CN106516228B - A kind of steamed stuffed bun packing linear system system based on robot - Google Patents
A kind of steamed stuffed bun packing linear system system based on robot Download PDFInfo
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- CN106516228B CN106516228B CN201611144428.9A CN201611144428A CN106516228B CN 106516228 B CN106516228 B CN 106516228B CN 201611144428 A CN201611144428 A CN 201611144428A CN 106516228 B CN106516228 B CN 106516228B
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Classifications
-
- 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
- B65B25/00—Packaging other articles presenting special problems
- B65B25/001—Packaging other articles presenting special problems of foodstuffs, combined with their conservation
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C11/00—Other machines for forming the dough into its final shape before cooking or baking
- A21C11/16—Extruding machines
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C9/00—Other apparatus for handling dough or dough pieces
- A21C9/08—Depositing, arranging and conveying apparatus for handling pieces, e.g. sheets of dough
- A21C9/085—Separating, spacing, orienting or aligning discrete dough pieces, e.g. after passing a cutting device
-
- 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
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
-
- 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 invention discloses a kind of, and the steamed stuffed bun packing linear system based on robot is united, raw packet extruder passes through raw packet extrusion head and squeezes out unleavened dough according to required life packet size specification, raw packet conveyer is conveyed forward the life packet step-by-step movement of extrusion by conveyer belt, pass through the position of the raw packet of vision subsystem spotting scaming again, when raw packet is fallen into sorting area, control sorting machine people goes to grab to give birth to wrap and be put into material stock pallet, often put a row, material stock pallet is just clamped cylinder and is sent into distance forward then next line is put, when system detection material stock pallet has occupied, then prompt rewinding, robot swings in supplied materials in second empty material stock pallet, since each moment, always there are two material stock pallets in the working space of robot, it will not wait or interrupt there is a situation where sorting in this convergence process.Sorting efficiency of the present invention is high, and flexibility degree is also higher, the labour for cooperating the auto-feed transmission line of bottom tray that can make efficiency that release worker be greatly improved.
Description
Technical field
The present invention relates to Embedded computer system technical fields, and in particular to a kind of steamed stuffed bun packing line based on robot
System.
Background technique
The life packet extrusion molding stage in current millet cake manufacturing enterprise in steamed stuffed bun production line generallys use worker and carries out raw packet
Sorting arranges, and needs worker not rest working at high speed continuously using worker's sorting, and not can avoid human factor to food
Safety, health, packing quality bring influence, although going to carry out steamed stuffed bun using special equipment there is currently relevant automatic equipment
Sorting work, but this mode flexibility is poor, can not just adapt to new rule when the shape specification for encountering steamed stuffed bun adjusts
The sort operation of the steamed stuffed bun of lattice, and sorting speed is slower, can not adapt to the production needs of the steamed stuffed bun extrusion line of high speed.
The prior art has the following disadvantages:
1) sort operation, is carried out in the form of special plane, flexibility is very poor, cannot be with the change of the specification of product
And do quick response transform；
2) speed, sorted is lower, and the discharging speed of raw envelope curve is in 100/minute at present, automatically for existing sorting
Changing equipment is more restricted.
Summary of the invention
In view of this, the present invention goes out for the life packet extrusion molding stage in steamed stuffed bun production line in current millet cake manufacturing enterprise
The existing worker that generallys use carries out the technique progress automatic improving that raw packet sorting arranges, and proposes a kind of steamed stuffed bun based on robot
Linear system system is dispensed, avoids human factor to food while worker is freed from the production line for continuously not resting working at high speed
Safe, hygienic, the packing quality bring of product influence.
The present invention is solved the above problems by following technological means:
A kind of steamed stuffed bun packing linear system system based on robot, comprising:
Raw packet extruder, for being squeezed unleavened dough according to required life packet size specification by raw packet extrusion head
Out；
Raw packet conveyer, for being conveyed the life packet step-by-step movement of extrusion forward by conveyer belt；
Vision subsystem, for monitoring the supplied materials on conveyer belt, Dang Shengbao is entered in the working space of sorting manipulator
When, supplied materials signal is sent to control subsystem；
Control subsystem, for driving robot to go to follow the raw packet of crawl when receiving supplied materials signal；
Robot goes to follow the raw packet of crawl for the flexible servo gripper by sorting manipulator end；
Material stock pallet follows the raw packet of crawl for array storage robot；
Clamping cylinder is used for laterally-clamped fixed material stock pallet；
Cylinder controller controls clamping cylinder and moves with material stock pallet along transmission direction when for often putting a line Sheng Bao
Dynamic step distance, when material stock pallet is filled, control clamping cylinder unclamps, and returns to initial zero position, clamps next material stock support
Disk；
Conveyor pallet, the material stock pallet for will fill are delivered to recycling station；
Sensor, when material stock pallet enters on recycling station, will be swept for scanning the material stock pallet on recycling station
Signal is retouched to occur to prompting device；
Prompting device, for prompting worker's rewinding when receiving scanning signal.
Further, the control subsystem, including dual core processor, dual core processor respectively with network communication module,
Data memory module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter module；Net
Network communication module is connect with host computer；Pulse generating module is connect with pulse command servo-driver；DAC D/A converter module with
Analog quantity instructs servo-driver connection；Network communication servo-driver is connect with servo motor；Servo motor also respectively with arteries and veins
Punching instruction servo-driver, analog quantity instruction servo-driver, robot, encoder connection；
The dual core processor includes first processor, second processor；Between first processor and second processor into
Row data communication；
The first processor is used to be responsible for the motion planning, trajectory planning and peripheral control of robot；
The second processor is used to be responsible for the dynamics and kinematics operation and closed-loop control of robot；
Control mode of the host computer for user's operation selection control subsystem, control mode includes network communication control
Mode processed, pulse command control mode, analog quantity instruct control mode；
The network communication module for realizing host computer and control subsystem child node high efficiency communication；
The data memory module is for storing various data；
The monitoring module is used to detect temperature, voltage and the electric current of control subsystem；
The network communication servo-driver drives servo motor for network signal based on the received；
The pulse generating module issues corresponding pulse command for the instruction of pulse generation based on the received；
The pulse command driver drives servo motor for pulse command based on the received；
The DAC D/A converter module is used for the transformation analog quantity instruction of received digital command；
The analog quantity instruction servo-driver is for analog quantity order-driven servo motor based on the received；
The servo motor is for driving robot to make corresponding mechanical action；
The encoder is used to acquire the operating parameter Real-time Feedback on servo motor to dual core processor, realizes closed loop fortune
It calculates.
Further, the first processor is arm processor, and second processor is dsp processor.
Further, the network communication module realizes the efficient of host computer and control subsystem child node by Ethernet
Communication, ethernet signal drives servo motor to the network communication servo-driver based on the received.
Further, the robot control subsystem further includes the serial port module connecting with dual core processor, the string
Mouth mold block is used to realize that control subsystem is connected with external equipment using the expansion interface of serial communication mode.
Further, the robot control subsystem further includes the display module connecting with dual core processor, described aobvious
Show module for showing the status data of reflection control subsystem.
Further, the robot control subsystem further includes the extension I/O module connecting with dual core processor, described
Extension I/O module carries out data analysis with external equipment for control subsystem or exchanges.
Compared with prior art, beneficial effects of the present invention are as follows:
1), the present invention is executed using DELTA robot as sorting, and sorting efficiency is high, and flexibility degree is also higher, cooperation
The auto-feed transmission line of bottom tray can make efficiency that the labour for discharging worker be greatly improved；
2), flexibility degree is high, can quickly be adjusted on end effector according to the specification of the raw packet grabbed
The folding size for sorting gripper adapts to sorting mission requirements；
3), for the present invention using ARM as peripheral control and detection, DSP completes system dynamics operation, takes full advantage of each
From advantage, simplified control subsystem, cost performance increases substantially；
4), the present invention can realize high-speed data exchange and networking using EhtherNet；
5), the present invention has EtherNet and Pulse analog control mode is for selection, control mode relatively freely spirit
It is living, it is suitable for the servo-driver and servo motor of multiple control modes.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is that the present invention is based on the structural schematic diagrams of the steamed stuffed bun of robot packing linear system system；
Fig. 2 is that the present invention is based on the mechanical construction drawings of the steamed stuffed bun of robot packing linear system system；
Fig. 3 is the top view of Fig. 2；
Fig. 4 is the structural schematic diagram of control subsystem of the present invention；
Fig. 5 is that the present invention is based on the work flow diagrams that the steamed stuffed bun of robot dispenses linear system system.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with attached drawing and specifically
Embodiment technical solution of the present invention is described in detail.It should be pointed out that described embodiment is only this hair
Bright a part of the embodiment, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Embodiment
As shown in Figure 1-3, the present invention provides a kind of steamed stuffed bun packing linear system system based on robot, comprising:
Raw packet extruder 2, for passing through raw packet extrusion head for unleavened dough according to required life packet size specification
It squeezes out；
Raw packet conveyer 1, for being conveyed the life packet step-by-step movement of extrusion forward by conveyer belt；
Vision subsystem, for monitoring the supplied materials on conveyer belt, Dang Shengbao is entered in the working space of sorting manipulator
When, supplied materials signal is sent to control subsystem；
Control subsystem, for driving robot to go to follow the raw packet of crawl when receiving supplied materials signal；
Robot goes to follow the raw packet of crawl for the flexible servo gripper 5 by 4 end of rapid sorting manipulator；Gripper 5
Requirement is put according to setting, raw packet array is swung in material stock pallet 9；
Material stock pallet 9, the raw packet of crawl is followed for array storage robot, and material stock pallet 9 is the charge of a rectangle
Container；
Clamping cylinder 10 is used for laterally-clamped fixed material stock pallet 9；
Cylinder controller controls clamping cylinder 10 with material stock pallet 9 along transmission side when for often putting a line Sheng Bao
To mobile step distance L, when material stock pallet 9 is filled, control clamping cylinder 10 unclamps, and returns to initial zero position, clamps next
A material stock pallet 9；The movement of clamping cylinder 10 drives the step-by-step movement movement forward of synchronous belt 8 by the motor on cylinder controller,
Clamping cylinder 10 is fixedly clamped with synchronous belt 8 by briquetting.
Conveyor pallet 6, the material stock pallet defeated 9 for will fill are sent to recycling station；
Sensor, will when material stock pallet 9 enters on recycling station for scanning the material stock pallet 9 on recycling station
Scanning signal occurs to prompting device；
Prompting device, for prompting worker's rewinding when receiving scanning signal.
As shown in figure 4, the control subsystem includes dual core processor, dual core processor respectively with network communication module,
Data memory module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter module；Net
Network communication module is connect with host computer；Pulse generating module is connect with pulse command servo-driver；DAC D/A converter module with
Analog quantity instructs servo-driver connection；Network communication servo-driver is connect with servo motor；Servo motor also respectively with arteries and veins
Punching instruction servo-driver, analog quantity instruction servo-driver, robot, encoder connection；
The dual core processor uses F28M36P63C2, and dual core processor includes first processor, second processor；The
Data communication is carried out by IPC between one processor and second processor；First processor is arm processor, second processor
For dsp processor, arm processor is used to be responsible for the motion planning, trajectory planning and peripheral control of robot, and dsp processor is used
In the dynamics and kinematics operation of being responsible for robot and closed-loop control.
Control mode of the host computer for user's operation selection control subsystem, control mode includes network communication control
Mode processed, pulse command control mode, analog quantity instruct control mode, facilitate the real-time switching control mode of user, control mode
Compare flexibly, the servo-driver and servo motor of multiple control modes can be used, versatility is stronger.
The network communication servo-driver drives servo motor for network signal based on the received；The pulse generation
Module issues corresponding pulse command for the instruction of pulse generation based on the received；The pulse command driver is used for basis and connects
The pulse command of receipts drives servo motor；The DAC D/A converter module is used to refer to received digital command transformation analog quantity
It enables；Circuit uses the generation of DAC8871 chip realization ± 10V analog quantity voltage；The analog quantity instruction servo-driver is used for
Analog quantity order-driven servo motor based on the received；It is driven according to the servo that control mode selection is applicable to multiple control modes
Dynamic device and servo motor, when using network communication mode, network communication circuit unit is effective, when using pulse command controlling party
When formula, pulse generating circuit unit is effective, and when using Analog control mode, DAC circuit is enabled effective.
The servo motor is for driving robot to make corresponding mechanical action.
The network communication module uses for realizing the high efficiency communication of host computer and control subsystem child node
EtherNET bus mode, realizes host computer and robot control subsystem child node high efficiency communication or control subsystem and watches
The communication of dress system, EtherNet PORT COM circuit are realized using LAN8710 and H1102 net mouth transformer.
The monitoring module is used to detect temperature, voltage and the electric current of control subsystem.
The data memory module is for storing various data, the various parameters including monitoring module detection.
The encoder is used to acquire the operating parameter Real-time Feedback on servo motor to dual core processor, realizes closed loop fortune
It calculates.The orthogonal encoder in robot servo motors is mounted in real time by the operating parameter feedback on servo motor to control subsystem
System realizes closed loop operation.
The present invention uses ARM+DSP control strategy, replaces industrial computer PC+ motion control card+servo in traditional approach
Driver+Serve Motor Control mode, ARM are responsible for the motion planning and trajectory planning of robot, and dsp processor is then responsible for machine
The dynamics and kinematics operation of device people takes full advantage of the powerful operational capability of DSP and the peripheral control ability of ARM.
Such function distribution can effectively reduce the expense of main control chip, and more resources are used for control subsystem safety and essence
True control, cost performance can increase substantially.
The present invention has EtherNet and Pulse analog control mode for user's selection, is suitable for multiple control modes
Servo-driver and servo motor, facilitate the real-time method for handover control of user, versatility is stronger.
The workflow of control subsystem is as follows:
User passes through the control mode of upper computer selecting control subsystem first, and network communication control may be selected in control mode
Mode, pulse command control mode, analog quantity instruct control mode, and network communication module realizes host computer and control subsystem
The high efficiency communication of node, dual core processor F28M36P63C2 include arm processor, dsp processor, at arm processor and DSP
Data communication can be carried out by IPC between reason device, arm processor is used to be responsible for the motion planning of robot, trajectory planning and outer
Contain system, dsp processor is used to be responsible for the dynamics and kinematics operation and closed-loop control of robot, when selection network communication control
When mode processed, network communication circuit unit is effective, and dual core processor sends the signal to network by EtherNET bus mode
Servo-driver is communicated, network communication servo-driver based on the received make by network signal driving servo motor band mobile robot
Corresponding mechanical action；When selecting pulse command control mode, pulse generating circuit unit is effective, and dual core processor issues arteries and veins
It rushes and instruction occurs to pulse generating module, the corresponding pulse of pulse generation instruction sending refers to pulse generating module based on the received
Order, pulse command driving servo motor band mobile robot makes mechanical accordingly move to pulse command servo-driver based on the received
Make；When selecting analog quantity instruction control mode, DAC circuit is enabled effectively, and dual core processor issues digital command to DAC digital-to-analogue
Conversion module, DAC D/A converter module instruct received digital command transformation analog quantity, and analog quantity instructs servo-driver root
Corresponding mechanical action is made according to received analog quantity order-driven servo motor band mobile robot, monitoring module is for detecting control
Temperature, voltage and the electric current of subsystem, data memory module is for storing various data, including each of monitoring module detection
Kind parameter, encoder are used to acquire the operating parameter Real-time Feedback on servo motor to dual core processor, realize closed loop operation.
The control subsystem further includes the serial port module connecting with dual core processor, and the serial port module is used for using string
The expansion interface of row communication mode realizes that control subsystem is connected with external equipment.
The control subsystem further includes the display module connecting with dual core processor, and the display module is anti-for showing
Reflect the status data of control subsystem.
The control subsystem further includes the extension I/O module connecting with dual core processor, and the extension I/O module is for controlling
Subsystem carries out data analysis with external equipment or exchanges.
As shown in figure 5, the workflow of the steamed stuffed bun packing linear system system based on robot is as follows:
It first passes through sensor and detects whether raw packet output line starts, then pass through the position of the raw packet of vision subsystem spotting scaming
It sets, Dang Shengbao is fallen into sorting area, and control sorting machine people goes to grab to give birth to wrap and be put into material stock pallet, is often put a row, is deposited
Material torr disk is just clamped cylinder and is sent into a distance L forward then next line is put, when system detection material stock pallet has been put
It is full, then rewinding is prompted, robot swings in supplied materials in second empty material stock pallet.Since each moment, always there are two material stock supports
Disk will not be waited or be interrupted there is a situation where sorting in this convergence process in the working space of robot.
Compared with prior art, beneficial effects of the present invention are as follows:
1), the present invention is executed using DELTA robot as sorting, and sorting efficiency is high, and flexibility degree is also higher, cooperation
The auto-feed transmission line of bottom tray can make efficiency that the labour for discharging worker be greatly improved；
2), flexibility degree is high, can quickly be adjusted on end effector according to the specification of the raw packet grabbed
The folding size for sorting gripper adapts to sorting mission requirements；
3), for the present invention using ARM as peripheral control and detection, DSP completes system dynamics operation, takes full advantage of each
From advantage, simplified control subsystem, cost performance increases substantially；
4), the present invention can realize high-speed data exchange and networking using EhtherNet；
5), the present invention has EtherNet and Pulse analog control mode is for selection, control mode relatively freely spirit
It is living, it is suitable for the servo-driver and servo motor of multiple control modes.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (6)
1. a kind of steamed stuffed bun packing linear system system based on robot characterized by comprising
Raw packet extruder, for being squeezed out unleavened dough according to required life packet size specification by raw packet extrusion head；
Raw packet conveyer, for being conveyed the life packet step-by-step movement of extrusion forward by conveyer belt；
Vision subsystem, will when Dang Shengbao is entered in the working space of sorting manipulator for monitoring the supplied materials on conveyer belt
Supplied materials signal is sent to control subsystem；
Control subsystem, for driving robot to go to follow the raw packet of crawl when receiving supplied materials signal；
Robot goes to follow the raw packet of crawl for the flexible servo gripper by sorting manipulator end；
Material stock pallet follows the raw packet of crawl for array storage robot；
Clamping cylinder is used for laterally-clamped fixed material stock pallet；
Cylinder controller controls clamping cylinder with material stock pallet and moves step along transmission direction when for often putting a line Sheng Bao
Into distance, when material stock pallet is filled, control clamping cylinder unclamps, and returns to initial zero position, clamps next material stock pallet；
Conveyor pallet, the material stock pallet for will fill are delivered to recycling station；
Sensor, when material stock pallet enters on recycling station, scanning is believed for scanning the material stock pallet on recycling station
Number occur to prompting device；
Prompting device, for prompting worker's rewinding when receiving scanning signal；
The control subsystem, including dual core processor, dual core processor respectively with network communication module, data memory module,
Monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter module；Network communication module with it is upper
Position machine connection；Pulse generating module is connect with pulse command servo-driver；DAC D/A converter module and analog quantity instruct servo
Driver connection；Network communication servo-driver is connect with servo motor；Servo motor also respectively with pulse command servo-drive
Device, analog quantity instruction servo-driver, robot, encoder connection；
The dual core processor includes first processor, second processor；It is counted between first processor and second processor
According to communication；
The first processor is used to be responsible for the motion planning, trajectory planning and peripheral control of robot；
The second processor is used to be responsible for the dynamics and kinematics operation and closed-loop control of robot；
Control mode of the host computer for user's operation selection control subsystem, control mode includes network communication controlling party
Formula, pulse command control mode, analog quantity instruct control mode；
The network communication module for realizing host computer and control subsystem child node high efficiency communication；
The data memory module is for storing various data；
The monitoring module is used to detect temperature, voltage and the electric current of control subsystem；
The network communication servo-driver drives servo motor for network signal based on the received；
The pulse generating module issues corresponding pulse command for the instruction of pulse generation based on the received；
The pulse command servo-driver drives servo motor for pulse command based on the received；
The DAC D/A converter module is used for the transformation analog quantity instruction of received digital command；
The analog quantity instruction servo-driver is for analog quantity order-driven servo motor based on the received；
The servo motor is for driving robot to make corresponding mechanical action；
The encoder is used to acquire the operating parameter Real-time Feedback on servo motor to dual core processor, realizes closed loop operation.
2. the steamed stuffed bun packing linear system system according to claim 1 based on robot, which is characterized in that the first processor
For arm processor, second processor is dsp processor.
3. the steamed stuffed bun packing linear system system according to claim 1 based on robot, which is characterized in that the network communication mould
Block by Ethernet realize host computer and control subsystem child node high efficiency communication, the network communication servo-driver according to
Received ethernet signal drives servo motor.
4. the steamed stuffed bun packing linear system system according to claim 1 based on robot, which is characterized in that the control subsystem
It further include the serial port module being connect with dual core processor, the serial port module is used for real using the expansion interface of serial communication mode
Existing control subsystem is connected with external equipment.
5. the steamed stuffed bun packing linear system system according to claim 1 based on robot, which is characterized in that the control subsystem
It further include the display module being connect with dual core processor, the display module is used to show the status number of reflection control subsystem
According to.
6. the steamed stuffed bun packing linear system system according to claim 1 based on robot, which is characterized in that the control subsystem
It further include the extension I/O module being connect with dual core processor, the extension I/O module is carried out for control subsystem and external equipment
Data analysis or exchange.
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| CN107992881A (en) * | 2017-11-13 | 2018-05-04 | 广州中国科学院先进技术研究所 | A kind of Robotic Dynamic grasping means and system |
| CN108098773A (en) * | 2017-12-20 | 2018-06-01 | 芜湖哈特机器人产业技术研究院有限公司 | The sorting control system and method for a kind of robot |
| CN109839557A (en) * | 2019-01-14 | 2019-06-04 | 普联技术有限公司 | Automatization test system, method and test platform |
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| CN205525091U (en) * | 2016-01-20 | 2016-08-31 | 东亚自动化设备（大连）有限公司 | Full -automatic arrangement machine |
| CN206327612U (en) * | 2016-12-13 | 2017-07-14 | 广州中国科学院先进技术研究所 | A kind of steamed stuffed bun packing linear system system based on robot |
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