CN114803467B - Telescopic claw type material taking device - Google Patents
Telescopic claw type material taking device Download PDFInfo
- Publication number
- CN114803467B CN114803467B CN202210339949.9A CN202210339949A CN114803467B CN 114803467 B CN114803467 B CN 114803467B CN 202210339949 A CN202210339949 A CN 202210339949A CN 114803467 B CN114803467 B CN 114803467B
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- fixed
- eccentric wheel
- paw
- flange plate
- 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.)
- Active
Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 27
- 239000000463 material Substances 0.000 title abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 125000006850 spacer group Chemical group 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims 8
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 241000209140 Triticum Species 0.000 description 3
- 235000021307 Triticum Nutrition 0.000 description 3
- 235000013305 food Nutrition 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000010902 straw Substances 0.000 description 2
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 235000012149 noodles Nutrition 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0217—Elongated
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention provides a telescopic claw type material taking device which comprises a bearing seat, a fixed connecting rod, a rotating shaft bearing and at least one claw mechanism, wherein the bearing seat is arranged on the bearing seat; the two ends of the rotating shaft are connected with bearing seats on the frame through the rotating shaft bearings; the paw mechanism is fixed on the rotating shaft and rotates synchronously with the rotating shaft; one end of the fixed connecting rod is fixedly connected with the paw mechanism, and the other end of the fixed connecting rod is fixedly connected with the frame. The mechanical device replaces a human hand to finish the taking action of the bar stock, and the whole device has compact structure and small occupied space; the four-bar mechanism and the five-bar mechanism are connected in parallel, and the paw can be stretched by motor driving; therefore, under the combined action of the four-bar mechanism and motor drive, the five-bar mechanism can also obtain a determined motion track to realize the extension and retraction of the paw; thus, the device can be ensured to work smoothly, unnecessary constraint force is avoided, and power is saved.
Description
Technical Field
The invention belongs to the field of automatic production equipment, and particularly relates to a telescopic paw taking device.
Background
Elongated rod-shaped materials are common in a number of industries, for example, forging and cutting of metal bar stock in the machine-building industry; in the agricultural field, many crops such as wheat, corn and the like, the straw left after harvesting is also bar-shaped; bar-like foods, such as noodles, are also common in the food processing field.
Most bars often need to maintain order during actual transportation and use, for example, wheat straw is often packaged together into wheat bundles for transportation. In the actual storage and transportation process, the bars are often stacked together in disorder and mess, which is not beneficial to taking the bars, and meanwhile, the situation of slipping, collapsing and the like is easy to occur, like the safety of field devices and staff is easily endangered by metal bars. Therefore, how to sort the disordered bars into orderly stacks or transport during the process of taking the bars is a key problem, and most of the cases are manually sorted at present.
The manual mode is long in material taking time, high in strength and low in efficiency, and potential safety hazards exist in the material taking process for large-size and heavy materials, but the mode can ensure that the taken bars are orderly. Therefore, the manual material taking action is simulated, and a device is designed to replace manual grabbing, so that the ordering of the bar stock can be ensured, and the defect of a manual mode can be avoided.
It is noted that this section is intended to provide a background or context for the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
Disclosure of Invention
The invention aims to provide a telescopic paw extracting device, which uses a mechanical executing mechanism to replace the action of a human hand to grasp bars, reduces the labor intensity and improves the operation safety.
The invention adopts the following technical scheme to realize the purposes:
the telescopic claw type material taking device comprises a bearing seat, a fixed connecting rod, a rotating shaft bearing and at least one claw mechanism;
the two ends of the rotating shaft are connected with the bearing seats on the frame through the rotating shaft bearings; the paw mechanism is fixed on the rotating shaft and rotates synchronously with the rotating shaft; one end of the fixed connecting rod is fixedly connected with the paw mechanism, and the other end of the fixed connecting rod is fixedly connected with the frame.
Further, the paw mechanism comprises an outer flange, a fixed eccentric wheel, an eccentric wheel outer ring bearing, an inner flange and a paw assembly;
The outer flange plate is fixed on the rotating shaft and rotates synchronously with the rotating shaft; the fixed eccentric wheel is connected with the frame through the fixed connecting rod, an eccentric hole of the fixed eccentric wheel is connected with the rotating shaft through a bearing, and the inner flange plate is sleeved on the fixed eccentric wheel (9) through an outer ring bearing of the eccentric wheel;
Three connecting holes are uniformly distributed on the periphery of the inner flange plate, and three paw assemblies are respectively arranged on the three connecting holes; the two gripper assemblies respectively comprise a hinging rod and grippers, wherein one end of the hinging rod is connected with the inner flange plate, and the other end of the hinging rod is connected with the grippers; the gripper assembly comprises a fixed rod and a gripper, one end of the fixed rod is connected with the inner flange, and the other end of the fixed rod is connected with the gripper; the three claws are hinged on the outer flange plate through a short shaft and a flange bearing.
Further, the rotating shafts comprise a plurality of short rotating shafts, and the short rotating shafts are connected through a coupler.
Further, the number of the above-mentioned gripper mechanisms is 3.
Further, the device also comprises a rotating shaft spacer bush; the rotating shaft spacer sleeve is sleeved on the rotating shaft and is positioned between the outer flange plate and the fixed eccentric wheel.
Further, the device also comprises a fixing flange plate for fixing the outer flange plate; the fixed flange plate is sleeved on the rotating shaft and is positioned at the outer side of the outer flange plate.
Further, the device also comprises a locking sleeve for fixing the fixed eccentric wheel; the locking sleeve is sleeved on the rotating shaft and positioned on the outer side of the fixed eccentric wheel.
Further, one end of the fixed connecting rod is fixedly connected with the paw mechanism through a bolt, and the other end of the fixed connecting rod is fixedly connected with the frame through a bolt.
Further, a retainer ring is arranged between the fixed eccentric wheel and the eccentric wheel outer ring bearing.
Further, the rotating shaft is driven by a motor.
The invention has the beneficial effects that:
1) The invention discloses a telescopic paw extracting device, which uses a mechanical device to replace a human hand to finish the taking action of bar stock, and has compact structure and small occupied space; the four-bar mechanism and the five-bar mechanism are connected in parallel, and the paw can be stretched by motor driving; therefore, under the combined action of the four-bar mechanism and motor drive, the five-bar mechanism can also obtain a determined motion track to realize the extension and retraction of the paw; thus, the device can be ensured to work smoothly, unnecessary constraint force is avoided, and power is saved.
2) The invention discloses a telescopic paw extracting device, which is characterized in that connection of a paw and a connecting rod, connection of the paw and an outer flange plate and connection of a hinged connecting rod and an inner flange plate are realized through a connecting rod shaft, a flange bearing, a shaft sleeve and a clamp spring, so that relative movement is ensured, axial fixation of a component is ensured, and the situation that a part falls off is avoided.
3) The invention discloses a telescopic paw material taking device, which realizes mechanization, reduces the labor intensity and greatly improves the working efficiency compared with the traditional manual material taking operation; the intermittent action of the hand is replaced, so that the fetched bar stock can be ensured to be in a neat state; the safety problem possibly brought when the bar material is poured during manual work is solved, and the safety and the reliability of the work are ensured.
4) The invention discloses a telescopic paw extracting device, which can realize quantitative grabbing by reasonably controlling the rotating speed, can effectively ensure the production beat, has a simple structure and strong functionality compared with other mechanical grabbing devices, can be applied to various industries (agriculture, machining industry and food processing industry), and has a wide prospect.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the gripper mechanism of the present invention;
FIG. 3 is a side view of the pawl mechanism of the present invention;
FIG. 4 is a cross-sectional view of the jaw hinge position of the jaw mechanism of the present invention;
FIG. 5 is a first operational state diagram of the pawl mechanism of the present invention;
FIG. 6 is a second operational state diagram of the pawl mechanism of the present invention;
FIG. 7 is a third operational state diagram of the pawl mechanism according to the present invention
Fig. 8 is a fourth operational state diagram of the gripper mechanism of the present invention.
In the figure, 1, a bearing seat; 2. a fixed connecting rod; 3. a coupling; 4. a rotating shaft; 5. a rotating shaft bearing; 6. an outer flange; 7.a fixed rod; 8. a paw; 9. fixing an eccentric wheel; 10. an eccentric wheel outer ring bearing; 11. a retainer ring; 12. an inner flange; 13. a hinge rod; 14. a fixed flange; 15. a rotating shaft spacer bush; 16. a locking sleeve; 17. a short shaft; 18. and (3) a flange bearing.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features or characteristics may be combined in any suitable manner in one or more embodiments.
The invention will be described in detail with reference to the accompanying drawings, wherein the specific steps are as follows:
As shown in fig. 1, which is an overall schematic diagram of the telescopic claw type material taking device, three groups of claw mechanisms are assembled together, and the common rotating shafts 4 of the claw mechanisms are connected together through the shaft coupling 3 and can synchronously rotate. The two ends of the connected rotating shaft are provided with rotating shaft bearings 5 which are fixed on a frame of the working area through bearing blocks 1. One end of the fixed connecting rod 2 is connected with the fixed eccentric wheel 9 of the paw mechanism through a bolt, and the other end is connected with the fixed frame in the working area through a bolt, so that the fixed eccentric wheel is always fixed in the working process. When the device works, the motor drives the rotating shaft 4 to rotate, the parallel paw mechanisms on the rotating shaft synchronously act, and the paws simultaneously stretch out and draw back, so that the removed bars can be ensured to be smooth and orderly.
As shown in fig. 2, which is a schematic structural view of the paw mechanism of the present invention, and fig. 3, which is a side view of the paw mechanism of the present invention, the outer flange 6 is fixedly connected with the rotating shaft 4 through the fixed flange 14, and rotates synchronously with the rotating shaft, the periphery of the outer flange 6 is hinged with the three paws 8 through the short shaft 17 and the flange bearing 18, the fixed eccentric wheel 9 is connected with the frame through the fixed connecting rod 2, and the bearing is installed between the eccentric hole and the rotating shaft, so that the fixed eccentric wheel and the rotating shaft can rotate relatively. The three jaw assemblies comprise a first jaw assembly 8.1, a second jaw assembly 8.2 and a third jaw assembly 8.3, respectively. The inner flange 12 is sleeved on the fixed eccentric wheel 9, an eccentric wheel outer ring bearing 10 is arranged between the fixed eccentric wheel 9 and the fixed eccentric wheel, the fixed eccentric wheel and the fixed eccentric wheel outer ring bearing 10 can rotate relatively, and a check ring 11 is arranged between the fixed eccentric wheel 9 and the fixed eccentric wheel outer ring bearing 10. Three connecting holes are uniformly distributed on the periphery of the inner flange plate 12 and are respectively connected with a fixed rod 7 and two hinging rods 13. The fixed connecting rod 7 is fixedly connected with the connecting hole of the inner flange plate 12 through a bolt, and the hinging rod 13 is hinged with the connecting hole of the inner flange plate 12 through a short shaft 17 and a flange bearing 18 and can rotate relative to the inner flange plate 12; the other ends of the three connecting rods are correspondingly hinged to the claws 8 on the outer flange plate 6. The rotating shaft spacer bush 15 is sleeved on the rotating shaft 4 and is positioned between the outer flange 6 and the fixed eccentric wheel 9; the locking sleeve 16 is sleeved on the rotating shaft 4 and is positioned at the outer side of the fixed eccentric wheel 9.
When the wheel shaft 4 is driven by a motor to rotate during operation, the outer flange 6 fixed on the wheel shaft 4 also rotates to drive the paw 8 on the wheel shaft to rotate around the central shaft, and the paw 8 is connected with the inner flange 12 through the fixed rod 7 and the hinging rod 13. When the hand claw 8 rotates along with the outer flange 6 to the nearest position from the fixed eccentric wheel 9, the hand claw 8 stretches out to the maximum stroke under the drive of the connecting rod; similarly, when the hand claw 8 rotates along with the outer flange 6 to the position farthest from the fixed eccentric wheel 9, the hand claw 8 is driven by the connecting rod to retract to the innermost end. The contraction process simulates the grasping process of a human hand.
As shown in fig. 5 to 8, taking the fixed end gripper as an example, in the position of fig. 5, the gripper is about to extend out of the outer flange; when the device is turned to the position of fig. 6, the claws extend out of the outer flange plate to start grabbing bars; when the working state is shown in the position of fig. 7, the claws extend to the farthest position to reach the set bar taking amount, and simultaneously, under the combined action of the three groups of grabbing parts, the disordered bars are gradually parallel to the rotating shaft in the grabbing process, so that the ordered arrangement of the bars is realized; when the device is turned to the position of fig. 8, the jaws begin to retract gradually into the outer flange, whereupon the bar material also begins to disengage from the device, either to the working position or onto the conveyor belt.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
Claims (9)
1. The utility model provides a scalable claw formula extracting device which characterized in that: comprises a bearing seat (1), a fixed connecting rod (2), a rotating shaft (4), a rotating shaft bearing (5) and at least one paw mechanism;
Two ends of the rotating shaft (4) are connected with the bearing seat (1) on the frame through the rotating shaft bearing (5); the paw mechanism is fixed on the rotating shaft (4) and rotates synchronously with the rotating shaft (4); one end of the fixed connecting rod (2) is fixedly connected with the paw mechanism, and the other end of the fixed connecting rod is fixedly connected with the frame;
The paw mechanism comprises an outer flange plate (6), a fixed eccentric wheel (9), an eccentric wheel outer ring bearing (10), an inner flange plate (12) and a paw assembly;
The outer flange plate (6) is fixed on the rotating shaft (4) and rotates synchronously with the rotating shaft (4); the fixed eccentric wheel (9) is connected with the frame through the fixed connecting rod (2), an eccentric hole of the fixed eccentric wheel (9) is connected with the rotating shaft (4) through a bearing, and the inner flange plate (12) is sleeved on the fixed eccentric wheel (9) through the eccentric wheel outer ring bearing (10);
Three connecting holes are uniformly distributed on the periphery of the inner flange plate (12), and three paw assemblies are respectively arranged on the three connecting holes; the two gripper assemblies respectively comprise a hinging rod (13) and a gripper (8), wherein one end of the hinging rod (13) is connected with the inner flange plate (12), and the other end of the hinging rod is connected with the gripper (8); the gripper assembly comprises a fixed rod (7) and a gripper (8), one end of the fixed rod (7) is connected with the inner flange plate (12), and the other end of the fixed rod is connected with the gripper (8); three claws (8) are hinged on the outer flange plate (6) through a short shaft (17) and a flange bearing (18).
2. The retractable claw extraction device of claim 1 wherein: the rotating shafts (4) comprise a plurality of short rotating shafts, and the short rotating shafts are connected through a coupler (3).
3. The retractable claw extraction device of claim 2 wherein: the number of the paw mechanisms is 3.
4. A retractable claw extraction device according to any one of claims 1-3 wherein: the device also comprises a rotating shaft spacer bush (15); the rotating shaft spacer bush (15) is sleeved on the rotating shaft (4) and is positioned between the outer flange plate (6) and the fixed eccentric wheel (9).
5. The retractable claw extraction device of claim 4 wherein: the device also comprises a fixing flange plate (14) for fixing the outer flange plate (6); the fixed flange (14) is sleeved on the rotating shaft (4) and is positioned at the outer side of the outer flange (6).
6. The retractable claw extraction device of claim 5 wherein: the device also comprises a locking sleeve (16) for fixing the fixed eccentric wheel (9); the locking sleeve (16) is sleeved on the rotating shaft (4) and is positioned at the outer side of the fixed eccentric wheel (9).
7. The retractable claw extraction device of claim 6 wherein: one end of the fixed connecting rod (2) is fixedly connected with the paw mechanism through a bolt, and the other end of the fixed connecting rod is fixedly connected with the frame through a bolt.
8. The retractable claw extraction device of claim 7 wherein: a check ring (11) is arranged between the fixed eccentric wheel (9) and the eccentric wheel outer ring bearing (10).
9. The retractable claw extraction device of claim 8 wherein: the rotating shaft (4) is driven by a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210339949.9A CN114803467B (en) | 2022-04-01 | 2022-04-01 | Telescopic claw type material taking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210339949.9A CN114803467B (en) | 2022-04-01 | 2022-04-01 | Telescopic claw type material taking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114803467A CN114803467A (en) | 2022-07-29 |
| CN114803467B true CN114803467B (en) | 2024-05-14 |
Family
ID=82532354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210339949.9A Active CN114803467B (en) | 2022-04-01 | 2022-04-01 | Telescopic claw type material taking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114803467B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB840854A (en) * | 1957-03-22 | 1960-07-13 | Gen Electric Co Ltd | Improvements in or relating to transfer apparatus |
| US4619357A (en) * | 1985-06-06 | 1986-10-28 | Curt G. Joa, Inc. | Pad turning apparatus |
| DE4304432A1 (en) * | 1993-02-13 | 1994-08-18 | Graessle Walter Gmbh | Device for sorting objects |
| JPH0741164A (en) * | 1993-07-26 | 1995-02-10 | Shibuya Kogyo Co Ltd | Rotary stopper |
| CN101823261A (en) * | 2010-05-19 | 2010-09-08 | 北京联合大学 | Rotor gripper structure |
| CN103057744A (en) * | 2012-12-31 | 2013-04-24 | 广西大学 | Controllable adjustable material pushing mechanism |
| CA2852575A1 (en) * | 2014-05-21 | 2015-11-21 | Honey Bee Manufacturing Ltd. | Harvesting cam reel with convertible transport mode |
| CN205820225U (en) * | 2016-06-03 | 2016-12-21 | 浙江新棉纺织有限公司 | A kind of corrugated sheet pay-off |
| US9586762B1 (en) * | 2015-04-01 | 2017-03-07 | S&M Precast Inc. | Rotatable long-bar handling apparatus |
| CN107187808A (en) * | 2017-06-30 | 2017-09-22 | 宝鸡银康机械设备有限公司 | Spacing feed arrangement with eccentric lifting transfer organization |
| CN107601418A (en) * | 2017-09-30 | 2018-01-19 | 广州达意隆包装机械股份有限公司 | One kind blows filling rotation equipment integrating |
| CN207843446U (en) * | 2017-12-16 | 2018-09-11 | 冯文波 | Automatic feed dividing feeding device |
| CN111390953A (en) * | 2020-03-23 | 2020-07-10 | 上海大学 | Enveloping type under-actuated robot paw |
| CN111514644A (en) * | 2020-05-20 | 2020-08-11 | 安徽清蓝环保工程有限公司 | Kick-off conveying mechanism |
| CN111532489A (en) * | 2020-06-05 | 2020-08-14 | 常州汇拓科技有限公司 | Stepped shaft type part conveying mechanism |
| CN211545143U (en) * | 2019-05-24 | 2020-09-22 | 无锡市通亦和精密机械有限公司 | Oil pipe carousel feed mechanism |
-
2022
- 2022-04-01 CN CN202210339949.9A patent/CN114803467B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB840854A (en) * | 1957-03-22 | 1960-07-13 | Gen Electric Co Ltd | Improvements in or relating to transfer apparatus |
| US4619357A (en) * | 1985-06-06 | 1986-10-28 | Curt G. Joa, Inc. | Pad turning apparatus |
| DE4304432A1 (en) * | 1993-02-13 | 1994-08-18 | Graessle Walter Gmbh | Device for sorting objects |
| JPH0741164A (en) * | 1993-07-26 | 1995-02-10 | Shibuya Kogyo Co Ltd | Rotary stopper |
| CN101823261A (en) * | 2010-05-19 | 2010-09-08 | 北京联合大学 | Rotor gripper structure |
| CN103057744A (en) * | 2012-12-31 | 2013-04-24 | 广西大学 | Controllable adjustable material pushing mechanism |
| CA2852575A1 (en) * | 2014-05-21 | 2015-11-21 | Honey Bee Manufacturing Ltd. | Harvesting cam reel with convertible transport mode |
| US9586762B1 (en) * | 2015-04-01 | 2017-03-07 | S&M Precast Inc. | Rotatable long-bar handling apparatus |
| CN205820225U (en) * | 2016-06-03 | 2016-12-21 | 浙江新棉纺织有限公司 | A kind of corrugated sheet pay-off |
| CN107187808A (en) * | 2017-06-30 | 2017-09-22 | 宝鸡银康机械设备有限公司 | Spacing feed arrangement with eccentric lifting transfer organization |
| CN107601418A (en) * | 2017-09-30 | 2018-01-19 | 广州达意隆包装机械股份有限公司 | One kind blows filling rotation equipment integrating |
| CN207843446U (en) * | 2017-12-16 | 2018-09-11 | 冯文波 | Automatic feed dividing feeding device |
| CN211545143U (en) * | 2019-05-24 | 2020-09-22 | 无锡市通亦和精密机械有限公司 | Oil pipe carousel feed mechanism |
| CN111390953A (en) * | 2020-03-23 | 2020-07-10 | 上海大学 | Enveloping type under-actuated robot paw |
| CN111514644A (en) * | 2020-05-20 | 2020-08-11 | 安徽清蓝环保工程有限公司 | Kick-off conveying mechanism |
| CN111532489A (en) * | 2020-06-05 | 2020-08-14 | 常州汇拓科技有限公司 | Stepped shaft type part conveying mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114803467A (en) | 2022-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104690741A (en) | Manipulator tail end actuator | |
| CN110116402B (en) | Three-degree-of-freedom mechanical arm based on coupling steel wire rope transmission | |
| CN114803467B (en) | Telescopic claw type material taking device | |
| CN205651336U (en) | Delta parallel robot | |
| CN105236156B (en) | Deformable multi-functional handling sorter | |
| CN209950168U (en) | Cocoon-breaking machine | |
| CN105880455B (en) | A kind of adjustable riveting press fit device | |
| CN206383133U (en) | A kind of manipulator | |
| CN106826890A (en) | A kind of gripping structure for realizing article crawl | |
| CN211643670U (en) | Automatic feeding and positioning device for strip-shaped section combined by multiple groups of controllable conveyor belts | |
| CN201095551Y (en) | Folding hoister | |
| CN108834550B (en) | Pineapple auxiliary picking machine based on shutter mechanism principle | |
| CN107182425A (en) | A kind of straw harvesting device | |
| CN108792709B (en) | Horizontal coiling and packing device for steel belt | |
| CN201613546U (en) | Multi-row grabbing machine | |
| CN108454966B (en) | Fruit mesh bag supporting and conveying system | |
| CN209811325U (en) | Cold-rolled steel coil scrap edge material collecting system | |
| CN103662872A (en) | Automatic material sorting and loading machine capable of being movably adjusted in longitudinal direction and transverse direction | |
| CN209106279U (en) | A kind of pet treat spiral forming device | |
| CN110154868A (en) | A kind of transregional transfer car(buggy) of waste for animal husbandry bio-safety | |
| CN207543967U (en) | A kind of livestock circle excrement cleaning system | |
| CN115818527B (en) | Carrier convenient to shift roll-shaped forage bale | |
| CN216492094U (en) | Picking equipment adopting rocker arm structure | |
| CN206126743U (en) | High -efficient wood -processing industry is with wooden skin material loading machine | |
| CN205325704U (en) | Manipulator end effector |
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 |