CN113247638B - Stacking robot - Google Patents
Stacking robot Download PDFInfo
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- CN113247638B CN113247638B CN202110683840.2A CN202110683840A CN113247638B CN 113247638 B CN113247638 B CN 113247638B CN 202110683840 A CN202110683840 A CN 202110683840A CN 113247638 B CN113247638 B CN 113247638B
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- side plate
- exhaust
- air inlet
- air
- robot
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Classifications
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- 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
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- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- 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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- 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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/20—Auxiliary treatments, e.g. aerating, heating, humidifying, deaerating, cooling, de-watering or drying, during loading or unloading; Loading or unloading in a fluid medium other than air
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- 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
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a stacking robot, and mainly relates to the field of manipulators. The stacking robot comprises a connecting support, a clamping jaw, a clamping driving element and a thermal imager; the two clamping jaws are arranged on the front face of the connecting bracket in a sliding manner along the vertical direction, and the clamping driving element is used for adjusting the distance between the two clamping jaws; the thermal imaging camera comprises a thermal imaging probe, and the thermal imaging probe is arranged on the front face of the connecting bracket. Through set up the thermal imaging probe on the work end, can realize the perspective detection to the packing box that loads and has specific type article, can in time adjust the pile up neatly position of packing box according to detecting the structure in the concrete implementation, because testing process and pile up neatly process are gone on in step, when guaranteeing pile up neatly speed, still guaranteed the qualification of pile up neatly object, have good operation convenience.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a stacking robot.
Background
In the product production flow, the products and accessories of accomplishing production can be placed in the packing carton according to preset position, then the packing carton utilizes the pile up neatly robot to carry out the pile up neatly after the encapsulation to in the transport, the pile up neatly link of packing carton is only participated in generally to the pile up neatly robot.
In practice, it has been found that the partially enclosed package may be left with missing product or parts due to either worker error or machine error.
Disclosure of Invention
In order to detect the packaged packing box, the invention provides the stacking robot, the thermal imager is arranged on the stacking robot to realize the purpose of checking the objects in the packing box, the checking work and the stacking work of the packing box are synchronously carried out, the stacking robot has good implementation convenience, the stacking position of the packing box can be timely adjusted according to the checking structure, and the stacking robot has good practicability.
Correspondingly, the invention provides a palletizing robot which comprises a connecting support, a clamping jaw, a clamping driving element and a thermal imager;
the two clamping jaws are arranged on the front face of the connecting bracket in a sliding mode along the vertical direction, and the clamping driving element is used for adjusting the distance between the two clamping jaws;
the thermal imaging instrument comprises a thermal imaging probe, and the thermal imaging probe is arranged on the front face of the connecting bracket.
In an alternative embodiment, the clamp drive element comprises a clamp drive motor;
the centre gripping clamping jaw has wear out extremely the clamping jaw connecting portion at the linking bridge back, centre gripping driving motor fixes on the linking bridge, just centre gripping driving motor's output passes through the connecting band and is connected with the clamping jaw connecting portion that correspond.
In an optional embodiment, the air conditioner further comprises an air inlet side plate and an air inlet driving module;
the root of the air inlet side plate is arranged on the front surface of the connecting bracket in a sliding manner along the horizontal direction, and the air inlet driving module is used for controlling the movement of the air inlet side plate;
be provided with the interface that admits air on the curb plate admits air, the interface that admits air includes the input and the output that admits air, the output that admits air sets up towards one side of centre gripping clamping jaw.
In an optional embodiment, the air conditioner further comprises a hot air generating mechanism, wherein the hot air generating mechanism is provided with a hot air blowing-out end, and the hot air blowing-out end is communicated with the air inlet input end.
In an optional embodiment, the air conditioner further comprises an exhaust side plate and an exhaust driving module;
the root of the exhaust side plate is arranged on the front surface of the connecting bracket in a sliding manner along the horizontal direction, and the exhaust driving module is used for controlling the exhaust side plate to move;
the exhaust side plate and the air inlet side plate are respectively arranged on two sides of the clamping jaw, an exhaust interface is arranged on the exhaust side plate and comprises an exhaust input end and an exhaust output end, and the exhaust input end is arranged on one side facing the clamping jaw.
In an alternative embodiment, a temperature sensor is further included, the temperature sensor being disposed in the exhaust interface.
In an optional embodiment, the air inlet driving module comprises an air inlet cylinder, the air outlet driving module comprises an air outlet cylinder, and the palletizing robot further comprises a tension spring;
the connecting shaft of the air inlet cylinder is connected with the air inlet side plate, and the body of the air inlet cylinder is fixed on the connecting bracket;
the connecting shaft of the exhaust cylinder is connected with the exhaust side plate, and the body of the exhaust cylinder is fixed on the connecting bracket;
and two ends of the tension spring are respectively connected to the air inlet side plate and the exhaust side plate.
In an optional embodiment, a coding device is further arranged on the air inlet side plate and/or the air outlet side plate.
In an optional embodiment, the coding device comprises a circuit board;
the circuit board is embedded in the corresponding air inlet side plate or the corresponding air exhaust side plate, and a plurality of heating elements are arranged on one side of the circuit board, which faces the clamping jaw.
In an alternative embodiment, the robot further comprises a multi-axis robot arm, and the connecting bracket is fixed on the tail end robot arm of the multi-axis robot arm.
In conclusion, the invention provides a palletizing robot, firstly, a thermal imaging probe is arranged on the working end, so that the perspective detection of a packing box loaded with a specific type of object can be realized, the palletizing position of the packing box can be timely adjusted according to a detection structure in specific implementation, and as the detection process and the palletizing process are synchronously carried out, the palletizing speed is ensured, the qualification of palletizing objects is also ensured, and the palletizing robot has good operation convenience; in addition, the handle slot of the packing box is utilized for ventilation, so that the temperature difference between a metal target and the environment is enlarged, the resolution in a thermal imaging image can be improved, the computer processing is facilitated, and the checking accuracy of a computer is improved.
Drawings
Fig. 1 is a schematic diagram of a first three-dimensional structure of a working end of a palletizing robot according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a second three-dimensional configuration of a working end of the palletizing robot in accordance with an embodiment of the present invention;
fig. 3 is a partial schematic view of a rear view of a working end of a palletizing robot in accordance with an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of a first three-dimensional structure of a working end of a palletizing robot according to an embodiment of the invention; fig. 2 is a schematic diagram of a second three-dimensional structure of a working end of the palletizing robot according to the embodiment of the invention.
The embodiment of the invention provides a palletizing robot, which comprises a multi-shaft mechanical arm and a plurality of parts (namely a working tail end) arranged at the tail end of the mechanical arm; since the multi-axis robot has various structures, the present invention is mainly directed to the structure of the working tip, and therefore, the structure of the multi-axis robot is not shown in the drawings and can be implemented with reference to the related art.
Specifically, the palletizing robot comprises a connecting bracket 5, a clamping jaw 20, a clamping driving element and a thermal imager; the connecting bracket 5 is fixed on the end mechanical arm of the multi-axis mechanical arm.
The two clamping jaws 20 are arranged on the front surface of the connecting bracket 5 in a sliding manner along the vertical direction, and the clamping driving element is used for adjusting the distance between the two clamping jaws 20; the thermal imaging camera comprises a thermal imaging probe 21, and the thermal imaging probe 21 is arranged on the front surface of the connecting bracket 5.
Specifically, in order to obtain a complete package box thermal imaging pattern, the number of the thermal imaging probes 21 in the embodiment of the present invention is two, and in the specific implementation, more than two thermal imaging probes 21 may be provided; through computer processing, images acquired by the plurality of thermal imaging probes 21 can be finally spliced into one image for processing.
It should be noted that, in order to exert good detection performance, the palletizing robot provided by the embodiment of the present invention needs to limit the articles in the packaging box. In particular, since the metal material has good thermal conductivity and has great difference from the surrounding environment (carton, foam, etc.) in the thermal imaging pattern, it is preferable that the palletizing robot aims at the inspection work object of the metal product or the product containing a part of the metal structure, or the metal structure is actively added to the product to ensure the detectability of the product.
Fig. 3 is a partial schematic view of a rear view of the working end of the palletizing robot according to an embodiment of the present invention, the tension spring 10 not being shown in fig. 3 for the sake of illustrative clarity of the connecting strap 12.
In an alternative embodiment, the clamp drive element comprises a clamp drive motor 16;
the centre gripping clamping jaw 20 have wear out extremely the clamping jaw connecting portion 13 at the connecting bracket 5 back, centre gripping driving motor 16 is fixed on the connecting bracket 5, just centre gripping driving motor 16's output passes through connecting band 12 and is connected with the clamping jaw connecting portion 13 that corresponds. Referring to the schematic drawing, two ends of the connecting band 12 are respectively fixed on the jaw connecting portions 13, then the connecting band 12 is respectively sleeved on the output end 15 of the clamping driving motor and the fixed pulley 11 respectively arranged at two ends of the jaw connecting portions 13 along the vertical direction, and the movement of a corresponding clamping jaw 20 can be controlled by the pair of clamping driving motors 16.
Specifically, in order to highlight the temperature difference between the metal product and the environment, that is, to improve the temperature difference between the metal product and the environment, so as to facilitate machine identification, an optional embodiment further includes an air intake side plate 8 and an air intake driving module; the root of the air inlet side plate 8 is arranged on the front surface of the connecting bracket 5 in a sliding manner along the horizontal direction, and the air inlet driving module is used for controlling the movement of the air inlet side plate 8; be provided with air inlet interface 9 on the curb plate 8 admits air, air inlet interface 9 is including admitting air input and the output that admits air, the output that admits air sets up towards one side of centre gripping clamping jaw 20. Specifically, handle slots are formed in two sides of the packing box and communicated with the interior of the packing box; referring to the attached drawings, in practical implementation, the structure of the air inlet and outlet end is matched with the handle slot; after the air inlet output end extends into the handle groove, the surface temperature of the metal product is reduced rapidly due to the difference of heat dissipation rates by means of air flow in the packaging box, so that obvious temperature difference contrast is formed between the metal product and the surrounding environment.
In an optional embodiment, the robot palletizer further comprises a hot air generating mechanism, wherein the hot air generating mechanism is provided with a hot air blowing end, and the hot air blowing end is communicated with the air inlet input end. The difficulty of making hot air is lower than that of making cold air, so the embodiment of the invention adopts the hot air generating mechanism as an air source, specifically, the common hot air generating mechanism adopts the electric heating wire to generate heat, and then the fan is used for blowing out the hot air.
In order to avoid the waste of energy, the alternative embodiment further comprises an exhaust side plate 3 and an exhaust driving module; the root of the exhaust side plate 3 is arranged on the front surface of the connecting bracket 5 in a sliding manner along the horizontal direction, and the exhaust driving module is used for controlling the exhaust side plate 3 to move; exhaust curb plate 3 with intake side plate 8 is established respectively the both sides of centre gripping clamping jaw 20, be provided with exhaust interface 1 on the exhaust curb plate 3, exhaust interface 1 includes exhaust input and exhaust output, the exhaust input sets up towards one side of centre gripping clamping jaw 20. Correspondingly, when the product is clamped and detected, the exhaust input end extends into the handle slot on the other side of the product, hot air flowing through the packing box of the product can be discharged from the exhaust input end, and the hot air received by the exhaust input end can flow back to the hot air generating mechanism for use so as to save energy.
In addition, in consideration of the need to provide a suitable stop signal for the supply of hot air, an alternative embodiment further comprises a temperature sensor 2, and the temperature sensor 2 is disposed in the exhaust port 1. The temperature in the current packaging box can be judged through the temperature obtained by the temperature sensor 2, and when the temperature meets the imaging requirement, the hot air generating mechanism is closed and a thermal imaging image is collected.
Specifically, for the movement of the air inlet side plate 8 and the air outlet side plate 3, in an optional embodiment, the air inlet driving module comprises an air inlet cylinder 14, the air outlet driving module comprises an air outlet cylinder, and the palletizing robot further comprises a tension spring 10; the connecting shaft of the air inlet cylinder 14 is connected with the air inlet side plate 8, and the body of the air inlet cylinder 14 is fixed on the connecting bracket 5; the connecting shaft of the exhaust cylinder is connected with the exhaust side plate 3, and the body of the exhaust cylinder is fixed on the connecting bracket 5; two ends of the tension spring 10 are respectively connected to the air inlet side plate 8 and the exhaust side plate 3. Specifically, the effect of cylinder makes the interval adjustment between two curb plates to the maximum value, and when the cylinder pressure release, tension spring 10 then drives two curb plates and moves in opposite directions to carry out the centre gripping to the side of the packing box of outside, make the structure that corresponds simultaneously stretch into to the handle fluting in.
Furthermore, the coding structure can be integrated on the stacking robot, in an optional implementation mode, the air inlet side plate 8 and/or the exhaust side plate 3 are/is further provided with a coding device, qualified packing boxes can be directly coded through detection, relevant processes can be further simplified, and the working efficiency is improved.
Specifically, for the structure of the coding device, in an optional embodiment, the coding device includes a circuit board 6; the circuit board 6 is embedded in the corresponding air inlet side plate 8 or air outlet side plate 3, and a plurality of heating elements 7 are arranged on one side of the circuit board 6 facing the clamping jaw 20. Specifically, the traditional coding method is to directly indicate related contents in a clear text mode, and relatively speaking, coding of a ciphertext is more beneficial to anti-counterfeiting, so that the coding is realized by heating to print dots on the thermal paper. Specifically, the thermal paper should be pre-pasted on the corresponding position of the packaging box, in the stacking process, the qualified packaging box needs to execute coding operation, correspondingly, a dot matrix ciphertext is generated according to a preset ciphertext program, and then the dot is printed by controlling the heating element 7 on the circuit board 6.
In consideration of the cable connection of the circuit board and the external equipment, in the specific implementation, a connecting hole 4 is arranged on the air inlet side plate or the air outlet side plate provided with the circuit board, and the position of the connecting hole corresponds to the circuit board; the connecting hole 4 is used for cable connection between external equipment and the circuit board.
To sum up, the embodiment of the invention provides a palletizing robot, which comprises a working end, a thermal imaging probe, a detecting mechanism, a control module and a control module, wherein the thermal imaging probe is arranged at the working end, so that the perspective detection of a packing box loaded with a specific type of object can be realized, the palletizing position of the packing box can be timely adjusted according to the detecting mechanism in specific implementation, and the detecting process and the palletizing process are synchronously carried out, so that the palletizing speed is ensured, the qualification of palletizing objects is also ensured, and the palletizing robot has good operation convenience; in addition, the handle slot of the packing box is utilized for ventilation, so that the temperature difference between a metal target and the environment is enlarged, the resolution in a thermal imaging image can be improved, the computer processing is facilitated, and the checking accuracy of a computer is improved.
The palletizing robot provided by the embodiment of the invention is described in detail, and the principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. The stacking robot is characterized by comprising a connecting support, a clamping jaw, a clamping driving element and a thermal imager;
the two clamping jaws are arranged on the front face of the connecting bracket in a sliding mode along the vertical direction, and the clamping driving element is used for adjusting the distance between the two clamping jaws;
the thermal imaging instrument comprises a thermal imaging probe, and the thermal imaging probe is arranged on the front surface of the connecting bracket;
the stacking robot further comprises an air inlet side plate and an air inlet driving module;
the root of the air inlet side plate is arranged on the front surface of the connecting bracket in a sliding manner along the horizontal direction, and the air inlet driving module is used for controlling the movement of the air inlet side plate;
be provided with the interface that admits air on the curb plate admits air, the interface that admits air includes the input and the output that admits air, the output that admits air sets up towards one side of centre gripping clamping jaw.
2. The palletizing robot as recited in claim 1, wherein the clamp drive element comprises a clamp drive motor;
the centre gripping clamping jaw has wear out extremely the clamping jaw connecting portion at the linking bridge back, centre gripping driving motor fixes on the linking bridge, just centre gripping driving motor's output passes through the connecting band and is connected with the clamping jaw connecting portion that correspond.
3. The palletizing robot as recited in claim 1, further comprising a hot air generating mechanism having a hot air blowing end, the hot air blowing end being in communication with the air inlet input end.
4. The palletizing robot as recited in claim 3, further comprising an exhaust side plate and an exhaust drive module;
the root of the exhaust side plate is arranged on the front surface of the connecting bracket in a sliding manner along the horizontal direction, and the exhaust driving module is used for controlling the exhaust side plate to move;
the exhaust side plate and the air inlet side plate are respectively arranged on two sides of the clamping jaw, an exhaust interface is arranged on the exhaust side plate and comprises an exhaust input end and an exhaust output end, and the exhaust input end is arranged on one side facing the clamping jaw.
5. The palletizing robot as recited in claim 4, further comprising a temperature sensor disposed in the exhaust interface.
6. The palletizing robot as recited in claim 4, wherein the intake drive module comprises an intake cylinder, the exhaust drive module comprises an exhaust cylinder, the palletizing robot further comprising a tension spring;
the connecting shaft of the air inlet cylinder is connected with the air inlet side plate, and the body of the air inlet cylinder is fixed on the connecting bracket;
the connecting shaft of the exhaust cylinder is connected with the exhaust side plate, and the body of the exhaust cylinder is fixed on the connecting bracket;
and two ends of the tension spring are respectively connected to the air inlet side plate and the exhaust side plate.
7. The palletizing robot as claimed in claim 4, wherein a coding device is further provided on the air inlet side plate and/or the air outlet side plate.
8. The palletizing robot as recited in claim 7, wherein the coding device comprises a circuit board;
the circuit board is embedded in the corresponding air inlet side plate or the corresponding air exhaust side plate, and a plurality of heating elements are arranged on one side of the circuit board, which faces the clamping jaw.
9. Palletizing robot as claimed in any one of claims 1 to 8, further comprising a multi-axis robot arm, the connecting bracket being fixed to an end robot arm of the multi-axis robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110683840.2A CN113247638B (en) | 2021-06-21 | 2021-06-21 | Stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110683840.2A CN113247638B (en) | 2021-06-21 | 2021-06-21 | Stacking robot |
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| Publication Number | Publication Date |
|---|---|
| CN113247638A CN113247638A (en) | 2021-08-13 |
| CN113247638B true CN113247638B (en) | 2021-11-23 |
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| CN202110683840.2A Active CN113247638B (en) | 2021-06-21 | 2021-06-21 | Stacking robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113843236B (en) * | 2021-10-15 | 2023-03-28 | 阜阳市利康医疗废物处置有限公司 | Second robot in medical kit cleaning system |
| CN114803010A (en) * | 2022-05-17 | 2022-07-29 | 江西亚美达环保再生资源股份有限公司 | Braided bag packing apparatus |
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|---|---|---|---|---|
| US4132319A (en) * | 1976-12-06 | 1979-01-02 | Officine Meccaniche Veronesi (O.M.V.)S.P.A. | Automatic device for extracting stacks of finished hollow articles from a stacking station of a heat moulding apparatus |
| CN106168684A (en) * | 2016-08-22 | 2016-11-30 | 中久安特装备有限公司 | A kind of detection device of metallic objects |
| CN108082891A (en) * | 2017-12-08 | 2018-05-29 | 南丹县南方有色金属有限责任公司 | A kind of automatic stacking system |
| CN108249106A (en) * | 2018-02-06 | 2018-07-06 | 张晓彬 | A kind of civil aviation cargo and luggage transport check system automatically |
| CN208688751U (en) * | 2018-06-08 | 2019-04-02 | 苏州繁丰机电有限公司 | A kind of device for detection box air-tightness |
| CN208948358U (en) * | 2018-10-10 | 2019-06-07 | 广东拓斯达科技股份有限公司 | A kind of handling equipment |
| CN111605960A (en) * | 2020-05-13 | 2020-09-01 | 盐城佳华塑料制品有限公司 | A intelligent haulage equipment for plastic products production |
-
2021
- 2021-06-21 CN CN202110683840.2A patent/CN113247638B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4132319A (en) * | 1976-12-06 | 1979-01-02 | Officine Meccaniche Veronesi (O.M.V.)S.P.A. | Automatic device for extracting stacks of finished hollow articles from a stacking station of a heat moulding apparatus |
| CN106168684A (en) * | 2016-08-22 | 2016-11-30 | 中久安特装备有限公司 | A kind of detection device of metallic objects |
| CN108082891A (en) * | 2017-12-08 | 2018-05-29 | 南丹县南方有色金属有限责任公司 | A kind of automatic stacking system |
| CN108249106A (en) * | 2018-02-06 | 2018-07-06 | 张晓彬 | A kind of civil aviation cargo and luggage transport check system automatically |
| CN208688751U (en) * | 2018-06-08 | 2019-04-02 | 苏州繁丰机电有限公司 | A kind of device for detection box air-tightness |
| CN208948358U (en) * | 2018-10-10 | 2019-06-07 | 广东拓斯达科技股份有限公司 | A kind of handling equipment |
| CN111605960A (en) * | 2020-05-13 | 2020-09-01 | 盐城佳华塑料制品有限公司 | A intelligent haulage equipment for plastic products production |
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| CN113247638A (en) | 2021-08-13 |
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