CN109733877A - A kind of multifunction manipulator and the integrated boxing apparatus of automatic packaging of convertible size - Google Patents
A kind of multifunction manipulator and the integrated boxing apparatus of automatic packaging of convertible size Download PDFInfo
- Publication number
- CN109733877A CN109733877A CN201910058978.6A CN201910058978A CN109733877A CN 109733877 A CN109733877 A CN 109733877A CN 201910058978 A CN201910058978 A CN 201910058978A CN 109733877 A CN109733877 A CN 109733877A
- Authority
- CN
- China
- Prior art keywords
- vertical shift
- movable block
- vertical
- guide
- block
- 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.)
- Pending
Links
Landscapes
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention discloses a kind of multifunction manipulators of convertible size and automatic pack to integrate boxing apparatus, it includes the vertically arranged lateral linear guide of antarafacial and longitudinal linear guide, N number of traversing movable block is slidably connected in lateral linear guide, M vertical shift movable block has been slidably connected in longitudinal linear guide, 1 longitudinally arranged vertical slot hole is provided on each traversing movable block, being arranged 1 on each vertical shift movable block has the horizontally long hole being arranged along the horizontal, N number of vertical slot hole and M horizontally long holes form N*M antarafacial intersection, each antarafacial intersection is equipped with the material fetching mechanism arranged vertically.The configuration of the present invention is simple, easy to use, the different sizes that can be packed according to original packing and now carry out automatic size change over, meet the requirement of part integral packaging.
Description
Technical field
The present invention relates to a kind of multifunctional unit manipulator mechanisms of size convertible during exercise, belong to industrial products zero
The Integral synchronous of a number of part of part is mobile to be put, Integral synchronous is placed into the size convertible during exercise of packing case
Multifunctional unit manipulator, belong to the technical field of industrial products production line, agricultural and sideline product packaging, more particularly to a kind of transporting
The multifunctional unit manipulator mechanism of convertible size in dynamic.
Background technique
With the continuous development of science and technology, manipulator has been widely used in industrial products production line, agricultural and sideline product packaging
Automatic production line, can quickly realize feeding, processing and the discharging of various components and single/case agricultural and sideline product,
But when for multiple small parts (such as machine components of various forms array) and multiple agricultural and sideline products (such as birds, beasts and eggs)
When shifting is put, traditional manipulator is often unable to do what one wishes, therefore can only rely on manual operation, during this mode low efficiency and transfer
Machine components, which can generate to collide, influences that product quality, breakage rate is high for eggs products, if being equipped with the collaboration of more manipulators
Work, the working range of production line do not allow.
Summary of the invention
In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved in the present invention is to provide one kind during exercise may be used
The method and mechanism of the multifunctional unit manipulator of transform size, can not only structure it is simple, and can according to original packing and
The different sizes now packed carry out automatic (being sized in range) size change over, meet the integrated packet of part or other products
Reload request.
In order to solve the above technical problems, present invention employs the multifunctional units of such a size convertible during exercise
Manipulator mechanism comprising the vertically arranged lateral linear guide of antarafacial and longitudinal linear guide are slided in lateral linear guide
It is connected with N number of traversing movable block, M vertical shift movable block has been slidably connected in longitudinal linear guide, it is each traversing
Be provided with 1 longitudinally arranged vertical slot hole on movable block, on each vertical shift movable block setting 1 have be arranged along the horizontal it is horizontally long
Hole, N number of vertical slot hole and M horizontally long holes form N*M antarafacial intersection, and each antarafacial intersection is equipped with the feeding arranged vertically
Mechanism.
In a kind of preferred embodiment of the invention, two adjacent traversing movable blocks pass through the limit being arranged along the horizontal
Mechanism connection, the traversing movable block positioned at both ends passes through the traversing drive cylinder connection being arranged along the horizontal, positioned at the traversing of both ends
A traversing movable block and lateral linear guide in movable block is affixed.
In a kind of preferred embodiment of the invention, two adjacent vertical shift movable blocks pass through longitudinally arranged limit
Mechanism connection, the vertical shift movable block positioned at both ends are connected by longitudinally arranged vertical shift drive cylinder, the vertical shift positioned at both ends
A vertical shift movable block and longitudinal linear guide in movable block is affixed.
In a kind of preferred embodiment of the invention, the position-limit mechanism includes fixed block, movable block, screw rod and spiral shell
Mother, the nut are connect with the screw flight, and the fixed block connect with the screw flight and limited by the nut,
The movable block sliding sleeve is loaded on the screw rod and passes through the fixed block and the screw limiting.
In a kind of preferred embodiment of the invention, the material fetching mechanism include vertical guide rod, pressure spring, stop nut and
Material grasping structure, the vertical guide rod passes through the horizontally long hole and the vertical slot hole is fixed by the stop nut, described vertical
The pressure spring is set on guide rod, the lower end of the vertical guide rod is connected with the material grasping structure.
In a kind of preferred embodiment of the invention, the material grasping structure is vacuum chuck handgrip, magnechuck handgrip
Or mechanical handgrip.
The invention also discloses a kind of automatic pack to integrate boxing apparatus, including rack, is provided in the rack along vertical
To the vertical shift conveying mechanism of arrangement, the lift and conveyer structure being arranged in a vertical direction is provided on the vertical shift conveying mechanism,
It is characterized in that: being connected with multifunction manipulator above-mentioned on the lift and conveyer structure.
In a kind of preferred embodiment of the invention, the vertical shift conveying mechanism include vertical shift guide rail, vertical shift sliding block and
Drive lead screw, the screw rod parallel arrangement of the vertical shift guide rail and the lead screw, vertical shift sliding block one end and the vertical shift guide rail
Sliding connection, the nut of the other end and the lead screw are affixed, and the lift and conveyer structure is connected on the vertical shift sliding block.
In a kind of preferred embodiment of the invention, the lift and conveyer structure include lifting slider, riser guide and
Lifting cylinder, the lifting slider and the vertical shift conveying mechanism are affixed, and described riser guide one end and the lifting slider are sliding
Dynamic mating connection, the piston rod of the other end and the lifting cylinder are affixed.
In a kind of preferred embodiment of the invention, the lower end of the riser guide is connected with the cross of multifunction manipulator
To linear guide and longitudinal linear guide.
The beneficial effects of the present invention are: the configuration of the present invention is simple, manufacture it is easy to use, if can will dryed product integrally from
The primary station of one certain size is transferred to inside another various sizes of packing case, and can be placed according to the primary of product
It is different and change it after grabbing part and be suitable for packing case size and be put into packing case that position dimension and packing case place size
Face improves to effectively improve the efficient transfer and positioning of the agricultural and sideline products such as the small sizes such as bolt components and eggs
The working efficiency of manipulator；The present invention is realized by the collaborative work of horizontally long hole and vertical slot hole to be installed on horizontally long hole and indulges
The quick adjustment of the material fetching mechanism position of long hole intersection, to realize the whole transfer and positioning of product；Further, originally
The disclosure of the invention specific design scheme in horizontally long hole and vertical slot hole, by linear guide cooperate position-limit mechanism and.Traversing driving
Oil cylinder conveniently and efficiently realizes the adjusting of manipulator size, assembly compact-sized, easy to process；Further, of the invention
Disclosing the design scheme of position-limit mechanism comprising fixed block, movable block, screw rod and nut, the program are not only simple in structure, and
And the maximum spacing between fixed block and movable block can be adjusted according to the size of Different Package case size in real time, to improve
The versatility of manipulator of the present invention；Further, the invention also discloses a kind of material fetching mechanisms comprising vertical guide rod, pressure spring,
Stop nut and material grasping structure, this kind of structure are applied on product along the vertical direction when can effectively reduce manipulator material grasping
Pressure；Further, material grasping structure of the invention can select vacuum chuck handgrip or electromagnetism to inhale according to the difference of product
Disk handgrip or mechanical handgrip, to improve versatility of the invention；Further, the invention also discloses a kind of automatic
Integrated boxing apparatus is packed, cooperates multifunction manipulator to realize various productions by vertical shift conveying mechanism, lift and conveyer structure
The whole clamping and transfer of product, greatly improve product packaging efficiency.
Detailed description of the invention
Fig. 1 is a kind of automatic main view for packing integrated boxing apparatus of the embodiment of the present invention；
Fig. 2 is a kind of automatic left view for packing integrated boxing apparatus of the embodiment of the present invention；
Fig. 3 is a kind of automatic top view for packing integrated boxing apparatus of the embodiment of the present invention；
Fig. 4 is a kind of main view of the multifunction manipulator of convertible size of the embodiment of the present invention；
Fig. 5 is a kind of bottom view of the multifunction manipulator of convertible size of the embodiment of the present invention；
Fig. 6 is position-limit mechanism schematic diagram in a kind of multifunction manipulator of convertible size of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
One kind as shown in Figure of description pack integrated boxing apparatus automatically it is found that its be by product on the conveyor line by
Integrated manipulator (pressing packing case area capacity), can be according to production by the boxing apparatus inside product global transfer to packing case
The primary placement location size of product is different from packing case placement size and changes it after grabbing part and is suitable for packing case size
It is put into inside packing case.
The automatic working principle for packing integrated boxing apparatus is: the multifunction manipulator of boxing apparatus is by part conveyer machine
Multiple products 3 in part holding tray 2 on frame 1 are caught lift after moved axially in lateral transfer rack 4 along pipeline
In packing case 5, lattice 6 in the packing case for accommodating product 3 of multiple array arrangements, the bottom of packing case 5 are provided in packing case 5
Portion is provided with product protection foam 7, and the multifunction manipulator first step starts to be slided by the cylinder promotion robot installation for being mounted on two sides
Plate changes manipulator axial dimension distance (devising certain size adjustable range), starts after the completion by being mounted on transverse shifting machine
The cylinder promotion robot installation slide plate of structure two sides changes manipulator axial dimension distance (devising certain size adjustable range),
Enter packing case position after the completion and put down product inside packing case, integrated manipulator, which lifts, returns to the next link of origin continuation.
The automatic integrated boxing apparatus of packaging specifically includes that 2 longitudinally parallel spaced apart racks 8, rack 8 are in door
Shape, vertical shift conveying mechanism is provided between two racks 8, and vertical shift conveying mechanism includes 2 vertical shift guide rails, 11,4 vertical shift sliding blocks
12 and 1 driving lead screws 47, the upper end of two racks 8 pass through fastening screw 9 and are fixedly connected with 2 spaced apart guide rail peaces
Seat 10 is filled, the central axis of each guide rail mounting base 10 is longitudinally arranged, and 2 vertical shift guide rails 11 are installed on guide rail mounting base 10
On, the screw rod of lead screw 47 is longitudinally parallel to be arranged in 11 top of vertical shift guide rail, and the screw rod of lead screw 47 is driven by servo motor 45
Rotation, servo motor 45 are fixed in the upper end of rack 8 by power mounting base 44, and the output end of servo motor 45 passes through shaft coupling
46 connection lead screws 47, are slidably connected with 2 vertical shift sliding blocks 12 on each vertical shift guide rail 11, each 12 one end of vertical shift sliding block with
The nut of the sliding connection of vertical shift guide rail 11, the other end and lead screw 47 is affixed, is connected with lift and conveyer on vertical shift sliding block 12
Structure.
Lift and conveyer structure includes the link block 40 being mounted on vertical shift sliding block 12, is connected and installed on link block 40 along perpendicular
Histogram is set with riser guide 14 on lifting slider 13, the upper end of riser guide 14 is connected with liter to the lifting slider 13 of arrangement
Sending down abnormally ascending cylinder guiding piece 15 is equipped with cylinder on link block 40 and draws ear 41, and cylinder draws and is equipped with lifting cylinder 42, lifting air on ear 41
Cylinder 42 connects guiding piece 15 to drive riser guide 14 to move up and down, and the lower end of riser guide 14 is connected with multi-functional mechanical
Hand, the multifunction manipulator are also the core technology scheme for solving technical problem proposed by the present invention.
Multifunction manipulator includes the link block 16 for being mounted on vertical lift 14 lower end of guide rail, the lower end installation of link block 16
There are longitudinal rail mounting base 17 and cross slide way mounting base 53, longitudinal linear guide 18 be connected in longitudinal rail mounting base 17,
M vertical shift movable block 20 is slidably connected in longitudinal linear guide 18, there is along cross setting 1 on each vertical shift movable block 20
To the horizontally long hole 20.1 of arrangement, two adjacent vertical shift movable blocks 20 are connected by longitudinally arranged position-limit mechanism, end
Two vertical shift movable blocks 20 are connected by longitudinally arranged vertical shift drive cylinder 24, and cross slide way mounting base 53 is connected with transverse direction
Linear guide 22 is slidably connected N number of traversing movable block 27 in lateral linear guide 22, is arranged on each traversing movable block 27
There is 1 longitudinally arranged vertical slot hole 27.1, the traversing movable block 27 of adjacent two passes through the position-limit mechanism being arranged along the horizontal and connects
It connects, the traversing movable block 27 of two of end passes through the traversing drive cylinder 29 being arranged along the horizontal and connects, and position-limit mechanism includes fixing
Block 48, movable block 49, screw rod 50 and nut 51, nut 51 are threadedly coupled with screw rod 50, and fixed block 48 is threadedly coupled with screw rod 50
And limited by nut 51,49 sliding sleeve of movable block is loaded on screw rod 50 and is limited by fixed block 48 and screw rod 50, N number of level
Vertical slot hole 27.1 and the M horizontally disposed horizontally long hole 20.1 of arrangement, vertical slot hole 27.1 are arranged parallel, horizontally long 20.1 phase of hole
Mutually parallel arrangement, vertical slot hole 27.1 and 20.1 antarafacial of horizontally long hole are arranged vertically, and the spacing between two neighboring vertical slot hole 27.1 can
It adjusts, the spacing between two neighboring horizontally long hole 20.1 is adjustable, and N number of vertical slot hole 27.1 and M horizontally long holes 20.1 form N*M antarafacial
Intersection, each antarafacial intersection are equipped with the material fetching mechanism 52 arranged vertically, and material fetching mechanism 52 includes vertical guide rod 52.1, pressure
Spring 52.2, stop nut 52.3 and material grasping structure 52.4, vertical guide rod 52.1 passes through vertical slot hole 27.1 and horizontally long hole 20.1 passes through
Stop nut 52.3 is fixed, is set with pressure spring 52.2 on vertical guide rod 52.1, the lower end of vertical guide rod 52.1 is connected with material grasping knot
Structure 52.4, material grasping structure 52.4 are vacuum chuck handgrip or magnechuck handgrip or mechanical handgrip.
When the present invention is in initial feeding position, the tailpiece of the piston rod of vertical shift drive cylinder 24 and traversing drive cylinder 29 is not stretched
It when out, contacts with each other between adjacent 2 vertical shift movable blocks 20, contact with each other between adjacent 2 traversing movable blocks 27, when invention moves
It moves to when terminating blanking position, when the tailpiece of the piston rod of vertical shift drive cylinder 24 and traversing drive cylinder 29 stretches out, adjacent 2 vertical shifts
It keeps keeping certain spacing between certain spacing, adjacent 2 traversing movable blocks 27 between movable block 20.Further, originally
The spacing between spacing, traversing movable block 27 between the vertical shift movable block 20 of invention can be shifted to an earlier date by the bolt of position-limit mechanism
Adjustment.
More than it should be understood that, only a specific embodiment of the invention, but protection scope of the present invention is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the invention, the variation that can readily occur in or is replaced
It changes, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of multifunctional unit manipulator mechanism of size convertible during exercise, it is characterised in that: including the vertical cloth of antarafacial
The lateral linear guide (22) set and longitudinal linear guide (18) are slidably connected with N number of cross on lateral linear guide (22)
It moves movable block (27), has been slidably connected with M vertical shift movable block (20), each traversing activity on longitudinal linear guide (18)
1 longitudinally arranged vertical slot hole (27.1) is provided on block (27), there is transversely setting 1 on each vertical shift movable block (20)
The horizontally long hole (20.1) of arrangement, N number of vertical slot hole (27.1) and M horizontally long holes (20.1) form N*M antarafacial intersection, Mei Geyi
Face intersection is equipped with the material fetching mechanism (52) arranged vertically.
2. the multifunction manipulator of convertible size according to claim 1, it is characterised in that: two adjacent traversing work
By the connection of the position-limit mechanism that is arranged along the horizontal, the traversing movable block (27) positioned at both ends passes through to be arranged along the horizontal motion block (27)
Traversing drive cylinder (29) connection, a traversing movable block (27) and lateral straight line in the traversing movable block (27) at both ends
Guide rail (22) is affixed.
3. the multifunction manipulator of convertible size according to claim 1, it is characterised in that: two adjacent vertical shifts are living
Motion block (20) is connected by longitudinally arranged position-limit mechanism, and the vertical shift movable block (20) positioned at both ends passes through longitudinally arranged
Vertical shift drive cylinder (24) connection, a vertical shift movable block (20) and longitudinal straight line in the vertical shift movable block (20) at both ends
Guide rail (18) is affixed.
4. the multifunction manipulator of convertible size according to claim 2 or 3, it is characterised in that: the position-limit mechanism
Including fixed block (48), movable block (49), screw rod (50) and nut (51), the nut (51) and the screw rod (50) screw thread connect
It connects, the fixed block (48) is threadedly coupled with the screw rod (50) and is limited by the nut (51), the movable block (49)
Sliding sleeve is loaded on the screw rod (50) and is limited by the fixed block (48) and the screw rod (50).
5. the multifunction manipulator of convertible size according to claim 1, it is characterised in that: the material fetching mechanism (52)
Including vertical guide rod (52.1), pressure spring (52.2), stop nut (52.3) and material grasping structure (52.4), the vertical guide rod
(52.1) it is fixed by the stop nut (52.3) that the vertical slot hole (27.1) and the horizontally long hole (20.1) are passed through, it is described perpendicular
It is set with the pressure spring (52.2) on straight guide rod (52.1), the lower end of the vertical guide rod (52.1) is connected with the material grasping structure
(52.4)。
6. the multifunction manipulator of convertible size according to claim 5, it is characterised in that: the material grasping structure
It (52.4) is vacuum chuck handgrip or magnechuck handgrip or mechanical handgrip.
7. a kind of automatic pack integrates boxing apparatus, including rack (8), longitudinally arranged indulge is provided on the rack (8)
Conveying mechanism is moved, is provided with the lift and conveyer structure being arranged in a vertical direction on the vertical shift conveying mechanism, it is characterised in that: institute
It states and connects on lift and conveyer structure just like multifunction manipulator described in claim 1-6 any one claim.
8. automatic packaging according to claim 7 integrates boxing apparatus, it is characterised in that: the vertical shift conveying mechanism includes
Vertical shift guide rail (11), vertical shift sliding block (12) and driving lead screw (47), the screw rod of the vertical shift guide rail (11) and the lead screw (47)
Parallel arrangement, described vertical shift sliding block (12) one end and the vertical shift guide rail (11) sliding connection, the other end and the lead screw
(47) nut is affixed, is connected with the lift and conveyer structure on the vertical shift sliding block (12).
9. automatic packaging according to claim 2 integrates boxing apparatus, it is characterised in that: the lift and conveyer structure includes
Lifting slider (13), riser guide (14) and lifting cylinder (42), the lifting slider (13) and the vertical shift conveying mechanism are solid
It connects, described riser guide (14) one end and the lifting slider (13) sliding connection, the other end and the lifting cylinder
(42) piston rod is affixed.
10. automatic packaging according to claim 9 integrates boxing apparatus, it is characterised in that: the riser guide (14)
Lower end is connected with the lateral linear guide (22) and longitudinal direction linear guide (18) of multifunction manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910058978.6A CN109733877A (en) | 2019-01-22 | 2019-01-22 | A kind of multifunction manipulator and the integrated boxing apparatus of automatic packaging of convertible size |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910058978.6A CN109733877A (en) | 2019-01-22 | 2019-01-22 | A kind of multifunction manipulator and the integrated boxing apparatus of automatic packaging of convertible size |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109733877A true CN109733877A (en) | 2019-05-10 |
Family
ID=66365700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910058978.6A Pending CN109733877A (en) | 2019-01-22 | 2019-01-22 | A kind of multifunction manipulator and the integrated boxing apparatus of automatic packaging of convertible size |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109733877A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478764A (en) * | 2020-12-16 | 2021-03-12 | 武汉工程大学 | Automatic bottle system that supplies of cosmetics production line |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0464968B2 (en) * | 1986-04-25 | 1992-10-16 | Shiiru Eito Kk | |
| CN201136602Y (en) * | 2007-12-29 | 2008-10-22 | 林仕雄 | Bottle transfer device with bidirectional paw |
| CN201371958Y (en) * | 2009-02-19 | 2009-12-30 | 林仕雄 | Improved bidirectional head grasping and bottle moving device |
| CN101982375A (en) * | 2010-10-20 | 2011-03-02 | 江苏大学 | Automatic egg boxing mechanical arm as well as boxing method and control method thereof |
| CN105584676A (en) * | 2016-02-03 | 2016-05-18 | 广东粤东机械实业有限公司 | Automatic plastic cup arranging mechanism for filling production line |
| CN205325312U (en) * | 2015-12-25 | 2016-06-22 | 常州市璟胜自动化科技有限公司 | A panel snatchs mechanism for manipulator |
| CN108820306A (en) * | 2018-08-31 | 2018-11-16 | 江西大江农业科技发展有限公司 | A kind of suction egg device |
-
2019
- 2019-01-22 CN CN201910058978.6A patent/CN109733877A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0464968B2 (en) * | 1986-04-25 | 1992-10-16 | Shiiru Eito Kk | |
| CN201136602Y (en) * | 2007-12-29 | 2008-10-22 | 林仕雄 | Bottle transfer device with bidirectional paw |
| CN201371958Y (en) * | 2009-02-19 | 2009-12-30 | 林仕雄 | Improved bidirectional head grasping and bottle moving device |
| CN101982375A (en) * | 2010-10-20 | 2011-03-02 | 江苏大学 | Automatic egg boxing mechanical arm as well as boxing method and control method thereof |
| CN205325312U (en) * | 2015-12-25 | 2016-06-22 | 常州市璟胜自动化科技有限公司 | A panel snatchs mechanism for manipulator |
| CN105584676A (en) * | 2016-02-03 | 2016-05-18 | 广东粤东机械实业有限公司 | Automatic plastic cup arranging mechanism for filling production line |
| CN108820306A (en) * | 2018-08-31 | 2018-11-16 | 江西大江农业科技发展有限公司 | A kind of suction egg device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478764A (en) * | 2020-12-16 | 2021-03-12 | 武汉工程大学 | Automatic bottle system that supplies of cosmetics production line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101727118B1 (en) | Materials unloading system | |
| CN109911282A (en) | A kind of eggs products automatic packaging device | |
| CN105438545B (en) | Packaging integrated machine | |
| CN108890622B (en) | A kind of lithium battery built-up jig device | |
| CN206898241U (en) | A kind of press machine loading and unloading manipulator | |
| CN113060505A (en) | Full-automatic garlic directional ordered feeding and conveying device with adjustable inclination angle and method | |
| CN109733877A (en) | A kind of multifunction manipulator and the integrated boxing apparatus of automatic packaging of convertible size | |
| CN114852706A (en) | Automatic separating and feeding device for steaming tray and control method thereof | |
| CN113955208A (en) | Efficient automatic glove box-entering device | |
| CN213691982U (en) | Chip assembly feeding and discharging machine | |
| CN113335629A (en) | Automatic pouring jacket device and air conditioner production system | |
| CN212449702U (en) | Bottle buttress uninstallation line | |
| CN108438844B (en) | Novel tray moves and carries device | |
| CN205571662U (en) | Charging tray material loading turnover device and automatic soldering tin machine | |
| CN217837180U (en) | Automatic screw feeder | |
| CN111114891A (en) | Paper cup stacks packing with input device | |
| CN105883373A (en) | Transverse loading mechanism | |
| CN106898683B (en) | LED wafer support packaging device and packaging method | |
| CN111776274B (en) | Automatic cartoning machine of matrimony vine | |
| CN110626810B (en) | Material bag carrying equipment and method | |
| CN209777531U (en) | Automatic water pan charging device | |
| CN113199223A (en) | Automatic screw tightening machine | |
| CN216334904U (en) | Automatic binary channels loading attachment | |
| CN110254781A (en) | A kind of automatic box sealing machine | |
| CN216071727U (en) | Unloading equipment in transportation of single crystal silicon rod AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190510 |
|
| RJ01 | Rejection of invention patent application after publication |