CN205574978U - Material transfer robot - Google Patents
Material transfer robot Download PDFInfo
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- CN205574978U CN205574978U CN201620368466.1U CN201620368466U CN205574978U CN 205574978 U CN205574978 U CN 205574978U CN 201620368466 U CN201620368466 U CN 201620368466U CN 205574978 U CN205574978 U CN 205574978U
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- timing belt
- gripping
- synchronous pulley
- lowering
- control system
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Abstract
The utility model relates to a transport technical field especially relates to a material transfer robot and gets device, elevating gear and rotary device including pressing from both sides, elevating gear installs on rotary device, presss from both sides to get the device and install on elevating gear, and material transfer robot still includes PLC control system, PLC control system control elevating gear's lift, and rotary device is rotatory at three dimensions in PLC control system control, and PLC control system control is pressed from both sides and is got the device and realize the clamp of material and get and carry out the back -and -forth movement. The utility model discloses a device, elevating gear and rotary device are got to PLC control system control clamp can be with quick accurate the placing in the exact position of material, extreme position through using photoelectric sensing board and miniature photoelectric switch to detect the motion has prolonged life, can operate and to deposit in the eminence with the material simultaneously in a flexible way at the space free rotation, practiced thrift manpower and material resources.
Description
Technical field
This utility model relates to carrying technical field, particularly relates to a kind of material handling robot.
Background technology
Along with improving constantly of automaticity, storage sector develops rapidly, in the warehouse that some are large-scale, relies primarily on artificial
Operation fork truck carrying large equipment, and in logistic industry, it is necessary to manually sort, need people to move back and forth, and right
Putting pinnacled material in some, in addition it is also necessary to workman climbs up and climbs down, human cost is high, inefficiency.
In existing intelligent storage industry, between arranged in groups shelf, material robot seesaws on guide rail, upper material taking,
Ground need to lay distance guide rail in advance, and space hold is big, costly.
Utility model content
For overcoming above-mentioned the deficiencies in the prior art, this utility model provides one to rise, and declines the material rotating gripping material
Transfer robot.
The technical scheme realizing this utility model purpose is: a kind of material handling robot, including clamp device, lowering or hoisting gear and
Rotary apparatus, on the spinning device, clamp device is arranged on lowering or hoisting gear the installation of described lowering or hoisting gear, material handling robot
Also including PLC control system, PLC control system controls the lifting of lowering or hoisting gear, and PLC control system controls rotary apparatus three
Dimension space rotates, and PLC control system controls clamp device and realizes the gripping of material and move forward and backward.
As prioritization scheme of the present utility model, clamp device include grip clamping plate, feed screw nut, first guide mandrel, first
Linear bearing, linear stepping motor, gripping substrate, linear slide rail, motor and the first synchronous pulley, gripping clamping plate are installed
On feed screw nut, first guides mandrel is arranged on both sides before and after feed screw nut, and the first linear bearing is arranged on the first guiding core
On axle, linear stepping motor drives feed screw nut to move up and down, and gripping substrate is arranged on the lower section of gripping clamping plate, gripping substrate peace
Being contained on linear slide rail, motor drives the first synchronous pulley to rotate, and the first synchronous pulley drives the slide block of linear slide rail to realize
Movable, linear stepping motor is all connected with PLC control system with motor, and linear stepping motor drives feed screw nut
Move up and down material clamp between gripping clamping plate and gripping substrate.
As prioritization scheme of the present utility model, the lower section of gripping clamping plate is provided with positioning boss, and material is fixed by positioning boss
Between gripping clamping plate and gripping substrate.
As prioritization scheme of the present utility model, the right-hand member of gripping clamping plate is provided with the first optoelectronic induction plate, the first optoelectronic induction plate
Be provided above the first micro photo electric switch, the first optoelectronic induction plate and the first micro photo electric switch for detecting gripping clamping plate
Grip extreme position up and down.
As prioritization scheme of the present utility model, being provided with the second optoelectronic induction plate below linear slide rail, the left end of linear slide rail sets
It is equipped with the second micro photo electric switch, the second optoelectronic induction plate and the second micro photo electric switch before and after the slide block detecting linear slide rail
The extreme position of translation.
As prioritization scheme of the present utility model, lowering or hoisting gear includes lowering or hoisting gear substrate, the second guiding mandrel, the second linear axis
Hold, Timing Belt clamping plate, the first servomotor, the second synchronous pulley, the first Timing Belt, first planet gear reduction unit, the 3rd
Synchronous pulley and the 3rd Timing Belt, clamp device is arranged on lowering or hoisting gear substrate, and lowering or hoisting gear substrate is arranged on the second guiding core
On axle, the second linear bearing is arranged on the second guiding mandrel, and the first servomotor drives the first synchronous pulley to rotate, and first is same
Step band is arranged on the second synchronous pulley, and first planet gear reduction unit is arranged on the second Timing Belt, and first planet gear slows down
Machine drives the 3rd synchronous pulley to rotate, and the 3rd Timing Belt is arranged on the 3rd synchronous pulley, and Timing Belt clamping plate are by lowering or hoisting gear substrate
Being connected with the 3rd Timing Belt, the 3rd Timing Belt moves lowering or hoisting gear substrate by synchronous clamping strip and moves down on the second guiding mandrel
Dynamic, the first servomotor is connected with PLC control system.
As prioritization scheme of the present utility model, the lower section of Timing Belt clamping plate is provided with the 3rd optoelectronic induction plate, lowering or hoisting gear substrate
Lower section be provided with the 3rd micro photo electric switch, the 3rd optoelectronic induction plate and the 3rd micro photo electric switch be used for detecting lowering or hoisting gear base
The extreme position of the up and down motion of plate.
As prioritization scheme of the present utility model, rotary apparatus include turntable base plate, turntable lower rotary shaft, equipment mounting base,
Second servomotor, the 4th synchronous pulley, the 4th Timing Belt, the second planet-gear speed reducer, the 5th synchronous pulley and the 5th are same
Step band, second guides mandrel is arranged on turntable base plate, and turntable base plate is arranged on turntable lower rotary shaft, and turntable lower rotary shaft is pacified
Being contained on equipment mounting base, the second servomotor drives the 4th synchronous pulley to rotate, and the 4th Timing Belt is arranged on the 4th Timing Belt
On wheel, the second planet-gear speed reducer is arranged on the 4th Timing Belt, and the second planet-gear speed reducer drives the 5th Timing Belt round
Dynamic, the 5th Timing Belt is arranged on the 5th synchronous pulley, and the 5th Timing Belt is connected with turntable lower rotary shaft, the second servomotor and PLC
Control system is connected, and the second servomotor is rotated platform base plate and rotates on equipment mounting base.
As prioritization scheme of the present utility model, rotary apparatus includes also including rotating shaft and lifting in rotating top plate, bearing, rotation
Driven pulley, bearing is arranged on the top of rotating top plate, and in rotation, rotating shaft is mounted on bearings, and lifting driven pulley is arranged on rotation
Turning the lower section of top board, the 3rd Timing Belt upper end is arranged on lifting driven pulley, and the second lower end guiding mandrel is arranged on turntable
On base plate, the second upper end guiding mandrel is arranged on rotating top plate.
This utility model has a positive effect: 1) this utility model controls clamp device, lifting dress by PLC control system
Put, with rotary apparatus, material can be placed on correct position fast and accurately；
2) this utility model is by using optoelectronic induction plate and the extreme position of micro photo electric switch detection motion, prevents from transporting accordingly
The overstep the extreme limit part of position and fixing end of dynamic component collides；
3) this utility model can rotate freely in space, goes slick and material can be deposited in eminence simultaneously, has saved manpower
And material resources；
4) this utility model can rotate the access carrying out material, and the storehouse lattice of storage material can be vertically arranged, with arranged in parallel
Storehouse lattice are compared, and can effectively save storage space；
5) this utility model is by rotating, and the most just can grip the material on the lattice of corresponding storehouse, and feeding is rapid, need not
Lay guide rail, save cost and space.
Accompanying drawing explanation
In order to make content of the present utility model be easier to be clearly understood, below according to specific embodiment and combine accompanying drawing, to this
Utility model is described in further detail:
Fig. 1 is overall structure figure of the present utility model；
Fig. 2 is front view of the present utility model；
Fig. 3 is the A-A sectional view of Fig. 2；
Fig. 4 is the B-B sectional view of Fig. 2.
Wherein: 1, clamp device, 2, lowering or hoisting gear, 3, rotary apparatus, 11, gripping clamping plate, 12, feed screw nut, 13,
First guides mandrel, the 14, first linear bearing, 15, linear stepping motor, 16, gripping substrate, 17, linear slide rail, 18,
Motor, the 19, first synchronous pulley, the 110, first optoelectronic induction plate, the 111, first micro photo electric switch, 112, second
Optoelectronic induction plate, the 113, second micro photo electric switch, 21, lowering or hoisting gear substrate, 22, second guides mandrel, and 23, second is straight
Bobbin holds, and 24, Timing Belt clamping plate, the 25, first servomotor, the 26, second synchronous pulley, the 27, first Timing Belt, 28,
First planet gear reduction unit, the 29, the 3rd synchronous pulley, the 210, the 3rd Timing Belt, the 215, the 3rd optoelectronic induction plate, 216,
3rd micro photo electric switch, 31, turntable base plate, 32, turntable lower rotary shaft, 33, equipment mounting base, the 34, second servo
Motor, the 35, the 4th synchronous pulley, the 36, the 4th Timing Belt, the 37, second planet-gear speed reducer, the 38, the 5th synchronous pulley,
39, the 5th Timing Belt, 310, rotating top plate, 311, bearing, 312, rotating shaft in rotation, 313, lifting driven pulley.
Detailed description of the invention
As it is shown in figure 1, the utility model discloses a kind of material handling robot, including clamp device 1, lowering or hoisting gear 2 and
Rotary apparatus 3, lowering or hoisting gear 2 is arranged on rotary apparatus 3, and clamp device 1 is arranged on lowering or hoisting gear 2, material handling
Robot also includes PLC control system, and PLC control system controls the lifting of lowering or hoisting gear 2, and PLC control system controls to rotate
Device 3 rotates at three dimensions, and PLC control system controls clamp device 1 and realizes the gripping of material and move forward and backward.
As Fig. 2 is to shown in 3, and clamp device 1 includes gripping clamping plate 11, feed screw nut 12, first guides mandrel 13, first
Linear bearing 14, linear stepping motor 15, gripping substrate 16, linear slide rail 17, motor 18 and the first synchronous pulley
19, gripping clamping plate 11 are arranged on feed screw nut 12, and first guides mandrel 13 is arranged on both sides before and after feed screw nut 12,
First linear bearing 14 is arranged on the first guiding mandrel 13, and linear stepping motor 15 drives feed screw nut 12 to move up and down,
Gripping substrate 16 is arranged on the lower section of gripping clamping plate 11, and gripping substrate 16 is arranged on linear slide rail 17, and motor 18 carries
Dynamic first synchronous pulley 19 rotates, and it is movable that the first synchronous pulley 19 drives the slide block of linear slide rail 17 to realize, straight line stepping
Motor 15 is all connected with PLC control system with motor 18, and linear stepping motor 15 drives feed screw nut about 12 to transport
Move material clamp between gripping clamping plate 11 and gripping substrate 16.
The lower section of gripping clamping plate 11 is provided with positioning boss 111, and material is fixed on gripping clamping plate 11 and folder by positioning boss 111
Take between substrate 16.
Gripping clamping plate 11 right-hand member be provided with the first optoelectronic induction plate 110, the first optoelectronic induction plate 110 be provided above first
Micro photo electric switch 111, the first optoelectronic induction plate 110 and the first micro photo electric switch 111 are for detecting gripping clamping plate 11
Lower gripping extreme position.
Being provided with the second optoelectronic induction plate 112 below linear slide rail 17, the left end of linear slide rail 17 is provided with the second micro photo electric
Switch 113, the second optoelectronic induction plate 112 and the second micro photo electric switch 113 are flat before and after the slide block detecting linear slide rail 17
The extreme position moved.
Lowering or hoisting gear 2 include lowering or hoisting gear substrate 21, second guide mandrel the 22, second linear bearing 23, Timing Belt clamping plate 24,
First servomotor the 25, second synchronous pulley the 26, first Timing Belt 27, first planet gear reduction unit the 28, the 3rd Timing Belt
Wheel 29 and the 3rd Timing Belt 210, clamp device 1 is arranged on lowering or hoisting gear substrate 21, and lowering or hoisting gear substrate 21 is arranged on the
Two guide on mandrel 22, and the second linear bearing 23 is arranged on the second guiding mandrel 22, and the first servomotor 25 drives second
Synchronous pulley 26 rotates, and the first Timing Belt 27 is arranged on the second synchronous pulley 26, and first planet gear reduction unit 28 is installed
On the first Timing Belt 27, first planet gear reduction unit 28 drives the 3rd synchronous pulley 29 to rotate, and the 3rd Timing Belt 210 is pacified
Being contained on the 3rd synchronous pulley 29, lowering or hoisting gear substrate 21 is connected by Timing Belt clamping plate 24 with the 3rd Timing Belt 210, and the 3rd is same
Step band 210 drives lowering or hoisting gear substrate 21 to guide mandrel 22 along second by Timing Belt clamping plate 24 and moves up and down, the first servo
Motor 25 is connected with PLC control system.
The lower section of Timing Belt clamping plate 24 is provided with the 3rd optoelectronic induction plate 215, and the lower section of lowering or hoisting gear substrate 21 is provided with the 3rd
Micro photo electric switch 216, the 3rd optoelectronic induction plate 215 and the 3rd micro photo electric switch 216 are used for detecting lowering or hoisting gear substrate 21
The extreme position of up and down motion.
As shown in Figure 4, rotary apparatus 3 includes turntable base plate 31, turntable lower rotary shaft 32, equipment mounting base 33, second
Servomotor the 34, the 4th synchronous pulley the 35, the 4th Timing Belt the 36, second planet-gear speed reducer the 37, the 5th synchronous pulley 38
With the 5th Timing Belt 39, second guides mandrel 22 is arranged on turntable base plate 31, and turntable base plate 31 is arranged under turntable
In rotating shaft 32, turntable lower rotary shaft 32 is arranged on equipment mounting base 33, and the second servomotor 34 drives the 4th synchronous pulley
35 rotate, and the 4th Timing Belt 36 is arranged on the 4th synchronous pulley 35, and it is same that the second planet-gear speed reducer 37 is arranged on the 4th
On step band 36, the second planet-gear speed reducer 37 drives the 5th synchronous pulley 38 to rotate, and the 5th Timing Belt 39 is arranged on the 5th
On synchronous pulley 38, the 5th Timing Belt 39 is connected with turntable lower rotary shaft 32, the second servomotor 34 and PLC control system phase
Connecting, the second servomotor 34 is rotated platform base plate 31 and rotates on equipment mounting base 33.
Rotary apparatus 3 also includes rotating shaft 312 and lifting driven pulley 313, bearing in rotating top plate 310, bearing 311, rotation
311 tops being arranged on rotating top plate 310, in rotation, rotating shaft 312 is arranged on bearing 311, and lifting driven pulley 313 is pacified
Being contained in the lower section of rotating top plate 310, the upper end of the 3rd Timing Belt 210 is arranged on lifting driven pulley 313, and second guides core
The lower end of axle 22 is arranged on turntable base plate 31, and the second upper end guiding mandrel 22 is arranged on rotating top plate 310, passes through
Rotating top plate 310, bearing 311 are set and rotate the swing that upper rotating shaft 312 can effectively prevent from occurring when rotated.
During gripping, linear stepping motor 15 drives feed screw nut 12 up and down motion to make gripping clamping plate 11 permissible with gripping substrate 16
Being clamped by material, gripping substrate 16 is fixed on linear slide rail 17, and motor 18 drives the first synchronous pulley 19 to rotate,
The slide block slide anteroposterior of linear slide rail 17, it is achieved move before and after during gripping material.
During lifting, the first servomotor 25 drives the second synchronous pulley 26 to rotate, by the first Timing Belt 27, first planet tooth
Wheel reductor 28 drives the 3rd synchronous pulley 29 to rotate and drives the 3rd Timing Belt 210, and Timing Belt clamping plate 24 drive lowering or hoisting gear base
Plate 21 guides mandrel 22 along second and moves up and down, so that clamp device 1 can move up and down.
During rotation, the second servomotor 34 is by the 4th synchronous pulley the 35, the 4th Timing Belt the 36, second planet-gear speed reducer
37 and the 5th synchronous pulley 38 drive the 5th Timing Belt 39 to rotate, the 5th Timing Belt 39 is connected with turntable lower rotary shaft 32, turntable
Together with lower rotary shaft 32 is fixed by screw with turntable base plate 31, the second servomotor 34 rotates and drives turntable base plate 31
Rotate, thus realize spinning movement.
Can be the most mobile, by PLC control system in three dimensions during the material gripping of whole material handling robot
Control so that material can be placed in correct storage bin lattice fast and accurately.
Particular embodiments described above, has been carried out the purpose of this utility model, technical scheme and beneficial effect the most in detail
Illustrate, be it should be understood that and the foregoing is only specific embodiment of the utility model, be not limited to this practicality new
Type, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. done, should be included in
Within protection domain of the present utility model.
Claims (9)
1. a material handling robot, including clamp device (1), lowering or hoisting gear (2) and rotary apparatus (3), described liter
Falling unit (2) is arranged on rotary apparatus (3), and described clamp device (1) is arranged on lowering or hoisting gear (2), its feature
Being: described material handling robot also includes PLC control system, described PLC control system controls lowering or hoisting gear (2)
Lifting, described PLC control system controls rotary apparatus (3) and rotates at three dimensions, and described PLC control system controls gripping
Device (1) realizes the gripping of material and moves forward and backward.
A kind of material handling robot the most according to claim 1, it is characterised in that: described clamp device (1) includes
Gripping clamping plate (11), feed screw nut (12), the first guiding mandrel (13), the first linear bearing (14), linear stepping motor
(15), gripping substrate (16), linear slide rail (17), motor (18) and the first synchronous pulley (19), described gripping
Clamping plate (11) are arranged on feed screw nut (12), before described first guiding mandrel (13) is arranged on feed screw nut (12)
Rear both sides, described first linear bearing (14) is arranged on the first guiding mandrel (13), described linear stepping motor (15)
Driving feed screw nut (12) to move up and down, described gripping substrate (16) is arranged on the lower section of gripping clamping plate (11), described folder
Taking substrate (16) to be arranged on linear slide rail (17), described motor (18) drives the first synchronous pulley (19) to rotate,
It is movable that described first synchronous pulley (19) drives the slide block of linear slide rail (17) to realize, described linear stepping motor (15)
All being connected with PLC control system with motor (18), described linear stepping motor (15) drives feed screw nut (12)
Move up and down material clamp between gripping clamping plate (11) and gripping substrate (16).
A kind of material handling robot the most according to claim 2, it is characterised in that: under described gripping clamping plate (11)
Side is provided with positioning boss (111), and material is fixed on gripping clamping plate (11) and gripping substrate (16) by positioning boss (111)
Between.
A kind of material handling robot the most according to claim 2, it is characterised in that: the right side of described gripping clamping plate (11)
End is provided with the first optoelectronic induction plate (110), and first micro photo electric that is provided above of the first optoelectronic induction plate (110) switchs
(111) the first, described optoelectronic induction plate (110) and the first micro photo electric switch (111) are used for detecting gripping clamping plate (11)
Gripping extreme position up and down.
A kind of material handling robot the most according to claim 2, it is characterised in that: described linear slide rail (17) lower section
Being provided with the second optoelectronic induction plate (112), the left end of described linear slide rail (17) is provided with the second micro photo electric switch (113),
The second described optoelectronic induction plate (112) and the second micro photo electric switch (113) are used for detecting the slide block of linear slide rail (17)
The extreme position of anterior-posterior translation.
A kind of material handling robot the most according to claim 2, it is characterised in that: described lowering or hoisting gear (2) includes
Lowering or hoisting gear substrate (21), second guide mandrel (22), the second linear bearing (23), Timing Belt clamping plate (24), first watch
Take motor (25), the second synchronous pulley (26), the first Timing Belt (27), first planet gear reduction unit (28), the 3rd with
Step belt wheel (29) and the 3rd Timing Belt (210), described clamp device (1) is arranged on lowering or hoisting gear substrate (21), described
Lowering or hoisting gear substrate (21) is arranged on the second guiding mandrel (22), and described second linear bearing (23) is arranged on second and leads
On mandrel (22), described first servomotor (25) drives the second synchronous pulley (26) to rotate, the first Timing Belt (27)
Being arranged on the second synchronous pulley (26), described first planet gear reduction unit (28) is arranged on the first Timing Belt (27),
Described first planet gear reduction unit (28) drives the 3rd synchronous pulley (29) to rotate, and the 3rd Timing Belt (210) is arranged on the
On three synchronous pulleys (29), described Timing Belt clamping plate (24) are by lowering or hoisting gear substrate (21) with the 3rd Timing Belt (210) even
Connecing, described 3rd Timing Belt (210) drives lowering or hoisting gear substrate (21) to guide core along second by Timing Belt clamping plate (24)
Axle (22) moves up and down, and described first servomotor (25) is connected with PLC control system.
A kind of material handling robot the most according to claim 6, it is characterised in that: described Timing Belt clamping plate (24)
Lower section is provided with the 3rd optoelectronic induction plate (215), and the lower section of lowering or hoisting gear substrate (21) is provided with the 3rd micro photo electric switch (216),
The 3rd described optoelectronic induction plate (215) and the 3rd micro photo electric switch (216) are used for detecting lowering or hoisting gear substrate (21)
The extreme position moved up and down.
A kind of material handling robot the most according to claim 6, it is characterised in that: described rotary apparatus (3) includes
Turntable base plate (31), turntable lower rotary shaft (32), equipment mounting base (33), the second servomotor (34), the 4th synchronization
Belt wheel (35), the 4th Timing Belt (36), the second planet-gear speed reducer (37), the 5th synchronous pulley (38) and the 5th synchronize
Band (39), described second guides mandrel (22) is arranged on turntable base plate (31), and described turntable base plate (31) is installed
On turntable lower rotary shaft (32), described turntable lower rotary shaft (32) is arranged on equipment mounting base (33), and described second watches
Taking motor (34) drives the 4th synchronous pulley (35) to rotate, and the 4th Timing Belt (36) is arranged on the 4th synchronous pulley (35)
On, described second planet-gear speed reducer (37) is arranged on the 4th Timing Belt (36), described second planet-gear speed reducer
(37) driving the 5th synchronous pulley (38) to rotate, the 5th Timing Belt (39) is arranged on the 5th synchronous pulley (38), the
Five Timing Belts (39) are connected with turntable lower rotary shaft (32), and described second servomotor (34) is connected with PLC control system,
Described second servomotor (34) is rotated platform base plate (31) in the upper rotation of equipment mounting base (33).
A kind of material handling robot the most according to claim 8, it is characterised in that: described rotary apparatus (3) also wraps
Include rotating shaft (312) and lifting driven pulley (313), described bearing (311) in rotating top plate (310), bearing (311), rotation
Being arranged on the top of rotating top plate (310), rotating shaft in described rotation (312) is arranged on bearing (311), described liter
Fall driven pulley (313) is arranged on the lower section of rotating top plate (310), and the upper end of the 3rd described Timing Belt (210) is arranged on
In lifting driven pulley (313), the second lower end guiding mandrel (22) is arranged on turntable base plate (31), and second guides
The upper end of mandrel (22) is arranged on rotating top plate (310).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620368466.1U CN205574978U (en) | 2016-04-27 | 2016-04-27 | Material transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620368466.1U CN205574978U (en) | 2016-04-27 | 2016-04-27 | Material transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205574978U true CN205574978U (en) | 2016-09-14 |
Family
ID=56860413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620368466.1U Active CN205574978U (en) | 2016-04-27 | 2016-04-27 | Material transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205574978U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752640A (en) * | 2016-04-27 | 2016-07-13 | 南京优倍电气有限公司 | Material handling robot |
| CN106737573A (en) * | 2016-11-18 | 2017-05-31 | 苏州元谋智能机器人系统有限公司 | A kind of manipulator for gripping looping disk |
| CN107857115A (en) * | 2017-12-27 | 2018-03-30 | 南京工程学院 | A kind of material transfer robot based on suspension |
| CN108341258A (en) * | 2018-04-28 | 2018-07-31 | 罗博特科智能科技股份有限公司 | A kind of quick capture apparatus of material |
-
2016
- 2016-04-27 CN CN201620368466.1U patent/CN205574978U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752640A (en) * | 2016-04-27 | 2016-07-13 | 南京优倍电气有限公司 | Material handling robot |
| CN105752640B (en) * | 2016-04-27 | 2018-05-04 | 南京优倍自动化系统有限公司 | A kind of material transfer robot |
| CN106737573A (en) * | 2016-11-18 | 2017-05-31 | 苏州元谋智能机器人系统有限公司 | A kind of manipulator for gripping looping disk |
| CN107857115A (en) * | 2017-12-27 | 2018-03-30 | 南京工程学院 | A kind of material transfer robot based on suspension |
| CN108341258A (en) * | 2018-04-28 | 2018-07-31 | 罗博特科智能科技股份有限公司 | A kind of quick capture apparatus of material |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |