CN105129151B - Robot recrater - Google Patents
Robot recrater Download PDFInfo
- Publication number
- CN105129151B CN105129151B CN201510484339.8A CN201510484339A CN105129151B CN 105129151 B CN105129151 B CN 105129151B CN 201510484339 A CN201510484339 A CN 201510484339A CN 105129151 B CN105129151 B CN 105129151B
- Authority
- CN
- China
- Prior art keywords
- parting bead
- packing material
- conveying mechanism
- casing
- guide rod
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
Abstract
The present invention relates to a kind of robot recrater, including support body, the conveying mechanism for transporting packing material is provided with the support body, the side of the conveying mechanism is provided with the connecting gear of the casing for conveying storage packing material, the four-axle linked shift mechanism for entering casing for capturing packing material is provided with above the conveying mechanism, it is provided with the charging aperture of the conveying mechanism for the photo for shooting each packing material physical location so as to the camera compared with the photo of packing material correct position on the controller, the camera, conveying mechanism, connecting gear, four-axle linked shift mechanism is electrically connected with controller.The robot recrater can utilize camera to shoot the photo of each packing material physical location so as to the photo on the controller with packing material correct position is compared, realize the adjustment of multi-angle direction, the displacement of packing material using four-axle linked shift mechanism according to comparison result, boxing efficiency and the article for improving article put quality.
Description
Technical field
It is a kind of robot recrater the present invention relates to mechanical equipment technical field.
Background technology
In process of production, need to be fitted into article in packaging bag packing material is cased again.Traditional packing method, because
The direction or position of each packaging bag are likely to deviation at any time, need to be manually adjusted before casing is loaded, and make
Integral inefficiency, waste of manpower；Traditional packaging bag boxing apparatus, it is impossible to realize multi-angle, multi-faceted adjustment, adapt to
Property is poor, and automaticity is low, job insecurity.
The content of the invention
The purpose of the present invention is directed to above weak point, there is provided a kind of robot recrater.
The present invention solves the scheme that is used of technical problem, a kind of robot recrater, including support body, on the support body
The conveying mechanism for transporting packing material is provided with, the side of the conveying mechanism is provided with the case for conveying storage packing material
The connecting gear of body, is provided with the four-axle linked shift mechanism for entering casing for capturing packing material above the conveying mechanism,
Be provided with the charging aperture of the conveying mechanism for the photo that shoots each packing material physical location so as on the controller with bag
The camera that the photo of dress thing correct position is compared, the camera, conveying mechanism, connecting gear, four-axle linked displacement
Mechanism is electrically connected with controller.
Further, the conveying mechanism includes motor, and the motor is connected with belt pulley, the belt pulley through decelerator
Upper communicated band is attached with another belt pulley, and the discharge outlet of the conveying mechanism is provided with and the biography on a moving belt
Send the roller type counter with tangent cooperation.
Further, at the charging aperture of the conveying mechanism above be provided with a rack, the camera is located at rack
Inside and conveyer belt surface, the conveyer belt slave bottom of cabinet portion passes through, and is set between the camera and conveyer belt
There are some fluorescent tubes for realizing illumination, the fluorescent tube is placed in two sides of camera, is set between the fluorescent tube and rack
There is aluminium section bar, the fluorescent tube is connected on aluminium section bar through bolt, a fan cabinet door is also hinged with the rack.
Further, the connecting gear includes motor, and the motor is coaxially connected with two sprocket wheels, two through decelerator
Sprocket wheel is connected through two conveyer belts with another two sprocket wheel respectively, and dividing plate, the peripheral part of two conveyer belts are provided between two conveyer belts
Baffle plate is provided with, the appearance of the baffle plate is coated with one layer of plastic layer, use is provided between the connecting gear and conveying mechanism
In the vanning area that packing material is loaded casing.
Further, the vanning area include the simultaneously preceding parting bead of spaced set vertical with conveyer belt, middle parting bead, after every
Bar, is provided with an activity that can be slid along the direction vertical with conveyer belt driven by pneumatic mechanism between two adjacent parting beads
Seat, is provided with some round suckers for drawing casing in the sliding seat.
Further, the pneumatic mechanism includes the cylinder being connected with sliding seat respectively, the inlet end portion of the middle parting bead
Be shaped as wedge shape, the surface of the dividing plate is provided with the entry position of middle parting bead and rear parting bead is hung down by air cylinder driven
Go straight up to the block of drop, the block is flushed upper surface when declining with dividing plate, away from the outside of the conveyer belt at sliding seat end
Sensors A, sensor B, sensor C, the sensors A are disposed with preceding parting bead, middle parting bead, the correspondence position of rear parting bead
A cylinder is being electrically connected with the position of the charging aperture of connecting gear, the output end of the cylinder is hung down along with conveyer belt
Straight direction is connected with stopper, the non-inlet end portion of the preceding parting bead and rear parting bead two outer circumferential sides be respectively arranged with toward every
The inclined sensor D in bar direction.
Further, the four-axle linked shift mechanism includes frame, some sliding blocks, if frame week sidepiece is provided with
The dry inclined guide rod for sliding block sliding, the one end of the guide rod is consolidated each other, wherein most two guide rods are positioned at same
In plane, the bottom of the guide rod is to drive rotatable sucker through drive mechanism, through bulb between the sucker and sliding block
Universal joint is hinged with connecting rod two ends, and the sliding block drives with the connection end of guide rod through motor drive mechanism realizes sliding block along the reciprocal of guide rod
Sliding motion.
Further, the motor drive mechanism includes motor, the output end of the motor and the belt pulley being located inside guide rod
Connection, the belt pulley is connected through belt with another belt pulley, and the sliding block is connected on belt, and the guide rod connects with sliding block
Slide rail is additionally provided with tactile face, the sliding block slides with slide rail and coordinates, and the drive mechanism includes rotating cylinder, the rotation
The output end of rotatable cylinder is connected with sucker.
Further, quantity of the connecting rod on a sliding block is two, is also connected through spring between two connecting rods,
The bottom of the sucker is additionally provided with one piece for when sucker draws the cavernous body that buffering noise reduction is realized when article is shifted, institute
State and some clamps for fixing cable tubing are also arranged with connecting rod.
Further, the frame is shaped as triangular structure, and the quantity of the guide rod is for three and is fixed on frame
Bottom, on every guide rod contain a sliding block.
Compared with prior art, the invention has the advantages that：The robot recrater can be clapped using camera
The photo of each packing material physical location is taken the photograph so as to the photo on the controller with packing material correct position is compared, according to comparison
Result realizes the adjustment of multi-angle direction, the displacement of packing material using four-axle linked shift mechanism, it is to avoid part packing material dress occur
Direction is inconsistent during case, and boxing efficiency and the article for improving article put quality；The robot recrater can realize it is complete from
The vanning of movement and motor-driven integrative, high degree of automation, stable working.
Brief description of the drawings
Patent of the present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the invention；
Fig. 2 is partial enlarged view at the A of Fig. 1；
Fig. 3 is partial enlarged view at the B of Fig. 1；
Fig. 4 is partial enlarged view at the C of Fig. 1；
Fig. 5 is the structural representation one of four-axle linked shift mechanism；
Fig. 6 is the structural representation two of four-axle linked shift mechanism；
Fig. 7 is the transmission principle figure of motor drive mechanism；
Fig. 8 is the D direction views of Fig. 1；
Fig. 9 is the top view of Fig. 8；
Stereogram when Figure 10 is the invention work；
Figure 11 is the working state schematic representation one of the invention；
Figure 12 is the working state schematic representation two of the invention；
Figure 13 is the working state schematic representation three of the invention；
Figure 14 is the working state schematic representation four of the invention；
Figure 15 is the working state schematic representation five of the invention；
Figure 16 is the working state schematic representation six of the invention；
Figure 17 is the working state schematic representation seven of the invention；
Figure 18 is the working state schematic representation eight of the invention；
Figure 19 is the working state schematic representation nine of the invention；
Figure 20 is the working state schematic representation ten of the invention；
Figure 21 is the working state schematic representation 11 of the invention；
In figure：
1- frames；2- sliding blocks；3- guide rods；4- suckers；5- ball head universals；6- connecting rods；7- motors；8- belt pulleys；9- skins
Band；10- slide rails；11- rotating cylinders；12- springs；13- cavernous bodies；14- clamps；15- support bodys；16- controllers；17- is conveyed
Mechanism；The four-axle linked shift mechanisms of 18-；19- cameras；20- decelerators；21- conveyer belts；22- roller type counters；23- machines
Cabinet；24- fluorescent tubes；25- aluminium section bars；26- cabinet doors；27- packing materials；28- casings；29- connecting gears；30- conveyer belts；31- every
Plate；32- baffle plates；33- plastic layers；34- vannings area；Parting bead before 35-；Parting bead in 36-；Parting bead after 37-；38- sliding seat；39- justifies
Sucker；40- cylinders；41- blocks；42- sensors As；43- sensors B；44- sensors C；45- stoppers；46- sensors D.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and detailed description.
As shown in Fig. 1~21, a kind of robot recrater, including support body 15, it is provided with the support body for transporting bag
The conveying mechanism 17 of thing is filled, the side of the conveying mechanism is provided with the connecting gear of the casing 28 for conveying storage packing material
29, the four-axle linked shift mechanism 18 for entering casing 28 for capturing packing material 27 is provided with above the conveying mechanism, it is described
Be provided with the charging aperture of conveying mechanism for the photo that shoots each packing material physical location so as on the controller with packing material
The camera 19 that the photo of correct position is compared, the camera, conveying mechanism, connecting gear, four-axle linked shifting machine
Structure is electrically connected with controller 16.
In the present embodiment, the conveying mechanism includes motor 7, and the motor 7 is connected with belt pulley through decelerator 20, institute
State communicated band 21 on belt pulley to be attached with another belt pulley, the discharge outlet of the conveying mechanism is set on a moving belt
There is the roller type counter 22 with the tangent cooperation of the conveyer belt.
In the present embodiment, at the charging aperture of the conveying mechanism above be provided with a rack 23, the camera position
In the inside of rack and the surface of conveyer belt, the conveyer belt slave bottom of cabinet portion passes through, the camera and conveyer belt it
Between be provided with some fluorescent tubes 24 for realizing illumination, the fluorescent tube is placed in two sides of camera, the fluorescent tube and rack
Between be provided with aluminium section bar 25, the fluorescent tube is connected on aluminium section bar through bolt, and a fan cabinet door is also hinged with the rack
26。
In the present embodiment, the connecting gear includes motor 7, and the motor 7 is coaxially connected with two through decelerator 20
Sprocket wheel, two sprocket wheels are connected through two conveyer belts 30 with another two sprocket wheel respectively, and dividing plate 31 is provided between two conveyer belts, and two is defeated
The peripheral part of band is sent to be provided with baffle plate 32, the appearance of the baffle plate is coated with one layer of plastic layer 33, the connecting gear and conveying
The vanning area 34 for packing material to be loaded casing is provided between mechanism.
In the present embodiment, the vanning area includes preceding parting bead 35, the middle parting bead of and spaced set vertical with conveyer belt
36th, rear parting bead 37, be provided between two adjacent parting beads one by pneumatic mechanism drive can be along the direction vertical with conveyer belt
The sliding seat 38 of sliding, is provided with some round suckers 39 for drawing casing in the sliding seat.
In the present embodiment, the pneumatic mechanism includes the cylinder 40 that is connected with sliding seat respectively, and the middle parting bead enters
Mouthful end is shaped as wedge shape, and the surface of the dividing plate is provided with by cylinder on the entry position of middle parting bead and rear parting bead
The block 41 of vertical lift, the block is driven to be flushed with dividing plate upper surface when declining, away from the conveyer belt at sliding seat end
Sensors A 42, sensor B43, sensor are disposed with outside on preceding parting bead, middle parting bead, the correspondence position of rear parting bead
C44, the sensors A being electrically connected with a cylinder 40 on the position of the charging aperture of connecting gear, the cylinder it is defeated
Go out end and be connected with stopper 45 along the direction vertical with conveyer belt, the non-inlet end portion of the preceding parting bead and rear parting bead is outside two
The week side of boss is respectively arranged with toward the inclined sensor D46 in middle parting bead direction.
In the present embodiment, the four-axle linked shift mechanism includes frame 1, some sliding blocks 2, and the frame week sidepiece sets
Some inclined guide rods 3 for sliding block sliding are equipped with, the one end of the guide rod is consolidated each other, wherein most two guide rods position
In on same plane, the bottom of the guide rod is to drive rotatable sucker 4 through drive mechanism, between the sucker and sliding block
It is hinged with the two ends of connecting rod 6 through ball head universal 5, the sliding block drives through motor drive mechanism with the connection end of guide rod and realizes that sliding block edge is led
The reciprocal sliding motion of bar.
In the present embodiment, the motor drive mechanism includes motor 7, the output end of the motor and the skin being located inside guide rod
Belt wheel 8 is connected, and the belt pulley is connected through belt 9 with another belt pulley, and the sliding block is connected on belt, the guide rod with
Slide rail 10 is additionally provided with the face of shoe contact, the sliding block slides with slide rail and coordinates, and the drive mechanism includes rotary gas
Cylinder 11, the output end of the rotating cylinder is connected with sucker.
In the present embodiment, quantity of the connecting rod on a sliding block is two, also through the bullet of spring 12 between two connecting rods
Property connection, the bottom of the sucker is additionally provided with one piece for when sucker draws the sea that buffering noise reduction is realized when article is shifted
Continuous body 13, is also arranged with some clamps 14 for fixing cable tubing on the connecting rod.
In the present embodiment, the frame is shaped as triangular structure, the guide rod quantity is for three and be fixed on
The bottom of frame, contains a sliding block on every guide rod.
Specific implementation process：Such as Figure 11, connecting gear operating, in initial conditions, vanning does not have casing in area for the invention,
Now two casings are kept out not with conveying tape travel by block respectively, the resistance that the casing of conveyer belt charging aperture is stretched out by air cylinder driven
Block stops cannot advance.Now sliding seat is stretched out under air cylinder driven, and sucker holds casing, cylinders retract, sliding seat band
Dynamic casing shrinks return and enters area of casing.At the same time, conveying mechanism constantly enters packing material from shooting head end, and camera shoots each bag
The photo of thing physical location is filled so as to the photo on the controller with packing material correct position is compared, according to comparison result,
Four-axle linked shift mechanism is started working, and motor drives the sliding block independent slide on guide rod, rotating cylinder to drive sucker respectively
Independent rotation, realizes for packing material rotation being adjusted to position consistent with the photo of packing material correct position in controller, and realizes
The casing that is put into vanning area of the multidirectional tilt adjustments of sucker by packing material without any confusion；Such as Figure 12,13, central parting bead with after every
After casing between bar is filled, conveyer belt pause is advanced, and sliding seat releases onto conveyer belt casing, and conveyer belt moves on,
Casing is driven to advance away from, now, the sensor D positioned at rear parting bead side is sensed less than casing, the casing of conveyer belt charging aperture
Sensing is prepared to enter into less than in the vanning area of casing；Such as Figure 14,15,16, when casing leaves completely, sensor C sensings less than
During casing, stopper is retracted under air cylinder driven, while the block of parting bead rises after near, the casing being blocked lifts restrictions with defeated
Tape travel is sent, when proceeding to sensors A, sensors A control stopper stretches out and stops latter casing again under air cylinder driven,
Stop at advancing casing to the block of nearly rear parting bead, now sliding seat is stretched out under air cylinder driven, and sucker holds casing, gas
Cylinder is retracted, and sliding seat drives casing contraction return to enter area of casing；Such as Figure 17,18, the casing dress between central parting bead and preceding parting bead
Man Hou, conveyer belt pause is advanced, and sliding seat releases on conveyer belt casing, and conveyer belt moves on, drive casing advance from
Open, now, the sensor D positioned at preceding parting bead side is sensed less than casing, and the casing of conveyer belt charging aperture is prepared to enter into sensing
Less than in the vanning area of casing；Such as Figure 19,20,21, when casing leaves completely, sensor B is sensed during less than casing, and stopper exists
Retracted under air cylinder driven, while the block of parting bead rises near, the casing being blocked lifts restrictions with conveying tape travel, proceeds to
During sensors A, sensors A control stopper stretches out and stops latter casing again under air cylinder driven, and advancing casing is extremely
Stop at the block of parting bead near, now sliding seat is stretched out under air cylinder driven, and sucker holds casing, cylinders retract, sliding seat
Drive casing to shrink return and enter area of casing；So run repeatedly.
The object, technical solutions and advantages of the present invention are further described by above-listed preferred embodiment, are answered
Understand, the foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (7)
1. a kind of robot recrater, including support body, it is characterised in that：It is provided with the support body for transporting the defeated of packing material
Mechanism is sent, the side of the conveying mechanism is provided with the connecting gear of the casing for conveying storage packing material, the conveyer
The four-axle linked shift mechanism for entering casing for capturing packing material is provided with above structure, is set at the charging aperture of the conveying mechanism
It is equipped with for the photo for shooting each packing material physical location so as to the photo on the controller with packing material correct position is compared
To camera, the camera, conveying mechanism, connecting gear, four-axle linked shift mechanism are electrically connected with controller；Institute
Stating connecting gear includes motor, and the motor is coaxially connected with two sprocket wheels through decelerator, and two sprocket wheels are respectively through two conveyings
Band is connected with another two sprocket wheel, and dividing plate is provided between two conveyer belts, and the peripheral part of two conveyer belts is provided with baffle plate, the baffle plate
Appearance be coated with one layer of plastic layer, be provided between the connecting gear and conveying mechanism for packing material to be loaded into casing
Vanning area；The vanning area include it is vertical with conveyer belt simultaneously spaced set preceding parting bead, middle parting bead, rear parting bead, two it is adjacent every
A sliding seat that can be slid along the direction vertical with conveyer belt driven by pneumatic mechanism, the activity are provided between bar
Some round suckers for drawing casing are provided with seat；The pneumatic mechanism includes the cylinder being connected with sliding seat respectively, institute
The inlet end portion for stating middle parting bead is shaped as wedge shape, the surface of the dividing plate on the entry position of middle parting bead and rear parting bead
The block being vertically moved up or down by air cylinder driven is provided with, the block is flushed upper surface when declining with dividing plate, away from sliding seat end
Conveyer belt outside on be disposed with preceding parting bead, middle parting bead, the correspondence position of rear parting bead sensors A, sensor B,
Sensor C, the sensors A is being electrically connected with a cylinder on the position of the charging aperture of connecting gear, the cylinder
Output end is connected with stopper along the direction vertical with conveyer belt, and the non-inlet end portion of the preceding parting bead and rear parting bead is outside two
The week side of boss is respectively arranged with toward the inclined sensor D in middle parting bead direction.
2. robot recrater according to claim 1, it is characterised in that：The conveying mechanism includes motor, the electricity
Machine is connected with belt pulley through decelerator, and communicated band is attached with another belt pulley on the belt pulley, the conveying mechanism
Discharge outlet be provided with roller type counter with the tangent cooperation of the conveyer belt on a moving belt.
3. robot recrater according to claim 2, it is characterised in that：Top at the charging aperture of the conveying mechanism
A rack is provided with, the camera is located at the inside of rack and the surface of conveyer belt, the conveyer belt slave bottom of cabinet portion
Pass through, some fluorescent tubes for realizing illumination are provided between the camera and conveyer belt, the fluorescent tube is placed in camera
Two sides, aluminium section bar is provided between the fluorescent tube and rack, the fluorescent tube is connected on aluminium section bar through bolt, the rack
On be also hinged with a fan cabinet door.
4. robot recrater according to claim 1, it is characterised in that：The four-axle linked shift mechanism includes machine
Frame, some sliding blocks, the frame week sidepiece are provided with some inclined guide rods for sliding block sliding, the one end of the guide rod
Consolidate each other, wherein most two guide rods are in the same plane, the bottom of the guide rod is rotatable through drive mechanism driving
Sucker, be hinged with connecting rod two ends through ball head universal between the sucker and sliding block, the connection end of the sliding block and guide rod
Driven through motor drive mechanism and realize reciprocal sliding motion of the sliding block along guide rod.
5. robot recrater according to claim 4, it is characterised in that：The motor drive mechanism includes motor, the electricity
The output end of machine is connected with the belt pulley inside guide rod, and the belt pulley is connected through belt with another belt pulley, the cunning
Block is connected on belt, and the guide rod is additionally provided with slide rail on the face with shoe contact, and the sliding block slides with slide rail and coordinates,
The drive mechanism includes rotating cylinder, and the output end of the rotating cylinder is connected with sucker.
6. robot recrater according to claim 4, it is characterised in that：Quantity of the connecting rod on a sliding block is
Two, also connected through spring between two connecting rods, the bottom of the sucker is additionally provided with one piece for when sucker draws article
The cavernous body of buffering noise reduction is realized when being shifted, some clamps for fixing cable tubing are also arranged with the connecting rod.
7. robot recrater according to claim 4, it is characterised in that：The frame is shaped as triangular structure,
The quantity of the guide rod is three and is fixed on the bottom of frame, and a sliding block is contained on every guide rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510484339.8A CN105129151B (en) | 2015-08-10 | 2015-08-10 | Robot recrater |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510484339.8A CN105129151B (en) | 2015-08-10 | 2015-08-10 | Robot recrater |
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| CN105129151A CN105129151A (en) | 2015-12-09 |
| CN105129151B true CN105129151B (en) | 2017-06-30 |
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| CN201510484339.8A Active CN105129151B (en) | 2015-08-10 | 2015-08-10 | Robot recrater |
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| CN105905331B (en) * | 2016-05-13 | 2019-01-08 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of soft package article auto-dishing device and its control method |
| CN106394992B (en) * | 2016-09-14 | 2019-07-19 | 四川长虹电器股份有限公司 | Automatic boxing control system based on assembly line |
| CN106829079A (en) * | 2016-12-21 | 2017-06-13 | 江苏宏宝工具有限公司 | Using the quantity on-line measuring device of machine vision equipment |
| CN106697420A (en) * | 2017-01-06 | 2017-05-24 | 上海星派自动化股份有限公司 | Chain line structure of carton |
| CN107323753B (en) * | 2017-05-24 | 2019-04-12 | 歌尔股份有限公司 | Method and apparatus for automatic accomodation SMT product |
| CN107161392B (en) * | 2017-06-16 | 2023-07-07 | 东莞晶苑毛织制衣有限公司 | Automatic detection and grabbing clothes boxing system and clothes boxing method thereof |
| CN110712793B (en) * | 2019-09-27 | 2020-10-30 | 南京坤航信息科技有限公司 | Boxing method of self-adaptive automatic boxing equipment |
| CN111409899B (en) * | 2019-12-09 | 2021-01-01 | 江苏佳利达国际物流股份有限公司 | Boxing robot for intelligent logistics and boxing method thereof |
| CN111377100B (en) * | 2020-02-28 | 2021-03-26 | 温州大学瓯江学院 | Automatic packaging process for medical supplies |
| CN112660484B (en) * | 2020-12-29 | 2022-04-15 | 杭州千岛湖瑞淳机器人研究院有限公司 | Coffee cup packing device |
| US20220315352A1 (en) * | 2021-03-31 | 2022-10-06 | Dexterity, Inc. | Kitting shelf machine with self-loading presentation face |
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| DE102008025845A1 (en) * | 2008-05-29 | 2009-12-03 | Festo Ag & Co. Kg | Drive system, has coupling struts clamped together by spring in transverse direction for retaining components in opposite intervention, and detection unit producing output of electrical warning signal when components reach intervention |
| CN201362377Y (en) * | 2009-03-04 | 2009-12-16 | 广州达意隆包装机械股份有限公司 | Translational box packer |
| CN102530307A (en) * | 2011-12-29 | 2012-07-04 | 大连佳林设备制造有限公司 | Soft bag boxing machine with vision system |
| CN202783859U (en) * | 2012-08-24 | 2013-03-13 | 张�雄 | Whole-column bottle pushing mechanism for automatic case packer |
| CN103419951A (en) * | 2013-07-17 | 2013-12-04 | 杭州娃哈哈科技有限公司 | Combined box filling machine of battery assembly line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105129151A (en) | 2015-12-09 |
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Effective date of registration: 20170309 Address after: 350000 Changan Road, Cangshan District, Fujian, No. 89, No. Applicant after: Fuzhou Guangtai Machinery Equipment Co., Ltd. Address before: 350014 Fuzhou, Taijiang District, Lotus Garden Village, No. 7, building 501, No. 1, No. Applicant before: Zhang Xiong |
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