CN107804511A - A kind of plate packing method and device - Google Patents
A kind of plate packing method and device Download PDFInfo
- Publication number
- CN107804511A CN107804511A CN201610814304.0A CN201610814304A CN107804511A CN 107804511 A CN107804511 A CN 107804511A CN 201610814304 A CN201610814304 A CN 201610814304A CN 107804511 A CN107804511 A CN 107804511A
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- Prior art keywords
- plate
- robot
- attitude information
- chassis
- sent
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- 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
- 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
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles 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
Abstract
The invention discloses a kind of plate packing method, including：Obtain the collection image of the plate transmitted；The attitude information of the plate is identified from the collection image；Manipulation instruction is sent to the first robot according to the attitude information of the plate, first robot is synchronized with the movement according to the manipulation instruction and the plate, and capture the plate and be put into chassis and cased.Accordingly, the invention also discloses a kind of plate boxing apparatus.Using the embodiment of the present invention, it is possible to increase the efficiency of plate vanning.
Description
Technical field
The present invention relates to field of computer technology, more particularly to a kind of plate packing method and device.
Background technology
With the disappearance of China's " demographic dividend ", labor cost will persistently rise, particularly evident in automobile industry, people
Work cost cutting always is a big problem of automobile production manufacturing.Meanwhile automobile making post operation intensity is big, employee
Work load weight, herein under the premise of, realize and replace that manually realizes high intensity post to be replaced with a kind of trend using machinery, because
How this realizes that machinery replaces the artificial big problem for also turning into auto manufacturing.In auto manufacturing, body of a motor car and chassis
Form three big parts of automobile together with engine, be determine the automobile product market competitiveness and market life principal element it
One.It is the combination of structure design, manufacturing technology and design and vehicle body is special engineering goods.Bodywork parts are logical
Excess pressure machine punch forming, fabricated part is completed through drawing, flange, deburring, four big technique of punching.And due to whole line punch forming
Operation is completed under the conditions of automation, and the feasibility for cutting down artificial post is just the inspection post and vanning hilllock of fabricated part
Position workforce cut.Therefore, with reference to current automotive industry mainstream development trend, substituted using industrial robot and manually carry out vanning work
It is already imperative.
Robot automatic boxing technology is automatically performed vanning after being mainly used in automobile panel finished product punching press, and it is led
Cover several big steps such as the identification of finished product plate, the servo-actuated crawl of plate, plate placement.In recent years, carried out using industrial robot
The case of automatic boxing is of common occurrence, and Guangzhou Automobile Workshop's Honda, Kia etc. have the corresponding industrial robot boxing system of exploitation
Case.For example, the boxing system that modern Kia uses mainly uses hollow stepping belt transport, when part punching is complete
Into after finished product is by the normal blanking of production line, part is driven through stepper motor, is moved to fixed position, while belt hollow position
Part detent mechanism is jacked up, auxiliary component positioning, part is finally grabbed into finger using vacuum suction form by industrial robot
Determine part to place on chassis.
But automatic boxing is completed using stepping belt transmission fabricated part, in transmit process, belt, which remains, to be opened
The cycle operation pattern move-stop-restarted, such method of operation can make belt produce acceleration and deceleration in transmit process,
Exist in shutdown process and wait, so as to cause the waste on the delivery time, reduce boxing efficiency.
The content of the invention
The embodiment of the present invention proposes a kind of plate packing method and device, it is possible to increase the efficiency of plate vanning.
The embodiment of the present invention provides a kind of plate packing method, including：
Obtain the collection image of the plate transmitted；
The attitude information of the plate is identified from the collection image；
Manipulation instruction is sent to the first robot according to the attitude information of the plate, makes first robot according to institute
State manipulation instruction to be synchronized with the movement with the plate, and capture the plate and be put into chassis and cased.
Further, the collection image for obtaining the plate transmitted, is specifically included：
When detecting that plate is sent to visual search region, shoot and obtain the collection figure of the plate transmitted
Picture.
Further, the attitude information that the plate is identified from the collection image, is specifically included：
Visual signature point is identified from the collection image according to default characteristic point；
The attitude information of the plate is identified according to the location of described visual signature point.
Further, the attitude information according to the plate sends manipulation instruction to the first robot, makes described the
One robot is synchronized with the movement according to the manipulation instruction and the plate, and captures the plate and be put into chassis and cased,
Specifically include：
Manipulation instruction is sent to the first robot according to the attitude information of the plate, makes first robot according to institute
Manipulation instruction is stated to be synchronized with the movement with the plate, and the posture for adjusting its terminal-collecting machine is consistent with the posture of the plate, with control
Make the terminal-collecting machine and the plate is captured by vacuum suction form, and according to default running orbit by the plate of crawl
It is put into chassis and is cased.
Further, before the collection image of the plate for obtaining and transmitting, in addition to：
When each plate is sent to inspection area, hand inspection is carried out to the face product of each plate, and continue to pass
The plate of passed examination is sent to carry out IMAQ.
Further, the plate packing method also includes：
When detecting that the quantity of plate of first robot crawl reaches default chassis and houses quantity, control the
Two robots start incasement operation, and stop the incasement operation of first robot.
The embodiment of the present invention also provides a kind of plate boxing apparatus, including：
Image collection module, for obtaining the collection image of the plate transmitted；
Attitude information identification module, for identifying the attitude information of the plate from the collection image；And
Case module, send manipulation instruction to the first robot for the attitude information according to the plate, make described the
One robot is synchronized with the movement according to the manipulation instruction and the plate, and captures the plate and be put into chassis and cased.
Further, described image acquisition module is specifically used for when detecting that plate is sent to visual search region, claps
Take the photograph and obtain the collection image of the plate transmitted.
Further, the attitude information identification module specifically includes：
Feature point recognition unit, for identifying visual signature point from the collection image according to default characteristic point；
And
Attitude information recognition unit, for identifying the posture of the plate according to the location of described visual signature point
Information.
Further, the vanning module is specifically used for being sent to the first robot according to the attitude information of the plate and grasped
Control instruction, makes first robot be synchronized with the movement according to the manipulation instruction and the plate, and adjust the appearance of its terminal-collecting machine
State is consistent with the posture of the plate, to control the terminal-collecting machine by the crawl plate in the form of vacuum suction, and according to
The plate of crawl is put into chassis and cased by default running orbit.
Further, the plate boxing apparatus also includes：
Module is checked, for when each plate is sent to inspection area, being carried out manually to the face product of each plate
Check, and continue to transmit the plate of passed examination to carry out IMAQ.
Further, the plate boxing apparatus also includes：
Incasement operation control module, for reaching default in the quantity for the plate for detecting the first robot crawl
When chassis houses quantity, the second robot of control starts incasement operation, and stops the incasement operation of first robot.
Implement the embodiment of the present invention, have the advantages that：
Plate packing method and device provided in an embodiment of the present invention, can control machine people and the plate that transmits it is same
Step motion, and according to the attitude information of the plate identified, the servo-actuated crawl plate of control machine people is cased, in binning process
The transmission of plate need not be stopped, saving the delivery time, so as to improve the efficiency of plate vanning；Before plate vanning, to plate
Face product carry out artificial On line inspection, detach and check underproof plate, so as to which the quality of plate be effectively ensured.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of one embodiment of plate packing method provided by the invention；
Fig. 2 is the schematic flow sheet of another embodiment of plate packing method provided by the invention；
Fig. 3 is the structural representation of one embodiment of plate boxing apparatus provided by the invention；
Fig. 4 is the structural representation of one embodiment of plate packaging system provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
It is the schematic flow sheet of one embodiment of plate packing method provided by the invention referring to Fig. 1, including：
The collection image for the plate that S1, acquisition are transmitting；
S2, identify the attitude information of the plate from the collection image；
S3, manipulation instruction sent to the first robot according to the attitude information of the plate, make first robot root
It is synchronized with the movement according to the manipulation instruction and the plate, and captures the plate and be put into chassis and cased.
It should be noted that plate at the uniform velocity transmits after the normal blanking of production line, by conveyer belt.In plate transmit process
In, elder generation gathers the image of plate from the surface of plate, and position and the posture of plate are identified from the collection image of plate,
Position and the robot motion of gesture stability first further according to plate, make the direction that the first robot is transmitted along conveyer belt at the uniform velocity
Motion, i.e., while being synchronized with the movement with plate direction, posture of the first robot of adjustment above plate, make the first machine
The synchronous crawl plate, and plate is put into chassis and cased downwards of people.In the present embodiment, plate keeps transmission state,
The servo-actuated crawl plate of robot, stops without conveyer belt loop start, saves the delivery time, improve the efficiency of plate vanning.
Further, the collection image for obtaining the plate transmitted, is specifically included：
When detecting that plate is sent to visual search region, shoot and obtain the collection figure of the plate transmitted
Picture.
It should be noted that the lightweight aluminium type frame top of conveyer belt upper end is provided with vision system, regarding in vision system
Feel the perpendicular irradiation conveyor belt region of camera, when plate is sent to the visual search region of vision camera, vision camera is to this
Plate in region is shot, so as to obtain the collection image of plate.
Further, the attitude information that the plate is identified from the collection image, is specifically included：
Visual signature point is identified from the collection image according to default characteristic point；
The attitude information of the plate is identified according to the location of described visual signature point.
It should be noted that after the collection image of plate is obtained, the visual signature point in collection image is caught, and obtain
Particular location residing for visual signature point, the posture of plate is identified further according to the particular location of visual signature point, so as to obtain plate
The attitude information of part.
Further, the attitude information according to the plate sends manipulation instruction to the first robot, makes described the
One robot is synchronized with the movement according to the manipulation instruction and the plate, and captures the plate and be put into chassis and cased,
Specifically include：
Manipulation instruction is sent to the first robot according to the attitude information of the plate, makes first robot according to institute
Manipulation instruction is stated to be synchronized with the movement with the plate, and the posture for adjusting its terminal-collecting machine is consistent with the posture of the plate, with control
Make the terminal-collecting machine and the plate is captured by vacuum suction form, and according to default running orbit by the plate of crawl
It is put into chassis and is cased.
It should be noted that after the attitude information of plate is obtained, the first robot is controlled in space according to attitude information
Upper motion, the first robot is set to be synchronized with the movement with plate, meanwhile, the posture of the first end picking-up device for robot of adjustment, if plate is passing
When sending the posture taken to shift, the first robot can be by the interoperation of axle, the appearance that make the first end picking-up device for robot begin
State and the posture of plate are consistent, to ensure that the position of the descending fitting plate of terminal-collecting machine is constant all the time.On this basis, first
Robot synchronization downward actuation, makes the sucker on terminal-collecting machine be fitted in plate fixed position, after binding face reaches to a certain degree,
Air is pumped in sucker, realizes plate vacuum suction, and then, the first robot captures plate along operation rail set in advance
Plate is put into chassis and cased by mark.Wherein, part is built using stacking form, vanning form is identical with man power encasement's form.
Further, before the collection image of the plate for obtaining and transmitting, in addition to：
When each plate is sent to inspection area, hand inspection is carried out to the face product of each plate, and continue to pass
The plate of passed examination is sent to carry out IMAQ.
It should be noted that the face product of plate are examined by On line inspection post employee in vanning region front position
Look into, if plate inspection is unqualified, i.e., defective products occurs in plate, then bad plate is directly detached transmission by On line inspection post employee
Band, if plate passed examination, conveyer belt continues to transmit the plate of passed examination to region of casing, to case plate
Operation.
Further, the plate packing method also includes：
When detecting that the quantity of plate of first robot crawl reaches default chassis and houses quantity, control the
Two robots start incasement operation, and stop the incasement operation of first robot.
It should be noted that after the first robot captures plate and plate is placed into chassis, the first robot counting
The plate quantity of cumulative crawl, after the count accumulation for detecting the first robot, which reaches default chassis, houses quantity, make
First robot returns to operation round dot, stops incasement operation, meanwhile, the second robot of control continues incasement operation.
It is the schematic flow sheet of another embodiment of plate packing method provided by the invention referring to Fig. 2, including：
S201, plate blanking, conveyer belt transmission plate.
S202, board quality On line inspection, judge whether plate is certified products.If so, then perform step S203；If it is not,
Then perform step S209.
S203, No. 1 robot crawl certified products load No. 1 certified products chassis.
S204, No. 1 robot judge whether No. 1 certified products chassis is filled.If so, perform step S205；If it is not, then return
Step S203.
S205, vanning bright light is automatically stopped, rolling screen door is closed.
S206, No. 3 robot crawl certified products load No. 2 certified products chassis.
S207, No. 3 robots judge whether No. 2 certified products chassis are filled.If so, then perform step S208；If it is not, then return
Return step S206.
S208, vanning bright light is automatically stopped, rolling screen door is closed, and return to step S203.
S209, No. 2 robots capture non-certified products and load No. 1 non-certified products chassis.
S210, No. 2 robots judge whether No. 1 non-certified products chassis is filled.If so, then perform step S211；If it is not, then
Return to step S209.
S211, vanning bright light is automatically stopped, rolling screen door is closed.
S212, No. 4 robots capture non-certified products and load No. 2 non-certified products chassis.
S213, No. 4 robots judge whether No. 2 non-certified products chassis are filled.If so, then perform step S214；If it is not, then
Return to step S212.
S214, vanning bright light is automatically stopped, rolling screen door is closed, and return to step S209.
It should be noted that in plate blanking, when being sent to automatic boxing region by conveyer belt, by four On line inspection hilllocks
Position employee is checked the face product of plate.If being detected as non-defective unit, 1, No. 2 robot of acquiescence carries out crawl vanning behaviour to plate
Make；If there is defective products, On line inspection post employee's long-press conveyer belt stop button 3 seconds, transmission inband signaling feedback in plate
It is defective products to four robot plates, makes 1, No. 2 robot directly abandon capturing, defective products is entered by 3, No. 4 robots
Row crawl incasement operation.
Plate packing method provided in an embodiment of the present invention, being capable of control machine people fortune synchronous with the plate transmitted
It is dynamic, and cased according to the attitude information of the plate identified, the servo-actuated crawl plate of control machine people, need not in binning process
Stop the transmission of plate, save the delivery time, so as to improve the efficiency of plate vanning；Before plate vanning, to the face product of plate
Artificial On line inspection is carried out, detaches and checks underproof plate, so as to which the quality of plate be effectively ensured.
Accordingly, the present invention also provides a kind of plate boxing apparatus and system, can realize the plate in above-described embodiment
All flows of packing method.
It is the structural representation of one embodiment of plate boxing apparatus provided by the invention referring to Fig. 3, including：
Image collection module 1, for obtaining the collection image of the plate transmitted；
Attitude information identification module 2, for identifying the attitude information of the plate from the collection image；And
Case module 3, send manipulation instruction to the first robot for the attitude information according to the plate, make described the
One robot is synchronized with the movement according to the manipulation instruction and the plate, and captures the plate and be put into chassis and cased.
Further, described image acquisition module is specifically used for when detecting that plate is sent to visual search region, claps
Take the photograph and obtain the collection image of the plate transmitted.
Further, the attitude information identification module specifically includes：
Feature point recognition unit, for identifying visual signature point from the collection image according to default characteristic point；
And
Attitude information recognition unit, for identifying the posture of the plate according to the location of described visual signature point
Information.
Further, the vanning module is specifically used for being sent to the first robot according to the attitude information of the plate and grasped
Control instruction, makes first robot be synchronized with the movement according to the manipulation instruction and the plate, and adjust the appearance of its terminal-collecting machine
State is consistent with the posture of the plate, to control the terminal-collecting machine by the crawl plate in the form of vacuum suction, and according to
The plate of crawl is put into chassis and cased by default running orbit.
Further, the plate boxing apparatus also includes：
Module is checked, for when each plate is sent to inspection area, being carried out manually to the face product of each plate
Check, and continue to transmit the plate of passed examination to carry out IMAQ.
Further, the plate boxing apparatus also includes：
Incasement operation control module, for reaching default in the quantity for the plate for detecting the first robot crawl
When chassis houses quantity, the second robot of control starts incasement operation, and stops the incasement operation of first robot.
It is the structural representation of one embodiment of plate packaging system provided by the invention referring to Fig. 4, including conveyer belt
41st, 43, four, the robot of plate 42, four chassis 44, control device 45 and vision system (being not drawn into figure).Wherein, due to
The limitation of line conveyor, the direct of travel of original plate can not be kept, if only carrying out plate conveying by line conveyor,
The plate for causing to transmit into automatic boxing region is transmitted in 90 ° of commutations, when the plate length-width ratio of transmission is excessive, automatic boxing
Feed belt will be unable to the transmission width requirement for meeting plate, and high degree influences the transmission of plate, therefore, be filled into robot
Conveyer belt 41 before case region uses turn designs.In addition, mounting robot 43 and chassis 44 on the basis of conveyer belt 41, with
On the basis of radius conveyor belt, Liang Ge robots 43 are being installed at radius conveyor belt tail end 5m, and Liang Ge robots 43 are distinguished
At 41 liang of lateral extent conveyer belt center 2.4m of conveyer belt, two other robot is artificial with mounted two machines respectively
Benchmark, at the 5.1m apart from mounted Liang Ge robots, and four chassis 44 are respectively base with four robots 43
Standard is installed, and is corresponded with four robots 43, wherein, the mounting distance of chassis is according to the operation of its corresponding robot
Space is set.Vision system is arranged on the lightweight aluminium type frame top on conveyer belt 41, and the vision camera in vision system is hung down
Straight irradiation conveyor belt region, and vision system is connected with control device.
In binning process, conveyer belt 41 keeps transmission state, and plate 42 is transmitted by conveyer belt 41.In plate 42
When being sent to the visual search region of vision system, the image of the vertical shooting, collecting plate 42 of vision system, and from photographing
The visual signature point of plate is identified in collection image, and then position and the posture of plate are identified according to visual signature point, and
The position of plate and posture are sent to control device 45, control device 45 is according to one machine in position and gesture stability of plate
People 43 adjusts the terminal-collecting machine of the robot 43 in spatial movement, makes the posture of its terminal-collecting machine spatially appearance with plate all the time
State is consistent, meanwhile, control machine people 43 is synchronized with the movement along the direction of transfer of plate, on this basis, robot 43
Synchronous downward actuation crawl plate 42 is put into its corresponding chassis 44.After the robot fills its corresponding chassis, then
Another robot crawl plate is controlled to be put into its corresponding chassis.In addition, when system breaks down in binning process, adopt
With the key back to zero function of failure exception one, so as to save failure recovery time.
Plate boxing apparatus provided in an embodiment of the present invention and system, can control machine people and the plate that transmits it is same
Step motion, and according to the attitude information of the plate identified, the servo-actuated crawl plate of control machine people is cased, in binning process
The transmission of plate need not be stopped, saving the delivery time, so as to improve the efficiency of plate vanning；Before plate vanning, to plate
Face product carry out artificial On line inspection, detach and check underproof plate, so as to which the quality of plate be effectively ensured.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (12)
- A kind of 1. plate packing method, it is characterised in that including：Obtain the collection image of the plate transmitted；The attitude information of the plate is identified from the collection image；Manipulation instruction is sent to the first robot according to the attitude information of the plate, makes first robot according to the behaviour Control instruction is synchronized with the movement with the plate, and captures the plate and be put into chassis and cased.
- 2. plate packing method as claimed in claim 1, it is characterised in that the collection figure for obtaining the plate transmitted Picture, specifically include：When detecting that plate is sent to visual search region, shoot and obtain the collection image of the plate transmitted.
- 3. plate packing method as claimed in claim 1, it is characterised in that it is described identified from the collection image it is described The attitude information of plate, is specifically included：Visual signature point is identified from the collection image according to default characteristic point；The attitude information of the plate is identified according to the location of described visual signature point.
- 4. plate packing method as claimed in claim 1, it is characterised in that the attitude information according to the plate is to One robot sends manipulation instruction, first robot is synchronized with the movement according to the manipulation instruction and the plate, and grab Take the plate to be put into chassis to be cased, specifically include：Manipulation instruction is sent to the first robot according to the attitude information of the plate, makes first robot according to the behaviour Control instruction is synchronized with the movement with the plate, and the posture for adjusting its terminal-collecting machine is consistent with the posture of the plate, to control State terminal-collecting machine and the plate is captured by vacuum suction form, and be put into the plate of crawl according to default running orbit Cased in chassis.
- 5. plate packing method as claimed in claim 1, it is characterised in that in the collection of the plate for obtaining and transmitting Before image, in addition to：When each plate is sent to inspection area, hand inspection is carried out to the face product of each plate, and continue transmission inspection Qualified plate is looked into carry out IMAQ.
- 6. the plate packing method as described in any one of claim 1 to 5, it is characterised in that the plate packing method also wraps Include：When detecting that the quantity of plate of the first robot crawl reaches default chassis collecting quantity, the second machine is controlled Device people starts incasement operation, and stops the incasement operation of first robot.
- A kind of 7. plate boxing apparatus, it is characterised in that including：Image collection module, for obtaining the collection image of the plate transmitted；Attitude information identification module, for identifying the attitude information of the plate from the collection image；AndVanning module, manipulation instruction is sent to the first robot for the attitude information according to the plate, makes first machine Device people is synchronized with the movement according to the manipulation instruction and the plate, and captures the plate and be put into chassis and cased.
- 8. plate boxing apparatus as claimed in claim 7, it is characterised in that described image acquisition module is specifically used for detecting When being sent to visual search region to plate, shoot and obtain the collection image of the plate transmitted.
- 9. plate boxing apparatus as claimed in claim 7, it is characterised in that the attitude information identification module specifically includes：Feature point recognition unit, for identifying visual signature point from the collection image according to default characteristic point；AndAttitude information recognition unit, for identifying that the posture of the plate is believed according to the location of described visual signature point Breath.
- 10. plate boxing apparatus as claimed in claim 7, it is characterised in that the vanning module is specifically used for according to The attitude information of plate to the first robot send manipulation instruction, make first robot according to the manipulation instruction with it is described Plate is synchronized with the movement, and the posture for adjusting its terminal-collecting machine is consistent with the posture of the plate, to control the terminal-collecting machine to pass through Vacuum suction form captures the plate, and the plate of crawl is put into chassis according to default running orbit and enters luggage Case.
- 11. plate boxing apparatus as claimed in claim 7, it is characterised in that the plate boxing apparatus also includes：Module is checked, for when each plate is sent to inspection area, hand inspection to be carried out to the face product of each plate, And continue to transmit the plate of passed examination to carry out IMAQ.
- 12. the plate boxing apparatus as described in any one of claim 7 to 11, it is characterised in that the plate boxing apparatus is also Including：Incasement operation control module, for reaching default chassis in the quantity for the plate for detecting the first robot crawl When housing quantity, the second robot of control starts incasement operation, and stops the incasement operation of first robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610814304.0A CN107804511A (en) | 2016-09-09 | 2016-09-09 | A kind of plate packing method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610814304.0A CN107804511A (en) | 2016-09-09 | 2016-09-09 | A kind of plate packing method and device |
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| CN107804511A true CN107804511A (en) | 2018-03-16 |
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| CN201610814304.0A Pending CN107804511A (en) | 2016-09-09 | 2016-09-09 | A kind of plate packing method and device |
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| CN110654599A (en) * | 2019-09-29 | 2020-01-07 | 珠海格力智能装备有限公司 | Boxing equipment and electric rice cooker packaging production line |
| CN114013751A (en) * | 2022-01-05 | 2022-02-08 | 季华实验室 | Rectangular article boxing method, device, electronic device and storage medium |
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Address after: 511434, No. 633, Jinshan Avenue East Road, Guangzhou, Guangdong, Panyu District Applicant after: Guangzhou Automobile Passenger Car Co., Ltd. Address before: Panyu District Hualong Town Jinshan Road Guangzhou road 511434 No. 633 in Guangdong Province Applicant before: Guangzhou GAC Group Motor Co., Ltd. |
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