CN105661390A - Knotting machine used for knotting bars and knotting method - Google Patents

Knotting machine used for knotting bars and knotting method Download PDF

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Publication number
CN105661390A
CN105661390A CN201610209633.2A CN201610209633A CN105661390A CN 105661390 A CN105661390 A CN 105661390A CN 201610209633 A CN201610209633 A CN 201610209633A CN 105661390 A CN105661390 A CN 105661390A
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CN
China
Prior art keywords
knotting
bar
mechanical hand
groove
guide plate
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Withdrawn
Application number
CN201610209633.2A
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Chinese (zh)
Inventor
王玉玲
张翔宇
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Qingdao University of Technology
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Qingdao University of Technology
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Publication date
Application filed by Qingdao University of Technology filed Critical Qingdao University of Technology
Priority to CN201610209633.2A priority Critical patent/CN105661390A/en
Publication of CN105661390A publication Critical patent/CN105661390A/en
Withdrawn legal-status Critical Current

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Abstract

The invention discloses a knotting machine and method for knotting bars. The knotting machine comprises a worktable which is arranged vertically, and a base which is vertical to the worktable, wherein a large groove and a small groove are formed in one part, located at one side of the base, at the top of the worktable in sequence; a pressing guide plate is arranged on each of the two sides of the large groove; a cutting device which is used for cutting the knotted bars is arranged at the end part of the top of the worktable; a mechanical arm for knotting the bars is arranged on the base; the mechanical arm is driven by a rotary device to rotate in a space; the bottom of the rotary device is mounted on a transverse conveying device so that the mechanical arm can horizontally move in the parallel direction of the worktable; and the cutting device, the rotary device and the transverse conveying device are controlled by a controller.

Description

A kind of knot tying machine for bar knotting and knotting method
Technical field
The present invention relates to a kind of knot tying machine being applied to bar knotting and knotting method, belong to field of food processing machinery and equipment.
Background technology
Some bars are sold after needing knotting in the market, such as: the existence form of Thallus Laminariae (Thallus Eckloniae) common currently on the market is Thallus Laminariae (Thallus Eckloniae) bar or Shredded kelp, so not only make Thallus Laminariae (Thallus Eckloniae) waste greatly, and price is relatively low, its price is only 1/2nd of kelp knot, the mechanization production level that reason is kelp knot is low at home and abroad, and most kelp knot is to be tied a knot by staff, and efficiency is low and the cost of salary earner high. Long-time bubble in sea water, the hands of people is injured also very big by salting. Under such overall background, automatic machine for knotting sea-tangle just arises at the historic moment, and also has in Thallus Laminariae (Thallus Eckloniae) deep processing and positive make up effect.
Summary of the invention
In order to solve the technical problem that prior art exists, the invention provides a kind of knot tying machine for bar knotting being knotted into power height and health and knotting method.
The technical solution used in the present invention is as follows:
Knot tying machine for bar knotting, base including a workbench being vertically arranged and one with table vertical, the side being positioned at base at described bench-top is sequentially provided with big groove and little groove, the both sides of big groove are respectively provided with a compression guide plate, and the end of bench-top is provided with the cutter sweep that the bar tied a knot is cut; Described base is provided with a mechanical hand for bar is tied a knot, described mechanical hand drives its Space Rotating by rotary apparatus, the bottom of described rotary apparatus is arranged on cross conveyor, it is achieved mechanical hand moves horizontally workbench parallel direction; Described cutter sweep, rotary apparatus and cross conveyor are by controller control.
Further, described cutter sweep includes pressure folder cutter and steering wheel I, and described steering wheel I controls the lifting of pressure folder cutter, presses folder and cutting action, and is provided with the cutting groove relative with pressing folder cutter on the table.
Further, the left-hand side part of described pressure folder cutter is pressure intermediate plate, and right side is amputation knife, and the bottom of pressure intermediate plate is based on silica gel material, it is provided that frictional force, improves pressure folder effect, and coordinates Thallus Laminariae (Thallus Eckloniae) stop bit nail work, it is prevented that Thallus Laminariae (Thallus Eckloniae) deviates from station.Meanwhile, Widening Design is adopted bottom pressure intermediate plate. Than pressing, intermediate plate position is high ensures cutting performance to amputation knife.
Further, described big groove is positioned at the centre position of workbench, and little groove and big groove are separated by one end apart from arranging. Groove broad in the middle is to be wound around Thallus Laminariae (Thallus Eckloniae) for knotting mechanical hand space to provide space, and the little groove of right-hand member is convenient knotting manipulator clamping and pulls Thallus Laminariae (Thallus Eckloniae) and complete knotting action.
Further, two described compression guide plates are that the first compression guide plate and second compresses guide plate, it is moved up and down under the control of servomotor by pinion and rack respectively, this motor is the motor that a kind of inside is directly synthesized decelerator, the high and low position controlling to compress guide plate can be needed to complete guiding or the effect of pressure folder according to different operating.
Further, described rotary apparatus includes a turntable, described turntable is provided with drive motor, described drive motor drives reduction gear, and then rotation gear wheel, described gear wheel drives the rotation seat holder pivots being fixed on gear wheel, thus realizing the rotational positioning of gripper. The rotation in the horizontal direction of turntable primary responsibility machine for knotting sea-tangle gripper, it will not be interfered by gear wheel with all devising on this support after gear grooved ensures assembling.
Further, described mechanical hand includes hinged jaw fixed pole and jaw lever, jaw fixed pole and jaw lever and is controlled by steering wheel II, and this is movable to complete the action of clamping Thallus Laminariae (Thallus Eckloniae) in order to enable the low-angle of dynamic jaw in fact; Jaw fixed pole have employed cambered design with jaw lever end, it is ensured that in the process of tiltedly folder, improves the clamping area to Thallus Laminariae (Thallus Eckloniae), it is ensured that its accurate gripping to Thallus Laminariae (Thallus Eckloniae).
A kind of knot tying machine for bar knotting, it is for the knotting of Thallus Laminariae (Thallus Eckloniae).
The knotting method of knot tying machine, as follows:
Step 1: open autocontrol system, is transported to the groove broad in the middle of workbench, and two jaw outlines of knotting mechanical hand is lower than table plane by cross conveyor by knotting mechanical hand;
Step 2: bar is tiled on the table, wherein one end of bar is compressed by the pressure intermediate plate one end pressing folder cutter; Simultaneously first compress guide plate and second and compress guide plate and drop to bar lay is well after and form one with table plane and close the position of gridiron structure and bar carried out spacing and lead, it is prevented that bar departs from workbench in follow-up work;
Step 3 bar is in the part of big groove and is affixed on knotting machinery on hand, and rotary apparatus drives knotting mechanical hand that bar carries out space winding action;
Step 4 is wrapped the knotting mechanical hand of bar and is transported to little groove by rotary apparatus and cross conveyor, the steering wheel II being arranged on knotting mechanical hand tail end starts, control to open a low-angle between jaw lever and jaw fixed pole, then the bar being positioned at little groove is clamped, now pressure folder amputation knife and the second compression guide plate lift simultaneously, first compresses guide plate falls the compression bar other end, rotary apparatus and cross conveyor are again started up driving knotting mechanical hand to move the pulling campaign to bar bare terminal end to complete knotting action toward the direction away from work top,
Step 5 rotary apparatus and cross conveyor are again started up again being transported to knotting mechanical hand toward right front the right-hand member of pressure folder amputation knife;
Step 6 steering wheel I starts, and controls to press folder amputation knife to fall into and completes the cutting to the bar having had knotting in cutting knife groove and press clamping plate once more to compress bar one end; Knotting mechanical hand two clamping bar opens release bar, and knotting work completes; First compresses guide plate lifts, and second compresses guide plate falls, and simultaneously returns to initial position;
Step 7 repeat the above steps, continues the knotting work of next bar.
The good effect that the present invention has:
The present invention takes the electromechanical design of original creation, wherein principle mechanical components is exactly that a pair mechanical hand is to simulate staff, the key operations being completely wound under motor control and tie a knot, close fit pay-off and shearing device complete the knotting to bar and cutting, effectively raise and be knotted into power, it is ensured that work efficiency. Simultaneously, present invention PLC circuit controls to improve the antihygienic shortcoming of processing environment of tradition knot tying machine hydraulic control, seriation, generalization, standardized principle have also been observed in the design of each parts, it is ensured that device fabrication, use, maintenance convenient and swift.
Accompanying drawing explanation
Fig. 1 is knot tying machine structural representation one of the present invention;
Fig. 2 is knot tying machine structural representation two of the present invention;
Fig. 3 is knot tying machine top view of the present invention;
Wherein, 1-workbench; 2-first compresses guide plate; 3-second compresses guide plate; 4-pressure folder amputation knife; 5-steering wheel; 6-cutting knife groove; 7-ties a knot mechanical hand; Bis-grades of driving gears of 8-; Bis-grades of driven gears of 9-; 10-servomotor; 11-guide rail; 12-turntable; 13-guide rail; 14-supports base; 15-steering wheel; 16-Working rack; 17-gear wheel; 18-servomotor; 19-linear electric motors; 20-tooth bar; 21-servomotor; 22-gear; 23-shaft coupling; 24-screw slider; 25-leading screw; 26-retainer; 27-driving gear.
Detailed description of the invention
Below in conjunction with accompanying drawing for Thallus Laminariae (Thallus Eckloniae), the present invention is described in detail:
Machine for knotting sea-tangle includes frame and PLC control system, and frame is equipped with: device for transporting objects, tangled up and knotted device and cutter sweep.
Device for transporting objects: mainly comprise two parts. Respectively workbench and compression guide plate. Workbench is the core component of this part, compresses guide plate, presses folder amputation knife, steering wheel, Thallus Laminariae (Thallus Eckloniae) to be all disposed within above it, and assembling is not only easy in the design of its geomery, and to meet the working regulation of whole motion of space curve. In order to ensure the practical convenient of assembling, it devises the pilot hole of assembling. Play first pressing folder amputation knife and directly driven the Thallus Laminariae (Thallus Eckloniae) one end compression that will lay by steering wheel. Compress guide plate and have two effects, be first to ensure that Thallus Laminariae (Thallus Eckloniae) can be carried on normal station and play guide effect, next to that play the effect that pressure folder Thallus Laminariae (Thallus Eckloniae) coordinates with knotting action. Compress guide plate to be moved up and down under servomotor drives by pinion and rack; Concrete paving mode is:
Thallus Laminariae (Thallus Eckloniae) is laid on workbench 1, work top has small one and large one two Baltimore grooves and carrys out instant kelp tangled up and knotted, it is simultaneously provided with the first compression guide plate 2 and second and compresses guide plate 3, first compression guide board device is to be completed moving up and down of vertical direction by gear 22 and tooth bar 20 mechanism under the drive of servomotor 21 realize guiding or compress the effect of Thallus Laminariae (Thallus Eckloniae), and the second pressure strip 3 principle is identical with the first pressure strip 2 principle. Workbench 1 is additionally provided with cutter sweep and cutting knife groove 6.
Tangled up and knotted device: being completely wound the critical piece that Thallus Laminariae (Thallus Eckloniae) tied a knot by Thallus Laminariae (Thallus Eckloniae) simultaneously is knotting mechanical hand 7, and wherein critical piece is knotting mechanical hand, machine for knotting sea-tangle tool hands major function is Thallus Laminariae (Thallus Eckloniae) is wound, to grip, ties a knot, transports. Mechanical arm belongs to execution device, is in the centre position of full machine, is also the core component of knotting. First when Thallus Laminariae (Thallus Eckloniae) bar is layed in the position between feeding base and hold down gag, by this cross conveyor of guide rail slide block, mechanical hand is transported to central concave groove location, and control it and be highly positioned at below Thallus Laminariae (Thallus Eckloniae) bar, then servomotor drive gear mechanism effect under carry out spatial rotational Thallus Laminariae (Thallus Eckloniae) bar is wound around two circles make one knot model, owing to bending arcuation is made on mechanical hand top, so Thallus Laminariae (Thallus Eckloniae) is not fall off in winding process, but it is tightly wound around on two jaws.Mechanical hand is transported to compression shearing device and pressure clamping plate intermediate groove position afterwards under the effect of base cross conveyor and each motor, and at this moment mechanical hand will play clamping and the effect of knotting; Concrete structure is as follows:
Knotting mechanical hand 7 is made up of jaw fixed pole and two bars of jaw lever, it relies on servomotor 10 to drive the rotation that a pair two grades of driving gears 8 and two grades of driven gears 9 complete spatially that Thallus Laminariae (Thallus Eckloniae) is wound, and is simultaneously attached to the steering wheel 15 of mechanical arm end and can control the movement of its upper gripper jaw lever and complete the effect of clamping Thallus Laminariae (Thallus Eckloniae). whole knotting mechanical hand is fixed on a gear wheel 17 by Working rack 16, gear wheel engages with driving gear 27, the rotation in plane is completed thus driving knotting mechanical hand 7 to complete horizontal plane and rotating under servomotor 18 drives, on support base 14, it is provided with guide rail 11 and 13 two guide rails of guide rail simultaneously, connecing shaft coupling 23 by the linear electric motors 19 of base lower end drives leading screw 25 to rotate, screw slider 24 is fixed together by the company's of slip block with turntable 12, the other end of leading screw 25 is arranged on retainer 26, turntable is fixed with again knotting mechanical hand 7, the left and right translation of mechanical hand is controlled thereby through leading screw 25 mechanism.
Cutter sweep: for cutting the Thallus Laminariae (Thallus Eckloniae) tied a knot, including pressure folder amputation knife 4 and cutting knife groove 6, completes the purpose compressing Thallus Laminariae (Thallus Eckloniae) and cutting Thallus Laminariae (Thallus Eckloniae) under the control of steering wheel 5. With cutting knife one be the pressure clamping plate of one piece of elastomeric material, but the aspect ratio of cutting knife pressure clamping plate are high, are to cut conveniently. Reserved cutting knife groove 6 is contemplated to cutting knife and does not interfere with pressure clamping plate work when not completing dissection.
The edge of a knife of amputation knife adopts angle design, in order to can fully cut off Thallus Laminariae (Thallus Eckloniae) in steering wheel rotation process. Wherein, material feeding seat leaving knife-edge positions, it is ensured that do not touch cutter in its work process, do not forge a knife, work is rationally reliable. Compress Thallus Laminariae (Thallus Eckloniae) while having cut, facilitate follow-up knotting, to ensure continuous operation.
PLC controls device: for controlling the work of material lay conveyer device, tangled up and knotted device and cutter sweep.
Job step and the Thallus Laminariae (Thallus Eckloniae) knotting method of machine for knotting sea-tangle it is specifically described with Fig. 1 for standard, as follows:
Starting PLC control system, be laid in by Thallus Laminariae (Thallus Eckloniae) on workbench 1, wherein one end of Thallus Laminariae (Thallus Eckloniae) is compressed by the pressure clamping plate one end pressing folder cutter 4, and wherein pressure folder cutter 4 are to control it by steering wheel 5 to lift and press folder and the action of cutting. Simultaneously first compress guide plate 2 and second and compress guide plate 3 and drop to Thallus Laminariae (Thallus Eckloniae) lay is well after and form one with workbench 1 plane and close the position of gridiron structure and Thallus Laminariae (Thallus Eckloniae) carried out spacing and lead, it is prevented that Thallus Laminariae (Thallus Eckloniae) departs from workbench 1 in follow-up work.
The knotting initial station of wind is the intermediate groove that knotting mechanical hand 7 was transported to by this cross conveyor of screw slider 24 workbench 1 before lay Thallus Laminariae (Thallus Eckloniae), and two jaw outlines of knotting mechanical hand 7 are lower than table plane, then after material lay conveyer device lay and compression Thallus Laminariae (Thallus Eckloniae), Thallus Laminariae (Thallus Eckloniae) is in the part of big groove and is affixed on knotting mechanical hand 7, now a pair two grades of driving gears 8 and two grades of driven gear 9 engagement rotation under the control of servomotor 10, drive knotting mechanical hand 7 that Thallus Laminariae (Thallus Eckloniae) carries out space winding action, after winding completes, under servomotor drive on turntable 12, gear wheel 17 and driving gear 27 engagement rotation are thus driving turntable to rotate, drive leading screw 25 to rotate by shaft coupling 23 and then drive this cross conveyor left and right translation of screw slider 24 under the drive of linear electric motors 19 simultaneously, thus achieve the control simultaneously to the rotation of knotting mechanical hand 7 and translation.
It is wrapped the knotting mechanical hand 7 of Thallus Laminariae (Thallus Eckloniae) to be transported to by rotating mechanism and screw mechanism after the second compression guide plate 3 and the middle little groove of pressure folder amputation knife 4, the steering wheel 15 being arranged on knotting mechanical hand 7 tail end starts, control to open a low-angle between jaw lever and jaw fixed pole, then the Thallus Laminariae (Thallus Eckloniae) being positioned at little groove is clamped, now pressure folder amputation knife 4 and the second compression guide plate 3 lift simultaneously, first compresses guide plate 2 falls the compression Thallus Laminariae (Thallus Eckloniae) other end, rotating mechanism and screw mechanism are again started up driving knotting mechanical hand 7 to move the pulling campaign to Thallus Laminariae (Thallus Eckloniae) bare terminal end to complete knotting action toward the direction away from work top. rotating mechanism and screw mechanism are again started up again being transported to knotting mechanical hand 7 toward right front the right-hand member of pressure folder amputation knife 4 afterwards.
Steering wheel 5 starts, and controls to press folder amputation knife 4 to fall into and completes the cutting to the Thallus Laminariae (Thallus Eckloniae) having had knotting in cutting knife groove 6 and press clamping plate once more to compress Thallus Laminariae (Thallus Eckloniae) one end. Knotting mechanical hand two clamping bar opens release Thallus Laminariae (Thallus Eckloniae), and knotting work completes. First compresses guide plate 2 lifts, and second compresses guide plate 3 falls, and simultaneously returns to initial position.
Repeat the above steps, continues Thallus Laminariae (Thallus Eckloniae) knotting work.
The specific embodiment of the present invention is described in conjunction with accompanying drawing although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme, those skilled in the art need not pay various amendments or deformation that creative work can make still within protection scope of the present invention.

Claims (10)

1. for the knot tying machine of bar knotting, it is characterized in that, base including a workbench being vertically arranged and one with table vertical, the side being positioned at base at described bench-top is sequentially provided with big groove and little groove, the both sides of big groove are respectively provided with a compression guide plate, and the end of bench-top is provided with the cutter sweep that the bar tied a knot is cut; Described base is provided with a mechanical hand for bar is tied a knot, described mechanical hand drives its Space Rotating by rotary apparatus, the bottom of described rotary apparatus is arranged on cross conveyor, it is achieved mechanical hand is in that moving horizontally of workbench parallel direction; Described cutter sweep, rotary apparatus and cross conveyor are by controller control.
2. the knot tying machine for bar knotting as claimed in claim 1, it is characterized in that, described cutter sweep includes pressure folder cutter and steering wheel I, described steering wheel I controls the lifting of pressure folder cutter, presses folder and cutting action, and is provided with the cutting groove relative with pressing folder cutter on the table.
3. the knot tying machine for bar knotting as claimed in claim 2, it is characterised in that the left-hand side part of described pressure folder cutter is pressure intermediate plate, and right side is amputation knife, and the bottom of pressure intermediate plate is based on silica gel material, it is provided that frictional force.
4. the knot tying machine for bar knotting as claimed in claim 3, it is characterised in that be as the criterion with the horizontal plane of workbench, described amputation knife are higher than pressure intermediate plate position.
5. the knot tying machine for bar knotting as claimed in claim 1, it is characterized in that, described big groove is positioned at the centre position of workbench, little groove and big groove are separated by one end apart from arranging, groove broad in the middle is to be wound around Thallus Laminariae (Thallus Eckloniae) for knotting mechanical hand space to provide space, and the little groove of right-hand member is convenient knotting manipulator clamping and pulls Thallus Laminariae (Thallus Eckloniae) and complete knotting action.
6. the knot tying machine for bar knotting as claimed in claim 1, it is characterized in that, two described compression guide plates are that the first compression guide plate and second compresses guide plate, and it is driven it to move up and down by pinion and rack respectively under the control of servomotor.
7. the knot tying machine for bar knotting as claimed in claim 1, it is characterized in that, described rotary apparatus includes a turntable, described turntable is provided with drive motor, described drive motor drives reduction gear, and then rotation gear wheel, described gear wheel drives the rotation seat holder pivots being fixed on gear wheel, thus realizing the rotational positioning of gripper.
8. the knot tying machine for bar knotting as claimed in claim 1, it is characterized in that, described mechanical hand includes hinged jaw fixed pole and jaw lever, jaw fixed pole and jaw lever and is controlled by steering wheel II, and jaw fixed pole and jaw lever end adopt cambered design.
9. the knot tying machine for bar knotting, it is characterised in that it is for the knotting of Thallus Laminariae (Thallus Eckloniae).
10. adopt claim 1-8 arbitrary described knot tying machine that bar is carried out knotting method, it is characterised in that as follows:
Step 1: open autocontrol system, is transported to the groove broad in the middle of workbench 1, and two jaw outlines of knotting mechanical hand is lower than table plane by cross conveyor by knotting mechanical hand;
Step 2: bar is tiled on the table, wherein one end of bar is compressed by the pressure intermediate plate one end pressing folder cutter; Simultaneously first compress guide plate and second and compress guide plate and drop to bar lay is well after and form one with table plane and close the position of gridiron structure and bar carried out spacing and lead, it is prevented that bar departs from workbench in follow-up work;
Step 3 bar is in the part of big groove and is affixed on knotting machinery on hand, and rotary apparatus drives knotting mechanical hand that bar carries out space winding action;
Step 4 is wrapped the knotting mechanical hand of bar and is transported to little groove by rotary apparatus and cross conveyor, the steering wheel II being arranged on knotting mechanical hand tail end starts, control to open a low-angle between jaw lever and jaw fixed pole, then the bar being positioned at little groove is clamped, now pressure folder amputation knife and the second compression guide plate lift simultaneously, first compresses guide plate falls the compression bar other end, rotary apparatus and cross conveyor are again started up driving knotting mechanical hand to move the pulling campaign to bar bare terminal end to complete knotting action toward the direction away from work top,
Step 5 rotary apparatus and cross conveyor are again started up again being transported to knotting mechanical hand toward right front the right-hand member of pressure folder amputation knife;
Step 6 steering wheel I starts, and controls to press folder amputation knife to fall into and completes the cutting to the bar having had knotting in cutting knife groove and press clamping plate once more to compress bar one end; Knotting mechanical hand two clamping bar opens release bar, and knotting work completes; First compresses guide plate lifts, and second compresses guide plate falls, and simultaneously returns to initial position;
Step 7 repeat the above steps, continues the knotting work of next bar.
CN201610209633.2A 2016-04-06 2016-04-06 Knotting machine used for knotting bars and knotting method Withdrawn CN105661390A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610209633.2A CN105661390A (en) 2016-04-06 2016-04-06 Knotting machine used for knotting bars and knotting method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610209633.2A CN105661390A (en) 2016-04-06 2016-04-06 Knotting machine used for knotting bars and knotting method

Publications (1)

Publication Number Publication Date
CN105661390A true CN105661390A (en) 2016-06-15

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610209633.2A Withdrawn CN105661390A (en) 2016-04-06 2016-04-06 Knotting machine used for knotting bars and knotting method

Country Status (1)

Country Link
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109335457A (en) * 2018-10-26 2019-02-15 青岛科技大学 A kind of automatic fastening devices of stable type butterfly button
CN113979103A (en) * 2021-11-09 2022-01-28 哈尔滨工业大学(威海) Knotted sea-tangle strip swinging feeder

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109335457A (en) * 2018-10-26 2019-02-15 青岛科技大学 A kind of automatic fastening devices of stable type butterfly button
CN109335457B (en) * 2018-10-26 2023-03-03 青岛科技大学 Stable type butterfly buckle automatic tying device
CN113979103A (en) * 2021-11-09 2022-01-28 哈尔滨工业大学(威海) Knotted sea-tangle strip swinging feeder

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Application publication date: 20160615