CN107381468A - A kind of automatic screw capping device of oil drum and its screw capping technique - Google Patents
A kind of automatic screw capping device of oil drum and its screw capping technique Download PDFInfo
- Publication number
- CN107381468A CN107381468A CN201710683849.7A CN201710683849A CN107381468A CN 107381468 A CN107381468 A CN 107381468A CN 201710683849 A CN201710683849 A CN 201710683849A CN 107381468 A CN107381468 A CN 107381468A
- Authority
- CN
- China
- Prior art keywords
- screw capping
- oil drum
- lid
- loose
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/26—Applications of control, warning, or safety devices in capping machinery
- B67B3/261—Devices for controlling the tightening of threaded caps, e.g. testing the release torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/18—Hand- or power-operated devices for opening closed containers for removing threaded caps
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
A kind of automatic screw capping device of oil drum and its screw capping technique, loose cover region, filling area and the screw capping area set along the conveying direction of bottle placer pipeline, manipulator is movable to loose cover region and screw capping area, loose lid visual detector and screw capping visual detector detect loose cover region and the oil drum state in screw capping area respectively, and then manipulator by the handgrip that is mounted thereon or is inserted to hook and carry out loose lid or screw capping except lid again.Two visual detectors on the device can be detected and positioned to the equipment course of work, clearly understand whole work process so that work is more accurate；Meanwhile the work of automation pine lid and screw capping can be quickly completed using the device, be advantageous to improve operating efficiency；And the apparatus structure is simple, working stability, it can greatly simplify device structure and improve job stability.
Description
Technical field
, should more particularly to a kind of automatic screw capping device for oil drum and use the present invention relates to automation filling apparatus
Device carries out the process of screw capping.
Background technology
Oil drum is the bucket for containing oil, and it uses iron sheet to be fabricated to cylindrical shape, is covered at the bung of oil drum equipped with inside and outside two
Son, as shown in Figure 1, 2, including spiral cover 103 and upper lid 105, specifically need to set outwardly convex on the oil-out of ladle body 101
Cage 102, spiral cover 103 are tightened on cage by screw thread, and the top surface indent of spiral cover and the boss 104 for being provided with projection, on
Lid 105 is then fixed on cage by interference fit.In general, spiral cover is ironwork, upper lid is then made using plastic material,
They must be fixed because different, the fixed structure of material is different using different processes.
, it is necessary to first unclamp, remove by two lids of oil drum in filling work is carried out to oil drum, it is to be filled after the completion of again
Again tighten.It is still more to rely on to be accomplished manually phase but current filling apparatus is difficult to effectively complete automation screw capping
Work is closed, causes production efficiency to be difficult to improve, cost of labor is also very huge.Also there are some filling apparatus to possess screw capping now
Function, but its structure is all extremely complex, and control program is also troublesome, causes the Stability and veracity of equipment all undesirable.
The content of the invention
A kind of the present invention is intended to provide automatic screw capping device of oil drum for automatically carrying out screw capping to oil drum in filling production
And its screw capping technique, to improve the stability and accuracy of screw capping work, and then improve operating efficiency.
The automatic screw capping device of oil drum of the present invention, including the pine of the conveying direction setting along bottle placer pipeline are covered
Area, filling area and screw capping area, and be movable to the manipulator in loose cover region and screw capping area, separately have and detect loose cover region, filling respectively
Whether area, screw capping area are placed with the loose lid detector, filling detector, screw capping detector of oil drum entrance, at loose cover region and screw capping area
It is additionally provided with and oil drum is shot to identify loose the lid visual detector and screw capping visual detector of oil drum state；Filled on manipulator
There are the handgrip of crawl oil drum, and liftable loose lid lift actuator, screw capping lift actuator；The bottom of loose lid lift actuator
Hook is inserted equipped with the lid that removes for inserting vinyl cover and taking it out, the spiral cover hand for clamping iron covering and drive are housed on screw capping lift actuator
The rotating driver that spiral cover hand rotates.
The screw capping technique of the automatic screw capping device of oil drum of the present invention, loose lid detector and screw capping after equipment initialization
Sensors work, if loose lid detector has detected that empty barrel enters loose cover region, into loose lid program；Or screw capping detector detection
To there is oil drum to enter screw capping area, then into screw capping program；Wherein
Loose lid program comprises the following steps：
A1, the loose task of lid visual detector first, the difference of oil drum position and the reference position of setting is detected, then believes detection
Breath sends to manipulator, manipulator and captures oil drum by handgrip and drive to reference position；
B1, the loose task of lid visual detector second, detect and send behind the position of vinyl cover to manipulator, the pine lid on manipulator
Lift actuator drives to insert to hook except lid and extracts vinyl cover；
C1, loose lid visual detector third time work, and whether the vinyl cover detected on oil drum has been transferred to, if then entering step
D1, if otherwise reentering step B1；
D1, the loose task of lid visual detector the 4th, detect the position of iron covering, and manipulator is taken out iron covering by spiral cover hand；
E1, the loose task of lid visual detector the 5th, detection iron covering whether be removed, if so, the oil drum of loose cover region move into
Enter filling area；If it is not, then system reports an error, into artificial treatment program；
In addition, screw capping program comprises the following steps：
A2, the task of screw capping visual detector first, transmission to manipulator, manipulator passes through spiral cover after detecting oil drum bung coordinate
Iron covering is screwed into bung by hand；
B2, the task of screw capping visual detector second, whether detection iron covering has been screwed into bung, if so, oil drum sends out screw capping area；If
No, then system reports an error, into artificial treatment program.
The automatic screw capping device of oil drum of the present invention and its screw capping technique, have two visual detectors to detect loose lid respectively
Area and the oil drum working condition in screw capping area, the two visual detectors are provided with luminous light source and the camera of shooting, during detection
The state of oil drum is shot by camera, then feeds back to apparatus control system, so as to which the equipment course of work is detected and determined
Position, clearly understands whole work process so that work is more accurate；Wherein, loose lid visual detector is walked using five shootings
Suddenly, screw capping visual detector, so as to carry out comprehensive detection and monitoring to whole work process, is entered using two shooting steps
And improve job stability, security and the accuracy of equipment.By the use of the device and its technique, can quickly complete
The work of automation pine lid and screw capping, be advantageous to improve operating efficiency；And the apparatus structure is simple, working stability can be very big
Ground simplifies device structure and improves job stability.
Brief description of the drawings
Fig. 1,2 be oil drum structural representation.
Fig. 3 is the structural representation of the automatic screw capping device of oil drum.
Fig. 4 is the partial enlarged drawing of the automatic screw capping device of oil drum shown in Fig. 1.
Fig. 5 is the side structure schematic view of the automatic screw capping device of oil drum shown in Fig. 1.
Fig. 6 is the partial enlarged drawing of the automatic screw capping device of oil drum shown in Fig. 5.
Fig. 7 is the workflow schematic diagram of the screw capping technique of the automatic screw capping device of oil drum.
Embodiment
A kind of automatic screw capping device of oil drum, including along pipeline 50 conveying direction set loose cover region 10, filling area 20
With screw capping area 30, and the manipulator 1 in loose cover region and screw capping area is movable to, separately has and detect loose cover region, filling area, screw capping respectively
Whether area is placed with the loose lid detector 2, filling detector 3, screw capping detector 4 of the entrance of oil drum 40, at loose cover region and screw capping area also
Provided with being shot to oil drum to identify loose lid visual detector S1 and screw capping the visual detector S2 of oil drum state；On manipulator
Handgrip 5 equipped with crawl oil drum, and liftable loose lid lift actuator 6, screw capping lift actuator 7；Loose lid lift actuator
Bottom hook 8 equipped with insertion vinyl cover and being inserted except lid of taking it out, the spiral cover equipped with clamping iron covering on screw capping lift actuator
Hand 91 and the rotating driver 92 for driving spiral cover hand to rotate.By the use of the device and its technique, can quickly complete certainly
The work of dynamicization pine lid and screw capping, be advantageous to improve operating efficiency；And the apparatus structure is simple, working stability can be greatly
Simplify device structure and improve job stability.
The automatic screw capping device of described oil drum, loose lid visual detector S1 and screw capping visual detector S2 are fixedly installed in defeated
In line sending, rather than installation is on a robotic arm, so as to improve the stability of vision-based detection and accuracy, can also improve detection speed
Degree, and then improve operating efficiency.
The automatic screw capping device of described oil drum, handgrip 5 includes the sucker group 51 of absorption oil drum top surface, and drives sucker group to turn
Dynamic electric rotating machine 52, sucker group capture oil drum, and then electric rotating machine drives oil drum to rotate by sucker group, makes oil drum rotate
To set angle, it is allowed to be more prone to cooperating equipment to be operated, so as to improve the accuracy of work and operating rate.
The automatic screw capping device of described oil drum, installing plate 11 being housed on manipulator 1, handgrip 5 is arranged at the middle part of installing plate,
Loose lid lift actuator 6 is filled on a mounting board close to the side of loose cover region, and screw capping lift actuator 7 is filled on a mounting board close to stubborn
The side of cover region.So that manipulator, which is used for pine lid and the parts of screw capping, can more rapidly be moved to respective regions,
Be advantageous to improve operating efficiency, while also avoid interfering between parts, and then improve the job stability of equipment.
The automatic screw capping device of described oil drum, there is the collecting bin for collecting the vinyl cover after transfering to（It is not shown）；Lid will be removed by having
The uncapping mechanism that the vinyl cover hooked on 8 is released is inserted, including is fixedly installed on manipulator 1 and removes lid support 81, is gone on lid support
Equipped with telescopic uncapping driver 82, for uncapping driver tip equipped with the push pedal 83 for promoting vinyl cover, uncapping driver can band
Dynamic push pedal is moved to insert except lid and hooked above or below working end；Wherein, push pedal 83 be provided with for except lid insert hook 8 pass through it is logical
Hole, the push pedal of uncapping driver drives is mobile and through hole is inserted in or is removed and is hooked except lid is inserted, when positioned at except lid insert hook above when, except lid
Slotting hook can smoothly pierce through vinyl cover and take up, and then push pedal declines and released the vinyl cover on hooking is inserted except lid；This is simple in construction,
It is working stability, quick, job stability and operating efficiency can be effectively improved.
The automatic screw capping device of described oil drum, spiral cover hand 92 include insertion that is downwardly projecting and inserting between the boss of iron covering two
Block 93, two inserting blocks are moved between the boss of iron covering two, so as to from circumferential clamping iron covering so that turning for iron covering is more stable fast
Speed.
The automatic screw capping device of described oil drum, there is Human-machine Control circle of feedback device working condition and input service instruction
Face, Human-machine Control interface connection control system, operating personnel by Human-machine Control interface can easily monitoring device work
State, and can rapidly be handled when equipment makes a mistake.
A kind of screw capping technique of the automatic screw capping device of oil drum, loose lid detector and screw capping the detector work after equipment initialization
Make, if loose lid detector has detected that empty barrel enters loose cover region, into loose lid program；Or screw capping detector has detected oil drum
Into screw capping area, then into screw capping program；Wherein
Loose lid program comprises the following steps：
A1, the loose task of lid visual detector first, the difference of oil drum position and the reference position of setting is detected, then believes detection
Breath sends to manipulator, manipulator and captures oil drum by handgrip and drive to reference position；
B1, the loose task of lid visual detector second, detect and send behind the position of vinyl cover to manipulator, the pine lid on manipulator
Lift actuator drives to insert to hook except lid and extracts vinyl cover；
C1, loose lid visual detector third time work, and whether the vinyl cover detected on oil drum has been transferred to, if then entering step
D1, if otherwise reentering step B1；
D1, the loose task of lid visual detector the 4th, detect the position of iron covering, and manipulator is taken out iron covering by spiral cover hand；
E1, the loose task of lid visual detector the 5th, detection iron covering whether be removed, if so, the oil drum of loose cover region move into
Enter filling area；If it is not, then system reports an error, into artificial treatment program；
In addition, screw capping program comprises the following steps：
A2, the task of screw capping visual detector first, transmission to manipulator, manipulator passes through spiral cover after detecting oil drum bung coordinate
Iron covering is screwed into bung by hand；
B2, the task of screw capping visual detector second, whether detection iron covering has been screwed into bung, if so, oil drum sends out screw capping area；If
No, then system reports an error, into artificial treatment program.
Described screw capping technique, after equipment initialization, detect whether spiral cover is clamped with iron covering on hand in advance, if so, and
Screw capping detector has detected that oil drum enters screw capping area, then is introduced into screw capping program；If so, and without oil drum enter screw capping area and
There is oil drum to enter loose cover region, then mechanical hand-motion spiral cover hand to iron covering rest area, loose lid program is entered back into after iron covering is put down；If
It is no, and loose lid detector has detected that empty barrel enters loose cover region, then into loose lid program, if it is not, and entering pine lid without oil drum
Area and there is oil drum to enter screw capping area, then mechanical hand-motion spiral cover hand is first moved to iron covering rest area, capture enter back into after iron covering it is stubborn
Lid program.
Described screw capping technique, in step A1, when loose lid visual detector detects oil drum position, on the one hand detect oil drum
The position being positioned on pipeline, while the relative angle between bung and default references angle is also detected, then, in machinery
When hand-motion oil drum moves, handgrip drives oil drum rotation and bung is turned to set angle.
In step bl is determined, behind the position of loose lid visual detector detection vinyl cover, manipulator is moved to above vinyl cover, pine
Lid lift actuator, which drives to hook except lid is slotting, to be declined and pierces through vinyl cover, and then loose lid lift actuator rises and takes vinyl cover out of；
Then, manipulator is moved at collecting bin, the work of uncapping mechanism, and collecting bin is pushed into by the vinyl cover on hooking is inserted except lid.
In step D1, the angle of two boss, then will on the coordinate and iron covering of loose lid visual detector detection iron covering
Iron covering coordinate is sent to manipulator, on the one hand, and mechanical hand-motion spiral cover hand is moved to above iron covering, on the other hand, rotation driving
Device drives the angle of spiral cover hand according to boss angular adjustment；Then, screw capping lift actuator drives the subordinate drop of spiral cover, spiral cover hand folder
Iron covering is held, then, rotating driver driving spiral cover hand rotation, while screw capping lift actuator drives spiral cover to rise on hand, thus will
Iron covering takes out；In addition, when rotating driver adjusts spiral cover hand angle, make to be formed between the inserting block of spiral cover hand two and the boss of iron covering two
90 ° of angle
Oil drum is entering filling area after loose lid program, filling sensors work, whether in place to detect empty oil drum, if so,
Bottle placer is filling to oil drum progress, until oil drum enters screw capping area along pipeline after the completion of filling.
In step A2, after screw capping visual detector detection bung coordinate, manipulator is moved to above bung, then screw capping
Lift actuator declines and rotating driver rotates, and iron covering is screwed into bung.
Claims (10)
- A kind of 1. automatic screw capping device of oil drum, it is characterised in that：Include the loose cover region of the conveying direction setting along pipeline（10）、 Filling area（20）With screw capping area（30）, and it is movable to the manipulator in loose cover region and screw capping area（1）, separately there is detection pine lid respectively Whether area, filling area, screw capping area are placed with oil drum（40）The loose lid detector entered（2）, filling detector（3）, screw capping detector （4）, it is additionally provided with loose cover region and screw capping area and oil drum is shot to identify the loose lid visual detector of oil drum state（S1）With Screw capping visual detector（S2）；Handgrip equipped with crawl oil drum on manipulator（5）, and liftable loose lid lift actuator（6）、 Screw capping lift actuator（7）；What the bottom of loose lid lift actuator was equipped with insertion vinyl cover and taken it out removes the slotting hook of lid（8）, Spiral cover hand equipped with clamping iron covering on screw capping lift actuator（91）With the rotating driver for driving spiral cover hand to rotate（92）.
- A kind of 2. screw capping technique of the automatic screw capping device of oil drum, it is characterised in that：Equipment initialization after loose lid detector and twist Lid sensors work, if loose lid detector has detected that empty barrel enters loose cover region, into loose lid program；Or screw capping detector inspection Oil drum is measured and has entered screw capping area, then into screw capping program；WhereinLoose lid program comprises the following steps：A1, the loose task of lid visual detector first, the difference of oil drum position and the reference position of setting is detected, then believes detection Breath sends to manipulator, manipulator and captures oil drum by handgrip and drive to reference position；B1, the loose task of lid visual detector second, detect and send behind the position of vinyl cover to manipulator, the pine lid on manipulator Lift actuator drives to insert to hook except lid and extracts vinyl cover；C1, loose lid visual detector third time work, and whether the vinyl cover detected on oil drum has been transferred to, if then entering step D1, if otherwise reentering step B1；D1, the loose task of lid visual detector the 4th, detect the position of iron covering, and manipulator is taken out iron covering by spiral cover hand；E1, the loose task of lid visual detector the 5th, detection iron covering whether be removed, if so, the oil drum of loose cover region move into Enter filling area；If it is not, then system reports an error, into artificial treatment program；In addition, screw capping program comprises the following steps：A2, the task of screw capping visual detector first, transmission to manipulator, manipulator passes through spiral cover after detecting oil drum bung coordinate Iron covering is screwed into bung by hand；B2, the task of screw capping visual detector second, whether detection iron covering has been screwed into bung, if so, oil drum sends out screw capping area；If No, then system reports an error, into artificial treatment program.
- 3. the screw capping technique of the automatic screw capping device of oil drum according to claim 2, it is characterised in that：Initialized in equipment Afterwards, in advance detection spiral cover whether be clamped with iron covering on hand, if so, and screw capping detector detected that oil drum enters screw capping area, then It is introduced into screw capping program；If so, and no oil drum enter screw capping area and there is oil drum to enter loose cover region, then mechanical hand-motion spiral cover hand To iron covering rest area, loose lid program is entered back into after iron covering is put down；If it is not, and loose lid detector detected empty barrel enter pine cover Area, then into loose lid program, if it is not, and no oil drum enter loose cover region and there is oil drum to enter screw capping area, then mechanical hand-motion is revolved Gai Shouxian is moved to iron covering rest area, and screw capping program is entered back into after capturing iron covering.
- 4. the screw capping technique of the automatic screw capping device of oil drum according to claim 2, it is characterised in that：In step A1, pine When lid visual detector detects oil drum position, the position that oil drum is positioned on pipeline is on the one hand detected, while also detect bung With the relative angle between default references angle, then, when mechanical hand-motion oil drum moves, handgrip drive oil drum rotation and Bung is set to turn to set angle.
- 5. the screw capping technique of the automatic screw capping device of oil drum according to claim 2, it is characterised in that：In step bl is determined, it is loose Behind the position of lid visual detector detection vinyl cover, manipulator is moved to above vinyl cover, and loose lid lift actuator is driven except lid Insert to hook and decline and pierce through vinyl cover, then loose lid lift actuator rises and takes vinyl cover out of.
- 6. the screw capping technique of the automatic screw capping device of oil drum according to claim 5, it is characterised in that：Manipulator is moved to receipts Ji Cangchu, the work of uncapping mechanism, collecting bin is pushed into by the vinyl cover on hooking is inserted except lid.
- 7. the screw capping technique of the automatic screw capping device of oil drum according to claim 2, it is characterised in that：In step D1, pine The angle of two boss, then sends iron covering coordinate to manipulator on the coordinate and iron covering of lid visual detector detection iron covering, On the one hand, mechanical hand-motion spiral cover hand is moved to above iron covering, and on the other hand, rotating driver drives according to boss angular adjustment The angle of spiral cover hand；Then, screw capping lift actuator drives the subordinate drop of spiral cover, and spiral cover hand clamps iron covering, then, rotating driver The rotation of spiral cover hand is driven, while screw capping lift actuator drives spiral cover to rise on hand, thus takes out iron covering.
- 8. the screw capping technique of the automatic screw capping device of oil drum according to claim 7, it is characterised in that：Rotating driver is adjusted During spiral cover hand angle, make the angle that shape is in 90 ° between the inserting block of spiral cover hand two and the boss of iron covering two.
- 9. the screw capping technique of the automatic screw capping device of oil drum according to claim 2, it is characterised in that：Oil drum is by pine lid Enter filling area after program, filling sensors work, whether in place empty oil drum is detected, if so, bottle placer fills to oil drum Dress, until oil drum enters screw capping area along pipeline after the completion of filling.
- 10. the screw capping technique of the automatic screw capping device of oil drum according to claim 2, it is characterised in that：In step A2, twist After lid visual detector detection bung coordinate, manipulator is moved to above bung, and then screw capping lift actuator declines and rotated Driver is rotated, and iron covering is screwed into bung.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683849.7A CN107381468B (en) | 2017-08-11 | 2017-08-11 | Automatic oil drum cap screwing device and cap screwing process thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683849.7A CN107381468B (en) | 2017-08-11 | 2017-08-11 | Automatic oil drum cap screwing device and cap screwing process thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107381468A true CN107381468A (en) | 2017-11-24 |
| CN107381468B CN107381468B (en) | 2023-07-21 |
Family
ID=60345306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710683849.7A Active CN107381468B (en) | 2017-08-11 | 2017-08-11 | Automatic oil drum cap screwing device and cap screwing process thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN107381468B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107954385A (en) * | 2017-11-28 | 2018-04-24 | 张家港市金马星机械制造有限公司 | Cap rotating device on bottle placer |
| CN114572922A (en) * | 2022-04-08 | 2022-06-03 | 江苏汤姆智能装备有限公司 | Full-automatic packaging line for liner on barrel |
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| CN207276170U (en) * | 2017-08-11 | 2018-04-27 | 广州达意隆包装机械股份有限公司 | A kind of automatic screw capping device of oil drum |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB555794A (en) * | 1941-12-15 | 1943-09-08 | Hector Murdoch Mcdonald | Improvements in and connected with apparatus for filling containers with milk and other liquids |
| CN103407953A (en) * | 2013-07-29 | 2013-11-27 | 长春北方仪器设备有限公司 | Fixed weight type stepping filling robot with machine vision and filling method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107954385A (en) * | 2017-11-28 | 2018-04-24 | 张家港市金马星机械制造有限公司 | Cap rotating device on bottle placer |
| CN114572922A (en) * | 2022-04-08 | 2022-06-03 | 江苏汤姆智能装备有限公司 | Full-automatic packaging line for liner on barrel |
| CN114572922B (en) * | 2022-04-08 | 2024-01-30 | 江苏汤姆智能装备有限公司 | Full-automatic packing line of inside lining on bucket |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107381468B (en) | 2023-07-21 |
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