CN106742269B - A kind of mineral water automatic boxing machine people - Google Patents
A kind of mineral water automatic boxing machine people Download PDFInfo
- Publication number
- CN106742269B CN106742269B CN201710215199.3A CN201710215199A CN106742269B CN 106742269 B CN106742269 B CN 106742269B CN 201710215199 A CN201710215199 A CN 201710215199A CN 106742269 B CN106742269 B CN 106742269B
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- bracket
- electric cylinders
- support
- plate
- fixedly mounted
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- 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
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated 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
- B65B21/00—Packaging or unpacking of bottles
- B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
- B65B21/08—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers
- B65B21/12—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers using grippers engaging bottles, e.g. bottle necks
Abstract
A kind of mineral water automatic boxing machine people, including bottom plate, first support, first electric cylinders, vacuum generator, vacuum chuck, second support, third bracket, four the second electric cylinders, two the 4th brackets, two belt wheels, first stepper motor, two baffles, conveyer belt, support box bracket, 12 manipulators, fixed plate, second electric cylinders, second stepper motor, first support arm, third electric cylinders, second support arm, third stepper motor, swivel plate, rotary motor, 5th bracket, the invention has the following advantages that the present invention grabs bottled mineral water by 12 manipulators, securely and reliably, stability and high efficiency, bottled mineral water is operated from production line to vanning place by mechanical arm, it goes slick, it occupies little space.
Description
Technical field
The present invention relates to a kind of beverages to produce and process mechanical equipment, and in particular to a kind of mineral water automatic boxing machine people,
Belong to robotic technology field.
Background technique
In the process of manufacture of beverage, some middle-size and small-size manufacturers do not have fund to buy set of production equipment, usually
By relevant device carried out it is canned after, manual vanning is carried out by worker, such mode need to pay a large amount of labour, Er Qiesheng
Inefficiency is produced, increases cost, most of equipment in market have expensive, and some need has set of process line
Cooperation, inflexible, bad adaptability includes beverage bottle such as application No. is 201420176499 " beveragebottling case apparatus "
Conveying mechanism, carton conveyor structure approach switch, telescopic baffle, counter, are respectively arranged with above carton conveyor structure more
A limitting casing side by side is provided with mechanical gripping bottle mechanism above region of casing.The design uses beverage bottle conveying mechanism and paper
Case conveying mechanism conveys beverage and carton, and occupied space is big, operation is not flexible enough, is not suitable for middle-size and small-size manufacturer.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of mineral water automatic boxing machine people, use mechanical arm crawl bottled
Beverage goes slick, is high-efficient.
The technical scheme adopted by the invention is as follows: a kind of mineral water automatic boxing machine people, including bottom plate, first support,
One electric cylinders, vacuum generator, vacuum chuck, second support, third bracket, four the second electric cylinders, two the 4th brackets, two bands
Wheel, the first stepper motor, two baffles, conveyer belt, support box bracket, 12 manipulators, fixed plate, third electric cylinders, second step
Into motor, the first support arm, the 4th electric cylinders, the second support arm, third stepper motor, swivel plate, rotary motor, the 5th bracket,
First telescoping cylinder, the second telescoping cylinder, the 6th bracket, cylindrical plate, six the 5th electric cylinders, it is characterised in that: the first support is perpendicular
It is directly fixedly mounted on the middle position of bottom plate right end upwards, the first electric cylinders are horizontally arranged at the upper bit of first support left side
It sets, vacuum generator is fixedly mounted on the telescopic rod of the first electric cylinders, and vacuum chuck is horizontally fixed on vacuum generator, and second
Pedestal upper end face is equipped with symmetrical two limit plates in front and back, limits the position of carton, second support is fixedly mounted on the right side of bottom plate
Portion, and it is located at the left of vacuum chuck, third bracket is fixedly mounted on the middle part of bottom plate, and right end is connected with second support, and
It is identical as second support height, symmetrical two of front and back and two limit plates in second support are equipped in third pedestal upper end face
The limit plate of alignment, is installed with four the second electric cylinders straight up on four angles in third pedestal upper end face, and support box bracket is
The hollow quadrangular frustum pyramid shaped to stand upside down, four angles are respectively and fixedly installed on the telescopic rod of four the second electric cylinders；
It is symmetrical before and after described two 4th brackets, it is fixedly mounted on the left end of bottom plate, two belt wheels are rotatably installed in respectively
Between two the 4th brackets, and it is located at two the 4th bracket left and right ends, is fixed in the left end of the 4th bracket front end face in front
First stepper motor is installed, motor shaft with belt wheel is concentric fixes, conveyer belt is coupled on two belt wheels, and transmit
Band upper surface is identical as third pedestal upper end face height, is fixedly installed with two in two limit plate left ends in third pedestal upper end face
A baffle；
5th frame upper be it is cylindric, lower part is cuboid, is circumferentially uniformly provided in its cylindric upper surface
Three groups of ball seats, every group includes two ball seats, is fixedly mounted on the rear end of bottom plate straight up, and edge is equipped on cylindrical plate bottom surface
Circumferential equally distributed three groups of ball seats, every group includes two ball seats, six one group of the 5th electric cylinders every two, every group of bottom difference
It is mounted in the corresponding ball seat of the 5th rack upper surface by ball-joint, every group of telescopic rod top end is installed by ball-joint respectively
In the corresponding ball seat in cylindrical plate bottom surface；
The rotary motor is fixedly mounted on straight up on the upper surface of cylindrical plate, and swivel plate bottom surface is fixedly mounted on back
Turn on the axis of motor, swivel plate upper surface is equipped with symmetrical two support plates, and the first telescoping cylinder lower rotation is mounted on
In two support plates of swivel plate upper surface, third stepper motor is fixedly mounted in the right end level in swivel plate upper surface,
Motor shaft with the first telescoping cylinder lower rotation axis is concentric fixes, the second support arm bottom is fixedly mounted on the first telescoping cylinder telescopic rod
Top, the rear end thereof of the first support arm is mounted on the upper end of the second support arm, and the 4th electric cylinders bottom is hinged on the second support
The lower part of the front end face of arm, telescopic rod are hinged on the front of the first support arm lower end surface, and the second telescopic rod is fixedly mounted on
One support arm front end face, the 6th bracket are fixedly mounted at the top of the second telescopic rod, and third electric cylinders are installed straight down, bottom hinge
It connects in the front end of the 6th bracket, is fixedly installed with second stepper motor, motor shaft and third electric cylinders in the 6th bracket right side
The rotary shaft of bottom is fixed with one heart, and fixed plate, and fixed plate and support box bracket are fixedly mounted on the telescopic rod of third electric cylinders
Consistency from top to bottom, three rows four column totally ten two manipulators are fixedly mounted downwards in homogeneous vertical on fixed plate bottom surface；
The manipulator includes mechanical hand cradle, the 4th electric cylinders, four connecting rods, four curved bars, push plates, the 4th electric cylinders
Bottom is fixedly mounted at the center inside mechanical hand cradle, and the Kong Houyu push plate that telescopic rod passes through mechanical hand cradle upper end is fixed on
Together, four body cradles being evenly distributed on push plate periphery, the top of four curved bars is respectively hinged on four body cradles on push plate periphery,
Four connecting rod one end are respectively hinged at the middle position of mechanical four Middle faces of hand cradle, and the other end is respectively hinged at four curved bars
Middle part.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that the present invention passes through 12 machinery
Hand grabs bottled mineral water, and safe and reliable, stability and high efficiency by mechanical arm is operated bottled mineral water from production line to dress
It at case, goes slick, occupy little space.
Detailed description of the invention
Fig. 1 is whole assembly schematic perspective view of the invention.
Fig. 2 is the schematic perspective view of partial assembled of the present invention.
Fig. 3 is the schematic perspective view of present invention support box bracket.
Fig. 4 is manipulator of the present invention and support plate schematic perspective view.
Fig. 5 is the schematic perspective view of manipulator of the present invention.
Fig. 6 is the schematic perspective view of partial assembled of the present invention.
Drawing reference numeral: 1- bottom plate；2- first support；The first electric cylinders of 3-；4- vacuum generator；5- vacuum chuck；6- second
Bracket；7- third bracket；The second electric cylinders of 8-；The 4th bracket of 9-；10- belt wheel；The first stepper motor of 11-；12- baffle；13- transmission
Band；14- supports box bracket；15- manipulator；16- fixed plate；The second electric cylinders of 17-；18- second stepper motor；The first support arm of 19-；
20- third electric cylinders；The second support arm of 21-；22- third stepper motor；23- swivel plate；24- rotary motor；The 5th bracket of 25-；
The first telescoping cylinder of 26-；The second telescoping cylinder of 27-；The 6th bracket of 28-；29- cylindrical plate；The 5th electric cylinders of 30-；1501- machinery hand cradle；
The 4th electric cylinders of 1502-；1503- connecting rod；1504- curved bar；1505- push plate.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, a kind of mineral water automatic boxing machine people shown in fig. 6, including bottom plate 1,
7, four one bracket 2, the first electric cylinders 3, vacuum generator 4, vacuum chuck 5, second support 6, third bracket the second electric cylinders 8, two
9, two belt wheels 10 of a 4th bracket, 11, two baffles 12 of the first stepper motor, conveyer belt 13, support 14,12 machines of box bracket
Tool hand 15, fixed plate 16, third electric cylinders 17, second stepper motor 18, the first support arm 19, the 4th electric cylinders 20, the second support arm
21, third stepper motor 22, swivel plate 23, rotary motor 24, the 5th bracket 25, the first telescoping cylinder 26, the second telescoping cylinder 27,
29, six six brackets 28, cylindrical plate the 5th electric cylinders 30, it is characterised in that: the first support 2 is fixedly mounted on bottom straight up
The middle position of 1 right end of plate, the first electric cylinders 3 are horizontally arranged at the upper position of 2 left side of first support, and vacuum generator 4 is solid
Dingan County is on the telescopic rod of the first electric cylinders 3, and vacuum chuck 5 is horizontally fixed on vacuum generator 4,6 upper surface of second support
Equipped with symmetrical two limit plates in front and back, the position of carton is limited, second support 6 is fixedly mounted on the right part of bottom plate 1, and is located at
The left of vacuum chuck 5, third bracket 7 are fixedly mounted on the middle part of bottom plate 1, and right end is connected with second support 6, and with second
Support height is identical, is equipped with symmetrical two of front and back in 7 upper surface of third bracket and is aligned with two limit plates in second support 6
Limit plate, four the second electric cylinders 8 are installed straight up on four angles of 7 upper surface of third bracket, support box bracket 14 is
The hollow quadrangular frustum pyramid shaped to stand upside down, four angles are respectively and fixedly installed on the telescopic rod of four the second electric cylinders 8；
Described two 4th bracket, 9 front and backs are symmetrical, are fixedly mounted on the left end of bottom plate 1, two belt wheels 10 rotate peace respectively
Between two the 4th brackets 9, and it is located at two 9 left and right ends of the 4th bracket, on a left side for 9 front end face of the 4th bracket in front
The first stepper motor 11 is fixedly mounted in end, and motor shaft is concentric fixed with belt wheel 10, is coupled on two belt wheels 10
Conveyer belt 13, and 13 upper surface of conveyer belt is identical as 7 upper surface height of third bracket, two limits in 7 upper surface of third bracket
There are two baffles 12 for the fixed installation of position plate left end；
5th bracket, 25 top be it is cylindric, lower part is cuboid, is circumferentially uniformly set in its cylindric upper surface
There are three groups of ball seats, every group includes two ball seats, the rear end of bottom plate 1 is fixedly mounted on straight up, on 29 bottom surface of cylindrical plate
Equipped with three groups of ball seats being uniformly distributed circumferentially, every group includes two ball seats, six one group of 30 every two of the 5th electric cylinders, every group
Bottom passes through ball-joint respectively and is mounted in the corresponding ball seat in 25 upper surface of the 5th bracket, and every group of telescopic rod top end passes through respectively
Ball-joint is mounted in the corresponding ball seat in 29 bottom surface of cylindrical plate；
The rotary motor 24 is fixedly mounted on straight up on the upper surface of cylindrical plate 29, the fixed peace in 23 bottom surface of swivel plate
On the axis of rotary motor 24,23 upper surface of swivel plate is equipped with symmetrical two support plates, 26 bottom of the first telescoping cylinder
Portion is rotatably installed in two support plates of 23 upper surface of swivel plate, and the right end level in 23 upper surface of swivel plate is fixedly mounted
Third stepper motor 22, motor shaft with 26 lower rotation axis of the first telescoping cylinder is concentric fixes, 21 bottom of the second support arm is fixed
It is mounted on the top of 26 telescopic rod of the first telescoping cylinder, the rear end thereof of the first support arm 19 is mounted on the upper of the second support arm 21
End, 20 bottom of the 4th electric cylinders are hinged on the lower part of the front end face of the second support arm 21, and telescopic rod is hinged on the first support arm 19
The front of lower end surface, the second telescopic rod 27 are fixedly mounted on 19 front end face of the first support arm, and the 6th bracket 28 is fixedly mounted on
Two telescopic rods, 27 top, third electric cylinders 17 are installed straight down, and bottom is hinged on the front end of the 6th bracket 28, in the 6th bracket
28 right sides are fixedly installed with second stepper motor 18, and the rotary shaft of motor shaft and 17 bottom of third electric cylinders is concentric to fix,
Fixed plate 16, and fixed plate 16 and support 14 consistency from top to bottom of box bracket are fixedly mounted on the telescopic rod of third electric cylinders 17, in fixation
Three rows four column totally ten two manipulators 15 are fixedly mounted downwards in homogeneous vertical on 16 bottom surface of plate；
The manipulator 15 includes mechanical hand cradle 1501, the curved bar of connecting rod 1503, four of the 4th electric cylinders 1502, four
1504, push plate 1505,1502 bottom of the 4th electric cylinders are fixedly mounted at the center inside mechanical hand cradle 1501, telescopic rod
Kong Houyu push plate 1505 across mechanical 1501 upper end of hand cradle is fixed together, and is evenly distributed with four body cradles on 1505 periphery of push plate,
The top of four curved bars 1504 is respectively hinged on four body cradles on 1505 periphery of push plate, four 1503 one end of connecting rod difference
It is hinged on the middle position of mechanical 1,501 4 Middle faces of hand cradle, the other end is respectively hinged at four curved bars, 1504 middle part.
Working principle of the present invention are as follows: in using the present invention, user opens the first stepper motor 11, band to user first
Movable belt pulley 10 works, and then carton is placed on conveyer belt 13, and carton is moved with conveyer belt 13 to right end of the present invention, until movement
To third bracket 7, then four the second electric cylinders 8 are shunk simultaneously, drop to support box bracket 14 in carton, by carton edges
Baffle is propped up, and plays the position-limiting action to carton, then, rotary motor 24, second stepper motor 18, the 4th electric cylinders 20,
The work of three the 5th electric cylinders 30 of stepper motor 22, six, makes mechanical arm turn to production line, and then the first telescoping cylinder 26, second is flexible
Cylinder 27 works, and adjusts 15 position of manipulator, and then third electric cylinders 17 work, and manipulator 15 is made to drop to suitable position, and then the
Four electric cylinders 1502 are shunk, and manipulator 15 is made to firmly grasp bottled mineral water, then rotary motor 24, the 18, the 4th electricity of second stepper motor
22, six cylinder 20, third stepper motor the 5th electric cylinders 30 work, are directed at carton for bottled mineral water, then 17 work of third electric cylinders
Make, puts bottled mineral water into carton, then the 4th electric cylinders 1502 stretch, and so that manipulator loose is opened bottled mineral water, then four
Second electric cylinders 8 stretch simultaneously, make to support the rising of box bracket 14, and then the first electric cylinders 3, vacuum generator 4 work, and make vacuum chuck 5
Inspiration carton is dragged to second support 6, and then worker takes the carton installed away, and the above steps are repeated, to bottled mineral
Water is cased.
In the description of the present invention, it should be noted that term " on ", "lower", "front", "rear", "left", "right" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when invention product use usually puts
The orientation or positional relationship put, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.In addition, term " first " " second " " third " etc. is only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
Claims (1)
1. a kind of mineral water automatic boxing machine people, including bottom plate (1), first support (2), the first electric cylinders (3), vacuum generator
(4), vacuum chuck (5), second support (6), third bracket (7), four the second electric cylinders (8), two the 4th brackets (9), two
Belt wheel (10), the first stepper motor (11), two baffles (12), conveyer belt (13), support box bracket (14), 12 manipulators
(15), fixed plate (16), third electric cylinders (17), second stepper motor (18), the first support arm (19), the 4th electric cylinders (20),
Two support arms (21), third stepper motor (22), swivel plate (23), rotary motor (24), the 5th bracket (25), the first telescoping cylinder
(26), the second telescoping cylinder (27), the 6th bracket (28), cylindrical plate (29), six the 5th electric cylinders (30), it is characterised in that: described
First support (2) is fixedly mounted on the middle position of bottom plate (1) right end straight up, and the first electric cylinders (3) are horizontally arranged at first
The upper position of bracket (2) left side, vacuum generator (4) are fixedly mounted on the telescopic rod of the first electric cylinders (3), vacuum chuck
(5) it is horizontally fixed on vacuum generator (4), second support (6) upper surface is equipped with symmetrical two limit plates in front and back, limits paper
The position of case, second support (6) is fixedly mounted on the right part of bottom plate (1), and is located at the left of vacuum chuck (5), third bracket
(7) it is fixedly mounted on the middle part of bottom plate (1), right end is connected with second support (6), and identical as second support height,
Three brackets (7) upper surface is equipped with symmetrical two of the front and back limit plate being aligned with two limit plates on second support (16),
Four the second electric cylinders (8) are installed straight up, support box bracket (14) is to stand upside down on four angles of third bracket (7) upper surface
Hollow quadrangular frustum pyramid shaped, four angles are respectively and fixedly installed on the telescopic rod of four the second electric cylinders (8)；
It is symmetrical before and after described two 4th brackets (9), it is fixedly mounted on the left end of bottom plate (1), two belt wheels (10) rotate respectively
It is mounted between two the 4th brackets (9), and is located at two the 4th bracket (9) left and right ends, before the 4th bracket (9) in front
The left end of end face is fixedly mounted the first stepper motor (11), and motor shaft is concentric fixed with belt wheel (10), in two belt wheels
(10) it is coupled on conveyer belt (13), and conveyer belt (13) upper surface is identical as third bracket (7) upper surface height,
There are two baffle (12) for two limit plate left ends fixed installation of three brackets (17) upper surface；
5th bracket (25) top be it is cylindric, lower part is cuboid, is circumferentially uniformly provided in its cylindric upper surface
Three groups of ball seats, every group includes two ball seats, the rear end of bottom plate (1) is fixedly mounted on straight up, in cylindrical plate (29) bottom surface
It is equipped with three groups of ball seats being uniformly distributed circumferentially, every group includes two ball seats, and six the 5th electric cylinders (30) one group of every two, often
The bottom of group passes through ball-joint respectively and is mounted in the corresponding ball seat in the 5th bracket (25) upper surface, every group of telescopic rod top end point
It is not mounted in the corresponding ball seat in cylindrical plate (29) bottom surface by ball-joint；
The rotary motor (24) is fixedly mounted on straight up on the upper surface of cylindrical plate (29), and swivel plate (23) bottom surface is fixed
It is mounted on the axis of rotary motor (24), swivel plate (23) upper surface is equipped with symmetrical two support plates, and first is flexible
Cylinder (26) lower rotation is mounted in two support plates of swivel plate (23) upper surface, the right end water in swivel plate (23) upper surface
It is flat to be fixedly mounted third stepper motor (22), motor shaft with the first telescoping cylinder (26) lower rotation axis is concentric fixes, second
Support arm (21) bottom is fixedly mounted on the top of the first telescoping cylinder (26) telescopic rod, the rear end thereof peace of the first support arm (19)
Mounted in the upper end of the second support arm (21), the 4th electric cylinders (20) bottom is hinged on the lower part of the front end face of the second support arm (21),
Its telescopic rod is hinged on the front of the first support arm (19) lower end surface, and the second telescopic rod (27) is fixedly mounted on the first support arm
(19) front end face, the 6th bracket (28) are fixedly mounted at the top of the second telescopic rod (27), and third electric cylinders (17) are installed straight down,
Its bottom is hinged on the front end of the 6th bracket (28), is fixedly installed with second stepper motor in the 6th bracket (28) right side
(18), the rotary shaft of motor shaft and third electric cylinders (17) bottom is concentric fixes, fixed on the telescopic rod of third electric cylinders (17)
It is installed with fixed plate (16), and fixed plate (16) and support box bracket (14) consistency from top to bottom, is uniformly erected on fixed plate (16) bottom surface
Three rows four column totally ten two manipulators (15) are directly fixedly mounted downwards；
The manipulator (15) includes mechanical hand cradle (1501), the 4th electric cylinders (1502), four connecting rods (1503), four curved bars
(1504), push plate (1505), the 4th electric cylinders (1502) bottom are fixedly mounted at the internal center of mechanical hand cradle (1501),
The Kong Houyu push plate (1505) that its telescopic rod passes through mechanical hand cradle (1501) upper end is fixed together, equal on push plate (1505) periphery
Four body cradles of cloth, the top of four curved bars (1504) are respectively hinged on four body cradles on push plate (1505) periphery, and four
Connecting rod (1503) one end is respectively hinged at the middle position of mechanical (1501) four Middle faces of hand cradle, and the other end is respectively hinged at
In the middle part of four curved bars (1504).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710215199.3A CN106742269B (en) | 2017-04-02 | 2017-04-02 | A kind of mineral water automatic boxing machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710215199.3A CN106742269B (en) | 2017-04-02 | 2017-04-02 | A kind of mineral water automatic boxing machine people |
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| Publication Number | Publication Date |
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| CN106742269A CN106742269A (en) | 2017-05-31 |
| CN106742269B true CN106742269B (en) | 2019-04-19 |
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| CN201710215199.3A Active CN106742269B (en) | 2017-04-02 | 2017-04-02 | A kind of mineral water automatic boxing machine people |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618020A (en) * | 2017-08-17 | 2018-01-23 | 柳州福能机器人开发有限公司 | Arrangement formula mechanical arm |
| CN107618021A (en) * | 2017-08-17 | 2018-01-23 | 柳州福能机器人开发有限公司 | Gasbag-type mechanical arm |
| CN107520888B (en) * | 2017-09-10 | 2019-03-29 | 熙可安粮（安徽）食品有限公司 | A kind of intelligent screening stoning Qie Tao robot |
| CN108996404B (en) * | 2018-07-03 | 2020-12-11 | 博兴兴博城建投资集团有限公司 | Quick ceramic tile unloading device for decoration |
| CN108836027B (en) * | 2018-07-20 | 2020-09-25 | 台州市黄岩瑞鼎塑模有限公司 | Tool display auxiliary device for cnc teaching |
| CN109454035B (en) * | 2018-12-27 | 2023-10-13 | 珠海灵杰机器人科技有限公司 | Manipulator device and inductance cleaning equipment |
| CN109703810A (en) * | 2019-02-28 | 2019-05-03 | 长安大学 | One kind pushing away tank sucker gripping mechanism and method |
| CN110007050B (en) * | 2019-04-01 | 2022-01-25 | 四川纽赛特工业机器人制造有限公司 | Semi-automatic detection trolley for welding seam |
| CN111114879A (en) * | 2020-01-13 | 2020-05-08 | 李锦记(广州)食品有限公司 | Bottling quantity detection system |
| CN116022406B (en) * | 2023-03-29 | 2023-06-02 | 河北特美特实业集团股份有限公司 | Grabbing device for packing tomato sauce cans |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201545202U (en) * | 2009-07-21 | 2010-08-11 | 武汉人天包装技术有限公司 | Gripping-type box filler |
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2017
- 2017-04-02 CN CN201710215199.3A patent/CN106742269B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201545202U (en) * | 2009-07-21 | 2010-08-11 | 武汉人天包装技术有限公司 | Gripping-type box filler |
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| CN106742269A (en) | 2017-05-31 |
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