CN114194801A - Full-automatic packaging and stacking line and packaging and stacking process thereof - Google Patents
Full-automatic packaging and stacking line and packaging and stacking process thereof Download PDFInfo
- Publication number
- CN114194801A CN114194801A CN202111562538.8A CN202111562538A CN114194801A CN 114194801 A CN114194801 A CN 114194801A CN 202111562538 A CN202111562538 A CN 202111562538A CN 114194801 A CN114194801 A CN 114194801A
- Authority
- CN
- China
- Prior art keywords
- grabbing
- support
- clamping
- supporting
- plate
- 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.)
- Withdrawn
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
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
The invention belongs to the technical field of industrial production equipment, and particularly relates to a full-automatic packaging and stacking line and a packaging and stacking process thereof. The equipment comprises a robot palletizer device and a grabbing device, wherein the grabbing device comprises a manipulator connecting module, a grabbing support frame, a grabbing lifting mechanism, a grabbing clamping mechanism and a grabbing support mechanism; the manipulator connecting module is fixedly connected with the moving end of the stacking robot device; the bottom of the manipulator connecting module is provided with a supporting connecting plate, and the grabbing support frame comprises a rectangular support rod with the transverse top, four grabbing support rods with the longitudinal rectangular corners and a grabbing support bottom plate; the rectangular support rod is arranged at the bottom of the support connecting plate; the bottoms of the four grabbing support rods are connected with a grabbing support bottom plate; the grabbing and clamping mechanism is used for transversely clamping the grain packaging bag; the grabbing and supporting mechanism is used for clamping two sides of the grain packaging bag and supporting the grain packaging bag. The advantage of this patent is that promote and get the fastness and the tight degree of clamp of in-process at the grain wrapping bag clamp, promote stability and the handling efficiency that the grain wrapping bag clamp was got.
Description
Technical Field
The invention belongs to the technical field of industrial production equipment, and particularly relates to a full-automatic packaging and stacking line and a packaging and stacking process thereof.
Background
In the current background, automation and intellectualization have become important means for controlling operation cost, improving product quality and ensuring product safety. The use of full-automatic packing pile up neatly line has reduced manufacturing cost, has improved the product quality of enterprise, has improved the profit of enterprise, makes the enterprise product more have market competition. The full-automatic packaging and stacking line can liberate people from heavy physical labor, partial mental labor and severe and dangerous working environments, greatly improves the labor productivity and reduces the cost investment. The full-automatic packaging and stacking line automatically controls the working process of the whole production line through intelligent program control, can realize continuous operation, has the functions of fault alarm, display and automatic chain shutdown, can be provided with a communication interface according to the needs of users, and realizes real-time monitoring, remote diagnosis and networked management on the full-automatic packaging and stacking production line.
The full-automatic packaging and stacking line comprises an automatic bag feeding system, a quantitative automatic packaging machine, a sealing device, a conveyor, a bag pouring mechanism, a weight rechecking machine, an rejecting machine, a top leveling machine, an ink-jet printer, a stacking robot, a tray warehouse, a full-stack conveyor, a winding machine and the like, and can complete full-automatic quantitative packaging and stacking production of viscous powder, ultra-light fine powder and common materials.
The full-automatic packaging and stacking line can realize automatic bag feeding, bag opening, bag clamping, filling, moving output and inner bag sealing of a traditional bagging bag, full automation of the whole packaging process of placing an inner bag into an outer bag and automatically sewing the outer bag is integrated with a stacking robot and a belt conveying device, automatic code spraying, bag inverting, vibrating and stacking are realized, and a complete full-automatic production line is formed. The production speed is high, the packaging quality is good, the compatibility is good, the performance is stable, and the like, and the product is a high-tech intelligent product integrating the machine, the electricity, the instrument and the gas.
Full-automatic packing pile up neatly line characteristics: environmental protection, energy saving, high efficiency and low maintenance. The automatic bag feeding robot can be customized according to the requirements of customers, automatic bag feeding, robot bagging and robot stacking are achieved, manpower is reduced, labor intensity is reduced, production safety risks are reduced, and the like.
The full-automatic packaging and stacking line can automatically package and stack different materials such as paper-plastic composite packaging bags, full-paper packaging bags, full-plastic packaging bags, nylon woven bags, cloth bags, boxes and the like, and provides a perfect solution for a packaging production line. The service industry covers the fields of quantitative packaging and automatic stacking of food, chemical industry, building materials, pigments, mineral products, chemical fertilizers, grains, feeds and the like, and the production line has the advantages of high packaging precision, no dust pollution, high automation degree, high stacking speed and the like.
The full-automatic packing pile up neatly line has very high flexibility and adaptability, and the functioning speed is also very high, and the change piece is conveniently changed to the working method of simplification to adapt to the product of different packings, this equipment only needs one-man operation, and overall structure is extremely low to the space requirement of mill, the very convenient packing pile up neatly that is adapted to various products.
The grain stacking robot equipment is essential important equipment on a production line. Is an automatic stacking production line for bagged corns. By using the stacking machine, the stacking work efficiency is improved, the enterprise work efficiency is improved, and the enterprise production cost and labor cost input are reduced. The capability of the grain stacking robot equipment is higher than that of common mechanical stacking and manpower. Simple structure, low failure rate and convenient maintenance. The main parts are few, the accessories are few, and the maintenance cost is low. The stacking manipulator is arranged in a narrow space and can be effectively used. All controls can be operated on the screen of the control cabinet, and the operation is simple. The multifunctional property is strong: the hand grab of the mechanical arm is replaced to complete stacking of different goods. The warehouse area is saved, and the palletizing robot can palletize the goods to a high level layer by layer, so that the occupied use area is reduced. Meanwhile, the stacking machine can be used for dismounting stacked goods one by one, and the stacked goods can be transported without problems. The grain palletizing robot equipment is provided with a device for setting a palletizing sequence and arranging materials. From low to high speeds, from pouches to cartons, from palletizing one product to palletizing many different products. The method is suitable for stacking finished products in shapes of paper bags, cans, boxes, bottles and the like in factories of chemical industry, beverages, foods, beer, plastics, air conditioners and the like.
The existing equipment such as Chinese invention patent application (publication No. CN110525986A, published: 20191203) discloses a multipurpose palletizing robot and a working method thereof, wherein the multipurpose palletizing robot comprises: the robot comprises a robot base, a travelling mechanism arranged at the bottom of the robot base, a stacking mechanical arm device fixedly arranged on the robot base and a clamp part connected to one end of a stacking mechanical arm; the stacking mechanical arm device comprises a servo rotating table fixedly mounted on a robot base, the clamp part comprises a clamp mounting seat sleeved on the outer side of the rotating shaft, and three-module clamps fixedly mounted on the clamp mounting seat, and the three-module clamps are respectively and fixedly mounted on three cylindrical surfaces; and a stacking information recognition device is arranged on one side of the clamp mounting seat and communicated with the robot controller. Compared with the prior art, the invention adds various clamps on the original single palletizing robot, so that the palletizing robot can be flexibly applied to a production workshop without being limited by the product types, and the production cost and the production time are saved.
The current palletizing robot has the following problems in the grabbing process: the existing palletizing robot only clamps the grain packaging bags at two sides to grasp and clamp the grain packaging bags, so that the grain packaging bags are not enough in clamping firmness and clamping stability, and the grain packaging bags are easy to fall off in the transferring process; secondly, the existing palletizing robot cannot clamp in the longitudinal direction and cannot control the longitudinal stability in the moving process; (III) holistic snatching the stability of pressing from both sides tightly not enough, pressing from both sides tight support nature also not enough and can't realize the synchronization completely, can't be better carry out good support to grain wrapping bag bottom, can't better support live grain wrapping bag, further influence snatchs efficiency and snatchs the effect.
Disclosure of Invention
The invention aims to solve the problem of poor grabbing effect of the existing palletizing robot, and provides a full-automatic packaging palletizing line.
For the purpose of the invention, the following technical scheme is adopted for realizing the purpose:
a full-automatic packaging and stacking line comprises stacking robot equipment, wherein the equipment comprises a stacking robot device and a grabbing device, and the grabbing device comprises a manipulator connecting module, a grabbing support frame, a grabbing lifting mechanism, a grabbing clamping mechanism and a grabbing support mechanism; the manipulator connecting module is fixedly connected with the moving end of the stacking robot device; the bottom of the manipulator connecting module is provided with a supporting connecting plate, and the grabbing support frame comprises a rectangular support rod with the transverse top, four grabbing support rods with the longitudinal rectangular corners and a grabbing support bottom plate; the rectangular support rod is arranged at the bottom of the support connecting plate; the bottoms of the four grabbing support rods are connected with a grabbing support bottom plate; the grabbing lifting mechanism is longitudinally arranged in the middle of the supporting connecting plate and is used for longitudinally clamping the grain packaging bag; the grabbing clamping mechanism comprises a first grabbing clamping assembly and a second grabbing clamping assembly; the first grabbing and clamping assembly and the second grabbing and clamping assembly are respectively arranged on the left side and the right side of the grabbing and supporting bottom plate, and the grabbing and clamping mechanism is used for transversely clamping the grain packaging bag; the grabbing support mechanism comprises a first grabbing component and a second grabbing component; the first grabbing support component and the second grabbing support component are respectively arranged on the left side and the right side of the grabbing support frame; the grabbing and supporting mechanism is used for clamping two sides of the grain packaging bag and supporting the grain packaging bag.
Preferably, the grabbing lifting mechanism comprises a grabbing lifting cylinder, a grabbing lifting connecting plate and a grabbing lifting pressure plate; a grabbing lifting support plate is arranged between the middle parts of the four grabbing support rods, a grabbing lifting cylinder is longitudinally arranged in the center of the grabbing lifting support plate, and the top of the grabbing lifting cylinder penetrates through the support connecting plate; the lower end of the grabbing lifting cylinder penetrates through the grabbing lifting support plate and the grabbing support base plate to be connected with the center of the grabbing lifting connection plate, two longitudinal lifting guide rods are arranged at the front end and the rear end of the grabbing lifting connection plate, the lifting guide rods are matched with the grabbing lifting support plate through lifting guide rod sleeves, the grabbing lifting pressure plate is arranged at the bottom of the grabbing lifting connection plate, and the cross section of the grabbing lifting pressure plate is rectangular.
Preferably, the first grabbing and clamping assembly and the second grabbing and clamping assembly are symmetrically arranged and have the same structure.
Preferably, the first grabbing and clamping assembly comprises a first grabbing and clamping cylinder, a second grabbing and clamping cylinder, a clamping rotating shaft and a grabbing clamp plate module; the inner side ends of the first grabbing clamping cylinder and the second grabbing clamping cylinder are transversely and obliquely arranged on the grabbing support base plate through cylinder hinging blocks respectively; the moving ends outside the first grabbing clamping cylinder and the second grabbing clamping cylinder are connected through a grabbing clamping connecting rod; the clamping rotating shaft is arranged at the bottom of the outer side of the grabbing support base plate in the front-back direction through a plurality of rotating shaft support blocks; the grabbing clamp plate module comprises two long hinge rods, two short hinge rods and a grabbing clamp plate; the lower parts of the two long hinge rods and the two short hinge rods are respectively and longitudinally arranged on the grabbing clamp plate, the two long hinge rods are positioned between the two short hinge rods, and the two long hinge rods and the two short hinge rods are arranged at equal intervals; the upper ends of the two long hinge connecting rods are rotatably connected to the grabbing clamping connecting rod, and the middle parts of the two long hinge connecting rods are rotatably connected to the clamping rotating shaft; the upper ends of the two short hinged rods are rotatably connected to the clamping rotating shaft.
Preferably, the first grabbing clamping cylinder and the second grabbing clamping cylinder are arranged from inside to outside and from low to high.
Preferably, the cross section of the grabbing clamp plate is rectangular, and the peripheral outer edges of the grabbing clamp plate are all arranged in an outward inclined mode.
Preferably, the first grabbing support assembly and the second grabbing support assembly are symmetrically arranged and have the same structure.
Preferably, the first grabbing support assembly comprises a first grabbing support cylinder, a second grabbing support cylinder, a first grabbing support transmission module, a second grabbing support transmission module, a grabbing support rotating shaft, a first grabbing support plate module and a second grabbing support plate module; the inner side ends of the first grabbing supporting cylinder and the second grabbing supporting cylinder are transversely and obliquely arranged on the grabbing lifting supporting plate through grabbing supporting cylinder hinging blocks respectively, and the first grabbing supporting cylinder and the second grabbing supporting cylinder are arranged from inside to outside from high to low; the first grabbing support transmission module comprises a grabbing support clamping support plate, a grabbing support clamping rotating shaft, a grabbing support clamping rotating plate, a first transmission rod group and a second transmission rod group; the grabbing support clamping support plates are transversely arranged at the lower parts of the two grabbing support rods on the front side, the grabbing support clamping rotating shafts are arranged in the middle of the grabbing support clamping support plates, the grabbing support clamping rotating plates are rotatably connected to the grabbing support clamping rotating shafts, the grabbing support clamping rotating plates are curved, and the upper parts and the lower parts of the grabbing support clamping rotating plates are respectively bent clockwise from the center to the outer side; one end of the first transmission rod group and one end of the second transmission rod group are respectively connected with the two ends of the grabbing supporting clamping rotating plate; a first transmission connecting rod is connected between the other end of the first transmission rod group on the first grabbing support transmission module and the other end of the first transmission rod group on the second grabbing support transmission module; a second transmission connecting rod is connected between the other end of the second transmission rod group on the first grabbing support transmission module and the other end of the second transmission rod group on the second grabbing support transmission module; two ends of the grabbing support rotating shaft are arranged at the upper parts of the two grabbing support rods on the left side in the front-back direction through the two rotating shaft supporting seats; the first grabbing support plate module is matched with the first transmission connecting rod, the second grabbing support plate module is matched with the second transmission connecting rod, and the first grabbing support plate module comprises two grabbing support rotating rods, grabbing support clamping plates and a plurality of grabbing support clamping rods; the upper ends of the two grabbing support rotating rods are rotatably connected to the grabbing support rotating shaft, the middle parts of the two grabbing support rotating rods are rotatably connected to the first transmission connecting rod, and a reinforcing connecting rod is arranged between the two grabbing support rotating rods; the upper portion of grabbing the support splint is connected with the bottom of two grabbing support rotating rods, the front and back directions of the plurality of grabbing support clamping rods are regularly arranged and arranged at the bottom of grabbing the support splint, each grabbing support clamping rod is L-shaped, and the longitudinal rods of the grabbing support clamping rods are fixedly connected with the grabbing support clamping rods through screws.
Preferably, the first grabbing support transmission module and the second grabbing support transmission module are symmetrically arranged in front and at the back and have the same structure; the first grabbing support plate module is located on the outer side of the first grabbing clamping assembly, the second grabbing support plate module is located on the outer side of the second grabbing clamping assembly, and the first grabbing support plate module and the second grabbing support plate module are arranged in a bilateral symmetry mode and are identical in structure.
The automatic grabbing method for stacking of the grain packaging bags is characterized by sequentially comprising the following steps of:
s1 automatic grabbing and positioning: the grabbing device is driven by the stacking robot device to move and position to the grain packaging bag;
s2, automatically clamping parcels: clamping the grain packaging bag through the first grabbing support assembly and the second grabbing support assembly;
s3 automatic longitudinal clamping: the grain packaging bag is longitudinally clamped through a grabbing lifting mechanism;
s4 automatic lateral clamping: grain wrapping bag transversely presss from both sides tightly through first snatching clamping components and second snatching clamping components.
According to the full-automatic packaging and stacking line adopting the technical scheme, the equipment is used for grabbing the lifting cylinder to drive the lifting connecting plate to carry out lifting movement positioning through the grabbing lifting mechanism. The lifting guide rod is convenient to grab the lifting connecting plate to better lift and move, and the smoothness of lifting and moving is improved. The stability of the lifting guide rod is further improved through the lifting guide rod sleeve. Snatch through the rectangle form and rise the step-down plate and be convenient for better with the shape of grain wrapping bag cooperate, promote the area that compresses tightly to be convenient for better fix the grain wrapping bag. The stability of grabbing the grain packaging bags is improved.
Promote the first connection stability that snatchs die clamping cylinder and second and snatch die clamping cylinder through snatching the articulated piece of cylinder on the clamping mechanism, simultaneously also can be better snatch die clamping cylinder and second and snatch die clamping cylinder and slope the setting to realization transmission effect that can be better. Through snatching to press from both sides tight connecting rod and connect, realize synchronous drive, the better realization of being convenient for is pressed from both sides tightly, promotes and presss from both sides tight effect. The position of the rotating shaft can be fixed and clamped better through the plurality of rotating shaft supporting blocks, and the rotating shaft can be rotated better. The first grabbing clamping cylinder and the second grabbing clamping cylinder drive the two long hinge connecting rods to rotate, so that the two long hinge connecting rods drive the grabbing clamp plates to rotate, and clamping and loosening are achieved. Can cooperate with the lateral part of grain wrapping bag through snatching the splint to better press from both sides the grain wrapping bag tightly, and outside slope all around also prevents to snatch the splint and hook the grain wrapping bag brokenly, the better transport of being convenient for shifts.
The first connection stability that snatchs supporting cylinder and second and snatch supporting cylinder is promoted through snatching the articulated piece of supporting cylinder that snatchs on the supporting mechanism, simultaneously also can be better snatch supporting cylinder and second and snatch supporting cylinder and slope the setting to realization transmission effect that can be better. Snatch the support cylinder through first snatch support cylinder and second and drive first transmission connecting rod and outwards promote to make second transmission rod group drive first transmission rod group through snatching to support the tight rotor plate of clamp and carry out the transmission, realize that both sides are opened in step and the synchronous clamp is tight, prevent to appear because different cylinders make both sides degree of opening inconsistent, lead to can't live the better clamp of grain wrapping bag, realize pressing from both sides tight stability when promoting the synchronization. The rotating matching is realized by grabbing the supporting rotating rod and the supporting rotating shaft, so that the supporting rotating rod is convenient to grab and loosen or clamp. The first grabbing support cylinder and the second grabbing support cylinder drive the first transmission connecting rod to be outwards opened or inwards clamped, so that the two grabbing support rotating rods rotate around the grabbing support rotating shafts. The horizontal pole through snatching the support clamping bar supports in the bottom of grain wrapping bag, promotes the support nature to the grain wrapping bag, prevents to drop on the way transferring.
To sum up, the advantage of this patent promotes fastness and the tight degree of clamp of in-process is got at grain wrapping bag clamp, promotes stability and handling efficiency that grain wrapping bag clamp was got.
Drawings
Fig. 1 is a flow chart of an automatic grain packaging bag stacking and grabbing method.
Fig. 2 is a schematic structural view of a full-automatic packaging and stacking line according to the invention.
Fig. 3 is a schematic structural diagram of the grabbing elevating mechanism of the present invention.
Fig. 4 is a schematic structural diagram of the grasping and clamping mechanism of the invention.
Fig. 5 is a schematic structural view of the grasping and supporting mechanism of the present invention.
Detailed Description
The following describes a detailed embodiment of the present invention with reference to the accompanying drawings.
As shown in fig. 2, the full-automatic packaging and stacking line comprises a stacking robot device, the stacking robot device comprises a stacking robot device and a grabbing device, and the grabbing device comprises a manipulator connecting module 1, a grabbing support frame 2, a grabbing lifting mechanism 3, a grabbing clamping mechanism 4 and a grabbing support mechanism 5; the manipulator connecting module 1 is fixedly connected with the moving end of the stacking robot device; the bottom of the manipulator connecting module 1 is provided with a supporting connecting plate 11, and the grabbing support frame 2 comprises a rectangular support rod 21 with a transverse top, four grabbing support rods 22 with longitudinal rectangular corners and a grabbing support bottom plate 23; the rectangular support rod 21 is arranged at the bottom of the support connecting plate 11; the bottoms of the four grabbing support rods 22 are connected with a grabbing support bottom plate 23; the grabbing lifting mechanism 3 is longitudinally arranged in the middle of the supporting connecting plate 11, and the grabbing lifting mechanism 3 is used for longitudinally clamping the grain packaging bag; the grasping and clamping mechanism 4 includes a first grasping and clamping assembly 41 and a second grasping and clamping assembly 42; the first grabbing and clamping assembly 41 and the second grabbing and clamping assembly 42 are respectively arranged at the left side and the right side of the grabbing and supporting bottom plate 23, and the grabbing and clamping mechanism 4 is used for transversely clamping the grain packaging bag; the grasping support mechanism 5 includes a first grasping assembly 51 and a second grasping assembly 52; the first grabbing supporting assembly 51 and the second grabbing supporting assembly 52 are respectively arranged at the left side and the right side of the grabbing supporting frame 2; the grabbing and supporting mechanism 5 is used for clamping two sides of the grain packaging bag and supporting the grain packaging bag.
As shown in fig. 3, the grabbing elevating mechanism 3 includes a grabbing elevating cylinder 31, a grabbing elevating connecting plate 32 and a grabbing elevating pressure plate 33; be located and be provided with between the middle part of four grabbing bracing pieces 22 and snatch lift backup pad 30, snatch lift cylinder 31 and vertically set up at the center of snatching lift backup pad 30, and the top of snatching lift cylinder 31 passes supporting connection board 11, snatch the lower extreme of lift cylinder 31 and pass and snatch lift backup pad 30 and snatch supporting baseplate 23 and be connected with the center of snatching lift connecting board 32, snatch lift cylinder 31 and drive and snatch lift connecting board 32 and carry out the lifting movement location. Two longitudinal lifting guide rods 321 are arranged at the front end and the rear end of the grabbing lifting connecting plate 32, the grabbing lifting connecting plate 32 can be conveniently lifted and moved through the lifting guide rods 321, and the smoothness of lifting and moving is improved. The lifting guide rod 321 is matched with the grabbing lifting support plate 30 through the lifting guide rod sleeve 322, and the stability of the lifting guide rod 321 is further improved through the lifting guide rod sleeve 322. Snatch step-up and step-down plate 33 and set up in the bottom of snatching lift connecting plate 32, and the cross-section of snatching step-up and step-down plate 33 is the rectangle form, through the snatching of rectangle form step-up and step-down plate 33 be convenient for better with the shape of grain wrapping bag cooperate, promote the area that compresses tightly to be convenient for better fix the grain wrapping bag.
During operation, the grabbing lifting plate 33 at the bottom of the grabbing lifting connecting plate 32 is driven to descend by the grabbing lifting cylinder 31, and grain packaging bags wrapped by the grabbing supporting mechanism 5 are longitudinally compressed.
Should snatch elevating system 3 and solved current pile up neatly machine people and can't be in the vertical tight problem of clamp.
The grabbing lifting cylinder 31 drives the grabbing lifting connecting plate 32 to carry out lifting movement positioning through the grabbing lifting mechanism 3. The lifting guide rod 321 is convenient for grabbing the lifting connecting plate 32 to better lift and move, and the smoothness of lifting and moving is improved. The stability of the elevation guide bar 321 is further improved by the elevation guide bar housing 322. Snatch through the rectangle form and rise the pressure plate 33 and be convenient for better with the shape cooperation of grain wrapping bag, promote the area that compresses tightly to be convenient for better fix the grain wrapping bag. The stability of grabbing the grain packaging bags is improved.
As shown in fig. 4, the first grasping and clamping assembly 41 and the second grasping and clamping assembly 42 are symmetrically arranged and have the same structure. The first grabbing clamp assembly 41 comprises a first grabbing clamp cylinder 411, a second grabbing clamp cylinder 412, a clamp rotating shaft 413 and a grabbing clamp plate module; the inside ends of the first grabbing clamping cylinder 411 and the second grabbing clamping cylinder 412 are transversely obliquely arranged on the grabbing supporting base plate 23 through cylinder hinging blocks 4110 respectively, the first grabbing clamping cylinder 411 and the second grabbing clamping cylinder 412 are arranged in an aligned mode, and the first grabbing clamping cylinder 411 and the second grabbing clamping cylinder 412 are arranged from inside to outside from low to high. Promote the first connection stability who snatchs die clamping cylinder 411 and the second snatchs die clamping cylinder 412 through the articulated piece 4110 of cylinder, simultaneously also can be better snatch die clamping cylinder 411 and the second and snatch die clamping cylinder 412 with first and slope the setting to realization transmission effect that can be better. The first grasping clamping cylinder 411 and the second grasping clamping cylinder 412 are connected between the moving ends through grasping clamping connecting rods 4111, so that synchronous transmission is realized, the better realization of clamping is facilitated, and the clamping effect is improved. The clamping rotating shaft 413 is arranged at the bottom of the outer side of the grabbing supporting base plate 23 in the front-back direction through a plurality of rotating shaft supporting blocks 4131, and the position of the clamping rotating shaft 413 is fixed better through the plurality of rotating shaft supporting blocks 4131, and meanwhile, the clamping rotating shaft 413 can rotate better. The grabbing clamp plate module comprises two long hinged rods 4141, two short hinged rods 4142 and grabbing clamp plates 4143; the lower parts of the two long hinged rods 4141 and the two short hinged rods 4142 are respectively and longitudinally arranged on the grabbing clamp plate 4143, the two long hinged rods 4141 are positioned between the two short hinged rods 4142, and the two long hinged rods 4141 and the two short hinged rods 4142 are arranged at equal intervals; the upper ends of the two long hinge rods 4141 are rotatably connected to the grabbing clamping connecting rod 4111, and the middle parts of the two long hinge rods 4141 are rotatably connected to the clamping rotating shaft 413; the upper ends of the two short hinge rods 4142 are rotatably connected to the clamping rotary shaft 413. The two long hinge rods 4141 are driven to rotate by the first grabbing clamping cylinder 411 and the second grabbing clamping cylinder 412, so that the two long hinge rods 4141 drive the grabbing clamp plate 4143 to rotate, and clamping and loosening are further realized. The cross-section of grabbing splint 4143 is the rectangle form, and the equal outside slope setting in outside all around of grabbing splint 4143, can cooperate with the lateral part of grain packaging bag through grabbing splint 4143 to better press from both sides the grain packaging bag tightly, and the slope that inclines outward all around also prevents to grab splint 4143 and catches grain packaging bag hook brokenly, the better transport of being convenient for shifts.
During operation, snatch die clamping cylinder 411 and second through first snatch die clamping cylinder 412 and drive and snatch die clamping connecting rod 4111 and move to the outside to the upper portion that makes two long hinge connect pole 4141 uses to press from both sides tight pivot 413 and rotate for the pivot is outside, thereby makes the lower part drive of two long hinge connect poles 4141 snatch splint 4143 and rotate to the inside, thereby realizes pressing from both sides tight grain packaging bag.
This snatch clamping mechanism 4 has solved and has all had not enoughly on pressing from both sides tight firmness and the tight stability of clamp, leads to the problem that the grain wrapping bag dropped at the transfer in-process easily.
The connection stability that the clamping cylinder 411 and the second snatch the clamping cylinder 412 is first snatched to the articulated piece 4110 of cylinder on grabbing clamping mechanism 4 is promoted, and the clamping cylinder 411 and the second snatch the clamping cylinder 412 with first snatching that also can be better simultaneously and slope the setting to realization transmission effect that can be better. Through snatching to press from both sides tight connecting rod 4111 and connect, realize synchronous drive, the better realization of being convenient for is pressed from both sides tightly, promotes and presss from both sides tight effect. The plurality of shaft support blocks 4131 facilitates better fixing the position of the clamping shaft 413 and also facilitates better rotation. The two long hinge rods 4141 are driven to rotate by the first grabbing clamping cylinder 411 and the second grabbing clamping cylinder 412, so that the two long hinge rods 4141 drive the grabbing clamp plate 4143 to rotate, and clamping and loosening are further realized. Can cooperate with the lateral part of grain wrapping bag through snatching splint 4143 to better press from both sides the grain wrapping bag tightly, and outside slope all around also prevents to snatch splint 4143 and with the grain wrapping bag hook brokenly, be convenient for better carry the transfer.
As shown in fig. 5, the first grasping support member 51 and the second grasping support member 52 are symmetrically arranged and have the same structure. The first grabbing supporting assembly 51 comprises a first grabbing supporting cylinder 511, a second grabbing supporting cylinder 512, a first grabbing supporting transmission module, a second grabbing supporting transmission module, a grabbing supporting rotating shaft 514, a first grabbing supporting plate module and a second grabbing supporting plate module; the first medial extremity that snatchs support cylinder 511 and second and snatch support cylinder 512 sets up on snatching lifting support plate 30 through snatching the horizontal slope of the articulated piece 5110 of support cylinder respectively, first snatch support cylinder 511 and second and snatch support cylinder 512 and all be from inside to outside by high to low setting, promote the first connection stability who snatchs support cylinder 511 and second and snatch support cylinder 512 through snatching the articulated piece 5110 of support cylinder, simultaneously also can be better snatch support cylinder 511 and second and snatch support cylinder 512 and carry out the slope setting, thereby realization transmission effect that can be better. The first grabbing support transmission module and the second grabbing support transmission module are symmetrically arranged front and back and have the same structure, and the first grabbing support transmission module comprises a grabbing support clamping support plate 5131, a grabbing support clamping rotating shaft 5132, a grabbing support clamping rotating plate 5133, a first transmission rod group 5134 and a second transmission rod group 5135; the grabbing support clamping support plate 5131 is transversely arranged at the lower parts of the two grabbing support rods 22 at the front side, the grabbing support clamping rotating shaft 5132 is arranged at the middle part of the grabbing support clamping support plate 5131, the grabbing support clamping rotating plate 5133 is rotationally connected to the grabbing support clamping rotating shaft 5132, the grabbing support clamping rotating plate 5133 is curved, and the upper part and the lower part of the grabbing support clamping rotating plate 5133 are respectively bent clockwise from the center to the outer side; synchronous rotation is realized, and simultaneous opening or simultaneous clamping is conveniently carried out. One ends of the first transmission rod group 5134 and the second transmission rod group 5135 are respectively connected to two ends of the grabbing supporting clamping rotation plate 5133; a first transmission connecting rod 5136 is connected between the other end of the first transmission rod group 5134 on the first grabbing support transmission module and the other end of the first transmission rod group 5134 on the second grabbing support transmission module, and the moving ends of the first grabbing support cylinder 511 and the second grabbing support cylinder 512 are connected to the first transmission connecting rod 5136; a second transmission connecting rod 5137 is connected between the other end of the second transmission rod group 5135 on the first grabbing support transmission module and the other end of the second transmission rod group 5135 on the second grabbing support transmission module; drive first transmission connecting rod 5136 and outwards promote through first snatch support cylinder 511 and second snatch support cylinder 512 to make second transmission rod group 5135 drive first transmission rod group 5134 through snatching to support and press from both sides tight rotor plate 5133 and carry out the transmission, realize that both sides are opened in step and the synchronous clamp is tight, prevent to appear because different cylinders make both sides degree of opening inconsistent, lead to can't hold the better clamp of grain wrapping bag, realize pressing from both sides tight stability when promoting the synchronization.
The two ends of the grabbing supporting rotary shaft 514 are arranged on the upper parts of the two grabbing supporting rods 22 on the left side in the front-back direction of the two rotary shaft supporting seats 5140, and the supporting stability of the grabbing supporting rotary shaft 514 is further improved through the two rotary shaft supporting seats 5140. The first grabbing support plate module is matched with the first transmission connecting rod 5136, the second grabbing support plate module is matched with the second transmission connecting rod 5137, the first grabbing support plate module is located on the outer side of the first grabbing clamping component 41, the second grabbing support plate module is located on the outer side of the second grabbing clamping component 42, and the first grabbing support plate module and the second grabbing support plate module are arranged in bilateral symmetry and have the same structure. The first grabbing support plate module comprises two grabbing support rotating rods 5151, grabbing support clamping plates 5152 and a plurality of grabbing support clamping rods 5153; the upper ends of the two grabbing supporting rotating rods 5151 are rotatably connected to the grabbing supporting rotating shaft 514, and the grabbing supporting rotating rods 5151 are rotatably matched with the grabbing supporting rotating shaft 514, so that the grabbing supporting rotating rods 5151 can be conveniently loosened or clamped. The middle parts of the two grabbing support rotary rods 5151 are rotatably connected to the first transmission connecting rod 5136, and the first transmission connecting rod 5136 is driven to be opened outwards or clamped inwards by the first grabbing support cylinder 511 and the second grabbing support cylinder 512, so that the two grabbing support rotary rods 5151 rotate around the grabbing support rotary shaft 514. A reinforcing connecting rod 5154 is further arranged between the two grabbing supporting rotating rods 5151, and the connecting strength is further improved through the reinforcing connecting rod 5154. The upper portion of grabbing support clamp plate 5152 is connected with the bottom of two grabbing support rotating rods 5151, a plurality of grabbing support clamp rods 5153 are regularly arranged in the front-back direction at the bottom of grabbing support clamp plate 5152, each grabbing support clamp rod 5153 is L-shaped, the longitudinal rods of the grabbing support clamp rods 5153 are fixedly connected with the grabbing support clamp plate 5152 through screws, the transverse rods of the grabbing support clamp rods 5153 are supported at the bottom of a grain packaging bag, the supporting performance of the grain packaging bag is improved, and the grain packaging bag is prevented from falling during transfer.
During operation, the first grabbing supporting cylinder 511 and the second grabbing supporting cylinder 512 on the first grabbing supporting assembly 51 drive the two grabbing supporting rotating rods 5151 on the first transmission connecting rod 5136 to be folded inwards, the first transmission connecting rod 5136 drives the first transmission rod group 5134 to move, so that the grabbing supporting clamping rotating plate 5133 is driven to rotate, the second transmission connecting rod 5137 on the second transmission rod group 5135 drives the second grabbing supporting assembly 52 and the first grabbing supporting assembly 51 to be clamped inwards synchronously, the grabbing supporting clamping rods 5153 on two sides clamp two sides of a grain packaging bag, and the grabbing supporting clamping rods 5153 support the bottom of the grain packaging bag.
This snatch supporting mechanism 5 has solved and has snatched tight stability not enough to it is not enough to press from both sides tight support nature, can't be better carry out the problem of good support to grain wrapping bag bottom.
The first connection stability of grabbing support cylinder 511 and the second connection stability of grabbing support cylinder 512 is promoted through the articulated piece 5110 of the grabbing support cylinder on the grabbing support mechanism 5, and the first grabbing support cylinder 511 and the second grabbing support cylinder 512 can be better arranged in an inclined mode, so that the better transmission effect can be achieved. Drive first transmission connecting rod 5136 and outwards promote through first snatch support cylinder 511 and second snatch support cylinder 512 to make second transmission rod group 5135 drive first transmission rod group 5134 through snatching to support and press from both sides tight rotor plate 5133 and carry out the transmission, realize that both sides are opened in step and the synchronous clamp is tight, prevent to appear because different cylinders make both sides degree of opening inconsistent, lead to can't hold the better clamp of grain wrapping bag, realize pressing from both sides tight stability when promoting the synchronization. The support rotating rod 5151 is convenient to grasp to realize loosening or clamping through the rotation fit of the support rotating rod 5151 and the support rotating shaft 514. The first transmission connecting rod 5136 is driven to be opened outwards or clamped inwards by the first grabbing supporting cylinder 511 and the second grabbing supporting cylinder 512, so that the two grabbing supporting rotating rods 5151 rotate around the grabbing supporting rotating shafts 514. The cross bar supporting the clamping rods 5153 is supported at the bottom of the grain packaging bag, so that the supporting performance of the grain packaging bag is improved, and the grain packaging bag is prevented from falling off during transfer.
As shown in fig. 1, the automatic grabbing method for stacking of the grain packaging bags is characterized by sequentially comprising the following steps:
s1 automatic grabbing and positioning: the grabbing device is driven by the stacking robot device to move and position to the grain packaging bag;
s2, automatically clamping parcels: the grain packaging bag is clamped through the first grabbing support assembly 51 and the second grabbing support assembly 52;
s3 automatic longitudinal clamping: the grain packaging bag is longitudinally clamped through the grabbing lifting mechanism 3;
s4 automatic lateral clamping: the grain packaging bag is transversely clamped through the first grabbing clamp assembly 41 and the second grabbing clamp assembly 42.
Claims (10)
1. A full-automatic packaging and stacking line comprises stacking robot equipment and is characterized in that the equipment comprises a stacking robot device and a grabbing device, wherein the grabbing device comprises a manipulator connecting module (1), a grabbing support frame (2), a grabbing lifting mechanism (3), a grabbing clamping mechanism (4) and a grabbing support mechanism (5); the manipulator connecting module (1) is fixedly connected with the moving end of the stacking robot device; the bottom of the manipulator connecting module (1) is provided with a supporting connecting plate (11), and the grabbing support frame (2) comprises a rectangular support rod (21) with a transverse top, four grabbing support rods (22) with longitudinal rectangular corners and a grabbing support bottom plate (23); the rectangular support rod (21) is arranged at the bottom of the support connecting plate (11); the bottoms of the four grabbing support rods (22) are connected with a grabbing support bottom plate (23); the grabbing lifting mechanism (3) is longitudinally arranged in the middle of the supporting connecting plate (11), and the grabbing lifting mechanism (3) is used for longitudinally clamping the grain packaging bag; the grabbing and clamping mechanism (4) comprises a first grabbing and clamping assembly (41) and a second grabbing and clamping assembly (42); the first grabbing and clamping assembly (41) and the second grabbing and clamping assembly (42) are respectively arranged on the left side and the right side of the grabbing supporting base plate (23), and the grabbing and clamping mechanism (4) is used for transversely clamping the grain packaging bag; the grabbing support mechanism (5) comprises a first grabbing component (51) and a second grabbing component (52); the first grabbing support component (51) and the second grabbing support component (52) are respectively arranged on the left side and the right side of the grabbing support frame (2); the grabbing and supporting mechanism (5) is used for clamping two sides of the grain packaging bag and supporting the grain packaging bag.
2. The fully automatic packaging and palletizing line according to claim 1, characterized in that the grabbing lifting mechanism (3) comprises a grabbing lifting cylinder (31), a grabbing lifting connecting plate (32) and a grabbing lifting pressure plate (33); grabbing lifting support plates (30) are arranged among the middle parts of the four grabbing support rods (22), a grabbing lifting cylinder (31) is longitudinally arranged in the center of the grabbing lifting support plates (30), and the top of the grabbing lifting cylinder (31) penetrates through the support connecting plate (11); the lower end of the grabbing lifting cylinder (31) penetrates through the grabbing lifting support plate (30) and the grabbing support base plate (23) to be connected with the center of the grabbing lifting connection plate (32), two longitudinal lifting guide rods (321) are arranged at the front end and the rear end of the grabbing lifting connection plate (32), the lifting guide rods (321) are matched with the grabbing lifting support plate (30) through lifting guide rod sleeves (322), the grabbing lifting pressure plate (33) is arranged at the bottom of the grabbing lifting connection plate (32), and the cross section of the grabbing lifting pressure plate (33) is rectangular.
3. The fully automatic packaging and palletizing line according to claim 1, characterized in that the first gripping and clamping assembly (41) and the second gripping and clamping assembly (42) are symmetrically arranged and have the same structure.
4. A fully automatic packaging and palletizing line according to claim 3, characterized in that the first grasping and clamping assembly (41) comprises a first grasping and clamping cylinder (411), a second grasping and clamping cylinder (412), a clamping rotating shaft (413) and a grasping and clamping plate module; the inner side ends of the first grabbing clamping cylinder (411) and the second grabbing clamping cylinder (412) are transversely and obliquely arranged on the grabbing support base plate (23) through cylinder hinging blocks (4110); the moving ends at the outer sides of the first grabbing clamping cylinder (411) and the second grabbing clamping cylinder (412) are connected through a grabbing clamping connecting rod (4111); the clamping rotating shaft (413) is arranged at the bottom of the outer side of the grabbing supporting bottom plate (23) in the front-back direction through a plurality of rotating shaft supporting blocks (4131); the grabbing clamp plate module comprises two long hinged rods (4141), two short hinged rods (4142) and a grabbing clamp plate (4143); the lower parts of the two long hinged rods (4141) and the two short hinged rods (4142) are respectively and longitudinally arranged on the grabbing clamp plate (4143), the two long hinged rods (4141) are positioned between the two short hinged rods (4142), and the two long hinged rods (4141) and the two short hinged rods (4142) are arranged at equal intervals; the upper ends of the two long hinge connecting rods (4141) are rotatably connected to the grabbing clamping connecting rod (4111), and the middle parts of the two long hinge connecting rods (4141) are rotatably connected to the clamping rotating shaft (413); the upper ends of two short hinged rods (4142) are rotatably connected to the clamping rotating shaft (413).
5. The fully automatic packing and palletizing line according to claim 4, characterized in that the first grabbing clamping cylinder (411) and the second grabbing clamping cylinder (412) are arranged in alignment, and the first grabbing clamping cylinder (411) and the second grabbing clamping cylinder (412) are arranged from inside to outside and from low to high.
6. The fully automatic packing and palletizing line according to claim 4, wherein the cross section of the grabbing clamp plate (4143) is rectangular, and the peripheral outer edges of the grabbing clamp plate (4143) are all obliquely arranged outwards.
7. The fully automatic packing and palletizing line according to claim 1, characterized in that the first gripping and supporting assembly (51) and the second gripping and supporting assembly (52) are symmetrically arranged and have the same structure.
8. The fully automatic packing and palletizing line according to claim 7, wherein the first grabbing support assembly (51) comprises a first grabbing support cylinder (511), a second grabbing support cylinder (512), a first grabbing support transmission module, a second grabbing support transmission module, a grabbing support rotating shaft (514), a first grabbing support plate module and a second grabbing support plate module; the inner side ends of the first grabbing supporting cylinder (511) and the second grabbing supporting cylinder (512) are transversely and obliquely arranged on the grabbing lifting supporting plate (30) through grabbing supporting cylinder hinging blocks (5110), and the first grabbing supporting cylinder (511) and the second grabbing supporting cylinder (512) are arranged from inside to outside from high to low; the first grabbing support transmission module comprises a grabbing support clamping support plate (5131), a grabbing support clamping rotating shaft (5132), a grabbing support clamping rotating plate (5133), a first transmission rod group (5134) and a second transmission rod group (5135); the grabbing supporting and clamping supporting plates (5131) are transversely arranged at the lower parts of the two grabbing supporting rods (22) at the front side, the grabbing supporting and clamping rotating shafts (5132) are arranged at the middle parts of the grabbing supporting and clamping supporting plates (5131), the grabbing supporting and clamping rotating plates (5133) are rotatably connected to the grabbing supporting and clamping rotating shafts (5132), the grabbing supporting and clamping rotating plates (5133) are curved, and the upper parts and the lower parts of the grabbing supporting and clamping rotating plates (5133) are respectively bent clockwise from the center to the outside; one ends of the first transmission rod group (5134) and the second transmission rod group (5135) are respectively connected with the two ends of the grabbing supporting clamping rotating plate (5133); a first transmission connecting rod (5136) is connected between the other end of the first transmission rod group (5134) on the first grabbing support transmission module and the other end of the first transmission rod group (5134) on the second grabbing support transmission module; the moving ends of the first grabbing supporting cylinder (511) and the second grabbing supporting cylinder (512) are respectively connected to a first transmission connecting rod (5136); a second transmission connecting rod (5137) is connected between the other end of the second transmission rod group (5135) on the first grabbing support transmission module and the other end of the second transmission rod group (5135) on the second grabbing support transmission module; two ends of the grabbing support rotating shaft (514) are arranged at the upper parts of the two grabbing support rods (22) on the left side in the front-back direction through the two rotating shaft support seats (5140); the first grabbing support plate module is matched with the first transmission connecting rod (5136), the second grabbing support plate module is matched with the second transmission connecting rod (5137), and the first grabbing support plate module comprises two grabbing support rotating rods (5151), grabbing support clamping plates (5152) and a plurality of grabbing support clamping rods (5153); the upper ends of the two grabbing support rotating rods (5151) are rotatably connected to the grabbing support rotating shaft (514), the middle parts of the two grabbing support rotating rods (5151) are rotatably connected to the first transmission connecting rod (5136), and a reinforcing connecting rod (5154) is arranged between the two grabbing support rotating rods (5151); the upper parts of the grabbing support clamping plates (5152) are connected with the bottoms of the two grabbing support rotating rods (5151), the plurality of grabbing support clamping rods (5153) are regularly arranged in the front-back direction at the bottom of the grabbing support clamping plates (5152), each grabbing support clamping rod (5153) is L-shaped, and the longitudinal rods of the grabbing support clamping rods (5153) are fixedly connected with the grabbing support clamping plates (5152) through screws.
9. The full-automatic packing and stacking line according to claim 8, wherein the first grabbing and supporting transmission module and the second grabbing and supporting transmission module are symmetrically arranged in front and back and have the same structure; the first grabbing support plate module is located on the outer side of the first grabbing clamping assembly (41), the second grabbing support plate module is located on the outer side of the second grabbing clamping assembly (42), and the first grabbing support plate module and the second grabbing support plate module are arranged in a bilateral symmetry mode and are identical in structure.
10. The automatic grabbing method for stacking of the grain packaging bags is characterized by sequentially comprising the following steps of:
s1 automatic grabbing and positioning: the grabbing device is driven by the stacking robot device to move and position to the grain packaging bag;
s2, automatically clamping parcels: the grain packaging bag is clamped through a first grabbing support assembly (51) and a second grabbing support assembly (52);
s3 automatic longitudinal clamping: the grain packaging bag is longitudinally clamped through the grabbing lifting mechanism (3);
s4 automatic lateral clamping: the grain packaging bag is transversely clamped through a first grabbing and clamping assembly (41) and a second grabbing and clamping assembly (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111562538.8A CN114194801A (en) | 2021-12-20 | 2021-12-20 | Full-automatic packaging and stacking line and packaging and stacking process thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111562538.8A CN114194801A (en) | 2021-12-20 | 2021-12-20 | Full-automatic packaging and stacking line and packaging and stacking process thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114194801A true CN114194801A (en) | 2022-03-18 |
Family
ID=80655499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111562538.8A Withdrawn CN114194801A (en) | 2021-12-20 | 2021-12-20 | Full-automatic packaging and stacking line and packaging and stacking process thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114194801A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114955529A (en) * | 2022-07-01 | 2022-08-30 | 杭州国领科技有限公司 | Efficient stacking robot clamp |
| CN117049156A (en) * | 2023-09-12 | 2023-11-14 | 深圳市晶新科技有限公司 | Automatic stacking equipment for large-batch packaging bags |
| CN117941724A (en) * | 2024-03-27 | 2024-04-30 | 太行润源食品有限公司 | Meat block exchanging equipment on slaughtering conveying line |
-
2021
- 2021-12-20 CN CN202111562538.8A patent/CN114194801A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114955529A (en) * | 2022-07-01 | 2022-08-30 | 杭州国领科技有限公司 | Efficient stacking robot clamp |
| CN117049156A (en) * | 2023-09-12 | 2023-11-14 | 深圳市晶新科技有限公司 | Automatic stacking equipment for large-batch packaging bags |
| CN117049156B (en) * | 2023-09-12 | 2024-05-14 | 深圳市晶新科技有限公司 | Automatic stacking equipment for large-batch packaging bags |
| CN117941724A (en) * | 2024-03-27 | 2024-04-30 | 太行润源食品有限公司 | Meat block exchanging equipment on slaughtering conveying line |
| CN117941724B (en) * | 2024-03-27 | 2024-06-21 | 太行润源食品有限公司 | Meat block exchanging equipment on slaughtering conveying line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114194801A (en) | Full-automatic packaging and stacking line and packaging and stacking process thereof | |
| CN109747879B (en) | Fire extinguisher finished product vanning pile up neatly system | |
| CN108528879A (en) | A kind of automatic packaging line | |
| CN103991716A (en) | Small bag folding machine | |
| CN113942676A (en) | Metal wire packaging production line | |
| CN110217605B (en) | Automatic stacking equipment and stacking method | |
| CN214824431U (en) | Full-automatic packing machine | |
| CN113787769A (en) | Automatic production line for flexible freight bags | |
| CN112407427A (en) | PCB circuit board packagine machine | |
| CN208278400U (en) | Full-automatic enamel-cover wire wrapping integrated system | |
| CN109178958B (en) | Integrated stacker crane and stacking method thereof | |
| CN106494695A (en) | A kind of production line of fast and accurately electric business commodity distribution coloured silk bag packaging | |
| CN212075676U (en) | Empty bottle pile up neatly device | |
| CN208485305U (en) | Stacking machine and its limiting device | |
| CN211810501U (en) | Logistics packaging machine | |
| CN113636140A (en) | Automatic binding, pressing and boxing all-in-one machine | |
| CN113548255A (en) | Automatic production line for candy packaging | |
| CN107856912B (en) | Automatic material taking and opening device for packaging bag mother bags and automatic packaging production line | |
| CN214986397U (en) | PCB circuit board packagine machine | |
| CN114771996B (en) | Full-automatic flexible packaging line suitable for spool | |
| CN114313461B (en) | Boxing equipment | |
| CN218319399U (en) | Plank ejection of compact grasping system | |
| CN216004480U (en) | 200L automatic stacking and carrying equipment | |
| CN213504766U (en) | Automatic tongs of flexible plate pile packing | |
| CN221026219U (en) | Multifunctional palletizing robot gripping apparatus |
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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220318 |
|
| WW01 | Invention patent application withdrawn after publication |