CN103782924A - Small-size annular fowl egg grading sorting system - Google Patents
Small-size annular fowl egg grading sorting system Download PDFInfo
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- CN103782924A CN103782924A CN201410059236.2A CN201410059236A CN103782924A CN 103782924 A CN103782924 A CN 103782924A CN 201410059236 A CN201410059236 A CN 201410059236A CN 103782924 A CN103782924 A CN 103782924A
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- eggs
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- birds
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- driven pulley
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K43/00—Testing, sorting or cleaning eggs ; Conveying devices ; Pick-up devices
- A01K43/04—Grading eggs
Abstract
The invention discloses a small-size annular fowl egg grading sorting system which comprises an annular fowl egg conveying system. A sorting mechanical arm is arranged on one side of the annular fowl egg conveying system. The annular fowl egg conveying system comprises an annular sliding way, an inner side conveying chain and a plurality of brackets, wherein the annular sliding way is located on the outer most side, the inner side conveying chain is used for power transmission, and the brackets contains fowl eggs to be processed. An overturning mechanism for automatically overturning the fowl eggs is arranged below the brackets. The small-size annular fowl egg grading sorting system is reasonable in structure and good in working performance. All detection terms of fowl egg products are completed in the conveying process. It is guaranteed that the surfaces of the whole eggs of the fowl egg products can be totally detected in the conveying process.
Description
Technical field
The present invention relates to a kind of birds, beasts and eggs classification sorting system.
Background technology
Birds, beasts and eggs are as a kind of important agricultural product, not only have that the nutrient component such as rich in protein, lecithin but also source are abundant, eating method is simple, and taste meets majority's eating habit.Be accompanied by economical and social fast development, nowadays people also promote day by day for the requirement of quality of poultry eggs, and deep processing and edible way are also constantly improved.When the market demand of birds, beasts and eggs promotes the fast development of birds, beasts and eggs industry, also bring huge challenge to the sector, accelerated the utilization of modern science and technology in birds, beasts and eggs processing is processed.The processing of automation and treatment facility reduce labour intensity simultaneously, more contribute to enhance productivity and guarantee product quality.So in birds, beasts and eggs pretreatment, using highly intelligent integration apparatus to process is the trend of future development.
The gross yield of China's birds, beasts and eggs accounts for Gross World Product 1/5, according to approximately 2,942 ten thousand tons of State Statistics Bureau report birds, beasts and eggs gross yields in 2010, accounts for 19% of this year global gross yield.But produce the main self-employed farmer of dependence and the less breeding enterprise of scale.The widespread distribution pattern of this place of production small scale, makes the production processing of current China birds, beasts and eggs mainly depend on manual carrying out, and detection and classification also mainly rely on range estimation and experience.Specific national eating habit, has determined that the main consumption pattern of China's birds, beasts and eggs is take fresh egg as main, and consumes the less than 1% that only accounts for gross yield after birds, beasts and eggs deep processing again.The wilderness demand of fresh egg, just requires the safer sale end that arrives from laying eggs fast of birds, beasts and eggs.Due to uncertain factors such as markets, make birds, beasts and eggs need to have certain storage to treat selling time, the pretreatment time that therefore as far as possible compresses birds, beasts and eggs becomes the common target of pursuing of producer and seller.Especially temperature higher season birds, beasts and eggs shelf-life more can greatly reduce, this just requires the operation such as cleaning, classification and packing of birds, beasts and eggs all will to save time as much as possible, the quality when guaranteeing that product finally arrives in consumer's hand.Manual limited efficiency and the raising of cost of labor in recent years of processing of birds, beasts and eggs sorting, has become the huge barrier that a lot of birds, beasts and eggs enterprise of China expands market and goes abroad at present.So accelerate the utilization of automated processing equipment, adopting suitable automatic control system to complete cleaning, classification and packing is the main development direction addressing this problem.
In addition, in international birds, beasts and eggs trade, the examination criteria of product is had relatively high expectations, and many rigid detection indexs cannot rely on by manual detection or merely experience to realize, and also becomes birds, beasts and eggs enterprise of China move towards the to internationalize bottleneck in market.Report that according to national agricultural information network China's birds, beasts and eggs gross yield in 2011 is at 2,500 ten thousand tons, but export volume only there are 100,000 tons.Abroad, due to factors such as Fundamentals of Computer Technology are good, industry is flourishing, have comparatively ripe a whole set of automated processing equipment at present, and come into operation and obtain good effect at large-scale breeding enterprise.External core technology is carried out strict blockade on new techniques to China, makes China use that import equipment cost is higher and secondary development is limited.The factors such as simultaneously China's cultivation scale is less, point spreading, cost of labor are low, make many enterprises consider and fail to adopt import equipment from economic benefit and applicability etc.At present nearly 2000 of total processing enterprise of the whole nation, but 15 of more than 1,000 ten thousand, hundred million yuan less thaies of most of annual value of production less than.Main automated sorting and the packaging facilities in the world originates in Holland, Japan and the U.S. at present.Its main general step comprises that collection, cleaning and sterilizing, the classification of birds, beasts and eggs pick and pack and beat bar code and carry out fresh-keeping storage again.Holland
company is as the developer of first birds, beasts and eggs automatic sorting apparatus of the world, be started in eighties of last century the fifties, have abundant technical foundation and industry experience, reached 60% at present in this occupation rate of market, the equipment that most enterprises of China introduce is all to come from the said firm.
Large-scale birds, beasts and eggs automated sorting equipment, makes birds, beasts and eggs enter production line from reset condition, finally with various criterion or overall targets such as quality, volume, freshness, completes cleaning, detection, classification and packaging and other steps.In addition, due to the characteristic such as irregular structure, easy fragmentation of birds, beasts and eggs itself, so need to process compared with the automatic processing equipment of high-intelligentization.At present, domestic correlative study has also had remarkable progress, has important breakthrough especially in the process such as Quality Detection and packing, but there is no the complete equipment with independent intellectual property right.Sorting manipulator, as one of chief component of automated sorting equipment, plays each important links such as being connected detection, pretreatment and packing, becomes the primary study object of a lot of R&D institutions.Although there have been a lot of comparatively industry mechanical arms of ripe applicable many occasions on market, such as all types of industries manipulators such as Mitsubishi, Kawasaki, FANUC have certain flexible and open control system, but birds, beasts and eggs sorting manipulator is swift in motion because its function needs to have, elliptical gear is little, end carries the features such as specific adsorbing mechanism, make existing machinery hand be difficult to directly apply to birds, beasts and eggs sorting system, be subject in addition the restriction large scale industry manipulator of birds, beasts and eggs value itself to be difficult to adapt to market demands.
In sum, develop more efficient, economic automation birds, beasts and eggs sorting manipulator, be not only of great importance for designing complete automation birds, beasts and eggs sorting arrangement, also contribute to the fast development of whole automated sorting equipment simultaneously.
Summary of the invention
The object of the present invention is to provide one rational in infrastructure, the small, annular birds, beasts and eggs classification sorting system of favorable working performance.
Technical solution of the present invention is:
A kind of small, annular birds, beasts and eggs classification sorting system, comprise ring-type birds, beasts and eggs induction system, ring-type birds, beasts and eggs delivery system is unified side sorting manipulator is set, and it is characterized in that: described ring-type birds, beasts and eggs induction system comprises and is positioned at outermost annular slide track, bracket for the inner side conveyor chain of transmission of power, the pending birds, beasts and eggs of multiple placements; Each bracket comprises two parallel bracket axles, on every bracket axle, fill the egg holder of inside and outside two inner sunken faces, the inside and outside two ends of two bracket axles are connected with internal fixation plate, outer fixed head respectively, fixed axis in internal fixation plate inner side connects, outer fixed head outside connects outer fixed axis, outer fixed axis is connected with the rolling bearing being contained on annular slide track, and interior fixed axis is connected with the tray support being fixed on conveyor chain; The switching mechanism that makes birds, beasts and eggs automatic turning is set below bracket.
Described switching mechanism comprises the fixed mount that is driven oscilaltion by cylinder, on fixed mount, dress is by the first power transmission shaft of upset driven by motor, on the first power transmission shaft, dress is put corresponding inside and outside two friction pulleys with inside and outside two egg restitopes on bracket axle, and the surface of friction pulley is the outer convex-shaped surface formula coordinating with the inner sunken face of egg holder.
Conveyor chain coordinates with left and right sprocket wheel, and the bolster of left and right sprocket wheel is connected with second driving shaft by left and right spur bevel gear mechanism respectively, and second driving shaft is connected with drive motors by Geneva mechanism.
Described Geneva mechanism comprises the driven pulley being sleeved on second driving shaft, be sleeved on the driving wheel on motor output shaft, driven pulley comprises driven pulley body, driven pulley body outer peripheral face be four along the symmetrical interior concaved circular cambered surface of even circumferential, the straight trough of outer end opening is set between adjacent interior concaved circular cambered surface, driving wheel comprises that periphery is that main part and tooth of arc surface is prominent, the arc surface of main part coordinates with the interior concaved circular cambered surface of driven pulley, the prominent height of tooth is greater than the diameter of main part, prominent upper setting of tooth coordinates with straight trough on driven pulley, the location of sliding in straight trough is prominent, by coordinating and the slip dashed forward in straight trough in location of driving wheel arc surface and concaved circular cambered surface in driven pulley, depart from, realizing driving wheel drives driven pulley to rotate.
The installation direction of left and right spur bevel gear mechanism is contrary.
The present invention is rational in infrastructure, favorable working performance.The kind of drive of conveying mechanism adopts bevel gear engaged transmission, and for preventing movement interference, when assembling, two to the positive and negative assembling of bevel gear., for guaranteeing that birds, beasts and eggs actively stop in order in course of conveying, designed between the moving stopping time of conveying of Geneva mechanism regulating system meanwhile, realized and intermittently in transmitting procedure stopping, offering cleanings, detection, be dried, required time that sorting etc. operates; All detections of birds, beasts and eggs product complete in the process of carrying.In course of conveying, be that the surface that guarantees the whole egg of birds, beasts and eggs product can be all detected.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is induction system front view.
Fig. 3 is the vertical view of induction system.
Fig. 4 is the structural representation of bracket.
Fig. 5 is the structural representation of switching mechanism.
Fig. 6 is the structural representation of chain.
Fig. 7 is the structural representation of Geneva mechanism.
Fig. 8, Fig. 9 are respectively left and right spur bevel gear structural representations.
Embodiment
A kind of small, annular birds, beasts and eggs classification sorting system, comprise ring-type birds, beasts and eggs induction system 1, ring-type birds, beasts and eggs delivery system is unified side sorting manipulator 2 is set, and described ring-type birds, beasts and eggs induction system comprises and is positioned at outermost annular slide track 3, bracket 5 for the inner side conveyor chain 4 of transmission of power, the pending birds, beasts and eggs of multiple placements; Each bracket comprises two parallel bracket axles 6,7, on every bracket axle, fill the egg holder 8,9 of inside and outside two inner sunken faces, the inside and outside two ends of two bracket axles are connected with internal fixation plate 10, outer fixed head 11 respectively, fixed axis 12 in internal fixation plate inner side connects, outer fixed head outside connects outer fixed axis 13, outer fixed axis is connected with the rolling bearing 14 being contained on annular slide track, and interior fixed axis is connected with the tray support 15 being fixed on conveyor chain; The switching mechanism that makes birds, beasts and eggs automatic turning is set below bracket.
Described switching mechanism comprises the fixed mount 17 that is driven oscilaltion by cylinder 16, on fixed mount, dress is by the first power transmission shaft 18 of upset driven by motor, on the first power transmission shaft, dress is put corresponding inside and outside two friction pulleys 19,20 with inside and outside two egg restitopes on bracket axle, and the surface of friction pulley is the outer convex-shaped surface formula coordinating with the inner sunken face of egg holder.Switching mechanism utilizes tribology principle to realize, and by rubbing between the bracket in friction pulley and transport establishment, the rubber roller of egg holder can rotate, thereby makes, in the roller rotating in same direction of two brackets that birds, beasts and eggs support at self, to realize birds, beasts and eggs and overturn.In motion process, friction pulley does not need phase mutual friction between moment and egg holder, while not needing work, utilize the cylinder of tape guide mechanism that friction pulley is separated with egg holder, at set intervals, then by cylinder, switching mechanism is carried up with egg holder and contacted, upset motor 21 starts realizes upset.
Conveyor chain coordinates with left and right sprocket wheel 22,23, and the bolster 24,25 of left and right sprocket wheel is connected with second driving shaft 26 by left and right spur bevel gear mechanism respectively, and second driving shaft is connected with drive motors 27 by Geneva mechanism.
Described Geneva mechanism comprises the driven pulley being sleeved on second driving shaft, be sleeved on the driving wheel on motor output shaft, driven pulley comprises driven pulley body 28, driven pulley body outer peripheral face be four along the symmetrical interior concaved circular cambered surface 29 of even circumferential, the straight trough 30 of outer end opening is set between adjacent interior concaved circular cambered surface, driving wheel comprises that periphery is main part 31 and a tooth prominent 32 of arc surface, the arc surface of main part coordinates with the interior concaved circular cambered surface of driven pulley, the prominent height of tooth is greater than the diameter of main part, prominent upper setting of tooth coordinates with straight trough on driven pulley, the location prominent 33 of sliding in straight trough, by coordinating and the slip dashed forward in straight trough in location of driving wheel arc surface and concaved circular cambered surface in driven pulley, depart from, realizing driving wheel drives driven pulley to rotate.Geneva mechanism stops for realizing at the intermittence of transmitting procedure, offering cleanings, detections, be dried, required time that sorting etc. operates.Can also be by switching mechanism at station birds, beasts and eggs such as cleaning, detections, carry out the rotation of birds, beasts and eggs in egg holder more fully to clean and the operation such as detection.
Shown in Fig. 8, Fig. 9, the installation direction of left and right spur bevel gear mechanism is contrary, can prevent that two pairs of bevel gears from producing motion artifacts in the time of transmission.
Claims (5)
1. a small, annular birds, beasts and eggs classification sorting system, comprise ring-type birds, beasts and eggs induction system, ring-type birds, beasts and eggs delivery system is unified side sorting manipulator is set, and it is characterized in that: described ring-type birds, beasts and eggs induction system comprises and is positioned at outermost annular slide track, bracket for the inner side conveyor chain of transmission of power, the pending birds, beasts and eggs of multiple placements; Each bracket comprises two parallel bracket axles, on every bracket axle, fill the egg holder of inside and outside two inner sunken faces, the inside and outside two ends of two bracket axles are connected with internal fixation plate, outer fixed head respectively, fixed axis in internal fixation plate inner side connects, outer fixed head outside connects outer fixed axis, outer fixed axis is connected with the rolling bearing being contained on annular slide track, and interior fixed axis is connected with the tray support being fixed on conveyor chain; The switching mechanism that makes birds, beasts and eggs automatic turning is set below bracket.
2. small, annular birds, beasts and eggs classification sorting system according to claim 1, it is characterized in that: described switching mechanism comprises the fixed mount that is driven oscilaltion by cylinder, on fixed mount, dress is by the first power transmission shaft of upset driven by motor, on the first power transmission shaft, dress is put corresponding inside and outside two friction pulleys with inside and outside two egg restitopes on bracket axle, and the surface of friction pulley is the outer convex-shaped surface formula coordinating with the inner sunken face of egg holder.
3. small, annular birds, beasts and eggs classification sorting system according to claim 1 and 2, it is characterized in that: conveyor chain coordinates with left and right sprocket wheel, the bolster of left and right sprocket wheel is connected with second driving shaft by left and right spur bevel gear mechanism respectively, and second driving shaft is connected with drive motors by Geneva mechanism.
4. small, annular birds, beasts and eggs classification sorting system according to claim 3, it is characterized in that: described Geneva mechanism comprises the driven pulley being sleeved on second driving shaft, be sleeved on the driving wheel on motor output shaft, driven pulley comprises driven pulley body, driven pulley body outer peripheral face be four along the symmetrical interior concaved circular cambered surface of even circumferential, the straight trough of outer end opening is set between adjacent interior concaved circular cambered surface, driving wheel comprises that periphery is that main part and tooth of arc surface is prominent, the arc surface of main part coordinates with the interior concaved circular cambered surface of driven pulley, the prominent height of tooth is greater than the diameter of main part, prominent upper setting of tooth coordinates with straight trough on driven pulley, the location of sliding in straight trough is prominent, by coordinating and the slip dashed forward in straight trough in location of driving wheel arc surface and concaved circular cambered surface in driven pulley, depart from, realizing driving wheel drives driven pulley to rotate.
5. small, annular birds, beasts and eggs classification sorting system according to claim 3, is characterized in that: the installation direction of left and right spur bevel gear mechanism is contrary.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510242865.3A CN104823878A (en) | 2014-02-21 | 2014-02-21 | Annular grading and sorting system for eggs with reasonable structure and small size |
| CN201410059236.2A CN103782924B (en) | 2014-02-21 | 2014-02-21 | Small-size annular fowl egg grading sorting system |
| CN201510242926.6A CN104885971A (en) | 2014-02-21 | 2014-02-21 | Small circular poultry egg graded sorting system good in work performance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410059236.2A CN103782924B (en) | 2014-02-21 | 2014-02-21 | Small-size annular fowl egg grading sorting system |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510242926.6A Division CN104885971A (en) | 2014-02-21 | 2014-02-21 | Small circular poultry egg graded sorting system good in work performance |
| CN201510242865.3A Division CN104823878A (en) | 2014-02-21 | 2014-02-21 | Annular grading and sorting system for eggs with reasonable structure and small size |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103782924A true CN103782924A (en) | 2014-05-14 |
| CN103782924B CN103782924B (en) | 2015-07-01 |
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Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410059236.2A Expired - Fee Related CN103782924B (en) | 2014-02-21 | 2014-02-21 | Small-size annular fowl egg grading sorting system |
| CN201510242926.6A Pending CN104885971A (en) | 2014-02-21 | 2014-02-21 | Small circular poultry egg graded sorting system good in work performance |
| CN201510242865.3A Pending CN104823878A (en) | 2014-02-21 | 2014-02-21 | Annular grading and sorting system for eggs with reasonable structure and small size |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510242926.6A Pending CN104885971A (en) | 2014-02-21 | 2014-02-21 | Small circular poultry egg graded sorting system good in work performance |
| CN201510242865.3A Pending CN104823878A (en) | 2014-02-21 | 2014-02-21 | Annular grading and sorting system for eggs with reasonable structure and small size |
Country Status (1)
| Country | Link |
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| CN (3) | CN103782924B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789371A (en) * | 2018-06-28 | 2018-11-13 | 温州市贝佳福自动化技术有限公司 | Sorting pipeline machine people based on artificial intelligence |
| CN108789411A (en) * | 2018-06-28 | 2018-11-13 | 温州市贝佳福自动化技术有限公司 | Logistic sorting machine device people based on AI |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109349164B (en) * | 2018-11-01 | 2020-09-15 | 湖北维胜机器人科技有限公司 | Egg sorting device |
| CN112425532A (en) * | 2020-11-24 | 2021-03-02 | 安徽兴程食品有限责任公司 | Delicious live bead dry rotary cleaner and cleaning method thereof |
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| GB647486A (en) * | 1947-07-23 | 1950-12-13 | Richard Douglas Scoble Hodgins | Improvements in or relating to apparatus for sorting apples, eggs or other suitable articles |
| US3857472A (en) * | 1972-04-05 | 1974-12-31 | J Klint | Conveyor for advancing and orienting eggs and transferring the eggs to gripper units of an egg breaking machine |
| GB1385225A (en) * | 1971-08-12 | 1975-02-26 | Diamond Int Corp | Egg escalator belt assembly |
| JPS61287622A (en) * | 1985-06-15 | 1986-12-18 | Nanbu Denki Seisakusho:Kk | Transfer device of automatic egg washing and sorting device |
| US4645058A (en) * | 1982-09-24 | 1987-02-24 | Pieter Meyn | Apparatus for orienting eggs in a egg handling systems |
| CN101305694A (en) * | 2008-07-11 | 2008-11-19 | 华中农业大学 | Method and device for mechanically wet rubbing and cleaning poultry eggs |
| CN201467810U (en) * | 2009-07-30 | 2010-05-19 | 江苏大学 | Intermittent conveying chain in automatic grading production line of poultry eggs |
| CN101849514A (en) * | 2010-04-30 | 2010-10-06 | 江苏大学 | Poultry egg detection method and device in automatic grading assembly line of poultry eggs |
| CN103168707A (en) * | 2011-12-21 | 2013-06-26 | 郑经伟 | Egg washing detection machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201640188U (en) * | 2010-03-17 | 2010-11-24 | 福州闽台机械有限公司 | Lifting mechanism of brush actuating device for egg cleaner |
-
2014
- 2014-02-21 CN CN201410059236.2A patent/CN103782924B/en not_active Expired - Fee Related
- 2014-02-21 CN CN201510242926.6A patent/CN104885971A/en active Pending
- 2014-02-21 CN CN201510242865.3A patent/CN104823878A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB647486A (en) * | 1947-07-23 | 1950-12-13 | Richard Douglas Scoble Hodgins | Improvements in or relating to apparatus for sorting apples, eggs or other suitable articles |
| GB1385225A (en) * | 1971-08-12 | 1975-02-26 | Diamond Int Corp | Egg escalator belt assembly |
| US3857472A (en) * | 1972-04-05 | 1974-12-31 | J Klint | Conveyor for advancing and orienting eggs and transferring the eggs to gripper units of an egg breaking machine |
| US4645058A (en) * | 1982-09-24 | 1987-02-24 | Pieter Meyn | Apparatus for orienting eggs in a egg handling systems |
| JPS61287622A (en) * | 1985-06-15 | 1986-12-18 | Nanbu Denki Seisakusho:Kk | Transfer device of automatic egg washing and sorting device |
| CN101305694A (en) * | 2008-07-11 | 2008-11-19 | 华中农业大学 | Method and device for mechanically wet rubbing and cleaning poultry eggs |
| CN201467810U (en) * | 2009-07-30 | 2010-05-19 | 江苏大学 | Intermittent conveying chain in automatic grading production line of poultry eggs |
| CN101849514A (en) * | 2010-04-30 | 2010-10-06 | 江苏大学 | Poultry egg detection method and device in automatic grading assembly line of poultry eggs |
| CN103168707A (en) * | 2011-12-21 | 2013-06-26 | 郑经伟 | Egg washing detection machine |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789371A (en) * | 2018-06-28 | 2018-11-13 | 温州市贝佳福自动化技术有限公司 | Sorting pipeline machine people based on artificial intelligence |
| CN108789411A (en) * | 2018-06-28 | 2018-11-13 | 温州市贝佳福自动化技术有限公司 | Logistic sorting machine device people based on AI |
| CN108789371B (en) * | 2018-06-28 | 2021-06-22 | 余成付 | Sorting assembly line robot based on artificial intelligence |
| CN108789411B (en) * | 2018-06-28 | 2021-06-22 | 余成付 | AI-based logistics sorting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104885971A (en) | 2015-09-09 |
| CN103782924B (en) | 2015-07-01 |
| CN104823878A (en) | 2015-08-12 |
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