CN113120300A - Manipulator with anti-falling function for boxing machine and using method thereof - Google Patents
Manipulator with anti-falling function for boxing machine and using method thereof Download PDFInfo
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- CN113120300A CN113120300A CN202110407660.1A CN202110407660A CN113120300A CN 113120300 A CN113120300 A CN 113120300A CN 202110407660 A CN202110407660 A CN 202110407660A CN 113120300 A CN113120300 A CN 113120300A
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- wall
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- manipulator
- clamping
- mounting plate
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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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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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
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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Abstract
The invention relates to the technical field of manipulators, in particular to a manipulator for a boxing machine with an anti-falling function and a using method thereof. The invention provides a mechanical arm for a boxing machine with an anti-dropping function, which aims to solve the technical problems that a heavier metal can is difficult to grab, the metal can is easy to drop, and the operation speed of the mechanical arm is slow and is not flexible.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator for a boxing machine with an anti-falling function and a using method thereof.
Background
A robot is a control object often encountered in the field of industrial automation. With the development of industrial automation in recent years, the manipulator becomes an emerging subject and is developed rapidly. The product packing has the form of single-layer packing and multi-layer packing, the multi-layer packing is mainly used, the products are generally required to be divided into a plurality of layers in the box, the products are grabbed by the mechanical arm to be sequentially stacked, and in the recent development of beverage packing machines, the mechanical arm is applied more and more in the packing process.
The prior art has at least the following problems which are not solved: 1. the traditional bottle grabbing mechanical arm mostly adopts a mode of clamping at two sides or sucking at the top to fetch objects, so that the grabbing bearing capacity of the traditional bottle grabbing mechanical arm for metal canned objects with heavy weight is insufficient, the grabbing is difficult and the stability is poor; 2. the bottle falling and the box breaking caused by impact are easy to happen when the bottle falling and the box breaking happen, so that the production efficiency is influenced; 3. the traditional mechanical type grabbing head has the problems of low running speed, poor stability, inflexible distance adjustment and the like.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the manipulator for the boxing machine with the anti-falling function and the use method thereof, and solves the problems that a heavy metal can is difficult to grab, the can is easy to fall off, and the operation speed of the manipulator is slow and the adjustment is not flexible.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a manipulator with an anti-falling function for a boxing machine comprises a mechanical mounting plate, wherein the ground part of the mechanical mounting plate is fixedly connected with an electronic telescopic rod, a pushing frame is movably inserted in the inner wall of the mechanical mounting plate, the top end of the electronic telescopic rod penetrates through the mechanical mounting plate and is fixedly connected with the bottom of the pushing frame above the mechanical mounting plate, a limiting pipe is connected with the top of the pushing frame through threads, the top of the limiting pipe penetrates through the mechanical mounting plate and extends to the side of the mechanical mounting plate, a moving part is movably clamped in the limiting pipe, and the top of the movable piece is movably inserted with a screw rod, the top of the mechanical mounting plate is fixedly connected with an insertion pipe, a clamping mechanism is movably clamped in the inserting pipe, the top of the clamping mechanism is fixedly connected with a limiting mechanism, the bottom fixedly connected with arm connecting piece of machinery mounting panel, and the fixed cover of arm connecting piece connects in the outside of electron telescopic link.
Preferably, the fixture includes the mounting box, and the mounting box activity is pegged graft in the grafting pipe, three through-hole that runs through to its inner wall is seted up to the outer wall of mounting box, and the relative one side swing joint of through-hole inner wall has the connecting rod, and is three the equal swing joint of the other end of connecting rod has the clamping bar, and three clamping bar swing joint respectively on stop gear's outer wall, and one side fixedly connected with rubber pad of clamping bar, the bottom surface fixedly connected with spring of mounting box inner wall, the moving part activity alternates in the bottom of mounting box inner wall, and the spring activity cup joints in the outside of moving part, and is three the other end difference swing joint of connecting rod is on the outer wall of moving part.
Preferably, stop gear is including the location box, and location box fixed connection is at fixture's top, the three sliding tray that runs through to its inner wall top is seted up at the top of location box, and equal sliding connection has the slider in the three sliding tray, the bottom surface swing joint of location box inner wall has the carousel, and the top surface of carousel has seted up three arc wall, and is three the lower half end difference sliding connection of slider is in three arc wall, the bottom surface fixed connection of fixture and the inboard carousel of location box is run through on the top of hob.
Preferably, the side section of each clamping rod is a bending mechanism, and the three clamping rods are radially and equidistantly arranged on the outer wall of the limiting mechanism.
Preferably, the bottom of mounting box is seted up with grafting pipe matched with ring canal, the L type joint groove that runs through to its inner wall is all seted up to the both sides of grafting pipe and spacing tub of outer wall, the equal fixedly connected with in both sides of moving part and ring canal outer wall and L type joint groove matched with reference column.
Preferably, the top of the pushing frame is provided with threaded holes in an equidistant array, and the top surface of the mechanical mounting plate is provided with a limiting groove penetrating to the inner wall of the mechanical mounting plate.
Preferably, the middle part of the top surface of the moving part is provided with a cylindrical groove matched with the screw rod, one side of the cylindrical groove is fixedly nested with a ball, and the ball is in sliding connection with the screw thread on the outer wall of the screw rod.
A use method of a manipulator with a dropping prevention function for a boxing machine comprises the following steps:
s1, connecting most limiting pipes to be installed with screw holes on the top surface of the pushing frame in an equidistant threaded manner, inserting the clamping mechanism into the inserting pipe through the ring pipe, inserting the moving part into the limiting pipe, connecting the four positioning columns into the four L-shaped clamping grooves in a sliding manner, and rotating the clamping mechanism to enable the positioning columns to be tightly clamped with the L-shaped clamping grooves.
S2, when the centre gripping can is needed, promote the pushing frame through the electron telescopic link and remove to the one side of keeping away from the clamping bar, drive moving part synchronous motion through spacing pipe, make three clamping bar carry out the centre gripping to the can outer wall under the effect of three connecting rod, and the moving part that removes, through the cylinder groove, the cooperation of ball and hob outer wall screw thread, drive the hob synchronous revolution, make three slider under the cooperation of three sliding tray and three arc wall, to the peripheral expansion slip, make its edge to the can top go on further stable centre gripping, thereby improve the stability of manipulator.
(III) advantageous effects
The invention provides a manipulator for a boxing machine with an anti-falling function and a using method thereof, and the manipulator has the following beneficial effects:
(1) this utensil anti falling function's manipulator for vanning machine drives moving part synchronous motion through spacing pipe for three clamping bar carries out the centre gripping to the can outer wall under the effect of three connecting rod, increases frictional force in the setting through the rubber pad, thereby makes three clamping bar can carry out stable centre gripping to cylindrical heavier can, compact structure, the operation is stable, and it is rotatory to drive hob and carousel when spacing pipe promotes the moving part, and low in power cost has reduced the manufacturing cost practicality and is higher.
(2) This utensil anti falling function's manipulator for vanning machine passes through the hob and drives the carousel rotatory, carries on spacingly to three slider respectively through arc wall and sliding tray for three slider expands or inwards contracts to the periphery in step, makes its edge to the can top go on further stable centre gripping, thereby further improves the stability of manipulator, avoids the can to take place to drop and produces the impact, improves production efficiency.
(3) This utensil anti falling function's manipulator for vanning machine is through pushing away the setting of a top surface screw hole, can be convenient for nimble to a plurality of fixture's distance, through the cooperation of grafting pipe and ring canal, four reference columns correspond four L type joint inslots of sliding connection respectively, have improved the efficiency of nimble installation to realize freely adjusting a plurality of fixture's the installation condition, make things convenient for the different vanning requirements of adaptation when later stage maintenance dismouting.
Drawings
FIG. 1 is a front cross-sectional view of a structure of the present invention;
FIG. 2 is an enlarged view taken at A in FIG. 1;
FIG. 3 is a perspective cross-sectional view of the structural alignment box of the present invention;
FIG. 4 is a perspective cross-sectional view of the structural mounting box of the present invention;
FIG. 5 is a top cross-sectional view of the structural alignment box of the present invention;
FIG. 6 is a top cross-sectional view of the structural mechanical mounting plate of the present invention;
fig. 7 is a perspective view of the structural restraining tube of the present invention.
In the figure: 1. a mechanical mounting plate; 2. an electronic telescoping rod; 3. pushing the frame; 4. a limiting pipe; 5. a movable member; 6. a screw rod; 7. inserting a pipe; 8. a clamping mechanism; 801. mounting a box; 802. a through hole; 803. a connecting rod; 804. a clamping bar; 805. a rubber pad; 806. a spring; 9. a limiting mechanism; 901. a positioning box; 902. a sliding groove; 903. a slider; 904. a turntable; 905. an arc-shaped slot; 10. arm connecting piece.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, a manipulator for a boxing machine with an anti-drop function comprises a mechanical mounting plate 1, an electronic telescopic rod 2 is fixedly connected to the ground of the mechanical mounting plate 1, a pushing frame 3 is movably inserted into the inner wall of the mechanical mounting plate 1, the top end of the electronic telescopic rod 2 penetrates through the mechanical mounting plate 1 and is fixedly connected to the bottom of the pushing frame 3 above the mechanical mounting plate, a limiting pipe 4 is connected to the top of the pushing frame 3 through a screw thread, the top of the limiting pipe 4 penetrates through the mechanical mounting plate 1 and extends to the side of the mechanical mounting plate, a movable member 5 is movably clamped in the limiting pipe 4, a screw rod 6 is movably inserted into the top of the movable member 5, an inserting pipe 7 is fixedly connected to the top of the mechanical mounting plate 1, a clamping mechanism 8 is movably clamped in the inserting pipe 7, a limiting mechanism 9 is fixedly connected to the top of the clamping mechanism 8, and, and the mechanical arm connecting piece 10 is fixedly sleeved on the outer side of the electronic telescopic rod 2.
According to the invention, the clamping mechanism 8 comprises a mounting box 801, the mounting box 801 is movably inserted into the insertion pipe 7, three through holes 802 penetrating through the inner wall of the mounting box 801 are formed in the outer wall of the mounting box 801, a connecting rod 803 is movably connected to one side, opposite to the inner wall of the through holes 802, of the mounting box, clamping rods 804 are movably connected to the other ends of the three connecting rods 803, the three clamping rods 804 are respectively and movably connected to the outer wall of the limiting mechanism 9, a rubber pad 805 is fixedly connected to one side of each clamping rod 804, a spring 806 is fixedly connected to the bottom surface of the inner wall of the mounting box 801, the movable member 5 is movably inserted into the bottom of the inner wall of the mounting box 801, the spring 806 is movably sleeved on the outer side of the movable.
In the invention, the limiting mechanism 9 comprises a positioning box 901, the positioning box 901 is fixedly connected to the top of the clamping mechanism 8, three sliding grooves 902 penetrating through the top of the inner wall of the positioning box 901 are formed in the top of the positioning box 901, sliders 903 are slidably connected in the three sliding grooves 902, a turntable 904 is movably connected to the bottom surface of the inner wall of the positioning box 901, three arc-shaped grooves 905 are formed in the top surface of the turntable 904, the lower half ends of the three sliders 903 are slidably connected in the three arc-shaped grooves 905 respectively, and the top end of the spiral rod 6 penetrates through the clamping mechanism 8 and is fixedly connected with the bottom surface of the turntable 904 on the inner side of the positioning.
In the invention, the side section of each clamping rod 804 is a bending mechanism, the three clamping rods 804 are radially and equidistantly arranged on the outer wall of the limiting mechanism 9, the positioning box 901 is of a cylindrical structure, the diameter of the positioning box 901 is equal to that of the mounting box 801, and the mounting box 801 is of a circular truncated cone structure with the diameter decreasing from top to bottom.
In the invention, the bottom of the mounting box 801 is provided with an annular pipe matched with the plug-in pipe 7, two sides of the outer walls of the plug-in pipe 7 and the limiting pipe 4 are both provided with L-shaped clamping grooves penetrating to the inner walls of the plug-in pipe 7 and the limiting pipe, and two sides of the outer walls of the movable part 5 and the annular pipe are both fixedly connected with positioning columns matched with the L-shaped clamping grooves.
In the invention, the top of the pushing frame 3 is provided with threaded holes in an equidistant array, and the top surface of the mechanical mounting plate 1 is provided with a limiting groove penetrating to the inner wall of the mechanical mounting plate.
In the invention, the middle part of the top surface of the moving part 5 is provided with a cylindrical groove matched with the screw rod 6, one side of the cylindrical groove is fixedly nested with a ball, and the ball is in sliding connection with the thread on the outer wall of the screw rod 6.
The invention drives the moving part 5 to move synchronously through the limiting pipe 4, so that the three clamping rods 804 are clamped towards the outer wall of the can under the action of the three connecting rods 803, the friction force is increased through the arrangement of the rubber pads 805, so that the three clamping rods 804 can stably clamp the cylindrical heavy can, the structure is compact, the operation is stable, the limiting pipe 4 pushes the moving part 5 and simultaneously drives the screw rod 6 and the turntable 904 to rotate, the power cost is low, the production cost and the practicability are reduced, the turntable 904 is driven to rotate through the screw rod 6, the three sliding blocks 903 are respectively limited through the arc-shaped groove 905 and the sliding groove 902, so that the three sliding blocks 903 are synchronously expanded towards the periphery or contracted inwards, the edges at the top of the can are further stably clamped, the stability of a manipulator is further improved, the impact caused by the falling of the can is avoided, and the production efficiency is improved, through pushing away the setting of 3 top surface screw holes of frame, can be convenient for nimble to a plurality of fixture 8's distance, through the cooperation of grafting pipe 7 and ring canal, four reference columns correspond four L type joint inslots of sliding connection respectively, have improved the efficiency of nimble installation to realize freely adjusting a plurality of fixture 8's the installation condition, make things convenient for the different vanning requirements of adaptation when later stage maintenance dismouting.
A use method of a manipulator with a dropping prevention function for a boxing machine comprises the following steps:
s1, connecting the limiting pipes 4 needing to be installed mostly to the threaded holes on the top surface of the pushing frame 3 at equal intervals in a threaded manner, inserting the clamping mechanism 8 into the inserting pipe 7 through a ring pipe, inserting the moving part 5 into the limiting pipes 4, connecting the four positioning columns into the four L-shaped clamping grooves in a sliding manner correspondingly at the moment, and rotating the clamping mechanism 8 to enable the positioning columns to be tightly clamped with the L-shaped clamping grooves.
S2, when the can is held, push away the frame 3 through the promotion of electron telescopic link 2 and remove to the one side of keeping away from clamping bar 804, drive moving part 5 synchronous motion through spacing pipe 4, make three clamping bar 804 carry out the centre gripping to the can outer wall under the effect of three connecting rod 803, and the moving part 5 that removes, through the cylinder groove, the cooperation of ball and 6 outer wall screw threads of hob, drive hob 6 synchronous revolution, make three slider 903 under the cooperation of three sliding tray 902 and three arc wall 905, to the peripheral expansion slip, make it further stable centre gripping to the edge at can top, thereby improve the stability of manipulator.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a utensil anti falling function's manipulator for vanning machine, includes mechanical mounting panel (1), its characterized in that: the device comprises a mechanical mounting plate (1), an electronic telescopic rod (2) is fixedly connected to the ground of the mechanical mounting plate (1), a push frame (3) is movably inserted into the inner wall of the mechanical mounting plate (1), the top end of the electronic telescopic rod (2) penetrates through the mechanical mounting plate (1) and is fixedly connected with the bottom of the push frame (3) above the mechanical mounting plate, a limiting pipe (4) is connected to the top of the push frame (3) in a threaded manner, the top of the limiting pipe (4) penetrates through the mechanical mounting plate (1) and extends to the side of the mechanical mounting plate, a movable part (5) is movably clamped in the limiting pipe (4), a spiral rod (6) is movably inserted into the top of the movable part (5), an inserting pipe (7) is fixedly connected to the top of the mechanical mounting plate (1), a clamping mechanism (8) is movably clamped in the inserting pipe (7), a limiting mechanism (9) is fixedly connected to the top of the clamping mechanism (8), and a mechanical, and the mechanical arm connecting piece (10) is fixedly sleeved on the outer side of the electronic telescopic rod (2).
2. The manipulator for the boxing machine with the falling prevention function as claimed in claim 1, wherein: the clamping mechanism (8) comprises a mounting box (801), the mounting box (801) is movably inserted in the insertion pipe (7), the outer wall of the mounting box (801) is provided with three through holes (802) penetrating to the inner wall thereof, and one side opposite to the inner wall of the through hole (802) is movably connected with a connecting rod (803), the other ends of the three connecting rods (803) are movably connected with clamping rods (804), and the three clamping rods (804) are respectively and movably connected on the outer wall of the limiting mechanism (9), one side of the clamping rod (804) is fixedly connected with a rubber pad (805), the bottom surface of the inner wall of the mounting box (801) is fixedly connected with a spring (806), the movable piece (5) is movably inserted at the bottom of the inner wall of the mounting box (801), and the spring (806) is movably sleeved outside the moving part (5), and the other ends of the three connecting rods (803) are respectively and movably connected on the outer wall of the moving part (5).
3. The manipulator for the boxing machine with the falling prevention function as claimed in claim 1, wherein: stop gear (9) are including location box (901), and location box (901) fixed connection is at the top of fixture (8), three sliding tray (902) that run through to its inner wall top are seted up at the top of location box (901), and equal sliding connection has slider (903) in three sliding tray (902), the bottom surface swing joint of location box (901) inner wall has carousel (904), and three arc wall (905) have been seted up to the top surface of carousel (904), and is three the lower half end of slider (903) is sliding connection respectively in three arc wall (905), the bottom surface fixed connection of fixture (8) and the inboard carousel (904) of location box (901) is run through on the top of hob (6).
4. The manipulator for the boxing machine with the falling prevention function as claimed in claim 2, wherein: the side section of each clamping rod (804) is a bending mechanism, and the three clamping rods (804) are radially and equidistantly arranged on the outer wall of the limiting mechanism (9).
5. The manipulator for the boxing machine with the falling prevention function as claimed in claims 1 and 2, wherein: the bottom of mounting box (801) is seted up with grafting pipe (7) matched with ring canal, the L type joint groove that runs through to its inner wall is all seted up to the both sides of grafting pipe (7) and spacing pipe (4) outer wall, the equal fixedly connected with in both sides of moving part (5) and ring canal outer wall and L type joint groove matched with reference column.
6. The manipulator for the boxing machine with the falling prevention function as claimed in claim 1, wherein: the top of the pushing frame (3) is provided with threaded holes which are arrayed at equal intervals, and the top surface of the mechanical mounting plate (1) is provided with a limiting groove which penetrates through the inner wall of the mechanical mounting plate.
7. The manipulator for the boxing machine with the falling prevention function as claimed in claim 1, wherein: the middle part of the top surface of the moving part (5) is provided with a cylindrical groove matched with the screw rod (6), one side of the cylindrical groove is fixedly nested with a ball, and the ball is in sliding connection with the screw thread on the outer wall of the screw rod (6).
8. The use method of the manipulator for the boxing machine with the falling prevention function as claimed in claim 1, comprising the following steps:
s1, firstly, connecting the limiting pipes (4) which need to be installed mostly to the threaded holes on the top surface of the pushing frame (3) in a threaded manner at equal intervals, inserting the clamping mechanism (8) into the inserting pipe (7) through a ring pipe, inserting the moving part (5) into the limiting pipes (4), connecting the four positioning columns into the four L-shaped clamping grooves in a sliding manner respectively, and rotating the clamping mechanism (8) to enable the positioning columns to be tightly clamped with the L-shaped clamping grooves.
S2, when the can is required to be clamped, the push frame (3) is pushed to move towards one side far away from the clamping rod (804) through the electronic telescopic rod (2), the moving part (5) is driven to move synchronously through the limiting pipe (4), so that the three clamping rod (804) is clamped towards the outer wall of the can under the action of the three connecting rods (803), the moving part (5) moves, through the matching of cylindrical grooves, balls and threads on the outer wall of the spiral rod (6), the spiral rod (6) is driven to rotate synchronously, three sliding blocks (903) are driven to slide outwards in the matching of the three sliding grooves (902) and the three arc-shaped grooves (905), further stable clamping is carried out on the edge of the top of the can, and the stability of a manipulator is improved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110407660.1A CN113120300A (en) | 2021-04-15 | 2021-04-15 | Manipulator with anti-falling function for boxing machine and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110407660.1A CN113120300A (en) | 2021-04-15 | 2021-04-15 | Manipulator with anti-falling function for boxing machine and using method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN113120300A true CN113120300A (en) | 2021-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110407660.1A Withdrawn CN113120300A (en) | 2021-04-15 | 2021-04-15 | Manipulator with anti-falling function for boxing machine and using method thereof |
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| CN (1) | CN113120300A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113560090A (en) * | 2021-08-06 | 2021-10-29 | 南通联泷装配式建筑科技有限公司 | Civil building matched pipeline installation bracket and installation method thereof |
| 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 |
| CN115561412A (en) * | 2022-10-08 | 2023-01-03 | 哈尔滨海涵丰生物科技开发有限公司 | Medicine automatic checkout device |
| CN116330337A (en) * | 2023-05-25 | 2023-06-27 | 太原理工大学 | Grabbing manipulator for open-air mining |
-
2021
- 2021-04-15 CN CN202110407660.1A patent/CN113120300A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113560090A (en) * | 2021-08-06 | 2021-10-29 | 南通联泷装配式建筑科技有限公司 | Civil building matched pipeline installation bracket and installation method thereof |
| 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 |
| CN113636480B (en) * | 2021-10-12 | 2021-12-28 | 南通为邦电气工程有限公司 | High-safety intelligent energy-saving crane |
| CN115561412A (en) * | 2022-10-08 | 2023-01-03 | 哈尔滨海涵丰生物科技开发有限公司 | Medicine automatic checkout device |
| CN115561412B (en) * | 2022-10-08 | 2023-05-05 | 哈尔滨海涵丰生物科技开发有限公司 | Automatic medicine detection device |
| CN116330337A (en) * | 2023-05-25 | 2023-06-27 | 太原理工大学 | Grabbing manipulator for open-air mining |
| CN116330337B (en) * | 2023-05-25 | 2023-07-25 | 太原理工大学 | Grabbing manipulator for open-air mining |
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Application publication date: 20210716 |