CN207404505U - A kind of band rail parallel-moving type lifts robot palletizer platform - Google Patents
A kind of band rail parallel-moving type lifts robot palletizer platform Download PDFInfo
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- CN207404505U CN207404505U CN201720953743.XU CN201720953743U CN207404505U CN 207404505 U CN207404505 U CN 207404505U CN 201720953743 U CN201720953743 U CN 201720953743U CN 207404505 U CN207404505 U CN 207404505U
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- lifting
- robot palletizer
- spring
- pedestal
- platform
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Abstract
The utility model is related to a kind of band rail parallel-moving types to lift robot palletizer platform, including the pedestal along landing ground single dof mobility, the spiral lift on pedestal, the loading plate at the top of spiral lift, the robot palletizer on loading plate, the loading plate lower part is also equipped with being fixed on the section formula lifting Support bracket on pedestal, further includes the controller that spiral lift is controlled to work.The utility model employs the lifting that spiral lifting mechanism has been implemented in combination with robot palletizer with bamboo joint type lifting Support bracket, so as to increase the workable space of robot palletizer institute, space structure is compact, solves the technical barrier that traditional elevating mechanism occupies larger bulk, and lifting force will not suddenly become smaller due to the increase of the height of lifting, and stability and security performance are higher；The utility model employs the lateral movement of pedestal, adds flexibility and the space of robot palletizer, to better meet stacking demand.
Description
Technical field
The utility model is related to robot palletizer technical field, specifically a kind of band rail parallel-moving type lifting stacking machine
People's platform.
Background technology
With the continuous development of science and technology, automation, intelligent equipment are gradually applied in the production and living of people.
The appearance of robot palletizer instead of hand stowage, greatly improves stacking efficiency.However, existing robot palletizer is more
To be fixed, stacking is limited in scope, and also has portable robot palletizer, but the height of stacking can be also restricted, and be lacked
The mechanism that robot palletizer can be driven to lift, according to traditional hydraulic pressure, the mode of screw drive, then can occupy larger space
Size, for the more demanding of construction workshop, therefore there is an urgent need to a kind of new robot palletizers.
The content of the invention
The technical problem to be solved by the utility model is to provide a kind of band rail parallel-moving types to lift robot palletizer platform.
Technical problem to be solved in the utility model is realized using following technical scheme：
A kind of band rail parallel-moving type lifts robot palletizer platform, including along landing ground single dof mobility pedestal, installation
Spiral lift on pedestal, the loading plate at the top of spiral lift, the robot palletizer on loading plate,
The loading plate lower part is also equipped with being fixed on the section formula lifting Support bracket on pedestal, further includes to control spiral lift
The controller of work.
The controller is PLC.
Slide, the rack of parallel arrangement on the ground are installed, sidesway motor is installed on the pedestal, mounted on side
Move on motor and with rack meshed gears, the pedestal is slidably matched with slide.
The position sensor being connected with controller, gravity sensor are installed on the loading plate.
Section formula lifting Support bracket include the chassis being fixed on pedestal, can along chassis in axial sliding several
Crane, crane and chassis axial sliding fit in several cranes in bottommost are in several cranes
The crane of top is connected with loading plate, axial sliding fit between two adjacent cranes in several cranes.
The spiral lift includes fixed pedestal, the platform around the rotation of fixed pedestal, driving platform and rotates
Lifting motor, the storage box on platform, the spring Flat belt being stored in storage box, in fixed pedestal and with
The cooperation of spring Flat belt forms the flute profile spring of spiral cylinder, lifts or receive for fettering flute profile spring on platform
Contract movement belt track lifting mechanism, for making the rail-guided frame that spring Flat belt is engaged with flute profile spring.
It is equally distributed with holes equipped with several rows along the length direction of spring Flat belt on the spring Flat belt；It is described
Uniformly being provided on flute profile spring can be with the tooth of corresponding occlusion with holes.
The belt track lifting mechanism includes lifting cylinder, is equipped with and is used for along the axis direction of itself on lifting cylinder
/V roller that is being oriented to the lifting of flute profile spring and forming double helical arrangement.
The platform includes the storage box that is mounted on fixed pedestal upper end and can be rotated relatively freely between storage box
Bracket, the driving force input mechanism mounted on storage box bracket lower face.
The storage box bracket upper end is circumferentially uniformly provided with several for coordinating with storage box bottom
Storage box bottom bearings.
Several storage boxes for being mounted on storage box bracket upper end are uniformly disposed on the circumferencial direction of the storage box
External bearings frame.
The rail-guided frame includes several guiding trestles being circumferentially distributed, is oriented to branch mounted on corresponding
Formation screw pitch is identical with spiral cylinder on frame and makes what spring Flat belt was engaged with flute profile spring to squeeze spring Flat belt
Several fixture blocks.
Another kind as the utility model improves, and the rail-guided frame includes coaxially being distributed with belt track lifting mechanism
And in the cricoid outrigger of non-close, along outrigger madial wall uniform spiral distribution and screw pitch it is identical with the screw pitch of spiral cylinder
Several blocks.
The beneficial effects of the utility model are：The structure design of the utility model is reasonable, high degree of automation, employs spiral
Elevating mechanism has been implemented in combination with the lifting of robot palletizer with bamboo joint type lifting Support bracket, so as to increase robot palletizer institute
Workable space, space structure is compact, solves the technical barrier that traditional elevating mechanism occupies larger bulk, and
And lifting force will not suddenly become smaller due to the increase of the height of lifting, stability and security performance are higher；The utility model uses
The lateral movement of pedestal adds flexibility and the space of robot palletizer, to better meet stacking demand.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the entirety perspective view of the utility model；
Fig. 2 is the structure diagram of the spiral lift of the utility model, section formula lifting Support bracket on pedestal；
A kind of dimensional structure diagram of embodiment of the spiral lift of Fig. 3 the utility model；
Fig. 4 is a kind of internal structure schematic diagram of embodiment of the spiral lift of the utility model；
Fig. 5 is a kind of top view of embodiment of the spiral lift of the utility model；
Fig. 6 is a kind of birds-eye perspective of embodiment of the spiral lift of the utility model；
Fig. 7 is that a kind of embodiment of the utility model spiral lift removes the main view perspective view after fixed pedestal；
Fig. 8 is a kind of structure diagram of the storage box bracket of embodiment of the utility model spiral lift；
The motor and structure diagram when worm screw, the cooperation of driving force input mechanism that Fig. 9 is the utility model；
Figure 10 is the dimensional structure diagram of the another embodiment of the spiral lift of the utility model；
Figure 11 is the front view of the another embodiment of the spiral lift of the utility model；
Figure 12 is the half sectional view of the another embodiment of the spiral lift of the utility model；
Figure 13 is the full sectional view of the another embodiment of the spiral lift of the utility model.
Specific embodiment
In order to which the technical means, creative features, achievable purpose and effectiveness for realizing the utility model are easy to understand, under
It is expanded on further in face of the utility model.
As shown in Figures 1 to 9, a kind of band rail parallel-moving type lifting robot palletizer platform, including single freely along landing ground 17
Spend the pedestal 23, the spiral lift 24 on pedestal 23, the loading plate mounted on 24 top of spiral lift of movement
26th, the robot palletizer 22 on loading plate 26,26 lower part of loading plate are also equipped with being fixed on the section formula on pedestal
Support bracket 21 is lifted, further includes the controller that spiral lift is controlled to work.The utility model is in spiral lift 24
After packing up completely, spatial altitude can be down to very low, space is greatly saved, without as traditional hydraulic cylinder type lifting device
Larger spatial volume is occupied, while lifting is realized using spiral lift 24, the working space model of robot palletizer can be increased
It encloses；Using bamboo joint type lifting Support bracket can with spiral lift 24 lift while to loading plate 26 play support work
With improving the stability of device.
The controller is PLC.
Slide 18, the rack 30 of parallel arrangement on the ground 17 are installed, sidesway motor is installed on the pedestal 23
19th, in sidesway motor 19 and with 30 meshed gears 20 of rack, the pedestal 23 is slidably matched with slide 18.It is described
Sidesway motor 19 is connected with controller.Start sidesway motor 19, gear 20 is driven to rotate, thus with moving base 23 in slide 18
Guiding role lower slider, to increase the job area of robot palletizer.
The position sensor 27 being connected with controller, gravity sensor 28 are installed on the loading plate 26.This practicality is new
The weight that type is carried using the detection of gravity sensor 28 is overweight to prevent；During using position sensor 27 to measure lifting
Highly.
Section formula lifting Support bracket 21 includes the chassis 21a being fixed on pedestal 23, can be axial along chassis 21a
Crane 21b and chassis 21a in bottommost slide axially in several cranes 21b slided, several cranes 21b
Coordinate, the crane 21b in top is connected with loading plate 26 in several cranes 21b, phase in several cranes 21b
Axial sliding fit between two adjacent crane 21b.
The spiral lift of the utility model is as follows respectively there are two types of embodiment：
Embodiment one：
As shown in Figures 3 to 8, the spiral lift 24 includes fixed pedestal, around the flat of fixed pedestal rotation
Platform, the lifting motor 25 of driving platform rotation, the storage box 6 on platform, the spring Flat belt being stored in storage box 6
1st, coordinate the flute profile spring 2 of composition spiral cylinder in fixed pedestal and with spring Flat belt 1, used on platform
In constraint flute profile spring 2 lift or the belt track lifting mechanism 3 of contractile motion, for making spring Flat belt 1 and flute profile spring
The rail-guided frame 4 that item 2 is engaged.Lifting motor 25 drives platform to rotate, and then belt track lifting mechanism 3 is driven to rotate, band rail
Road lifting mechanism 3 makes flute profile spring 2 be lifted under the guiding role of belt track lifting mechanism 3, and sync pulling spring is flat
1 spiral of band rises, and spring Flat belt 1 is engaged with flute profile spring 2 and is formed in spiral under the squeezing-pushing action of track leading truck 4
The cylinder risen.
On the spring Flat belt 1 the equally distributed 1a with holes of several rows is equipped with along the length direction of spring Flat belt 1；
Uniformly be provided on the flute profile spring 2 can occlusion corresponding with 1a with holes tooth 2a.Flute profile spring 2 is in the process of rising
In new tooth 2a is constantly made to bite on spring Flat belt 1 in new 1a with holes, you can realize the constantly soaring of spiral cylinder.
The belt track lifting mechanism 3 includes lifting cylinder 3a, is set on lifting cylinder 3a along the axis direction of itself
It is useful for lifting flute profile spring 2 /V roller 3b that is being oriented to and forming double helical arrangement.Double helical arrangement
On two /V roller 3b coordinated in pairs between spacing be more than flute profile spring 2 thickness.The flute profile spring 2 exists
The rotary force of lifting cylinder 3a is lifted up under driving along the /V roller 3b of double helical arrangement.The utility model employs
The guiding that the /V roller 3b of double helical arrangement lifts flute profile spring 2, effectively prevents flute profile spring 2
It rocking in lifting process and misplaces, ensure that the accuracy and stability of movement, so can just make tooth 2a and 1a couples with holes
It should be engaged.
The lifting cylinder 3a is mounted on 5 upper end of stress support staving, the /V roller 3b can around with lifting post
The junction of body 3a rotates.
Further, the /V roller 3b is roller bearing.
The fixed pedestal includes elevating mechanism pedestal 10, is vertically installed at by revolute pair on elevating mechanism pedestal 10
The stress support staving 5 at end, several mounting brackets 11 for limiting the revolution degree of freedom of flute profile spring 2.The utility model
Mounting bracket 11 can prevent that flute profile spring 2 from being turned round during lifting, if flute profile spring 2 turns round, meeting
Causing 2 idle running of spring Flat belt 1 and flute profile spring, i.e. idle running can lead to not realize lifting work(without having ascending motion
Energy.
The platform includes the storage box that is mounted on fixed pedestal upper end and can be rotated relatively freely between storage box 6
Bracket 7, the driving force input mechanism 8 mounted on 7 lower face of storage box bracket.Lifting motor 25 drives driving force input mechanism 8,
So as to drive storage box bracket 7, you can belt track lifting mechanism 3 is driven to rotate.
The driving force input mechanism 8 is worm gear, is equipped with worm screw 29 on the lifting motor 25, the worm screw 29 with
Worm gear realizes that power transfers.
7 upper end of storage box bracket is circumferentially uniformly provided with several for matching somebody with somebody with 6 bottom of storage box
The storage box bottom bearings 14 of conjunction.Several are uniformly disposed on the circumferencial direction of the storage box 6 mounted on storage box
The storage box external bearings frame 13 of 7 upper end of bracket.The benefit of such structure design is：Ensure that storage box 6 can be flat with spring
The elastic strength of flat rubber belting 1 arbitrarily rotates.
The recessing groove 15 passed through when being lifted for flute profile spring 2 is offered on the storage box bracket 7, so just can guarantee
The elevating movement of flute profile spring 2 and the rotary motion of storage box bracket 7 are not interfered, reasonable in design.
The rail-guided frame 4 includes several guiding trestles 4a being circumferentially distributed, is led mounted on corresponding
It is identical with spiral cylinder and make spring Flat belt 1 and flute profile spring to squeeze spring Flat belt 1 that screw pitch is formed on stent 4a
Several fixture blocks 4b that item 2 is engaged.The fixture block 4b stagger be engaged with flute profile spring 2 on spring Flat belt 1 position and with bullet
The lateral surface of spring Flat belt 1 offsets, and can make spring Flat belt 1 progressively close to flute profile spring 2 using fixture block 4b and finally make
Spring Flat belt 1 is interlocked with flute profile spring 2.
Further, the fixture block 4b quantity installed on each guiding trestle 4a is two or three.
The axis for the cylindricality that the flute profile spring 2 stacks is overlapped with the axis of stress support staving 5.The utility model
Flute profile spring 2 be stacked together after, the tooth of tooth 2a in each screw pitch and the same position in adjacent screw pitch is vertical
It is overlapped on direction, is so that the tooth 2a after flute profile spring 2 is stacked together constitutes rows of perpendicular straight arranged strips, then leads to
It crosses mounting bracket 11 to be stuck between strip and strip, you can prevent that flute profile spring 2 from being turned round during lifting.
The upper end of the spiral cylinder is connected with fixed chuck 9 at the top of lifting body, and fixed chuck 9 is upper at the top of lifting body
End is connected with loading plate 26.
The upper end of the elevating mechanism pedestal 10 is equipped with fixed seat 16.
Embodiment two：
As shown in Figure 10 to Figure 13, the spiral lift 24 includes fixed pedestal, around the rotation of fixed pedestal
Lifting motor 25 that platform, driving platform rotate, the storage box 6 on platform, the spring that is stored in storage box 6 are flat
Coordinate the flute profile spring 2 of composition spiral cylinder, on platform with 1, in fixed pedestal and with spring Flat belt 1
For fetter flute profile spring 2 lift or the belt track lifting mechanism 3 of contractile motion, for making spring Flat belt 1 and flute profile bullet
The rail-guided frame 4 that spring item 2 is engaged.Lifting motor 25 drives platform to rotate, and then belt track lifting mechanism 3 is driven to rotate, band
Track lifting mechanism 3 makes flute profile spring 2 be lifted under the guiding role of belt track lifting mechanism 3, and sync pulling spring is flat
1 spiral of flat rubber belting rises, and spring Flat belt 1 is engaged with flute profile spring 2 and forms spiral under the squeezing-pushing action of track leading truck 4
The cylinder of rising.
On the spring Flat belt 1 the equally distributed 1a with holes of several rows is equipped with along the length direction of spring Flat belt 1；
Uniformly be provided on the flute profile spring 2 can occlusion corresponding with 1a with holes tooth 2a.Flute profile spring 2 is in the process of rising
In new tooth 2a is constantly made to bite on spring Flat belt 1 in new 1a with holes, you can realize the constantly soaring of spiral cylinder.
The belt track lifting mechanism 3 includes lifting cylinder 3a, is set on lifting cylinder 3a along the axis direction of itself
It is useful for lifting flute profile spring 2 /V roller 3b that is being oriented to and forming double helical arrangement.Double helical arrangement
On two /V roller 3b coordinated in pairs between spacing be more than flute profile spring 2 thickness.The flute profile spring 2 exists
The rotary force of lifting cylinder 3a is lifted up under driving along the /V roller 3b of double helical arrangement.The utility model employs
The guiding that the /V roller 3b of double helical arrangement lifts flute profile spring 2, effectively prevents flute profile spring 2
It rocking in lifting process and misplaces, ensure that the accuracy and stability of movement, so can just make tooth 2a and 1a couples with holes
It should be engaged.
The lifting cylinder 3a is mounted on 5 upper end of stress support staving, the /V roller 3b can around with lifting post
The junction of body 3a rotates.
Further, the /V roller 3b is roller bearing.
The fixed pedestal includes elevating mechanism pedestal 10, is vertically installed at by revolute pair on elevating mechanism pedestal 10
The stress support staving 5 at end.
The lower end of the platform, which is equipped with, to be connected and with the stress of fixed pedestal support staving 5 will be in superposed state
The outer cage 101 that covers of flute profile spring 2.
The platform include by outer cage 101 be mounted on fixed pedestal upper end and between storage box 6 can it is opposite oneself
Storage box bracket 7 by rotating, the driving force input mechanism 8 mounted on 7 lower face of storage box bracket.Lifting motor 25 drives
Power input mechanism 8, so as to drive storage box bracket 7, you can belt track lifting mechanism 3 is driven to rotate.
The driving force input mechanism 8 is worm gear, is equipped with worm screw 29 on the lifting motor 25, the worm screw 29 with
Worm gear realizes that power transfers.
7 upper end of storage box bracket is circumferentially uniformly provided with several for matching somebody with somebody with 6 bottom of storage box
The storage box bottom bearings 14 of conjunction.Several are uniformly disposed on the circumferencial direction of the storage box 6 mounted on storage box
The storage box external bearings frame 13 of 7 upper end of bracket.The benefit of such structure design is：Ensure that storage box 6 can be flat with spring
The elastic strength of flat rubber belting 1 arbitrarily rotates.
The rail-guided frame 4 include with belt track lifting mechanism 3 it is coaxial distribution and be in the cricoid outrigger 4c of non-close,
Along the madial wall uniform spiral distribution of outrigger 4c and screw pitch several block 4d identical with the screw pitch of spiral cylinder.
Further, the block 4d staggers is engaged position and flat with spring on spring Flat belt 1 with flute profile spring 2
It offsets with 1 lateral surface, can make spring Flat belt 1 progressively close to flute profile spring 2 using block 4d and finally makes spring flat
Flat rubber belting 1 is interlocked with flute profile spring 2.
The outrigger 4c is equipped with notch 102, during track leading truck 4 rotates, the spring in storage box 6
Flat belt 1 may pass through notch 102 and enter in rail-guided frame 4, and so as to be engaged with flute profile spring 2, structure design is closed
Reason, will not cause to interfere during the motion.
The axis for the cylindricality that the flute profile spring 2 stacks is overlapped with the axis of stress support staving 5.The utility model
Flute profile spring 2 be stacked together after, the tooth of tooth 2a in each screw pitch and the same position in adjacent screw pitch is vertical
It is overlapped on direction, is so that the tooth 2a after flute profile spring 2 is stacked together constitutes rows of perpendicular straight arranged strips.
The upper end of the spiral cylinder is connected with fixed chuck 9 at the top of lifting body, and fixed chuck 9 is upper at the top of lifting body
End is connected with loading plate 26.
During work, when the highly desirable adjustment of the stacking of robot palletizer, starting PLC, control lifting motor 25 rotates,
Spring Flat belt 1 is driven to be interlocked with flute profile spring 2, so as to hold up or fall robot palletizer, is closed when reaching
During suitable height, lifting motor 25 is braked, and robot palletizer starts stacking；When robot palletizer needs horizontal moving, startup side
Motor 19 is moved, gear 20 is driven to rotate, so that the lateral position of robot palletizer changes, increases robot palletizer
Working space, degree of flexibility are high.
After the completion of palletizing operation, PLC control lifting motors 25 rotate, and spiral lift is minimized, so whole
Occupied bulk is smaller, saves space.
The advantages of basic principle, main feature and the utility model of the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Simply the utility model principle, on the premise of not departing from the spirit and scope of the utility model, the utility model also has
Various changes and modifications, these various changes and improvements fall within the scope of the claimed invention.The requires of the utility model
Protection domain is defined by the appending claims and its equivalent thereof.
Claims (10)
1. a kind of band rail parallel-moving type lifts robot palletizer platform, it is characterised in that：Including being transported along landing ground (17) single-degree-of-freedom
Dynamic pedestal (23), the spiral lift (24) on pedestal (23), the carrying at the top of spiral lift (24)
Plate (26), the robot palletizer (22) on loading plate (26), loading plate (26) lower part are also equipped with being fixed on base
Section formula lifting Support bracket (21) on seat, further includes the controller that spiral lift is controlled to work.
2. a kind of band rail parallel-moving type lifting robot palletizer platform according to claim 1, it is characterised in that：The ground
(17) slide (18), the rack (30) of parallel arrangement on are installed, sidesway motor (19), installation are installed on the pedestal (23)
In sidesway motor (19) and with rack (30) meshed gears (20), the pedestal (23) is slidably matched with slide (18).
3. a kind of band rail parallel-moving type lifting robot palletizer platform according to claim 1, it is characterised in that：The carrying
The position sensor (27) being connected with controller, gravity sensor (28) are installed on plate (26).
4. a kind of band rail parallel-moving type lifting robot palletizer platform according to claim 1, it is characterised in that：The section formula
Lifting Support bracket (21) includes being fixed on chassis (21a) on pedestal (23), can be several in axial sliding along chassis (21a)
A crane (21b), axial sliding fit between two adjacent cranes (21b) in several cranes (21b).
5. a kind of band rail parallel-moving type lifting robot palletizer platform according to claim 1, it is characterised in that：The spiral
Elevator (24) include fixed pedestal, around fixed pedestal rotation platform, driving platform rotate lifting motor (25),
Storage box (6) on platform, the spring Flat belt (1) being stored in storage box (6), in fixed pedestal and with
The flute profile spring (2) of spring Flat belt (1) cooperation composition spiral cylinder is used to fetter flute profile spring on platform
(2) the belt track lifting mechanism (3) of lifting or contractile motion, be engaged with flute profile spring (2) for making spring Flat belt (1)
Rail-guided frame (4).
6. a kind of band rail parallel-moving type lifting robot palletizer platform according to claim 5, it is characterised in that：The spring
It is equally distributed (1a) with holes equipped with several rows along the length direction of spring Flat belt (1) on Flat belt (1)；The flute profile bullet
Uniformly be provided on spring item (2) can occlusion corresponding with (1a) with holes tooth (2a).
7. a kind of band rail parallel-moving type lifting robot palletizer platform according to claim 5, it is characterised in that：The band rail
Road lifting mechanism (3) includes lifting cylinder (3a), is equipped on lifting cylinder (3a) along the axis direction of itself for tooth
/V roller (3b) that is that type spring (2) lifting is oriented to and forming double helical arrangement.
8. a kind of band rail parallel-moving type lifting robot palletizer platform according to claim 5, it is characterised in that：The platform
Including be mounted on fixed pedestal upper end and can be rotated relatively freely between storage box (6) storage box bracket (7), be mounted on
The driving force input mechanism (8) of storage box bracket (7) lower face.
9. a kind of band rail parallel-moving type lifting robot palletizer platform according to claim 5, rail-guided frame (4) bag
It includes several guiding trestles (4a) being circumferentially distributed, form screw pitch and spiral shell on corresponding guiding trestle (4a)
Rotation cylinder is identical and to squeeze several cards that spring Flat belt (1) makes spring Flat belt (1) be engaged with flute profile spring (2)
Block (4b).
10. a kind of band rail parallel-moving type lifting robot palletizer platform according to claim 5, the rail-guided frame (4)
Including distribution coaxial with belt track lifting mechanism (3) and in the cricoid outrigger of non-close (4c), the madial wall along outrigger (4c)
Several blocks (4d) that uniform spiral is distributed and screw pitch is identical with the screw pitch of spiral cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720953743.XU CN207404505U (en) | 2017-08-02 | 2017-08-02 | A kind of band rail parallel-moving type lifts robot palletizer platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720953743.XU CN207404505U (en) | 2017-08-02 | 2017-08-02 | A kind of band rail parallel-moving type lifts robot palletizer platform |
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| CN207404505U true CN207404505U (en) | 2018-05-25 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107458885A (en) * | 2017-08-02 | 2017-12-12 | 芜湖昊葛金自动化科技有限公司 | A kind of band rail parallel-moving type lifting robot palletizer platform |
| CN111230878A (en) * | 2020-02-14 | 2020-06-05 | 珠海格力智能装备有限公司 | Stacking robot control method, device and equipment and stacking robot system |
-
2017
- 2017-08-02 CN CN201720953743.XU patent/CN207404505U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107458885A (en) * | 2017-08-02 | 2017-12-12 | 芜湖昊葛金自动化科技有限公司 | A kind of band rail parallel-moving type lifting robot palletizer platform |
| CN111230878A (en) * | 2020-02-14 | 2020-06-05 | 珠海格力智能装备有限公司 | Stacking robot control method, device and equipment and stacking robot system |
| CN111230878B (en) * | 2020-02-14 | 2021-10-26 | 珠海格力智能装备有限公司 | Stacking robot control method, device and equipment and stacking robot system |
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