CN108216723B - Material feeding device and method for opposite conveying manipulator - Google Patents

Material feeding device and method for opposite conveying manipulator Download PDF

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Publication number
CN108216723B
CN108216723B CN201611252427.6A CN201611252427A CN108216723B CN 108216723 B CN108216723 B CN 108216723B CN 201611252427 A CN201611252427 A CN 201611252427A CN 108216723 B CN108216723 B CN 108216723B
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CN
China
Prior art keywords
manipulator
noodles
conveying
noodle
flour
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Active
Application number
CN201611252427.6A
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Chinese (zh)
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CN108216723A (en
Inventor
王新云
柳先知
张硕
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Haikejia Intelligent Technology Co ltd
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Qingdao Haikejia Intelligent Technology Co ltd
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Qingdao Haikejia Intelligent Technology Co ltd filed Critical Qingdao Haikejia Intelligent Technology Co ltd
Priority to CN201611252427.6A priority Critical patent/CN108216723B/en
Priority to EP17885842.9A priority patent/EP3418206B1/en
Priority to PCT/CN2017/107401 priority patent/WO2018121017A1/en
Publication of CN108216723A publication Critical patent/CN108216723A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B19/00Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
    • B65B19/34Packaging other rod-shaped articles, e.g. sausages, macaroni, spaghetti, drinking straws, welding electrodes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30Arranging and feeding articles in groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30Arranging and feeding articles in groups
    • B65B35/36Arranging and feeding articles in groups by grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30Arranging and feeding articles in groups
    • B65B35/40Arranging and feeding articles in groups by reciprocating or oscillatory pushers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30Arranging and feeding articles in groups
    • B65B35/44Arranging and feeding articles in groups by endless belts or chains

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vending Machines For Individual Products (AREA)

Abstract

The feeding method of the opposite conveying mechanical arm is characterized by comprising two conveying devices, wherein a plurality of material tanks are arranged on the conveying devices, the two conveying devices are respectively connected with weighed noodles from two ends of the devices, the materials enter the material tanks, the two sides of the material tanks are provided with a noodle trimming device, and the noodle is trimmed by the swing of a baffle plate. The lower part of the trough is provided with an oscillation material arranging device, and the clearance of the noodles or the inclination of the noodles are eliminated through oscillation. The materials are respectively conveyed to the middle position of the equipment in opposite directions through the trough. The invention has the advantages that: the device has the advantages of compact and simple structure, low input cost, small occupied space, alternate work of two manipulators, great improvement of work efficiency, reliable work and difficult mess in the conveying process.

Description

Material feeding device and method for opposite conveying manipulator
Technical Field
The invention relates to a feeding device and a feeding method for a counter-conveying manipulator, and belongs to the technical field of conveying machinery.
Background
At present, before strip-shaped articles such as fine dried noodles enter a packaging machine bag making device, the strip-shaped articles are conveyed through a scraping plate conveying line or a material box conveying line, the length of the conventional fine dried noodles conveying line on the market is generally about 4 meters, mess is easily caused in the conveying process, the occupied factory building space is large, and the input cost is high.
Disclosure of Invention
The invention aims to solve the problems that the conveying belt is used for conveying fine dried noodles easily to cause mess before the fine dried noodles enter a bag making machine of a packaging machine, the occupied factory space of the conveying belt is large, and the input cost is high.
The technical scheme of the invention is as follows: the feeding method for the opposite conveying manipulator is characterized by comprising the following steps:
(1) Two sets of conveying devices are used for respectively terminating weighed noodles from two ends of the device, materials enter a trough, noodle trimming devices are arranged on two sides of the trough, and noodle trimming is carried out on the end faces of the noodles through swinging of a baffle; the lower part of the trough is provided with an oscillation material arranging device, and the clearance of the noodles or the inclination of the noodles are eliminated through oscillation; the materials are respectively conveyed to the middle position of the equipment in opposite directions through the trough;
(2) Two sets of manipulator grabbing mechanisms positioned between the two sets of conveying devices are used for grabbing noodles in the trough of the two sets of conveying devices respectively, the noodles are directly put into an elongated bag making device of a packaging machine, the two manipulators act alternately, the right manipulator grabs the noodles while the right manipulator grabs the noodles, the left manipulator grabs the noodles while the right manipulator grabs the noodles, the actions of the two manipulators are opposite, and the alternate feeding of the materials is realized;
(3) The noodle pushing device positioned below the manipulator device is used for carrying out noodle alignment and arrangement on the end face of the noodle, and pushing the noodle to a proper position in the bag making device, so that accurate and orderly packaging is realized.
An apparatus for implementing the method for feeding materials to a conveyor robot, comprising: the machine frame is provided with a manipulator grabbing mechanism arranged in the middle of the machine frame, and the manipulator grabbing mechanisms are symmetrically arranged on the two sides of the machine frame.
The invention has the advantages that: the device has the advantages of compact and simple structure, low input cost, small occupied space, alternate work of two manipulators, great improvement of work efficiency, reliable work and difficult mess in the conveying process.
Drawings
FIG. 1 is a schematic general structural view of an embodiment of the present invention;
fig. 2 is a right side view of fig. 1.
Detailed Description
Referring to fig. 1 and 2, the feeding device for a counter-conveying manipulator according to the present invention is characterized by comprising: the machine frame 11, the manipulator material grabbing mechanism installed in the middle of the machine frame 11, the face transporting and aligning mechanisms symmetrically installed on two sides of the machine frame 11.
The manipulator grabbing mechanism comprises a manipulator 1, a manipulator arm 2, a driven gear 3, sector gears 4, eccentric wheels 5 and parallel connecting rods 16, wherein the manipulator arm 1 is arranged at one end of the manipulator arm 2, the manipulator arm 2 is arranged on a frame 11, the driven gear 3 is arranged at the other end of the manipulator arm 2 and is meshed with the sector gears 4 arranged on the side surfaces of the frame 11, the eccentric wheels 5 are arranged on the side surfaces of the frame 11, two ends of the parallel connecting rods 16 are respectively arranged on the two manipulator arms 1 and used for keeping the opening direction of the manipulator arm 1 to be vertical and downward all the time, when a motor drives the eccentric wheels 5 to rotate, the eccentric wheels 5 transmit power to the sector gears 4 through the connecting rods, the sector gears 4 drive the driven gears 3 to rotate, and the driven gears 3 transmit rotating force to the manipulator arm 2 so as to drive the manipulator arm 1 connected to the manipulator arm 2 to realize reciprocating motion of grabbing surfaces in a conveying surface groove 6.
The dough transporting and dough trimming mechanism comprises a dough transporting groove 6, a dough trimming panel 7, an oscillating plate 8, five grooved wheels 9, a rotating arm wheel 10, a frame 11, a pushing panel 12, an electromagnetic clutch 13, a swinging arm 14, a bag making device 15 and a dough trimming cross arm 17; two sides of the middle part of the frame 11 are symmetrically provided with a set of flour conveying groove conveying mechanism which consists of a plurality of flour conveying grooves 6 which are arranged on a conveying chain at intervals, the flour-aligning plate 7 is fixed on a flour-aligning cross arm 17, and two ends of the flour-aligning cross arm 17 are arranged at two sides of the frame 11; the oscillating plate 8 is arranged on a guide rail, and two sides of the guide rail are arranged on a frame 11; the noodle aligning plate 7 and the oscillating plate 8 together finish the arrangement of the noodles falling into the noodle conveying groove 6 by the weighing machine; the five grooved wheels 9 and the rotating arm wheel 10 are mutually matched and arranged on the frame 11, and the motor drives the rotating arm wheel 10 to rotate so as to stir the five grooved wheels 9 to intermittently rotate, so that the surface conveying groove 6 regularly advances; when the manipulator 1 grabs noodles from the noodle conveying groove 6 and rotates to the position above the bag making device 15 on the packaging machine, the manipulator 1 is opened, most of the noodles fall into the bag making device 15, the non-falling part is driven by the electromagnetic clutch 13 arranged on the packaging machine to rotate by the swing arm 14, the swing arm 14 controls the push panel 12 to push the noodles into the bag making device 15 through the connecting rod, the noodle pushing panel is used for carrying out noodle alignment on the end face of the noodles, and the other purpose is to push the noodles to a proper position in the bag making device and match with the color code position of a bag film in the bag making device, so that accurate and orderly packaging is realized. .
When the noodle conveying device works, the motor drives the rotating arm wheel 10 to rotate and stir the five grooved wheels 9 to intermittently rotate, so that the noodle conveying groove 6 regularly advances, and the noodle finishing in the noodle conveying groove 6 is completed by the flush plate 7 and the oscillating plate 8 together while the noodle conveying groove 6 advances. The motor drives the eccentric wheel 5 to rotate simultaneously, the eccentric wheel 5 transmits power to the sector gear 4 through the connecting rod, the sector gear 4 drives the driven gear 3 to rotate, the driven gear 3 transmits rotating force to the mechanical arm 2, and then the mechanical arm 1 connected to the mechanical arm 2 is driven to realize reciprocating motion of grabbing the face in the face conveying groove 6, when one mechanical arm 1 grabs the noodles from the face conveying groove 6 and rotates to the position above the bag making device 15 on the packaging machine, the mechanical arm 1 is opened, the noodles fall into the bag making device 15 by about two thirds, a part which does not fall into the bag making device falls into the bag making device 15 is driven to rotate by the electromagnetic clutch 13 arranged on the packaging machine, and the swinging arm 14 drives the pushing panel 12 to push the noodles into the bag making device 15 through the connecting rod. Meanwhile, the other manipulator 1 transmits power to the sector gear 4 through the eccentric wheel 5, the sector gear 4 drives the driven gear 3 to rotate, the driven gear 3 transmits rotating force to the manipulator 2, and then the manipulator 1 connected to the manipulator 2 is driven to move to the grabbing surface above the surface conveying groove 6, and the two manipulators 1 reciprocate in a staggered mode.

Claims (2)

1. The feeding method for the opposite conveying manipulator is characterized by comprising the following steps:
(1) Two sets of conveying devices are used for respectively terminating weighed noodles from two ends of the device, materials enter a trough, noodle trimming devices are arranged on two sides of the trough, and noodle trimming is carried out on the end faces of the noodles through swinging of a baffle; the lower part of the trough is provided with an oscillation material arranging device, and the clearance of the noodles or the inclination of the noodles are eliminated through oscillation; the materials are respectively conveyed to the middle position of the equipment in opposite directions through the trough;
(2) Two sets of manipulator grabbing mechanisms positioned between the two sets of conveying devices are used for grabbing noodles in the trough of the two sets of conveying devices respectively, the noodles are directly put into an elongated bag making device of a packaging machine, the two manipulators act alternately, the right manipulator grabs the noodles while the right manipulator grabs the noodles, the left manipulator grabs the noodles while the right manipulator grabs the noodles, the actions of the two manipulators are opposite, and the alternate feeding of the materials is realized;
(3) The pushing panel (12) positioned below the manipulator grabbing mechanism is used for carrying out noodle alignment and arrangement on the end face of the noodle, pushing the noodle to a proper position in the bag making device and realizing accurate and orderly packaging;
the device for implementing the feeding method of the opposite conveying manipulator comprises the following steps: the machine frame (11), the manipulator grasping mechanism installed in the middle of the machine frame (11), the plane conveying and aligning mechanisms symmetrically installed on two sides of the machine frame (11);
the manipulator material grabbing mechanism comprises a manipulator (1), a manipulator (2), a driven gear (3), sector gears (4), eccentric wheels (5) and parallel connecting rods (16), wherein the manipulator (1) is installed at one end of the manipulator (2), the manipulator (2) is installed on a frame (11), the driven gear (3) is installed at the other end of the manipulator (2) and is meshed with the sector gears (4) installed on the side face of the frame (11), the eccentric wheels (5) are installed on the side face of the frame (11), two ends of each parallel connecting rod (16) are respectively installed on the two manipulators (1) and used for keeping the opening direction of the manipulator (1) to be vertically downward all the time, when a motor drives the eccentric wheels (5) to rotate, the eccentric wheels (5) transmit power to the sector gears (4) through the connecting rods, the sector gears (4) drive the driven gears (3) to rotate, and the driven gears (3) transmit rotating force to the manipulator (2) so as to drive the manipulator (1) connected to realize reciprocating motion of a manipulator (1) in a grabbing face (6).
2. The feeding method of the opposite conveying manipulator according to claim 1, wherein the flour conveying and flour aligning mechanism comprises a flour conveying groove (6), an flour aligning plate (7), an oscillating plate (8), five grooved wheels (9), a rotating arm wheel (10), a frame (11), a pushing plate (12), an electromagnetic clutch (13), a swinging arm (14), a bag making device (15) and a flour aligning cross arm (17); two sides of the middle part of the frame (11) are symmetrically provided with a set of flour conveying groove conveying mechanism, the flour conveying groove conveying mechanism consists of a plurality of flour conveying grooves (6) which are arranged on a conveying chain at intervals, the flour aligning plates (7) are fixed on flour aligning cross arms (17), and two ends of the flour aligning cross arms (17) are arranged at two sides of the frame (11); the oscillating plate (8) is arranged on a guide rail, and two sides of the guide rail are arranged on the frame (11); the noodle alignment plate (7) and the oscillating plate (8) finish the arrangement of the noodles falling into the noodle conveying groove (6) of the weighing machine together; the five grooved wheels (9) and the rotating arm wheel (10) are mutually matched and arranged on the frame (11), and the motor drives the rotating arm wheel (10) to rotate so as to stir the five grooved wheels (9) to intermittently rotate, so that the surface conveying groove (6) regularly advances; when the manipulator (1) grabs noodles from the noodle conveying groove (6) and rotates to the position above the bag making device (15) on the packaging machine, the manipulator (1) is opened, most of the noodles fall into the bag making device (15), the part which does not fall into the bag making device is driven by the electromagnetic clutch (13) arranged on the packaging machine to rotate, the swinging arm (14) pushes the noodles into the bag making device (15) through the connecting rod control push panel (12), the noodle pushing device is used for carrying out noodle alignment arrangement on the end faces of the noodles, and the other purpose is to push the noodles to a proper position in the bag making device and match with the color code position of the bag film in the bag making device, so that accurate and orderly packaging is realized.
CN201611252427.6A 2016-12-30 2016-12-30 Material feeding device and method for opposite conveying manipulator Active CN108216723B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201611252427.6A CN108216723B (en) 2016-12-30 2016-12-30 Material feeding device and method for opposite conveying manipulator
EP17885842.9A EP3418206B1 (en) 2016-12-30 2017-10-24 Bidirectional manipulator device for material feeding and the method
PCT/CN2017/107401 WO2018121017A1 (en) 2016-12-30 2017-10-24 Bidirectional manipulator device for material conveyance and feeding and method thereof device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611252427.6A CN108216723B (en) 2016-12-30 2016-12-30 Material feeding device and method for opposite conveying manipulator

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CN108216723A CN108216723A (en) 2018-06-29
CN108216723B true CN108216723B (en) 2023-07-18

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EP (1) EP3418206B1 (en)
CN (1) CN108216723B (en)
WO (1) WO2018121017A1 (en)

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CN109398835A (en) * 2018-12-08 2019-03-01 温州海航机械有限公司 A kind of suction pipe counting conveyer
CN111891457A (en) * 2020-07-20 2020-11-06 上海紫江企业集团股份有限公司 Bottle blank box filling machine
CN112092011A (en) * 2020-09-22 2020-12-18 邵阳学院 Snatch transmission structure and snatch transmission control arm thereof
CN113562436B (en) * 2021-06-08 2023-01-03 安徽安庆南风日化有限责任公司 Liquid storage pot upper cover manipulator of laundry detergent processing production
CN114278238B (en) * 2021-12-22 2024-05-28 中煤科工集团西安研究院有限公司 Automatic change drilling rod handling equipment

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CN105109742A (en) * 2015-09-03 2015-12-02 青岛海科佳电子设备制造有限公司 Spilt type automatic feeding system for fine dried noodle weighing machines
CN105109743A (en) * 2015-09-09 2015-12-02 符韬 Paper wrapped noodles automatic bagging machine
CN106005565A (en) * 2016-07-25 2016-10-12 青岛海科佳电子设备制造有限公司 Fine dried noodle high-speed hoister

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Publication number Priority date Publication date Assignee Title
JP2009035307A (en) * 2007-08-02 2009-02-19 Asahi:Kk Rod-like body binding device and binding body delivery device
CN101913439A (en) * 2010-05-24 2010-12-15 耿国文 Dried noodle packager and flour finishing device thereof
CN203268352U (en) * 2013-05-23 2013-11-06 青岛海飞思特电子机械有限公司 Full-automatic multi-scale packaging device of fine dried noodles
KR20150016717A (en) * 2013-08-05 2015-02-13 박용국 Binding apparatus of binding machine for dried noodles
CN104582303A (en) * 2014-12-31 2015-04-29 东莞市科立电子设备有限公司 Special-shaped component inserter with double working heads
CN105083611A (en) * 2015-08-31 2015-11-25 哈尔滨联科自动化技术开发有限公司 Full-automatic M-type three-dimensional bag fine dried noodle packaging machine and packaging method
CN105109742A (en) * 2015-09-03 2015-12-02 青岛海科佳电子设备制造有限公司 Spilt type automatic feeding system for fine dried noodle weighing machines
CN105109743A (en) * 2015-09-09 2015-12-02 符韬 Paper wrapped noodles automatic bagging machine
CN106005565A (en) * 2016-07-25 2016-10-12 青岛海科佳电子设备制造有限公司 Fine dried noodle high-speed hoister

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Publication number Publication date
WO2018121017A1 (en) 2018-07-05
EP3418206A4 (en) 2019-09-18
EP3418206A1 (en) 2018-12-26
CN108216723A (en) 2018-06-29
EP3418206B1 (en) 2020-09-09

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