CN207158295U - A kind of solid wood rotary-cut plate palletizing mechanical arm - Google Patents
A kind of solid wood rotary-cut plate palletizing mechanical arm Download PDFInfo
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- CN207158295U CN207158295U CN201721144356.8U CN201721144356U CN207158295U CN 207158295 U CN207158295 U CN 207158295U CN 201721144356 U CN201721144356 U CN 201721144356U CN 207158295 U CN207158295 U CN 207158295U
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- motor
- arm
- decelerator
- solid wood
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Abstract
Wood processing technique field is the utility model is related to, discloses a kind of solid wood rotary-cut plate palletizing mechanical arm, including：Fall trigger, palletizing mechanical arm, first conveyer belt and the second conveyer belt, palletizing mechanical arm includes support frame, support frame is provided with left and right walking dolly, first motor and multiple first positions switch, left and right walking dolly is provided with lifting arm and the second motor, lifting arm is provided with turning arm and the 3rd motor, turning arm is provided with the 4th motor, 3rd decelerator, two the first cranks, two first connecting rods and two mechanical grippers, the length of mechanical gripper matches with two width for treating grasping plate, fall trigger, first motor, multiple first position switches, second motor, 3rd motor, 4th motor and the first optoelectronic switch are connected with control system respectively, this solid wood rotary-cut plate palletizing mechanical arm, right-angled intersection between adjacent two layers plate can be realized, stacking is more stable and firm, the increase of the stacking number of plies, save warehouse space.
Description
Technical field
Wood processing technique field is the utility model is related to, more particularly to a kind of solid wood rotary-cut plate palletizing mechanical arm.
Background technology
After the trees of the Nature growth are felled, the wood-based product after different process processing, life can be widely used in
Production, various fields of recent life.The streamline of rotary-cut peeling machine, plate shearing machine composition, can produce plates of solid wood, for manufacturing gluing
Plate.Glued board is usually to be made up of three layers or the plates of solid wood of the millimeter of multilayer one or thin plate sticker hot pressing.Common gluing
Plate has：Three-ply board, five lis of plates, nine lis of plates, 12 lis of plates, Strength of Plywood are far longer than plates of solid wood intensity, are widely used in work
In industry packaging and house decoration.
In the past by rotary-cut peeling machine, plate shearing machine to rounding, after manufactured plates of solid wood, typically using people
Work stack of plate.One streamline needs 3-5 people's stackings, and labor intensity is big, and last stacking is irregular.
Existing Palletizer, it is to pile up veneer one by one, can not be too high into stack of plate during pile, it is empty to waste warehouse
Between, it is also easy to make plank loose due to unstable, when being transported to warehouse or drops.Due to being single group into pile, each transport
Loading board is few, it is necessary to haulage vehicle quantity is more on car, increases cost input.
Utility model content
The utility model provides a kind of solid wood rotary-cut plate palletizing mechanical arm, can solve above mentioned problem of the prior art.
The utility model provides a kind of solid wood rotary-cut plate palletizing mechanical arm, including：Fall trigger, palletizing mechanical arm, first
Conveyer belt and the second conveyer belt, the first conveyer belt are arranged between the bottom of trigger and the lower left quarter of palletizing mechanical arm, and second
Conveyer belt is arranged between the right lower quadrant of palletizing mechanical arm and transport trolley, and the palletizing mechanical arm includes support frame and multiple
First position switchs, and support frame is provided with left and right walking dolly and the first motor, and the first motor passes through the first decelerator, first
Gear and the first chain are connected with left and right walking dolly, and left and right walking dolly is provided with lifting arm and the second motor, the
Two motors are connected by the second decelerator, second gear and the second chain and lifting arm, and lifting arm is provided with rotation
Arm and the 3rd motor, the 3rd motor are connected by the 3rd decelerator and turning arm, and turning arm is provided with the 4th motor, the 4th
Decelerator, two the first cranks, two first connecting rods and two mechanical grippers, the 4th motor pass through the 4th decelerator and two
One crank gearing is connected, and two first connecting rods are corresponded with two the first cranks and are fixedly connected, the outer end of two first connecting rods
A mechanical gripper is connected respectively, and the length of the mechanical gripper matches with two width for treating grasping plate, and mechanical gripper is provided with
First optoelectronic switch, fall trigger, the first motor, multiple first positions switch, the second motor, the 3rd motor, the 4th motor and
One optoelectronic switch is connected with control system respectively.
Further, the multiple first position switch is eight, and support frame is provided with two first positions and switched, left
Right walking dolly is provided with two first positions and switched, and lifting arm is provided with two first positions and switched, and turning arm is provided with
Two first position switches.
Further, the control system is PLC control system.
Further, it is described fall trigger include upper layer bracket and lower floor support, be equipped with upper layer bracket and lower floor support
5th motor, the 5th decelerator, the second crank, second connecting rod, third connecting rod, first support bar, second support bar, two sections of levels
Guide rail and second place switch, upper layer bracket are provided with the second optoelectronic switch, the decelerator of the 5th motor connection the 5th, the second crank
On the axle of the 5th decelerator, second connecting rod and third connecting rod are separately mounted to the both ends of the second crank, second connecting rod with
First support bar is connected, and third connecting rod is connected with second support bar, and chute is equipped with first support bar and second support bar, the
One cradling piece and second support bar are slided by chute on horizontal guide rail, the first support bar in upper layer bracket and
Respectively by the vertical clappers of connecting rod connection one on the outside of two cradling pieces, lower floor support is provided with sense counter, the 5th motor, the
Five decelerators, the second optoelectronic switch and two second place switches are connected with control system respectively.
Further, described two second place switches are separately positioned on the upper and lower layer support of horizontal guide rail of upper layer bracket
Horizontal guide rail on.
Compared with prior art, the beneficial effects of the utility model are：
The utility model is realized by the left and right walking dolly in palletizing mechanical arm, lifting arm and mechanical gripper will be real
Veneer is from a position transfer to another position, by the turning arm in palletizing mechanical arm to plates of solid wood change side
To realizing lower plywood using laterally disposed, top plate uses placed longitudinally, right-angled intersection between adjacent two layers plate, mechanical gripper
Length match with two width for treating grasping plate, realize every layer of two groups of plates of solid wood, stacking is more stable and firm, the stacking number of plies
Increase, save warehouse space.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of solid wood rotary-cut plate palletizing mechanical arm provided by the utility model.
Fig. 2 is the structural representation of palletizing mechanical arm in a kind of solid wood rotary-cut plate palletizing mechanical arm provided by the utility model
Figure.
Fig. 3 is a kind of structural representation of solid wood rotary-cut plate palletizing mechanical arm decline trigger provided by the utility model.
Fig. 4 is the structural representation of mechanical gripper in a kind of solid wood rotary-cut plate palletizing mechanical arm provided by the utility model.
Description of reference numerals：
1- falls trigger, 101- upper layer brackets, 102- lower floor supports, the motors of 103- the 5th, the decelerators of 104- the 5th, 105-
Two cranks, 106- second connecting rods, 107- third connecting rods, 108- first support bars, 109- second support bars, 110- horizontal guide rails,
111- vertically has the final say, 2- palletizing mechanical arms, 201- support frames, 202- or so walking dollies, 203- lifting arms, 204- rotations
Arm, 205- mechanical grippers, the motors of 206- first, the motors of 207- second, the motors of 208- the 3rd, the motors of 209- the 4th, 210- the 4th
Decelerator, the cranks of 211- first, 212- first connecting rods, the conveyer belts of 3- first, the conveyer belts of 4- second.
Embodiment
Below in conjunction with the accompanying drawings, an embodiment of the present utility model is described in detail, it is to be understood that this
The protection domain of utility model is not limited by embodiment.
As shown in Figure 1, Figure 2 and Figure 4, a kind of solid wood rotary-cut plate palletizing mechanical arm that the utility model embodiment provides, bag
Include：Fall trigger 1, palletizing mechanical arm 2, the first conveyer belt 3 and the second conveyer belt 4, the first conveyer belt 3 is arranged under trigger 1
Between the lower left quarter of portion and palletizing mechanical arm 2, the second conveyer belt 4 be arranged at the right lower quadrant of palletizing mechanical arm 2 and transport trolley it
Between, the palletizing mechanical arm 2 includes support frame 201 and multiple first positions switch, and support frame 201 is provided with left and right and walked
The motor 206 of dolly 202 and first, the first motor 206 are small by the first decelerator, first gear and the first chain and left and right walking
Car 202 is connected, and left and right walking dolly 202 is provided with the lifting motor 207 of arm 203 and second, and the second motor 207 passes through the
Two decelerators, second gear and the second chain are connected with lifting arm 203, and lifting arm 203 is provided with the He of turning arm 204
3rd motor 208, the 3rd motor 208 are connected by the 3rd decelerator with turning arm 204, and turning arm 204 is provided with the 4th
Motor 209, the 4th decelerator 210, two the first cranks, 211, two first connecting rods 212 and two mechanical grippers 205, the 4th electricity
Machine 209 is connected by the 4th decelerator 210 and two the first cranks 211, two first connecting rods 212 and two the first cranks
211 one-to-one corresponding are fixedly connected, and the outer end of two first connecting rods 212 connects a mechanical gripper 205, the mechanical gripper respectively
205 length matches with two width for treating grasping plate, and mechanical gripper 205 is provided with the first optoelectronic switch, falls trigger 1, first
Motor 206, multiple first positions switch, the second motor 207, the 3rd motor 208, the 4th motor 209 and the first optoelectronic switch point
It is not connected with control system.
Further, the multiple first position switch is eight, and support frame 201 is opened provided with two first positions
Close, left and right walking dolly 202 is provided with two first positions and switched, and lifting arm 203 is provided with two first positions and switched, rotation
Pivoted arm 204 is provided with two first positions and switched.
The motion path of two first positions switch control left and right walking dolly 202 in support frame 201, left and right walking
The up and down motion path of two first positions switch control lifting arm 203 on dolly 202, lifts two on arm 203
The motion path of first position switch control turning arm 204, two first positions switch control machinery handgrip on turning arm 204
205 motion path.
Further, the control system is PLC control system.
PLC control system is powerful, easy to use.
Further, it is described fall trigger 1 include upper layer bracket 101 and lower floor support 102, upper layer bracket 101 and lower floor's branch
The 5th motor 103, the 5th decelerator 104, the second crank 105, second connecting rod 106, third connecting rod 107, are equipped with frame 102
One cradling piece 108,109, two sections of horizontal guide rails 110 of second support bar and second place switch, upper layer bracket 101 are provided with second
Optoelectronic switch, the 5th motor 103 connect the 5th decelerator 104, and the second crank 105 is arranged on the axle of the 5th decelerator 104, the
Two connecting rods 106 and third connecting rod 107 are separately mounted to the both ends of the second crank 105, second connecting rod 106 and first support bar 108
Connection, third connecting rod 107 are connected with second support bar 109, and chute is equipped with first support bar 108 and second support bar 109,
First support bar 108 and second support bar 109 are slided by chute on horizontal guide rail 110, in upper layer bracket 101
The outside of first support bar 108 and second support bar 109 connect one by connecting rod respectively and vertically has the final say 111, on lower floor support 102
Provided with sense counter, the 5th motor 103, the 5th decelerator 104, the second optoelectronic switch and two second places switches respectively with
Control system connects.
Further, the horizontal guide rail 110 that described two second place switches are separately positioned on upper layer bracket 101 is upper and lower
On the horizontal guide rail 110 of layer support 102.
The second place on the horizontal guide rail 110 of upper layer bracket 101 is switched for controlling first in upper layer bracket 101
The motion path of hack lever 108 and second support bar 109, the second place on the horizontal guide rail 110 of lower floor support 102, which switchs, to be used for
Control the motion path of the first support bar 108 and second support bar 109 on lower floor support 102.
First motor 206 connects first gear by the first decelerator, and the first chain is set in first gear and the second tooth
Between wheel, left and right walking dolly 202 is fixed on the first chain.
Overall work process：The on-gauge plate determined by plate shearing machine, enter to fall the upper layer bracket of trigger 1 by feed belt
After 101, the second optoelectronic switch in upper layer bracket 101 is detected after plates of solid wood comes in, and is passed through control system and is started the 5th
Motor 103 rotates, and the 5th motor 103 drives the second crank 105 to rotate by the 5th decelerator 104, and the second crank 105 drives the
Two connecting rods 106 and third connecting rod 107 move, and second connecting rod 106 drives first support bar 108 to open to the left, third connecting rod 107
Second support bar 109 is driven to open to the right, first support bar 108 and second support bar 109 are respectively along horizontal guide rail 110 to two
Slideslip, plates of solid wood are fallen on lower floor support 102, as the 5th motor 103 in upper layer bracket 101 is rotated further, first
Cradling piece 108 and second support bar 109 are respectively along horizontal guide rail 110 to middle slip, and after reaching setting position, the second place is opened
Pass sends signal, and control system brakes rapidly the 5th motor 103 in upper layer bracket 101, waits next plates of solid wood.
Control system is carried out according to the optoelectronic switch in upper layer bracket 101 to the plates of solid wood fallen on lower floor support 102
Count, when the plates of solid wood quantity on lower floor support 102 reaches setting value, the on control system control lower floor support 102
Five motors 103 start, and the 5th motor 103 on lower floor support 102 is driven by the 5th decelerator 104 on lower floor support 102
The second crank 105 on lower floor support 102 is rotated, and the second crank 105 on lower floor support 102 is driven on lower floor support 102
Second connecting rod 106 and third connecting rod 107, the second connecting rod 106 on lower floor support 102 drive first on lower floor support 102
Hack lever 108 opens to the left, and the third connecting rod 107 on lower floor support 102 drives the second support bar 109 on lower floor support 102
Open to the right, the first support bar 108 and second support bar 109 on lower floor support 102 are respectively along the water on lower floor support 102
Level gauge 110 is fallen on the first conveyer belt 3 to two Slideslips, one group of plates of solid wood, with the 5th motor on lower floor support 102
103 are rotated further, and the first support bar 108 and second support bar 109 on lower floor support 102 are respectively along lower floor support 102
Horizontal guide rail 110 is to middle slip, and after reaching setting position, the second place switch on lower floor support 102 sends signal, controls
System brakes rapidly the 5th motor 103 on lower floor support 102, waits next group of plates of solid wood.
First conveyer belt 3 transports one group of plates of solid wood in the grasping plate position of the lower left quarter mechanical gripper of palletizing mechanical arm 2, machine
The first optoelectronic switch on tool handgrip 205 sensed from falling after trigger 1 sends two groups of plates of solid wood, mechanical gripper 205
Start working.
Waited when mechanical gripper 205 is flat in grasping plate position, mechanical gripper 205 is in open configuration, when on mechanical gripper 205
The first optoelectronic switch send a signal to control system, control system sends action command, the control machinery handgrip of the 4th motor 209
205 grab conjunction, carry out grasping plate, and the second motor 207 drives lifting arm 203 to begin to ramp up, and lifting arm 203 drives turning arm 204
Start to be lifted, the mechanical gripper 205 on turning arm 204 is begun to ramp up, and reaches highest order, and first position switch sends instruction
Afterwards, the first motor 206 drives left and right walking dolly 202 to be moved to plate position direction is put, and stops to plate position is put.The band of second motor 207
Dynamic lifting arm 203 is begun to decline, and lifting arm 203 drives turning arm 204 to begin to decline, and the on mechanical gripper 205
When one optoelectronic switch detects the topside position of pile, lifting arm 203 stops, and mechanical gripper 205 is opened, and plate is put down, machinery
Handgrip 205 is dragged by lifting arm 203 and left and right walking dolly 202, retracts grasping plate position.
During second of grasping plate, mechanical gripper 205 grabs conjunction, and turning arm 204 is lifted being dragged by lifting arm 203, is reached
Highest order.After first position switch sends instruction, the first motor 206 drives left and right walking dolly 202 to be moved to plate position direction is put,
3rd motor 208 drive turning arm 204 rotate forward 90 °, to put plate position decline put plate, after plate is put down, mechanical gripper 205 by
Grasping plate position is retracted in lifting arm 203 and the dragging of left and right walking dolly 202, while the 3rd motor 208 drives turning arm 204 reverse
It is rotated by 90 °, carries out grasping plate next time.
Whole mechanical device is controlled using PLC, and above-mentioned action is completed by program.Fall the speed of trigger 1 using a change
Frequency device controls, and the speed of palletizing mechanical arm 2 uses another Frequency Converter Control.
The plates of solid wood of each opening and closing lattice, after upper level cuts out board device processing, the upper strata of trigger 1 is fallen into this equipment
Support 101.After falling the second optoelectronic switch on trigger 1 and detecting, the 5th motor 103 of upper layer bracket 101 starts to rotate,
Crank connecting link is installed, crank connecting link drives the first support bar 108 and second support bar 109 to two of upper layer bracket 101 on motor
Side is opened, and plates of solid wood is fallen on lower floor support 102.When first support bar 108 and second support bar 109 go back to fishplate bar position again
When putting, after second place switch detects, stop the 5th motor 103, wait next plank to come.Lower floor support 102
It is identical with the structure of upper layer bracket 101, the plates of solid wood of whereabouts is counted, plates of solid wood quantity reaches on lower floor support 102
During setting value, the 5th motor 103 on lower floor support 102 rotates, the first support bar 108 on lower floor support 102 and second
Hack lever 109 is opened to both sides, and this group of plates of solid wood is fallen on the first conveyer belt 3.First conveyer belt 3 is defeated by this group of plates of solid wood
It is sent to the grasping plate position of mechanical gripper 205, the first support bar 108 and second support bar 109 on lower floor support 102 go back to fishplate bar
During position, after second place switch detects, stop the 5th motor 103 on lower floor support 102, wait next group of solid wood
Veneer, when after a period of time, next group of plates of solid wood also communicates to the grasping plate position of mechanical gripper 205, mechanical gripper 205
Two groups of plates of solid wood will jointly be picked up to be moved to and put on plate platform, mechanical gripper 205 unclamps.Then the weight of mechanical gripper 205
It is new to return to grasping plate position, wait next operation.
Act next time, when there are two groups of plates of solid wood from previous stage board falling device, when being sent to grasping plate position, mechanical gripper
205 are picked up and then are rotated, and are put on the second conveyer belt 4.
As the number of plies increases when mechanical gripper 205 puts plate, the subordinate drop height of adjust automatically machinery.The stack of plate number of plies reaches setting
Value, the second conveyer belt 4 will put plate platform and be sent to transport vehicle, be deposited to warehouse.
Whole manipulator is arranged on a support, and manipulator each several part can be carried out under motor drag：Left and right rows
Walk, move up and down, rotating, dividing and grab.
Driving machinery hand has four motors：One motor is rack-mount, is connected with small chain for vehicles, and motor rotates control
Dolly processed or so is walked；Second is arranged on the upside of walking dolly, is connected with mechanical arm using chain, motor rotational band motivation
Tool arm, it can be moved up and down on dolly；3rd motor is arranged on manipulator support, allows manipulator to rotate；4th
On a robotic arm, control machinery hand is firmly grasped and release for installation.
Disclosed above is only several specific embodiments of the present utility model, and still, the utility model embodiment is not office
It is limited to this, the changes that any person skilled in the art can think of should all fall into the scope of protection of the utility model.
Claims (5)
- A kind of 1. solid wood rotary-cut plate palletizing mechanical arm, it is characterised in that including：Fall trigger (1), palletizing mechanical arm (2), the first biography Band (3) and the second conveyer belt (4) are sent, the first conveyer belt (3) is arranged at the bottom of trigger (1) and a left side for palletizing mechanical arm (2) Between bottom, the second conveyer belt (4) is arranged between the right lower quadrant and transport trolley of palletizing mechanical arm (2), the palletizing mechanical Hand (2) includes support frame (201) and multiple first positions switch, and support frame (201) is provided with left and right walking dolly (202) With the first motor (206), the first motor (206) passes through the first decelerator, first gear and the first chain and left and right walking dolly (202) it is connected, left and right walking dolly (202) is provided with lifting arm (203) and the second motor (207), the second motor (207) it is connected by the second decelerator, second gear and the second chain and lifting arm (203), on lifting arm (203) Provided with turning arm (204) and the 3rd motor (208), the 3rd motor (208) is connected by the 3rd decelerator and turning arm (204) transmission Connect, turning arm (204) be provided with the 4th motor (209), the 4th decelerator (210), two the first cranks (211), two first Connecting rod (212) and two mechanical grippers (205), the 4th motor (209) pass through the 4th decelerator (210) and two the first cranks (211) it is connected, two first connecting rods (212) correspond with two the first cranks (211) and are fixedly connected, two first companies The outer end of bar (212) connects a mechanical gripper (205), length and two width for treating grasping plate of the mechanical gripper (205) respectively Degree matches, and mechanical gripper (205) is provided with the first optoelectronic switch, falls trigger (1), the first motor (206), multiple first positions Switch, the second motor (207), the 3rd motor (208), the 4th motor (209) and the first optoelectronic switch connect with control system respectively Connect.
- 2. solid wood rotary-cut plate palletizing mechanical arm as claimed in claim 1, it is characterised in that the multiple first position, which switchs, is Eight, support frame (201) is provided with two first positions and switched, and left and right walking dolly (202) is provided with two first positions Switch, lifting arm (203) are provided with two first positions and switched, and turning arm (204) is provided with two first positions and switched.
- 3. solid wood rotary-cut plate palletizing mechanical arm as claimed in claim 1, it is characterised in that the control system controls for PLC System.
- 4. the solid wood rotary-cut plate palletizing mechanical arm as described in claims 1 to 3 any claim, it is characterised in that it is described fall Trigger (1) includes upper layer bracket (101) and lower floor support (102), is equipped with upper layer bracket (101) and lower floor support (102) 5th motor (103), the 5th decelerator (104), the second crank (105), second connecting rod (106), third connecting rod (107), first Cradling piece (108), second support bar (109), two sections of horizontal guide rails (110) and second place switch, upper layer bracket are set on (101) There is the second optoelectronic switch, the 5th motor (103) connects the 5th decelerator (104), and the second crank (105) is arranged on the 5th decelerator (104) on axle, second connecting rod (106) and third connecting rod (107) are separately mounted to the both ends of the second crank (105), and second connects Bar (106) is connected with first support bar (108), and third connecting rod (107) is connected with second support bar (109), first support bar (108) chute and on second support bar (109) is equipped with, first support bar (108) and second support bar (109) pass through chute Slided on horizontal guide rail (110), the first support bar (108) and second support bar (109) in upper layer bracket (101) are outside By connecting rod connection one, vertically clappers (111), lower floor support (102) are provided with sense counter, the 5th motor respectively for side (103), the 5th decelerator (104), the second optoelectronic switch and two second place switches are connected with control system respectively.
- 5. solid wood rotary-cut plate palletizing mechanical arm as claimed in claim 4, it is characterised in that described two second place switches point It is not arranged on the horizontal guide rail (110) of the upper and lower layer support (102) of horizontal guide rail (110) of upper layer bracket (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721144356.8U CN207158295U (en) | 2017-09-07 | 2017-09-07 | A kind of solid wood rotary-cut plate palletizing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721144356.8U CN207158295U (en) | 2017-09-07 | 2017-09-07 | A kind of solid wood rotary-cut plate palletizing mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207158295U true CN207158295U (en) | 2018-03-30 |
Family
ID=61720531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721144356.8U Expired - Fee Related CN207158295U (en) | 2017-09-07 | 2017-09-07 | A kind of solid wood rotary-cut plate palletizing mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207158295U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861615A (en) * | 2018-08-07 | 2018-11-23 | 燕山大学 | A kind of automatic conveying device based on Dual-motors Driving |
| CN109051836A (en) * | 2018-08-23 | 2018-12-21 | 洛克机械（天津）有限公司 | A kind of double-deck feed system of Tofu processing |
| CN116374603A (en) * | 2023-04-06 | 2023-07-04 | 安徽农业大学 | Mechanical arm for stacking solid wood rotary-cut plates |
-
2017
- 2017-09-07 CN CN201721144356.8U patent/CN207158295U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861615A (en) * | 2018-08-07 | 2018-11-23 | 燕山大学 | A kind of automatic conveying device based on Dual-motors Driving |
| CN109051836A (en) * | 2018-08-23 | 2018-12-21 | 洛克机械（天津）有限公司 | A kind of double-deck feed system of Tofu processing |
| CN116374603A (en) * | 2023-04-06 | 2023-07-04 | 安徽农业大学 | Mechanical arm for stacking solid wood rotary-cut plates |
| CN116374603B (en) * | 2023-04-06 | 2024-02-27 | 安徽农业大学 | Mechanical arm for stacking solid wood rotary-cut plates |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20180330 Termination date: 20190907 |