JPS61263524A - Bag grasping hand - Google Patents
Bag grasping handInfo
- Publication number
- JPS61263524A JPS61263524A JP10315985A JP10315985A JPS61263524A JP S61263524 A JPS61263524 A JP S61263524A JP 10315985 A JP10315985 A JP 10315985A JP 10315985 A JP10315985 A JP 10315985A JP S61263524 A JPS61263524 A JP S61263524A
- Authority
- JP
- Japan
- Prior art keywords
- horizontal
- members
- slide members
- pair
- bag
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
Description
【発明の詳細な説明】
く技術分野〉
本発明ほ、パレタイズ用ロボット、マニュアルマニピュ
レーター、その他の荷役処理装置のハンドであり、箱物
、袋物などの荷物の移載に適し、特に、ローラーコンベ
ア、または数条の無端ベルトを間隔を開けて並列させた
ベルトコンベアで移送される袋物を掴み取りしたり、反
対に同コンベア上に袋物を載置するのに適する荷物抱え
込みハンドに関する。[Detailed Description of the Invention] Technical Field> The present invention relates to a hand for a palletizing robot, a manual manipulator, and other cargo handling equipment, and is suitable for transferring cargo such as boxes and bags, and is particularly suitable for use with roller conveyors, Alternatively, the present invention relates to a baggage holding hand suitable for grasping bags transported by a belt conveyor in which several endless belts are arranged in parallel at intervals, or conversely, for placing bags on the same conveyor.
〈発明の背景〉
従来、コンベア上を移送されてくる荷物をパレタイズす
る場合、該荷物が箱物であるときほ、パレタイズ用ロボ
ットのハンドはクランプ式のものが一般的に採用され、
該荷物が不定形物、例えば、袋物であるときはクランプ
式ハンドでは困難な場合が多く、吸着式のバキュームハ
ンドが一般的に採用されている。<Background of the Invention> Conventionally, when palletizing cargo transferred on a conveyor, if the cargo is a boxed item, a clamp-type hand of the palletizing robot is generally adopted.
When the cargo is an irregularly shaped object, for example, a bag, it is often difficult to use a clamp-type hand, and therefore a suction-type vacuum hand is generally employed.
シカシ、バキュームハンドによっても袋物のパレタイズ
が困難な場合がある。すなわち、内容物が粉粒体や液体
であり中味重量が大きい袋物の場合にほ、バキュームハ
ンドを袋上面に押し当て吸引把持しようとすると、袋上
面が大きく垂下り、袋上面に大きな雛ができ、バキュー
ムハンドと袋物とに隙間が生じ、吸引把持が不能となり
、また袋が破れる虞れもある。Palletizing bags may also be difficult due to the use of vacuum hands. In other words, in the case of a bag whose contents are powder, granular or liquid and have a large content weight, if the vacuum hand is pressed against the top of the bag to suction and grasp it, the top of the bag will droop and large chicks will form on the top of the bag. , a gap is created between the vacuum hand and the bag, making it impossible to suction and grasp it, and there is also a risk that the bag may be torn.
従って、解決方法として、荷物を下から掬い上げること
が考えられる。しかし、袋物を下から掬い上げようとす
ると、コンベアが障害になり把持ができない。Therefore, one possible solution is to scoop up the luggage from below. However, when trying to scoop up bags from below, the conveyor becomes an obstacle and cannot be grasped.
〈発明の目的〉
一本発明ほ、上述した点に鑑み案出したもので、フォー
クリフトの如き掬い爪を対向して一対に備えることによ
り、該袋物の内容物が粉粒体や液体であり、中味重量が
大きくても、その両側から掬い上げ抱え込んだ状態で移
送でき、コンベア上の袋物を掴み取りしたり、コンベア
上に袋物を載置するのに適する荷物抱え込みハンドを提
供するものである。<Purpose of the Invention> The present invention has been devised in view of the above-mentioned points, and by providing a pair of opposing scooping claws such as those of a forklift, the contents of the bag are powder, granules or liquid, To provide a baggage holding hand capable of scooping up and carrying baggage from both sides even if the weight of the contents is large, and suitable for picking up baggage on a conveyor and placing the baggage on the conveyor.
〈発明の構成〉
本願の第一発明の荷物抱え込みハンドほ、荷役処理装置
に取付けられる支持枠と、該支持枠に水平に設けられた
一本または平行な複数本のガイド部材と、
該ガイド部材に支持され案内されるように設けられた二
個のスライド部材と、
上記支持枠に取付けられ該二個のスライド部材を接近・
離隔させる開閉装置と、
上記各スライド部材に垂直部の上端が固定され該垂直部
の下端より水平部が他方のスライド部材方向に水平ない
し緩傾斜下降するように伸びている一対の抱え込み爪と
からなり、
上記各スライド部材ほ、ガイド部材の案内方向に水平か
つ直交する方向に長尺であり、上記各抱え込み爪ほ、水
平部の先端から基端方向に向っておりさらに少くとも垂
直部の中途まで伸びている互いに平行する複数のスリッ
トが入っている分岐形状であることを特徴とするもので
ある。<Structure of the Invention> The baggage holding hand of the first invention of the present application includes: a support frame attached to a cargo handling device; one or more guide members provided horizontally on the support frame; and the guide member. two slide members installed to be supported and guided by the support frame;
an opening/closing device for separating the slide members; and a pair of holding claws, the upper ends of the vertical parts of which are fixed to each of the slide members, and the horizontal parts of which extend downward from the lower ends of the vertical parts horizontally or with a gentle slope in the direction of the other slide member. Each of the slide members is elongated in a direction horizontal and orthogonal to the guiding direction of the guide member, and each of the gripping claws extends from the distal end of the horizontal portion toward the proximal end, and further extends at least midway through the vertical portion. It is characterized by a branched shape containing a plurality of mutually parallel slits extending up to
また、本願の第一発明の荷物抱え込みハンドほ、
荷役処理装置に取付けられる支持枠と、該支持枠に水平
に設けられた一本または平行な複数本のガイド部材と、
該ガイド部材に支持され案内されるように設けられたガ
イド部材の案内方向に並ぶ四個のスライド部材と。The baggage holding hand of the first invention of the present application also includes: a support frame attached to a cargo handling device, one or a plurality of parallel guide members provided horizontally on the support frame, and a plurality of guide members supported by the guide member. Four slide members lined up in the guiding direction of a guide member provided to be guided.
上記支持枠に取付けられ外側の二個のスライド部材を内
側の二個のスライド部材と干渉しないように接近・離隔
させる第一開閉装置と、上記外側の二個のスライド部材
に垂直部の上端が固定され該垂直部の下端より水平部が
他方のスライド部材方向に水平ないし緩傾斜し、かつ上
記挟持爪と干渉しないように伸びている一対の抱え込み
爪と、
上記支持枠に取付けられ内側の二個のスライド部材を接
近番離隔させる第二開閉装置と、上記内側の二個のスラ
イド部材に上端が固定されて垂下しており荷物を挟持す
る一対の挟持爪とからなり、
上記各スライド部材ほ、ガイド部材の案内方向に水平か
つ直交する方向に長尺であり、上記各抱え込み爪ほ、水
平部の先端から基端方向に向っておりさらに少くとも垂
直部の中途まで伸びている互いに平行する複数のスリッ
トが入っている分岐形状であり、
上記各挟持爪ほ、少くとも垂直部の中途から下端までの
部分が、ガイド部材の案内方向に水平かつ直交する方向
に並んでいることを特徴とするものである。A first opening/closing device is attached to the support frame and allows the two outer slide members to approach and separate from each other so as not to interfere with the two inner slide members; a pair of holding claws which are fixed and whose horizontal part is horizontal or gently inclined from the lower end of the vertical part in the direction of the other sliding member, and which extends so as not to interfere with the holding claws; It consists of a second opening/closing device that separates the two slide members from each other, and a pair of clamping claws whose upper ends are fixed to the two inner slide members and hang down to clamp the cargo. , which are elongated in a direction horizontal and perpendicular to the guiding direction of the guide member, and each of the holding claws is parallel to each other and extends from the distal end of the horizontal part toward the proximal end and further extends to at least the middle of the vertical part. It has a branched shape with a plurality of slits, and each of the clamping claws is characterized in that at least a portion from the middle of the vertical portion to the bottom end is lined up in a direction horizontal and orthogonal to the guiding direction of the guide member. It is something to do.
く第一発明の実施例〉
本願の第一発明の荷物抱え込みハンドの実施例を第１図
〜第５図を参照して説明する。Embodiment of the First Invention> An embodiment of the luggage holding hand of the first invention of the present application will be described with reference to FIGS. 1 to 5.
この荷物抱え込みハンドＨほ、第１図〜第４図に示すよ
うに、支持枠１に水平かつ平行な二本のガイド部材２．
２が設けられ、このガイド部材２．２に二側のスライド
部材３，３が案内され、該二個のスライド部材３，３が
エアーシリンダ装置４とこれを駆動源に揺動する平行リ
ンク機構５とからなる開閉装置によって接近−離隔され
るようになっており、もって、該二個のスライド部材３
．３に設けられた一対の熊手形の抱え込み爪６．６が水
平方向に開閉するようになっている。As shown in FIGS. 1 to 4, this baggage holding hand H consists of two guide members 2 that are horizontal and parallel to the support frame 1.
2 is provided, and slide members 3, 3 on the two sides are guided by the guide member 2.2, and the two slide members 3, 3 are connected to an air cylinder device 4 and a parallel link mechanism that swings this using a drive source. 5, the two slide members 3
．． A pair of rake-shaped holding claws 6.6 provided at 3 are adapted to open and close in the horizontal direction.
そして、該荷物抱え込みハンドＨを、例えば、第５図に
示すように、パレタイズ用ロポッ）Ｈに取付けて、ロー
ラーコンベアＣの上の袋物Ｗを両側から抱え込み、掬い
上げ把持できる構成である。For example, as shown in FIG. 5, the baggage holding hand H is attached to a palletizing robot H, so that the baggage W on the roller conveyor C can be scooped up and grasped from both sides.
第１図〜第３図に示すように、上記支持枠１ほ、矩形原
板に左右に矩形開放部を穿って中央連絡部を残した「日
」の字形の基板１１の上面に、四本の脚１３，１３．・
φを立て、その上端に小矩形のフヂーンジ１４が張設さ
れ、四本のハスガイ１５，１５．−・がフランジ１４の
四隅と基板１１の四隅を結んで補強しているトラス構造
となっている。また、上記ガイド部材２，２ほ、基板１
１の両端に平行する二本のシャフトであり、基板１１の
下面に設けられており左右を連結板１２で連結補強され
たハウジング１５．１５．・・・によって両端及び中程
を支持されている。対向する上記スライド部材３，３ほ
、上記ガイド部材２．２の一本毎に二個の円筒ピース３
１．３１．−−を嵌合して、同側の円筒ピース３１，３
１同士を連結部材３２で連結固定して実質的にガイド部
材２，２の案内方向に水平かつ直交する方向に長尺であ
り、接近・離隔自在である。そして、上記平行リンク機
構５ほ、中央リンク５１の中央部が基板１１の中央部に
ビン１６で枢着され、中央リンク５Ｌの両端に同じ長さ
の端リンク５２．５２が枢着され、端リンク５２．５２
が中央リンク５１の両側に互いに逆向きに平行するよう
に配され、各端リンク５２の他端が同側のスライド部材
３の連結部材３２の上面略中程に枢着されてなる。上記
エアーシリンダ装置４ほ、シリンダ基部を基板１１の上
面に設けられたブラケット１７に枢着され、かつ、ピス
トンロッド外端４１を上記平行リンク機構５の中央リン
ク５１の端寄りに枢着されている。しかして、エアーシ
リンダ装置４を、第３図に示すように引退作動させるこ
とにより上記一対のスライド部材３．３を互いに接近さ
せ、また、第４図に示すように伸張作動させることによ
り互いに離隔させられるようになっている。上記抱え込
み爪６，６ほ、それぞれスライド部材３，３より垂下し
て設けられガイド部材？、２の案内方向に対して水平か
つ直交する方向に並ぶ複数の爪単体θ１ａ〜８１ｅ。As shown in FIGS. 1 to 3, the support frame 1 has four holes on the top surface of the "Japanese"-shaped board 11, which is formed by punching rectangular openings on the left and right sides of a rectangular original plate and leaving a central connecting part. Legs 13, 13.・
φ is erected, a small rectangular fin 14 is stretched on the upper end thereof, and four helicoids 15, 15. -. has a truss structure in which the four corners of the flange 14 and the four corners of the board 11 are connected and reinforced. Further, the guide members 2, 2, the substrate 1
1, which are two shafts parallel to each other at both ends of the housing 15.15. ... is supported at both ends and in the middle. The opposing slide members 3, 3 have two cylindrical pieces 3 for each guide member 2.2.
1.31. -- by fitting the cylindrical pieces 31 and 3 on the same side.
1 are connected and fixed to each other by a connecting member 32, and are substantially elongated in a direction horizontal and orthogonal to the guiding direction of the guide members 2, 2, and can be moved toward and away from each other. In the parallel link mechanism 5, the central part of the central link 51 is pivotally connected to the central part of the board 11 with a pin 16, and end links 52 and 52 of the same length are pivotally connected to both ends of the central link 5L. Link 52.52
are arranged parallel to each other in opposite directions on both sides of the central link 51, and the other end of each end link 52 is pivoted to approximately the middle of the upper surface of the connecting member 32 of the slide member 3 on the same side. The air cylinder device 4 has a cylinder base pivoted to a bracket 17 provided on the upper surface of the base plate 11, and a piston rod outer end 41 pivoted to an end of the center link 51 of the parallel link mechanism 5. There is. By retracting the air cylinder device 4 as shown in FIG. 3, the pair of slide members 3.3 are brought closer to each other, and by extending the air cylinder device 4 as shown in FIG. 4, they are separated from each other. It is now possible to do so. The above-mentioned holding claws 6, 6 are provided to hang down from the slide members 3, 3, respectively, and are guide members. , a plurality of single claws θ1a to 81e lined up in a direction horizontal and perpendicular to the guiding direction of .
８２ａ〜６２ｅよりなる縦断面がＬ形な熊手形であリ、
爪先端を互いに対向している。該爪単体ほ、垂直部の８
３とその下端より一体に緩傾斜下降して伸びる水平部６
４とからなる爪板を基本的に備えており、さらに、バネ
６５により他方の抱え込み爪６の方向に付勢された水平
ロッド８Ｂを垂直部６３の中途に有し、かつ水平ロッド
６６の先端に挟持片Ｂ７を有し、また、水平部６４の先
端寄りに荷物が乗降りする方向に案内するコロ８８を有
している。The vertical section consisting of 82a to 62e is L-shaped and rake-shaped.
The tips of the claws are opposite each other. 8 of the vertical part of the claw itself
3 and a horizontal portion 6 extending downward from the lower end of the horizontal portion at a gentle slope.
4, and furthermore, it has a horizontal rod 8B in the middle of the vertical portion 63, which is biased by a spring 65 in the direction of the other holding claw 6, and the tip of the horizontal rod 66. It has a clamping piece B7 at the top thereof, and also has a roller 88 near the tip of the horizontal part 64 that guides the load in the direction in which the load gets on and off.
次に、上記の実施例の荷物抱え込みハンドＨの作動を説
明する。Next, the operation of the baggage holding hand H of the above embodiment will be explained.
今仮に、ローラーコンベアＣにより、パレタイズ位置ま
で移送されてきて停止しているものとする。Assume now that the roller conveyor C has transported the material to the palletizing position and has stopped.
先ず、エアーシリンダ装置４が第４図に示すように伸張
作動すると、一対のスライド部材３，３が互いに離隔さ
れ、一対の抱え込み爪６，６が第１図において鎖線６”
、６’に示す「開１の状態に位置する。この状態で、パ
レタイズ用ロポッ）Ｒほ、荷物抱え込みハンドＨをコン
ベア上の袋物の真上に位置させてから下降し、袋物に被
せることになる。この場合、抱え込み爪６，６の水平部
６４の上面が袋物下面よりも下にくるまで下降させるも
ので、一対の抱え込み爪６，６ほ、熊手形であるので、
ローラーコンベアＣのローラー間に入ることができる。First, when the air cylinder device 4 is extended as shown in FIG. 4, the pair of slide members 3, 3 are separated from each other, and the pair of holding claws 6, 6 are moved along the chain line 6'' in FIG.
, 6' is located in the open 1 state. In this state, the palletizing robot R) positions the baggage holding hand H directly above the baggage on the conveyor and then lowers it to cover the baggage. In this case, the holding claws 6, 6 are lowered until the upper surface of the horizontal portion 64 is below the bottom surface of the bag, and since the pair of holding claws 6, 6 are rake-shaped,
It can fit between the rollers of roller conveyor C.
なお、爪板の水平部８４に備えたコロ６８ほ、袋物の下
側に水平部８４が入るための空間を十分大きくとること
ができない場合において、荷物が乗るように案内する０
次に、エアーシリンダ装置４が第３図に示すように引退
作動すると、一対のスライド部材３，３が互いに接近さ
せられ、一対の抱え込み爪６，６が第１図において実線
で示す「閉ｊの状態になり、一対の挟持片６７゜８７が
袋物が動かないように両側より押え、かつ、抱え込み爪
６，６が袋物を両側から抱え込む状態になる。そして、
パレタイズ用ロポッ）Ｒが１送ｐｔを行うために、荷物
抱え込みハンドＨを上昇させると、一対の爪板である水
平部８４がローラーコンベアＣに載っている袋物を掬い
上げることができる。続いて、パレタイズ用ロボットＲ
が搬送を行う、このとき、一対の挟持片８７．８７ほ、
水平部ｅｔ、ｅｔ上の袋物を動かないように両側より押
えているので、高速搬送でもズしたすしない０袋物を所
定の位置に搬送したら、載置面または既に横丁した袋物
の上に、該袋物が軽く付くようになるまで、該荷物抱え
込みハンドＨを下降させ、しかる後、一対の抱え込み爪
６．６をｒ開１の状態にすれば、各爪板の水平部Ｂ４に
備えたコロ６８で袋物〜を爪板に乗降りする方向に案内
するようになっているので、袋物を移送位置から少しも
ずらすことなく爪板である水平部Ｂ４が袋物の下面から
離れ、該袋物の把持を開放し載置できる。従って、荷崩
れが起き難い正確な多段積みができる。Note that the rollers 68 provided on the horizontal portion 84 of the claw plate are used to guide the baggage onto the bag when it is not possible to provide a sufficiently large space for the horizontal portion 84 to fit under the bag.
Next, when the air cylinder device 4 is operated to retire as shown in FIG. In this state, the pair of clamping pieces 67 and 87 hold the bag from both sides so that it does not move, and the holding claws 6 and 6 hold the bag from both sides.Then,
When the palletizing robot R raises the baggage holding hand H to perform one feed, the horizontal portion 84, which is a pair of claw plates, can scoop up the bags placed on the roller conveyor C. Next, palletizing robot R
carries out the conveyance, at this time, the pair of clamping pieces 87, 87,
Since the bags on the horizontal parts et and et are held down from both sides so that they do not move, they do not slip even during high-speed conveyance. After conveying the bags to the designated position, place them on the loading surface or on top of the bags that have already been horizontally stacked. Lower the baggage holding hand H until the baggage lightly sticks to it, and then set the pair of holding claws 6.6 to the r-open position 1, and the rollers 68 provided on the horizontal portion B4 of each claw plate Since the bag is guided in the direction of getting on and off the bag by the claw plate, the horizontal portion B4, which is the claw plate, is separated from the bottom surface of the bag without shifting the bag from the transfer position, and the bag is no longer gripped. It can be opened and placed. Therefore, accurate multi-level stacking is possible without causing cargo collapse.
く第二発明の実施例〉
本願の第二発明の荷物抱え込みハンドの実施例を第６図
及び第７図を参照して説明する。Embodiment of the second invention> An embodiment of the baggage holding hand of the second invention of the present application will be described with reference to FIGS. 6 and 7.
この荷物抱え込みハンドＨほ、支持枠ｌに水平かつ平行
な二本のガイド部材２，２が設けられ、このガイド部材
２，２に四個のスライド部材３ａ。This baggage holding hand H is provided with two horizontal and parallel guide members 2, 2 on the support frame 1, and four slide members 3a are attached to the guide members 2, 2.
３ｂ、３ｃ、３ｄが案内され、外側の二個のスライド部
材３ａ、３ｄがエアーシリンダ装置４とこれを駆動源に
揺動する平行リンク機構５とからなる第一開閉装置によ
って接近・離隔されるようになっており、もって、外側
の二個のスライド部材３ａ。3b, 3c, and 3d are guided, and the two outer slide members 3a, 3d are approached and separated by a first opening/closing device consisting of an air cylinder device 4 and a parallel link mechanism 5 that swings using this as a drive source. Thus, the two outer slide members 3a.
３ｄに設けられた一対のＬ形な熊手形である抱え込み爪
６，６が水平方向に開閉するようになっているとともに
、内側の二個のスライド部材３ｂ。A pair of L-shaped rake-shaped holding claws 6, 6 provided at 3d are adapted to open and close in the horizontal direction, and two inner slide members 3b.
３ｃ、が二個のエアーシリンダ装置７，７からなる第二
開閉装置によって接近・離隔されるようになっており、
もって、内側の二個のスライド部材３ｂ、３ｃに設けら
れた一対の挟持爪８，８が上記荷物抱え込み爪６，６の
抱え込みに先行して荷物を挟持するようになっている。3c, are approached and separated by a second opening/closing device consisting of two air cylinder devices 7, 7,
As a result, the pair of clamping claws 8, 8 provided on the two inner slide members 3b, 3c are configured to clamp the cargo prior to the cargo holding claws 6, 6 holding the cargo.
上記抱え込み爪６の水平部８４は二股状に形成され、該
水平部６４の二股スリット８８に上記挟持爪８が干渉し
ないように入り込むようになっている。The horizontal portion 84 of the holding claw 6 is formed into a bifurcated shape, and the holding claw 8 enters into the bifurcated slit 88 of the horizontal portion 64 without interfering with it.
挟持爪８の下端８１ほ、袋物を破らないようにするため
に外側に曲がっている。The lower end 81 of the gripping claw 8 is bent outward to prevent the bag from being torn.
その他の構成ほ、上記第一発明の荷物抱え込みハンドの
実施例の場合と全く同一であるので、同一符号を付して
説明は省略する。なお、水平部８４には上記のコロが設
けられていない。The other configurations are completely the same as those of the embodiment of the baggage holding hand of the first invention, so the same reference numerals are given and the explanation will be omitted. Note that the horizontal portion 84 is not provided with the rollers described above.
次に、上記の実施例の荷物抱え込みハンドの作動を説明
する。Next, the operation of the baggage holding hand of the above embodiment will be explained.
先ず、一対の抱え込み爪６．６及び一対の挟持爪８，８
が、それぞれ第６図において鎖！！［６’。First, a pair of holding claws 6.6 and a pair of clamping claws 8,8
However, in Figure 6, each chain! ! [6'.
６’、８’、８’に示すｒ開」の状態に位置する。この
状態で、パレタイズ用ロポッ）Ｒが、荷物抱え込みハン
ドＨを、袋物の真上に位置させてから、抱え込み爪６，
６の水平部６４．上面が袋物下面よりも下にくるまで下
降して袋物に被せると、一対の抱え込み爪６，６及び一
対の挟持爪８，８ほ、爪のピッチが略一致した熊手形で
あるので、図示しないローラー間またはスリットを有す
る蔵置板の該スリットに入ることができる０次に、二個
のエアーシリンダ装置７，７が同期引退して内側の二個
のスライド部材３．３を互いに接近させると、一対の挟
持爪８，８ほ、第６図において実線で示す「閉Ｊの状態
になり、一対の挟持爪８，８が袋物を動かないように両
側より挟持するごとになる。続いて、エアーシリンダ装
置４が引退して一対のスライド部材３．３を互いに接近
させると、一対の抱え込み爪６，６ほ、第６図において
実線で示す「閉」の状態になり１袋物を両側から抱え込
む状態になる。そして、パレタイズ用ロボットＲが荷物
抱え込みハンドＨを上昇させると、一対の抱え込み爪６
．６の水平部８４が図示しない上記のコンベアに載って
いる袋物を掬い上げることができる。すると、パレタイ
ズ用ロポッｊＲが搬送を行う。このとき、一対の挟持爪
８，８ほ、爪板である水平部８４．８４上の袋物を動か
ないように両側より押えているので、高速搬送でもズし
たりしない０袋物を所定の位置に移送したら、蔵置面ま
たは既に積下した袋物の上に、該袋物が若干浮いた状態
になるか、軽く付く状態になるまで、該荷物抱え込みハ
ンドＨを下降させることになる。しかる後、エアーシリ
ンダ装置４が伸張して一対の抱え込み爪６，６を「開ｊ
の状態にする。しかし、該袋物がなお一対の挟持爪８，
８によって把持されるから３、一対の抱え込み爪６，６
が袋物を移送位置から少しもずらすことなく袋物の下面
から離れ、一対の挟持爪８，８によって把持されたまま
の該袋物はすベリ落て上記の載置面または既に積下した
袋物の上に乗ることになる。しかる後に、二個のエアー
シリンダ装置７，７が同期伸張して一対の挟持爪８，８
が開放する。従って、菌属れが起き難い正確な多段積み
ができる。6', 8', and 8' are in the open state. In this state, the palletizing robot) R positions the baggage holding hand H directly above the baggage, and then the holding claw 6,
6 horizontal part 64. When the bag is lowered until the top surface is below the bottom surface of the bag and placed over the bag, the pair of holding claws 6, 6 and the pair of clamping claws 8, 8 are rake-shaped with substantially the same pitch, so they are not shown. Then, when the two air cylinder devices 7, 7 are synchronously retired and the two inner slide members 3.3 are brought closer to each other, The pair of clamping claws 8, 8 enter the "closed state" shown by the solid line in FIG. 6, and the pair of clamping claws 8, 8 clamp the bag from both sides to prevent it from moving. When the cylinder device 4 is retracted and the pair of slide members 3.3 are brought close to each other, the pair of holding claws 6, 6 are in the "closed" state shown by the solid line in FIG. 6, and a state in which one bag is held from both sides. become. Then, when the palletizing robot R raises the cargo holding hand H, the pair of holding claws 6
．． The horizontal portion 84 of No. 6 can scoop up bags placed on the above-mentioned conveyor (not shown). Then, the palletizing robot jR carries out the conveyance. At this time, the pair of clamping claws 8, 8 hold the bag on both sides of the horizontal part 84, which is the claw plate, so that it does not move, so that the bag is held in a predetermined position so that it will not slip even during high-speed conveyance. After the baggage is transferred, the baggage holding hand H is lowered until the baggage is slightly floating or lightly attached to the storage surface or the baggage that has already been unloaded. After that, the air cylinder device 4 is extended to open the pair of holding claws 6, 6.
state. However, the bag still has a pair of clamping claws 8,
Because it is gripped by 8, 3, a pair of holding claws 6, 6
The bag leaves the bottom surface of the bag without shifting it from the transfer position, and the bag, which is still being held by the pair of gripping claws 8, falls completely onto the above-mentioned mounting surface or onto the bag that has already been loaded. I will be riding on. After that, the two air cylinder devices 7, 7 are expanded synchronously to release the pair of clamping claws 8, 8.
opens. Therefore, accurate multi-tiered stacking is possible with less chance of bacterial contamination.
く第一、第二発明の変形実施例〉
）□
■ 支持枠ｌに水平に設けられたガイド部材２゜２は一
本でも良く、またシャフトではなくレールでも良い。Modified embodiments of the first and second inventions) □ ■ The guide member 2゜2 provided horizontally on the support frame 1 may be one piece, or may be a rail instead of a shaft.
■ 二個のスライド部材３，３を接近・離隔させる開閉
装置ほ、実施例のシリンダ装置の数に限定されるもので
はない、また、ピニオン−ラック式、ポールネジとボー
ルナツト式、マグネットプッシャ一式などいかなるもの
でも良い。■ The opening/closing device for bringing the two slide members 3, 3 closer to each other and separating them is not limited to the number of cylinder devices in the embodiment, and may be of any type, such as a pinion-rack type, a pole screw and ball nut type, or a magnetic pusher set. Anything is fine.
■ 一対の抱え込み爪６，６ほ、水平部６４が垂直部−
６３から緩傾斜下降して伸びておらず、水平であっても
良い、また、少くとも垂直部、ｄ８３中途から水平部６
４一部分が、ガイド部材２．２の案内力ｌ８１１デー４
ｆ盃売り力六十又士商じ鴬１ズ鷹酪而−ｈ＜ Ｔ竪か熊
手形であれば良い。■ A pair of holding claws 6, 6, the horizontal part 64 is the vertical part -
It may be a gentle downward slope from 63, not extending, and may be horizontal, or at least a vertical part, from the middle of d83 to a horizontal part 6
4 part is the guiding force l811 of the guide member 2.2
f Sake selling force 60-pointed military officer ji tsumugi 1 zu hawk milk - h< T Vertical or rake shape is fine.
さらに、抱え込み爪６，６ほ、複数のＬ形な爪単体を並
べて熊手形に形成するものに限定されるものでなく、一
枚板から形成されたものでも゛良い、すなわち、上記の
実施例で、爪単体と爪単体の間は実質的にスリットと考
えることができ、従って、これに対応する複数の互いに
平行するスリットを平板に一辺より設けて、該スリット
の入った平板をスリットの中程よりスリットの直交する
方向に折曲げてなるＬ形な分岐形状でも良い。しかして
、抱え込み爪６ほ、水平部の先端から基端方向に向って
おりさらに少くとも垂直部の中途まで伸びている互いに
平行する複数のスリットが入っている分岐形状であれば
良い、なお、爪単体のピッチ及び幅ほ、ローラーコンベ
アのローラーのピッチ及びローラー間の隙間に相対的な
大きさである。Further, the holding claws 6, 6 are not limited to those formed by arranging a plurality of single L-shaped claws to form a rake shape, but may be formed from a single plate, that is, the above embodiments. Therefore, a plurality of corresponding slits parallel to each other are provided on one side of a flat plate, and the flat plate with the slits is inserted into the slit. An L-shaped branched shape formed by bending in a direction perpendicular to the slit may also be used. The holding claw 6 may have a branched shape including a plurality of mutually parallel slits extending from the distal end of the horizontal part toward the proximal end and further extending to at least the middle of the vertical part. The pitch and width of each claw are relative to the pitch of the rollers of the roller conveyor and the gap between the rollers.
■ 第二発明の抱え込み爪６，６の水平部６４は二股状
でなく、挟持爪８，８とすれ違うようになっていても良
い。(2) The horizontal portions 64 of the holding claws 6, 6 of the second invention are not bifurcated, and may be designed to cross each other with the holding claws 8, 8.
■ 第二発明の一対の挟持爪８．８ほ、少くとも垂直部
６３の中途から下端までの部分が、ガイド部材２．２の
案内方向に水平かつ直交する方向に並ぶものであれば良
い。(2) The pair of gripping claws 8.8 of the second invention may be such that at least a portion from the middle of the vertical portion 63 to the lower end is aligned horizontally and orthogonally to the guiding direction of the guide member 2.2.
〈発明の効果〉
以上説明してきたように、本願の第一発明の荷物抱え込
みハンドほ、
支持枠に支持されて水平なガイド部材に案内される一対
のスライド部材に、一対の熊手形の抱え込み爪が対向し
て設けられ、開閉装置で一対のスライド部材を接近・離
隔するごとにより爪を開閉させる構成なので、ローラー
コンベア、または数条の無端ベルトを間隔を開けて並列
させたベルトコンベアで移送させるようにすれば、
粉粒体や液体であり、中味重量が大きい袋物であっても
、両側から抱え込み掬い上げるよう←把持でき、コンベ
ア上から袋物を掴み取りしたり、反対にコンベア上に袋
物を載置するのに適するという効果がある。<Effects of the Invention> As explained above, the baggage holding hand of the first invention of the present application has a pair of rake-shaped holding claws on a pair of slide members supported by a support frame and guided by a horizontal guide member. are provided facing each other, and the opening/closing device opens and closes the claws each time a pair of slide members approaches or separates, so the conveyor is transported using a roller conveyor or a belt conveyor with several endless belts arranged in parallel at intervals. If you do this, even if the bag is powder, granule, or liquid, and its contents are heavy, you can grasp it from both sides and scoop it up. It has the effect of being suitable for placing.
また、抱え込み爪が、垂直部の中途にバネにより他方の
抱え込み爪方向に付勢された水平ロッドを垂直部の中途
に有し、かつ該水平ロッドの先端に荷物挟持片を有して
なる実施態様の場合にほ、一対の挟持片が袋物を動かな
いように両側より押えるので、高速搬送でもズしたすせ
ず正確な荷積みができ、従って多段積みしても荷崩れが
起き難く、荷積みの高速化が実現できるという加重的効
果がある。In addition, the holding claw has a horizontal rod in the middle of the vertical portion that is biased toward the other holding claw by a spring, and a cargo gripping piece is provided at the tip of the horizontal rod. In this case, a pair of clamping pieces hold the bag from both sides to prevent it from moving, so it is possible to load the bag accurately without dropping even during high-speed conveyance, and it is difficult for the bag to collapse even when stacked in multiple stages. This has the additional effect of increasing the speed of loading.
また１本願の第二発明の荷物抱え込みハンドほ、
支持枠に支持されて水平なガイド部材に案内される外側
の二個のスライド部材に、一対の熊手形の抱え込み爪が
対向して設けられ、第一開閉装置で一対のスライド部材
を接近Φ離隔することにより爪を開閉させるとともに、
ガイド部材に案内される内側の二個のスライド部材に、
一対の垂直な挟持爪が対向して設けられ、第二開閉装置
で内側の二個のスライド部材を接近・離隔することによ
り該一対の挟持爪を開閉させる構成なので、ローラーコ
ンベア、または数条の無端ベルトを間隔を開けて並列さ
せたベルトコンベアで移送させるようにすれば、
粉粒体や液体であり、中味重量が大きい袋物であっ゛て
も、両側から抱え込み掬い上げるように把持でき、コン
ベア上から袋物を掴み取りしたり。Further, in the baggage holding hand of the second invention of the present application, a pair of rake-shaped holding claws are provided facing each other on two outer slide members supported by a support frame and guided by a horizontal guide member, The first opening/closing device opens and closes the claws by moving the pair of sliding members closer to each other and separating them by Φ, and
On the two inner slide members guided by the guide member,
A pair of vertical clamping claws are provided facing each other, and the pair of clamping claws are opened and closed by approaching and separating two inner slide members using a second opening/closing device. By transporting endless belts on a belt conveyor arranged in parallel at intervals, even bags with large contents such as powder or liquid can be grasped from both sides and scooped up by the conveyor. Grab bags from above.
反対にコンベア上に袋物を載置するのに適し、特に、一
対の挟持爪が袋物を動かないように両側よ−り押えるの
で、高速搬送でもズしたすせず正確な荷積みができ、従
って多段積みしても荷崩れが起き難く、荷積みの高速化
が実現できるという効果がある。On the other hand, it is suitable for placing bags on a conveyor, and in particular, the pair of clamping claws presses the bags from both sides to prevent them from moving, allowing for accurate loading without dropping even during high-speed conveyance. Even when stacked in multiple stages, the cargo does not easily collapse and has the effect of increasing loading speed.
第１図〜第５図ほ、本願の第一発明の荷物抱え込みハン
ドの実施例に係り、第１図は正面図、第２図は側面図、
第３図及び第４図はそれぞれ異なる状態の平面図、第５
図ほ、パレタイズ用ロボットに荷物抱え込みハンドを取
付けて袋物をパレタイズする状態の正面図である。
第６図及び第７図ほ、本願の第二発明の荷物抱え込みハ
ンドの実施例に係る正面図及び側面図である。
Ｈ・・争荷物抱え込みハンド、
２．２・・・ガイド部材、
３．３．・・スライド部材、
４・・・エアーシリンダ装置、
５−拳・平行リンク機構、
６．６・・・抱え込み爪、
Ｂ３・魯・垂直部、
６４・φ・水平部、
８５・・拳バネ、
８８・１１会水平ロツド、
８？−−・挟持片、
７．７・・命エアーシリンタ装置、
８．８・・・挟持爪、
特許出願人 大日機工株式会社
第２図
第５図1 to 5 relate to an embodiment of the baggage holding hand of the first invention of the present application, FIG. 1 is a front view, FIG. 2 is a side view,
Figures 3 and 4 are plan views in different states, respectively.
The figure is a front view of a palletizing robot in which a baggage holding hand is attached to palletize bags. FIGS. 6 and 7 are a front view and a side view of an embodiment of the baggage holding hand according to the second invention of the present application. H... Hand for carrying cargo, 2.2... Guide member, 3.3. ...Slide member, 4.Air cylinder device, 5.Fist/parallel link mechanism, 6.6.Holding claw, B3.Long.Vertical part, 64.φ.Horizontal part, 85..Fist spring. 88/11 meeting horizontal rod, 8? --- Clipping piece, 7.7... Life air cylinder device, 8.8... Gripping claw, Patent applicant Dainichi Kiko Co., Ltd. Figure 2 Figure 5
Claims (3)
に水平に設けられた一本または平行な複数本のガイド部
材と、 該ガイド部材に支持され案内されるように設けられた二
個のスライド部材と、 上記支持枠に取付けられ該二個のスライド部材を接近・
離隔させる開閉装置と、 上記各スライド部材に垂直部の上端が固定され該垂直部
の下端より水平部が他方のスライド部材方向に水平ない
し緩傾斜下降するように伸びている一対の抱え込み爪と
からなり、 上記各スライド部材ほ、ガイド部材の案内方向に水平か
つ直交する方向に長尺であり、 上記各抱え込み爪は、水平部の先端から基端方向に向っ
ておりさらに少くとも垂直部の中途まで伸びている互い
に平行する複数のスリットが入っている分岐形状である
ことを特徴とする荷物抱え込みハンド。(1) A support frame attached to the cargo handling equipment, one or more parallel guide members installed horizontally on the support frame, and two guide members installed to be supported and guided by the guide members. a slide member attached to the support frame, and the two slide members are brought close together.
an opening/closing device for separating the slide members; and a pair of holding claws, the upper ends of the vertical parts of which are fixed to each of the slide members, and the horizontal parts of which extend downward from the lower ends of the vertical parts horizontally or with a gentle slope in the direction of the other slide member. Each of the slide members is elongated in a direction horizontal and perpendicular to the guiding direction of the guide member, and each of the holding claws is oriented from the distal end of the horizontal portion toward the proximal end, and further extends at least midway through the vertical portion. A baggage holding hand characterized by a branched shape with a plurality of mutually parallel slits extending up to
爪方向に付勢された水平ロッドを垂直部の中途に有し、
かつ該水平ロッドの先端に荷物挟持片を有している特許
請求の範囲第１項記載の荷物抱え込みハンド。(2) Each of the holding claws has a horizontal rod in the middle of the vertical portion, which is biased by a spring in the direction of the other holding claw;
The baggage holding hand according to claim 1, further comprising a baggage holding piece at the tip of the horizontal rod.
に水平に設けられた一本または平行な複数本のガイド部
材と、 該ガイド部材に支持され案内されるように設けられたガ
イド部材の案内方向に並ぶ四個のスライド部材と、 上記支持枠に取付けられ外側の二個のスライド部材を内
側の二個のスライド部材と干渉しないように接近・離隔
させる第一開閉装置と、 上記外側の二個のスライド部材に垂直部の上端が固定さ
れ該垂直部の下端より水平部が他方のスライド部材方向
に水平ないし緩傾斜し、かつ上記挟持爪と干渉しないよ
うに伸びている一対の抱え込み爪と、 上記支持枠に取付けられ内側の二個のスライド部材を接
近・離隔させる第二開閉装置と、 上記内側の二個のスライド部材に上端が固定されて垂下
しており荷物を挟持する一対の挟持爪とからなり、 上記各スライド部材は、ガイド部材の案内方向に水平か
つ直交する方向に長尺であり、 上記各抱え込み爪は、水平部の先端から基端方向に向っ
ておりさらに少くとも垂直部の中途まで伸びている互い
に平行する複数のスリットが入っている分岐形状であり
、 上記各挟持爪は、少くとも垂直部の中途から下端までの
部分が、ガイド部材の案内方向に水平かつ直交する方向
に並んでいることを特徴とする荷物抱え込みハンド。(3) A support frame attached to the cargo handling equipment, one or a plurality of parallel guide members provided horizontally on the support frame, and a guide member provided to be supported and guided by the guide member. four slide members lined up in the guiding direction; a first opening/closing device that is attached to the support frame and causes the two outer slide members to approach and separate from each other so as not to interfere with the two inner slide members; a pair of grippers, the upper ends of the vertical parts being fixed to the two sliding members, the horizontal parts being horizontal or gently inclined from the lower ends of the vertical parts in the direction of the other sliding member, and extending so as not to interfere with the gripping claws; a second opening/closing device that is attached to the support frame and that brings the two inner slide members closer together and separates them; and a pair that hangs down with its upper ends fixed to the two inner slide members that clamp the cargo. each of the above-mentioned slide members is elongated in a direction horizontal and orthogonal to the guiding direction of the guide member, and each of the above-mentioned holding claws is directed from the distal end of the horizontal portion toward the proximal end, and has a further small number of holding claws. Both of them have a branched shape with a plurality of mutually parallel slits extending halfway up the vertical part, and each of the gripping claws has at least a portion from the middle of the vertical part to the lower end that is horizontal in the guiding direction of the guide member. A baggage holding hand characterized by being lined up in orthogonal directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60103159A JPH0674095B2 (en) | 1985-05-15 | 1985-05-15 | Hand luggage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60103159A JPH0674095B2 (en) | 1985-05-15 | 1985-05-15 | Hand luggage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61263524A true JPS61263524A (en) | 1986-11-21 |
| JPH0674095B2 JPH0674095B2 (en) | 1994-09-21 |
Family
ID=14346723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60103159A Expired - Lifetime JPH0674095B2 (en) | 1985-05-15 | 1985-05-15 | Hand luggage |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0674095B2 (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02274487A (en) * | 1989-04-14 | 1990-11-08 | Yaskawa Electric Mfg Co Ltd | Work holding device |
| US5199845A (en) * | 1990-04-19 | 1993-04-06 | Nitto Kohki Co., Ltd. | Article handling machine |
| JP2012166886A (en) * | 2011-02-14 | 2012-09-06 | Rengo Co Ltd | Fork member for article stacking-up device, and the article stacking-up device |
| JP2013136107A (en) * | 2011-12-28 | 2013-07-11 | Seiko Epson Corp | Robot hand, robot and method for controlling robot hand |
| JP2013158888A (en) * | 2012-02-07 | 2013-08-19 | Seiko Epson Corp | Robot hand, robot, and robot hand controlling method |
| CN103448067A (en) * | 2012-06-04 | 2013-12-18 | 盐城市昱博自动化设备有限公司 | Manipulator clamp device used for motor stator assembly |
| CN104803203A (en) * | 2015-04-24 | 2015-07-29 | 广西壮族自治区农业机械研究院 | Vacuum suction-lift unstacking mechanism of soft bagged package |
| CN105252542A (en) * | 2015-10-30 | 2016-01-20 | 无锡大东机械制造有限公司 | Double-position adjustable robot palletizer clamp |
| CN106946048A (en) * | 2017-05-15 | 2017-07-14 | 金银河 | A kind of pneumatic stacking twin tong applied to robot |
| CN108584674A (en) * | 2018-07-03 | 2018-09-28 | 山东劳动职业技术学院（山东劳动技师学院） | A kind of clamping device of turnover box |
| CN109650045A (en) * | 2019-01-07 | 2019-04-19 | 佛山市杰邦自动化科技有限公司 | A kind of single armed handgrip for carloader |
| IT202000018121A1 (en) * | 2020-07-27 | 2022-01-27 | A C M I Spa | BRANCHING HEAD FOR TRANSPORT AND PRODUCT HANDLING SYSTEMS |
| EP4035849A1 (en) * | 2021-01-29 | 2022-08-03 | Marel A/S | Gripper |
| CN114955529A (en) * | 2022-07-01 | 2022-08-30 | 杭州国领科技有限公司 | Efficient stacking robot clamp |
| EP4098411A1 (en) * | 2021-06-04 | 2022-12-07 | Marel A/S | A gripper and a method of using a robot with the gripper |
| WO2023091723A1 (en) * | 2021-11-19 | 2023-05-25 | Idaho Forest Group, LLC | Lumber grabber for automated crane, method and computer readable medium |
| CN116374613A (en) * | 2023-06-07 | 2023-07-04 | 西安万珍农业科技有限公司 | Fodder package pile up neatly device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS517674A (en) * | 1974-07-12 | 1976-01-22 | Hitachi Ltd | FUING AASOCHI |
| JPS59190116A (en) * | 1983-04-11 | 1984-10-27 | Okura Yusoki Co Ltd | Pallet loader |
| JPS6164626A (en) * | 1984-09-06 | 1986-04-03 | Okura Yusoki Co Ltd | Loading device |
-
1985
- 1985-05-15 JP JP60103159A patent/JPH0674095B2/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS517674A (en) * | 1974-07-12 | 1976-01-22 | Hitachi Ltd | FUING AASOCHI |
| JPS59190116A (en) * | 1983-04-11 | 1984-10-27 | Okura Yusoki Co Ltd | Pallet loader |
| JPS6164626A (en) * | 1984-09-06 | 1986-04-03 | Okura Yusoki Co Ltd | Loading device |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02274487A (en) * | 1989-04-14 | 1990-11-08 | Yaskawa Electric Mfg Co Ltd | Work holding device |
| US5199845A (en) * | 1990-04-19 | 1993-04-06 | Nitto Kohki Co., Ltd. | Article handling machine |
| JP2012166886A (en) * | 2011-02-14 | 2012-09-06 | Rengo Co Ltd | Fork member for article stacking-up device, and the article stacking-up device |
| JP2013136107A (en) * | 2011-12-28 | 2013-07-11 | Seiko Epson Corp | Robot hand, robot and method for controlling robot hand |
| JP2013158888A (en) * | 2012-02-07 | 2013-08-19 | Seiko Epson Corp | Robot hand, robot, and robot hand controlling method |
| CN103448067A (en) * | 2012-06-04 | 2013-12-18 | 盐城市昱博自动化设备有限公司 | Manipulator clamp device used for motor stator assembly |
| CN104803203A (en) * | 2015-04-24 | 2015-07-29 | 广西壮族自治区农业机械研究院 | Vacuum suction-lift unstacking mechanism of soft bagged package |
| CN105252542A (en) * | 2015-10-30 | 2016-01-20 | 无锡大东机械制造有限公司 | Double-position adjustable robot palletizer clamp |
| CN106946048A (en) * | 2017-05-15 | 2017-07-14 | 金银河 | A kind of pneumatic stacking twin tong applied to robot |
| CN108584674A (en) * | 2018-07-03 | 2018-09-28 | 山东劳动职业技术学院（山东劳动技师学院） | A kind of clamping device of turnover box |
| CN109650045A (en) * | 2019-01-07 | 2019-04-19 | 佛山市杰邦自动化科技有限公司 | A kind of single armed handgrip for carloader |
| IT202000018121A1 (en) * | 2020-07-27 | 2022-01-27 | A C M I Spa | BRANCHING HEAD FOR TRANSPORT AND PRODUCT HANDLING SYSTEMS |
| EP4035849A1 (en) * | 2021-01-29 | 2022-08-03 | Marel A/S | Gripper |
| EP4098411A1 (en) * | 2021-06-04 | 2022-12-07 | Marel A/S | A gripper and a method of using a robot with the gripper |
| WO2022254030A1 (en) * | 2021-06-04 | 2022-12-08 | Marel A/S | A gripper and a method of using a robot with the gripper |
| WO2023091723A1 (en) * | 2021-11-19 | 2023-05-25 | Idaho Forest Group, LLC | Lumber grabber for automated crane, method and computer readable medium |
| CN114955529A (en) * | 2022-07-01 | 2022-08-30 | 杭州国领科技有限公司 | Efficient stacking robot clamp |
| CN116374613A (en) * | 2023-06-07 | 2023-07-04 | 西安万珍农业科技有限公司 | Fodder package pile up neatly device |
| CN116374613B (en) * | 2023-06-07 | 2023-08-08 | 西安万珍农业科技有限公司 | Fodder package pile up neatly device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0674095B2 (en) | 1994-09-21 |
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