CN208377967U - Mobile stacking entrucking unloading system - Google Patents
Mobile stacking entrucking unloading system Download PDFInfo
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- CN208377967U CN208377967U CN201820799722.1U CN201820799722U CN208377967U CN 208377967 U CN208377967 U CN 208377967U CN 201820799722 U CN201820799722 U CN 201820799722U CN 208377967 U CN208377967 U CN 208377967U
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Abstract
The utility model relates to a kind of mobile stacking entrucking unloading systems, transfer device is unloaded including stacking entrucking and stacking entrucking is unloaded executive device, stacking entrucking executive device of unloading includes stacking load push-pull, lifting assembly and rotary components, rotary components are connect with stacking load push-pull, for driving stacking load push-pull to rotate to stacking machine output end or lorry tail end, lifting assembly is connect with stacking load push-pull, for driving stacking load push-pull to rise or fall, stacking load push-pull is for receiving the good stacking of stacking machine pile and releasing stacking, stacking entrucking transfer device includes mobile platform, guide rail and driving assembly, mobile platform is arranged on guide rail, mobile platform and stacking entrucking executive device of unloading are fixedly connected, driving assembly is connect with mobile platform, driving assembly drives mobile platform to slide along guide rail.The movable type stacking entrucking unloading system can full automatic working, realize unmanned, full-automatic operation, while greatling improve working efficiency, reduce production cost.
Description
Technical field:
The utility model relates to palletizing mechanical apparatus field more particularly to a kind of mobile stacking entrucking unloading systems.
Background technique:
When tank, the packing material that bag is vessel are transported, to be shipped on the conveying carriages such as automobile, train, especially
It is the closed transport cases such as container, box-type carrier vehicle compartment, railway carriage, there are no the works of full automation currently on the market
Industry mode, existing frequently-used mode are mainly 1, artificial entrucking, and by manpower transport, 2, fork truck shipment, fork truck is holding in the palm stacking
The packing materials such as packing case, pail pack, packaging bag on disk fork is transported on sweep or in compartment, is then pushed away and is put into sweep or compartment
In, packing case, pail pack, packaging bag are first delivered to compartment by fork truck or conveying device by 3, artificial and fork truck cross-operation, by
Human assistance is piled up.
The defect or deficiency of existing these types pile entrucking mode:
1, artificial entrucking: employment is too many, inefficient, is not suitable for saving cost of human resources now, by people from labour
Main trend, the overall situation freed, meanwhile, also more dangerous, the especially entrucking stacking of dangerous material, toxic articles；
2, people combines with machinery: although efficiency raising, security performance etc. have promotion, it is (artificial to equally exist the first
Entrucking) shortcomings；
3, by forklift workability: improve work efficiency and safety, but following hard defects can not overcome: A packs code heap
Had to turnover pallet, amount of investment is big, be by 1.5t/ pile in terms of, every 1.5 tons with 1 pallet, in addition to needing a large amount of pallet to take
With investment, pallet also needs to account for space and the weight of transport vehicle box, spends more expense transportation cost；Every 1~1.5 ton of transport, pallet
Investment is just minimum to need 200 yuan or more, and pallet transports together with cargo, also needs transportation cost (accounting for weight and space), also
It is all a very big expense the logistics cost of pallet recycling back；B because forklift workability needs biggish space,
So operation is very inconvenient in compartment, in addition to working efficiency is not high, space utilization rate is not also high！When forklift workability, transporting
The width direction and short transverse in defeated compartment are required to the space of operation, not so fork truck can not operation also needed even if manually assisting
It stays part for the gap of manual work, the space of 500mm or so especially need to be at least stayed in short transverse, not so fork truck or artificial
It can not act；So, and space is wasted, and increases transportation cost；
4, when shipping dangerous material, requirement of the above operation mode to the body harm of operating personnel and personal safety is just more
Gao Liao, various operation regulations and details are very cumbersome, considerably increase recruitment cost and operating cost, and efficiency is not also very high.
There are also producers to be carried using manipulator, a kind of box car as disclosed in Patent No. CN206108410U
Entrucking unloading system, carried by designing robot palletizer between stacking machine and van.The dress of the box car
Vehicle unloading system has the drawback that 1, robot palletizer structure is complex, and purchase or cost of manufacture are higher；2, box car
Interior needs installation navigation graticule, needs to reequip vehicle, very inconvenient；3, since the position of vehicle parking is not fixed,
Certain inclination often occurs for position, and the navigation graticule in van is difficult to be aligned with the navigation graticule on foundation platform；3,
The motion range of robot palletizer is extremely limited, although can be sent into van by navigation graticule, when cargo shifts
When on to van, it is still desirable to manually remove to fixed position and be stacked.
Utility model content:
The purpose of this utility model is in view of the drawbacks of the prior art, to provide a kind of structure and be simple and convenient to operate, automate
Degree is high, can be effectively reduced the mobile stacking entrucking unloading system of cost of labor.
In the prior art, palletizing system is varied, various specifications, weight, the packing case of shape, pail pack, packaging bag
Deng by automation stacking or Palletizer by will width, height and the length dimension in compartment of entrucking design corresponding stacking
Pile shape (has the size in several entrucking compartments, just designs several corresponding stacking pile shapes, at most can be with preset 100 kinds of pile shapes), heap
It is placed on the plate of fixed pallet, sliding pallet or other stackings.However most of palletizing system is only capable of playing in the prior art
The good cargo of pile is sent into lorry by automatic material taking, pile and the effect of transmission finally by manual operation fork truck.In order to mention
High automatization level, reduce cost of labor, most of producer it is envisioned that purchase manipulator directly using or reequiped, to replace
Change the use of fork truck.However these manipulators and its similar structures are only capable of a degree of reduction manually, but in operating process still
Manual handling is not can avoid so.Therefore, a mobile stacking entrucking unloading system that can be avoided manual handling is designed, with drop
Low production cost is technical problem to be solved in the utility model.
The utility model is achieved by the following technical solution: a kind of movable type stacking entrucking unloading system, including heap
Executive device that transfer device is unloaded in pile entrucking and stacking entrucking is unloaded, stacking entrucking executive device of unloading are correspondingly arranged at code
The output end of stack machine, for receiving and shifting the good stacking of stacking machine pile automatically, the stacking entrucking unload transfer device with
Stacking entrucking unload executive device connection, for by stacking entrucking unload transfer device be sent into lorry in.
Firstly, it is necessary to which what is considered is the picking problem of stacking: according to the cargo grabbing device retrieved on existing market,
The manipulator mechanism of the similar fork truck typically used is automatically grabbed, such mechanism structure is more single, for heap
The stacking requirement of pile is stringenter, if certain offset occurs for stacked location, is difficult accurately to grab stacking, needs constantly to adjust
It is whole.
Then, it is envisaged that the goods putting problem of stacking: this problem, in the prior art there are no solution, one
As be all to need a large amount of labour of worker by being manually stacked in lorry progress position adjustment for what is brought.
The utility model devises a unique stacking entrucking and unloads transfer device and stacking according to above-mentioned two problems
Entrucking is unloaded executive device.
Stacking entrucking executive device of unloading includes stacking load push-pull, lifting assembly and rotary components, the rotation group
Part is connect with stacking load push-pull, for driving stacking load push-pull to rotate to stacking machine output end or lorry tail end, the lifting group
Part is connect with stacking load push-pull, and for driving stacking load push-pull to rise or fall, the stacking load push-pull is for receiving stacking machine
The good stacking of pile simultaneously releases stacking.
For the ease of releasing stacking, the utility model devises special stacking load push-pull, the stacking load push-pull packet
Bottom plate, side plate, push plate, telescoping scissors knife and fork and actuator are included, the side plate is fixedly connected with bottom plate, and the push plate passes through telescoping scissors
Knife and fork is connect with side plate, and the actuator is connect with telescoping scissors knife and fork, actuator by telescoping scissors knife and fork drive push plate stretch out or
It shrinks.
In originally operation, it has been found that due to pallet position and be not fixed, often have it is a degree of partially
It moves, if the amplitude of offset is larger, stacking load push-pull will lead to stacking stacking during receiving stacking or push stacking
Position in lorry shifts, or even the danger fallen in transfer process.Therefore, it is necessary to design a kind of compression dress
It sets.
The utility model is provided in the side plate bottom of stacking load push-pull for compressing holding down assembly for pallet, on solving
State problem.Described to hold down assembly including pressure plate and compress actuator, the compression actuator is fixedly connected with side plate, the pressure
Tight plate is connect with actuator is compressed, and is compressed actuator driving pressure plate and is vertically rotated to compress the pallet on bottom plate.
In addition, in operation, it has been found that, the height and position of pallet is also unstable, and bottom plate sometimes can not be accurate
Fork pallet.Meanwhile in lorry when push stacking, if the height of bottom plate is higher, it may occur that the danger that stacking is fallen.
To solve the above-mentioned problems, the component that leans forward has also been devised in the utility model, for driving stacking load push-pull to lean forward, from
And guarantee that bottom plate can accurately enter tray bottom, when releasing stacking, stacking can be made smoothly active.Before the component that leans forward includes
Incline actuator and the fulcrum hinge axis that leans forward, and the actuator that leans forward is connect by leaning forward fulcrum hinge axis with side plate, driving of leaning forward
Part drives side plate vertically to rotate by the fulcrum hinge axis that leans forward.
Likewise, in order to further ensure stacking load push-pull can accurately receive stacking or push stacking, the utility model
It has also been devised and moves left and right component, for driving stacking load push-pull to move left and right.The component that moves left and right includes horizontal drive
Part and connecting rod, the horizontal drive part are connect by connecting rod with side plate, and horizontal drive part drives side plate along level side by connecting rod
It moves left and right.
In order to guarantee that stacking load push-pull can match the accurate transfer of realization with stacking machine, the utility model devises lifting
Component and rotary components.
The lifting assembly includes that lifting actuator and riser guide, the lifting actuator are connect with side plate, and lifting is driven
Moving part driving side plate is moved up and down along riser guide.
The rotary components include rotary drive and rotary hinge chain rivet, the rotary drive by rotary hinge chain rivet with
Side plate connection, rotary drive are rotated in the horizontal direction by rotary hinge chain rivet driving side plate.
Finally, how by stacking entrucking unload executive device be sent into lorry in be that technology to be solved in the utility model is asked
Topic.
Therefore, the utility model devises a kind of special stacking entrucking transfer device.The stacking entrucking transfer device
Including mobile platform, guide rail and driving assembly, the mobile platform is arranged on guide rail, and mobile platform is unloaded with stacking entrucking and held
Luggage, which is set, to be fixedly connected, and the driving component is connect with mobile platform, and driving assembly drives mobile platform to slide along guide rail.
Preferably, the driving component includes decelerating motor and roll wheel assembly, the roll wheel assembly is fixed on mobile flat
Platform bottom end, the decelerating motor driving roll wheel assembly are slided along guide rail.
Above-mentioned each actuator can be for cylinder, motor, oil cylinder etc., and the connecting rod class mechanism connecting with actuator also can adjust phase
Answer shape, driving direction: the move modes such as top to bottom, left and right, front and rear, inclination can be interchanged or adjust.
The beneficial effect of the utility model movable type stacking entrucking unloading system is:
1. can full automatic working, realize unmanned, full-automatic operation, while greatling improve working efficiency；
2. saving a large amount of human and material resources (expenses such as fork truck, fork truck maintenance, site supervision)；
3. can be adapted for pallet, the vanning of stacking can also not have to pallet, directly push away stacking and be put into platform floor
On, save pallet expense and corresponding turnover expense；
4. inflammable, explosive, poisonous substance, dangerous material vanning on have advantageous advantage, both less manpowers, a large amount of
Cost, and greatly improve work efficiency；
5. AT STATION, the industry that port and pier and the vanning of all types of industries finished product pile carry out logistics transportation can largely make
With being a revolutionary change equipment.
Detailed description of the invention:
Fig. 1 is the top view of the mobile stacking entrucking unloading system of the utility model；
Fig. 2 is the main view of the mobile stacking entrucking unloading system of the utility model；
Fig. 3 is that the stacking entrucking of the utility model is unloaded the main view of executive device；
Fig. 4 is that the stacking entrucking of the utility model is unloaded the top view of executive device.
Specific embodiment:
The preferred embodiment of the utility model is described in detail with reference to the accompanying drawing, so that the advantages of the utility model
It can be easier to be understood by those skilled in the art with feature, to make apparent specific boundary to the protection scope of the utility model
It is fixed.Direction term that the utility model is previously mentioned, such as "upper", "lower", "front", "rear", "left", "right", "top", "bottom" etc.,
It is only the direction with reference to annexed drawings.Therefore, the direction term used be to illustrate and understand the utility model, rather than to
Limit the utility model.
As shown in Figure 1, a kind of movable type stacking entrucking unloading system, including stacking entrucking is unloaded transfer device 1 and stacking
Entrucking is unloaded executive device 3, the stacking entrucking unload executive device 3 be correspondingly arranged at stacking machine transmission rail output
End, for receiving and shifting the good stacking of stacking machine pile automatically, stacking entrucking transfer device 1 of unloading is unloaded with stacking entrucking
Vehicle executive device 3 connects, for stacking entrucking to be unloaded in the feeding lorry 2 of transfer device 3.
The stacking entrucking unload executive device 3 include stacking load push-pull, lifting assembly and rotary components, the rotation group
Part is connect with stacking load push-pull, for driving stacking load push-pull to rotate to 2 tail end of stacking machine output end or lorry, the lifting group
Part is connect with stacking load push-pull, and for driving stacking load push-pull to rise or fall, the stacking load push-pull is for receiving stacking machine
The good stacking of pile simultaneously releases stacking.
As shown in Figure 3, Figure 4, the stacking load push-pull includes bottom plate 32, side plate 31, push plate 34, telescoping scissors knife and fork 33 and drives
Moving part, the side plate 31 are fixedly connected with bottom plate 32, and side plate 31 and bottom plate 32 are perpendicular, for convenient for the installation of other mechanisms, side plate
31 can accordingly be arranged muti-piece, relatively fixed between each side plate 31, and the push plate 34 passes through telescoping scissors knife and fork 33 and side plate 31
Connection, the actuator (being not drawn into figure, using Normal hydraulic oil cylinder) connect with telescoping scissors knife and fork 33, and actuator passes through
Telescoping scissors knife and fork 33 drives push plate 34 to stretch out or shrink.
31 bottom end of side plate is additionally provided with for compressing holding down assembly for pallet, described to hold down assembly including pressure plate 36
And actuator 35 is compressed, the compression actuator 35 is fixedly connected with side plate 31, and the pressure plate 36 connects with actuator 35 is compressed
It connects, compresses actuator 35 and pressure plate 36 is driven vertically to rotate to compress the pallet on bottom plate 32.
Stacking entrucking executive device of unloading further includes the component that leans forward, for driving stacking load push-pull to lean forward, before described
The component that inclines includes lean forward actuator 39 and the fulcrum hinge axis 38 that leans forward, and the actuator 39 that leans forward passes through the fulcrum hinge axis 38 that leans forward
It is connect with side plate 31, the actuator 39 that leans forward drives side plate 31 vertically to rotate by the fulcrum hinge axis 38 that leans forward.
Stacking entrucking executive device of unloading further includes moving left and right component, for driving stacking load push-pull or so to move
It is dynamic, including horizontal drive part 312 and connecting rod 313, the horizontal drive part 312 passes through connecting rod 313 and connect with side plate 31, horizontal to drive
Moving part 312 drives side plate 31 to move left and right in the horizontal direction by connecting rod 313.
The lifting assembly includes lifting actuator 37 and riser guide 311, and the lifting actuator 37 connects with side plate 31
It connects, lifting actuator 37 drives side plate 31 to move up and down along riser guide 311.
The rotary components include rotary drive 314 and rotary hinge chain rivet 316, and the rotary drive 314 passes through rotation
Turning hinge chain rivet 316 is connect with side plate 31, and rotary drive 314 drives side plate 31 to revolve in the horizontal direction by rotary hinge chain rivet 316
Turn, rotation angle is preferably 90 degree or 180 degree, can appropriate adjustment its angle according to place demand.
As shown in Fig. 2, the stacking entrucking transfer device includes mobile platform 11, guide rail 14 and driving assembly, the shifting
Moving platform 11 is arranged on guide rail 14, and mobile platform 11 and stacking entrucking executive device 3 of unloading are fixedly connected, the driving component
It is connect with mobile platform 11, driving assembly drives mobile platform 11 to slide along guide rail 14.
The driving component includes decelerating motor 12 and roll wheel assembly, and the roll wheel assembly includes driving wheel 13 and driven wheel
15, driving wheel 13 and driven wheel 15 are fixed on 11 bottom end of mobile platform, and the decelerating motor 12 drives roll wheel assembly along guide rail 14
Sliding.
Each actuator of the utility model is preferably hydraulic cylinder, and each oil cylinder is connected with hydraulic station 310, realizes unified drive
It is dynamic.Certainly, the utility model can also be realized by actuator being substituted for the actuators such as cylinder, motor, and no further details to be given herein.
The transfer platform of landing can also be used in the mobile stacking entrucking unloading system of the utility model, and cantilever can also be used
The transfer device of formula, can automatic lifting, automatic aligning, automatic push stacking passes in and out compartment automatically.
The utility model needs to use sensor, optoelectronic switch etc., using commercially available, according to site requirement, installation
In each device corresponding position.
When processing, the communicated orbit transports of the good pallet of pile, at this point, the decelerating motor 12 of stacking entrucking transfer device 1
Driving mobile platform 11 is gradually moved to the left along guide rail 14, and rotary components operate simultaneously, and rotary drive 314 passes through rotary gemel
Axis 316 drives entire stacking load push-pull to rotate, and the actuator 39 that leans forward for the component that leans forward drives bottom by the fulcrum hinge axis 38 that leans forward
Plate 32 tilts down, so that bottom plate 32 is gradually inserted below pallet, after being fully inserted into, and the compression actuator 35 that holds down assembly
Driving pressure plate 36 downwardly turns over, and compresses pallet by the interaction of pressure plate 36 and bottom plate 32, prevents its transfer process
In shift or fall, after compression, lean forward actuator 39 and rotary drive 314 are turned round；Lifting actuator 37 drives at this time
Entire stacking load push-pull is moved upward to 2 compartment respective heights of lorry along riser guide 311, and stacking entrucking transfer device 1 drives
Entire stacking entrucking executive device 3 of unloading gradually is moved to the left into compartment；When reaching designated position, horizontal drive part
312 drive side plate 31 to be moved to the left or right in the horizontal direction (according to the position of preceding one of stacking) by connecting rod 313, and lean forward group
The actuator 39 that leans forward of part drives bottom plate 32 to tilt down by the fulcrum hinge axis 38 that leans forward, and actuator passes through telescoping scissors knife and fork 33
Driving push plate 34 is stretched out to the left, so that the stacking on bottom plate 32 to be shifted onto the designated position in the compartment of lorry 2, completes a heap
Code, each device are kept in the center, and pile next time is carried out.The utility model is complete according to the signal of detection switch trim locations again
Finish, automatically release stacking, stacking is fallen on the bottom plate in compartment, is finished, and compartment is exited, and repeats above-mentioned movement, second, third
It is secondary, the 4th time ... until compartment is piled with (pack completeness is up to 95% or more) by last time.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.
Claims (8)
1. a kind of movable type stacking entrucking unloading system, it is characterised in that: unload transfer device and stacking dress including stacking entrucking
Vehicle is unloaded executive device, and the stacking entrucking unloads executive device for receiving and shifting the good stacking of stacking machine pile automatically,
Stacking entrucking transfer device and stacking entrucking executive device of unloading of unloading is connect, for stacking entrucking to be unloaded transfer device
It is sent into lorry,
Stacking entrucking executive device of unloading includes stacking load push-pull, lifting assembly and rotary components, the rotary components with
The connection of stacking load push-pull, for driving stacking load push-pull to rotate to stacking machine output end or lorry tail end, the lifting assembly with
The connection of stacking load push-pull, for driving stacking load push-pull to rise or fall, the stacking load push-pull is for receiving stacking machine pile
Good stacking simultaneously releases stacking,
The stacking entrucking transfer device includes mobile platform, guide rail and driving assembly, and the mobile platform is arranged on guide rail,
Mobile platform and stacking entrucking executive device of unloading are fixedly connected, and the driving component is connect with mobile platform, and driving assembly drives
Dynamic mobile platform is slided along guide rail.
2. movable type stacking entrucking unloading system according to claim 1, it is characterised in that: the stacking load push-pull includes
Bottom plate, side plate, push plate, telescoping scissors knife and fork and actuator, the side plate are fixedly connected with bottom plate, and the push plate passes through the scissors that stretches
Fork is connect with side plate, and the actuator is connect with telescoping scissors knife and fork, and actuator drives push plate to stretch out or receive by telescoping scissors knife and fork
Contracting.
3. movable type stacking entrucking unloading system according to claim 2, it is characterised in that: the side plate bottom is also set up
Have for compressing holding down assembly for pallet, it is described to hold down assembly including pressure plate and compress actuator, the compressions actuator and
Side plate is fixedly connected, the pressure plate with compress actuator connect, compress actuator drive pressure plate vertically rotate with
Compress the pallet on bottom plate.
4. movable type stacking entrucking unloading system according to claim 2, it is characterised in that: the stacking entrucking, which is unloaded, holds
It further includes the component that leans forward that luggage, which is set, and for driving stacking load push-pull to lean forward, the component that leans forward includes leaning forward actuator and to lean forward
Fulcrum hinge axis, the actuator that leans forward are connect by leaning forward fulcrum hinge axis with side plate, and the actuator that leans forward passes through the fulcrum that leans forward
Hinge axis driving side plate vertically rotates.
5. movable type stacking entrucking unloading system according to claim 2, it is characterised in that: the stacking entrucking, which is unloaded, holds
It further includes moving left and right component that luggage, which is set, for driving stacking load push-pull to move left and right, including horizontal drive part and connecting rod, it is described
Horizontal drive part is connect by connecting rod with side plate, and horizontal drive part drives side plate to move left and right in the horizontal direction by connecting rod.
6. movable type stacking entrucking unloading system according to claim 2, it is characterised in that: the lifting assembly includes rising
Drop actuator and riser guide, the lifting actuator are connect with side plate, and lifting actuator driving side plate is above and below riser guide
It is mobile.
7. movable type stacking entrucking unloading system according to claim 2, it is characterised in that: the rotary components include rotation
Turn actuator and rotary hinge chain rivet, the rotary drive is connect by rotary hinge chain rivet with side plate, and rotary drive passes through rotation
Turning hinge chain rivet driving side plate rotates in the horizontal direction.
8. movable type stacking entrucking unloading system according to claim 1, it is characterised in that: the driving component includes subtracting
Speed motor and roll wheel assembly, the roll wheel assembly are fixed on mobile platform bottom end, and the decelerating motor driving roll wheel assembly edge is led
Rail sliding.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820799722.1U CN208377967U (en) | 2018-05-25 | 2018-05-25 | Mobile stacking entrucking unloading system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820799722.1U CN208377967U (en) | 2018-05-25 | 2018-05-25 | Mobile stacking entrucking unloading system |
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| CN208377967U true CN208377967U (en) | 2019-01-15 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510552A (en) * | 2019-08-12 | 2019-11-29 | 江苏新美星包装机械股份有限公司 | A kind of cargo loading mechanism |
| CN113928840A (en) * | 2021-09-28 | 2022-01-14 | 杭州娃哈哈精密机械有限公司 | Whole pile of piles tears tray translation device open |
| CN113977594A (en) * | 2021-09-28 | 2022-01-28 | 杭州娃哈哈精密机械有限公司 | Robot device for loading articles |
-
2018
- 2018-05-25 CN CN201820799722.1U patent/CN208377967U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510552A (en) * | 2019-08-12 | 2019-11-29 | 江苏新美星包装机械股份有限公司 | A kind of cargo loading mechanism |
| CN110510552B (en) * | 2019-08-12 | 2023-12-01 | 江苏新美星包装机械股份有限公司 | Cargo loading mechanism |
| CN113928840A (en) * | 2021-09-28 | 2022-01-14 | 杭州娃哈哈精密机械有限公司 | Whole pile of piles tears tray translation device open |
| CN113977594A (en) * | 2021-09-28 | 2022-01-28 | 杭州娃哈哈精密机械有限公司 | Robot device for loading articles |
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