CN112061778A - Filling manipulator of circular material selecting mechanism and control method of circular material selecting mechanism - Google Patents
Filling manipulator of circular material selecting mechanism and control method of circular material selecting mechanism Download PDFInfo
- Publication number
- CN112061778A CN112061778A CN202011088869.8A CN202011088869A CN112061778A CN 112061778 A CN112061778 A CN 112061778A CN 202011088869 A CN202011088869 A CN 202011088869A CN 112061778 A CN112061778 A CN 112061778A
- Authority
- CN
- China
- Prior art keywords
- bottle
- air nozzle
- material bottle
- manipulator
- air
- 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
Images
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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated 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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/44—Arranging and feeding articles in groups by endless belts or chains
-
- 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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
-
- 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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/54—Means for supporting containers or receptacles during the filling operation
-
- 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
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
-
- 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
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
Abstract
The invention discloses a filling manipulator of a circulating material selecting mechanism and a control method of the circulating material selecting mechanism, the filling manipulator of the circulating material selecting mechanism comprises a supporting column, a telescopic cylinder, a supporting block, an air nozzle and an air guide pipe, the cylinder of the telescopic cylinder is fixed on the side wall of the supporting column, the supporting block is fixed on the top of the telescopic cylinder, the air nozzle penetrates from the top to the bottom of the supporting block and is positioned at a position far away from the supporting column, one end of the air guide pipe is communicated with the top of the air nozzle, the other end of the air guide pipe is communicated with an air suction pump, a driving part is rotated to drive the supporting column to horizontally rotate for a certain angle, the air nozzle is driven by the telescopic cylinder to reach the top of a material to be grabbed, the air suction pump is used for sucking the material by the air nozzle, the air nozzle material is, the materials are loosened, so that the material bottle is accurately positioned in the material bottle, and the materials can be accurately conveyed into the material bottle.
Description
Technical Field
The invention relates to the technical field of mechanical and electrical integration, in particular to a filling manipulator of a circular material selecting mechanism and a control method of the circular material selecting mechanism.
Background
On SX-815Q mechatronic match's equipment, need carry to get the material of material position in through filling mechanical arm transport material bottle, the filling mechanical arm that adopts at present is the gripper manipulator, snatchs the material through gripper manipulator when using, then carries to the top of material bottle, and gripper manipulator loosens the material, and the material drops to in the material bottle, but this gripper manipulator is in the in-process of using, has following problem: because the bore of material bottle is less, the clamping jaw of clamping jaw manipulator is great can't get into to the material bottle in, and clamping jaw manipulator can only the material transport to the top of material bottle, drops to the material bottle in from the top of material bottle by the material, and the material is at the in-process that drops, can take place the material and the bottleneck touching bounce-back of material bottle and scatter in the outside of material bottle, leads to the unable accurate entering of material bottle to the material bottle in.
In addition, in the use process of equipment of an SX-815Q mechatronic competition, the conventional circulating material selecting mechanism in the particle feeding unit can only push one part of material at a time, and the material conveying efficiency is low when the material is small due to the self-circulation mechanism, which means that the waiting time of the material loading position is long, the efficiency is low, and the time is wasted.
Disclosure of Invention
Therefore, the present invention is directed to provide a filling manipulator of a circular sorting mechanism and a control method of the circular sorting mechanism, which can accurately enter a material bottle and improve the material conveying efficiency.
To solve the above technical problem, according to an aspect of the present invention, the present invention provides the following technical solutions:
a filling manipulator of circulation selection material mechanism, it includes:
a support pillar;
the cylinder barrel of the telescopic cylinder is fixed on the side wall of the support column;
the supporting block is fixed at the top of the telescopic cylinder;
the air nozzle penetrates from the top to the bottom of the supporting block and is positioned far away from the supporting column;
one end of the air duct is communicated with the top of the air tap, and the other end of the air duct is communicated with the air suction pump;
and the rotation driving part drives the supporting column to horizontally rotate for a certain angle.
In a preferable embodiment of the filling manipulator of the cyclic sorting mechanism according to the present invention, the rotary driving unit is a servo motor.
As a preferable scheme of the filling manipulator of the circular material selecting mechanism, the gas guide pipe is a flexible gas conveying pipe.
In a preferable embodiment of the filling manipulator of the cyclic sorting mechanism according to the invention, the rotary driving component returns to the original position each time the support column is driven to horizontally rotate 180 °.
A control method of a circular material selecting mechanism comprises the following specific steps:
s1: the material pushing mechanism pushes out four material numbers preset by a human-computer interaction interface;
s2: when the step S1 is started, the circulating conveyor belt is started to operate, the required materials are selected, the variable frequency motor rotates reversely, the materials are conveyed to the material taking position, and the circulating conveyor belt stops;
s3: starting at step S1, simultaneously starting the material bottle conveyer belt and the main conveyer belt, and conveying the material bottles to the main conveyer belt one by one;
s4: when the material bottle reaches the material loading position, the main conveying belt stops, and the positioning cylinder extends out to fix the material bottle;
s5: the filling manipulator is driven by the rotary driving part to enable the air nozzle to rotate to be right above the material taking position, the telescopic end of the telescopic cylinder descends, the air nozzle absorbs materials, the telescopic end of the telescopic cylinder ascends to restore to the original state, the rotary driving part drives the supporting column to rotate, the air nozzle is located right above the material bottle, the telescopic end of the telescopic cylinder descends to enable the air nozzle to enter the material bottle, meanwhile, the air nozzle loosens the materials, and then the filling manipulator restores to the original state;
s6: and repeating the steps S2 to S5 until the set material quantity is filled, then pushing out the material quantity set by the human-computer interaction interface by the material pushing cylinder, retracting the positioning cylinder, starting the main conveying belt, and conveying the material bottles to the next station.
As a preferable scheme of the control method of the circular material selecting mechanism, in the step S1, four material quantities preset by a human-computer interaction interface are pushed out by two material pushing cylinders.
As a preferable scheme of the control method of the circular material selecting mechanism of the present invention, in step S2, the circular conveyor belt starts to run at a high speed, when the color confirmation detection sensor on the circular conveyor belt detects that the material with the set color passes through, the frequency converter reverses, and outputs the material at a frequency of 20HZ, and sends the material to the material taking position; when the materials reach the material taking position, the particle in-place detection sensor acts, and the circulating conveyor belt stops.
As a preferable embodiment of the control method of the circular material selecting mechanism according to the present invention, in step S3, the material bottle conveyer and the main conveyer are started simultaneously when step S1 is started, the material bottle conveyer stops when the material bottle feeding detection sensor detects the material bottle, and the material bottle conveyer moves 2 seconds later on the main conveyer and the material bottle conveyer moves one by one to the main conveyer.
As a preferable aspect of the control method of the circular sorting mechanism according to the present invention, in step S4, when the particle filling position detection sensor detects the material bottle and waits for the material bottle to reach the filling position, the main conveyor belt stops, the positioning cylinder extends, and the material bottle is fixed.
Compared with the prior art, the invention has the beneficial effects that:
1. reach the top of the material that needs snatch through telescopic cylinder drive air cock, and bleed through the aspirator pump, make the air cock absorb the material, then the cylinder resumes to original position, and carry the air cock material rotation to material bottle directly over through the rotation driving part, telescopic cylinder redriven air cock descends and stretches into to material bottle in, then unclamp the material, make the accurate material bottle that is located of material bottle, for traditional clamping jaw manipulator, this kind of packing manipulator can be with the accurate transport of material to material bottle in.
2. By improving the software program, four material numbers set by the human-computer interface are pushed out once after the circular material selecting mechanism is started. After each filling mechanism is filled with one material, one material number is pushed out again, so that the sufficient material number on the circulating material selecting mechanism is ensured, the phenomenon that the conveying efficiency of the circulating material selecting mechanism is low due to the fact that the material number on the circulating material selecting mechanism is small is avoided, the circulating material selecting efficiency is improved, the waiting time of a filling manipulator is shortened, and the working time of the whole particle feeding unit is shortened.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise. Wherein:
fig. 1 is a schematic structural diagram of an embodiment of a filling manipulator of a circular sorting mechanism according to the present invention;
fig. 2 is a flow chart of a control method of the circular material selecting mechanism of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Next, the present invention will be described in detail with reference to the drawings, wherein for convenience of illustration, the cross-sectional view of the device structure is not enlarged partially according to the general scale, and the drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an embodiment of a filling manipulator of a circular material selecting mechanism according to the present invention, and referring to fig. 1, a main body of the filling manipulator of the circular material selecting mechanism according to the present embodiment includes a support column 100, a telescopic cylinder 200, a support block 300, an air nozzle 400, an air duct 500, and a rotation driving component 600.
The support column 100 is used to support and mount the telescopic cylinder 200.
The cylinder of the telescopic cylinder 200 is fixed to a sidewall of the support column 100 for driving the support block 300 to ascend or descend.
The supporting block 300 is fixed on the top of the telescopic cylinder 200, specifically, on the top of the telescopic part of the telescopic cylinder 200, when the telescopic end of the telescopic cylinder 200 descends, the supporting block 300 is driven to descend, and when the telescopic end of the telescopic cylinder 200 ascends, the supporting block 300 is driven to ascend.
The air nozzle 400 penetrates from the top to the bottom of the support block 300 and is located away from the support column 100 for adsorbing the material to be handled.
The one end of air duct 500 and the top intercommunication of air cock 400, the other end and the intercommunication not shown in the aspirator pump drawing for with aspirator pump and air cock 400 intercommunication, when the aspirator pump operation often, the aspirator pump extracts the air in the air duct 500, makes the inside negative pressure that produces of air cock 400, and then makes air cock 400 can the adsorption material. In this embodiment, the airway tube 500 is a flexible air delivery tube.
The rotation driving part 600 is used for driving the supporting column 100 to rotate horizontally by a certain angle, specifically, in this embodiment, the rotation driving part 600 is a servo motor, and returns to the original position after driving the supporting column 100 to rotate horizontally by 180 °.
With reference to fig. 1, the filling manipulator of the circular material selecting mechanism of the embodiment has the following specific use process: rotation driving part 600 drive support column 100 rotates, make air cock 400 arrive the material directly over, telescopic cylinder 200's flexible end descends the top of the attached material that needs snatch of drive air cock 400 this moment, the aspirator pump bleeds simultaneously, make air cock 400 absorb the material, then telescopic cylinder 200 resumes to original position, rotation driving part 600 drive support column 100 rotates, make air cock 400 drive the material rotary transport to the material bottle directly over, telescopic cylinder drives air cock 400 again and descends, make air cock 400 stretch into to the material bottle in, then the aspirator pump shutdown, air cock 400 loosens the material, make the accurate material bottle that is located of material bottle in, later telescopic cylinder 200 resumes to original height, rotation driving part 600 drives support column 100 simultaneously and rotates to original position.
The invention also provides a control method of the circulating material selecting mechanism, which comprises the following specific steps:
s1: the material pushing mechanism pushes out four material numbers preset by the human-computer interaction interface, and the two material pushing cylinders push out the four material numbers preset by the human-computer interaction interface.
S2: and starting the step S1, starting the circulating conveyer belt to operate to select the required material, reversing the frequency conversion motor to convey the material to the material taking position, and stopping the circulating conveyer belt, wherein the circulating conveyer belt starts to operate at a high speed, and when the color confirmation detection sensor on the circulating conveyer belt detects that the material with the set color passes through, the frequency converter reverses and outputs the material at the frequency of 20HZ to convey the material to the material taking position. When the materials reach the material taking position, the particle in-place detection sensor acts, and the circulating conveyor belt stops.
S3: when step S1 begins, material bottle conveyer belt and main conveyer belt start simultaneously, carry main conveyer belt one by one with the material bottle, wherein, when step S1 begins, material bottle conveyer belt and main conveyer belt start simultaneously, when material bottle material loading detection sensor detected the material bottle, the material loading conveyer belt stops, and after the material bottle on main conveyer belt removed 2S, the material loading conveyer belt moved, carried main conveyer belt one by one.
S4: when the material bottle reaches the material loading position, the main conveying belt stops, the positioning cylinder extends out, and the material bottle is fixed, wherein when the particle filling position detection sensor detects the material bottle and waits for the material bottle to reach the filling position, the main conveying belt stops, and the positioning cylinder extends out, so that the material bottle is fixed.
S5: the packing manipulator is driven by rotation driving part 600 to make air cock 400 rotatory to get directly over the material position, telescopic cylinder's flexible end descends, air cock 400 absorbs the material, telescopic cylinder 200's flexible end rises and resumes to original state, rotation driving part 600 drive support column 100 is rotatory, make the air cock be located material bottle directly over, telescopic cylinder 200's flexible end descends and makes air cock 400 get into to the material bottle in, air cock 400 loosens the material simultaneously, then the packing manipulator resumes to original state.
S6: and repeating the steps S2 to S5 until the set material quantity is filled, then pushing out the material quantity set by the human-computer interaction interface by the material pushing cylinder, retracting the positioning cylinder, starting the main conveying belt, and conveying the material bottles to the next station.
While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the disclosed embodiments of the invention may be used in any combination, provided that no structural conflict exists, and the combinations are not exhaustively described in this specification merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (9)
1. A packing manipulator of circulation selection material mechanism which characterized in that includes:
a support column (100);
the cylinder barrel of the telescopic cylinder (200) is fixed on the side wall of the support column (100);
the supporting block (300) is fixed at the top of the telescopic cylinder (200);
the air nozzle (400) penetrates from the top to the bottom of the supporting block (300) and is positioned far away from the supporting column (100);
one end of the air duct (500) is communicated with the top of the air nozzle (400), and the other end of the air duct is communicated with the air suction pump;
and the rotating driving part (600) drives the supporting column (100) to horizontally rotate for a certain angle.
2. A filling manipulator of a cyclic sorting mechanism according to claim 1, characterised in that the rotary drive means (600) is a servo motor.
3. A priming manipulator for a cyclic sorting mechanism according to claim 1, wherein said air duct (500) is a flexible air delivery tube.
4. A filling manipulator of a circular sorting mechanism according to claim 1, characterized in that the rotary driving means (600) returns to its original position each time the support column (100) is driven to rotate horizontally by 180 °.
5. A method of controlling a circular sorting mechanism of a packing manipulator using a circular sorting mechanism according to claim 1, comprising the steps of:
s1: the material pushing mechanism pushes out four material numbers preset by a human-computer interaction interface;
s2: when the step S1 is started, the circulating conveyor belt is started to operate, the required materials are selected, the variable frequency motor rotates reversely, the materials are conveyed to the material taking position, and the circulating conveyor belt stops;
s3: starting at step S1, simultaneously starting the material bottle conveyer belt and the main conveyer belt, and conveying the material bottles to the main conveyer belt one by one;
s4: when the material bottle reaches the material loading position, the main conveying belt stops, and the positioning cylinder extends out to fix the material bottle;
s5: the filling manipulator is driven by the rotary driving part (600) to enable the air nozzle (400) to rotate to be right above a material taking position, the telescopic end of the telescopic cylinder (200) descends, the air nozzle (400) absorbs materials, the telescopic end of the telescopic cylinder (200) ascends to restore to the original state, the rotary driving part (600) drives the supporting column (100) to rotate, the air nozzle (400) is enabled to be located right above a material bottle, the telescopic end of the telescopic cylinder (200) descends to enable the air nozzle (400) to enter the material bottle, meanwhile, the air nozzle (400) loosens the materials, and then the filling manipulator restores to the original state;
s6: and repeating the steps S2 to S5 until the set material quantity is filled, then pushing out the material quantity set by the human-computer interaction interface by the material pushing cylinder, retracting the positioning cylinder, starting the main conveying belt, and conveying the material bottles to the next station.
6. The control method of the circular sorting mechanism of claim 5, wherein in step S1, four material quantities preset by a human-computer interaction interface are pushed out by two material pushing cylinders.
7. The method as claimed in claim 5, wherein in step S2, the endless conveyor belt is started to run at a high speed, and when the color confirmation detecting sensor on the endless conveyor belt detects the material with the set color, the inverter is reversed and outputs the signal at a frequency of 20HZ to feed the material to the material taking position; when the materials reach the material taking position, the particle in-place detection sensor acts, and the circulating conveyor belt stops.
8. The method according to claim 5, wherein in step S3, the material bottle conveyer and the main conveyer are started simultaneously at the same time when step S1 is started, the material bottle conveyer stops when the material bottle feeding detection sensor detects the material bottle, and the material bottle conveyer moves 2S later to convey the material bottles one by one to the main conveyer.
9. The method as claimed in claim 5, wherein in step S4, when the particle filling position detecting sensor detects the material bottle and waits for the material bottle to reach the filling position, the main conveyor belt stops, the positioning cylinder extends out, and the material bottle is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011088869.8A CN112061778A (en) | 2020-10-13 | 2020-10-13 | Filling manipulator of circular material selecting mechanism and control method of circular material selecting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011088869.8A CN112061778A (en) | 2020-10-13 | 2020-10-13 | Filling manipulator of circular material selecting mechanism and control method of circular material selecting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112061778A true CN112061778A (en) | 2020-12-11 |
Family
ID=73655550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011088869.8A Pending CN112061778A (en) | 2020-10-13 | 2020-10-13 | Filling manipulator of circular material selecting mechanism and control method of circular material selecting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112061778A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771982A (en) * | 2022-04-22 | 2022-07-22 | 成都聚合智创科技有限公司 | Material boxing transfer control method and device and electronic equipment |
-
2020
- 2020-10-13 CN CN202011088869.8A patent/CN112061778A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771982A (en) * | 2022-04-22 | 2022-07-22 | 成都聚合智创科技有限公司 | Material boxing transfer control method and device and electronic equipment |
| CN114771982B (en) * | 2022-04-22 | 2023-11-17 | 成都华聪智视科技有限公司 | Material boxing transfer control method and device and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112499246A (en) | Box type cargo handling equipment | |
| CN107716385A (en) | A kind of automatic rinser | |
| CN112061778A (en) | Filling manipulator of circular material selecting mechanism and control method of circular material selecting mechanism | |
| CN107283402B (en) | Manipulator capable of accurately controlling expansion and contraction amount and boat loading system of multi-tube reaction chamber | |
| CN207266941U (en) | Sorting machine | |
| CN207415356U (en) | A kind of automatic loading and unloading manipulator | |
| CN105730721A (en) | Vacuum electronic multi-particle filling equipment | |
| CN109108812A (en) | A kind of automatic charging & discharging machine | |
| CN213201474U (en) | Filling manipulator of circulation selection material mechanism | |
| CN208700551U (en) | A kind of bottle automatic filling machine | |
| CN208663474U (en) | A kind of automatic charging & discharging machine | |
| CN208631623U (en) | Plastic sucking disc does not shut down feeding device | |
| CN218968816U (en) | Assembly line double-station cap lifting operation system | |
| CN216273043U (en) | Automatic filling device is used in chinese flowering crabapple fruit juice production | |
| CN211190801U (en) | Automatic dispensing equipment | |
| CN113830555B (en) | Tin immersion machine of multirow device | |
| CN203883031U (en) | Fully-automatic brush coating and piece arranging test all-in-one machine of solar plates | |
| CN208427943U (en) | Assemble equipment and annular return package system | |
| CN207189803U (en) | Rabbeting machine automatic film advance mechanism | |
| CN216939670U (en) | Blade threading equipment | |
| CN212023098U (en) | Tray tape transferring device | |
| CN213864305U (en) | Steel pipe conveying and storing device | |
| CN203294814U (en) | Automatic material storage workbench | |
| CN217457893U (en) | A charging equipment for waterproof breather valve automatic assembly | |
| CN212654648U (en) | Automatic counting and bagging machine for glass glue bottles |
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 |