CN113895733A - Paperboard forming device - Google Patents
Paperboard forming device Download PDFInfo
- Publication number
- CN113895733A CN113895733A CN202111170630.XA CN202111170630A CN113895733A CN 113895733 A CN113895733 A CN 113895733A CN 202111170630 A CN202111170630 A CN 202111170630A CN 113895733 A CN113895733 A CN 113895733A
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- base
- rocker
- transmission
- connecting part
- short
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- 239000011087 paperboard Substances 0.000 title claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims abstract description 71
- 238000001179 sorption measurement Methods 0.000 claims abstract description 50
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000000712 assembly Effects 0.000 abstract description 11
- 238000000429 assembly Methods 0.000 abstract description 11
- 238000005452 bending Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000004806 packaging method and process Methods 0.000 description 13
- 230000036544 posture Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 239000011111 cardboard Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000008267 milk Substances 0.000 description 1
- 210000004080 milk Anatomy 0.000 description 1
- 235000013336 milk Nutrition 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B65B61/20—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Making Paper Articles (AREA)
Abstract
The invention discloses a paperboard forming device which comprises a power unit, a base, a transmission part and adsorption parts, wherein the power unit and the transmission part are arranged on the base, the adsorption parts are arranged on the transmission part, the transmission part comprises a transmission rod and double-rocker assemblies, the double-rocker assemblies on the transmission part are symmetrically distributed, the transmission rod is movably arranged on the base in a linear sliding mode, one end of the transmission rod is connected with the power unit, the other end of the transmission rod is connected with the double-rocker assemblies, the adsorption parts are arranged at the ends of the rockers of the double-rocker assemblies, the adsorption parts are symmetrically distributed on the base, and the range of the double-rocker assemblies driving the adsorption parts to swing is distributed on two sides of the base. The paperboard forming device can simulate manual operation based on the connecting rod mechanism and replace manual operation, and the purpose of mechanically bending the paperboard is achieved. After the technology is implemented, the labor intensity can be effectively reduced, the production efficiency can be improved, and the automation degree of the production process can be improved.
Description
Technical Field
The invention relates to a paperboard forming device.
Background
The high value added milk product packaging form has obvious characteristics, such as a wide packaging box, a striking appearance design and a built-in protective structure, and the designs are designed to better express the quality and the grade of the product and better protect the integrity and the orderliness of the product. The most important of the prior art is the built-in protection structure, which is realized by a paper board, wherein the whole paper board is rectangular, the end part of the paper board is bent inwards and then fixed at the middle part, the processed paper board is flat in the initial state and needs to be expanded forcibly when in use, and each part of the paper board can be bent along with a set crease and integrally formed when being expanded. After the paperboard is unfolded and formed, a concave-like structure is formed, and hollow buffer protection structures are arranged on two sides of the paperboard. After the unfolded paper board is filled in the packaging box, the product loss caused by the lateral external force of the packaging box can be prevented, and the protection situation is very in line with the external force characteristics of the packaging box in the circulation link. The problems of low labor intensity, low working efficiency and high management cost exist in the prior art that the paperboard is unfolded and loaded into the packaging box manually.
Disclosure of Invention
The technical problem to be solved by the invention is how to bend the paperboard by mechanical means to form, thereby obtaining a paperboard forming device.
In order to solve the technical problems, the invention adopts the following technical scheme: the paperboard forming device comprises a power unit, a base, a transmission part and an adsorption part, wherein the power unit and the transmission part are both arranged on the base, the adsorption part is arranged on the transmission part, the transmission part comprises a transmission rod and a double-rocker assembly, the double-rocker assembly on the transmission part is symmetrically distributed, the transmission rod is movably arranged on the base in a linear sliding mode, one end of the transmission rod is connected with the power unit, the other end of the transmission rod is connected with the double-rocker assembly, the adsorption part is arranged at the end part of a rocker of the double-rocker assembly, the adsorption part is symmetrically distributed on the base, and the double-rocker assembly drives the adsorption part to swing and move within a range distributed on two sides of the base.
The design idea of the invention is to simulate the bending operation of a human hand based on a connecting rod structure. The adsorption part is communicated with the vacuum pipeline and then can establish a connection relation with the paperboard in an adsorption mode; the double-rocker assembly in the transmission component drives the adsorption component to move, and the spatial posture of the adsorption component can be changed in a swinging mode in the moving process of the adsorption component, so that the operation surface of the adsorption component can enter a horizontal plane and a vertical plane. The change of the operation surface of the adsorption part completely corresponds to the initial state and the forming state of the paper board, namely the transmission part simulates the bending operation of a human hand in the process of controlling the motion of the adsorption part. The board forming device can thereby perform the operation of unfolding the board. The paperboard forming device is combined on the joint robot, so that the automatic workpiece taking, bending and boxing operations are realized, and the automation degree of the production line can be improved.
The power unit can be selected from an air cylinder, an oil cylinder, an electric cylinder and a swing arm structure based on a motor, the service object of the power unit is a transmission rod, the transmission rod is driven to move linearly, and the transmission rod can obtain the characteristic of limiting and guiding action from a base to keep moving linearly, so that the power provided by the power unit can be the power with the direction coincident with the moving direction of the transmission rod or the power capable of providing component force in the moving direction of the transmission rod. The adsorption part adopts a sucker as the best, and can generate a negative pressure condition immediately after the negative pressure pipeline is connected, so that the connection relation with the paperboard is quickly established.
The paperboard forming device can optimize the number of the structural components, namely the distribution, according to the width of the paperboard, so that when the width of the paperboard is larger, the corresponding width of the adsorption component is larger, and the transmission components required for driving the adsorption component are increased in a reasonable range and reasonably arranged, therefore, two groups of transmission components can be arranged on the base and are distributed on two sides of the power unit.
Based on the above design idea, the structural design and selection of the double-rocker assembly have clear guidance as long as a double-rocker structure can be constructed in the structure and swing operation through a horizontal plane and a vertical plane is provided to the adsorption member at the end of the rocker. The double-rocker component can be provided with a connecting rod at the end part of the rocker, and the connecting rod is connected with the adsorption component; however, there are sufficient points on the suction member to provide connection to the ends of the rocker and to form a structure equivalent to the link between the connection points, and thus the structure of the link may be replaced with the suction member. The design can obtain the characteristics of compact structure, simplicity and lightness to the maximum extent. In order to obtain a more compact structure, the invention is further optimized from the transmission structure in the double-rocker assembly, specifically, the double-rocker assembly comprises a long rocker, a short rocker and a push-pull rod, the length of the long rocker is greater than that of the short rocker, one end of the long rocker is connected with the base, the other end of the long rocker is connected with the adsorption component, one end of the short rocker is connected with the base, the other end of the short rocker is connected with the adsorption component, the distance from the connecting part of the long rocker and the base to the base is smaller than that from the connecting part of the short rocker and the base to the base, one end of the push-pull rod is connected with the transmission rod, the other end of the push-pull rod is connected with the short rocker, the connecting part of the push-pull rod and the short rocker is located in the middle area of the short rocker, and the distance from the connecting part of the long rocker and the base to the connecting part of the long rocker and the adsorption component is greater than that from the connecting part of the long rocker and the base to the connecting part of the short rocker and the base The distance between the connecting part of the long rocker and the base and the connecting part of the short rocker and the base is greater than the distance between the connecting part of the short rocker and the base and the connecting part of the short rocker and the adsorption component, and the distance between the connecting part of the short rocker and the base and the connecting part of the short rocker and the adsorption component is greater than the distance between the connecting part of the short rocker and the base and the connecting part of the long rocker and the base.
The power transmission process from the power unit to the adsorption part needs to ensure that each group of double-rocker assemblies can synchronously move, which is a core factor for ensuring the synchronous action of the adsorption part and a technical guarantee for maintaining the paperboard to be bent in place.
In order to further ensure that the motion processes of the transmission rod are in the same linear direction, the base is provided with a guide through hole, the extension direction of the guide through hole is parallel to the linear motion direction of the transmission rod, and a rotating shaft connected with the push-pull rod extends into the guide through hole.
The cardboard needs to be placed into a packaging box after being unfolded, the packaging box has a specific orientation posture under the influence of the opening operation of the packaging box, and particularly, the flat posture of the packaging box shows remarkable orientation when the packaging box is in a flat cuboid shape. The unfolded sheet must be placed in the box at an angle that will accommodate the box, i.e., the mating angle between the sheet and the box must be correct. In order to obtain the angle adjusting function on the basis of bending the paperboard, the paperboard forming device also comprises a rotating component, wherein the rotating component comprises a carrying plate and a linear cylinder, the base is movably arranged on the carrying plate in a rotating mode, the cylinder body of the linear cylinder is arranged on the carrying plate, and the piston rod of the linear cylinder is connected with the base.
The invention adopts the technical scheme that: the paperboard forming device can simulate manual operation based on the connecting rod mechanism and replace manual operation, and the purpose of mechanically bending the paperboard is achieved. After the technology is implemented, the labor intensity can be effectively reduced, the production efficiency can be improved, and the automation degree of the production process can be improved.
Drawings
The present invention will be described in more detail with reference to the accompanying drawings and embodiments.
FIG. 1 is a schematic structural diagram I of a paperboard forming apparatus of the present invention;
FIG. 2 is a schematic structural view II of a paperboard forming apparatus of the present invention;
FIG. 3 is a schematic view of a paperboard forming apparatus of the present invention;
FIG. 4 is a schematic view of the base and drive assembly of a paperboard forming apparatus of the present invention;
FIG. 5 is a schematic structural view II of a base and transmission assembly of a paperboard forming apparatus of the present invention;
FIG. 6 is a schematic view of the base and rotary member combination of a paperboard forming apparatus of the present invention;
FIG. 7 is a schematic representation of the use of a paperboard forming apparatus of the present invention I;
figure 8 is a schematic diagram ii of a paperboard forming apparatus of the present invention.
Detailed Description
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, the paperboard forming apparatus includes a rotary member, a power unit 14, a base, a transmission member, and an adsorption member 10.
As shown in fig. 4 and 5, the base is provided with a flat loading portion 1 and a straight extending portion 2. One side of the loading part 1 is provided with two symmetrically distributed extension parts 2, and the extension parts 2 are close to the end part of the loading part 1, so that the two extension parts are separated by a remarkable distance.
As shown in fig. 6 and 7, the rotary member includes the carrier plate 3 and the linear cylinder. The base is provided with rollers 4 around the object carrying part 1, and the rollers 4 are provided with grooves; carry and be equipped with the round hole on the thing board 3, carry thing board 3 and be equipped with the guide rail of annular shape in round hole department, make base movable mounting on carrying thing board 3 in the recess of gyro wheel 4 is embedded into through the guide rail, the installation back base can rotate with the rotation mode on carrying thing board 3. The cylinder body of the linear cylinder is movably arranged on the object carrying plate 3, the piston rod of the linear cylinder is movably connected with the base, the linear cylinder can swing relative to the object carrying plate 3, and the linear cylinder can also swing relative to the base. When the linear cylinder stretches, the base is driven by the linear cylinder to rotate on the carrying plate 3.
As shown in fig. 1 and 7, the power unit 14 employs a linear cylinder, and a cylinder body of the linear cylinder is fixed to the loading portion 1 of the base. The power unit 14 is arranged on the other side of the base loading part 1.
Two groups of transmission components are arranged on the paperboard forming device and are distributed at two extending parts 2 of the base; the transmission components are distributed on both sides of the power unit 14.
As shown in fig. 4 and 5, each transmission component comprises a transmission rod 5 and a double-rocker assembly, and each transmission component has two groups of double-rocker assemblies which are symmetrically distributed. Four groups of double rocker assemblies are arranged on the whole paperboard forming device. The object carrying part 1 is provided with a through hole, the transmission rod 5 penetrates through the through hole, and two ends of the transmission rod 5 are respectively positioned at two sides of the object carrying part 1 of the base, so that the transmission rod 5 is movably arranged on the object carrying part 1 of the base in a linear sliding mode.
As shown in fig. 2 and 4, each set of double rocker assemblies comprises a long rocker 6, a short rocker 7 and a push-pull rod 8. The length of long rocker 6 is greater than the length of short rocker 7, and the one end of long rocker 6 is through the pivot and the 1 swing joint in year thing position of base, the one end of short rocker 7 is through the pivot and the 2 swing joint in extension position of base, and after the installation, long rocker 6 and short rocker 7 can all carry out the swing motion at the base, and the distance of the connecting portion position of long rocker 6 and base to the base is less than the distance of the connecting portion position of short rocker 7 and base to the base. The end part of the push-pull rod 8 is movably arranged on the short rocking rod 7 through a rotating shaft, and the connecting part of the push-pull rod 8 and the short rocking rod 7 is positioned in the middle area of the short rocking rod 7. The transmission rod 5 is movably connected with the other end part of the push-pull rod 8 through a rotating shaft. In the same group of transmission components, the short rocker 7 is arranged on the extending part 2 of the base through the same rotating shaft, the push-pull rod 8 is connected with the transmission rod 5 through the same rotating shaft, and two groups of double-rocker components share one transmission rod 5. As shown in fig. 4, the extension portion 2 of the base is provided with a guide through hole 9, the extension direction of the guide through hole 9 is parallel to the linear movement direction of the transmission rod 5, a rotating shaft for connecting the push-pull rod 8 and the transmission rod 5 extends into the guide through hole 9, the rotating shaft is limited in the guide through hole 9 and can only move along the guide through hole 9, so that the linear reciprocating movement of the transmission rod 5 can be further ensured.
The transmission rods 5 of the two groups of transmission parts are connected together through a connecting rod 11, and the connecting rod 11 is connected with a piston rod of a linear cylinder of a power unit 14.
As shown in fig. 1, 2 and 3, the suction member 10 is mounted on the transmission member. The long rocker 6 and the short rocker 7 in the double-rocker component are both rockers in a four-bar structure. The adsorption component 10 comprises a mounting frame 12 and suckers 13, wherein the suckers 13 are fixedly arranged on the mounting frame 12 in a matrix manner, and a rotating shaft is arranged on the mounting frame 12. The other end of the long rocker 6 is connected with the rotating shaft on the adsorption component 10, and the other end of the short rocker 7 is also connected with the rotating shaft of the adsorption component 10. So that the suction member 10 is mounted on the rocker end of the double rocker assembly. After the installation, the distance from the connecting part of the long rocker 6 and the base to the connecting part of the long rocker 6 and the adsorption component 10 is greater than the distance from the connecting part of the long rocker 6 and the base to the connecting part of the short rocker 7 and the base, the distance from the connecting part of the long rocker 6 and the base to the connecting part of the short rocker 7 and the base is greater than the distance from the connecting part of the short rocker 7 and the base to the connecting part of the short rocker 7 and the adsorption component 10, and the distance from the connecting part of the short rocker 7 and the base to the connecting part of the short rocker 7 and the adsorption component 10 is greater than the distance from the connecting part of the short rocker 7 and the base to the connecting part of the long rocker 6 and the base.
As shown in fig. 3 and 5, since the two double-rocker assemblies on the transmission component of the same group are symmetrically distributed, the suction components 10 are symmetrically distributed on the base, and the ranges of the double-rocker assemblies driving the suction components 10 to swing are distributed on two sides of the base, as shown in fig. 1, 2 and 3, the directions of the two suction components 10 during the movement process may experience states including a parallel state, an intersecting state and a reverse overlapping state.
The entire cardboard forming device is integrated as a dedicated workpiece in a device having a space handling function, i.e. a translational lifting function, for example in connection with an articulated robot or in connection with a truss-like robot. Each pneumatic element communicates with a conduit. In the initial state, as shown in fig. 1 and 7, the linear cylinder of the power unit 14 is contracted, the transmission rod 5 is protruded to one side of the connection part of the base, that is, one side of the extension part 2, at this time, the working surface of the suction cup 13 on the suction member 10 is in the horizontal plane, the orientations of the suction cups 13 are both vertical and downward, and the orientations of the two suction members 10 are in a parallel state.
The unexpanded paperboard is generally flat in configuration. When the adsorption part 10 of the paperboard forming device adsorbs the paperboard, the power unit 14 drives the transmission part to move, the transmission rod 5 moves towards the direction of one side of the power unit 14, and then the double-rocker assembly is triggered to move synchronously. As shown in fig. 2, the working surface of the suction pads 13 on the suction members 10 is changed from the horizontal posture to the inclined posture, and the directions of the suction pads 13 on the two suction members 10 intersect. Next, the suction members 10 continue to change their spatial postures and swing around the set virtual center until the working surfaces of the suction pads 13 on the suction members 10 enter the vertical plane, and the orientations of the suction pads 13 on the two suction members 10 are in a state of being reversely overlapped, as shown in fig. 3 and 8. In the process, the moving directions of the two adsorption parts 10 are opposite, and the moving ranges of the two adsorption parts 10 are distributed on two sides of the base. To this end, the paperboard is unfolded to form a predetermined shape. The unfolded cardboard is loaded into a predetermined area with the aid of a device having a translational lifting function. If the angle of the unfolded paper board relative to the packaging box needs to be changed, the rotating component is started to promote the base to rotate, and finally the angle of the unfolded paper board relative to the packaging box is changed.
Claims (6)
1. A paperboard forming apparatus characterized by: the paperboard forming device comprises a power unit (14), a base, a transmission part and an adsorption part (10), wherein the power unit (14) and the transmission part are both installed on the base, the adsorption part (10) is installed on the transmission part, the transmission part comprises a transmission rod (5) and a double-rocker assembly, the double-rocker assembly on the transmission part is symmetrically distributed, the transmission rod (5) is movably installed on the base in a linear sliding mode, one end of the transmission rod (5) is connected with the power unit (14), the other end of the transmission rod (5) is connected with the double-rocker assembly, the adsorption part (10) is installed at the end part of the rocker of the double-rocker assembly, the adsorption part (10) is symmetrically distributed on the base, and the double-rocker assembly drives the adsorption part (10) to swing and move within a range distributed on two sides of the base.
2. The paperboard forming apparatus of claim 1, wherein: the base is provided with two groups of transmission parts which are distributed on two sides of the power unit (14).
3. A board forming apparatus according to claim 1 or 2, characterized in that: the double-rocker assembly comprises a long rocker (6), a short rocker (7) and a push-pull rod (8), wherein the length of the long rocker (6) is greater than that of the short rocker (7), one end of the long rocker (6) is connected with a base, the other end of the long rocker (6) is connected with an adsorption component (10), one end of the short rocker (7) is connected with the base, the other end of the short rocker (7) is connected with the adsorption component (10), the distance from the connecting part of the long rocker (6) and the base to the base is smaller than the distance from the connecting part of the short rocker (7) and the base to the base, one end of the push-pull rod (8) is connected with a transmission rod (5), the other end of the push-pull rod (8) is connected with the short rocker (7), the connecting part of the long rocker (8) and the short rocker (7) is located in the middle area of the short rocker (7), and the connecting part of the long rocker (6) and the base to the connecting part of the long rocker (6) and the adsorption component (10) The distance between the connecting part of the long rocker (6) and the base and the connecting part of the short rocker (7) and the base is greater than that between the connecting part of the long rocker (6) and the base and the connecting part of the short rocker (7) and the base and the distance between the connecting part of the short rocker (7) and the base and the connecting part of the short rocker (7) and the adsorption component (10), and the distance between the connecting part of the short rocker (7) and the base and the connecting part of the short rocker (7) and the adsorption component (10) is greater than that between the connecting part of the short rocker (7) and the base and the connecting part of the long rocker (6) and the base.
4. A board forming apparatus according to claim 3, wherein: the short rocker (7) in any group of transmission components is arranged on the base through the same rotating shaft, and the push-pull rod (8) in any group of transmission components is connected with the transmission rod (5) through the same rotating shaft.
5. The paperboard forming apparatus of claim 4, wherein: the base is provided with a guide through hole (9), the extension direction of the guide through hole (9) is parallel to the linear motion direction of the transmission rod (5), and the guide through hole (9) is connected with a push-pull rod (8) and a rotating shaft extends into the guide through hole (9).
6. The paperboard forming apparatus of claim 1, wherein: the paperboard forming device further comprises a rotating part, the rotating part comprises a loading plate (3) and a linear cylinder, the base is movably mounted on the loading plate (3) in a rotating mode, a cylinder body of the linear cylinder is mounted on the loading plate (3), and a piston rod of the linear cylinder is connected with the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111170630.XA CN113895733A (en) | 2021-10-08 | 2021-10-08 | Paperboard forming device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111170630.XA CN113895733A (en) | 2021-10-08 | 2021-10-08 | Paperboard forming device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113895733A true CN113895733A (en) | 2022-01-07 |
Family
ID=79190456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111170630.XA Pending CN113895733A (en) | 2021-10-08 | 2021-10-08 | Paperboard forming device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113895733A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0431220A (en) * | 1990-05-23 | 1992-02-03 | Shibuya Kogyo Co Ltd | Device for opening carton blank |
| CN105173224A (en) * | 2015-09-25 | 2015-12-23 | 广州擎天实业有限公司 | Carton molding robot clamp |
| CN205836075U (en) * | 2016-07-11 | 2016-12-28 | 常州节卡智能装备有限公司 | Carton automatic moulding production line |
| JP2017056571A (en) * | 2015-09-14 | 2017-03-23 | レンゴー株式会社 | Box making device |
| CN206445818U (en) * | 2016-11-10 | 2017-08-29 | 深圳市中科誉明机器人有限公司 | Stacking grabbing device in a kind of transformer case |
| CN210592711U (en) * | 2019-09-12 | 2020-05-22 | Tcl王牌电器(惠州)有限公司 | Carton opening device |
| CN216887564U (en) * | 2021-10-08 | 2022-07-05 | 杭州中亚机械股份有限公司 | Paperboard forming device |
-
2021
- 2021-10-08 CN CN202111170630.XA patent/CN113895733A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0431220A (en) * | 1990-05-23 | 1992-02-03 | Shibuya Kogyo Co Ltd | Device for opening carton blank |
| JP2017056571A (en) * | 2015-09-14 | 2017-03-23 | レンゴー株式会社 | Box making device |
| CN105173224A (en) * | 2015-09-25 | 2015-12-23 | 广州擎天实业有限公司 | Carton molding robot clamp |
| CN205836075U (en) * | 2016-07-11 | 2016-12-28 | 常州节卡智能装备有限公司 | Carton automatic moulding production line |
| CN206445818U (en) * | 2016-11-10 | 2017-08-29 | 深圳市中科誉明机器人有限公司 | Stacking grabbing device in a kind of transformer case |
| CN210592711U (en) * | 2019-09-12 | 2020-05-22 | Tcl王牌电器(惠州)有限公司 | Carton opening device |
| CN216887564U (en) * | 2021-10-08 | 2022-07-05 | 杭州中亚机械股份有限公司 | Paperboard forming device |
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