CN205363927U - Mechanical hand of collet formula transport is carried to side that turnover case was used - Google Patents
Mechanical hand of collet formula transport is carried to side that turnover case was used Download PDFInfo
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- CN205363927U CN205363927U CN201521113310.0U CN201521113310U CN205363927U CN 205363927 U CN205363927 U CN 205363927U CN 201521113310 U CN201521113310 U CN 201521113310U CN 205363927 U CN205363927 U CN 205363927U
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Abstract
The utility model discloses a mechanical hand of collet formula transport is carried to side that turnover case was used, including the base, collet mechanism inserts, mechanism and pressfitting hook limit mechanism is carried to the side, inserts collet mechanism, the mechanism is carried to the side and pressfitting hook limit mechanism locates on the base respectively. Its transport method is earlier carried the mechanism through the side will have enough to meet the need one side of case and raise, makes the turnover bottom of the case portion slope space appear, then insert collet mechanism and insert the slope in the space, bearing in turnover bottom of the case portion, the relative one side of mechanism is carried with the side on catching on the turnover case by rethread pressfitting hook limit mechanism, compresses tightly the top surface of turnover case simultaneously, the four sides is by fixed about having enough to meet the need case upper and lower this moment, and the motion of rethread robot arm realizes the transport of turnover case. The utility model discloses a to the characteristics of general turnover case and go on designing, stably in the surface course that can realize piling from the buttress snatch every turnover case and move away from to appointed local, realize the automation of plastic turnover box destacking, replace current artifical transport mode, effectively improve production efficiency.
Description
Technical field
This utility model relates to the storing turnover technical field of product package, and the side particularly to a kind of Turnover Box carries collet formula conveying robot.
Background technology
In commercial treatment after fruit and vegetable picking, automatic assembly line becomes increasingly popular, and starts applied robot's technology gradually, for instance the technology such as machine vision sorter.But, in the rear road packaging process of fruit and vegerable, including vanning, piling, destacking and carrying etc., current or a large amount of modes adopting human assistance.
In the manner of packing of fruit and vegerable, being presently mainly employing plastic box and carton two kinds, both shared components are maximum.After fruit and vegerable vanning, it is necessary to carry out piling, form the combination of a number of cube, so could facilitate carrying, entrucking, storage.Traditional palletizing operation, it is necessary to artificial fork truck auxiliary, it now is possible to adopt industrial robot, make piling effect better.
As for destacking, it is a loaded down with trivial details work equally, currently also based on manually, from neatly stacking packing crates assembly, one case one case product is taken off and move away from.
Adopting industrial robot to carry out destacking is an option, but must for the different supporting suitable mechanical hands of packing crates.By current existing technology, it is possible to adopt vacuum adsorption type mechanical hand to realize the destacking of box paper product, but for plastic box, can be selected for but without suitable mechanical hand.Because after Turnover Box piling, forming a combination cubic, mutually against, gap small (as shown in Figures 1 to 3), common clamping type manipulator is difficult to insert capture at all.Under same situation, carton can adopt vac sorb to extract, but is not suitable for the plastic box with perforation dough-making powder lid.
Utility model content
The purpose of this utility model is in that to overcome the deficiencies in the prior art, the side providing a kind of Turnover Box carries collet formula conveying robot, this mechanical hand captures the independent case body of surface layer with can realizing accurate stable, and quickly move away from buttress heap, thus realizing the automatization of plastic box destacking, it is effectively improved production efficiency.
The technical solution of the utility model is: the side of a kind of Turnover Box carries collet formula conveying robot, including pedestal, inserts collet mechanism, Ce Ti mechanism and pressing crochet mechanism, inserts collet mechanism, Ce Ti mechanism and pressing crochet mechanism and is respectively arranged on pedestal；During carrying Turnover Box, Ce Ti mechanism is embedded in the side on Turnover Box upper edge edge, inserts the bottom of collet mechanism support Turnover Box, and pressing crochet mechanism catches on the opposite side on Turnover Box upper edge edge.
Described insertion collet mechanism includes bracket, bracket wobble component, backing board and backing board lifting assembly, bracket is located at the side of pedestal setting perpendicular with pedestal, bracket top arranges bracket wobble component, bracket bottom arranges backing board and backing board lifting assembly, bracket wobble component drives bracket to swing in vertical plane, and backing board lifting assembly drives backing board to move up and down.
Described bracket wobble component includes the first cylinder, the first line slideway and the first guide rod, first cylinder is fixed on base top surface, the end of the first cylinder is hinged with the center on bracket top, first cylinder both sides are respectively provided with the first guide rod, the two ends on bracket top connect with corresponding first guide rod respectively, and each first guide rod is respectively arranged in corresponding first line slideway；
Described backing board lifting assembly includes the second cylinder, the first linear bearing and the second guide rod, backing board is located at below bracket, the center of bracket bottom arranges the second cylinder, the end of the second cylinder is connected with the middle part of backing board, second cylinder both sides are respectively provided with the second guide rod, the two ends of backing board connect with corresponding second guide rod respectively, and each second guide rod upper end is respectively provided with the first linear bearing.
Described bracket is door frame shaped structure, including entablature, sill and two side levers, being connected by two side levers are fixing between entablature with sill, bracket wobble component is connected with entablature, backing board lifting assembly is located on sill, and backing board is located at below sill；
Described backing board is prong like, and including a fixed transverse rod and several fork arms, fixed transverse rod top is connected with backing board lifting assembly, and several fork arms are connected with fixed transverse rod respectively, and is distributed in side by side on the same side of fixed transverse rod.
Described Ce Ti mechanism includes the first support, support plate, side carries plate, lancet, lancet vertically moves assembly and lancet transverse shifting assembly, first frame upper is fixing with pedestal to be connected, first support bottom arranges lancet and vertically moves assembly, support plate, side carries plate, lancet and lancet transverse shifting assembly are all located at below the first support, support plate top vertically moves assembly with lancet and is connected, lancet transverse shifting assembly is fixed on support plate, Ti Ban side, side is connected with lancet transverse shifting assembly, side proposes the distribution of plate opposite side multiple lancet, lancet quantity can be configured according to the actual size of Turnover Box and weight.Wherein, lancet vertically moves Component driver support plate, side carries plate, lancet and lancet transverse shifting assembly entirety move up and down, thus regulating the height residing for lancet；Lancet transverse shifting Component driver side carries plate and lancet carries out transverse shifting, thus regulating the horizontal level residing for lancet.
Described lancet vertically moves assembly and includes the 3rd cylinder, the 3rd guide rod and the second linear bearing, 3rd cylinder is fixed on the center of the first support bottom, the end of the 3rd cylinder is connected with the center at support plate top, 3rd cylinder both sides are respectively provided with the 3rd guide rod, the two ends at support plate top are connected with the lower end of corresponding 3rd guide rod respectively, and the upper end of each 3rd guide rod is respectively provided with the second linear bearing；
Lancet transverse shifting assembly includes the 4th cylinder, the 4th guide rod and the 3rd linear bearing, side carries the parallel side being located at support plate of plate, 4th cylinder is fixed on the middle part of support plate, the end of the 4th cylinder carries the middle part of plate and is connected with side, 4th cylinder both sides are respectively provided with the 4th guide rod, one end of 4th guide rod is connected with support plate by the 3rd linear bearing, and the 4th guide rod other end carries plate with side and is connected.
Described pressing crochet mechanism includes the second support, coupling assembly, pressing plate, pressing plate vertically move assembly, crochet plate, limit hook and limit hook transverse shifting assembly, second frame upper is fixing with pedestal to be connected, second support bottom arranges pressing plate and vertically moves assembly, pressing plate is vertically moved assembly and is connected with pressing plate by coupling assembly, pressing plate end face is located at by crochet transverse shifting assembly, crochet plate and pressing plate are arranged in a mutually vertical manner, crochet plate side is connected with crochet transverse shifting assembly, and the distribution of crochet plate opposite side has multiple limits hook.Wherein, pressing plate vertically moves Component driver coupling assembly, pressing plate, crochet plate, limit hook and limit hook transverse shifting assembly entirety and moves up and down, thus regulating the height residing for pressing plate and limit hook；Limit hook transverse shifting Component driver crochet plate and limit are hooked into row transverse shifting, thus regulating the horizontal level of limit hook.
Described coupling assembly includes coupling block and hitch, and hitch is tower structure, fixes with pressing plate end face and be connected bottom hitch, and the both sides at hitch top are respectively provided with coupling block, and limit hook transverse shifting assembly is positioned at hitch；
Pressing plate vertically moves assembly and includes the 5th cylinder, the 5th guide rod and the 4th linear bearing, 5th cylinder is fixed on the center of the second support bottom, the end of the 5th cylinder is connected with the center at hitch top, 5th cylinder both sides are respectively provided with the 5th guide rod, the lower end of the 5th guide rod is connected with coupling block, and the upper end of the 5th guide rod arranges the 4th linear bearing；
Limit hook transverse shifting assembly includes the 6th cylinder, the 6th guide rod and the second line slideway, 6th cylinder is fixed on the end face of pressing plate, the end of the 6th cylinder is connected with the middle part of crochet plate, 6th cylinder both sides are respectively provided with the 6th guide rod, the end of each 6th guide rod is connected with the two ends of crochet plate respectively, and each 6th guide rod is respectively arranged in corresponding second line slideway.
Described pedestal is rectangular tower structure, and the external robot wrist of connection seat is passed through at pedestal top；Inserting the bracket wobble component in collet mechanism and be located at pedestal top, insert the bracket in collet mechanism, backing board and backing board lifting assembly and be all located at the lower section of pedestal, Ce Ti mechanism and pressing crochet mechanism are also located at the lower section of pedestal.
The side that can be realized a kind of Turnover Box by above-mentioned mechanical hand carries collet formula method for carrying, particularly as follows: driven whole robot movement to Turnover Box to be handled by external robot wrist；First pass through Ce Ti mechanism to be raised the side of Turnover Box, make to occur bottom Turnover Box space；Being inserted into collet mechanism to insert in space, support is bottom Turnover Box；Catch on side relative with Ce Ti mechanism on Turnover Box again through pressing crochet mechanism, compress the end face of Turnover Box simultaneously；Now the four sides up and down of Turnover Box is fixed, and realizes the carrying of Turnover Box again through robot wrist's motion.
This utility model, relative to prior art, has the advantages that
This side carries collet formula conveying robot and method for carrying is to be designed for the feature of universal transfer container, by supporting for this mechanical hand general industrial robot, each Turnover Box can be stably captured from the surface layer of buttress heap, and move away to given place, thus realizing the automatization of plastic box destacking, replace existing a dead lift mode, be effectively improved production efficiency.
This side carries collet formula conveying robot and works for the destacking that vegetable and fruit packaging is carried and design, and not only overcomes the defect of the inefficient high labor intensity of Traditional Man supplementary mode, and thoroughly solves plastic box and adopt a difficult problem for robot destacking.The apparatus structure of this mechanical hand is simplified and compact, and adjustability is strong, the plastic box of applicable plurality of specifications.
This side carries collet formula conveying robot by arranging insertion collet mechanism, Ce Ti mechanism and pressing crochet mechanism, when carrying, the both sides that Turnover Box top is relative are clamped, live bottom it by support, the stable of carrying action can be ensured, being prevented effectively from the phenomenons such as Turnover Box drops, mechanical hand is reliable, crawl is accurate.
Accompanying drawing explanation
Fig. 1 is the view after Turnover Box piling.
Fig. 2 is the A direction view of Fig. 1.
Fig. 3 is the B direction view of Fig. 1.
Fig. 4 is the structural representation that this side carries collet formula conveying robot.
Fig. 5 is the C direction view (miscellaneous part below pedestal is not shown) of Fig. 4.
Fig. 6 is the structural representation that in Fig. 4, D side is inserted upwardly into collet mechanism.
Fig. 7 is the structural representation carrying mechanism in Fig. 6 on the upside of D direction.
Fig. 8 is that in Fig. 6, on E direction, lancet and side carry the structural representation of plate.
Fig. 9 is the structural representation of pressing crochet mechanism on D direction in Fig. 6.
Figure 10 is the work process schematic diagram that this side carries collet formula conveying robot carrying Turnover Box.
nullWherein，Parts represented by each label are: 1-pedestal，2-connection seat，3-the first cylinder，4-the first line slideway，5-the first guide rod，6-bracket，7-the second cylinder，8-the first linear bearing，9-the second guide rod，10-backing board，11-the 3rd cylinder，12-the second linear bearing，13-the first support，14-the 3rd guide rod，15-support plate，16-the 4th guide rod，17-the 4th cylinder，18-the 3rd linear bearing，19-side carries plate，20-lancet，21-the 5th guide rod，22-the 5th cylinder，23-the 4th linear bearing，24-the second support，25-coupling block，26-hitch，27-pressing plate，28-the 6th cylinder，29-the second line slideway，30-the 6th guide rod，31-crochet plate，32-limit hook，33-Turnover Box.
Detailed description of the invention
Below in conjunction with embodiment, the utility model is described in further detail, but embodiment of the present utility model is not limited to this.
Embodiment
The side of a kind of Turnover Box of the present embodiment carries collet formula conveying robot, and as shown in Fig. 4～9, this side puies forward the main body of collet formula conveying robot and is made up of three parts, is insert collet mechanism, Ce Ti mechanism and pressing crochet mechanism respectively.All parts all assemble based on pedestal, and pedestal is rectangular frame structure, and its top is connection seat, and mechanical hand is entirely through the external robot wrist of connection seat.Wherein, the concrete structure bag of each ingredient is as follows:
(1) collet mechanism is inserted:
Insert collet mechanism to be mainly made up of the first cylinder, the first line slideway, the first guide rod, bracket, the second cylinder, the first linear bearing, the second guide rod, backing board etc..
First cylinder is arranged on the centre position of pedestal upper surface, and its both sides are respectively mounted a set of first line slideway, are arranged in parallel.The piston shaft end of the first cylinder is hinged with in the middle part of the entablature of bracket to be coupled, and first guide rod coordinated with the first line slideway is respectively assembled in the entablature both sides of bracket.
During the first cylinder action, can pull or promote bracket to move horizontally along the direction of the first line slideway.
Bracket is a door frame shaped structure, and its entablature and the first cylinder couple, and are then provided with the second cylinder at the middle part of its sill.Second cylinder be left and right symmetrically arranged the first linear bearing and the second guide rod being mated.
Backing board is prong like, is made up of some fork arms and a fixed transverse rod.As shown in Figure 6, some the parallel spacings of fork arm (being illustrated as 4) are arranged, end is all fixedly connected on cross bar.The piston shaft of hinged connection the second cylinder in the middle part of the cross bar of backing board, the second guide rod is assembled in both sides.
Therefore, during the second cylinder action, backing board oscilaltion can be driven.
(2) Ce Ti mechanism:
Ce Ti mechanism is mainly carried plate, lancet etc. formed by the 3rd cylinder, the second linear bearing, the first support, the 3rd guide rod, support plate, the 4th guide rod, the 4th cylinder, the 3rd linear bearing, side.
As shown in Fig. 4 and Fig. 7, the 3rd cylinder is arranged on the first mid-stent, is symmetrically installed with the second linear bearing and the 3rd guide rod being mated around.
Centre, support plate top is hinged with the piston shaft end of the 3rd cylinder to be coupled, both sides, top assembling the 3rd guide rod.
During the 3rd cylinder action, support plate oscilaltion can be driven.
In the middle part of support plate, being horizontally installed with the 4th cylinder, lateral symmetry installs the 3rd linear bearing and the 4th guide rod being mated.Side carries hinged with the piston shaft end of the 4th cylinder in the middle part of plate left surface connection, both sides assembling the 4th guide rod；Several lancets (being illustrated as 3) are assembled in right flank arrangement.
During the 4th cylinder action, plate level can be carried move left and right in push-and-pull side.
(3) pressing crochet mechanism
Pressing crochet mechanism is mainly made up of the 5th guide rod, the 5th cylinder, the 4th linear bearing, the second support, coupling block, hitch, pressing plate, the 6th cylinder, the second line slideway, the 6th guide rod, crochet plate, limit hook etc..
As shown in Fig. 1 and Fig. 9.5th cylinder is arranged on the second mid-stent, is symmetrically installed with the 4th linear bearing and the 5th guide rod being mated around.
Hinged with the piston shaft end of the 5th cylinder in the middle part of coupling block couple, both sides assembling the 5th guide rod.Hitch and coupling block are fixedly connected integral.Hitch is fitted below horizontally disposed pressing plate.
The upper surface centre position of pressing plate is provided with the 6th cylinder, the 6th parallel installation the second line slideway in cylinder both sides and the 6th guide rod being mated.
Hinged with the piston shaft end of the 6th cylinder in the middle part of crochet plate couple, both sides assembling the 6th guide rod.The arranged beneath of crochet plate assembles several limit hooks (being illustrated as 3).
From above-mentioned, when the 5th cylinder action, can drive pressing plate and on mechanism's oscilaltion；When the 6th cylinder action, crochet plate level can be driven to move left and right.
Above-mentioned side is carried collet formula conveying robot and is coupled with robot wrist by connection seat, is operated by robotically-driven, its work process as shown in Figure 10, particularly as follows:
(1) mechanical hand is piled close to Turnover Box buttress by robotically-driven, in surface layer target Turnover Box location positioning.Robot transfixion, mechanical hand is awaited orders.
(2) mechanical hand obtains instruction, and side carries mechanism action.4th cylinder promotes lancet below the flange of Turnover Box, and action is 1. as shown in FIG.；When lancet contacts Turnover Box, the 3rd cylinder action, pull lancet to rise, from the side Turnover Box is promoted, inclination has a certain degree, and action is 2. as shown in FIG..(according to practical situation, lancet can be controlled and hook Turnover Box flange or hook the handle aperture of side).
(3) collet mechanism action is inserted.First cylinder starts, and pulls backing board, moves horizontally from left to right, inserts the bottom that Turnover Box tilts, and till contact bottom, action is 3. as shown in FIG..
(4) collet mechanism and the action simultaneously of pressing crochet mechanism are inserted.Second cylinder starts, and draws high backing board, lifts the height that Turnover Box is certain, and action is 4. as shown in FIG.；Meanwhile, the 5th cylinder starts, and promotes pressing plate pressing Turnover Box surface, and action is 5. as shown in FIG..
(5) pressing crochet mechanism action.6th cylinder starts, and pulls limit hook level run from right to left, till the case limit of contact Turnover Box, and is in the state hooking casing, and action is 6. as shown in FIG..
So far, target Turnover Box has individually been lifted away from buttress heap by mechanical hand, and by firm clamping.Thereafter, robot starts action, drives mechanical hand casing to be carried to the place specified.
As it has been described above, just can realize this utility model preferably, above-described embodiment is only preferred embodiment of the present utility model, is not used for limiting practical range of the present utility model；Namely all equalizations made according to this utility model content change and modify, and are all contained by this utility model claim scope required for protection.
Claims (9)
1. the side of Turnover Box carries collet formula conveying robot, it is characterised in that includes pedestal, insert collet mechanism, Ce Ti mechanism and pressing crochet mechanism, inserts collet mechanism, Ce Ti mechanism and pressing crochet mechanism and is respectively arranged on pedestal；During carrying Turnover Box, Ce Ti mechanism is embedded in the side on Turnover Box upper edge edge, inserts the bottom of collet mechanism support Turnover Box, and pressing crochet mechanism catches on the opposite side on Turnover Box upper edge edge.
2. the side of Turnover Box carries collet formula conveying robot according to claim 1, it is characterized in that, described insertion collet mechanism includes bracket, bracket wobble component, backing board and backing board lifting assembly, bracket is located at the side of pedestal setting perpendicular with pedestal, bracket top arranges bracket wobble component, bracket bottom arranges backing board and backing board lifting assembly, and bracket wobble component drives bracket to swing in vertical plane, and backing board lifting assembly drives backing board to move up and down.
3. the side of Turnover Box carries collet formula conveying robot according to claim 2, it is characterized in that, described bracket wobble component includes the first cylinder, the first line slideway and the first guide rod, first cylinder is fixed on base top surface, the end of the first cylinder is hinged with the center on bracket top, first cylinder both sides are respectively provided with the first guide rod, and the two ends on bracket top connect with corresponding first guide rod respectively, and each first guide rod is respectively arranged in corresponding first line slideway；
Described backing board lifting assembly includes the second cylinder, the first linear bearing and the second guide rod, backing board is located at below bracket, the center of bracket bottom arranges the second cylinder, the end of the second cylinder is connected with the middle part of backing board, second cylinder both sides are respectively provided with the second guide rod, the two ends of backing board connect with corresponding second guide rod respectively, and each second guide rod upper end is respectively provided with the first linear bearing.
4. the side of Turnover Box carries collet formula conveying robot according to claim 2, it is characterized in that, described bracket is door frame shaped structure, including entablature, sill and two side levers, it is connected by two side levers are fixing between entablature with sill, bracket wobble component is connected with entablature, and backing board lifting assembly is located on sill, and backing board is located at below sill；
Described backing board is prong like, and including a fixed transverse rod and several fork arms, fixed transverse rod top is connected with backing board lifting assembly, and several fork arms are connected with fixed transverse rod respectively, and is distributed in side by side on the same side of fixed transverse rod.
5. the side of Turnover Box carries collet formula conveying robot according to claim 1, it is characterized in that, described Ce Ti mechanism includes the first support, support plate, side carries plate, lancet, lancet vertically moves assembly and lancet transverse shifting assembly, first frame upper is fixing with pedestal to be connected, first support bottom arranges lancet and vertically moves assembly, support plate, side carries plate, lancet and lancet transverse shifting assembly are all located at below the first support, support plate top vertically moves assembly with lancet and is connected, lancet transverse shifting assembly is fixed on support plate, Ti Ban side, side is connected with lancet transverse shifting assembly, side proposes the distribution of plate opposite side multiple lancet.
6. the side of Turnover Box carries collet formula conveying robot according to claim 5, it is characterized in that, described lancet vertically moves assembly and includes the 3rd cylinder, the 3rd guide rod and the second linear bearing, 3rd cylinder is fixed on the center of the first support bottom, the end of the 3rd cylinder is connected with the center at support plate top, 3rd cylinder both sides are respectively provided with the 3rd guide rod, and the two ends at support plate top are connected with the lower end of corresponding 3rd guide rod respectively, and the upper end of each 3rd guide rod is respectively provided with the second linear bearing；
Lancet transverse shifting assembly includes the 4th cylinder, the 4th guide rod and the 3rd linear bearing, side carries the parallel side being located at support plate of plate, 4th cylinder is fixed on the middle part of support plate, the end of the 4th cylinder carries the middle part of plate and is connected with side, 4th cylinder both sides are respectively provided with the 4th guide rod, one end of 4th guide rod is connected with support plate by the 3rd linear bearing, and the 4th guide rod other end carries plate with side and is connected.
7. the side of Turnover Box carries collet formula conveying robot according to claim 1, it is characterized in that, described pressing crochet mechanism includes the second support, coupling assembly, pressing plate, pressing plate vertically moves assembly, crochet plate, limit hook and limit hook transverse shifting assembly, second frame upper is fixing with pedestal to be connected, second support bottom arranges pressing plate and vertically moves assembly, pressing plate is vertically moved assembly and is connected with pressing plate by coupling assembly, pressing plate end face is located at by crochet transverse shifting assembly, crochet plate and pressing plate are arranged in a mutually vertical manner, crochet plate side is connected with crochet transverse shifting assembly, the distribution of crochet plate opposite side has multiple limits hook.
8. the side of Turnover Box carries collet formula conveying robot according to claim 7, it is characterized in that, described coupling assembly includes coupling block and hitch, hitch is tower structure, fix with pressing plate end face bottom hitch and be connected, the both sides at hitch top are respectively provided with coupling block, and limit hook transverse shifting assembly is positioned at hitch；
Pressing plate vertically moves assembly and includes the 5th cylinder, the 5th guide rod and the 4th linear bearing, 5th cylinder is fixed on the center of the second support bottom, the end of the 5th cylinder is connected with the center at hitch top, 5th cylinder both sides are respectively provided with the 5th guide rod, the lower end of the 5th guide rod is connected with coupling block, and the upper end of the 5th guide rod arranges the 4th linear bearing；
Limit hook transverse shifting assembly includes the 6th cylinder, the 6th guide rod and the second line slideway, 6th cylinder is fixed on the end face of pressing plate, the end of the 6th cylinder is connected with the middle part of crochet plate, 6th cylinder both sides are respectively provided with the 6th guide rod, the end of each 6th guide rod is connected with the two ends of crochet plate respectively, and each 6th guide rod is respectively arranged in corresponding second line slideway.
9. the side of Turnover Box carries collet formula conveying robot according to claim 2, it is characterised in that described pedestal is rectangular tower structure, and the external robot wrist of connection seat is passed through at pedestal top；Inserting the bracket wobble component in collet mechanism and be located at pedestal top, insert the bracket in collet mechanism, backing board and backing board lifting assembly and be all located at the lower section of pedestal, Ce Ti mechanism and pressing crochet mechanism are also located at the lower section of pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521113310.0U CN205363927U (en) | 2015-12-25 | 2015-12-25 | Mechanical hand of collet formula transport is carried to side that turnover case was used |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521113310.0U CN205363927U (en) | 2015-12-25 | 2015-12-25 | Mechanical hand of collet formula transport is carried to side that turnover case was used |
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| CN205363927U true CN205363927U (en) | 2016-07-06 |
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| CN201521113310.0U Withdrawn - After Issue CN205363927U (en) | 2015-12-25 | 2015-12-25 | Mechanical hand of collet formula transport is carried to side that turnover case was used |
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| CN (1) | CN205363927U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105397825A (en) * | 2015-12-25 | 2016-03-16 | 广东水利电力职业技术学院 | Side lifting and bottom supporting type carrying manipulator for transferring box and carrying method |
| CN106429478A (en) * | 2016-11-04 | 2017-02-22 | 云南昆船设计研究院 | Manipulator fixture suitable for multiple stack structural anti-falling boxes |
| WO2020014202A1 (en) * | 2018-07-11 | 2020-01-16 | Amazon Technologies, Inc. | Robotic-arm end effector configured to engage a plurality of storage containers, and method of using the same |
| EP3730434A1 (en) * | 2019-04-25 | 2020-10-28 | Stöcklin Logistik AG | Method and system for picking goods in stackable piece good containers on pallets in a pallet storage on a target pallet |
| CN112024419A (en) * | 2020-08-26 | 2020-12-04 | 深圳市海达威工业自动化设备有限公司 | Cross belt type sorting system and sorting system |
| IT202000005554A1 (en) * | 2020-03-16 | 2021-09-16 | Ing Ferretti S R L Con Unico Socio | MACHINE FOR HANDLING A BODY, PREFERABLY A FORM OF A DAIRY PRODUCT. |
| DE102021115950A1 (en) | 2021-06-21 | 2022-12-22 | Bayerische Motoren Werke Aktiengesellschaft | Depalletizing device for depalletizing load carriers stacked on top of one another and method for depalletizing the load carriers |
| CN117103320A (en) * | 2023-10-25 | 2023-11-24 | 哈尔滨学院 | Automatic grabbing manipulator for violin |
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- 2015-12-25 CN CN201521113310.0U patent/CN205363927U/en not_active Withdrawn - After Issue
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397825A (en) * | 2015-12-25 | 2016-03-16 | 广东水利电力职业技术学院 | Side lifting and bottom supporting type carrying manipulator for transferring box and carrying method |
| CN106429478A (en) * | 2016-11-04 | 2017-02-22 | 云南昆船设计研究院 | Manipulator fixture suitable for multiple stack structural anti-falling boxes |
| CN106429478B (en) * | 2016-11-04 | 2019-08-09 | 云南昆船设计研究院有限公司 | A kind of robot fixture suitable for a variety of anti-lost casees of pile type structure |
| GB2591347B (en) * | 2018-07-11 | 2022-09-28 | Amazon Tech Inc | Robotic-arm end effector configured to engage a plurality of storage containers, and method of using the same |
| WO2020014202A1 (en) * | 2018-07-11 | 2020-01-16 | Amazon Technologies, Inc. | Robotic-arm end effector configured to engage a plurality of storage containers, and method of using the same |
| US10639800B2 (en) | 2018-07-11 | 2020-05-05 | Amazon Technologies, Inc. | Robotic-arm end effector configured to engage a plurality of storage containers, and method of using the same |
| GB2591347A (en) * | 2018-07-11 | 2021-07-28 | Amazon Tech Inc | Robotic-arm end effector configured to engage a plurality of storage containers, and method of using the same |
| EP3730434A1 (en) * | 2019-04-25 | 2020-10-28 | Stöcklin Logistik AG | Method and system for picking goods in stackable piece good containers on pallets in a pallet storage on a target pallet |
| IT202000005554A1 (en) * | 2020-03-16 | 2021-09-16 | Ing Ferretti S R L Con Unico Socio | MACHINE FOR HANDLING A BODY, PREFERABLY A FORM OF A DAIRY PRODUCT. |
| CN112024419A (en) * | 2020-08-26 | 2020-12-04 | 深圳市海达威工业自动化设备有限公司 | Cross belt type sorting system and sorting system |
| CN112024419B (en) * | 2020-08-26 | 2022-04-19 | 深圳市海达威工业自动化设备有限公司 | Cross belt type sorting system and sorting system |
| DE102021115950A1 (en) | 2021-06-21 | 2022-12-22 | Bayerische Motoren Werke Aktiengesellschaft | Depalletizing device for depalletizing load carriers stacked on top of one another and method for depalletizing the load carriers |
| CN117103320A (en) * | 2023-10-25 | 2023-11-24 | 哈尔滨学院 | Automatic grabbing manipulator for violin |
| CN117103320B (en) * | 2023-10-25 | 2024-01-16 | 哈尔滨学院 | Automatic grabbing manipulator for violin |
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Granted publication date: 20160706 Effective date of abandoning: 20171003 |