CN106395322A - Bottle conveying method used for intelligent unpacking system - Google Patents
Bottle conveying method used for intelligent unpacking system Download PDFInfo
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- CN106395322A CN106395322A CN201610931301.5A CN201610931301A CN106395322A CN 106395322 A CN106395322 A CN 106395322A CN 201610931301 A CN201610931301 A CN 201610931301A CN 106395322 A CN106395322 A CN 106395322A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 230000007423 decrease Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000009432 framing Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000002985 plastic film Substances 0.000 description 1
- 229920006255 plastic film Polymers 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0244—Bottles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Wrapping Of Specific Fragile Articles (AREA)
Abstract
The invention discloses a bottle conveying method used for an intelligent unpacking system. A first sleeving frame mechanism and a second sleeving frame mechanism are adopted to convey unpacked bottles to the downstream position from the bottle framing positions alternately and each have a free bottle conveying mode and a self-adjustment bottle conveying mode; during free bottle conveying, bottle frames covey the bottles to the downstream position according to the set torque F1 and torque mode conveying speed V1; and during self-adjustment bottle conveying, a controller automatically adjusts the conveying speed V2 of the bottle frames according to the torque F2 fed back by the bottle frames. The bottle conveying method used for the intelligent unpacking system has the advantages of being high in production efficiency, stable in operation, capable of effectively preventing bottle falling, bottle squeezing and bottle lacking and the like.
Description
Technical field
The present invention relates to pharmaceutical production equipment, more particularly, to a kind of active conveying bottle method for intelligent Unpacking.
Background technology
Existing device of unpacking generally manually tears film open, machinery unloads the form of bottle, and in food and medicine industry, artificial participation is all
To impact to producing cleanliness factor, and because single empty bottle is lightweight, after unpacking, empty bottle will not have plastic film to wrap up, empty bottle will exist
In moving process, bottle is susceptible to down due to the mutual collision between the friction of bottom of bottle and bottle, more importantly, unpacks
Later many using push pedal or conveyer belt active conveying bottle it is impossible to according to front bottle number changing the stroke pushing away bottle or the power pushing away bottle
Degree, easily produces squeezing bottle, the bottle or the problems such as scarce bottle of falling, have impact on stability and the efficiency of active conveying bottle.
Content of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, provides a kind of production efficiency height, runs surely
The active conveying bottle method for intelligent Unpacking that is fixed, can effectively preventing down bottle, squeezing bottle or scarce bottle.
For solving above-mentioned technical problem, the present invention employs the following technical solutions：
A kind of active conveying bottle method for intelligent Unpacking, after alternately being unpacked using first set frame mechanism and the second Tao Kuang mechanism
Bottle convey toward downstream from frame bottle position, described first set frame mechanism and the second Tao Kuang mechanism are respectively provided with free active conveying bottle and self-regulated
Whole two kinds of active conveying bottle patterns of active conveying bottle, during free active conveying bottle, bottle frame according to set moment size F1 and torque mode transporting velocity V1 to
Downstream conveys, and during self-adjusting active conveying bottle, controller automatically adjusts transporting velocity V2 of bottle frame according to moment size F2 that bottle frame feeds back,
Active conveying bottle method comprises the following steps：
S1, make first bottle of frame of first set frame mechanism entangle, in frame bottle position, the bottle that puts one's child in a boarding nursery, start by free active conveying bottle pattern active conveying bottle；
S2, when first bottle of frame is delivered to and touches downstream bottle, start by self-adjusting active conveying bottle pattern active conveying bottle；
S3, during carrying out above-mentioned steps S1 or step S2, so that second bottle of frame of the second Tao Kuang mechanism is covered in frame bottle position
Firmly put one's child in a boarding nursery bottle, starts by free active conveying bottle pattern active conveying bottle；
S4, put position and second bottle of frame active conveying bottle in place to after against first bottle of frame when first bottle of frame reaches the bottle that send setting, lifting the
One bottle of frame returns frame bottle position is to start active conveying bottle next time；
S5, second bottle of frame according to self-adjusting active conveying bottle pattern active conveying bottle to sending bottle to put in place behind position, second bottle of frame of lifting returns frame bottle
Position is to start active conveying bottle next time.
Improvement further as technique scheme：
In described step S4, if second bottle of frame is before first bottle of frame, the bottle that send that first bottle of frame has been delivered to setting puts in place
Position, then make first bottle of frame stop conveying, waits second bottle of frame after first bottle of frame, lifts first bottle of frame returns frame bottle position
Put to start active conveying bottle next time；If second bottle of frame is before first bottle of frame, the bottle that send that first bottle of frame is not delivered to set puts in place
Position, then make the bottle that send that first bottle of frame continues on to setting put in place position, and make second bottle of frame defeated by self-adjusting active conveying bottle pattern
Bottle, extremely after first bottle of frame, lifts first bottle of frame and returns frame bottle position is to start active conveying bottle next time.
Described first set frame mechanism and the second Tao Kuang mechanism all drive bottle frame using servomotor.
In the bottle that before frame bottle position is toward downstream conveying, will need to unpack using manipulator fixture by the bottle after unpacking
Body frames and is delivered to overlay film cut-out region, and after completing overlay film incision, bottle is simultaneously delivered to by manipulator fixture holding frame ampuliform state
At frame bottle position, manipulator fixture moves, the bottle frame decline of described first set frame mechanism or the second Tao Kuang mechanism frames bottle.
The platform of described frame bottle position arranges counterdie sucker, when bottle is delivered at frame bottle position by manipulator fixture
Afterwards, start counterdie sucker to adsorb counterdie, manipulator fixture moves, under the bottle frame of first set frame mechanism or the second Tao Kuang mechanism
After fall frames bottle, after after under manipulator fixture, general who has surrendered's paper support clasps, slowly upper lifting paper support removes again, first set frame mechanism or
Second Tao Kuang mechanism drives bottle to convey toward downstream.
Compared with prior art, it is an advantage of the current invention that：
The active conveying bottle method for intelligent Unpacking of the present invention, is completed jointly using first set frame mechanism and the second Tao Kuang mechanism
Conveying to bottle, and first set frame mechanism and the second Tao Kuang mechanism are respectively provided with free active conveying bottle and two kinds of active conveying bottle moulds of self-adjusting active conveying bottle
Formula, makes first bottle of frame of first set frame mechanism entangle, in frame bottle position, the bottle that puts one's child in a boarding nursery first, starts by free active conveying bottle pattern active conveying bottle；
During this, first bottle of frame protects the bottle that puts one's child in a boarding nursery all the time, can effectively prevent down bottle, and can be defeated using higher torque mode
Send speed V1, improve transfer efficiency, when first bottle of frame is delivered to and touches downstream bottle, start defeated by self-adjusting active conveying bottle pattern
Bottle, automatically adjusts transporting velocity V2 of bottle frame according to moment size F2 of first bottle of frame feedback, that is, according to downstream bottle number
Adjust automatically transporting velocity, it is to avoid downstream bottle is squeezed broken by first bottle of frame, also can avoid the occurrence of scarce bottle phenomenon, defeated in first bottle of frame
During bottle, make second bottle of frame of the second Tao Kuang mechanism entangle, in frame bottle position, the bottle that puts one's child in a boarding nursery, start defeated by free active conveying bottle pattern
Bottle；Position and second bottle of frame active conveying bottle put in place to after against first bottle of frame when first bottle of frame reaches the bottle that send setting, lifts first bottle
Frame returns frame bottle position is to start active conveying bottle next time, now, because second bottle of frame is against first bottle of frame, first bottle of frame lifting
Afterwards, the bottle of first bottle of inframe is lived without there is bottle by second bottle of frame box, and second bottle of frame is defeated according to self-adjusting active conveying bottle pattern
Bottle to sending bottle to put in place behind position, second bottle of frame of lifting returns frame bottle position is to start active conveying bottle next time, in above process, bottle
Body is in the state lived by bottle frame box all the time, thus bottle will not occur down, and first bottle of frame and second bottle of frame are under not in contact with arriving
During trip bottle, all can adopt free active conveying bottle, you can using higher active conveying bottle speed, to improve active conveying bottle efficiency, and under touching
After trip bottle, all using self-adjusting active conveying bottle pattern, can effectively prevent from squeezing broken bottle or scarce bottle.
Brief description
Fig. 1 is the structural representation of intelligent Unpacking of the present invention.
Fig. 2 is the position view during active conveying bottle for the bottle frame of first set frame mechanism of the present invention and the second Tao Kuang mechanism.
Fig. 3 is the stereogram of the second Tao Kuang mechanism of intelligent Unpacking of the present invention.
Fig. 4 is the schematic diagram of the bottle packaging in the present invention.
The each label of in figure represents：
1st, first set frame mechanism；11st, first bottle of frame；2nd, the second Tao Kuang mechanism；21st, second bottle of frame；22nd, servomotor；3rd, machinery
Hand fixture；4th, counterdie sucker；51st, paper support；52nd, empty bottle；53rd, overlay film.
Specific embodiment
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
The active conveying bottle method for intelligent Unpacking of the present embodiment, using first set frame mechanism 1 and the second Tao Kuang mechanism 2
Alternately the bottle after unpacking is conveyed toward downstream from frame bottle position, first set frame mechanism 1 and the second Tao Kuang mechanism 2 are respectively provided with freedom
Active conveying bottle and two kinds of active conveying bottle patterns of self-adjusting active conveying bottle, during free active conveying bottle, bottle frame is defeated according to moment size F1 setting and torque mode
Send speed V1 downstream transport, during self-adjusting active conveying bottle, controller automatically adjusts bottle frame 11 according to moment size F2 that bottle frame feeds back
Transporting velocity V2, active conveying bottle method comprises the following steps：
S1, make first bottle of frame 11 of first set frame mechanism 1 entangle, in frame bottle position, the bottle that puts one's child in a boarding nursery, start defeated by free active conveying bottle pattern
Bottle；
S2, when first bottle of frame 11 is delivered to and touches downstream bottle, start by self-adjusting active conveying bottle pattern active conveying bottle；
S3, during carrying out above-mentioned steps S1 or step S2, second bottle of frame 21 making the second Tao Kuang mechanism 2 is in frame bottle position
Entangle the bottle that puts one's child in a boarding nursery, start by free active conveying bottle pattern active conveying bottle；
S4, put position and second bottle of frame 21 active conveying bottle in place to after against first bottle of frame 11 when first bottle of frame 11 reaches the bottle that send setting,
Lift first bottle of frame 11 and returns frame bottle position is to start active conveying bottle next time；
, according to self-adjusting active conveying bottle pattern active conveying bottle to sending bottle to put in place behind position, second bottle of frame 21 of lifting simultaneously returns for S5, second bottle of frame 21
Frame bottle position is to start active conveying bottle next time.
The active conveying bottle method for intelligent Unpacking of the present embodiment, using first set frame mechanism 1 and the second Tao Kuang mechanism 2
Jointly complete the conveying to bottle, and first set frame mechanism 1 and the second Tao Kuang mechanism 2 are respectively provided with free active conveying bottle and self-adjusting active conveying bottle
Two kinds of active conveying bottle patterns, make first bottle of frame 11 of first set frame mechanism 1 entangle, in frame bottle position, the bottle that puts one's child in a boarding nursery first, start by freedom
Active conveying bottle pattern active conveying bottle；During this, first bottle of frame 11 protects the bottle that puts one's child in a boarding nursery all the time, effectively can prevent down bottle, and can adopt
Higher torque mode transporting velocity V1, improves transfer efficiency, when first bottle of frame 11 is delivered to and touches downstream bottle, starts
By self-adjusting active conveying bottle pattern active conveying bottle, automatically adjust transporting velocity V2 of bottle frame according to moment size F2 of first bottle of frame feedback, that is,
How many adjust automatically transporting velocities V2 according to downstream bottle, it is to avoid downstream bottle is squeezed broken by first bottle of frame 11, also can avoid out
Now lack bottle phenomenon, during first bottle of frame 11 active conveying bottle, so that second bottle of frame 21 of the second Tao Kuang mechanism 2 is entangled in frame bottle position whole
Bottle supporting body, starts by free active conveying bottle pattern active conveying bottle；Put in place position and second bottle of frame 21 when first bottle of frame 11 reaches the bottle that send setting
Active conveying bottle, extremely after first bottle of frame 11, lifts first bottle of frame 11 and returns frame bottle position is to start active conveying bottle next time, now, due to
After first bottle of frame 11, first bottle of frame 11 lifting, the bottle in first bottle of frame 11 is protected second bottle of frame 21 by second bottle of frame 21
Without there is to fall bottle, second bottle of frame 21 lifts second bottle of frame according to self-adjusting active conveying bottle pattern active conveying bottle to sending bottle to put in place behind position
21 and returns frame bottle position to start active conveying bottle next time, in above process, bottle is in the state lived by bottle frame box all the time, because
Without there is bottle, and first bottle of frame 11 and second bottle of frame 21, not in contact with during to downstream bottle, all can adopt free active conveying bottle,
Active conveying bottle efficiency can be improved using higher active conveying bottle speed, and after touching downstream bottle, all using self-adjusting active conveying bottle mould
Formula, can effectively prevent from squeezing broken bottle or scarce bottle.
Intelligent Unpacking shown in Fig. 1 to Fig. 3 can be used for realizing the active conveying bottle method of the present invention, as shown in figure 1, intelligence is torn open
Packet system includes manipulator fixture 3, first set frame mechanism 1 and the second Tao Kuang mechanism 2, and Fig. 2 shows first set frame mechanism 1 and
Position view during active conveying bottle for the bottle frame of two Tao Kuang mechanisms 2, as shown in Figure 2, first bottle of frame 11 or second bottle of frame 21 carry
Rise and returns frame bottle position before, need to ensure second bottle of frame 21 or first bottle of frame 11 at rear against first bottle of frame 11 or second bottle of frame
21.
In the present embodiment, in above-mentioned steps S4, if second bottle of frame 21 is before first bottle of frame 11, first bottle of frame 11 is
The bottle that send being delivered to setting puts in place position, then make first bottle of frame 11 stop conveying, waits second bottle of frame 21 against first bottle of frame 11
Afterwards, lift first bottle of frame 11 and returns frame bottle position is to start active conveying bottle next time；If second bottle of frame 21 against first bottle of frame 11 it
Before, due to the full bottle in downstream, what first bottle of frame 11 was not delivered to set send bottle puts in place position, then so that first bottle of frame 11 is continued on to
The bottle that send setting puts in place position, and makes second bottle of frame 21 by self-adjusting active conveying bottle pattern active conveying bottle to after first bottle of frame 11, lifting
First bottle of frame 11 returns frame bottle position is to start active conveying bottle next time, the bottle that send being delivered to setting in first bottle of frame 11 puts in place position
When putting, second bottle of frame 21 need to be ensured after first bottle of frame 11, just can lift first bottle of frame 11 and returns frame bottle position is to open
Begin active conveying bottle next time, to ensure that bottle is in the state lived by bottle frame box all the time, is not in down bottle.
In the present embodiment, first set frame mechanism 1 and the second Tao Kuang mechanism 2 all drive bottle frame using servomotor, in servo
Face carries inductor, and the moment information sensing is transferred to the controller of bottle conveying device of unpacking, controller analysis moment letter
Cease the actuating speed controlling servomotor to servomotor output control signal, that is, control transporting velocity V2 of bottle frame.
In the present embodiment, incited somebody to action using manipulator fixture 3 before frame bottle position is toward downstream conveying by the bottle after unpacking
The bottle unpacked is needed to frame and be delivered to overlay film cut-out region, after completing overlay film 53 incision, manipulator fixture 3 holding frame ampuliform
State is simultaneously delivered to bottle at frame bottle position, and in the process, external packing is not yet removed completely, and manipulator fixture 3 holding frame bottle
State, forms overall shield bottle structure it is ensured that empty bottle 52 is stable, move to specified location at high speed, on subsequent manipulator fixture 3
Move, the bottle frame decline of first set frame mechanism 1 or the second Tao Kuang mechanism 2 frames bottle, prevents down bottle.
In the present embodiment, the platform of frame bottle position arranges counterdie sucker 4, when bottle is delivered to frame by manipulator fixture 3
After at bottle position, start counterdie sucker 4 and counterdie is adsorbed, shifting, first set frame mechanism 1 or second set of frame on manipulator fixture 3
After the bottle frame decline of mechanism 2 frames bottle, 3 times general who has surrendered's paper supports 51 of manipulator fixture slowly above lift paper support 51 again after clasping and remove
Afterwards, first set frame mechanism 1 or the second Tao Kuang mechanism 2 drive bottle to convey toward downstream, in whole process, by manipulator fixture 3, or
First set frame mechanism 1 or the second Tao Kuang mechanism 2 protect empty bottle 52 all the time it is ensured that being not in down bottle.
Although the present invention is disclosed above with preferred embodiment, but it is not limited to the present invention.Any it is familiar with ability
The technical staff in domain, in the case of without departing from technical solution of the present invention scope, can be utilized the technology contents pair of the disclosure above
Technical solution of the present invention makes many possible variations and modification, or the Equivalent embodiments being revised as equivalent variations.Therefore, every
Without departing from the content of technical solution of the present invention, according to the technology of the present invention essence to any simple modification made for any of the above embodiments,
Equivalent variations and modification, all should fall in the range of technical solution of the present invention protection.
Claims (5)
1. a kind of active conveying bottle method for intelligent Unpacking is it is characterised in that adopt first set frame mechanism（1）With second set of frame
Mechanism（2）Alternately the bottle after unpacking is conveyed toward downstream from frame bottle position, described first set frame mechanism（1）With second set of frame machine
Structure（2）It is respectively provided with free active conveying bottle and two kinds of active conveying bottle patterns of self-adjusting active conveying bottle, during free active conveying bottle, bottle frame is according to the moment size setting
F1 and torque mode transporting velocity V1 downstream transport, during self-adjusting active conveying bottle, moment size F2 that controller feeds back according to bottle frame
Automatically adjust a bottle frame（11）Transporting velocity V2, active conveying bottle method comprises the following steps：
S1, make first set frame mechanism（1）First bottle of frame（11）Entangle, in frame bottle position, the bottle that puts one's child in a boarding nursery, start by free active conveying bottle mould
Formula active conveying bottle；
S2, when first bottle of frame（11）It is delivered to when touching downstream bottle, start by self-adjusting active conveying bottle pattern active conveying bottle；
S3, during carrying out above-mentioned steps S1 or step S2, make the second Tao Kuang mechanism（2）Second bottle of frame（21）In frame bottle
The bottle that puts one's child in a boarding nursery is entangled in position, starts by free active conveying bottle pattern active conveying bottle；
S4, when first bottle of frame（11）Reach the bottle that send setting to put in place position and second bottle of frame（21）Active conveying bottle is to against first bottle of frame
（11）Afterwards, lift first bottle of frame（11）And returns frame bottle position is to start active conveying bottle next time；
S5, second bottle of frame（21）According to self-adjusting active conveying bottle pattern active conveying bottle to sending bottle to put in place behind position, lift second bottle of frame（21）And
Returns frame bottle position is to start active conveying bottle next time.
2. the active conveying bottle method for intelligent Unpacking according to claim 1 it is characterised in that：In described step S4
In, if second bottle of frame（21）Against first bottle of frame（11）Before, first bottle of frame（11）The bottle that send being delivered to setting puts in place position,
Then make first bottle of frame（11）Stop conveying, wait second bottle of frame（21）Against first bottle of frame（11）Afterwards, lift first bottle of frame（11）
And returns frame bottle position is to start active conveying bottle next time；If second bottle of frame（21）Against first bottle of frame（11）Before, first bottle of frame
（11）The bottle that send being not delivered to set puts in place position, then make first bottle of frame（11）The bottle that send continuing on to setting puts in place position,
And make second bottle of frame（21）By self-adjusting active conveying bottle pattern active conveying bottle to against first bottle of frame（11）Afterwards, lift first bottle of frame（11）And return
Go back to frame bottle position to start active conveying bottle next time.
3. the active conveying bottle method for intelligent Unpacking according to claim 1 and 2 it is characterised in that：Described first set
Frame mechanism（1）With the second Tao Kuang mechanism（2）All bottle frame is driven using servomotor.
4. the active conveying bottle method for intelligent Unpacking according to claim 1 and 2 it is characterised in that：After unpacking
Bottle from frame bottle position toward downstream conveying before, using manipulator fixture（3）The bottle needing to unpack is framed and is delivered to
Overlay film cut-out region, after completing overlay film incision, manipulator fixture（3）Bottle is simultaneously delivered at frame bottle position by holding frame ampuliform state,
Manipulator fixture（3）Upper shifting, described first set frame mechanism（1）Or the second Tao Kuang mechanism（2）Bottle frame decline frame bottle.
5. the active conveying bottle method for intelligent Unpacking according to claim 4 it is characterised in that：In described frame bottle position
Platform on arrange counterdie sucker（4）, work as manipulator fixture（3）After bottle is delivered at frame bottle position, start counterdie sucker（4）
Counterdie is adsorbed, manipulator fixture（3）Upper shifting, first set frame mechanism（1）Or the second Tao Kuang mechanism（2）Bottle frame decline frame
After bottle, manipulator fixture（3）Lower general who has surrendered's paper support clasp after after slowly upper lifting paper support removes again, first set frame mechanism（1）Or
Second Tao Kuang mechanism（2）Bottle is driven to convey toward downstream.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610931301.5A CN106395322B (en) | 2016-10-31 | 2016-10-31 | It is a kind of to be used for the active conveying bottle method of intelligent Unpacking |
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|---|---|---|---|
| CN201610931301.5A CN106395322B (en) | 2016-10-31 | 2016-10-31 | It is a kind of to be used for the active conveying bottle method of intelligent Unpacking |
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| CN106395322A true CN106395322A (en) | 2017-02-15 |
| CN106395322B CN106395322B (en) | 2017-07-25 |
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| CN108045678A (en) * | 2017-12-28 | 2018-05-18 | 江苏哈工药机科技股份有限公司 | A kind of device of unpacking of cillin bottle group |
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| CN108190159A (en) * | 2017-12-28 | 2018-06-22 | 江苏哈工药机科技股份有限公司 | A kind of automatic bale breaker of cillin bottle |
| CN110203496A (en) * | 2019-06-06 | 2019-09-06 | 楚天科技股份有限公司 | One kind taking support method, takes rest device and bale breaker |
| CN110282346A (en) * | 2019-06-15 | 2019-09-27 | 江阴市华夏包装机械有限公司 | A kind of salt bag feed device |
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| CN108190159A (en) * | 2017-12-28 | 2018-06-22 | 江苏哈工药机科技股份有限公司 | A kind of automatic bale breaker of cillin bottle |
| CN110203496A (en) * | 2019-06-06 | 2019-09-06 | 楚天科技股份有限公司 | One kind taking support method, takes rest device and bale breaker |
| CN110282346A (en) * | 2019-06-15 | 2019-09-27 | 江阴市华夏包装机械有限公司 | A kind of salt bag feed device |
| CN110282346B (en) * | 2019-06-15 | 2021-03-30 | 江阴市华夏包装机械有限公司 | Salt bag material feeding unit |
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| CN106395322B (en) | 2017-07-25 |
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Application publication date: 20170215 Assignee: TRUKING TECHNOLOGY Ltd. Assignor: TRUKING INTELLIGENT ROBOT (CHANGSHA) Co.,Ltd. Contract record no.: X2023980047505 Denomination of invention: A Bottle Transport Method for Intelligent Unpacking System Granted publication date: 20170725 License type: Common License Record date: 20231122 |
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