CN102774611A - Two-degree-of-freedom differential type reciprocating pushing device - Google Patents
Two-degree-of-freedom differential type reciprocating pushing device Download PDFInfo
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- CN102774611A CN102774611A CN2012102398160A CN201210239816A CN102774611A CN 102774611 A CN102774611 A CN 102774611A CN 2012102398160 A CN2012102398160 A CN 2012102398160A CN 201210239816 A CN201210239816 A CN 201210239816A CN 102774611 A CN102774611 A CN 102774611A
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Abstract
The invention discloses a two-degree-of-freedom differential type reciprocating pushing device which comprises a frame, a planetary gear train mechanism, a driving mechanism and a cam link mechanism. The planetary gear train mechanism disposed on the frame comprises a planetary carrier and connected with the driving mechanism through the planetary carrier, a synchronous belt differential mechanism is arranged at one end of a central shaft of a planetary wheel, and the cam link mechanism is arranged at the other end of the central shaft of the planetary wheel. Further, the cam link mechanism is connected with the planetary carrier, and a power output end of the synchronous belt differential mechanism is connected with a pusher mechanism. Each motion component of the two-degree-of-freedom differential type reciprocating pushing device converts inputted rotary motions into reciprocating motions in a form of rotary motions, so that using guide rails and sliders to directly drive goods is avoided. In addition, stability in operation at higher speed is realized, and guaranteeing packaging quality, increasing packaging speed and the like by packaging machinery are greatly facilitated.
Description
Technical field
The present invention relates to the pusher technical field in the light industry equipment, the reciprocal pusher of particularly a kind of two-freedom differential type.
Background technology
Pusher is the vitals in the package packing machine.High-speed packaging machinery to the job requirement of pusher than higher; Under the situation of high-speed cruising, require the pusher strictness article to be pushed next station with straight-line form; And need dodge this straight-line trajectory during return, even also to accomplish some simple packing and foldings actions, guarantee not damage connection with wrapping of piece simultaneously.
High-speed packaging machinery running velocity is high; Pushing speed can reach 500 times/minute; Inertial acceleration is big; And the force of inertia of package packing machine when requiring pusher contact packing article is as far as possible little, with the anti-tamper connection with wrapping of piece, so it is significant to improving the package packing machine performance to develop the pusher that is fit to high-speed cruising.
The path of motion of pusher generally is the two-freedom plane motion that is formed by stacking straight reciprocating motion and other a kind of motion.In traditional mechanical; Generally adopt slider-crank mechanism to produce linear reciprocating motion; Though its mechanism is comparatively simple; But, need higher processing precision, setting accuracy and bigger mechanism space, and be prone to problems such as guide rail and slider wear because its crank motion will lean on the slide relative of slide block and guide rail to guarantee; In addition, have certain problem when slider-crank mechanism is applied to high speed machine, its force of inertia is bigger, is difficult to realize balance, is prone to cause problems such as mechanical vibration and noise, reduces mechanical efficiency and service life.
Summary of the invention
Goal of the invention of the present invention is to the technical deficiency of the pusher of existing high-speed packaging machinery, provides a kind of two-freedom differential type reciprocal pusher.
For realizing the foregoing invention purpose, the technical scheme that the present invention adopts is:
Provide a kind of two-freedom differential type reciprocal pusher, comprise frame and be located at planetary wheel mechanism and driver train, the cam link mechanism on the frame; Said planetary wheel mechanism comprises pinion carrier, and said planetary wheel mechanism is connected with driver train through pinion carrier; Center shaft one end of said satellite gear is provided with synchronous band modified roll mechanism, and its other end is provided with cam link mechanism; In addition, said cam link mechanism also is connected with pinion carrier; The clutch end of said synchronous band modified roll mechanism is connected with pushing handle mechanisms.
Preferably, said planetary wheel mechanism is gear transmission planetary wheel mechanism or synchronous strap drive planetary wheel mechanism.
Preferably, said gear transmission planetary wheel mechanism comprises pinion carrier and is located at sun wheel, satellite gear, the idle pulley on the pinion carrier; Wherein, the center shaft of said sun wheel passes pinion carrier and is fixed on the frame; Center shaft one end of said satellite gear is connected with being with modified roll mechanism synchronously, and its other end is connected with cam link mechanism; Said idle pulley meshes with sun wheel, satellite gear respectively, thereby drives the rotation of satellite gear; And the number of teeth of said satellite gear be sun wheel the number of teeth 1/2.
Preferably, said synchronous strap drive planetary wheel mechanism comprises pinion carrier and is located at sun wheel, satellite gear, the tension wheel on the pinion carrier; Wherein, the center shaft of said sun wheel passes pinion carrier and is fixed on the frame; Center shaft one end of said satellite gear is connected with being with modified roll mechanism synchronously, and its other end is connected with cam link mechanism; Sun wheel and satellite gear are synchronous pulley, and sun wheel is through the satellite gear of band driving synchronously, and said tension wheel is pressed in synchronously to be with; And the number of teeth of said satellite gear be sun wheel the number of teeth 1/2.
Preferably, for ease of installing with attractive in appearance, be provided with U type incision tract in the middle of the said pinion carrier, said incision tract is used to install sun wheel, satellite gear and idle pulley; Or said incision tract is used to install sun wheel, satellite gear and tension wheel.
Preferably, said driver train comprises first gear, second gear and power input shaft; The said pinion carrier and first gear mesh, said first gear and second gear mesh; Said second gear is connected with power input shaft, and said power take-off shaft is connected with external power source.
Preferably, said synchronous band modified roll mechanism comprises connecting rod and places synchronous band, first belt wheel, second belt wheel and the tension wheel in the connecting rod; Said first belt wheel is connected with the center shaft of satellite gear, and this first belt wheel can rotate with respect to satellite gear or connecting rod; Said first belt wheel, second belt wheel connect through band synchronously, and said tension wheel is pressed in synchronously to be with, and the number of teeth of said first belt wheel be second belt wheel the number of teeth 1/2, said second belt wheel wheel footpath is greater than first belt wheel; Said second belt wheel relative connecting rod under the driving of first belt wheel rotates, and said second belt wheel, one end is connected with pushing handle mechanisms; The bar length of said connecting rod equals the width between centers of sun wheel and satellite gear.
Preferably, attractive in appearance for ease of being installed on, said connecting rod is a hollow shape, and said synchronous band, first belt wheel, second belt wheel and tension wheel are arranged in the connecting rod.
Preferably, said cam link mechanism comprises plane groove cam and quadric linkage; Said quadric linkage comprises first bar, rocking bar, the 3rd bar and crank; Said first bar, one end is contained on the pinion carrier, and the other end is connected with an end of rocking bar, and the other end of said rocking bar is connected with an end of the 3rd bar, and an end of the other end of said the 3rd bar and crank is hinged, and the other end of said crank is connected with the satellite gear center shaft; Said plane groove cam is contained on the frame; Said rocking bar is provided with roller, the corresponding guide rail that is used for the roller motion that is provided with of said plane groove cam.
Preferably, said pushing handle mechanisms comprises pushing hands, and the power intake of said pushing hands is connected with the clutch end of the second belt wheel center shaft, and the clutch end of said pushing hands is provided with spacer, and said spacer is used for the goods location that pushes.
The present invention has following beneficial effect with respect to prior art:
1) the reciprocal pusher of two-freedom differential type of the present invention, compared with the crank block pusher, structure is compact more, and force of inertia is little; Simultaneously, the present invention has used synchronous belt drive mechanism, can reduce the vibration and the noise of machinery better.
2) the reciprocal pusher of two-freedom differential type of the present invention, each moving member is converted into crank motion with rotatablely moving of directly will importing of the form that rotatablely moves, and avoids the use of guide rail and slide block direct drive goods; Can be under higher speed smooth operation, this has very great help at aspects such as guaranteeing packaging quality and raising package speed to package packing machine.
Description of drawings
Fig. 1 is the front elevation of the reciprocal pusher of two-freedom differential type of the present invention;
Fig. 2 is the graphics of embodiment 1;
Fig. 3 is the graphics of embodiment 2;
Fig. 4 is the cutaway view of embodiment 1 along A-A section among Fig. 1;
Fig. 5 is the cutaway view of embodiment 2 along A-A section among Fig. 1;
Fig. 6 is the part sectional view along B-B section among Fig. 4 or Fig. 5;
Fig. 7 is the cutaway view of C-C section among the embodiment 1;
Fig. 8 is the cutaway view of D-D section among the embodiment 2;
Fig. 9 is the cutaway view along E-E section among Fig. 4 or Fig. 5;
Figure 10 is the fundamental diagram of planetary wheel mechanism;
Figure 11 is the characteristics of motion trend map of small pulley with respect to pinion carrier.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment goal of the invention of the present invention is done to describe in further detail, embodiment can not give unnecessary details at this one by one, but therefore embodiment of the present invention is not defined in following examples.Unless stated otherwise, the material and the job operation of the present invention's employing are present technique field conventional material and job operation.
Like Fig. 1,2,4,6,7, shown in 9, the reciprocal pusher of a kind of two-freedom differential type comprises frame 1 and is located at planetary wheel mechanism and driver train, the cam link mechanism on the frame 1.Planetary wheel mechanism comprises pinion carrier 2, and planetary wheel mechanism is connected with driver train through pinion carrier 2.
The satellite gear center is a hollow area 8, is used for mounting center axle 6, and these center shaft two ends all stretch out in this satellite gear.Center shaft 6 other ends of satellite gear are provided with synchronous band modified roll mechanism, and the clutch end with modified roll mechanism is connected with pushing handle mechanisms synchronously.
The other end of the center shaft 6 of satellite gear is provided with cam link mechanism; In addition, said cam link mechanism also is connected with pinion carrier 2.
Planetary wheel mechanism comprises the gear transmission planetary wheel mechanism.The gear transmission planetary wheel mechanism comprises pinion carrier and is located at sun wheel 3, the satellite gear 5 and idle pulley 4 on the pinion carrier.Wherein, the center shaft 22 of the sun wheel hollow area 33 of passing pinion carrier is fixed on the frame 1.Center shaft 6 one ends of satellite gear are connected with being with modified roll mechanism synchronously, and its other end is connected with cam link mechanism.Idle pulley 4 meshes with sun wheel 3, satellite gear 5 respectively; And the number of teeth of satellite gear 5 be sun wheel 3 the number of teeth 1/2.
Be provided with U type incision tract 26 in the middle of this pinion carrier, incision tract is used to install sun wheel 3, satellite gear 5, idle pulley 4.
Driver train comprises first gear 21, second gear 24 and power input shaft 23; Pinion carrier is connected with first gear 21, first gear 21 and 24 engagements of second gear; Second gear 24 is connected with power input shaft 23, and power take-off shaft is connected with external power source.
Synchronously the band modified roll mechanism comprises connecting rod 7 and places and is with 12, first belt wheel 9, second belt wheel 11 and tension wheel 10 synchronously in the connecting rod 7.First belt wheel is connected with the center shaft of satellite gear, and this first belt wheel can rotate with respect to satellite gear 5 or connecting rod 7.First belt wheel 9, second belt wheel 11 connect through band synchronously; And tension wheel is pressed in synchronously and is with.And the number of teeth of first belt wheel 9 is that 1/2, the second belt wheel 11 of the number of teeth of second belt wheel 11 is taken turns the footpath greater than first belt wheel 9.Second belt wheel relative connecting rod under the driving of first belt wheel rotates, and the clutch end of second belt wheel is connected with pushing handle mechanisms.
In addition, the bar length of connecting rod 7 equals the width between centers of sun wheel 3 and satellite gear 5.Connecting rod is a hollow shape, is with 12, first belt wheel 9, second belt wheel 11 to be arranged in the connecting rod with tension wheel 10 synchronously.
Cam link mechanism comprises plane groove cam 20 and quadric linkage; Said quadric linkage comprises first bar 38, rocking bar 18, the 3rd bar 17 and crank 16.First bar, 38 1 ends are contained on the pinion carrier 2, and the other end is connected with an end of rocking bar 18, and the other end of rocking bar 18 is connected with an end of the 3rd bar 17, and the other end of the 3rd bar 17 is connected with an end of crank 16, and the other end of crank 16 is connected with the center shaft of satellite gear 6.Plane groove cam 20 is contained on the frame 1.Rocking bar 18 is provided with roller 19, and corresponding being provided with is used for the guide rail 25 that roller 19 slides on the plane groove cam 20.
Pushing handle mechanisms comprises pushing hands 13.The power intake of pushing hands is connected with the clutch end of the center shaft 27 of second belt wheel.The linear reciprocating motion that rotatablely moves with the center shaft 27 of second belt wheel that is pinion carrier 2 can transform each other, thereby makes goods move along straight path 28.The clutch end 15 of pushing hands is provided with spacer 14, and spacer 14 is used for the goods location that pushes.
In pushing the goods process, cam link mechanism is static with respect to pinion carrier 2, i.e. rotation and the additional movement that do not produce other directions around plane groove cam 20 centers.When returning, rocking bar 18 is swung fast, produces the additional movement with respect to pinion carrier 2, and crank is with the center shaft 6 of this Motion Transmission to satellite gear, and the center shaft 6 of satellite gear passes to synchronous band modified roll mechanism, acts on pushing handle mechanisms at last.Pushing handle mechanisms produces an additional movement thereupon on original straight-line motion basis, both stacks make pushing handle mechanisms along returning track 29 fast returns.
The characteristics of motion about cam link mechanism was explained according to rise and two stages of return:
1) rise
Requiring pushing hands to keep attitude only to do motion of translation in the rise goods straight line is pushed, is 0 so pushing hands reaches the cireular frequency of second belt wheel 11 fixed with it.
Shown in figure 10, the condition that planetary wheel mechanism produces linear reciprocating motion is:
Wherein
and
is respectively pinion carrier 2 radiuses and cireular frequency thereof,
and
be respectively satellite gear connecting rod 7 length and cireular frequency thereof.
With satellite gear connecting rod 7 is reference system, and second largest belt wheel 11 with respect to the acceleration/accel
of connecting rod 7 is:
The number of teeth according to first belt wheel 9 is 1/2 of second belt wheel 11, can know that first belt wheel, 9 cireular frequencys
relative and connecting rod 7 are:
With frame 1 is reference system, and the absolute angle speed of first belt wheel 9 is:
.
So the cireular frequency of first belt wheel 9 is identical with the cireular frequency of pinion carrier 2, promptly both are static relatively.
Accordingly, the crank 16 fixed with first belt wheel 9 is also static with respect to pinion carrier 2, and the rocking bar 18 in the connecting rod mechanism is that cam rocker arm does not have swing, and cooresponding cam locus is a circular arc.
2) return
Shown in figure 11; First belt wheel 9 is 0 at rise with respect to the angular transposition of pinion carrier, and in return, pushing hands needs first conter clockwise to raise; And then cw reinstatement attitude, so a unimodal variation appears in the angular transposition with respect to pinion carrier 2 of first belt wheel 9 in return.
As shown in Figure 9, solid line is the state 1 that rise cam connecting rod mechanism is kept, and dotted line is a cooresponding connecting rod state 2 when the crank displacement reaches maximum in the return, is summarized as: during rise, and connecting rod mechanism hold mode 1; During return, connecting rod mechanism changes to state 2 by state 1, changes to state 1 by state 2 again, accomplishes the motion of one-period.
Present embodiment is except that following characteristics, and other are all identical with embodiment 1: like Fig. 1,3,5,6,8, shown in 9, planetary wheel mechanism is synchronous strap drive planetary wheel mechanism.The strap drive planetary wheel mechanism comprises pinion carrier 2 and is located at sun wheel 34, the satellite gear 35 and tension wheel 36 on the pinion carrier 2 synchronously.Wherein, the center shaft 22 of sun wheel passes pinion carrier 2 and is fixed on the frame 1.Center shaft 6 one ends of satellite gear are connected with being with modified roll mechanism synchronously, and its other end is connected with cam link mechanism.Sun wheel 34 is a synchronous pulley with satellite gear 35, and sun wheel 34 and satellite gear 35 are through be with 37 transmissions synchronously, and tension wheel 36 is pressed in to be with on 37 synchronously; And the number of teeth of satellite gear 35 be sun wheel 34 the number of teeth 1/2.
Be provided with U type incision tract 26 in the middle of this pinion carrier, incision tract is used to install sun wheel 3, satellite gear 5 and tension wheel 36.
The foregoing description is merely preferred embodiment of the present invention, is not to be used for limiting practical range of the present invention.Be that all equalizations of doing according to content of the present invention change and modification, all contained by claim of the present invention scope required for protection.
Claims (10)
1. reciprocal pusher of two-freedom differential type is characterized in that: comprise frame (1) and be located at planetary wheel mechanism and driver train, the cam link mechanism on the frame (1); Said planetary wheel mechanism comprises pinion carrier (2) and is located at the satellite gear (5 or 35) on the pinion carrier (2) that said planetary wheel mechanism is connected with driver train through pinion carrier (2); Center shaft (6) one ends of said satellite gear are provided with synchronous band modified roll mechanism, and its other end is provided with cam link mechanism; In addition, said cam link mechanism also is connected with pinion carrier (2); The clutch end of said synchronous band modified roll mechanism is connected with pushing handle mechanisms.
2. the reciprocal pusher of two-freedom differential type according to claim 1 is characterized in that: said planetary wheel mechanism is gear transmission planetary wheel mechanism or synchronous strap drive planetary wheel mechanism.
3. the reciprocal pusher of two-freedom differential type according to claim 1 is characterized in that: said gear transmission planetary wheel mechanism also comprises the sun wheel (3) and idle pulley (4) that is located on the pinion carrier; Wherein, the center shaft of said sun wheel (22) passes pinion carrier (2) and is fixed on the frame (1); Said idle pulley (4) meshes with sun wheel (3), satellite gear (5) respectively, thereby drives the rotation of satellite gear (5); And the number of teeth of said satellite gear (5) be sun wheel (3) the number of teeth 1/2.
4. the reciprocal pusher of two-freedom differential type according to claim 1 is characterized in that: said synchronous strap drive planetary wheel mechanism also comprises pinion carrier (2) and is located at the sun wheel (34) and tension wheel (36) on the pinion carrier; Wherein, the center shaft of said sun wheel (22) passes pinion carrier (2) and is fixed on the frame (1); Sun wheel (34) and satellite gear (35) are synchronous pulley, and sun wheel (34) is through the satellite gear (35) of band (37) driving synchronously, and said tension wheel is pressed in synchronously to be with; And the number of teeth of said satellite gear (35) be sun wheel (34) the number of teeth 1/2.
5. according to claim 3 or the reciprocal pusher of 4 described two-freedom differential types, it is characterized in that: be provided with U type incision tract (26) in the middle of the said pinion carrier, said incision tract is used to install sun wheel (3), satellite gear (5) and idle pulley (4); Or said incision tract is used to install sun wheel (34), satellite gear (35) and tension wheel (36).
6. the reciprocal pusher of two-freedom differential type according to claim 5 is characterized in that: said driver train comprises first gear (21), second gear (24) and power input shaft (23); Said pinion carrier and first gear (21) engagement, said first gear (21) and second gear (24) engagement; Said second gear (24) is connected with power input shaft (23), and said power take-off shaft is connected with external power source.
7. the reciprocal pusher of two-freedom differential type according to claim 6 is characterized in that: said synchronous band modified roll mechanism comprises connecting rod (7) and places synchronous band (12), first belt wheel (9), second belt wheel (11) and tension wheel (10) in the connecting rod (7); Said first belt wheel (9) is connected with the center shaft (6) of satellite gear, and this first belt wheel (9) rotates with respect to satellite gear (5,35) or connecting rod (7); Said first belt wheel (9), second belt wheel (11) are through band (12) connection synchronously, and said tension wheel (10) is pressed in synchronously to be with; The number of teeth of said first belt wheel (9) be second belt wheel 11 the number of teeth 1/2, said second belt wheel (11) wheel footpath is greater than first belt wheel (9); Said second belt wheel (11) relative connecting rod (7) under the driving of first belt wheel (9) rotates, and said second belt wheel (11) one ends are connected with pushing handle mechanisms; The bar length of said connecting rod (7) equals the width between centers of sun wheel (34) and satellite gear (35).
8. the reciprocal pusher of two-freedom differential type according to claim 7 is characterized in that: said connecting rod (7) is a hollow shape, and said 12, first belt wheel (9), second belt wheel (11) be with synchronously is arranged in the connecting rod (7) with tension wheel (10).
9. according to claim 7 or the reciprocal pusher of 8 described two-freedom differential types, it is characterized in that: said cam link mechanism comprises plane groove cam (20) and quadric linkage; Said quadric linkage comprises first bar (38), rocking bar (18), the 3rd bar (17) and crank (16); Said first bar (38) one ends are contained on the pinion carrier (2); The other end is connected with an end of rocking bar (18); The other end of said rocking bar (18) is connected with an end of the 3rd bar (17); One end of the other end of said the 3rd bar (17) and crank (16) is hinged, and the other end of said crank (16) is connected with the center shaft (6) of satellite gear; Said plane groove cam (20) is contained on the frame (1); Said rocking bar (18) is provided with roller (19), and said plane groove cam (20) is gone up corresponding being provided with and is used for the guide rail (25) that roller (19) slides.
10. the reciprocal pusher of two-freedom differential type according to claim 9; It is characterized in that: said pushing handle mechanisms comprises pushing hands (13); The power intake of said pushing hands (13) is connected with the clutch end of the center shaft (27) of second belt wheel (11); The clutch end of said pushing hands (15) is provided with spacer (14), and said spacer (14) is used for the goods location that pushes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102398160A CN102774611A (en) | 2012-07-11 | 2012-07-11 | Two-degree-of-freedom differential type reciprocating pushing device |
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|---|---|---|---|
| CN2012102398160A CN102774611A (en) | 2012-07-11 | 2012-07-11 | Two-degree-of-freedom differential type reciprocating pushing device |
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| CN2012102398160A Pending CN102774611A (en) | 2012-07-11 | 2012-07-11 | Two-degree-of-freedom differential type reciprocating pushing device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104029874A (en) * | 2013-03-14 | 2014-09-10 | 竑增机械汽车科技（昆山）有限公司 | Differential gear train based device capable of realizing guiding reciprocating motion |
| CN105501524A (en) * | 2015-12-31 | 2016-04-20 | 江苏仅一包装技术有限公司 | Double-stroke crank slide block execution pushing hand mechanism |
| CN108394600A (en) * | 2018-05-09 | 2018-08-14 | 北京航天东方科技发展有限公司 | The driving mechanism of automatic vertical filling and packaging machine |
| CN108583988A (en) * | 2018-06-27 | 2018-09-28 | 江苏仅联合智造有限公司 | A kind of material transferring machine |
| CN109051567A (en) * | 2018-07-16 | 2018-12-21 | 安庆市恒昌机械制造有限责任公司 | A kind of mechanical mechanism back and forth run and its working method |
| CN109095191A (en) * | 2018-08-27 | 2018-12-28 | 广西腾森自动化设备有限公司 | Automatic palletizing machine |
| CN111034439A (en) * | 2019-12-31 | 2020-04-21 | 东北农业大学 | Rotary-harrow type electric fertilizer discharging method |
| CN111406168A (en) * | 2017-09-14 | 2020-07-10 | 索林·阿克辛特 | Track cube |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029874A (en) * | 2013-03-14 | 2014-09-10 | 竑增机械汽车科技（昆山）有限公司 | Differential gear train based device capable of realizing guiding reciprocating motion |
| CN105501524A (en) * | 2015-12-31 | 2016-04-20 | 江苏仅一包装技术有限公司 | Double-stroke crank slide block execution pushing hand mechanism |
| CN111406168A (en) * | 2017-09-14 | 2020-07-10 | 索林·阿克辛特 | Track cube |
| CN108394600A (en) * | 2018-05-09 | 2018-08-14 | 北京航天东方科技发展有限公司 | The driving mechanism of automatic vertical filling and packaging machine |
| CN108394600B (en) * | 2018-05-09 | 2023-10-03 | 北京航天东方科技发展有限公司 | Driving mechanism of automatic vertical filling packing machine |
| CN108583988A (en) * | 2018-06-27 | 2018-09-28 | 江苏仅联合智造有限公司 | A kind of material transferring machine |
| CN109051567A (en) * | 2018-07-16 | 2018-12-21 | 安庆市恒昌机械制造有限责任公司 | A kind of mechanical mechanism back and forth run and its working method |
| CN109095191A (en) * | 2018-08-27 | 2018-12-28 | 广西腾森自动化设备有限公司 | Automatic palletizing machine |
| CN109095191B (en) * | 2018-08-27 | 2023-09-22 | 广西腾森自动化设备有限公司 | Automatic plate stacking machine |
| CN111034439A (en) * | 2019-12-31 | 2020-04-21 | 东北农业大学 | Rotary-harrow type electric fertilizer discharging method |
| CN111034439B (en) * | 2019-12-31 | 2022-04-15 | 东北农业大学 | Rotary-harrow type electric fertilizer discharging method |
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Application publication date: 20121114 |