring 23 is oppositely arranged inside the storage frame 22, the end parts of the second spring 23 are jointly and fixedly connected with a pressing plate 24, 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, far 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, far away from a fixed 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 arranged on the side wall of the fixed 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, the inner side wall of the air inlet box 26 is fixedly provided with a placing block 34, and the side wall of the placing block 34 is provided with a clamping groove.
In the invention, when the beverage label 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 positioning block 18 enables the connecting plate 25 to move in the moving process, the connecting plate 25 and the extrusion plate 21 realize primary clamping and fixing of the beverage 15 by the first spring 20, meanwhile, the sealing plate 16 can move upwards by the output shaft of the hydraulic rod 11 in the upwards moving process, gas in the positioning cavity 10 can be discharged into the gas inlet box 26 by the connecting pipe 9, further, the gas pressure in the gas inlet box 26 can be gradually increased, the gas bag 27 starts to expand, the expanded gas bag 27 can be tightly abutted against the surface of the beverage 15, the beverage 15 is prevented from falling in the process of shaking the beverage 15, and the gas bag 27 can be tightly abutted to the label of the label 28 in the beverage label tag, and the label tag label 28 can be tightly attached to the surface of the beverage 15;
the beverage 15 which is clamped and taken 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 process of placing, the output shaft of the hydraulic rod 11 can drive the transmission rod 13 to move downwards, the sealing plate 16 can move downwards at the moment, so that the gas in the air inlet box 26 is sucked back into the positioning cavity 10, the transmission rod 13 can drive the driving rod 8 to move downwards in the downward movement process, 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 to the side wall of the label 28, the label 28 can be taken out in the process of placing 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 label can be conveniently pasted when the beverage 15 is clamped next time, manual pasting is not needed, and a large amount of manpower and production cost are saved.
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 and two air inlet boxes (26), 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) 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 squeezing plates (21), the pasting mechanism comprises an elastic assembly and a storage assembly, the elastic assembly comprises two driving rods (8), a closing rod (32) and a third spring (33), the closing rod (32) is connected with the side walls of the driving rods (8) through rotating shafts, the closing rod (32) can rotate around the rotating shafts, the third spring (33) is fixedly connected with the side walls of the closing rod (32), and one end, far away from the closing rod (32), of the third spring (33) is fixedly connected with the side walls of the driving rods (8);
two equal fixed mounting in inside of box (26) of admitting air has gasbag (27), two equal fixedly connected with connecting pipe (9) on the lateral wall of box (26) of admitting air, the lateral wall fixed connection of the one end of box (26) of admitting air and location chamber (10) is kept away from in connecting pipe (9).
2. The robotic arm for end-fetching of beverages according to claim 1, the mechanical arm body in the mechanical 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 arranged 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 arranged inside the connecting arm (7), the drive assembly comprises a hydraulic rod (11) fixedly mounted on the inside of the positioning chamber (10), the tail end of an output shaft of the hydraulic rod (11) is fixedly connected with a transmission rod (13), a fixed frame (12) is fixedly connected on the side wall of the connecting arm (7), the transmission rod (13) penetrates from the inside of the positioning cavity (10) to the inside of the fixed frame (12), a locking rod (14) is fixedly connected inside the fixed frame (12), the positioning block (18) slides with the outer side wall of the locking rod (14), one end of the connecting rod (19) far away from the positioning block (18) is connected with the tail end of the transmission rod (13) through a rotating shaft, and the connecting rod (19) can rotate around the rotating shaft.
3. The mechanical arm for taking out beverage end is characterized in that the storage assembly is fixedly mounted on a storage frame (22) on the side wall of an 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) 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, far away from the second spring (23), of the pressing plate (24) is tightly abutted to the labels (28), a sealing groove (29) is formed in the side wall, far away from the fixed frame (12), of the storage frame (22), a first sliding groove (30) is formed inside 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. A mechanical arm for end-fetching of beverages according to claim 3, wherein said two driving rods (8) are symmetrically and fixedly connected to the side wall of the driving rod (13).
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 air inlet box (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 |
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| CN112917466A CN112917466A (en) | 2021-06-08 |
| CN112917466B true CN112917466B (en) | 2022-11-08 |
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| CN202110334900.XA Active CN112917466B (en) | 2021-03-29 | 2021-03-29 | Mechanical arm for taking beverage |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| 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 |
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| 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 |
| 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 |
| 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 |
| 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 |
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