CN202245352U - Green brick clamping and stacking system with intelligent robot - Google Patents
Green brick clamping and stacking system with intelligent robot Download PDFInfo
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- CN202245352U CN202245352U CN2011203343645U CN201120334364U CN202245352U CN 202245352 U CN202245352 U CN 202245352U CN 2011203343645 U CN2011203343645 U CN 2011203343645U CN 201120334364 U CN201120334364 U CN 201120334364U CN 202245352 U CN202245352 U CN 202245352U
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Abstract
The utility model relates to the reform of green brick clamping and stacking equipment, in particular to a green brick clamping and stacking system with an intelligent robot, which is provided with a control assembly and a conveyer; the conveyer is provided with a driving shaft, belt pulleys and toothed conveyer belts; and the intelligent robot is arranged at the front of the conveyer. The green brick clamping and stacking system is characterized in that: a separating mechanism and a stock stop are respectively mounted on the front section of the conveyer, the separating mechanism is provided with four rows of trays, each row of trays includes a plurality of trays, and each tray in each row of trays is so arranged as to be spaced from each toothed conveyer belt in the conveyer; the stock stop is provided with a plurality of stop arms, the stop arms in the stop mechanism are so arranged as to be spaced from each toothed conveyer belt in the conveyer, and a clamp is mounted on the end of a cantilever of the intelligent robot as well. The problems of conventional travelling type green brick stacking machines, i.e. large body size, low carrying efficiency, high green brick damage rate and high energy consumption are solved, and the green brick clamping and stacking system is mainly used for reforming conventional travelling type green brick stacking machines.
Description
(1). technical field: the utility model relates to the transformation of adobe clamping piling equipment, is a kind of intelligent machine arm adobe clamping palletizing system.
(2). background technology: existing row moves formula adobe stacker, and the problem of its existence is: body volume is big, at the bottom of the handling efficiency, adobe breakage rate height and energy consumption be big; Existing row is moved formula adobe stacker transform, proposed new requirement.
(3). summary of the invention: the purpose of the utility model be exactly to solve that existing row moves that the existing body volume of formula adobe stacker is big, at the bottom of the handling efficiency, adobe breakage rate height and the big problem of energy consumption, a kind of intelligent robot adobe clamping palletizing system is provided.
The concrete scheme of the utility model is: a kind of intelligent robot adobe clamping palletizing system, and it has control assembly and conveyer, and the actuating device of conveyer is to be connected with the control assembly; Conveyer is provided with transmission shaft and several belt wheels, and several belt wheels are that rectangular distribution is installed on the transmission shaft, on each belt wheel of conveyer the profile of tooth load-transfer device are installed all; The front side of conveyer also is furnished with intelligent robot; It is characterized in that: the leading portion at conveyer is separately installed with blank distributing mechanism and stock stop; Described blank distributing mechanism is provided with four row's pallets; Every row's pallet is to be made up of several pallets, each pallet in every row's pallet be with conveyer in every profile of tooth load-transfer device be separation; Described stock stop is provided with several blocking arms, and several blocking arms in the stock stop are mounted in the front side that conveyer is positioned at blank distributing mechanism, several blocking arms in the stock stop be with conveyer in every profile of tooth load-transfer device be separation; Cantilever end at intelligent robot also is equipped with anchor clamps.
The described blank distributing mechanism of the utility model is made up of pallet, branch base cylinder, balladeur train, bearing support, eccentric shaft, gear, up-down cover, tooth bar, slide rail, conduction chain, holding screw, lift cylinder, cylinder block and bearing carrier ring; Two pairs of bearing carrier rings are mounted in the inboard both sides of conveyer frame; The little axle of two couple at two eccentric shaft two ends is to adopt bearing installation in two pairs of bearing carrier rings; Two gears are mounted on two little axles of two eccentric shaft the same sides; Tooth bar is mounted in the top of two gears, and the flank profil of tooth bar is to cooperate installation with the flank profil of two gears; Lift cylinder is to adopt cylinder block to be installed on the frame that conveyer is positioned at gear, tooth bar one side, and the cylinder head of lift cylinder is to be connected with an end of tooth bar; Two pairs of covers that go up and down are mounted in two eccentric shafts and are positioned on two pairs of little two pairs of inboard axle journals, and two slide rails are to adopt screw to be installed in parallel in the upper end of two pairs of covers that go up and down; Four balladeur trains are mounted on two slide rails; Wherein, The balladeur train of forward end is to adopt holding screw and two slide rails to fix; Be to adopt conduction chain to constitute to connect between four balladeur trains, dividing the base cylinder is to adopt the balance staff support to be installed on four tail end balladeur trains in the balladeur train, and the cylinder head that divides the base cylinder is to adopt the bearing pin support to be connected with front end balladeur train formation in four balladeur trains; Four bearing supports are mounted in the upper end of four balladeur trains, and several pallets are evenly distributed fixing above four bearing supports, and the branch base cylinder in the described blank distributing mechanism and the control cock of lift cylinder are to be connected with the control assembly.
The described stock stop of the utility model is made up of backgauge cylinder, bearing seat, blocking arm, fork and rotating shaft; Two bearing seats are mounted on the frame that conveyer is positioned at the blank distributing mechanism front side; Rotating shaft is mounted in two bearing seats; Fork is to adopt locking key to be installed in an end of rotating shaft, and the backgauge cylinder is mounted on the frame that conveyer is positioned at fork one side, and the cylinder head of backgauge cylinder is to be connected with the pin-and-hole of the fork other end; Several blocking arms are to adopt locking key installations that in rotating shaft, be evenly distributed, and the backgauge cylinder control valve in the described stock stop is and controls assembly and be connected.
The described anchor clamps of the utility model are made up of gripper cylinder, sleeve pipe, mandrel, synchronous tooth bar, transmission gear, guide rail, slide block, suspension bracket, Anchoring chain, grip block and connecting panel; Sleeve pipe is the below that is fixed on the suspension bracket middle part; Mandrel is to adopt bearing installation in the axle sleeve at sleeve pipe two ends; Two transmission gears are mounted on the axle journal at mandrel two ends, and two pairs of synchronous tooth bars are to adopt two pairs of guide wheels to be installed in the upper and lower of two transmission gears; Three guide rails are to adopt screw to be installed in the below of suspension bracket middle part and both sides; Five pairs of slide blocks are mounted on three guide rails, and wherein, one pair of middle slide block is to adopt screw and three guide rails to fix; Be to adopt Anchoring chain to constitute to connect between five pairs of slide blocks; Five grip blocks are mounted in the below of five pairs of slide blocks, and wherein, two grip blocks of five grip block both sides are to adopt connecting panel to be connected with the outer end of two pairs of synchronous tooth bars; Two gripper cylinders are mounted in suspension bracket below between two side rails; The tail end of two gripper cylinders is to adopt mount pad to be connected with avris grip block in five grip blocks; The cylinder head of two gripper cylinders is connected with another avris grip block in five grip blocks, and the gripper cylinder control cock of stating in the described anchor clamps is to be connected with the control assembly.
The principle of work of the utility model is (seeing Fig. 1 for details): when adobe 3 when the rear of conveyer 2 is transported to the leading portion of conveyer 2; Backgauge cylinder 26 in the stock stop 5 drives blocking arm 28 (seeing Fig. 5 for details) and keeps off; Lift cylinder 23 (seeing Fig. 3 for details) in the blank distributing mechanism 4 drives four row's pallets 12 and rises; And adobe 3 held up from conveyer 2; Branch base cylinder 13 in the blank distributing mechanism 4 moves after driving the back three row's pallets 12 in four row's pallets 12, and adobe 3 is divided into discrete by holder, and the backgauge cylinder 26 in the stock stop 5 drives blocking arm 28 and moves down; Anchor clamps on the intelligent robot 67 rotations simultaneously, decline; Five grip blocks 40 (seeing Fig. 8 for details) in intelligent robot 6 anchor clamps 7 are inserted into respectively in the slit in the adobe 3 that is discrete, and two gripper cylinders 31 (seeing Fig. 9 for details) in the anchor clamps 7 are driving the 40 clamping adobes 3 of five grip blocks and rising, rotate, and the top that adobe 3 runs to the conveying kiln car 8 of conveyer 2 one sides in anchor clamps 7 clampings; Anchor clamps 7 descend and unclamp grip block 40, adobe 3 is put into carry on the kiln car 8; The utility model repeats above-mentioned operation, adobe 3 is transported to from conveyer 2 carries piling up of kiln car 8 last layer layers, has accomplished the operation of adobe 3 carrying pilings.
The utility model moves formula adobe stacker with existing row and compares, and the utility model is that the adobe holder of adopting blank distributing mechanism will put in order board status is divided into discrete, and utilizes the intelligent robot anchor clamps that adobe is transported to another place from one and pile up, and handling efficiency is high; The anchor clamps of the utility model are plug-in type clamping plate anchor clamps, and the contact surface of clamping plate and adobe is stressed evenly, and adobe receives the breakage rate of clamping lower; The carrying mechanism of the utility model is to adopt intelligent robot, compact conformation, and the occupation of land space is little; The utility model stable performance, the adobe breakage rate is low, handling efficiency is high and the saving energy; The utility model preferably resolves that existing row moves that the existing body volume of formula adobe stacker is big, at the bottom of the handling efficiency, adobe breakage rate height and the big problem of energy consumption.
(4). description of drawings:
Fig. 1: the utility model structural plan;
Fig. 2: conveyer left view (having omitted actuating device);
Fig. 3: blank distributing mechanism front view;
Fig. 4: the conveyer blank distributing mechanism is arranged left view (having omitted conveyor drive);
Fig. 5: the conveyer stock stop is arranged front view;
Fig. 6: the conveyer stock stop is arranged birds-eye view;
Fig. 7: clamp structure front view;
Fig. 8: clamp structure left view;
Fig. 9: anchor clamps A--A view;
Figure 10: anchor clamps B--B view;
Among the figure: 1-control assembly, 2-conveyer, 3-adobe, 4-blank distributing mechanism, 5-stock stop, 6-intelligent robot, 7-anchor clamps; 8-conveying kiln car, 9-belt wheel, 10-profile of tooth load-transfer device, 11--transmission shaft, 12-pallet, 13-minute base cylinder, 14-balladeur train; 15-bearing support, 16-eccentric shaft, 17-gear, the 18-cover that goes up and down, 19-tooth bar, 20-slide rail, 21-conduction chain; 22-holding screw, 23-lift cylinder, 24-cylinder block, 25-bearing carrier ring, 26-backgauge cylinder, 27-bearing seat, 28-blocking arm; 29-fork, 30-rotating shaft, 31-gripper cylinder, 32-sleeve pipe, 33-mandrel, 34-synchronously tooth bars, 35-transmission gear; 36-guide rail, 37-slide block, 38-suspension bracket, 39-Anchoring chain, 40-grip block, 41-connecting panel.
(5). the specific embodiment:
Embodiment: (seeing Fig. 1 for details) a kind of intelligent robot adobe clamping palletizing system; It has control assembly 1 and conveyer 2; The actuating device of described conveyer 2 is to be connected with control assembly 1; Present embodiment is provided with transmission shaft 11 and 12 belt wheels 9 (seeing Fig. 2 for details) on conveyer 2,12 belt wheels 9 are that rectangular distribution is installed on the transmission shaft 11, on each belt wheel 9 profile of tooth load-transfer device 10 are installed all; Also be furnished with intelligent robot 6 (the artificial Kawasaki, Japan product of intelligence machine that present embodiment is selected for use) in the front side of conveyer 2; Particularly: the leading portion at conveyer 2 is separately installed with blank distributing mechanism 4 and stock stop 5; Described blank distributing mechanism 4 is provided with four row's pallets 12 (seeing Fig. 3, Fig. 4 for details); Every row's pallet 12 is to be made up of 11 pallets of evenly arranging 12, each pallet 12 in every row's pallet 12 be with conveyer 2 in every profile of tooth load-transfer device 10 be separation; Described stock stop 5 is provided with 11 blocking arms 28 (seeing Fig. 5, Fig. 6 for details); 11 blocking arms 28 in the stock stop 5 are mounted in the front side that conveyer 2 is positioned at blank distributing mechanism 4,11 blocking arms 28 in the stock stop 5 be with conveyer 2 in every profile of tooth load-transfer device 10 be separation; Cantilever end at intelligent robot 6 also is equipped with anchor clamps 7.
The described blank distributing mechanism 4 of present embodiment is formed (seeing Fig. 3, Fig. 4 for details) by pallet 12, branch base cylinder 13, balladeur train 14, bearing support 15, eccentric shaft 16, gear 17, go up and down cover 18, tooth bar 19, slide rail 20, conduction chain 21, holding screw 22, lift cylinder 23, cylinder block 24 and bearing carrier ring 25; Two pairs of bearing carrier rings 25 are mounted in the inboard both sides (seeing Fig. 4 for details) of conveyer 2 frames; The little axle of two couple at two eccentric shafts, 16 two ends is to adopt bearing installation in two pairs of bearing carrier rings 25; Two gears 17 are mounted on two little axles of two eccentric shafts, 16 the same sides; Tooth bar 19 is mounted in the top of two gears 17, and the flank profil of tooth bar 19 is to cooperate installation with the flank profil of two gears 17; Lift cylinder 23 is to adopt cylinder block 24 to be installed on the frame that conveyer 2 is positioned at gear 17, tooth bar 19 1 sides, and the cylinder head of lift cylinder 23 is to be connected with an end of tooth bar 19; Two pairs of covers 18 that go up and down are mounted in two eccentric shafts 16 and are positioned on two pairs of little two pairs of inboard axle journals, and two slide rails 20 are to adopt screw to be installed in parallel in the upper end (seeing Fig. 4 for details) of two pairs of covers 18 that go up and down; Four balladeur trains 14 are mounted on two slide rails 20 (seeing Fig. 3 for details); Wherein, The balladeur train 14 of forward end is to adopt holding screw 22 and two slide rails 20 to fix; Be to adopt conduction chain 21 to constitute to connect between four balladeur trains 14, dividing base cylinder 13 is to adopt the balance staff support to be installed on four tail end balladeur trains 14 in the balladeur train 14, and the cylinder head that divides base cylinder 13 is to adopt the bearing pin support to be connected with front end balladeur train 14 formations in four balladeur trains 14; Four bearing supports 15 are mounted in the top of four balladeur trains 14, and pallet 12 is evenly distributed fixing above four bearing supports 15, and the branch base cylinder 13 in the described blank distributing mechanism 4 and the control cock of lift cylinder 23 are to be connected with control assembly 1.
The described stock stop 5 of present embodiment is formed (seeing Fig. 5, Fig. 6 for details) by backgauge cylinder 26, bearing seat 27, blocking arm 28, fork 29 and rotating shaft 30; Two bearing seats 27 are mounted on the frame that conveyer 2 is positioned at blank distributing mechanism 4 front sides; Rotating shaft 30 is mounted in two bearing seats 27; Fork 29 is to adopt locking key to be installed in an end of rotating shaft 30; Backgauge cylinder 26 is mounted on the frame that conveyer 2 is positioned at fork 29 1 sides, and the cylinder head of backgauge cylinder 26 is to be connected with the pin-and-hole of fork 29 other ends; 11 blocking arms 28 are to adopt locking key installations that in rotating shaft 30, be evenly distributed, and backgauge cylinder 26 control cock in the described stock stop 5 are and control assembly 1 and be connected.
The described anchor clamps 7 of present embodiment are formed (seeing Fig. 7, Fig. 8, Fig. 9, Figure 10 for details) by gripper cylinder 31, sleeve pipe 32, mandrel 33, synchronous tooth bar 34, transmission gear 35, guide rail 36, slide block 37, suspension bracket 38, Anchoring chain 39, grip block 40 and connecting panel 41; Sleeve pipe 32 is the belows that are fixed on suspension bracket 38 middle parts; Mandrel 33 is to adopt bearing installation in the axle sleeve at sleeve pipe 32 two ends; Two transmission gears 35 are mounted on the axle journal at mandrel 33 two ends, and two pairs of synchronous tooth bars 34 are to adopt two pairs of guide wheels to be installed in the upper and lower (seeing Fig. 7, Figure 10 for details) of two transmission gears 35; Three guide rails 36 are to adopt screw to be installed in the below of suspension bracket 38 middle parts and both sides; Five pairs of slide blocks 37 are mounted on three guide rails 36 and (see Fig. 7, Fig. 8 for details); Wherein, One pair of middle slide block 37 is to adopt screw and three guide rails 36 to fix, and is to adopt Anchoring chain 39 to constitute to connect between five pairs of slide blocks 37, and five grip blocks 40 are mounted in the below of five pairs of slide blocks 37; Wherein, two grip blocks 40 of five grip block 40 both sides are to adopt connecting panel 41 to be connected (seeing Figure 10 for details) with the outer end of two pairs of synchronous tooth bars 34; Two gripper cylinders 31 are mounted in suspension bracket 38 below between two side rails 36; The tail end of two gripper cylinders 31 is to adopt mount pad to be connected (seeing Fig. 9 for details) with avris grip block 40 in five grip blocks 40; The cylinder head of two gripper cylinders 31 is connected with another avris grip block 40 in five grip blocks 40, and gripper cylinder 31 control cock of stating in the described anchor clamps 7 are to be connected with control assembly 1.
Claims (4)
1. intelligent robot adobe clamping palletizing system, it has control assembly and conveyer, and the actuating device of conveyer is to be connected with the control assembly; Conveyer is provided with transmission shaft and several belt wheels, and several belt wheels are that rectangular distribution is installed on the transmission shaft, on each belt wheel of conveyer the profile of tooth load-transfer device are installed all; The front side of conveyer also is furnished with intelligent robot; It is characterized in that: the leading portion at conveyer is separately installed with blank distributing mechanism and stock stop; Described blank distributing mechanism is provided with four row's pallets; Every row's pallet is to be made up of several pallets, each pallet in every row's pallet be with conveyer in every profile of tooth load-transfer device be separation; Described stock stop is provided with several blocking arms, and several blocking arms in the stock stop are mounted in the front side that conveyer is positioned at blank distributing mechanism, several blocking arms in the stock stop be with conveyer in every profile of tooth load-transfer device be separation; Cantilever end at intelligent robot is also installed
Anchor clamps are arranged.
2. a kind of intelligent robot adobe clamping palletizing system according to claim 1; It is characterized in that: described blank distributing mechanism is made up of pallet, branch base cylinder, balladeur train, bearing support, eccentric shaft, gear, up-down cover, tooth bar, slide rail, conduction chain, holding screw, lift cylinder, cylinder block and bearing carrier ring; Two pairs of bearing carrier rings are mounted in the inboard both sides of conveyer frame; The little axle of two couple at two eccentric shaft two ends is to adopt bearing installation in two pairs of bearing carrier rings; Two gears are mounted on two little axles of two eccentric shaft the same sides, and tooth bar is mounted in the top of two gears, and the flank profil of tooth bar is to cooperate installation with the flank profil of two gears; Lift cylinder is to adopt cylinder block to be installed on the frame that conveyer is positioned at gear, tooth bar one side, and the cylinder head of lift cylinder is to be connected with an end of tooth bar; Two pairs of covers that go up and down are mounted in two eccentric shafts and are positioned on two pairs of little two pairs of inboard axle journals, and two slide rails are to adopt screw to be installed in parallel in the upper end of two pairs of covers that go up and down; Four balladeur trains are mounted on two slide rails; Wherein, The balladeur train of forward end is to adopt holding screw and two slide rails to fix; Be to adopt conduction chain to constitute to connect between four balladeur trains, dividing the base cylinder is to adopt the balance staff support to be installed on four tail end balladeur trains in the balladeur train, and the cylinder head that divides the base cylinder is to adopt the bearing pin support to be connected with front end balladeur train formation in four balladeur trains; Four bearing supports are mounted in the upper end of four balladeur trains, and several pallets are evenly distributed fixing above four bearing supports, and the branch base cylinder in the described blank distributing mechanism and the control cock of lift cylinder are to be connected with the control assembly.
3. a kind of intelligent robot adobe clamping palletizing system according to claim 1; It is characterized in that: described stock stop is made up of backgauge cylinder, bearing seat, blocking arm, fork and rotating shaft; Two bearing seats are mounted on the frame that conveyer is positioned at the blank distributing mechanism front side; Rotating shaft is mounted in two bearing seats; Fork is to adopt locking key to be installed in an end of rotating shaft, and the backgauge cylinder is mounted on the frame that conveyer is positioned at fork one side, and the cylinder head of backgauge cylinder is to be connected with the pin-and-hole of the fork other end; Several blocking arms are to adopt locking key installations that in rotating shaft, be evenly distributed, and the backgauge cylinder control valve in the described stock stop is and controls assembly and be connected.
4. a kind of intelligent robot adobe clamping palletizing system according to claim 1; It is characterized in that: described anchor clamps are made up of gripper cylinder, sleeve pipe, mandrel, synchronous tooth bar, transmission gear, guide rail, slide block, suspension bracket, Anchoring chain, grip block and connecting panel; Sleeve pipe is the below that is fixed on the suspension bracket middle part; Mandrel is to adopt bearing installation in the axle sleeve at sleeve pipe two ends; Two transmission gears are mounted on the axle journal at mandrel two ends, and two pairs of synchronous tooth bars are to adopt two pairs of guide wheels to be installed in the upper and lower of two transmission gears; Three guide rails are to adopt screw to be installed in the below of suspension bracket middle part and both sides; Five pairs of slide blocks are mounted on three guide rails, and wherein, one pair of middle slide block is to adopt screw and three guide rails to fix; Be to adopt Anchoring chain to constitute to connect between five pairs of slide blocks; Five grip blocks are mounted in the below of five pairs of slide blocks, and wherein, two grip blocks of five grip block both sides are to adopt connecting panel to be connected with the outer end of two pairs of synchronous tooth bars; Two gripper cylinders are mounted in suspension bracket below between two side rails; The tail end of two gripper cylinders is to adopt mount pad to be connected with avris grip block in five grip blocks; The cylinder head of two gripper cylinders is connected with another avris grip block in five grip blocks, and the gripper cylinder control cock of stating in the described anchor clamps is to be connected with the control assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203343645U CN202245352U (en) | 2011-09-07 | 2011-09-07 | Green brick clamping and stacking system with intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203343645U CN202245352U (en) | 2011-09-07 | 2011-09-07 | Green brick clamping and stacking system with intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202245352U true CN202245352U (en) | 2012-05-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203343645U Expired - Fee Related CN202245352U (en) | 2011-09-07 | 2011-09-07 | Green brick clamping and stacking system with intelligent robot |
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| Country | Link |
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| CN (1) | CN202245352U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213839A (en) * | 2013-02-28 | 2013-07-24 | 钟昀晖 | Sorting, clamping and conveying industrial robot applied to forging industry |
| CN103449189A (en) * | 2013-08-09 | 2013-12-18 | 舟山弘业环保材料有限公司 | Stacking method of autoclaved flyash-lime bricks or autoclaved sand-lime bricks |
| CN103896074A (en) * | 2014-03-04 | 2014-07-02 | 杭州东博自动化科技有限公司 | Rotatable blank-taking device |
| CN104843233A (en) * | 2015-03-31 | 2015-08-19 | 宜兰食品工业股份有限公司 | Stacking device for bagged products and stacking method thereof |
| CN105417188A (en) * | 2016-01-07 | 2016-03-23 | 湖北东元坤新型建材有限公司 | Brick separation machine |
| CN106542328A (en) * | 2017-01-11 | 2017-03-29 | 威海新北洋正棋机器人股份有限公司 | Robot charge device and control method |
| CN106853925A (en) * | 2015-12-09 | 2017-06-16 | 中国科学院沈阳自动化研究所 | A kind of ammunition palletizing mechanical arm of view-based access control model positioning |
| DE102016000623A1 (en) | 2016-01-09 | 2017-07-13 | Gerald Krell | Smart Brick (Intelligent Building Block) |
-
2011
- 2011-09-07 CN CN2011203343645U patent/CN202245352U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213839A (en) * | 2013-02-28 | 2013-07-24 | 钟昀晖 | Sorting, clamping and conveying industrial robot applied to forging industry |
| CN103213839B (en) * | 2013-02-28 | 2016-01-20 | 钟昀晖 | A kind of forging industry is selected materials clamping transportation industrial robot |
| CN103449189A (en) * | 2013-08-09 | 2013-12-18 | 舟山弘业环保材料有限公司 | Stacking method of autoclaved flyash-lime bricks or autoclaved sand-lime bricks |
| CN103896074A (en) * | 2014-03-04 | 2014-07-02 | 杭州东博自动化科技有限公司 | Rotatable blank-taking device |
| CN103896074B (en) * | 2014-03-04 | 2017-03-22 | 杭州东博自动化科技有限公司 | Rotatable blank-taking device |
| CN104843233A (en) * | 2015-03-31 | 2015-08-19 | 宜兰食品工业股份有限公司 | Stacking device for bagged products and stacking method thereof |
| CN104843233B (en) * | 2015-03-31 | 2016-08-24 | 宜兰食品工业股份有限公司 | The stack device of a kind of bagged product and stacking method thereof |
| CN106853925A (en) * | 2015-12-09 | 2017-06-16 | 中国科学院沈阳自动化研究所 | A kind of ammunition palletizing mechanical arm of view-based access control model positioning |
| CN106853925B (en) * | 2015-12-09 | 2018-11-27 | 中国科学院沈阳自动化研究所 | A kind of ammunition palletizing mechanical arm of view-based access control model positioning |
| CN105417188A (en) * | 2016-01-07 | 2016-03-23 | 湖北东元坤新型建材有限公司 | Brick separation machine |
| DE102016000623A1 (en) | 2016-01-09 | 2017-07-13 | Gerald Krell | Smart Brick (Intelligent Building Block) |
| CN106542328A (en) * | 2017-01-11 | 2017-03-29 | 威海新北洋正棋机器人股份有限公司 | Robot charge device and control method |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120530 Termination date: 20150907 |
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| EXPY | Termination of patent right or utility model |