CN114932572A - End effector and intelligent unstacking robot - Google Patents
End effector and intelligent unstacking robot Download PDFInfo
- Publication number
- CN114932572A CN114932572A CN202210580756.2A CN202210580756A CN114932572A CN 114932572 A CN114932572 A CN 114932572A CN 202210580756 A CN202210580756 A CN 202210580756A CN 114932572 A CN114932572 A CN 114932572A
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- bottom supporting
- supporting mechanism
- end effector
- driving
- state
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- 239000012636 effector Substances 0.000 title claims abstract description 33
- 239000000463 material Substances 0.000 claims abstract description 47
- 230000003028 elevating effect Effects 0.000 claims description 8
- 239000011358 absorbing material Substances 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
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Classifications
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an end effector and an intelligent unstacking robot, wherein the end effector comprises a rack, an absorbing module, a bottom supporting mechanism and a driving mechanism, the absorbing module is arranged on the rack and used for absorbing materials, one end of the bottom supporting mechanism is connected with the rack, the bottom supporting mechanism is positioned below the absorbing module and has a first state and a second state, the driving mechanism is arranged on the rack and connected with the other end of the bottom supporting mechanism, and the driving mechanism is used for driving the bottom supporting mechanism to be switched between the first state and the second state. Through above-mentioned structure, the support mechanism that is in the first state can the bearing material, consequently, can solve the problem that the material that takes place drops to the damage because of the outage.
Description
Technical Field
The invention relates to the technical field of transportation, in particular to an end effector and an intelligent unstacking robot.
Background
In the prior art, the intelligence robot that breaks a jam takes away the material (like packing box etc.) and transfers to predetermined position through end effector, wherein, when taking place the circumstances that the intelligence robot that breaks a jam cuts off the power supply at the in-process of transferring the material, has the material and drops to the problem of losing.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an end effector which can solve the problem that materials fall to be damaged due to power failure.
The invention further provides an intelligent unstacking robot with the end effector.
According to the embodiment of the first aspect of the invention, the end effector comprises a machine frame, a suction module, a bottom supporting mechanism and a driving mechanism, the suction module is arranged on the frame and used for sucking materials, one end of the bottom supporting mechanism is connected with the frame, the bottom supporting mechanism is positioned below the suction module and has a first state and a second state, the driving mechanism is arranged on the frame and connected with the other end of the bottom supporting mechanism, the driving mechanism is used for driving the bottom supporting mechanism to switch between the first state and the second state, wherein when the bottom supporting mechanism is in a first state, the overlooking projection of the material sucked by the suction module is on the bottom supporting mechanism, when the bottom supporting mechanism is in the second state, the overlook projection of the material sucked by the suction module is positioned outside the overlook projection of the bottom supporting mechanism.
According to the end effector provided by the embodiment of the invention, at least the following beneficial effects are achieved: through above-mentioned structure, when the in-process of transferring the material takes place the condition of outage, the support end mechanism that is in the first state can the bearing material, consequently, can solve the problem that the material that takes place drops to the loss because of the outage.
According to some embodiments of the present invention, the driving mechanism includes a driving element, a sliding table, and a vertical frame, the driving element is disposed on the frame, the sliding table is connected to an output end of the driving element, the vertical frame is disposed on the sliding table, and the vertical frame is connected to the other end of the bottom supporting mechanism, wherein the driving element is configured to drive the sliding table to move, so that the bottom supporting mechanism is driven by the vertical frame to switch between the first state and the second state.
According to some embodiments of the invention, the frame is connected to one end of the base supporting mechanism through a first lifting mechanism, the driving mechanism is connected to the other end of the base supporting mechanism through a second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are used for driving the base supporting mechanism to lift together to adjust the distance between the base supporting mechanism and the suction module.
According to some embodiments of the invention, the bottom holding mechanism is a telescopic fence.
According to some embodiments of the invention, the base mechanism is provided with a first mounting bar and a second mounting bar, both of which are provided with mounting grooves at opposite positions.
According to some embodiments of the invention, the suction module is connected with an air source connecting pipe, the frame is provided with a flow dividing pipe, the flow dividing pipe is provided with a main port and a branch port, the main port is communicated with a pipe cavity of the flow dividing pipe, the main port is used for being communicated with a vacuum source, and the branch ports are connected with the air source connecting pipe in a one-to-one correspondence manner.
According to some embodiments of the present invention, the suction module is provided with a gas collecting pipe and a plurality of suction nozzle pieces connected to one end of the gas collecting pipe, the suction nozzle pieces are used for sucking materials, the other end of the gas collecting pipe is connected to a gas circuit valve, and the gas circuit valve is connected to the gas source connecting pipe.
According to some embodiments of the invention, the rack is provided with at least one suction area, at least one suction module is arranged in the suction area, and the suction area can suck and contain single materials through the suction module in the suction area.
According to some embodiments of the invention, the rack is provided with a connecting frame, the connecting frame is provided with a connecting surface, the connecting surface and the rack are arranged up and down, and a reserved space is arranged between the connecting surface and the rack.
The intelligent unstacking robot comprises a mechanical arm and the end effector, wherein the mechanical arm is rotatably connected with the rack, and the mechanical arm is used for driving the rack to move to a preset position and adjusting the posture of the end effector when the end effector sucks materials.
The intelligent unstacking robot provided by the embodiment of the invention at least has the following beneficial effects: through above-mentioned structure, can solve the problem that the material that takes place drops to the loss because of the outage.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of one embodiment of an end effector of the present invention;
FIG. 2 is another block diagram of the end effector shown in FIG. 1;
FIG. 3 is a block diagram of the end effector shown in FIG. 2 with portions of the components removed;
fig. 4 is a partially exploded view of a suction module shown in fig. 1.
Reference numerals:
the device comprises a rack 100, a first lifting mechanism 110, a first mounting bar 111, a shunt tube 120, a main opening 121, a branch opening 122, a control element 130, a connecting frame 140 and a connecting surface 141;
the suction module 200, the gas collecting pipe 210, the gas source connecting pipe 211, the gas circuit valve 212 and the suction nozzle piece 220;
a bottom holding mechanism 300;
the driving mechanism 400, the driving element 410, the sliding table 411, the vertical frame 420, the second lifting mechanism 421 and the second mounting bar 421A;
a drag chain 500;
mounting groove a1, and reserved space a 2.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, if there is any description of first, second, third, fourth, fifth, etc. for the purpose of distinguishing technical features, it is not to be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the precedence of the indicated technical features.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless explicitly defined otherwise, the terms "disposed," "mounted," "connected," and the like are to be understood in a broad sense, and for example, may be directly connected or indirectly connected through an intermediate; can be fixedly connected, can also be detachably connected and can also be integrally formed; may be a mechanical connection; either as communication within the two elements or as an interactive relationship of the two elements. The specific meaning of the above-mentioned words in the present invention can be reasonably determined by those skilled in the art in combination with the detailed contents of the technical solutions.
Referring to fig. 1 to 4, an end effector according to an embodiment of the present invention includes a frame 100, a suction module 200, a bottom supporting mechanism 300, and a driving mechanism 400.
The suction module 200 is arranged on the rack 100, the suction module 200 is used for sucking materials, one end of the bottom supporting mechanism 300 is connected with the rack 100, the bottom supporting mechanism 300 is located below the suction module 200, the bottom supporting mechanism 300 has a first state and a second state, the driving mechanism is arranged on the rack 100, the driving mechanism 400 is connected with the other end of the bottom supporting mechanism 300, and the driving mechanism 400 is used for driving the bottom supporting mechanism 300 to be switched between the first state and the second state.
In this embodiment, referring to fig. 1 and 2, the bottom supporting mechanism 300 is a telescopic fence, one end of the bottom supporting mechanism 300 is connected to the frame 100, and the other end is connected to the driving mechanism 400.
When the bottom supporting mechanism 300 is in the first state, the top view projection of the material sucked by the suction module 200 falls on the bottom supporting mechanism 300, that is, the top view projection of the material sucked by the suction module 200 falls on the unfolded bottom supporting mechanism 300.
Through the structure, when the power failure occurs in the material transferring process, the bottom supporting mechanism 300 in the first state can support the material, so that the problem that the material falls to damage due to the power failure can be solved.
It will be appreciated that the problem of material falling to damage is that the material falls to the ground and collides with the ground and is damaged.
It can be understood that, the distance between the bottom supporting mechanism 300 and the suction module 200 is slightly larger than the height of the material, when the power failure occurs during the material transferring process, the bottom supporting mechanism 300 in the first state can receive the dropped material, and therefore, the problem that the material is dropped to be damaged due to the power failure can also be solved. Wherein, the distance between the bottom supporting mechanism 300 and the suction module 200 is A, the height of the material is B, and the difference between A and B is not less than 5cm and not more than 15 cm.
When the bottom supporting mechanism 300 is in the second state, the top view projection of the material sucked by the suction module 200 is located outside the top view projection of the bottom supporting mechanism 300, that is, the top view projection of the material sucked by the suction module 200 falls outside the top view projection of the folded bottom supporting mechanism 300.
Through the structure, the bottom supporting mechanism 300 in the second state, namely the bottom supporting mechanism 300 after being folded, relieves the bearing on the material, so that the material can be conveniently taken and placed by the suction module 200.
In some embodiments, the backing mechanism 300 is a nylon mesh or the like.
The driving mechanism 400 includes two driving members 410, two sliding tables 411, and two vertical frames 420.
Referring to fig. 1 and 2, two driving parts 410 are disposed on the frame 100, the two driving parts 410 are disposed oppositely, the output end of each driving part 410 is provided with a sliding table 411, two vertical frames 420 are disposed on the two sliding tables 411 in a one-to-one correspondence manner, and the two vertical frames 420 are connected to the other end of the bottom supporting mechanism 300. Wherein, the driving member 410 is a linear sliding table cylinder.
In some embodiments, the driver 410 may be provided as a power push rod or the like.
The two driving members 410 can drive the two vertical frames 420 to move through the corresponding sliding tables 411 to drive the other end of the bottom supporting mechanism 300 to move, so that the bottom supporting mechanism 300 can be switched between the first state and the second state.
In this embodiment, referring to fig. 1, a drag chain 500 is further connected to the sliding table 411, one end of the drag chain 500 is fixed to the frame 100, the other end of the drag chain 500 is fixed to the sliding table 411 and is linked with the sliding table 411, and the drag chain 500 is used for collecting and protecting cables connected to the sliding table 411, so that the scattered wires can be well prevented from being wound and damaged.
In some embodiments, the driver 410 and the riser 420 are both provided as one.
In some embodiments, the driving mechanism 400 includes a driving member 410, a vertical frame 420, and two rotating wheels, the two rotating wheels are disposed side by side, the two rotating wheels are both rotatably disposed on the rack 100, the two rotating wheels are sleeved with a transmission belt, the transmission belt is connected to the vertical frame 420, the vertical frame 420 is connected to the other end of the bottom supporting mechanism 300, the driving member 410 is disposed on the rack 100, an output end of the driving member 410 is connected to one of the rotating wheels, and the driving member 410 is configured to drive one of the rotating wheels to rotate, so as to drive the transmission belt to rotate and drive the vertical frame 420 to move. Wherein the drive member 410 is provided as a motor.
In order to adapt to materials with different specifications, referring to fig. 1 and 2, the rack 100 is provided with a first lifting mechanism 110, an output end of the first lifting mechanism 110 is connected with one end of the bottom supporting mechanism 300, the vertical frame 420 is provided with a second lifting mechanism 421, an output end of the second lifting mechanism 421 is connected with the other end of the bottom supporting mechanism 300, and the second lifting mechanism 421 and the first lifting mechanism 110 are used for driving the bottom supporting mechanism 300 to lift together so as to adjust the distance between the bottom supporting mechanism 300 and the suction module 200. Wherein, the first lifting mechanism 110 can be configured as a cylinder, a hydraulic cylinder, an electric push rod, etc.; the second lifting mechanism 421 may be configured as an air cylinder, a hydraulic cylinder, an electric push rod, and the like.
It can be understood that the rack 100 is provided with the first lifting mechanism 110, and an output end of the first lifting mechanism 110 is connected with one end of the bottom supporting mechanism 300, that is, the rack 100 is connected with one end of the bottom supporting mechanism 300 through the first lifting mechanism 110; the vertical frame 420 is provided with a second lifting mechanism 421, and an output end of the second lifting mechanism 421 is connected to the other end of the bottom supporting mechanism 300, that is, the driving mechanism 400 is connected to the other end of the bottom supporting mechanism 300 through the second lifting mechanism 421.
The output of first elevating system 110 is connected with the one end of backing the end mechanism 300, the output of second elevating system 421 is connected with the other end of backing the end mechanism 300, specifically, refer to fig. 1 and 2, backing the end mechanism 300 is equipped with first mounting bar 111 and second mounting bar 421A, first mounting bar 111 is connected with the output of first elevating system 110, second mounting bar 421A is connected with the output of second elevating system 421, first mounting bar 111 and second mounting bar 421A all are equipped with mounting groove a1, the quantity of mounting groove a1 can have a plurality ofly, its position sets up relatively, backing the end mechanism 300 is flexible for the fence, be equipped with many bars between first mounting bar 111 and second mounting bar 421A, the bars rotate each other through the bolt and connect to rotate with first mounting bar 111 and second mounting bar 421A and be connected.
With the structure, on one hand, the installation groove a1 can slow down the jamming of the bottom holding mechanism 300 in the unfolding or folding process; on the other hand, when the tray mechanism 300 is in the folded state, the mounting grooves a1 can accommodate the bolts at the connection, so that the collision of high frequency is well avoided.
In this embodiment, referring to fig. 1 and 3, nine suction modules 200 are provided, wherein three suction modules 200 are provided with an air source connection pipe 211, every two of the other six suction modules 200 are connected with an air source connection pipe 211, the number of the air source connection pipes 211 is six, the rack 100 is provided with a shunt tube 120, the shunt tube 120 is provided with a main port 121 and six branch ports 122 communicated with the tube cavity of the shunt tube, the main port 121 is used for communicating a vacuum source, and the six branch ports 122 are connected with the six air source connection pipes 211 in a one-to-one correspondence manner.
In some embodiments, six suction modules 200 may be provided, each of the six suction modules 200 is provided with an air source connection pipe 211, the rack 100 is provided with a flow dividing pipe 120, the flow dividing pipe 120 is provided with a main port 121 and six branch ports 122 communicated with the pipe cavity thereof, the main port 121 is used for being communicated with a vacuum source, and the six branch ports 122 are connected with the six air source connection pipes 211 in a one-to-one correspondence manner.
The suction module 200 is connected to the air source connection pipe 211, specifically, referring to fig. 1 and 4, the suction module 200 is provided with a gas collecting pipe 210 and a plurality of suction nozzle pieces 220 connected to one end of the gas collecting pipe 210, the suction nozzle pieces 220 are used for sucking materials, the other end of the gas collecting pipe 210 is connected to an air path valve 212, and the air path valve 212 is connected to the air source connection pipe 211 to connect to a vacuum source. Optionally, the air path valve 212 may be an external pilot type high flow pneumatic valve, which may be used under vacuum negative pressure.
The rack 100 is provided with a control member 130, and the control member 130 is connected to the suction module 200 for controlling the opening and closing of the air passage of the suction module 200. Alternatively, the control member 130 may be provided as a solenoid valve or the like; the suction nozzle piece 220 can be controlled to be switched between a suction state and a release state of the material under the drive of electric power; wherein the plurality of mouthpiece 220 is at least three mouthpiece 220.
Through the above structure, the user can open and close the control member 130 and the gas circuit valve 212 to control the corresponding suction module 200 to work.
Referring to fig. 4, the rack 100 is provided with 4 suction areas, wherein three suction areas are provided with one suction module 200, and the other suction areas are provided with six suction modules 200, and each suction area can suck and hold a single material through the suction modules 200 therein.
Through the structure, the single material in a certain suction area can be independently taken and placed relative to the single material in other suction areas.
Referring to fig. 1 and 2, the rack 100 is provided with a connecting frame 140, the connecting frame 140 is provided with a connecting surface 141, the connecting surface 141 is used for connecting with the mechanical arm, the connecting surface 141 is arranged up and down with the rack 100, and a reserved space a2 is arranged between the connecting surface 141 and the rack 100.
With the above configuration, the provision of the reserved space a2 can reduce interference of the end effector with the operation of the robot arm.
The invention also provides an intelligent unstacking robot which comprises a mechanical arm and the end effector.
The mechanical arm is rotatably connected to the connecting surface 141, and the mechanical arm is used for driving the rack 100 to move to a preset position and adjusting the posture of the end effector when the end effector sucks the material.
Through above-mentioned structure, can solve the problem that the material that takes place drops to the loss because of the outage.
It is to be understood that the present invention is not limited to the above-described embodiments, and that equivalent modifications and substitutions may be made by those skilled in the art without departing from the spirit of the present invention, and that such equivalent modifications and substitutions are to be included within the scope of the appended claims.
Claims (10)
1. An end effector, characterized by: comprises that
A frame (100);
the suction module (200) is arranged on the rack (100), and the suction module (200) is used for sucking materials;
a bottom supporting mechanism (300), one end of which is connected with the rack (100), wherein the bottom supporting mechanism (300) is positioned below the suction module (200), and the bottom supporting mechanism (300) has a first state and a second state;
a driving mechanism (400) arranged on the frame (100), wherein the driving mechanism (400) is connected with the other end of the bottom supporting mechanism (300), the driving mechanism (400) is used for driving the bottom supporting mechanism (300) to switch between the first state and the second state, wherein,
when the bottom supporting mechanism (300) is in a first state, the overhead projection of the material sucked by the suction module (200) is located on the bottom supporting mechanism (300),
when the bottom supporting mechanism (300) is in the second state, the top view projection of the material sucked by the sucking module (200) is positioned outside the top view projection of the bottom supporting mechanism (300).
2. An end effector as claimed in claim 1, wherein:
the drive mechanism (400) comprises:
a driving member (410) provided to the frame (100);
the sliding table (411) is connected with the output end of the driving piece (410);
a vertical frame (420) arranged on the sliding table (411), the vertical frame (420) is connected with the other end of the bottom supporting mechanism (300), wherein,
the driving piece (410) is used for driving the sliding table (411) to move so as to drive the bottom supporting mechanism (300) to be switched between the first state and the second state through the vertical frame (420).
3. An end effector as claimed in claim 1, wherein:
the frame (100) through first elevating system (110) with the one end of holding in the palm end mechanism (300) is connected, actuating mechanism (400) through second elevating system (421) with the other end of holding in the palm end mechanism (300) is connected, first elevating system (110) with second elevating system (421) are used for driving jointly hold in the palm end mechanism (300) and go up and down to adjust hold in the palm end mechanism (300) with absorb the interval of module (200).
4. An end effector as claimed in claim 1, wherein:
the bottom supporting mechanism (300) is a telescopic fence.
5. An end effector as claimed in claim 4, wherein:
the bottom supporting mechanism (300) is provided with a first mounting strip (111) and a second mounting strip (421A), and the first mounting strip and the second mounting strip are provided with mounting grooves (a1) at opposite positions.
6. An end effector as claimed in claim 1, wherein:
absorb module (200) and be connected with air supply takeover (211), frame (100) are equipped with shunt tubes (120), shunt tubes (120) are equipped with main mouth (121) and branch mouth (122) rather than the lumen intercommunication, main mouth (121) are used for communicating the vacuum source, branch mouth (122) with air supply takeover (211) one-to-one is connected.
7. An end effector as claimed in claim 6, wherein:
the suction module (200) is provided with a gas collecting pipe (210) and a plurality of suction nozzle pieces (220) connected with one end of the gas collecting pipe (210), the suction nozzle pieces (220) are used for sucking materials, the other end of the gas collecting pipe (210) is connected with a gas circuit valve (212), and the gas circuit valve (212) is connected with the gas source connecting pipe (211).
8. An end effector as claimed in claim 1, wherein:
the rack (100) is provided with at least one suction area, the suction area is internally provided with at least one suction module (200), and the suction area can suck and contain a single material through the suction module (200) in the suction area.
9. An end effector as claimed in claim 1, wherein:
frame (100) are equipped with link (140), link (140) are equipped with connection face (141), connect face (141) with frame (100) set up from top to bottom, connect face (141) with be equipped with headspace (a2) between frame (100).
10. Intelligence robot of breaking a jam, its characterized in that: comprises that
An end effector as set forth in any one of claims 1-9;
the mechanical arm is rotationally connected with the rack (100) and used for driving the rack (100) to move to a preset position and adjusting the posture of the end effector when the end effector sucks materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210580756.2A CN114932572B (en) | 2022-05-26 | 2022-05-26 | End effector and intelligent unstacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210580756.2A CN114932572B (en) | 2022-05-26 | 2022-05-26 | End effector and intelligent unstacking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114932572A true CN114932572A (en) | 2022-08-23 |
| CN114932572B CN114932572B (en) | 2023-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210580756.2A Active CN114932572B (en) | 2022-05-26 | 2022-05-26 | End effector and intelligent unstacking robot |
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| CN (1) | CN114932572B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006053695A1 (en) * | 2006-11-13 | 2008-05-15 | Müller, Hermann | Palletizing gripper with hold-down |
| CN109110486A (en) * | 2018-08-09 | 2019-01-01 | 东莞理工学院 | A kind of Anti-fall adsorbent equipment applied to automated handling |
| CN210670867U (en) * | 2019-07-11 | 2020-06-02 | 惠安县南兴电子科技有限公司 | Power installation is with bracket that takes precautions against earthquakes |
| CN213867520U (en) * | 2020-12-04 | 2021-08-03 | 河南勇威特种设备有限公司 | Box type roadblock |
| CN214086612U (en) * | 2020-11-19 | 2021-08-31 | 航天晨光股份有限公司 | Truss type automatic transfer device |
| CN214819062U (en) * | 2021-02-02 | 2021-11-23 | 山东新兴华环保科技材料有限公司 | Bottom support device of longitudinal cutter of corrugated board line |
-
2022
- 2022-05-26 CN CN202210580756.2A patent/CN114932572B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006053695A1 (en) * | 2006-11-13 | 2008-05-15 | Müller, Hermann | Palletizing gripper with hold-down |
| CN109110486A (en) * | 2018-08-09 | 2019-01-01 | 东莞理工学院 | A kind of Anti-fall adsorbent equipment applied to automated handling |
| CN210670867U (en) * | 2019-07-11 | 2020-06-02 | 惠安县南兴电子科技有限公司 | Power installation is with bracket that takes precautions against earthquakes |
| CN214086612U (en) * | 2020-11-19 | 2021-08-31 | 航天晨光股份有限公司 | Truss type automatic transfer device |
| CN213867520U (en) * | 2020-12-04 | 2021-08-03 | 河南勇威特种设备有限公司 | Box type roadblock |
| CN214819062U (en) * | 2021-02-02 | 2021-11-23 | 山东新兴华环保科技材料有限公司 | Bottom support device of longitudinal cutter of corrugated board line |
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| Publication number | Publication date |
|---|---|
| CN114932572B (en) | 2023-12-26 |
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