CN206068941U - A kind of grabbing device of stacking machine - Google Patents
A kind of grabbing device of stacking machine Download PDFInfo
- Publication number
- CN206068941U CN206068941U CN201620818442.1U CN201620818442U CN206068941U CN 206068941 U CN206068941 U CN 206068941U CN 201620818442 U CN201620818442 U CN 201620818442U CN 206068941 U CN206068941 U CN 206068941U
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- group
- cylinder
- grabbing device
- corpus unguis
- bracing frame
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Abstract
The utility model discloses a kind of grabbing device of stacking machine, including bracing frame, the mobile group of heavy duty, underloading movement group, crawl group, five parts of roll adjustment cylinder.Staving is clamped by air bag, it is ensured that cylinder barrel is not rocked during crawl, it is to avoid the outward appearance of bucket is destroyed；Meanwhile, grabbing device utilizes parallel four-bar linkage, makes corpus unguis vertical all the time during crawl, saves space to greatest extent.Additionally, its cylinder engine for performing grasping movement is two strokes, the cylinder barrel of compatible two kinds of different-diameters is enabled the device to.
Description
Technical field
The present invention relates to the Palletizer of machinery industry, specifically discloses a kind of grabbing device of stacking machine, to complete circle
The crawl of post bucket and pile up work.
Background technology
Industrial many fluid products, such as lubricating oil, paint, coating etc. are packed all with cylinder barrel.Ordinary circumstance
Under, for ease of transport, need cylinder barrel is placed on pallet according to certain sequence code.Crawl during piling up, to cylinder barrel
It is particularly critical.
Existing grabbing device typically grabs barrel bottom by support or hook grabs bucket along two ways to realize crawl.Grabbed using support
The mode at bucket bottom, when claw gos deep into bucket bottom, easily occurs interfering with pallet and cannot putting the situation of bucket, therefore in automation code
Seldom use in pile equipment.
Patent CN200720148994.7 filed in 28 days of Wang Jun 04 month 2007 " metal drum extracting piling machine " discloses one
Stacking machine grasping mechanism scheme is planted, as shown in figure 1, including the connecting plate being fixed on hoisting frame, being fixed on above connecting plate
Clamping cylinder, the fixed seat being fixed on below connecting plate and the slide block being connected in the cylinder rod of clamping cylinder, wherein fixed seat
Including sliding sleeve and several fixation ears for being evenly distributed on sliding sleeve circumference, the space of slider is sleeved on inside sliding sleeve, thereon
Even that several support arms are distributed with, the outer end of each support arm is hinged a connecting rod and a claw successively, and each claw is wherein
Portion is hinged with fixed ear.By the way of the patent grabs bucket edge using hook, cylinder barrel is easily rocked in moving process, easily
Occur breaking off relations, fall the accidents such as bucket；Also, corpus unguis clip position mostly with cylinder barrel rigid contact, even if contact portion design
There is the flexible transition part such as nylon, rubber, but as chucking power is larger, easily cause the destruction circles such as bucket deforms, bucket wall lacquer painting comes off
The problem of post bucket outward appearance；Corpus unguis in grabbing device captures corpus unguis before cylinder barrel using lever principle come execution at present
Opened with certain angle is needed, it is very big that this mode causes corpus unguis to take up room, and is captured in the case of many barrels at the same time, easily causes pawl
Interference problem between body.
The content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided a kind of grabbing device of stacking machine, lead to
Cross air bag clamping staving, it is ensured that cylinder barrel is not rocked during crawl, it is to avoid the outward appearance of bucket is destroyed；Grabbing device profit
With parallel four-bar linkage, make corpus unguis vertical all the time during crawl, save space to greatest extent；Perform grasping movement
Cylinder engine be two strokes, enable the device to the cylinder barrel of compatible two kinds of different-diameters.
The present invention for achieving the above object, is adopted the following technical scheme that：
A kind of grabbing device of stacking machine includes bracing frame, and on bracing frame, fixed mobile group, installs crawl below bracing frame
Group, often covers crawl group and is symmetrically installed corpus unguis, an air bag is fixed on the inside of the corpus unguis.
Further, crawl group includes fixed plate, little quarter butt, three hole connecting rods, sleeve rack, holes connecting rod；Fixed plate and support
Frame lower end connects, and fixed plate is connected with little quarter butt on four angles；The little quarter butt other end is connected with the middle part of three hole connecting rods；Three hole connecting rods
Two ends are connected with corpus unguis upper end and sleeve rack respectively；Sleeve rack outward appearance be cylinder, the uniform four groups of earrings of side surface circumference, per group bag
Upper and lower two earrings are included, upper earrings is connected with corpus unguis upper end by three hole connecting rods, lower earrings passes through in the middle part of holes connecting rod and corpus unguis
Perforate connects, three hole connecting rods and holes connecting rod apart from equal, corpus unguis upper end and three hole rod connection points and middle part and holes connecting rod
Distance it is equal with the distance of the upper and lower earrings of sleeve rack；Three hole connecting rods, the connection between corpus unguis, sleeve rack, holes connecting rod
Place constitutes a parallelogram, and four corpus unguis Vertical Uniforms are distributed in sleeve rack periphery.
Further, the crawl group also includes crawl cylinder, and cylinder is the back-to-back two-pass gas that there is cylinder rod at two ends
Cylinder, one end are connected with sleeve rack top, and the other end is connected in fixed plate.Sleeve rack rise distance it is bigger, by three hole connecting rods,
The parallelogramming deflection that corpus unguis, sleeve rack, holes connecting rod are constituted is bigger, so as to corpus unguis is also bigger to middle mobile distance.
Further, little quarter butt, three hole connecting rods, corpus unguis, sleeve rack, holes connecting rod are realized connecting by bearing pin.
Further, roll adjustment cylinder is installed between the fixing plates, realizes the connection between fixed plate.
Further, the crawl group is 6 groups.
Further, support frame as described above is rectangular-shaped, and two pieces, is arranged in parallel altogether；Three crawl groups are installed under every bracing frame.
Further, the mobile group includes the mobile group of heavy duty, and the heavily loaded mobile group includes a heavy slide rail and two
Below heavy slide rail, the heavy slide block that can move freely along heavy slide rail, each heavy slide block is fixed therein one
Middle part above bracing frame, by heavy mobile group, two pieces bracing frame can be moved freely along its width.
Further, the mobile group also includes underloading movement group, and the underloading movement group includes a light-duty slide rail and two
It is individual below light-duty slide rail, the light-duty slide block that can move freely along light-duty slide rail；Light-duty slide rail along bracing frame length direction,
Installed in the position at every bracing frame following four angle, after installation, the boss of light-duty slide block and bracing frame lower end is in same level
On.
Beneficial effects of the present invention：Staving is clamped by air bag, it is ensured that cylinder barrel is not rocked during crawl, it is to avoid
The outward appearance of bucket is destroyed；Grabbing device utilizes parallel four-bar linkage, makes corpus unguis vertical all the time during crawl, maximum limit
Save space degree；The cylinder engine for performing grasping movement is two strokes, enables the device to compatible two kinds of different-diameters
Cylinder barrel.
Description of the drawings
Grabbing device structure charts of the Fig. 1 for prior art；
Fig. 2 is the grabbing device structural representation of the stacking machine of the present invention；
Fig. 3 is A in Fig. 2 to schematic diagram, and the present invention is used for embodiment 1, the grabbing device structural representation of embodiment 2
Figure；
Fig. 4 is B in Fig. 2 to schematic diagram, and the present invention is for the grabbing device structural representation of embodiment 1；
Fig. 5, Fig. 6 are grabbing device structural representation of the present invention for embodiment 1；
Fig. 7, Fig. 8, Fig. 9 are grabbing device structural representation of the present invention for embodiment 2.
In figure：1 bracing frame, the mobile group of 2 heavy duties, 3 underloading movement groups, 4 crawl groups, 5 roll adjustment cylinders, the cylinder of 6 a diameter of X
Bucket, 7 a diameter of Y (Y<X cylinder barrel), 2-1 heavy duty slide rails, 2-2 heavy duty slide blocks, 3-1 underloading slide rails, 3-2 underloading slide blocks, 4-1
Fixed plate, 4-2 threaded posts, the little quarter butts of 4-3, tri- hole connecting rods of 4-4,4-5 corpus unguis, 4-6 sleeve racks, 4-7 holes connecting rods, 4-8 bearing pins,
4-9 air bags, 4-10 crawl cylinders, 4-11C type frame.
Specific embodiment
Except embodiment described below, the present invention can also have other embodiments or by different way implementing.Therefore,
It should be known that the invention is not limited in the detailed of the structure of described in the following description or shown in the accompanying drawings part
Situation.When only one embodiment is introduced here, claim is not limited to the embodiment.
The specific implementation method of the present invention is further detailed with example below in conjunction with the accompanying drawings：
A kind of grabbing device of stacking machine, its structure as shown in Figure 2, Figure 3, Figure 4, including bracing frame 1, the mobile group 2 of heavy duty,
Underloading movement group 3, crawl group 4,5 five parts of roll adjustment cylinder.
1 rectangular in form of support frame as described above, two pieces, is arranged in parallel in the width direction altogether.In the middle part of every 1 lower end of bracing frame,
, there are two sections of boss the both sides of width, i.e. seen in the width direction along its length respectively, into " convex " shape stood upside down.
2 totally two sets of the heavy duty movement group, along 1 width of bracing frame, is arranged in parallel in the middle part of bracing frame 1.Weight is covered often
Carry that mobile group 2 includes a heavy type slide rail 2-1 and two are arranged on below heavy type slide rail 2-1, can freely move along heavy slide rail 2-1
Dynamic heavy slide block 2-2, each heavy slide block 2-2 are fixed therein the middle part above a bracing frame 1, by heavy mobile group
2, two pieces bracing frame 1 can be moved freely along its width.
3 totally eight sets of the underloading movement group, often set include that a light-duty slide rail 3-1 and two are arranged on light-duty slide rail 3-1
Lower section, the light-duty slide block 3-2 that can be moved freely along light-duty slide rail 3-1.Light-duty slide rail 3-1 is arranged on along 1 length direction of bracing frame
The position at every 1 following four angle of bracing frame, after installation, the boss of light-duty slide block 3-2 and 1 lower end of bracing frame is in same level
On.
Totally six sets of the crawl group 4, often covering crawl group 4 includes fixed plate 4-1, threaded post 4-2, little quarter butt 4-3, three holes
Connecting rod 4-4, corpus unguis 4-5, sleeve rack 4-6, holes connecting rod 4-7, bearing pin 4-8, air bag 4-9, crawl cylinder 4-10, c-type frame 4-11
Etc. several parts.Every bracing frame 1 arranged beneath, three sets of crawl groups 4, wherein fixed plate 4-1 of two sets of crawl groups 4 and bracing frame 1
Four underloading slide block 3-2 connections of lower section side, are connected with bracing frame 1 by underloading movement group 3；The fixation of a set of crawl group 4
Plate 4-1 is directly anchored on the boss of 1 lower end of bracing frame.Threaded post 4-2 is fixed respectively on four angles of fixed plate 4-1,
Hole is provided with below threaded post 4-2, is connected with little short column 4-3.The unidirectional two ends of little quarter butt 4-3 are provided with hole, one end connection spiral shell
Line post 4-2, the other end are connected to the position of opening in the middle part of three hole connecting rod 4-4.The unidirectional two ends of three hole connecting rod 4-4, middle part
Hole is provided with, both end of which tapping is connected with corpus unguis 4-5 and sleeve rack 4-6 respectively.The unidirectional upper ends of corpus unguis 4-5 are with
Portion is provided with hole, and sleeve rack 4-6 outward appearances are cylinder, the uniform four groups of earrings of side surface circumference, and per group includes upper and lower two earrings, on
Earrings is connected with corpus unguis 4-5 upper end perforates by three hole connecting rod 4-4, and lower earrings is by opening in the middle part of holes connecting rod 4-7 and corpus unguis 4-5
Hole connects；Threaded post 4-2, little quarter butt 4-3, three hole connecting rod 4-4, corpus unguis 4-5, sleeve rack 4-6, holes connecting rod 4-7 tappings are equal
Through bearing pin 4-8, connected by bearing pin 4-8.The distance of corpus unguis 4-5 upper ends and middle part perforate and the upper and lower earrings of sleeve rack 4-6
Apart from equal, three hole connecting rod 4-4 and holes connecting rod 4-7 two ends perforates apart from equal, therefore, three hole connecting rod 4-4, corpus unguis 4-5, set
Junction between tub 4-6, holes connecting rod 4-7 constitutes a parallelogram；By connection, four corpus unguis 4-5
Consistent with four groups of earrings of sleeve rack 4-6, circumference uniform distribution fixes one on the inside of each corpus unguis 4-5 around sleeve rack 4-6 respectively
Air bag 4-9, air bag 4-9 air-blowing direction point to the sleeve rack 4-6 centers of circle；In the middle part of sleeve rack 4-6 and bottom is emptied, the cup of shape such as back-off
Son, " cup bottom " are provided with hole.Crawl cylinder 4-10 has the back-to-back double stroke cylinder of cylinder rod, the connection of one end cylinder rod for two ends
Sleeve rack 4-6 top perforates, the other end are connected to the tapping in the middle of c-type frame 4-11；C-type frame 4-11 tips upside down on fixed plate 4-1
On, it is connected with fixed plate 4-1 by two ends otic placode.
Totally five sets of the roll adjustment cylinder 5, realizes between middle two fixed plates 4-1 respectively, and centre is fixed with two ends
Connection between plate 4-1.
The course of work of the grabbing device of stacking machine of the present invention is described in detail below by two embodiments.
Embodiment 1：
As shown in Fig. 3, Fig. 4 and Fig. 5, before capturing the cylinder barrel 6 of a diameter of X, two cylinder rods for capturing cylinder 4-10 are complete
Portion stretches out, and corpus unguis 4-5 gos deep into certain position along 6 surrounding vertical of cylinder barrel, and the cylinder rod of roll adjustment cylinder 5 all stretches out so that
The spacing of crawl group 4 is consistent with the spacing of cylinder barrel 6；As shown in fig. 6, during crawl, capturing one of gas of cylinder 4-10
Cylinder rod is retracted (be illustrated as the retraction of top cylinder bar), and sleeve rack 4-6 rises under the driving of crawl cylinder 4-10, by three hole connecting rods
4-4, corpus unguis 4-5, sleeve rack 4-6, the parallelogram of holes connecting rod 4-7 compositions are deformed so that corpus unguis 4-5 is to middle shifting
It is dynamic, touch the edge of cylinder barrel 6；Meanwhile, air bag 4-9 air-blowing, clamp cylinders bucket 6, so as to complete once to capture, is cylinder barrel
6 piling is ready.After the completion of piling, capture cylinder 4-10 cylinder rod stretch out, sleeve rack 4-6 decline, corpus unguis 4-5 to
Outer side shifting, while air bag loses heart, grabbing device resets.
Embodiment 2：
As shown in Fig. 3, Fig. 7 and Fig. 8, a diameter of Y (Y are captured<X two cylinders of cylinder 4-10 before cylinder barrel 7), are captured
Bar all stretches out, and corpus unguis 4-5 gos deep into certain position along 7 surrounding vertical of cylinder barrel, and the cylinder rod of roll adjustment cylinder 5 is fully retracted into,
So that the spacing of crawl group 4 is consistent with the spacing of cylinder barrel 7.As shown in figure 9, during crawl, capturing two gas of cylinder 4-10
Cylinder rod is retracted, and sleeve rack 4-6 rises under the driving of crawl cylinder 4-10, by three hole connecting rod 4-4, corpus unguis 4-5, sleeve rack 4-
6th, the parallelogram of holes connecting rod 4-7 compositions is deformed so that corpus unguis 4-5 touches the side of cylinder barrel 7 to middle mobile
Edge；Meanwhile, air bag 4-9 air-blowing, clamp cylinders bucket 7, so as to complete once to capture, is that the piling of cylinder barrel 7 is ready.When
After the completion of piling, two cylinder rods for capturing cylinder 4-10 stretch out, and sleeve rack 4-6 declines, the outside side shiftings of corpus unguis 4-5, while
Air bag loses heart, and grabbing device resets.
Here illustrates that some distance that sleeve rack 4-6 rises is bigger, by three hole connecting rod 4-4, corpus unguis 4-5, sleeve rack
The parallelogramming deflection of 4-6, holes connecting rod 4-7 composition is bigger, so as to corpus unguis 4-5 is also bigger to middle mobile distance.Cause
This, for the relatively small cylinder barrel 7 of diameter, needs to capture two cylinder rods retractions of cylinder 4-10, so that corpus unguis 4-5
To the bigger distance of middle movement, it is ensured that clamp cylinders bucket 7.Additionally, two embodiments are the piling forms (3x2) according to 6 barrels
It is described, the arrangement of quantity and adjustment roll adjustment cylinder by increasing and decreasing crawl group 4, the present invention can complete various shapes
The piling of formula.
Both examples above shows that the grabbing device of the stacking machine of the present invention is connect with cylinder barrel flexibility in the course of the work
Touch, it is to avoid the outward appearance of bucket is destroyed, and the cylinder barrel of compatible two kinds of different-diameters.
Obviously, those skilled in the art can carry out the essence of various changes and modification without deviating from the present invention to the present invention
God and scope.If these modifications and modification belong within the scope of the claims in the present invention and its equivalent technologies, then the present invention
It is intended to also comprising these changes and modification.
Claims (9)
1. a kind of grabbing device of stacking machine, it is characterised in that including bracing frame (1), on bracing frame (1), fixed mobile group, supports
Crawl group (4) is installed below frame (1), is often covered crawl group (4) and is symmetrically installed corpus unguis (4-5), on the inside of the corpus unguis (4-5), fix one
Individual air bag (4-9).
2. the grabbing device of stacking machine as claimed in claim 1, it is characterised in that the crawl group (4) also includes fixed plate
(4-1), little quarter butt (4-3), three hole connecting rods (4-4), sleeve rack (4-6), holes connecting rod (4-7), bearing pin (4-8)；Fixed plate (4-
1) it is connected with bracing frame (1) lower end, fixed plate (4-1) is connected with little quarter butt (4-3) on four angles；Little quarter butt (4-3) other end
Be connected in the middle part of three hole connecting rods (4-4)；Three hole connecting rod (4-4) two ends respectively with corpus unguis (4-5) upper end and sleeve rack (4-6) phase
Even；Sleeve rack (4-6) outward appearance be cylinder, the uniform four groups of earrings of side surface circumference, per group include upper and lower two earrings, upper earrings lead to
Cross three hole connecting rods (4-4) to be connected with corpus unguis (4-5) upper end, lower earrings is by perforate in the middle part of holes connecting rod (4-7) and corpus unguis (4-5)
Connection, three hole connecting rods (4-4) and holes connecting rod (4-7) apart from equal, corpus unguis (4-5) upper end and three hole connecting rod (4-4) tie points
It is equal with the distance of the upper and lower earrings of the distance of holes connecting rod (4-7) and sleeve rack (4-6) with middle part；Three hole connecting rods (4-4), corpus unguis
(4-5), the junction between sleeve rack (4-6), holes connecting rod (4-7) four constitutes a parallelogram, four corpus unguis
(4-5) Vertical Uniform is distributed in sleeve rack (4-6) periphery.
3. the grabbing device of the stacking machine described in claim 2, it is characterised in that the crawl group (4) also includes crawl cylinder
(4-10), cylinder (4-10) has the back-to-back double stroke cylinder of cylinder rod for two ends, and one end is connected with sleeve rack (4-6) top
Connect, the other end is connected in fixed plate (4-1).
4. the grabbing device of the stacking machine described in claim 2, it is characterised in that the little quarter butt (4-3), three hole connecting rod (4-
4), corpus unguis (4-5), sleeve rack (4-6), holes connecting rod (4-7) realize connection by bearing pin (4-8).
5. a kind of grabbing device of stacking machine as claimed in claim 2, it is characterised in that：Install between fixed plate (4-1)
Roll adjustment cylinder (5), realizes the connection between fixed plate (4-1).
6. the grabbing device of the stacking machine described in claim 2, it is characterised in that the crawl group (4) is 6 groups.
7. the grabbing device of the stacking machine described in claim 6, it is characterised in that support frame as described above (1) rectangular in form, two pieces altogether,
It is arranged in parallel；Three crawl groups are installed under every bracing frame (1).
8. the grabbing device of the stacking machine described in claim 6, it is characterised in that the mobile group includes that group (2) is moved in heavy duty,
The mobile group (2) of the heavy duty is arranged on below heavy type slide rail (2-1) including a heavy slide rail (2-1) and two, can be along heavy type
The heavy slide block (2-2) that slide rail (2-1) is moved freely, each heavy slide block (2-2) are fixed therein a bracing frame (1) above
Middle part, by heavy mobile group (2), two pieces bracing frame (1) can be moved freely along its width.
9. a kind of grabbing device of stacking machine as claimed in claim 6, it is characterised in that mobile group also includes underloading movement group
(3) it is arranged on below light-duty slide rail (3-1), can freely move along light-duty slide rail (3-1) including a light-duty slide rail (3-1) and two
Dynamic light-duty slide block (3-2)；Light-duty slide rail (3-1) along bracing frame (1) length direction, installed in every bracing frame (1) below four
The position at individual angle, after installation, the boss of light-duty slide block (3-2) and bracing frame (1) lower end is in same level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620818442.1U CN206068941U (en) | 2016-07-29 | 2016-07-29 | A kind of grabbing device of stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620818442.1U CN206068941U (en) | 2016-07-29 | 2016-07-29 | A kind of grabbing device of stacking machine |
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| Publication Number | Publication Date |
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| CN206068941U true CN206068941U (en) | 2017-04-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620818442.1U Withdrawn - After Issue CN206068941U (en) | 2016-07-29 | 2016-07-29 | A kind of grabbing device of stacking machine |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081644A (en) * | 2016-07-29 | 2016-11-09 | 北京航天斯达科技有限公司 | A kind of grabbing device of stacking machine |
| CN107697794A (en) * | 2017-09-26 | 2018-02-16 | 通裕重工股份有限公司 | Material barrel grasping system |
| CN107750780A (en) * | 2017-12-04 | 2018-03-06 | 山东科技大学 | A kind of crawler type peanut mulch film rupture of membranes draws seedling machine and its method of work |
| CN108372515A (en) * | 2018-04-17 | 2018-08-07 | 柳州宏科科技有限公司 | A kind of robot device of parallel gripping |
| CN108393919A (en) * | 2018-03-06 | 2018-08-14 | 哈尔滨工业大学 | Adaptive end gripper based on mobile robot |
| CN109178958A (en) * | 2018-10-09 | 2019-01-11 | 长春知和智能包装设备有限公司 | A kind of integrated form stacking machine and its palletizing method |
| CN109676639A (en) * | 2019-01-23 | 2019-04-26 | 北京航天斯达科技有限公司 | A kind of side-suction type fixture and application method |
| CN109834725A (en) * | 2017-11-27 | 2019-06-04 | 斯寇司株式会社 | Finger mechanism, robot and robot control method |
| CN110065528A (en) * | 2019-05-08 | 2019-07-30 | 北京国电龙源环保工程有限公司 | Denitrating catalyst places the handling system with dry trolley |
| CN110626882A (en) * | 2019-09-10 | 2019-12-31 | 苏州江锦自动化科技有限公司 | Wire spool clamping jaw and using method thereof |
| CN114751152A (en) * | 2022-04-19 | 2022-07-15 | 西南交通大学 | Conveying and grabbing mechanism for detecting bearing saddle |
| CN114932570A (en) * | 2022-06-09 | 2022-08-23 | 董新红 | A high efficiency manipulator for go up unloading |
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2016
- 2016-07-29 CN CN201620818442.1U patent/CN206068941U/en not_active Withdrawn - After Issue
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081644B (en) * | 2016-07-29 | 2018-06-15 | 北京航天斯达科技有限公司 | A kind of grabbing device of stacking machine |
| CN106081644A (en) * | 2016-07-29 | 2016-11-09 | 北京航天斯达科技有限公司 | A kind of grabbing device of stacking machine |
| CN107697794A (en) * | 2017-09-26 | 2018-02-16 | 通裕重工股份有限公司 | Material barrel grasping system |
| CN109834725A (en) * | 2017-11-27 | 2019-06-04 | 斯寇司株式会社 | Finger mechanism, robot and robot control method |
| CN107750780A (en) * | 2017-12-04 | 2018-03-06 | 山东科技大学 | A kind of crawler type peanut mulch film rupture of membranes draws seedling machine and its method of work |
| CN108393919A (en) * | 2018-03-06 | 2018-08-14 | 哈尔滨工业大学 | Adaptive end gripper based on mobile robot |
| CN108372515A (en) * | 2018-04-17 | 2018-08-07 | 柳州宏科科技有限公司 | A kind of robot device of parallel gripping |
| CN109178958A (en) * | 2018-10-09 | 2019-01-11 | 长春知和智能包装设备有限公司 | A kind of integrated form stacking machine and its palletizing method |
| CN109676639A (en) * | 2019-01-23 | 2019-04-26 | 北京航天斯达科技有限公司 | A kind of side-suction type fixture and application method |
| CN109676639B (en) * | 2019-01-23 | 2024-05-03 | 北京航天斯达科技有限公司 | Side suction type clamp and use method thereof |
| CN110065528A (en) * | 2019-05-08 | 2019-07-30 | 北京国电龙源环保工程有限公司 | Denitrating catalyst places the handling system with dry trolley |
| CN110626882A (en) * | 2019-09-10 | 2019-12-31 | 苏州江锦自动化科技有限公司 | Wire spool clamping jaw and using method thereof |
| CN110626882B (en) * | 2019-09-10 | 2023-09-15 | 苏州江锦自动化科技有限公司 | Wire spool clamping jaw and using method thereof |
| CN114751152A (en) * | 2022-04-19 | 2022-07-15 | 西南交通大学 | Conveying and grabbing mechanism for detecting bearing saddle |
| CN114751152B (en) * | 2022-04-19 | 2023-08-25 | 西南交通大学 | Conveying and grabbing mechanism for bearing saddle detection |
| CN114932570A (en) * | 2022-06-09 | 2022-08-23 | 董新红 | A high efficiency manipulator for go up unloading |
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