CN210633699U - Rice bag palletizing robot - Google Patents
Rice bag palletizing robot Download PDFInfo
- Publication number
- CN210633699U CN210633699U CN201921212632.9U CN201921212632U CN210633699U CN 210633699 U CN210633699 U CN 210633699U CN 201921212632 U CN201921212632 U CN 201921212632U CN 210633699 U CN210633699 U CN 210633699U
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- rice bag
- arms
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- arm
- rice
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 75
- 235000009566 rice Nutrition 0.000 title claims abstract description 75
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 74
- 239000000758 substrate Substances 0.000 claims description 19
- 230000003014 reinforcing effect Effects 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000006748 scratching Methods 0.000 description 2
- 230000002393 scratching effect Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
本实用新型公开了一种米袋码垛机器人包括底座、连接于底座上的机械臂以及连接于机械臂末端的执行器，所述执行器包括连接于机械臂末端的基板、转动配合于基板上的一对可摆动的夹持摆臂、安装于基板上的用于驱动夹持摆臂摆动的驱动组件，两个所述夹持摆臂的抓取端连接有相对延伸用于支撑于米袋底部的托齿，本实用新型通过类似拖举的方式对米袋形成抓取，该方式便于保持米袋的原状，防止米袋受力形变过大，便于米袋的码垛，通过该结构提米袋高码垛效率，降低米袋码垛劳动强度。
The utility model discloses a rice bag palletizing robot, which comprises a base, a mechanical arm connected to the base, and an actuator connected to the end of the mechanical arm. A pair of swingable clamping swing arms, a drive assembly mounted on the base plate for driving the clamping swing arms to swing, and the grab ends of the two clamping swing arms are connected with oppositely extending for supporting the bottom of the rice bag. Supporting teeth, the utility model grasps the rice bag in a similar way of dragging, which is convenient to keep the original state of the rice bag, prevent the rice bag from being deformed by excessive force, and facilitate the stacking of the rice bag. This structure improves the stacking efficiency of the rice bag. Reduce the labor intensity of rice bag palletizing.
Description
Technical Field
The utility model relates to a machine-building technical field relates to a rice bag pile up neatly machine people.
Background
Rice is one of staple foods for human beings, and has a great demand in daily life. The carrying and stacking of the rice in the packaging process is a common operation form in real life, the stacking mode which is commonly used at present is manual carrying, and as a labor-intensive industry, the rice stacking machine has high labor intensity, low stacking efficiency and certain danger;
therefore, a rice bag stacking robot is needed, stacking efficiency is improved through the robot, and stacking labor intensity is reduced.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a rice bag pile up neatly machine people improves pile up neatly efficiency through this robot, reduces pile up neatly intensity of labour.
The utility model discloses a rice bag pile up neatly machine people, include the base, connect the arm in base and convertible position and connect in the terminal executor of arm, the executor is including connecting in the terminal base plate of arm, rotating fit on the base plate a pair of wobbling centre gripping swing arm, install and be used for driving centre gripping swing arm wobbling drive assembly on the base plate, two centre gripping arm synchronous oscillation of drive assembly drive make its upper end keep away from each other or be close to form and open or the closed state is used for snatching or unclamping the rice bag, centre gripping swing arm middle part rotates and fits in the base plate, centre gripping swing arm end is connected in drive assembly's output as by the drive end, the upper end of centre gripping swing arm is used for snatching the rice bag as snatching the end, two the end that snatchs of centre gripping swing.
Furthermore, the driving assembly comprises a gear which is in rotating fit with the substrate, a driving piece which is arranged on the substrate and used for driving the gear to rotate, two racks which can be connected to the substrate in a sliding mode in the same direction and matched with the clamping swing arms one by one, and a connecting rod which is connected to the racks and the tail ends of the clamping swing arms matched with the racks, the two racks are arranged in parallel and clamped on the outer circle of the gear in a clamping mode and meshed with the gear, the two ends of the connecting rod are in rotating fit with the racks and the driven ends of the clamping swing arms, and the gear rotates to drive the two racks to slide in the opposite direction and drives the two clamping.
Further, the centre gripping swing arm includes a pair of parallel actuating arm and connects in two swing arm terminal connecting axles, two actuating arm middle parts overlap in the axis of rotation and link firmly with the pivot, the pivot is with self axis pivoted mode parallel mount in the base plate, and two actuating arm upper ends are passed through the mounting panel and are connected, be connected with a plurality of support teeth on the mounting panel, it is a plurality of hold in the palm the tooth and arrange the setting along perpendicular to centre gripping swing arm swing direction.
Furthermore, the rack is connected with a hinged shaft parallel to the rotating shaft, and two ends of the connecting rod are sleeved on the rotating shaft and the hinged shaft to form a rotating fit with the two shafts.
Further, hold in palm the tooth including connecting portion and the portion of lifting that connects in the connecting portion upper end and extend to the mounting panel inboard on connecting portion on the mounting panel.
Further, a guide rail is installed on the base plate, and the rack is slidably installed on the guide rail.
Further, the base plate is rotatably connected to the tail end of the mechanical arm and used for adjusting the stacking direction of the rice bags.
Further, be provided with the carousel between arm and the base, but the carousel is connected on the base with horizontal pivoted mode, the arm is connected on the carousel and accessible carousel drives the rotation.
Furthermore, the inner surface of the lifting part is a horizontal plane, and the inner surface of the lifting part, which is close to the free end of the lifting part, is provided with an inclined plane which inclines outwards and extends to the free end of the lifting part.
Furthermore, a reinforcing rib is connected between the connecting part and the lifting part.
The utility model has the advantages that:
the utility model forms grabbing to the rice bag in a manner similar to lifting, which is convenient for keeping the original state of the rice bag, preventing the rice bag from being deformed too much due to stress, facilitating stacking of the rice bag, improving stacking efficiency of the rice bag through the structure and reducing stacking labor intensity of the rice bag;
the utility model discloses a but the swing of two centre gripping swing arms of gear synchronous drive, this drive assembly simple structure, easily spatial arrangement, occupation space is little, and the amplitude of oscillation of two centre gripping swing arms is the same, snatchs effectually.
Drawings
The invention is further described with reference to the following figures and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of a novel side view structure;
FIG. 3 is a schematic diagram of an actuator;
FIG. 4 is a schematic structural diagram of a driving assembly;
FIG. 5 is a partial schematic view of FIG. 1;
FIG. 6 is a partial schematic view of FIG. 2;
Detailed Description
FIG. 1 is a schematic perspective view of the present invention; FIG. 2 is a schematic diagram of a novel side view structure; FIG. 3 is a schematic diagram of an actuator; FIG. 4 is a schematic structural diagram of a driving assembly; FIG. 5 is a partial schematic view of FIG. 1; FIG. 6 is a partial schematic view of FIG. 2;
as shown in the drawings, the rice bag palletizing robot in the embodiment comprises a base 10, a mechanical arm 20 connected to the base and capable of changing the orientation, and an actuator 30 connected to the end of the mechanical arm, the actuator comprises a base plate 31 connected with the tail end of the mechanical arm, a pair of swinging clamping swing arms 32 which are rotatably matched on the base plate, a driving assembly 33 which is arranged on the base plate and is used for driving the swinging of the clamping swing arms, the driving component 33 drives the two clamping arms to synchronously swing to enable the upper ends of the two clamping arms to move away from or close to each other to form an open or closed state for grabbing or releasing the rice bags, the middle part of the clamping swing arm is rotationally matched with the base plate, the tail end of the clamping swing arm is used as a driven end and is connected with the output end of the driving component, the upper end of the clamping swing arm is used for grabbing the rice bag as a grabbing end, and the grabbing ends of the two clamping swing arms are connected with supporting teeth 34 which extend oppositely and are used for supporting the bottom of the rice bag.
The upper end of the clamping swing arm is opposite to the upper end in the figure 3, and when the actuator is arranged at the tail end of the mechanical arm, the upper end of the clamping swing arm is the lower end in the figure 1; the relative extension represents that the supporting teeth on the two clamping arms extend towards the direction close to each other, the conversion direction represents that the mechanical arms form the direction conversion with a plurality of degrees of freedom, the direction conversion is realized by driving the actuator through the mechanical arms, the degree of freedom adjustment which can be formed by the mechanical arms is determined according to the actual use working condition, the mechanical arms can adopt structures such as a spherical coordinate mechanical arm, a joint mechanical arm or a rectangular coordinate mechanical arm, the structural form of the specific mechanical arm is selected according to the required degree of freedom, the mechanical arms in the embodiment are joint mechanical arms, the mechanical arms are composed of a plurality of crank arms 21 which are in rotating fit and hydraulic cylinders 22 which control the rotating included angles of the adjacent crank arms, the included angles of the adjacent crank arms are controlled through the hydraulic cylinders, the direction conversion of the actuator is realized, the rotating included angles of the adjacent crank arms can also be controlled through electric push rods, the, the swinging angle between the crank arm and the turntable is controlled through a crank arm motor 23, and the mechanical arm utilizes the existing mechanical arm, which is not described in detail;
combine shown in fig. 1 and 3, the base plate of executor is connected in the end of arm, through arm drive executor position conversion, drive assembly drive centre gripping swing arm swing, when two centre gripping swing arms keep away from each other, the centre gripping swing arm is the open mode, be close to the rice bag and make the rice bag be located between two centre gripping swing arms through arm drive executor, drive assembly drive centre gripping swing arm is close to each other, wherein drag the tooth to drag to form the snatching to the rice bag in the rice bag bottom, this executor forms the snatching to the rice bag through the mode of dragging and lifting, this mode is convenient for keep the original state of rice bag, prevent that rice bag atress deformation is too big, the pile up neatly of the rice bag of being convenient for, carry the high pile up neatly efficiency of rice bag through this structure.
In this embodiment, the driving assembly 33 includes a gear 331 rotatably engaged with the substrate, a driving member 332 installed on the substrate for driving the gear to rotate, two racks 333 slidably connected to the substrate in the same direction and matched with the clamping swing arms one by one, and a connecting rod 334 connected to the racks and the end of the clamping swing arm matched therewith, the two racks are arranged in parallel and clamped on the outer circle of the gear and engaged with the gear, two ends of the connecting rod are rotatably engaged with the racks and the driven end of the clamping swing arm, the gear rotatably drives the two racks to slide in opposite directions and drives the two clamping arms to swing relatively through the connecting rod to form an open or closed state; referring to fig. 3 and 4, a gear is rotatably mounted on the inner side of a substrate through a gear shaft, wherein the gear shaft is perpendicular to the inner side surface, the driving member is a motor, the driving member is mounted on the outer side of the substrate, an output shaft of the driving member penetrates through the substrate and the gear shaft to form a transmission fit through a coupler, wherein a rack extends in the width direction of the substrate, opposite sides of two racks are tooth surfaces, the two tooth surfaces are clamped on the outer circle of the gear to be meshed with the gear, two clamping swing arms are respectively arranged on two sides in the width direction of the substrate, the clamping swing arms are positioned on the inner side of the substrate and can swing in the width direction of the substrate, wherein the rack, a connecting rod, the clamping swing arms and the substrate form a crank block structure, the gear rotates to drive the two racks to slide in opposite directions, the rack serves, the swing of centre gripping swing arm makes its snatch the end and is close to each other or keep away from and form closed or open mode, and the switching through two states is used for snatching rice bag or unclamp the rice bag, but the swing of two centre gripping swing arms of synchronous drive through a gear, and this drive assembly simple structure easily spatial arrangement, occupation space is little, and the swing range of two centre gripping swing arms is the same, snatchs effectually.
In this embodiment, the clamping swing arm 32 includes a pair of parallel driving arms 321 and a connecting shaft 322 connected to the ends of the two swing arms, the middle portions of the two driving arms are sleeved on the rotating shaft 35 and are fixedly connected to the rotating shaft, the rotating shaft is mounted in parallel on the substrate 31 in a manner of rotating on the central axis thereof, the upper ends of the two driving arms are connected by a mounting plate 36, the mounting plate is connected with a plurality of supporting teeth, and the plurality of supporting teeth are arranged in a direction perpendicular to the swinging direction of the clamping swing arm; referring to fig. 3 and 4, the connecting shaft is a driven end of the clamping swing arm, two ends of the rotating shaft are installed on two bearing seats 37 in a rotating fit manner, the bearing seats are installed on the inner side of the substrate, a bearing is arranged between the rotating shaft and the bearing seats, the driving arms are sleeved on the rotating shaft and fixedly connected with the rotating shaft, the clamping swing arm is of a dual-driving-arm structure, the clamping swing arm passes through the two driving arms, the connecting shaft and the mounting plate form a similar rectangular frame structure, the structure is stable and good in shape, high in structural strength, capable of improving the swing stability of the clamping swing arm and improving the grabbing effect, the mounting plate is detachably connected to the inner side of the upper end of the driving arms through bolts, and installation and arrangement of the mounting plate are easy to drag teeth, wherein;
in this embodiment, the rack is connected with a hinge shaft 335 parallel to the rotation shaft 35, and two ends of the connecting rod 334 are sleeved on the rotation shaft and the hinge shaft to form a rotation fit with the two shafts; but connecting rod endwise slip's cover is on the articulated shaft, for preventing the connecting rod from the articulated shaft free end slippage, radially sets up the pin at the free end of articulated shaft, and through the axial further slip of pin restriction connecting rod along the articulated shaft, the dismantlement of the connecting rod of being convenient for through this structure, the change and the maintenance of easily connecting rod.
In this embodiment, the supporting teeth include a connecting portion 341 connected to the mounting plate 36 and a lifting portion 342 connected to an upper end of the connecting portion and extending toward an inner side of the mounting plate; the upper end of the position is consistent with the upper end in the figure 3, the upper end in the figure 3 is the lower end of the actuator arranged at the tail end of the mechanical arm in the figure 1, the supporting teeth are inserted below the rice bags along with the mutual approaching process of the swing arms, the rice bags are supported by the supporting parts to form grabbing to the rice bags along with the moving process of the mechanical arm, as shown in the figure 3, the connecting parts are connected to the outer side of the mounting plate, interference between the arranged connecting parts and the rice bags can be avoided, the smoothness of the inner side of the mounting plate is ensured, the rice bags are prevented from being damaged, the upper ends of the connecting parts are higher than the upper edge of the mounting plate, the connecting parts are approximately vertical to the supporting parts, the connecting parts and the supporting parts are approximately vertical, the included angle between the connecting parts and the supporting parts is 90 degrees, a certain left-right deviation range is allowed, the specific deviation angle is determined according to the swinging range of the clamping swing arms, after the two clamping swing arms clamp the rice bags, the lifting parts are supported on two sides below the rice bags, and the inclined structure can ensure that the end parts of the lifting parts do not interfere with the rice bags, so that the rice bags are prevented from being punctured by the end parts of the lifting parts.
In this embodiment, the base plate is provided with a guide rail 336, and the rack is slidably mounted on the guide rail 336; combine fig. 6 to show, this guide rail is including the guide part that is the column and connect in the base of guide part bottom, this base is connected in the base plate inboard, the rack bottom has the radial cross-section that matches with guide rail guide part to be semicircular guide way, but the cooperation of guide way and guide rail guide part makes rack endwise slip install on the guide rail, the guide rail can adopt I-shaped or dovetail structure certainly, corresponding adaptation is carried out with corresponding guide rail structure to the guide way, it is specifically not giving unnecessary details, make the rack decide directional slip at predetermined track through the guide rail, drive assembly's drive stability and reliability can be improved.
In this embodiment, the base plate is rotatably connected to the tail end of the mechanical arm and used for adjusting the stacking direction of the rice bags; combine shown in fig. 1 and 2, the base plate rotates through turning to motor 38 drive base plate level, turn to the end that the motor is fixed in the arm, the base plate outside is connected with roating seat 39, wherein the roating seat directly links in the output axle head that turns to the motor, the roating seat is thin wall cylindric structure, its inner chamber provides installation space for driving piece 332, drive the base plate level through turning to the motor and rotate, adjustable rice bag length direction's orientation, can adjust the pile up neatly direction of rice bag, the flexibility of rice bag pile up neatly has been improved, the applicable operating mode scope of rice bag pile up neatly has been increased.
In this embodiment, a turntable 40 is disposed between the mechanical arm 20 and the base 10, the turntable is connected to the base in a horizontally rotatable manner, and the mechanical arm is connected to the turntable and can be driven to rotate by the turntable; referring to fig. 1 and 2, the turntable is mounted on the upper surface of the base, wherein the turntable is driven to rotate by a motor mounted on the base, the motor can be directly connected to the turntable to drive the turntable to rotate, a planetary reduction gear can be arranged between the motor and the turntable to realize reduction with a large transmission ratio, and a thrust bearing can be arranged between the turntable and the base to improve radial bearing capacity, which is not specifically described again; the mechanical arm is driven to rotate horizontally by the turntable, the horizontal 360-degree steering of the mechanical arm can be realized, the requirement of the mechanical arm on the direction conversion freedom degree can be lowered, the operation range of the robot is enlarged, the walking structure can be arranged at the bottom of the base for improving the use flexibility of the robot, or the robot is placed on the walking platform to be convenient for the movement of the robot.
In this embodiment, the inner surface of the lifting part 342 is a horizontal surface, and the inner surface of the lifting part near the free end of the lifting part has an inclined surface 344 inclined outward and extending to the free end of the lifting part; as shown in the combined figure 5, the inclined plane can enable the end part of the dragging and lifting part to be relatively far away from the rice bag, the end part is prevented from scratching the rice bag, the supporting teeth are in contact with the surface of the rice bag through the inclined plane in the process of grabbing the rice bag, the interference condition between the edges and corners of the dragging and lifting part and the rice bag is improved, and the edges of the free end of the dragging and lifting part are in arc transition, so that the rice bag is prevented from being scratched by a sharp structure.
In this embodiment, a reinforcing rib 343 is connected between the connecting portion 341 and the lifting portion 342; as shown in fig. 5, the reinforcing rib is connected to the inner side of the connecting portion, the reinforcing rib is of a fan-shaped structure, two straight edges of the reinforcing rib are fixedly connected to the connecting portion and the lifting portion, the arc edge of the reinforcing rib faces outward, sharp edges and corners on the reinforcing rib can be reduced by the arc edge of the reinforcing rib, and the reinforcing rib is prevented from scratching the rice bag.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.
Claims (10)
1. The utility model provides a rice bag pile up neatly machine people which characterized in that: the rice bag gripping device comprises a base, a mechanical arm connected to the base and capable of converting the position and an actuator connected to the tail end of the mechanical arm, wherein the actuator comprises a base plate connected to the tail end of the mechanical arm, a pair of swingable gripping swing arms in rotating fit on the base plate, and a driving assembly mounted on the base plate and used for driving the gripping swing arms to swing, the driving assembly drives the two gripping arms to swing synchronously so that the upper ends of the two gripping arms are far away from or close to each other to form an open or closed state for gripping or loosening rice bags, the middle of the gripping swing arms are in rotating fit with the base plate, the tail end of the gripping swing arm is connected to the output end of the driving assembly as a driven end, the upper end of the gripping swing arm is used.
2. The rice bag palletizer robot as recited in claim 1, wherein: the driving assembly comprises a gear which is in rotating fit with the substrate, a driving piece which is arranged on the substrate and used for driving the gear to rotate, two racks which can be connected to the substrate in a sliding mode in the same direction and are matched with the clamping swing arms one by one, and a connecting rod which is connected to the racks and is matched with the racks and the tail ends of the clamping swing arms, wherein the two racks are arranged in parallel and clamped on the excircle of the gear and are meshed with the gear, two ends of the connecting rod are in rotating fit with the racks and driven ends of the clamping swing arms in a rotating mode, and the gear drives the two racks to slide in opposite directions and drives the two clamping arms to.
3. The rice bag palletizer robot as recited in claim 2, wherein: the centre gripping swing arm includes the actuating arm of a pair of parallel and connects in the terminal connecting axle of two swing arms, two actuating arm middle parts overlap in the axis of rotation and link firmly with the pivot, the pivot is with self axis pivoted mode parallel mount in the base plate, and two actuating arm upper ends are passed through the mounting panel and are connected, be connected with a plurality of support teeth on the mounting panel, it is a plurality of the support tooth is arranged the setting along perpendicular to centre gripping swing arm swing direction.
4. The rice bag palletizer robot as recited in claim 3, wherein: the rack is connected with a hinged shaft parallel to the rotating shaft, and two ends of the connecting rod are sleeved on the rotating shaft and the hinged shaft to form a rotating fit with the two shafts.
5. The rice bag palletizer robot as recited in claim 3, wherein: the support tooth comprises a connecting part connected to the mounting plate and a lifting part connected to the upper end of the connecting part and extending towards the inner side of the mounting plate.
6. The rice bag palletizer robot as recited in claim 2, wherein: the base plate is provided with a guide rail, and the rack is slidably arranged on the guide rail.
7. The rice bag palletizer robot as recited in claim 1, wherein: the base plate is rotatably connected to the tail end of the mechanical arm and used for adjusting the stacking direction of the rice bags.
8. The rice bag palletizer robot as recited in claim 1, wherein: the rotary table is arranged between the mechanical arm and the base, the rotary table is connected to the base in a horizontal rotating mode, and the mechanical arm is connected to the rotary table and can be driven to rotate through the rotary table.
9. The rice bag palletizer robot as recited in claim 5, wherein: the inner surface of the lifting part is a horizontal plane, and the inner surface of the lifting part, which is close to the free end of the lifting part, is provided with an inclined plane which inclines outwards and extends to the free end of the lifting part.
10. The rice bag palletizer robot as recited in claim 5, wherein: and a reinforcing rib is connected between the connecting part and the lifting part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921212632.9U CN210633699U (en) | 2019-07-30 | 2019-07-30 | Rice bag palletizing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921212632.9U CN210633699U (en) | 2019-07-30 | 2019-07-30 | Rice bag palletizing robot |
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| Publication Number | Publication Date |
|---|---|
| CN210633699U true CN210633699U (en) | 2020-05-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921212632.9U Expired - Fee Related CN210633699U (en) | 2019-07-30 | 2019-07-30 | Rice bag palletizing robot |
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| CN (1) | CN210633699U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111805504A (en) * | 2020-07-25 | 2020-10-23 | 唐翠华 | Crawler-type multifunctional stacking robot |
| CN114955529A (en) * | 2022-07-01 | 2022-08-30 | 杭州国领科技有限公司 | Efficient stacking robot clamp |
| CN115009883A (en) * | 2022-06-21 | 2022-09-06 | 佛山科学技术学院 | A palletizing intelligent robotic arm |
| CN116746791A (en) * | 2023-07-27 | 2023-09-15 | 江西源金科技集团有限公司 | An intelligent rolling shutter anti-shock cultural relics rack |
-
2019
- 2019-07-30 CN CN201921212632.9U patent/CN210633699U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111805504A (en) * | 2020-07-25 | 2020-10-23 | 唐翠华 | Crawler-type multifunctional stacking robot |
| CN115009883A (en) * | 2022-06-21 | 2022-09-06 | 佛山科学技术学院 | A palletizing intelligent robotic arm |
| CN115009883B (en) * | 2022-06-21 | 2024-02-23 | 佛山科学技术学院 | Intelligent mechanical arm for stacking |
| CN114955529A (en) * | 2022-07-01 | 2022-08-30 | 杭州国领科技有限公司 | Efficient stacking robot clamp |
| CN116746791A (en) * | 2023-07-27 | 2023-09-15 | 江西源金科技集团有限公司 | An intelligent rolling shutter anti-shock cultural relics rack |
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Granted publication date: 20200529 Termination date: 20210730 |