CN206156173U - Memory device - Google Patents
Memory device Download PDFInfo
- Publication number
- CN206156173U CN206156173U CN201621173343.9U CN201621173343U CN206156173U CN 206156173 U CN206156173 U CN 206156173U CN 201621173343 U CN201621173343 U CN 201621173343U CN 206156173 U CN206156173 U CN 206156173U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- storage
- walking mechanism
- article
- storage device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a memory device, including manipulator (2), running gear (1), the platform of keeping in (3), multi -layer storage frame (4) and control system, every layer storage rack (4) have two rows at least and perhaps deposit unit (5) with two, manipulator (2) can be elastic and can the pick -and -place article, manipulator (2) install in running gear (1), running gear (1) can drive manipulator (2) reciprocate and control the removal, keep in platform (3) be used for depositing temporarily what manipulator (2) were picked is interim from front -seat deposit the article that unit (5) shift out, control system is used for control article are fixed a position and snatched in manipulator (2). This memory device is the automatic storage device of multidimension, can deposit the article of more quantity in the finite space, promotes with the platform of keeping in through the manipulator and deposits efficiency, and weight is lighter, and the cost is lower, and the practicality is higher.
Description
Technical field
The utility model is related to sample storage technical field of filing for reference, more particularly to a kind of storage device.
Background technology
At present in coal analysis industry, automation and unmanned interfering system become the development trend of main flow, and for one
For individual use coal unit, the sample of filing for reference of coal sample is also the ring for automating link, in the face of the storage sample of enormous amount, unit bodies
Storage sample quantity in product decides economy.The restriction of building space size is considered simultaneously, does not allow automation to file for reference sample
The big quantity space of hold facility.
In prior art, automating the version of sample cabinet of filing for reference mainly has two kinds, and the first is wall-mounted i.e. Two-Dimensional Moment
Configuration；Second is tree.
There are some shortcomings in this both of which, wherein it is wall-mounted because bottle one side be only capable of deposit row's holding bottle, single storage,
Storage efficiency is restricted；Although tree solves the problems, such as storage efficiency, but each tree-shaped unit is both needed to motor
Drive, complex structure, reliability is poor and heavy, high cost.
In sum, the problems such as filing for reference sample storage inconvenience how is efficiently solved, is current those skilled in the art's urgency
The problem that need to be solved.
Utility model content
The purpose of this utility model is to provide a kind of storage device, and the storage device efficiently solves sample of filing for reference and deposits not
The problems such as facilitating.
To solve above-mentioned technical problem, the utility model provides following technical scheme：
A kind of storage device, including manipulator, walking mechanism, temporary storage platform, many storage layers frame and control system, per layer
The storage rack at least has two rows or a two row storage units, and the manipulator can be elastic and being capable of pick-and-place thing
Product, the manipulator is installed on the walking mechanism, and the walking mechanism can drive the manipulator to move up and down and left and right
Mobile, the temporary storage platform is used to deposit the interim thing being transferred out of from the front-seat storage unit of the manipulator crawl temporarily
Product, the control system positions and captures article for controlling the manipulator.
Preferably, the first connecting portion of the manipulator is set in the vertical bar of the walking mechanism and can be along institute
State vertical bar to move up and down.
Preferably, the first connecting portion can rotate set angle around the vertical bar.
Preferably, longitudinal rod is connected with the first connecting portion of the manipulator, second connecting portion is set in the longitudinal direction
Can move left and right on bar and along the longitudinal rod.
Preferably, the walking mechanism bottom is provided with road wheel.
Preferably, also include the cabinet for fixing the storage rack and the walking mechanism, be provided with the cabinet
The storage rack, the storage rack is separately fixed at the side wall of the cabinet.
Preferably, storage rack described in two groups is provided with the cabinet, storage rack described in two groups is separately fixed at the cabinet
Two opposing sidewalls of body, the first connecting portion can rotate 180 degree around the vertical bar.
Preferably, the temporary storage platform is fixed in the walking mechanism and moves with the walking mechanism.
Preferably, the temporary storage platform is installed on platform moving mechanism and moves with the platform moving mechanism.
Preferably, per layer of storage rack has the institute of multiple rows of transversely arranged storage unit and multiple row longitudinal arrangement
State storage unit.
Storage device provided by the utility model, including manipulator, walking mechanism, temporary storage platform, many storage layers frame with
And control system, every layer of storage rack at least has two rows or two row storage units, such as with the model split of three-dimensional matrice
Storage unit, can deposit an article in each storage unit, concrete row and columns can be according to practical situations
It is fixed.Manipulator can it is elastic and can pick-and-place article, manipulator is accurate to up to after precalculated position and be capable of achieving pick-and-place article
Function, elastic namely manipulator can transversely stretch, and stretching motion realizes the positioning of a dimension row.Need explanation
, row mentioned here refers to along the longitudinal direction, and row are referred in left-right direction.Manipulator is installed on walking mechanism, OK
Walking mechanism can drive machinery lower mobile on hand and move left and right, and manipulator is fixed with walking mechanism, realize manipulator in height
Degree direction and movement and the positioning of left and right directions, the i.e. direction of row and column, realize positioning of the manipulator in two dimensions of row, column.
Temporary storage platform can be installed in walking mechanism, it is also possible to be not mounted in walking mechanism, and temporary storage platform is used for interim storage machine
The interim article being transferred out of from front-seat storage unit of tool hand crawl.Control system positions and captures thing for control machinery hand
Product, are responsible for control Motor execution part and intelligent logical judgement etc..
Storage device provided by the utility model, is multidimensional automated storing equipment, can deposit in the confined space compared with
The article of multi-quantity, the quantity of the storage that can be multiplied in the case where a small amount of space and hardly increase cost is increased；Pass through
Manipulator and temporary storage platform lift storage efficiency, simple and reliable for structure, relative to tree sample cabinet of filing for reference in same volume
Quantity as much can be deposited down, and lighter in weight, cost is relatively low, and practicality is higher.
Description of the drawings
In order to be illustrated more clearly that the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, in the premise for not paying creative work
Under, can be with according to these other accompanying drawings of accompanying drawings acquisition.
The structural representation of the storage device that Fig. 1 is provided by a kind of specific embodiment in the utility model；
Fig. 2 is another view of Fig. 1.
Mark in accompanying drawing as follows：
1- walking mechanisms, 2- manipulators, 3- temporary storage platforms, 4- storage racks, 5- storage units, 6- cabinets.
Specific embodiment
Core of the present utility model is to provide a kind of storage device, and the storage device efficiently solves sample of filing for reference and deposits not
The problems such as facilitating.
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
Refer to the knot of the storage device that Fig. 1 and Fig. 2, Fig. 1 are provided by a kind of specific embodiment in the utility model
Structure schematic diagram；Fig. 2 is another view of Fig. 1.
In a kind of specific embodiment, storage device provided by the utility model, including manipulator 2, walking mechanism
1st, temporary storage platform 3, many storage layers frame 4 and control system, every layer of storage rack 4 at least has two rows or two row storages single
Unit 5, can be two row's multiple rows, or multiple rows of two row, can also be multiple rows of multiple row, such as with the model split of three-dimensional matrice
Storage unit 5, can deposit an article in each storage unit 5, concrete row and columns can be according to practical situations
Depending on.Manipulator 2 can it is elastic and can pick-and-place article, manipulator 2 be accurate to up to after precalculated position i.e. be capable of achieving pick-and-place
Article function, elastic namely manipulator 2 can transversely stretch, and stretching motion realizes the positioning of a dimension row.Need
It is noted that row mentioned here refers to along the longitudinal direction, row are referred in left-right direction.Manipulator 2 is installed on walking
Mechanism 1, walking mechanism 1 can drive manipulator 2 to move up and down and move left and right, and manipulator 2 is fixed with walking mechanism 1, real
Existing movement and positioning of the manipulator 2 in short transverse and left and right directions, the i.e. direction of row and column, realize manipulator 2 in row, column two
The positioning of individual dimension.Temporary storage platform 3 can be installed in walking mechanism 1, it is also possible to be not mounted in walking mechanism 1, kept in flat
Platform 3 is used for the interim article being transferred out of from front-seat storage unit 5 of interim storage manipulator 2 crawl.Control system is used to control
Manipulator 2 captures article, is responsible for control Motor execution part and intelligent logical judgement etc..
The control method of control system includes：
Obtain crawl or deposit the instruction of default article；
Whether the front row for judging default article has deposited front-seat article, and control system control machinery hand 2 performs operation,
If the front row of default article has has been deposited front-seat article, walking mechanism 1 runs to precalculated position, manipulator
Front-seat article is captured and is temporarily stored in the setting position of temporary storage platform 3 by 2, default article is captured or deposited, by front row
Original position is put back in article crawl；
If front-seat article has not been deposited at the front row of default article, walking mechanism 1 runs to precalculated position, machinery
Default article is directly captured or deposited by hand 2.
It is now as follows to often discharging into row A, B, C, D... mark, its specific workflow with a certain row, column position for determining：
A row's articles are deposited in crawl, and control system is processed in the following manner：
After obtaining the instruction of crawl A row's articles, walking mechanism 1 runs to precalculated position, and manipulator 2 is directly realized by A row's things
The pick-and-place of product.
B row's articles are deposited in crawl, and control system is by the process of following two situations：
Obtain crawl B row article instruction after, control system is first judged, A ranking put it is no deposited, according to storage
Situation, control system commander's manipulator 2 completes following operation：
A rankings are put without article：Walking mechanism 1 runs to precalculated position, and manipulator 2 is directly realized by the pick-and-place that B arranges article；
A rankings are equipped with article：Walking mechanism 1 runs to precalculated position, and manipulator 2 is first deposited A row's article crawls and temporarily
The specified location of temporary storage platform 3 is placed on, the crawl or storage of B row's articles are then completed again, complete after corresponding actions manipulator 2 by A
Row's article crawl is put back to A and arranges original position.
C row's articles are deposited in crawl, and control system is by the process of following four situation：
A rows, B rankings are put without article：Walking mechanism 1 runs to precalculated position, and manipulator 2 is directly realized by C row's articles
Pick-and-place；
A rows, B rankings are put and have article：Walking mechanism 1 runs to precalculated position, manipulator 2 first in order by A arrange article,
B row's articles are captured and are temporarily stored in the specified location of temporary storage platform 3, and the crawl or storage of C row's articles are then completed again, complete phase
After answering action, A is arranged article, B row's articles and captures and deposit go back to original position by manipulator 2 in order；
A rankings are equipped with article, B rankings and put without article：Walking mechanism 1 runs to precalculated position, and storage manipulator 2 is first by A
Row's article is captured and is temporarily stored in the specified location of temporary storage platform 3, and the crawl or storage of C row's articles are then completed again.Complete phase
Answer manipulator 2 after action that A row's article crawls are put back to into original position；
A rankings are put and are equipped with article without article, B rankings：Walking mechanism 1 runs to precalculated position, and B is first arranged thing by manipulator 2
Product are captured and are temporarily stored in the specified location of temporary storage platform 3, and the crawl or storage of C row's articles are then completed again.Complete corresponding dynamic
B row's article crawls are put back to original position by manipulator 2 after work.
It should be noted that more rows then control machinery hand 2 can realize pick-and-place article by the above process.
Storage device provided by the utility model, is multidimensional automated storing equipment, can deposit in the confined space compared with
The article of multi-quantity, the quantity of the storage that can be multiplied in the case where a small amount of space and hardly increase cost is increased；Pass through
Manipulator 2 and temporary storage platform 3 lift storage efficiency, and control is simple, and storage efficiency is higher, simple and reliable for structure, relative to tree-shaped
The sample cabinet of filing for reference of structure can deposit quantity as much under same volume, and lighter in weight, cost is relatively low, and practicality is higher.
Above-mentioned storage device is only a kind of preferred version, is specifically not limited thereto, on this basis can be according to actual need
Make with targetedly adjusting, so as to obtain different embodiments, the first connecting portion of manipulator 2 is set in vehicle with walking machine
Can move up and down in the vertical bar of structure 1 and along vertical bar, the height of manipulator 2 is adjusted with this, can be with the row of control machinery hand 2
Position, simple structure, it is easy to adjust, operate more convenient.Depending on the height of concrete vertical bar can be according to practical situations,
All in protection domain of the present utility model.
Above-mentioned storage device is only a kind of preferred version, is specifically not limited thereto, on this basis can be according to actual need
Make with targetedly adjusting, so as to obtain different embodiments, the first connecting portion can be around the vertical bar
Set angle is rotated, manipulator 2 is then capable of achieving the pick-and-place to other articles of direction storage unit 5 of cabinet 6, a set of walking after rotating
Mechanism 1, manipulator 2, temporary storage platform 3 can control multiple storage units 5, simplify structure, and cost is relatively low, and effectively utilizes space increases
Greatly, the quantity of storage unit 5 can be increased, storage efficiency is improved.It should be noted that rotational angle mentioned here can be with root
According to the displacement sets itself of storage unit 5, all in protection domain of the present utility model
On the basis of above-mentioned specific embodiment, those skilled in the art can be according to the difference of concrete occasion, to depositing
Storage device carries out some changes, and longitudinal rod is connected with the first connecting portion of manipulator 2, and second connecting portion is set on longitudinal rod
And can move left and right along longitudinal rod, the right position of manipulator 2 is adjusted with this, can be with the column position of control machinery hand 2, structure
Simply, it is easy to adjust, operate more convenient.Depending on the height of concrete longitudinal rod can be according to practical situations, all in this reality
With in new protection domain.
Obviously, those skilled in the art can carry out some according to the difference of concrete occasion to above-mentioned specific embodiment
Change, manipulator 2 is moved along vertical bar and longitudinal rod, the position that manipulator 2 can be adjusted with small range, for adjusting on a large scale,
The bottom of walking mechanism 1 can be provided with road wheel, can also be that ground arranges track, the bottom of walking mechanism 1 is arranged and rail
The chute that road is engaged, depending on concrete form can be according to practical situations, the distance range of walking is larger, can be with larger amplitude
Degree adjusts the position of walking mechanism 1 and manipulator 2, using convenient.
It is important to note that storage device provided by the utility model is not intended to be limited to this kind of situation, also wrap
Include cabinet 6, for fixing storage rack 4 and walking mechanism 1, storage rack 4 and walking mechanism 1 fixedly mount it is more convenient, can be with
Protection built-in system.The storage rack 4 is provided with the cabinet 6, the storage rack 4 is separately fixed at the side of the cabinet 1
Wall, can place more storage rack, and marshalling, easy-to-look-up, crawl article is more attractive in appearance.
Preferably, two groups of storage racks 4 are provided with cabinet 6, two groups of storage racks 4 be separately fixed at cabinet 6 two are relative
Side wall, the first connecting portion can rotate 180 degree around the vertical bar, and manipulator 2 is then capable of achieving to cabinet 6 after rotating 180 °
The pick-and-place of the article of other side storage unit 5, a set of walking mechanism 1, manipulator 2, temporary storage platform 3 can control the storage of both sides
Unit 5, simplifies structure, and cost is relatively low, the increase of effectively utilizes space, can increase the quantity of storage unit 5, improves storage effect
Rate.It should be noted that rotational angle mentioned here can be according to the displacement sets itself of storage unit 5, all in this practicality
In new protection domain.
For the storage device in above-mentioned each embodiment, temporary storage platform 3 is fixed in walking mechanism 1 and with walking mechanism
1 moves together, is trailing type platform, and temporary storage platform 3 is fixed with the position of walking mechanism 1, manipulator 2, it is easy to which manipulator 2 will be temporary
Storage product are positioned over temporary storage platform 3；Temporary storage platform 3 can also temporary storage platform 3 do not move with walking mechanism 1, be fixed platform,
Simplify the structure of walking mechanism 1, make processing simple.
In order to further optimize above-mentioned technical proposal, temporary storage platform 3 is installed on platform moving mechanism and moves with platform
Mechanism kinematic, that is, temporary storage platform 3 oneself band platform moving mechanism, automatic moving can need voluntarily to control according to position
Position, conveniently moving.
On the basis of above-mentioned each specific embodiment, every layer of storage rack 4 has multiple rows of transversely arranged He of storage unit 5
The storage unit 5 of multiple row longitudinal arrangement, is now multi-dimensional matrix storage, and more side is whole.Continue to optimize upper embodiment, per layer is deposited
The storage unit 5 put on frame 4 is identical in the projection of horizontal plane, marshalling, is easy to adjust the position of manipulator 2, it is easy to operate,
The adjustment process of manipulator 2 can be reduced.Certainly, simply one kind is not unique preferred embodiment for multi-dimensional matrix storage
, can also be Variation Matrix, the irregular matrix of such as trapezoidal matrix, triangular matrices, fan-shaped matrix, all in the utility model
Protection domain in.
In description of the present utility model, it should be noted that the orientation or position relationship of the instruction such as term column and row, row
It is, based on orientation shown in the drawings or position relationship, to be for only for ease of description the utility model and simplify description, rather than refers to
Show or imply that the device or element of indication with specific orientation, with specific azimuth configuration and operation, therefore must can not be managed
Solution is to restriction of the present utility model.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or new using this practicality
Type.Various modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can in other embodiments be realized in the case of without departing from spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (10)
1. a kind of storage device, it is characterised in that including manipulator (2), walking mechanism (1), temporary storage platform (3), many storage layers
Frame (4) and control system, per layer of storage rack (4) at least has two rows or two row storage units (5), the machine
Tool hand (2) can it is elastic and can pick-and-place article, the manipulator (2) is installed on the walking mechanism (1), the walking
Mechanism (1) can drive the manipulator (2) to move up and down and move left and right, and the temporary storage platform (3) is for interim storage institute
The interim article being transferred out of from the front-seat storage unit (5) of manipulator (2) crawl is stated, the control system is used to control institute
State manipulator (2) and position and capture article.
2. storage device according to claim 1, it is characterised in that the first connecting portion of the manipulator (2) is set in
Can move up and down in the vertical bar of the walking mechanism (1) and along the vertical bar.
3. storage device according to claim 2, it is characterised in that the first connecting portion can turn around the vertical bar
Dynamic set angle.
4. storage device according to claim 3, it is characterised in that connect in the first connecting portion of the manipulator (2)
There is longitudinal rod, second connecting portion is set on the longitudinal rod and can move left and right along the longitudinal rod.
5. storage device according to claim 4, it is characterised in that walking mechanism (1) bottom is provided with road wheel.
6. storage device according to claim 5, it is characterised in that also include for fixing the storage rack (4) and institute
State in the cabinet (6) of walking mechanism (1), the cabinet (6) and be provided with the storage rack (4), the storage rack (4) is fixed respectively
In the side wall of the cabinet (6).
7. storage device according to claim 6, it is characterised in that is provided with the cabinet (6) described in two groups and deposits
Frame (4), storage rack (4) described in two groups is separately fixed at two opposing sidewalls of the cabinet (6), and the first connecting portion can
180 degree is rotated around the vertical bar.
8. the storage device according to any one of claim 1-7, it is characterised in that the temporary storage platform (3) is fixed on institute
State in walking mechanism (1) and move with the walking mechanism (1).
9. the storage device according to any one of claim 1-7, it is characterised in that the temporary storage platform (3) is installed on flat
Move on platform motion and with the platform moving mechanism.
10. the storage device according to any one of claim 1-7, it is characterised in that per layer of storage rack (4) is with more
The storage unit (5) of the transversely arranged storage unit (5) of row and multiple row longitudinal arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621173343.9U CN206156173U (en) | 2016-10-26 | 2016-10-26 | Memory device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621173343.9U CN206156173U (en) | 2016-10-26 | 2016-10-26 | Memory device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206156173U true CN206156173U (en) | 2017-05-10 |
Family
ID=58655580
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621173343.9U Expired - Fee Related CN206156173U (en) | 2016-10-26 | 2016-10-26 | Memory device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206156173U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429148A (en) * | 2016-10-26 | 2017-02-22 | 长沙开元仪器股份有限公司 | Storage device |
| CN111217070A (en) * | 2019-12-05 | 2020-06-02 | 河北工业大学 | Can automatic access sample's breeding device |
| CN112469647A (en) * | 2018-05-22 | 2021-03-09 | 匹克八西普科技股份有限公司 | Transfer station configured to handle goods and goods container sorting method |
| CN113853283A (en) * | 2019-08-21 | 2021-12-28 | 伊玛谢林(德国)有限公司 | Device for providing an edge strip and edge sealing device having such a device |
-
2016
- 2016-10-26 CN CN201621173343.9U patent/CN206156173U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429148A (en) * | 2016-10-26 | 2017-02-22 | 长沙开元仪器股份有限公司 | Storage device |
| CN112469647A (en) * | 2018-05-22 | 2021-03-09 | 匹克八西普科技股份有限公司 | Transfer station configured to handle goods and goods container sorting method |
| US11932491B2 (en) | 2018-05-22 | 2024-03-19 | Pick8Ship Technology Ag | Transfer station configured to handle cargo and cargo receptacle sorting method |
| CN113853283A (en) * | 2019-08-21 | 2021-12-28 | 伊玛谢林(德国)有限公司 | Device for providing an edge strip and edge sealing device having such a device |
| CN113853283B (en) * | 2019-08-21 | 2023-09-05 | 伊玛谢林(德国)有限公司 | Device for providing an edge strip and edge banding installation having such a device |
| CN111217070A (en) * | 2019-12-05 | 2020-06-02 | 河北工业大学 | Can automatic access sample's breeding device |
| CN111217070B (en) * | 2019-12-05 | 2021-09-21 | 河北工业大学 | Can automatic access sample's breeding device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106429148A (en) | Storage device | |
| CN206156173U (en) | Memory device | |
| CN105690362B (en) | A kind of multi-functional robot palletizer based on Stewart parallel connection platforms | |
| CN203512750U (en) | Lead-acid storage battery grid automatic carrying device | |
| CN204528329U (en) | Intelligence automatic access footwear apparatus | |
| CN108581464B (en) | Valve coordinated assembly line | |
| CN107973043A (en) | A kind of intensive storage intelligently pushing formula access pallet piling up method and device | |
| CN106113031A (en) | A kind of Three Degree Of Freedom carrying formula mechanical arm | |
| CN104044889A (en) | Medium partition plate bin | |
| WO2021055001A1 (en) | Grow tower drive mechanism for agriculture production systems | |
| CN207204592U (en) | A kind of screening plant for tea processing | |
| CN105730955A (en) | Stereoscopic warehouse | |
| CN216034741U (en) | Automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards | |
| CN208165848U (en) | A kind of automatic access warehouse | |
| CN205023287U (en) | Commodity circulation column equipment | |
| CN209565349U (en) | A kind of photovoltaic cleaning equipment | |
| CN207390297U (en) | Item picking system | |
| CN102345389B (en) | Control method and control device for engineering machine and mechanical arm | |
| CN205928635U (en) | Be applied to rotary machine handle structure of packing cupboard frame | |
| CN204674030U (en) | Beach chair automatic assembly line | |
| CN205311995U (en) | Packing machine | |
| CN114158433A (en) | Self-positioning turf laying device | |
| CN110525856B (en) | Automatic get and put goods manipulator in warehouse | |
| CN107344359B (en) | Generalized decoupling parallel mechanism with three rotating shafts and two moving shafts not meeting | |
| CN209159764U (en) | A kind of materials and parts turnover device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190611 Address after: 410100 Xingsha Industrial Base (Changlong Street), Changsha Economic and Technological Development Zone, Changsha City, Hunan Province, No. 1259, Liangtang East Road Patentee after: Kaiyuan Instrument Co., Ltd., Changsha Address before: 410100 No. 172 Kaiyuan Road, Changsha economic and Technological Development Zone, Hunan Patentee before: Changsha Kaiyuan Instruments Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170510 Termination date: 20201026 |