CN115610991B - Charging device - Google Patents
Charging device Download PDFInfo
- Publication number
- CN115610991B CN115610991B CN202211564387.4A CN202211564387A CN115610991B CN 115610991 B CN115610991 B CN 115610991B CN 202211564387 A CN202211564387 A CN 202211564387A CN 115610991 B CN115610991 B CN 115610991B
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- Prior art keywords
- material taking
- finger
- sliding
- manipulator
- wheel
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- 230000007306 turnover Effects 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 abstract description 7
- 230000000007 visual effect Effects 0.000 description 2
- 238000005096 rolling process 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a charging device, which comprises a material taking device; the material taking device comprises a material taking rack, a horizontal sliding mechanism for driving the material taking manipulator to move and the material taking manipulator; the horizontal sliding mechanism is arranged between the material taking frame and the material taking manipulator, the material taking manipulator is connected with the horizontal sliding mechanism, and the material taking manipulator is arranged above the material taking frame through the horizontal sliding mechanism; the material taking manipulator comprises two material taking bases, material taking guide rods, material taking connecting pieces, material taking clamping cylinders, two material taking fingers and a turnover motor, wherein the material taking bases, the material taking guide rods, the material taking connecting pieces, the material taking clamping cylinders, the material taking fingers and the turnover motor are arranged oppositely, and the turnover motor is used for driving the material taking manipulator to rotate; the material taking finger comprises a finger support, a finger sliding part, a finger rotating part, a material taking wheel and a material taking wheel motor for driving the material taking wheel; the material taking device can conveniently take out objects with regular shapes, and the materials are not easy to drop or damage in the material taking process.
Description
Technical Field
The invention relates to the technical field of loading and carrying robots, in particular to a loading device.
Background
In the carrying robots of logistics industry in the prior art, regular objects in a certain weight need to be clamped and carried at different heights, intelligent logistics can be realized through automation, for example, full-automatic logistics can be realized in scenes such as ports, logistics centers and the like; however, in the existing transfer robot, for some box-shaped objects with the yaw axis offset, namely, the objects are rotationally offset around the Y axis and are also called as yaw angles, when the objects are offset along the yaw axis, the area of the objects on the projection surfaces of the X axis and the Y axis is increased, and then the situation that the robot clamps the edges of materials easily occurs, so that the materials are taken out unstably and fall or are damaged.
Disclosure of Invention
The invention provides a charging device, which is convenient for taking objects with regular shapes, and the materials are not easy to drop or damage in the taking process by utilizing the structure of the invention.
In order to achieve the above purpose, the technical scheme of the invention is as follows: a loading device comprising a material taking device; the material taking device comprises a material taking rack, a horizontal sliding mechanism for driving the material taking manipulator to move and the material taking manipulator; the horizontal sliding mechanism is arranged between the material taking frame and the material taking manipulator, the material taking manipulator is connected with the horizontal sliding mechanism, and the material taking manipulator is arranged above the material taking frame through the horizontal sliding mechanism.
The material taking manipulator comprises two material taking bases, material taking guide rods, material taking connecting pieces, material taking clamping cylinders, two material taking fingers and a turnover motor, wherein the material taking bases, the material taking guide rods, the material taking connecting pieces, the material taking clamping cylinders, the material taking fingers and the turnover motor are arranged oppositely, and the turnover motor is used for driving the material taking manipulator to rotate; the two material taking bases are respectively and fixedly arranged on one side of a sliding bottom plate of the horizontal sliding mechanism, and each material taking base is fixedly provided with a turnover motor; the material taking mechanical arm is driven to overturn on the material taking rack through the overturning motor; the two material taking fingers are arranged on the material taking guide rod in a relative sliding manner, and are positioned between the two material taking connecting pieces; the cylinder body of the material taking clamping cylinder is fixedly connected with one material taking finger, and the piston rod of the material taking clamping cylinder is fixedly connected with the other material taking finger.
The material taking finger comprises a finger support, a finger sliding part, a finger rotating part, a material taking wheel and a material taking wheel motor for driving the material taking wheel; the finger sliding part is arranged at one end of the finger bracket, and is provided with a through hole which is arranged in a sliding way corresponding to the material taking guide rod; the finger rotating piece rotates and sets up at the other end of finger support for finger sliding part, and the material taking wheel rotates and sets up the one end that the finger rotating piece kept away from the finger support, and material taking wheel motor fixed mounting is on the finger rotating piece, and the output of material taking wheel motor and material taking wheel fixed connection.
The finger support comprises two finger support plates which are arranged up and down correspondingly, and arc-shaped limit grooves are formed in the two finger support plates; the finger rotating piece comprises two finger rotating support plates which are arranged up and down correspondingly, and the two finger rotating support plates are connected through a material taking wheel motor; a rotary guide shaft and an elastic piece are arranged between the two finger rotary support plates, two ends of the rotary guide shaft respectively penetrate through the arc-shaped limit grooves on the two finger support plates, and the rotary guide shaft is movably arranged in the two arc-shaped limit grooves; one end of the elastic piece is connected with the rotating guide shaft, the other end of the elastic piece is connected with the output end of the material taking wheel motor, and the elastic piece is in a stretching state; the material taking wheel is rotatably arranged between the two finger rotary support plates and is connected with an output shaft of a material taking wheel motor; the material taking wheel motor is fixedly arranged on a finger rotating support plate.
According to the arrangement, when the material taking device clamps materials, the overturning motor is started, the output end of the overturning motor drives the material taking connecting piece to swing, the swing of the material taking connecting piece drives the material taking guide rod to overturn, the overturn of the material taking guide rod drives the material taking finger to overturn, the free end of the material taking finger is overturned to the outer side of the material taking rack, the material taking finger is convenient to clamp the materials, then the material taking manipulator is driven to slide by the horizontal sliding mechanism to be close to the materials, the two material taking wheels are respectively positioned on two sides of the materials, and the overturning motor stops working; then the piston rod is driven to retract by the material taking clamping cylinder to drive one material taking hand to point to the material to approach and prop against the material, when the piston rod of the material taking clamping cylinder is blocked by the material and cannot retract continuously, the cylinder body of the material taking clamping cylinder drives the other material taking finger to move towards the direction of the material through the reaction force, so that the material taking clamping cylinder drives the two material taking fingers to slide on the material taking guide rod, the distance between the two material taking fingers can be adjusted for different materials to take materials, and the material taking manipulator is enabled to be more stable in material taking of the material; after the material is clamped firmly by the material taking fingers, the material taking manipulator is driven to slide towards the material taking rack through the horizontal sliding mechanism, meanwhile, or after the material taking manipulator is reset by sliding transversely, the overturning motor is started to rotate reversely, the output end of the overturning motor drives the material taking connecting piece to swing reversely, the reverse swing of the material taking connecting piece drives the material taking guide rod to reversely overturn, the reverse overturn of the material taking guide rod drives the material taking fingers to reversely overturn, the free ends of the material taking fingers are enabled to overturn into the material taking rack, and as the material taking fingers are provided with the sliding through holes on the finger sliding parts corresponding to the material taking guide rods, the material taking fingers can stably slide on the material taking guide rods through the sliding through holes; when materials enter the material taking range of the material taking manipulator, the material taking clamping cylinder drives the two material taking fingers to be close to each other, so that the material taking wheels on the two material taking fingers take the materials; if the material is in an offset state on the yaw shaft at this time, under the action of a material taking action of a stroke cylinder, a rotary guide shaft on a finger rotary piece slides in two arc-shaped limiting grooves to prop open a tension spring, so that two material taking fingers prop open, the offset material on the yaw shaft can be taken, and then under the driving of a material taking clamping cylinder, the stability of the material taking fingers in the material taking process can be improved due to the elastic action of the tension spring in the process of mutually approaching the two material taking fingers; the surface butt of getting material wheel and material on two get material fingers is got the material wheel rotation through getting material wheel motor drive to drive the material and remove to the direction that is close to getting the material guide arm, simultaneously to the epaxial skew material of yaw, the in-process of rolling into the material, the material can promote the finger and rotate the piece outwards along arc spacing groove relative finger support, rotate the guiding axle at this moment and slide in two arc spacing inslot, thereby prop up the extension spring, and then get the material that the wheel can press from both sides the epaxial skew of yaw, prevent to block the edge of material, thereby realize pressing from both sides getting the material of the epaxial different angles of yaw, make the material be difficult for dropping or damaging.
Further, the horizontal sliding mechanism comprises a sliding cylinder, a sliding rail, a sliding block, a pulley and a sliding bottom plate; one end of the sliding cylinder is fixedly arranged on the material taking frame, the sliding rail is arranged on the material taking frame, the pulley rotates on the material taking frame, and the sliding rail is positioned at one end of the sliding rail, which is close to the material taking manipulator; the sliding slide block is arranged on the bottom surface of the sliding bottom plate, a sliding groove corresponding to the sliding slide rail is arranged on the sliding slide block, and the sliding slide block is arranged on the sliding slide rail in a sliding manner; the bottom surface of the sliding bottom plate is respectively abutted with the pulleys; the sliding bottom plate slides under the action of the sliding slide rail and the sliding slide block and the pulley by driving the sliding cylinder to stretch.
Further, the elastic piece is a tension spring.
Further, the output end of the overturning motor is fixedly connected with a material taking connecting piece, and two ends of the material taking guide rod are respectively fixedly connected with the two material taking connecting pieces.
Further, a material taking limiting block is arranged in the middle of the material taking guide rod; when two get material fingers and get the material clamping cylinder drive down and get the material stopper butt mutually, get material clamping cylinder and stop the drive, like this, can play spacing guard action to getting material clamping cylinder.
Further, the material taking wheel is provided with a toothed friction part for increasing friction force, and the toothed friction part is made of a flexible material; the above arrangement. The toothed friction part made of flexible materials is abutted with the materials, so that the stability of the material taking device in material taking is improved.
Drawings
Fig. 1 is a schematic structural view of a material taking device in the present invention.
Fig. 2 is a schematic view of another angle of the material taking device according to the present invention.
Fig. 3 is an enlarged partial schematic view at a in fig. 2.
Fig. 4 is an exploded view of the reclaimer device of the present invention.
Fig. 5 is a schematic structural view of a finger for taking materials in the present invention.
Fig. 6 is an exploded view of a pick-up finger in accordance with the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1-6, a loading device comprises a material taking device 1, wherein the material taking device 1 comprises a material taking rack 11, a horizontal sliding mechanism for driving a material taking manipulator 14 to move, a visual identification module 13 and the material taking manipulator 14; the horizontal sliding mechanism is arranged between the material taking frame 11 and the material taking manipulator 14, the material taking manipulator is connected with the horizontal sliding mechanism, and the material taking manipulator is arranged above the material taking frame 11 through the horizontal sliding mechanism; the visual identification module 13 is arranged on the horizontal sliding mechanism and is positioned at one side of the material taking manipulator 14; one end of the material taking frame 11 is fixedly connected with the second lifting side frame, and the other end of the material taking frame 11 is fixedly connected with the third lifting side frame.
The material taking manipulator 14 comprises two material taking bases 141, material taking guide rods 142, material taking limiting blocks 143, material taking connecting pieces 144, material taking clamping cylinders 145, two material taking fingers 146 and a turnover motor 147, wherein the material taking bases 141, the material taking guide rods 142, the material taking limiting blocks 143, the material taking clamping cylinders 145, the material taking fingers 146 and the turnover motor 147 are arranged oppositely, and the turnover motor is used for driving the material taking manipulator 14 to rotate; the two material taking bases 141 are respectively and fixedly arranged on one side of the sliding bottom plate 125 of the horizontal sliding mechanism, and each material taking base 141 is fixedly provided with a turnover motor 147; the output end of the turning motor 147 is fixedly connected with a material taking connecting piece 144, and two ends of the material taking guide rod 142 are respectively fixedly connected with the two material taking connecting pieces 144; the two taking fingers 146 are arranged on the taking guide rod 142 in a relatively sliding manner, and the two taking fingers 146 are positioned between the two taking connecting pieces 144; the material taking limiting block 143 is arranged at the middle position of the material taking guide rod 142, the cylinder body of the material taking clamping cylinder 145 is fixedly connected with one material taking finger 146, and the piston rod of the material taking clamping cylinder 145 is fixedly connected with the other material taking finger 146.
As shown in fig. 5, the take-up finger 146 includes a finger rest, a finger slide 1462, a finger rotator 1463, a take-up wheel 1464, and a take-up wheel motor 1465 for driving the take-up wheel 1464; the finger sliding part 1462 is arranged at one end of the finger bracket, and a through hole which is arranged corresponding to the material taking guide rod 142 in a sliding way is arranged on the finger sliding part 1462; driven by the take-out clamp cylinder 145, the take-out finger 146 slides along the take-out guide 142 between the take-out stopper 143 and the take-out link 144 via the finger slide 1462; the finger rotating member 1463 is rotatably disposed at the other end of the finger support opposite to the finger sliding portion 1462, the take-up wheel 1464 is rotatably disposed at one end of the finger rotating member 1463 away from the finger support, the take-up wheel motor 1465 is fixedly mounted on the finger rotating member 1463, and the output end of the take-up wheel motor 1465 is fixedly connected with the take-up wheel 1464.
Wherein, the pick-up wheel 1464 is provided with a toothed friction portion 14641 for increasing friction, and the toothed friction portion 14641 is made of a flexible material.
As shown in fig. 6, the finger support comprises two finger support plates 14611 arranged vertically and correspondingly, and arc-shaped limiting grooves 14612 are formed on the two finger support plates 14611; the finger rotating member 1463 comprises two finger rotating support plates 14631 arranged up and down correspondingly, and the two finger rotating support plates 14631 are connected through a material taking wheel motor 1465; a rotary guide shaft 14636 and a tension spring 14637 are arranged between the two finger rotary support plates 14631, two ends of the rotary guide shaft 14636 respectively penetrate through the arc-shaped limit grooves 14612 on the two finger support plates 14611, and the rotary guide shaft 14636 is movably arranged in the two arc-shaped limit grooves 14612; one end of a tension spring 14637 is connected with the rotary guide shaft 14636, the other end of the tension spring 14637 is connected with the output end of the material taking wheel motor 1465, and the tension spring 14637 is in a stretched state; the material taking wheel 1464 is rotatably arranged between the two finger rotating support plates 14631 and is connected with an output shaft of the material taking wheel motor 1465; the take-off wheel motor 1465 is fixedly mounted to a finger rotating support plate 14631.
In the above arrangement, when the material taking device 1 clamps the material, the turning motor 147 is started, the output end of the turning motor 147 drives the material taking connecting piece 144 to swing, the swing of the material taking connecting piece 144 drives the material taking guide rod 142 to turn, the turning of the material taking guide rod 142 drives the material taking finger 146 to turn, the free end of the material taking finger 146 is turned to the outer side of the material taking rack 11, the material is conveniently clamped by the material taking finger 146, then the material taking manipulator 14 is driven by the horizontal sliding mechanism to slide to be close to the material, the two material taking wheels 1464 are respectively positioned at two sides of the material, and the turning motor 147 stops working; then, the material taking clamping cylinder 145 drives the piston rod to retract and drive one material taking finger 146 to approach the material and prop against the material, when the piston rod of the material taking clamping cylinder 145 is blocked by the material and cannot retract continuously, the cylinder body of the material taking clamping cylinder 145 drives the other material taking finger 146 to move towards the direction of the material through the reaction force, so that the material taking clamping cylinder 145 drives the two material taking fingers 146 to slide on the material taking guide rod 142, the distance between the two material taking fingers 146 can be adjusted for different materials to take materials, and the material taking manipulator 14 can take materials more stably; after the material is clamped firmly by the material taking finger 146, the material taking manipulator 14 is driven to slide towards the material taking rack 11 by the horizontal sliding mechanism, meanwhile, or after the material taking manipulator 14 is reset by sliding transversely, the turning motor 147 is started to rotate reversely, the output end of the turning motor 147 drives the material taking connecting piece 144 to swing reversely, the reverse swing of the material taking connecting piece 144 drives the material taking guide rod 142 to turn reversely, the reverse turning of the material taking guide rod 142 drives the material taking finger 146 to turn reversely, the free end of the material taking finger 146 is turned into the material taking rack 11, as the material taking finger 146 is provided with a sliding through hole corresponding to the material taking guide rod 142 on the finger sliding part 1462, the take-out finger 146 can stably slide on the take-out guide 142 through the sliding through hole; when the material enters the material taking range of the material taking manipulator 14, the material taking clamping cylinder 145 drives the two material taking fingers 146 to approach each other, so that the material taking wheels 1464 on the two material taking fingers 146 take the material; if the material is in the state of being offset on the yaw axis at this time, under the action of the material taking clamping cylinder, the rotating guide shaft 14636 on the finger rotating member 1463 slides in the two arc-shaped limiting grooves 14612 to prop the tension spring 14637 so as to prop the two material taking fingers 146 open, so that the material offset on the yaw axis can be taken, and then under the driving of the material taking clamping cylinder 145, the stability of the material taking fingers 146 in material taking can be improved due to the elastic action of the tension spring 14637 in the process of mutually approaching the two material taking fingers 146; the material taking wheel 1464 on the two material taking fingers 146 is abutted against the surface of the material, the material taking wheel motor 1465 drives the material taking wheel to rotate, so that the material is driven to move towards the direction close to the material taking guide rod 142, meanwhile, for the material deflected on the yaw shaft, in the process of being rolled into the material, the material can push the finger rotating piece 1463 to rotate outwards relative to the finger support along the arc-shaped limiting groove 14612, at the moment, the rotating guide shaft 14636 slides in the two arc-shaped limiting grooves 14612, so that the tension spring 14637 is stretched, the material deflected on the yaw shaft can be clamped by the material taking wheel 1464, the edge of the material is prevented from being clamped, therefore, materials with different angles on the yaw shaft are clamped, and the materials are not easy to fall off or damage.
Claims (6)
1. A charging device, characterized in that: comprises a material taking device; the material taking device comprises a material taking rack, a horizontal sliding mechanism for driving the material taking manipulator to move and the material taking manipulator; the horizontal sliding mechanism is arranged between the material taking frame and the material taking manipulator, the material taking manipulator is connected with the horizontal sliding mechanism, and the material taking manipulator is arranged above the material taking frame through the horizontal sliding mechanism;
The material taking manipulator comprises two material taking bases, material taking guide rods, material taking connecting pieces, material taking clamping cylinders, two material taking fingers and a turnover motor, wherein the material taking bases, the material taking guide rods, the material taking connecting pieces, the material taking clamping cylinders, the material taking fingers and the turnover motor are arranged oppositely, and the turnover motor is used for driving the material taking manipulator to rotate; the two material taking bases are respectively and fixedly arranged on one side of a sliding bottom plate of the horizontal sliding mechanism, and each material taking base is fixedly provided with a turnover motor; the material taking mechanical arm is driven to overturn on the material taking rack through the overturning motor; the two material taking fingers are arranged on the material taking guide rod in a relative sliding manner, and are positioned between the two material taking connecting pieces; the cylinder body of the material taking clamping cylinder is fixedly connected with one material taking finger, and the piston rod of the material taking clamping cylinder is fixedly connected with the other material taking finger;
The material taking finger comprises a finger support, a finger sliding part, a finger rotating part, a material taking wheel and a material taking wheel motor for driving the material taking wheel; the finger sliding part is arranged at one end of the finger bracket, and is provided with a through hole which is arranged in a sliding way corresponding to the material taking guide rod; the finger rotating piece is rotationally arranged at the other end of the finger support relative to the finger sliding part, the material taking wheel is rotationally arranged at one end of the finger rotating piece far away from the finger support, the material taking wheel motor is fixedly arranged on the finger rotating piece, and the output end of the material taking wheel motor is fixedly connected with the material taking wheel;
The finger support comprises two finger support plates which are arranged up and down correspondingly, and arc-shaped limit grooves are formed in the two finger support plates; the finger rotating piece comprises two finger rotating support plates which are arranged up and down correspondingly, and the two finger rotating support plates are connected through a material taking wheel motor; a rotary guide shaft and an elastic piece are arranged between the two finger rotary support plates, two ends of the rotary guide shaft respectively penetrate through the arc-shaped limit grooves on the two finger support plates, and the rotary guide shaft is movably arranged in the two arc-shaped limit grooves; one end of the elastic piece is connected with the rotating guide shaft, the other end of the elastic piece is connected with the output end of the material taking wheel motor, and the elastic piece is in a stretching state; the material taking wheel is rotatably arranged between the two finger rotary support plates and is connected with an output shaft of a material taking wheel motor; the material taking wheel motor is fixedly arranged on a finger rotating support plate.
2. A loading device as in claim 1, wherein: the horizontal sliding mechanism comprises a sliding cylinder, a sliding rail, a sliding block, a pulley and a sliding bottom plate; one end of the sliding cylinder is fixedly arranged on the material taking frame, the sliding rail is arranged on the material taking frame, the pulley rotates on the material taking frame, and the sliding rail is positioned at one end of the sliding rail, which is close to the material taking manipulator; the sliding slide block is arranged on the bottom surface of the sliding bottom plate, a sliding groove corresponding to the sliding slide rail is arranged on the sliding slide block, and the sliding slide block is arranged on the sliding slide rail in a sliding manner; the bottom surface of the sliding bottom plate is respectively abutted with the pulleys; the sliding bottom plate slides under the action of the sliding slide rail and the sliding slide block and the pulley by driving the sliding cylinder to stretch.
3. A loading device as in claim 1, wherein: the elastic piece is a tension spring.
4. A loading device as in claim 1, wherein: the output end of the overturning motor is fixedly connected with a material taking connecting piece, and two ends of the material taking guide rod are respectively fixedly connected with the two material taking connecting pieces.
5. A loading device as in claim 1, wherein: and a material taking limiting block is arranged at the middle position of the material taking guide rod.
6. A loading device as in claim 1, wherein: the material taking wheel is provided with a toothed friction part for increasing friction force, and the toothed friction part is made of flexible materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211564387.4A CN115610991B (en) | 2022-12-07 | 2022-12-07 | Charging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211564387.4A CN115610991B (en) | 2022-12-07 | 2022-12-07 | Charging device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115610991A CN115610991A (en) | 2023-01-17 |
| CN115610991B true CN115610991B (en) | 2024-06-18 |
Family
ID=84879768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211564387.4A Active CN115610991B (en) | 2022-12-07 | 2022-12-07 | Charging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115610991B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5513947A (en) * | 1992-01-13 | 1996-05-07 | Storage Technology Corporation | Tractor mechanism for robotic magnetic tape cartridge handling system |
| CN203357444U (en) * | 2013-07-26 | 2013-12-25 | 莱恩精机(深圳)有限公司 | Deflection type bidirectional sliding device for manipulator |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210414577U (en) * | 2019-07-06 | 2020-04-28 | 无锡华源晶电科技有限公司 | Novel manipulator take and put palm mechanism |
| CN112499248B (en) * | 2020-12-18 | 2022-12-13 | 华南理工大学广州学院 | Convertible centre gripping manipulator |
-
2022
- 2022-12-07 CN CN202211564387.4A patent/CN115610991B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5513947A (en) * | 1992-01-13 | 1996-05-07 | Storage Technology Corporation | Tractor mechanism for robotic magnetic tape cartridge handling system |
| CN203357444U (en) * | 2013-07-26 | 2013-12-25 | 莱恩精机(深圳)有限公司 | Deflection type bidirectional sliding device for manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115610991A (en) | 2023-01-17 |
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