CN108163554A - The course of work that a kind of achievable cigarette packet is unloaded automatically - Google Patents
The course of work that a kind of achievable cigarette packet is unloaded automatically Download PDFInfo
- Publication number
- CN108163554A CN108163554A CN201810089479.9A CN201810089479A CN108163554A CN 108163554 A CN108163554 A CN 108163554A CN 201810089479 A CN201810089479 A CN 201810089479A CN 108163554 A CN108163554 A CN 108163554A
- Authority
- CN
- China
- Prior art keywords
- cigarette packet
- conveyer belt
- cigarette
- packet
- robot
- 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.)
- Granted
Links
- 235000019504 cigarettes Nutrition 0.000 title claims abstract description 152
- 239000011248 coating agent Substances 0.000 claims abstract description 7
- 238000000576 coating method Methods 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 230000004069 differentiation Effects 0.000 claims abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims abstract 2
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000004806 packaging method and process Methods 0.000 claims description 5
- 241000208125 Nicotiana Species 0.000 abstract description 5
- 235000002637 Nicotiana tabacum Nutrition 0.000 abstract description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 244000170916 Paeonia officinalis Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The course of work that a kind of achievable cigarette packet is unloaded automatically, includes the following steps, 1) cigarette packet crawl robot shift and take pictures to cigarette packet；2) whether controller differentiation claps cigarette packet by flanging angle；3) it is that cigarette packet crawl robot motion captures cigarette packet if the top one is wrapped and cigarette packet is put on conveyer belt and transmitted by displacement if cigarette packet in step 2)；It is not to need to discriminate whether to need manually to participate in if the top one is wrapped if cigarette packet in step 2)；4) step 1) is repeated if not needing to manually participate in step 3)；If desired it is artificial participate in it is then artificial participate in cigarette packet being moved to cigarette packet crawl robot and crawl position and cigarette packet can be captured, shift and cigarette packet be put on conveyer belt and transmitted；5) robot palletizer carries out stacking until cigarette coating is unloaded and finished to cigarette packet.It realizes and cigarette packet on lorry is automatically performed from unloading to stacking, improve efficiency of unloading, in addition avoid and the quality of tobacco in cigarette packet manually ensure that trampling for cigarette packet during unloading.
Description
Technical field
The present invention relates to robotic technology field, the course of work that more particularly to a kind of achievable cigarette packet is unloaded automatically.
Background technology
The cigarette packet transport of tobacco business and to reprint, unload be several important links during tobacco leaf production.Now to dress
The lorry of load high-volume cigarette packet, which unload, to be needed to carry out manual discharging, and the cigarette packet on lorry is manually carried and is put by lorry
On transport carriage, hand stowage then is being carried out from transport carriage, labor intensity is big, working efficiency is low.
Invention content
To overcome problems of the prior art, unload automatically the present invention provides a kind of achievable cigarette packet worked
Journey.
The technical scheme adopted by the invention to solve the technical problem is that：This kind of achievable cigarette packet is unloaded worked automatically
Journey includes the following steps：
1) the cigarette packet crawl robot on portal frame is displaced to above cigarette packaging carrier vehicle, and to the cigarette on load wagon
Packet is taken pictures；
2) photo is transmitted to controller, and whether controller differentiation claps cigarette packet by flanging angle, if cigarette is coated with flanging angle, cigarette
Packet crawl robot continues to shift, if cigarette packet is not by flanging angle controller differentiate cigarette packet whether be the top a packet；
3) it is cigarette packet crawl robot motion crawl cigarette packet and to be shifted if the top one is wrapped by cigarette packet if cigarette packet in step 2)
It is put on conveyer belt and transmits；It is not to need to discriminate whether to need manually to participate in if the top one is wrapped if cigarette packet in step 2)；
4) step 1) is repeated if not needing to manually participate in step 3)；If desired it is artificial to participate in then artificial participate in cigarette packet
Being moved to cigarette packet crawl robot crawl position and can capture cigarette packet, shift and cigarette packet is put on conveyer belt and is transmitted；
5) differentiate whether portal frame needs adjustment height, if desired then portal frame adjustment highly, is then transported on band and stacking
Robot is servo-actuated, and cigarette packet is removed carry out stacking by robot palletizer from conveyer belt；If portal frame does not need to adjustment height, stacking
Cigarette packet is directly removed carry out stacking by robot from conveyer belt；
6) step 1) is to step 5) until cigarette coating is unloaded and finished.
Further, two frame portal frames are equipped in cigarette packaging carrier vehicle both sides, a cigarette packet crawl is equipped on two portal frames
Robot.
Further, the conveyer belt in step 3) includes first and flat conveyer belt, slope conveyer belt and second is sent flat to send transmission
Band, the left upper end of the first flat right end and slope conveyer belt for sending conveyer belt are hinged, and the bottom righthand side of slope conveyer belt flat is sent with second
The left end of conveyer belt is hinged, second it is flat send conveyer belt that can move left and right on the ground, cigarette packet crawl machine signs of human habitation packet be placed on first
It is flat to send on conveyer belt, then through slope conveyer belt be moved to second it is flat send on conveyer belt, robot palletizer is fixed at second
It is flat to send on transmission flat rubber belting.
Further, the slope conveyer belt is equipped with cigarette inter-packet gap limiting plate.
To sum up, above-mentioned technical proposal of the invention has the beneficial effect that：
It realizes and cigarette packet on lorry is automatically performed from unloading to stacking, substantially increase efficiency of unloading, reduce worker
Labor intensity.In addition, due to being unloaded using mechanical equipment, avoid and manually cigarette packet trampled during unloading,
The quality of tobacco in cigarette packet is also ensured to a certain extent.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is that Fig. 1 removes the structure diagram after lorry；
Fig. 3 is the vertical view of Fig. 2；
Fig. 4 is the right view of Fig. 2；
Fig. 5 is flow sheet of unloading.
In figure：
1 portal frame, 2 first it is flat send conveyer belt, 3 slope conveyer belts, 4 second it is flat send conveyer belt, 5 cigarette packets crawl robot, 6
Robot palletizer, 7 cigarette packets, 8 crossbeams, 9 vertical beams, 10 cigarette inter-packet gap limiting plates, 11 lorries.
Specific embodiment
The feature and principle of the present invention are described in detail below in conjunction with attached drawing 1-5, illustrated embodiment is only used for explaining
The present invention not limits protection scope of the present invention with this.
As shown in Figs. 1-5, which includes portal frame 1, conveyer belt, cigarette packet from vehicle is captured and is put into conveyer belt
On cigarette packet crawl robot 5, by conveyer belt cigarette packet crawl stacking robot palletizer 6 and controller.
Wherein portal frame includes front and rear symmetrical two frame, and portal frame height is adjustable.Position between two frame portal frames supplies
Lorry 11 pours into, and unloads between Chinese herbaceous peony lorry pours into two frame portal frames and prepares.A cigarette packet gripper is equipped on two frame portal frames
Device people 5, cigarette packet crawl robot is equipped with photographing device, and cigarette packet crawl robot can be moved left and right along portal frame 1.Cigarette packet is grabbed
The handgrip for taking robot is scalable brave claw handgrip, and can stretch crawl cigarette packet.Photographing device carries out the cigarette packet on lorry
It takes pictures to pass the information on to controller and analyze, if the cigarette packet 7 of Yan Baoshi leftmost sides top layer detected, controller send out control
Signal processed, the mechanical human action of cigarette packet crawl capture cigarette packet 7.If detecting Yan Baobushi leftmost sides top layer, control
Device sends out control signal, and cigarette packet crawl robot continues to be moved to the left carry out photographic analysis, if detecting that cigarette packet is not pressed
Leftmost side cigarette packet is in corner rather than is upper strata Yan Bao, and possible cigarette goes wrong when packing vehicle, needs manually to participate in adjustment.
Portal frame includes crossbeam 8 and vertical beam 9, and cigarette packet captures robot and slides realization in lorry by sliding rail and beam engagement
Compartment moves left and right packet capturing.
Conveyer belt is equipped on the right side of portal frame, conveyer belt is adjustable in left and right length direction and upper-lower height direction.Transmission
Band include first it is flat send that conveyer belt 2, slope conveyer belt 3 and second is flat send conveyer belt 4, wherein the first flat right end for sending conveyer belt with
The left upper end of slope conveyer belt is hinged, and the bottom righthand side of slope conveyer belt is hinged with the second flat left end for sending conveyer belt, and second flat send
Conveyer belt can move left and right on the ground.Slope conveyer belt is equipped with cigarette inter-packet gap limiting plate.During unloading, first flat send biography
The left side of band is sent to be located at the right positions of portal frame, the position action of corresponding matching cigarette packet crawl robot.Cigarette packet captures machine
The cigarette packet of crawl is placed on first and flat sent on conveyer belt by people.Cigarette packet by first it is flat conveyer belt is sent to enter slope conveyer belt, lead to
It crosses and the speed of each conveyer belt is controlled to ensure that each cigarette packet can be spaced apart the cigarette inter-packet gap limiting plate 10 on the conveyer belt of slope
It puts, each cigarette coating cigarette inter-packet gap limiting plate separates, and places cigarette packet and presses together on the conveyer belt of slope, the first inconvenient stacking
Robot stacking crawl, the second cigarette containing for squeezing accumulation, which easily causes conveyer belt, normally to transmit.
With the continuous progress for the process of unloading, portal frame height constantly declines, and controller control at this time is hinged
Conveyer belt corresponding position declines, position decline can by second it is flat send conveyer belt motionless, first flat send transmission belt and slope to transmit
Band is tilted to the left decline movement to realize, can also be moved right the first transmission flat rubber belting and slope conveyer belt by the second transmission flat belt
It tilts down to realize, such as conveyer belt dotted line position in Fig. 1.Two robot palletizers 6 of conveyer belt right end are dynamic with conveyer belt
Make synchronous follow-up.Specific work process is as shown in Figure 5.
Portal frame, conveyer belt, cigarette packet crawl robot and robot palletizer are controlled by controller and linked.
As shown in figure 5, the invention includes the following steps：
1) the cigarette packet crawl robot on portal frame is displaced to above cigarette packaging carrier vehicle, and to the cigarette on load wagon
Packet is taken pictures；
2) photo is transmitted to controller, and whether controller differentiation claps cigarette packet by flanging angle, if cigarette is coated with flanging angle, cigarette
Packet crawl robot continues to shift, if cigarette packet is not by flanging angle controller differentiate cigarette packet whether be the top a packet；
3) it is cigarette packet crawl robot motion crawl cigarette packet and to be shifted if the top one is wrapped by cigarette packet if cigarette packet in step 2)
It is put on conveyer belt and transmits；It is not to need to discriminate whether to need manually to participate in if the top one is wrapped if cigarette packet in step 2)；
4) step 1) is repeated if not needing to manually participate in step 3)；If desired it is artificial to participate in then artificial participate in cigarette packet
Being moved to cigarette packet crawl robot crawl position and can capture cigarette packet, shift and cigarette packet is put on conveyer belt and is transmitted；
5) differentiate whether portal frame needs adjustment height, if desired then portal frame adjustment highly, is then transported on band and stacking
Robot is servo-actuated, and cigarette packet is removed carry out stacking by robot palletizer from conveyer belt；If portal frame does not need to adjustment height, stacking
Cigarette packet is directly removed carry out stacking by robot from conveyer belt；
6) step 1) is to step 5) until cigarette coating is unloaded and finished.
Two frame portal frames are equipped in cigarette packaging carrier vehicle both sides, a cigarette packet crawl robot is equipped on two portal frames.
Conveyer belt in step 3) include first it is flat send conveyer belt, slope conveyer belt and second it is flat send conveyer belt, first is flat
The left upper end of the right end and slope conveyer belt of conveyer belt is sent to be hinged, the bottom righthand side of slope conveyer belt and the second flat left side for sending conveyer belt
End is hinged, second it is flat send conveyer belt that can move left and right on the ground, cigarette packet crawl machine signs of human habitation packet is placed on first and flat send conveyer belt
On, then through slope conveyer belt be moved to second it is flat send on conveyer belt, robot palletizer is fixed at second and flat send transmission flat
It takes.
The slope conveyer belt is equipped with cigarette inter-packet gap limiting plate, prevents cigarette packet from being overstock on the conveyer belt of slope.
During unloading, the first flat left side for sending conveyer belt is located at the right positions of portal frame, the crawl of corresponding matching cigarette packet
The position action of robot.Cigarette packet, which captures robot the cigarette packet of crawl is placed on first, flat to be sent on conveyer belt.Cigarette packet is by the
One it is flat conveyer belt is sent to enter slope conveyer belt, ensure that each cigarette packet can be spaced apart on slope by the speed for controlling each conveyer belt
Cigarette inter-packet gap limiting Board position on conveyer belt, each cigarette coating cigarette inter-packet gap limiting plate separate, and place cigarette packet in slope conveyer belt
On press together, the first inconvenient robot palletizer stacking crawl, the second cigarette containing for squeezing accumulation easily cause conveyer belt without
Method normally transmits.
With the continuous progress for the process of unloading, portal frame height constantly declines, and controller control at this time is hinged
Conveyer belt corresponding position declines, position decline can by second it is flat send conveyer belt motionless, first flat send transmission belt and slope to transmit
Band is tilted to the left decline movement to realize, can also be moved right the first transmission flat rubber belting and slope conveyer belt by the second transmission flat belt
It tilts down to realize, two robot palletizers of conveyer belt right end and the action synchronous follow-up of conveyer belt.
Portal frame, conveyer belt, cigarette packet crawl robot and robot palletizer are controlled by controller and linked.
The invention, which is realized, is automatically performed cigarette packet on lorry from unloading to stacking, substantially increases efficiency of unloading, and reduces
The labor intensity of worker.In addition, due to being unloaded using mechanical equipment, avoid during unloading manually to cigarette packet
It tramples, also ensures the quality of tobacco in cigarette packet to a certain extent.
Above-described embodiment is only the description that is carried out to the preferred embodiment of the present invention, not to the scope of the present invention into
Row limit, under the premise of design spirit of the present invention is not departed from, relevant technical staff in the field to the present invention various modifications and
It improves, should all expand determined by claims of the present invention in protection domain.
Claims (4)
1. the course of work that a kind of achievable cigarette packet is unloaded automatically, which is characterized in that include the following steps：
1) on portal frame cigarette packet crawl robot be displaced to cigarette packaging carrier vehicle above, and to the cigarette packet on load wagon into
Row is taken pictures；
2) photo is transmitted to controller, and whether controller differentiation claps cigarette packet by flanging angle, if cigarette coating flanging angle, cigarette packet are grabbed
Robot is taken to continue to shift, if cigarette packet is not by flanging angle controller differentiate cigarette packet whether be the top a packet；
3) it is that cigarette packet crawl robot motion captures cigarette packet if the top one is wrapped and cigarette packet is put by displacement if cigarette packet in step 2)
On conveyer belt and transmit；It is not to need to discriminate whether to need manually to participate in if the top one is wrapped if cigarette packet in step 2)；
4) step 1) is repeated if not needing to manually participate in step 3)；If desired it is artificial to participate in then manually participating in moving cigarette packet
Crawl position and cigarette packet can be captured to cigarette packet crawl robot, shift and cigarette packet is put on conveyer belt and transmitted；
5) differentiate whether portal frame needs adjustment height, if desired then portal frame adjustment highly, is then transported on band and stacking machine
People is servo-actuated, and cigarette packet is removed carry out stacking by robot palletizer from conveyer belt；If portal frame does not need to adjustment height, stacking machine
Cigarette packet is directly removed carry out stacking by people from conveyer belt；
6) step 1) is to step 5) until cigarette coating is unloaded and finished.
2. the course of work that a kind of achievable cigarette packet according to claim 1 is unloaded automatically, which is characterized in that packed in cigarette
Carrier vehicle both sides are equipped with two frame portal frames, and a cigarette packet crawl robot is equipped on two portal frames.
3. the course of work that a kind of achievable cigarette packet according to claim 1 is unloaded automatically, which is characterized in that in step 3)
Conveyer belt include first it is flat send conveyer belt, slope conveyer belt and second it is flat send conveyer belt, the first flat right end for sending conveyer belt with
The left upper end of slope conveyer belt is hinged, and the bottom righthand side of slope conveyer belt is hinged with the second flat left end for sending conveyer belt, and second flat send
Conveyer belt can move left and right on the ground, cigarette packet crawl machine signs of human habitation packet be placed on first it is flat send on conveyer belt, then passed through slope
Send band be moved to second it is flat send on conveyer belt, robot palletizer be fixed at second it is flat send transmission flat rubber belting on.
4. the course of work that a kind of achievable cigarette packet according to claim 3 is unloaded automatically, which is characterized in that the slope
Conveyer belt is equipped with cigarette inter-packet gap limiting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810089479.9A CN108163554B (en) | 2018-01-30 | 2018-01-30 | Working process capable of realizing automatic unloading of tobacco packages |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810089479.9A CN108163554B (en) | 2018-01-30 | 2018-01-30 | Working process capable of realizing automatic unloading of tobacco packages |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108163554A true CN108163554A (en) | 2018-06-15 |
| CN108163554B CN108163554B (en) | 2024-05-03 |
Family
ID=62512640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810089479.9A Active CN108163554B (en) | 2018-01-30 | 2018-01-30 | Working process capable of realizing automatic unloading of tobacco packages |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108163554B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111056275A (en) * | 2020-01-17 | 2020-04-24 | 苏州拓又达新能源科技有限公司 | Automatic loading assembly line of multi-functional bagged materials |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103143506A (en) * | 2013-02-25 | 2013-06-12 | 北京紫东科技有限公司 | Automatic unloading and online detecting method for crude tobacco bales |
| CN104528061A (en) * | 2014-12-31 | 2015-04-22 | 中国电子科技集团公司第四十一研究所 | Carton cigarette packet missing detection device based on machine vision technology |
| CN104828581A (en) * | 2015-05-08 | 2015-08-12 | 成都信融智能设备有限公司 | Running multi-functional crude tobacco packet vehicle unloading equipment and method |
| CN106395430A (en) * | 2016-11-24 | 2017-02-15 | 南京景曜智能科技有限公司 | 3D stereoscopic vision auxiliary car loading and unloading system |
-
2018
- 2018-01-30 CN CN201810089479.9A patent/CN108163554B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103143506A (en) * | 2013-02-25 | 2013-06-12 | 北京紫东科技有限公司 | Automatic unloading and online detecting method for crude tobacco bales |
| CN104528061A (en) * | 2014-12-31 | 2015-04-22 | 中国电子科技集团公司第四十一研究所 | Carton cigarette packet missing detection device based on machine vision technology |
| CN104828581A (en) * | 2015-05-08 | 2015-08-12 | 成都信融智能设备有限公司 | Running multi-functional crude tobacco packet vehicle unloading equipment and method |
| CN106395430A (en) * | 2016-11-24 | 2017-02-15 | 南京景曜智能科技有限公司 | 3D stereoscopic vision auxiliary car loading and unloading system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111056275A (en) * | 2020-01-17 | 2020-04-24 | 苏州拓又达新能源科技有限公司 | Automatic loading assembly line of multi-functional bagged materials |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108163554B (en) | 2024-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102718090B (en) | Gantry-type double-arm palletizing robot and corrugated paper palletizing device with gantry-type palletizing robot | |
| JPH0430193Y2 (en) | ||
| EP2546153B1 (en) | Device and method for stacking stackable pieces | |
| JPS591138B2 (en) | press line | |
| EP0668027A2 (en) | Method and device for the handling of containers receiving trays with cigarettes | |
| CN109051874B (en) | Truss loading system | |
| CN109763270B (en) | Parallel gauze production system | |
| CN101905563A (en) | Method of moving printing tables in screen printing apparatus, and printing table moving unit therefor | |
| CN203958660U (en) | Full automatic packing machine | |
| CN105729218A (en) | PCB (printed circuit board) cutting device with double manipulators | |
| CN108163554A (en) | The course of work that a kind of achievable cigarette packet is unloaded automatically | |
| CN107985906A (en) | It is a kind of that there is the transmitting device of pose adjustment | |
| CN111908097A (en) | Control method of material feeding and discharging conveying equipment and material feeding and discharging conveying equipment | |
| CN107934547A (en) | A kind of pcb board material conveyer | |
| CN208856450U (en) | Dispenser automatic loading and unloading system | |
| CN205865792U (en) | Filling food processing lines | |
| CN103818760A (en) | Finished product collecting conveyor used for product inspection machine and capable of being wired with box bonding machine and product inspection machine | |
| CN207827397U (en) | Cigarette packet discharge apparatus | |
| CN105584848B (en) | Material transfer equipment | |
| CN105883330B (en) | Flexible package bag cargo automatic loading machine and its loading method | |
| CN207417912U (en) | It is vertical to unload brick marshalling baling press system | |
| CN104064624B (en) | Full-automatic battery side machining production line | |
| CN206967053U (en) | A kind of door of elevator automatic assembly line | |
| CN206156317U (en) | Fire extinguisher section of thick bamboo conveyer | |
| CN115303535A (en) | Plate packing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: 101 Puyi Jinan Robot Industrial Park, No. 3588 Aerospace Avenue, High tech Zone, Jinan City, Shandong Province, 250000 Applicant after: Jinan Yifei Intelligent Technology Co.,Ltd. Address before: 250000 No. 2350 Pioneer Road, Jinan High-tech Zone, Shandong Province Applicant before: Robotphoenix LLC Country or region before: China |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |