CN114833858A - Automatic circulation oral cavity instrument taking and placing device and control method - Google Patents
Automatic circulation oral cavity instrument taking and placing device and control method Download PDFInfo
- Publication number
- CN114833858A CN114833858A CN202210653996.0A CN202210653996A CN114833858A CN 114833858 A CN114833858 A CN 114833858A CN 202210653996 A CN202210653996 A CN 202210653996A CN 114833858 A CN114833858 A CN 114833858A
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- rack
- lifting
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 210000000214 mouth Anatomy 0.000 title claims abstract description 16
- 238000012856 packing Methods 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims description 150
- 238000004806 packaging method and process Methods 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Abstract
The invention relates to an automatic circulation oral cavity instrument taking and placing device and a control method. The device comprises a rack, an instrument disc tray dividing mechanism, a three-coordinate stroke mechanism and a mechanical arm, wherein the instrument disc tray dividing mechanism, the three-coordinate stroke mechanism and the mechanical arm are respectively arranged on the rack; through apparatus dish pallet separating mechanism, three-dimensional stroke mechanism and manipulator, realized the automatic pallet separating of apparatus dish to snatch the process of oral cavity apparatus through the manipulator is automatic, avoided the manual work to put the hourglass that causes the device and put and misplace, ensure the accuracy of packing required device.
Description
Technical Field
The invention relates to an oral instrument packaging device, and particularly discloses an automatic circulating oral instrument taking and placing device and a control method.
Background
In the packaging process of the traditional oral instrument box, oral instruments such as a mouth mirror, tweezers and a probe need to be put into the same packaging bag for packaging. Since the oral appliance case involves product manufacturing in multiple fields, the production and manufacture of the oral appliance and the final combination package are performed separately. This means that when carrying out the combination packing, need with the apparatus product of different grade type, sort the back, pack different apparatus into tray and wrapping bag one by one and pack, this has just caused, and the equipment of packing is difficult to satisfy simultaneously the letter sorting of different article, snatchs and places. Meanwhile, because the shape of the oral cavity instrument is complex, the oral cavity instrument is difficult to be taken, put and packaged automatically by the existing mechanical equipment for packaging products. Therefore, the current common method is that each instrument is separated one by manpower and then is sequentially placed into a packaging tray for packaging and sealing, so that the efficiency is low, and the problems of missing, misplacement and the like are easy to occur.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an automatic circulation oral appliance taking and placing device capable of automatically grabbing and placing oral appliances and improving the packaging efficiency of an oral appliance box and a control method.
The invention is realized by the following steps: an automatic circulation oral cavity instrument taking and placing device comprises a rack, an instrument disc tray dividing mechanism, a three-coordinate stroke mechanism and a mechanical arm, wherein the instrument disc tray dividing mechanism, the three-coordinate stroke mechanism and the mechanical arm are respectively arranged on the rack;
the instrument tray distributing mechanism is positioned in the instrument tray stacking area; the instrument tray distributing mechanism comprises a material bearing frame assembly and an intermediate lifting frame assembly; the device comprises a rack assembly, a rack and a control device, wherein the rack assembly comprises a first rack and a second rack which are used for supporting the front side edge and the rear side edge of an instrument tray, a first advancing and retreating cylinder is arranged on one side of the first rack, and a first lifting cylinder is arranged below the first rack; a second advancing and retreating cylinder is arranged on one side of the second material rack, and a second lifting cylinder is arranged below the second material rack;
the middle lifting frame assembly comprises a material lifting frame, a third lifting cylinder and a material pushing cylinder, the material lifting frame is positioned under the instrument disc, and the third lifting cylinder is positioned under the material lifting frame and connected with the bottom of the material lifting frame; the material pushing cylinder is positioned on one side of the material lifting frame, a material pushing plate is arranged on the material pushing cylinder, and the material pushing cylinder drives the material pushing plate to push the instrument plate on the material lifting frame to the sub-plate placing area;
a single-disc placing frame is arranged in the disc separating placing area, and is positioned on the other side of the material lifting frame and used for placing instrument discs from the material lifting frame;
the three-coordinate stroke mechanism comprises an X axial moving mechanism capable of driving the manipulator to move back and forth between the upper part of the sub-tray placing area and the upper part of the material receiving area, a Y axial moving mechanism capable of driving the manipulator to move back and forth, and a Z axial moving mechanism capable of driving the manipulator to move up and down.
The X-axis moving mechanism comprises an X-axis electric cylinder, the Y-axis moving mechanism comprises a Y-axis electric cylinder, and the Z-axis moving mechanism comprises a Z-axis electric cylinder; the X-axis electric cylinder is positioned above the sub-disc placing area and the material receiving area, the Y-axis electric cylinder is connected with the output end of the X-axis electric cylinder, the output end of the Y-axis electric cylinder is connected with the Z-axis electric cylinder, and the output end of the Z-axis electric cylinder is connected with the manipulator; the X-axis electric cylinder drives the Y-axis electric cylinder, the Z-axis electric cylinder and the manipulator to move back and forth between the upper part of the sub-disc placing area and the upper part of the material receiving area, the Y-axis electric cylinder drives the Z-axis electric cylinder and the manipulator to move back and forth in the front and back directions, and the Z-axis electric cylinder drives the manipulator to move up and down.
And a lifting mechanism is arranged below or on one side of the single-disc placing frame.
The first lifting cylinder is fixed on the rack through a first bottom plate, the second lifting cylinder is fixed on the rack through a second bottom plate, and the third lifting cylinder is fixed on the rack through a third bottom plate.
One side of the instrument plate is provided with a positioning plate fixed on the frame.
And the single-disk placing frame is provided with an infrared sensor which is connected with the middle lifting frame assembly and is used for detecting whether the instrument disk exists on the single-disk placing frame.
A material bracket for placing a packing box is arranged in the material receiving area; the manipulator grabs materials from the instrument disc on the single-disc placing frame and then moves to the position above the material bracket, and the grabbed materials are placed in the packaging box on the material bracket.
A control method of the automatic cycle oral cavity instrument taking and placing device comprises the following steps:
s1, initially, vertically stacking an instrument plate provided with oral instruments on the first material frame and the second material frame; the material lifting frame is flush with the single-disc placing frame;
s2, starting the middle lifting frame assembly to distribute: the third lifting cylinder drives the material lifting frame to ascend and jack up the instrument disc upwards so that the instrument disc is separated from the first material frame and the second material frame; the first feeding and withdrawing cylinder and the second feeding and withdrawing cylinder simultaneously drive the first material rack and the second material rack to move towards the front side and the back side and leave the instrument plate; the third lifting cylinder drives the material lifting frame to descend until two side edges of a second instrument tray position from bottom to top are positioned in the horizontal bearing range of the first material frame and the second material frame, and the first feeding and retreating cylinder and the second feeding and retreating cylinder simultaneously drive the first material frame and the second material frame to move towards the instrument tray direction and support two side edges of the second instrument tray position from bottom to top; the third lifting cylinder drives the material lifting frame to continuously descend and reset until the material lifting frame is flush with the single-disk placing frame, at the moment, 1 instrument disk is positioned on the material lifting frame and leaves other instrument disks above the material lifting frame, and the other instrument disks are positioned on the first material frame and the second material frame;
s3, the material pushing cylinder drives the material pushing plate to push 1 instrument plate on the material lifting frame to a single-plate placing frame in a plate separating placing area, and the material pushing cylinder resets;
s4, the X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator to a preset target coordinate position of an instrument plate above the single-plate placing frame, the Z-axis moving mechanism drives the manipulator to move downwards, the manipulator clamps oral instruments in the instrument plate, the Z-axis moving mechanism drives the manipulator to move upwards, the X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator to a preset target coordinate position above the material receiving area, and the Z-axis moving mechanism drives the manipulator to move downwards and release the oral instruments; the Z-axis moving mechanism drives the manipulator to ascend and reset;
s5, repeating the step S4 until the oral cavity instruments in the instrument tray above the single-tray placing rack are taken out, and removing the empty instrument tray; the process advances to step S1.
After step S1 and before step S2, the method further includes step S1.1: and detecting whether the instrument disk is arranged on the single-disk placing rack, if so, keeping the middle lifting rack assembly still, and if not, entering the step S2.
And S1.1, detecting whether the single-disk placing rack has an instrument disk or not through an infrared sensor.
The invention has the beneficial effects that: through apparatus dish pallet separating mechanism, three-dimensional stroke mechanism and manipulator, realized the automatic pallet separating of apparatus dish to snatch the process of oral cavity apparatus through the manipulator is automatic, avoided the manual work to put the hourglass that causes the device and put and misplace, ensure the accuracy of packing required device. In the production process, the instrument plate is directly added without stopping the machine, so that the efficiency is improved.
Drawings
Fig. 1 is a view schematically illustrating the structure of the gaze direction of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a schematic diagram of the position relationship of the side surface of the single-disc placing frame in the disc-dividing placing area.
Fig. 4 is a schematic structural diagram of the side of the instrument disk separation mechanism of the invention.
Wherein: 1. a frame; 2. an instrument tray stacking area; 3. a split-disc placement area; 4. a material receiving area; 5. an instrument tray; 6. a first rack; 7. a second rack; 8. a first advancing and retreating cylinder; 9. a first lifting cylinder; 10. a second advancing and retreating cylinder; 11. a second lifting cylinder; 12. a first base plate; 13. a second base plate; 14. positioning a plate; 15. a material lifting frame; 16. a third lifting cylinder; 17. a material pushing cylinder; 18. a single-disc placing frame; 19. a lifting mechanism; 20. an X-axis electric cylinder; 21. a Y-axis electric cylinder; 22. a Z-axis electric cylinder; 23. a manipulator; 24. a third base plate; 25. a material bracket; 26. packaging boxes; 27. a material pushing plate.
Detailed Description
According to the figures 1-4, the automatic circulation oral cavity instrument taking and placing device comprises a rack 1, an instrument disc tray dividing mechanism, a three-coordinate stroke mechanism and a mechanical arm, wherein the instrument disc tray dividing mechanism, the three-coordinate stroke mechanism and the mechanical arm are arranged on the rack 1, and an instrument disc stacking area 2, a tray dividing placing area 3 and a material receiving area 4 are sequentially arranged on the rack 1.
The instrument plate distributing mechanism is positioned in the instrument plate stacking area 2; the instrument plate distributing mechanism comprises a material bearing frame assembly and an intermediate lifting frame assembly. The material bearing frame assembly comprises a first material frame 6 and a second material frame 7 which are used for supporting the front edge and the rear edge of the instrument tray 5, a first advancing and retreating cylinder 8 is arranged on one side of the first material frame 6, and a first lifting cylinder 9 is arranged below the first material frame 6; and a second advancing and retreating cylinder 10 is arranged on one side of the second material frame 7, and a second lifting cylinder 11 is arranged below the second material frame 7. The first lifting cylinder 9 is fixed on the frame 1 through a first bottom plate 12, and the second lifting cylinder 11 is fixed on the frame 1 through a second bottom plate 13. A positioning plate 14 fixed on the rack 1 is arranged on one side of the instrument plate 5, the positioning plate 14 is used for position reference positioning when the instrument plates 5 are stacked, the instrument plates 5 are conveniently stacked in order, and the positioning plate 14 is preferably vertically arranged on a leaning plate on the rack.
The middle lifting assembly comprises a lifting frame 15, a third lifting cylinder 16 and a material pushing cylinder 17, the lifting frame 15 is positioned right below the instrument disc 5, and the third lifting cylinder 16 is positioned below the lifting frame 15 and connected with the bottom of the lifting frame 15; the material pushing cylinder 17 is located on one side of the material lifting frame 15, a material pushing plate 27 is arranged on the material pushing cylinder 17, and the material pushing cylinder 17 drives the material pushing plate 27 to push the instrument disc on the material lifting frame 15 to the disc separating placing area; the third lifting cylinder 16 is fixed on the frame through a third bottom plate 24.
The tray placing area 3 is internally provided with a single tray placing frame 18, and the single tray placing frame 18 is positioned on the other side of the material lifting frame 15 and used for placing instrument trays from the material lifting frame 15. And a lifting mechanism 19 is arranged below or on one side of the single-disc placing frame 18, and the lifting mechanism 19 is preferably a lifting cylinder.
And the single-disk placing frame is provided with an infrared sensor which is connected with the middle lifting frame assembly and is used for detecting whether the instrument disk exists on the single-disk placing frame.
The three-coordinate stroke mechanism comprises an X axial moving mechanism capable of driving the manipulator to move back and forth between the upper part of the sub-tray placing area and the upper part of the material receiving area, a Y axial moving mechanism capable of driving the manipulator to move back and forth, and a Z axial moving mechanism capable of driving the manipulator to move up and down. Specifically, the X-axis moving mechanism includes an X-axis electric cylinder 20, the Y-axis moving mechanism includes a Y-axis electric cylinder 21, and the Z-axis moving mechanism includes a Z-axis electric cylinder 22; the X-axis electric cylinder 20 is positioned above the sub-tray placing area 3 and the material receiving area 4, the Y-axis electric cylinder 21 is connected with the output end of the X-axis electric cylinder 20, the output end of the Y-axis electric cylinder 21 is connected with the Z-axis electric cylinder 22, and the output end of the Z-axis electric cylinder 22 is connected with the manipulator 23; the X-axis electric cylinder 20 drives the Y-axis electric cylinder 21, the Z-axis electric cylinder 22 and the manipulator 23 to move back and forth between the upper part of the sub-disc placing area 3 and the upper part of the material receiving area 4; the Y-axis electric cylinder 21 drives the Z-axis electric cylinder 22 and the manipulator 23 to move back and forth in the front-back direction, and the Z-axis electric cylinder 22 drives the manipulator 23 to move up and down.
A material bracket 25 for placing a packing box is arranged in the material receiving area 4; the manipulator 23 grabs the materials from the instrument tray on the single-tray placing rack 18, moves the materials to the position above the material bracket 25, and places the grabbed materials in the packing boxes 26 on the material bracket 25.
A control method of the automatic cycle oral cavity instrument taking and placing device comprises the following steps:
s1, initially, vertically stacking the instrument plate 5 with the oral instruments on the first material rack 6 and the second material rack 7; the material lifting frame 15 is flush with the single-disc placing frame 18.
S2, starting the middle lifting frame assembly to distribute: the third lifting cylinder 16 drives the material lifting frame 15 to ascend, and the stacked instrument disc 5 is jacked upwards to be separated from the first material frame 6 and the second material frame 7; the first feeding and retracting cylinder 8 and the second feeding and retracting cylinder 10 simultaneously drive the first material rack 6 and the second material rack 7 to move towards the front side and the back side and leave the instrument disc 5; the third lifting cylinder 16 drives the material lifting frame 15 to descend: the two side edges of the second instrument tray from bottom to top are positioned in the horizontal bearing range of the first material rack 6 and the second material rack 7, and the first advancing and retreating cylinder 8 and the second advancing and retreating cylinder 10 simultaneously drive the first material rack 6 and the second material rack 7 to move towards the direction of the instrument tray 5 so as to support the two side edges of the second instrument tray from bottom to top; the third lifting cylinder 16 drives the material lifting frame 15 to continuously descend and reset until the material lifting frame is flush with the single-disc placing frame 18, at the moment, 1 instrument disc is located on the material lifting frame 15 and leaves other instrument discs above the material lifting frame, and the other instrument discs are located on the first material frame 6 and the second material frame 7.
S3, the pushing cylinder 17 drives the pushing plate 27 to push 1 instrument plate on the material lifting frame 15 to the single-plate placing frame 18 of the sub-plate placing area 3, and the pushing cylinder 17 drives the pushing plate 27 to reset.
S4, the X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator 23 to a preset target coordinate position of an instrument tray above the single-tray placing frame 18, the Z-axis moving mechanism drives the manipulator 23 to move downwards, the manipulator 23 clamps oral instruments in the instrument tray, the Z-axis moving mechanism drives the manipulator 23 to move upwards, the X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator 23 to a preset target coordinate position above the material receiving area 4, and the Z-axis moving mechanism drives the manipulator 23 to move downwards and release the oral instruments; the Z-axis moving mechanism drives the manipulator 23 to ascend and reset. The X-axis moving mechanism comprises an X-axis electric cylinder 20, the Y-axis moving mechanism comprises a Y-axis electric cylinder 21, and the Z-axis moving mechanism comprises a Z-axis electric cylinder 22.
S5, repeating the step S4 until the oral cavity instruments in the instrument tray above the single-tray placing frame 18 are taken out, and removing the empty instrument tray; the process advances to step S1.
Preferably, after step S1 and before step S2, the method further includes step S1.1: whether the instrument disk is on the single-disk placing frame 18 is detected through an infrared sensor, if yes, the middle lifting frame assembly is kept still, and if not, the step S2 is carried out.
According to the invention, through the instrument plate distribution mechanism, the three-coordinate stroke mechanism and the mechanical arm, automatic distribution of the instrument plate is realized, and the process of automatically grabbing oral instruments through the mechanical arm is adopted, so that the missing and misplacement of the instruments caused by manual placement are avoided, and the accuracy of the instruments required for packaging is ensured. In the production process, the instrument plate is directly added without stopping the machine, so that the efficiency is improved.
Claims (10)
1. The utility model provides an automatic circulation oral cavity apparatus is got and is put device which characterized in that: the automatic feeding device comprises a rack, an instrument disc distributing mechanism, a three-coordinate stroke mechanism and a mechanical arm, wherein the instrument disc distributing mechanism, the three-coordinate stroke mechanism and the mechanical arm are arranged on the rack respectively;
the instrument tray distributing mechanism is positioned in the instrument tray stacking area; the instrument tray distributing mechanism comprises a material bearing frame assembly and a middle lifting frame assembly; the device comprises a rack assembly, a rack and a control device, wherein the rack assembly comprises a first rack and a second rack which are used for supporting the front side edge and the rear side edge of an instrument tray, a first advancing and retreating cylinder is arranged on one side of the first rack, and a first lifting cylinder is arranged below the first rack; a second advancing and retreating cylinder is arranged on one side of the second material rack, and a second lifting cylinder is arranged below the second material rack;
the middle lifting frame assembly comprises a material lifting frame, a third lifting cylinder and a material pushing cylinder, the material lifting frame is positioned under the instrument disc, and the third lifting cylinder is positioned under the material lifting frame and connected with the bottom of the material lifting frame; the material pushing cylinder is positioned on one side of the material lifting frame, a material pushing plate is arranged on the material pushing cylinder, and the material pushing cylinder drives the material pushing plate to push the instrument plate on the material lifting frame to the sub-plate placing area;
a single-disc placing frame is arranged in the disc separating placing area, and is positioned on the other side of the material lifting frame and used for placing instrument discs from the material lifting frame;
the three-coordinate stroke mechanism comprises an X axial moving mechanism capable of driving the manipulator to move back and forth between the upper part of the sub-tray placing area and the upper part of the material receiving area, a Y axial moving mechanism capable of driving the manipulator to move back and forth, and a Z axial moving mechanism capable of driving the manipulator to move up and down.
2. The automatic cycle oral device pick and place device of claim 1, wherein: the X-axis moving mechanism comprises an X-axis electric cylinder, the Y-axis moving mechanism comprises a Y-axis electric cylinder, and the Z-axis moving mechanism comprises a Z-axis electric cylinder; the X axial electric cylinder is located the top in district and material receiving area are placed to the subdistrict, Y axial electric cylinder with the output of X axial electric cylinder links to each other, the output of Y axial electric cylinder with Z axial electric cylinder links to each other, the output of Z axial electric cylinder with the manipulator links to each other.
3. The automatic cycle oral device pick and place device of claim 1, wherein: and a lifting mechanism is arranged below or on one side of the single-disc placing frame.
4. The automatic cycle oral device pick and place device of claim 1, wherein: the first lifting cylinder is fixed on the rack through a first bottom plate, the second lifting cylinder is fixed on the rack through a second bottom plate, and the third lifting cylinder is fixed on the rack through a third bottom plate.
5. The automatic cycle oral device pick and place device of claim 1, wherein: one side of the instrument plate is provided with a positioning plate fixed on the frame.
6. The automatic cycle oral device pick and place device of claim 1, wherein: and the single-disk placing frame is provided with an infrared sensor which is connected with the middle lifting frame assembly and is used for detecting whether the instrument disk exists on the single-disk placing frame.
7. The automatic cycle oral device pick and place device of claim 1, wherein: and a material bracket for placing a packing box is arranged in the material receiving area.
8. A method of controlling the automatic cycle oral device pick and place apparatus of any one of claims 1 to 7, wherein: the method comprises the following steps:
s1, initially, vertically stacking an instrument plate provided with oral instruments on the first material frame and the second material frame; the material lifting frame is flush with the single-disc placing frame;
s2, starting the middle lifting frame assembly to distribute: the third lifting cylinder drives the material lifting frame to ascend and jack up the instrument disc upwards so that the instrument disc is separated from the first material frame and the second material frame; the first feeding and withdrawing cylinder and the second feeding and withdrawing cylinder simultaneously drive the first material rack and the second material rack to move towards the front side and the back side and leave the instrument plate; the third lifting cylinder drives the material lifting frame to descend to the position where two side edges of a second instrument tray position from bottom to top are located in the horizontal bearing range of the first material frame and the second material frame, and the first feeding and withdrawing cylinder and the second feeding and withdrawing cylinder simultaneously drive the first material frame and the second material frame to move towards the instrument tray direction to support two side edges of the second instrument tray position from bottom to top; the third lifting cylinder drives the material lifting frame to continuously descend and reset until the material lifting frame is flush with the single-disk placing frame, at the moment, 1 instrument disk is positioned on the material lifting frame and leaves other instrument disks above the material lifting frame, and the other instrument disks are positioned on the first material frame and the second material frame;
s3, the material pushing cylinder drives the material pushing plate to push 1 instrument plate on the material lifting frame to a single-plate placing frame in a plate separating placing area, and the material pushing cylinder resets;
s4, the X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator to a preset target coordinate position of an instrument plate above the single-plate placing frame, the Z-axis moving mechanism drives the manipulator to move downwards, the manipulator clamps oral instruments in the instrument plate, the Z-axis moving mechanism drives the manipulator to move upwards, the X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator to a preset target coordinate position above the material receiving area, and the Z-axis moving mechanism drives the manipulator to move downwards and release the oral instruments; the Z-axis moving mechanism drives the manipulator to ascend and reset;
s5, repeating the step S4 until the oral cavity instruments in the instrument tray above the single-tray placing rack are taken out, and removing the empty instrument tray; the process advances to step S1.
9. The method of claim 8, wherein the step of controlling the automatic cycle oral device pick-and-place device comprises: after step S1 and before step S2, the method further includes step S1.1: and detecting whether the instrument disk is arranged on the single-disk placing rack, if so, keeping the middle lifting rack assembly still, and if not, entering the step S2.
10. The method of controlling an automatic cycle oral device pick and place apparatus of claim 9, wherein: and S1.1, detecting whether the single-disk placing rack has an instrument disk or not through an infrared sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210653996.0A CN114833858A (en) | 2022-06-10 | 2022-06-10 | Automatic circulation oral cavity instrument taking and placing device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210653996.0A CN114833858A (en) | 2022-06-10 | 2022-06-10 | Automatic circulation oral cavity instrument taking and placing device and control method |
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| CN114833858A true CN114833858A (en) | 2022-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210653996.0A Pending CN114833858A (en) | 2022-06-10 | 2022-06-10 | Automatic circulation oral cavity instrument taking and placing device and control method |
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| JP2007070065A (en) * | 2005-09-07 | 2007-03-22 | Yamato Scale Co Ltd | Device for packing, stacking and carrying articles |
| KR20090069530A (en) * | 2007-12-26 | 2009-07-01 | 주식회사 프로텍 | Automatic supply and retrieval methods of tray and the automatic supply and retrieval device thereof |
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