CN115255889A - Automatic water cup aligning and bottom pressing production line and processing method thereof - Google Patents
Automatic water cup aligning and bottom pressing production line and processing method thereof Download PDFInfo
- Publication number
- CN115255889A CN115255889A CN202210934798.1A CN202210934798A CN115255889A CN 115255889 A CN115255889 A CN 115255889A CN 202210934798 A CN202210934798 A CN 202210934798A CN 115255889 A CN115255889 A CN 115255889A
- Authority
- CN
- China
- Prior art keywords
- cup body
- steel bottom
- conveying mechanism
- steel
- vision camera
- 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.)
- Granted
Links
- 238000003825 pressing Methods 0.000 title claims abstract description 70
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 49
- 238000003672 processing method Methods 0.000 title claims abstract description 10
- 241000190070 Sarracenia purpurea Species 0.000 title claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 200
- 239000010959 steel Substances 0.000 claims abstract description 200
- 230000007246 mechanism Effects 0.000 claims abstract description 185
- 241000239290 Araneae Species 0.000 claims abstract description 40
- 230000009471 action Effects 0.000 claims abstract description 9
- 238000002372 labelling Methods 0.000 claims description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 230000035622 drinking Effects 0.000 claims 1
- 239000000725 suspension Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 10
- 238000004458 analytical method Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000002356 single layer Substances 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 208000003164 Diplopia Diseases 0.000 description 1
- 244000208734 Pisonia aculeata Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 208000029444 double vision Diseases 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a production line and a processing method thereof for automatically aligning and pressing a cup bottom, which can meet the automatic alignment assembly of a cup body and a cup bottom with alignment requirements and have high precision and high efficiency, and the production line comprises a cup body conveying mechanism, a steel bottom conveying mechanism, a clamping jaw assembly, a pressing mechanism, a spider manipulator, a cup body vision camera, a steel bottom vision camera and a transfer mechanism which are in circuit connection with an industrial personal computer; the clamping jaw assembly, the pressing mechanism and the transferring mechanism are arranged on the cup body conveying mechanism at intervals, the cup body vision camera acquires cup body image information clamped by the clamping jaws and transmits the cup body image information to the industrial personal computer, and the clamping jaws are controlled by the industrial personal computer to rotate, adjust and then put back; the steel bottom vision camera is positioned below the spider manipulator, acquires steel bottom image information clamped by the spider manipulator, transmits the steel bottom image information to the industrial personal computer, controls the spider manipulator to rotate and adjust by the industrial personal computer, then assembles the spider manipulator on the cup body, and completes bottom pressing under the action of the pressing mechanism; and finally, transferring the product to the next production line by a PPU manipulator of the transfer mechanism for continuous processing.
Description
Technical Field
The invention relates to a vacuum cup processing production device, in particular to a cup automatic alignment and bottom pressing production line and a processing method thereof, wherein a cup bottom is assembled on a cup body and is pressed down into a whole.
Background
As the production industry enters the automatic era, each process in the vacuum cup processing also gradually realizes the automatic production. For example, patent document CN 211414239U discloses a "full-automatic assembling device for a cup body and a cup bottom of a vacuum cup", which includes a frame, a conveying device, a suction cup transfer mechanism, a turntable mechanism and a pressing mechanism, wherein the suction cup transfer mechanism transfers the cup bottom of the conveying device to a clamp assembly, the clamp assembly with the cup bottom is moved away from the suction cup transfer mechanism under the driving of the turntable mechanism, the cup body is placed into the clamp assembly at the next station, whether the cup bottom is placed into the clamp assembly is detected through a first sensor, whether the cup body is placed into the clamp assembly is detected through a second sensor, the assembled cup body and cup bottom are driven to the pressing mechanism through the turntable mechanism, the device can automatically assemble the cup body and the cup bottom, but cannot be applied to products with patterns required for alignment, and the cup body and the cup bottom of such products have patterns or logos and have strict alignment requirements, and the existing assembling device cannot meet the alignment requirements of such products, but only can manually identify alignment and assembly, so that the labor cost is greatly increased, but the efficiency is low, and the manual alignment is prone to have deviation and the quality is affected; in addition, adopt carousel mechanism transportation cup, the station limitation is difficult to adapt to other production lines such as subsides mark device of switching, can not adapt to automated production.
Disclosure of Invention
The invention aims to provide an automatic alignment and bottom pressing production line for a water cup and a processing method thereof, which can meet the automatic alignment assembly of a cup body and a cup bottom with alignment requirements, have high accuracy and high efficiency, can be adapted to other production lines and realize automatic production.
In order to realize the purpose, the invention adopts the following technical scheme:
a production line for automatically aligning and pressing a bottom of a water cup comprises a cup body conveying mechanism, a steel bottom conveying mechanism, a clamping jaw assembly, a pressing mechanism, a spider manipulator, a cup body vision camera, a steel bottom vision camera and a transfer mechanism, wherein the cup body conveying mechanism, the steel bottom conveying mechanism, the clamping jaw assembly, the pressing mechanism, the spider manipulator, the cup body vision camera, the steel bottom vision camera and the transfer mechanism are in circuit connection with an industrial personal computer; the cup body conveying mechanism is a plate chain type assembly line, the clamping jaw assembly, the pressing mechanism and the transfer mechanism are arranged on the cup body conveying mechanism at intervals, and the transfer mechanism is positioned at the tail end of the cup body conveying mechanism; the cup body vision camera is arranged on the mounting frame of the clamping jaw assembly, acquires cup body image information clamped by the clamping jaws, transmits the cup body image information to the industrial personal computer, and controls the clamping jaws to rotate and adjust by the industrial personal computer and then puts back the clamping jaws; the steel bottom conveying mechanism is arranged beside the cup body conveying mechanism and located at a station between the clamping jaw assembly and the pressing mechanism, the spider manipulator is located above the station, the steel bottom vision camera is located below the spider manipulator, steel bottom image information clamped by the spider manipulator is collected and transmitted to the industrial personal computer, and the spider manipulator is controlled by the industrial personal computer to rotate and be assembled on the cup body after being adjusted; the diameter of a pressure head of the pressing mechanism is larger than that of the steel bottom; the transfer mechanism is a PPU manipulator, and the clamping part of the PPU manipulator is a vacuum chuck.
Furthermore, the cup body conveying mechanism comprises a servo motor, two chains driven by the servo motor, a plurality of bottom plates fixed on the chains, and a clamp assembly arranged on the bottom plates; the clamping part of the spider manipulator is a vacuum chuck.
Furthermore, empty cup detection sensors are arranged on the cup body conveying mechanism and at positions corresponding to the clamp assemblies; the clamp assembly comprises a clamp head, a positioning seat, a spring, a steel ball and a conical positioning pin; the positioning seat is of a hollow structure, and the bottom of the positioning seat is fixed on the bottom plate; the conical positioning pin is axially and movably arranged in the positioning seat, the spring is arranged below the conical positioning pin, the upper end of the conical positioning pin penetrates out of the top end of the positioning seat, and the lower end of the conical positioning pin is limited in the positioning seat in a conical manner; the steel balls are a plurality of conical inclined planes which are uniformly distributed on the conical positioning pin around the axis; limiting holes are formed in the positions, located on the steel ball, of the circumference of the positioning seat, and the aperture of each limiting hole is smaller than the diameter of the steel ball; the inner wall of the clamp head is provided with a V-shaped annular groove, and the steel ball moves upwards on the conical positioning pin to push the lower limiting hole to protrude out and be clamped with the V-shaped annular groove.
Furthermore, the steel bottom conveying mechanism comprises a stepping motor and a conveying belt driven by the stepping motor; the starting end of the steel bottom conveying mechanism is provided with a guide inclined plane; the tail end of the steel bottom conveying mechanism is provided with a baffle, and a V-shaped limiting groove is formed in the contact position of the steel bottom and the baffle; flanges are arranged on two sides of the steel bottom conveying mechanism, and a laser sensor for controlling the steel bottom conveying mechanism to pause is arranged at the tail ends of the flanges.
Furthermore, the steel bottom vision camera is installed on a fixed seat lower than the tail end of the steel bottom conveying mechanism, and the steel bottom vision camera is embedded in the fixed seat.
Furthermore, the cup body vision camera and the steel bottom vision camera are both CCD industrial cameras; the clamping jaw assembly is provided with two clamping jaws with stations acting simultaneously and two cup body vision cameras, and each cup body vision camera is arranged at the corresponding clamping jaw; the pressing mechanism is provided with two air cylinders with stations acting simultaneously.
Furthermore, an automatic labeling mechanism is arranged between the pressing mechanism and the transferring mechanism and is arranged on the cup body conveying mechanism.
A processing method of a water cup automatic alignment bottom pressing production line adopts the water cup automatic alignment bottom pressing production line and comprises the following steps,
s1, placing a cup body logo on a clamp assembly of a cup body conveying mechanism, wherein the mouth of the cup body faces downwards and the cup body logo faces the side of a cup body vision camera;
s2, placing the steel bottom opening part downwards on a steel bottom conveying mechanism in an inverted mode;
s3, the cup body moves to the clamping jaw assembly along with the cup body conveying mechanism, the clamping jaws grab the cup body, the cup body vision camera works to photograph the logo on the cup body and transmits the logo to the industrial personal computer, the industrial personal computer compares and analyzes the photographing result and needs to analyze the rotating direction and angle of the cup body, the clamping jaws rotate according to the analysis result to drive the cup body to rotate and align, then the cup body vision camera is placed back on the clamping jaw assembly, and the direction of the logo right facing to the cup body is perpendicular to the cup body conveying mechanism;
s4, conveying the steel bottom to the tail end of the steel bottom conveying mechanism, sucking the steel bottom by a vacuum chuck of the spider manipulator, moving the steel bottom to the position above a steel bottom vision camera, taking a picture of a logo steel seal on the inner side of the steel bottom by the steel bottom vision camera and transmitting the picture to an industrial personal computer, analyzing the direction and the angle of rotation by the industrial personal computer, transmitting the result to the spider manipulator to rotate so as to align the steel bottom, then placing the steel bottom on an aligned cup body, and enabling the steel bottom logo and the cup body logo to be parallel;
s5, conveying the aligned cup body and the aligned steel bottom to a pressing mechanism, starting an air cylinder, installing the steel bottom on the cup body under the pressure action of a pressure head, pressing in place, and finishing assembly;
s6, the cup body which is assembled is continuously conveyed to the transfer mechanism, the vacuum chuck of the PPU manipulator moves downwards to suck the cup body, the cup body which is processed is rotated by a specified angle, and the cup body is transferred to other production lines to be processed in the next step.
Furthermore, the clamping jaw assembly in the step S3 is provided with two groups of clamping jaws and a cup body vision camera, and double-station setting is carried out simultaneously; the pressing mechanism in the step S5 is provided with two cylinders, and the two stations are arranged to press simultaneously; the cup body conveying mechanism runs in a double-station stepping mode.
Furthermore, on the cup body conveying mechanism, an automatic labeling mechanism is arranged between the pressing mechanism and the transferring mechanism; and S5, continuously conveying the cup body which is assembled in the step S5 to an automatic labeling mechanism for labeling.
Compared with the prior art, the invention has the beneficial effects that: firstly, the cup body vision camera and the steel bottom vision camera can be arranged to accurately collect cup body and steel bottom image information (such as LOGO) and send the information to an industrial personal computer, after an angle needing to be aligned and rotated is obtained through analysis of the industrial personal computer, the spider manipulator and the clamping jaw assembly are controlled to perform corresponding rotation amount alignment assembly, the alignment cup body and the steel bottom can be automatically identified, the alignment requirements of figures or LOGOs on the cup body and the steel bottom are guaranteed, the alignment assembly automation is realized, the accuracy is high, the speed is high, and the production efficiency and the product quality are effectively improved; secondly, the spider manipulator is adopted, so that the spider manipulator is flexible and can move in multiple directions, the precision of steel bottom grabbing, collecting and cup body assembling is improved, and the grabbing and assembling speeds are high; thirdly, the cup body is grabbed by the cup body vision camera, the steel bottom vision camera acquires the steel bottom grabbed by the spider manipulator, namely, a mode of grabbing first, photographing and rotating and aligning is adopted during alignment, so that errors caused by grabbing first and then are avoided, the accuracy of the rotation angle before and after grabbing is ensured, and the alignment assembly accuracy is improved; fourthly, the cup body conveying mechanism adopts a plate chain type assembly line, the stations are fixed, the conveying process is very stable, the assembly error is greatly reduced, and the assembly precision is improved; fifthly, a PPU manipulator is arranged at the tail end of the cup body conveying mechanism and serves as a transfer mechanism, a vacuum chuck of the PPU manipulator sucks up the cup body which is assembled and pressed to the bottom, the cup body is rotated by a specified angle and transferred to other production lines for further processing, and automatic production is achieved; fifthly, the diameter of a pressure head of the pressing mechanism is larger than that of the steel bottom, the force of the pressure head acting on the steel bottom is dispersed on the whole surface of the steel bottom, the deformation and damage of the product in the bottom pressing process are avoided, and the assembly quality of the product is improved.
The method has the following further beneficial effects: firstly, a plurality of bottom plates are fixed on a chain of the cup body conveying mechanism, and a clamp assembly for clamping and fixing the cup body is installed on each bottom plate, so that the cup body positioning requirement is met, the bottom plates can bear the pressure when the steel bottom is pressed, and the alignment assembly is more stable; secondly, the clamping part of the spider manipulator is a vacuum chuck, and the steel bottom is of a single-layer structure, so that the acting force is on the outer surface of the steel bottom when the vacuum chuck is sucked, the clamping is convenient, the damage to the thin wall of the steel bottom when the steel bottom is grabbed is avoided, marks are arranged on the front side and the back side of the steel bottom of a logo punched on the steel bottom, a steel bottom vision camera can collect the steel seal on the inner side surface of the steel bottom, the top surface of the steel bottom is sucked by the vacuum chuck, the collection of the bottom surface of the inner side of the steel bottom is more convenient, and the accuracy is high; thirdly, the empty cup detection sensor can detect whether a cup body exists on each clamp assembly in the assembling process, so that idling is avoided, and adjustment is carried out in time; fourthly, the steel bottom conveying mechanism adopts a conveyor belt assembly line driven by a stepping motor, the transmission of the steel bottom on the conveyor belt is more stable, the flanges at the two sides of the steel bottom conveying mechanism play a role in guiding the transmission of the steel bottom, and the guide inclined plane arranged at the starting end not only guides the steel bottom to flow to the conveyor belt, but also can be butted with an automatic assembly line such as a vibration blanking device and the like, so that the guide steel bottom automatically flows into the conveyor belt; fifthly, a baffle is arranged at the tail end of the steel bottom conveying mechanism, and a V-shaped limiting groove is formed in the contact position of the steel bottom and the baffle, so that the steel bottom is more convenient to limit and position; sixthly, a laser sensor for controlling the start and stop of the assembly line is arranged at the tail end of the steel bottom conveying mechanism, when the steel bottom is in contact with the baffle, the laser sensor is triggered to pause the assembly line, and when the steel bottom is sucked away by the spider manipulator sucker, the assembly line is started again; the steel bottom vision camera is mounted on a fixed seat lower than the tail end of the steel bottom conveying mechanism, the steel bottom vision camera is embedded in the fixed seat, and the spider manipulator grabs the steel bottom and then translates the steel bottom vision camera to the position above the steel bottom vision camera, so that the actions of the manipulator are simplified, the error is reduced, and the steel bottom vision camera is embedded, so that the steel bottom vision camera is effectively protected, and the service life is prolonged; eighthly, the steel bottom vision camera and the cup body vision camera both adopt CCD industrial cameras, so that the precision and the sensitivity are higher, and the alignment assembly precision is further improved; the clamping jaw assembly is provided with two clamping jaws, namely the clamping jaws on the two stations grab the cup body at the same time, and the cup body is acquired through the two cup body vision cameras respectively, so that the alignment efficiency is further improved; the pressing mechanism also adopts a cylinder with double stations acting simultaneously to press the cup bodies on the two stations simultaneously, so that the assembly efficiency is effectively improved; and an automatic labeling mechanism is arranged between the pressing mechanism and the transferring mechanism and used for automatically pasting labels such as product information labels or two-dimensional code labels on the cup body, and when the cup body with the steel bottom pressed flows to the station, the automatic labeling mechanism automatically finishes labeling work at an appointed position.
Drawings
FIG. 1 is a schematic perspective view of an automatic alignment assembly apparatus for a cup bottom according to the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is a schematic perspective view of a steel bottom transportation device in the automatic cup bottom alignment assembly apparatus according to the present invention;
FIG. 5 is a schematic cross-sectional view of a fixture assembly in the automatic alignment and bottom-pressing production line of the cup of the present invention;
FIG. 6 is a schematic structural view of another embodiment of the automatic alignment bottom-pressing production line for cups according to the present invention.
Detailed Description
In order to make the technical scheme of the invention clearer, the invention is described in detail below with reference to the attached drawings 1-6. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1: referring to the attached drawings 1, 2 and 3, the automatic alignment bottom pressing production line for the water cups comprises a cup body conveying mechanism 1, a steel bottom conveying mechanism 2, a clamping jaw assembly 4, a spider manipulator 3, a steel bottom vision camera 6, a cup body vision camera 5, a pressing mechanism 7, an automatic labeling mechanism 8 and a transfer mechanism 9 which are all in circuit connection with an industrial personal computer; the industrial personal computer, the vision camera, the clamping jaw, the manipulator, the pressing mechanism and the automatic labeling mechanism are all in the prior art, the industrial personal computer is an industrial controller, the industrial personal controller controls an integral operation system of a production line, the vision camera shoots and collects images and then transmits the images to the industrial personal computer for comparison and analysis, the clamping jaw or the manipulator performs actions of grabbing, rotating, transmitting and the like according to a result command obtained by analysis of the industrial personal computer, the vision camera and the manipulator are also widely applied to various processing production lines, for example, patent document CN 209650748U, the disclosed full-automatic labeling machine based on double vision alignment realizes automatic labeling of the manipulator through the vision camera; the steel bottom vision camera and the cup vision camera of the present embodiment are exemplified by a CCD industrial camera, but are not limited to the CCD industrial camera, and a CMOS industrial camera may be used.
The cup body conveying mechanism 1 adopts a plate-chain type pipeline structure, is driven by a servo motor 13 (such as ecma-ex1315fs with a brake) to step by double stations, can be set to run for 3 seconds, enables each cup body to enter each appointed station, pauses for 2 seconds to wait for the completion of the operation of each station, and circularly conveys in the way; the plate chain type structure of the cup body conveying mechanism 1 comprises a rack 10, two chains 14 arranged in the rack 10 in parallel, a bottom plate 11 uniformly distributed on the two chains 14, and a clamp assembly 12 fixed on the bottom plate 11; two ends of the bottom plate 11 are respectively fixed on the two chains 14, namely the bottom plate 11 is spanned between the two chains 14; a clamp assembly 12 is fixed on each bottom plate 11, the clamp assemblies 12 are all arranged on the same position of the bottom plate 11, and the clamp assembly 12 of the embodiment is fixed in the middle of the bottom plate 11; the cup body aligning station, the assembling station, the bottom pressing station, the labeling station and the transferring station are sequentially arranged on the cup body conveying mechanism 1 from front to back at intervals along the moving direction.
Referring to fig. 5, the fixture assembly 12 is used for limiting and fixing a cup body to be processed, and includes a fixture head 120, a positioning seat 121, a spring 124, a steel ball 123 and a tapered positioning pin 122; the outer side of the clamp head 120 is matched with the mouth of the cup body, and the cup body to be processed is placed on the clamp head 120 in an inverted mode; the positioning seat 121 is of a hollow structure, and the bottom of the positioning seat 121 is fixed on the bottom plate 11; the conical positioning pin 122 is axially and movably arranged in the positioning seat 121, the spring 124 is arranged below the conical positioning pin 122, the upper end of the conical positioning pin 122 penetrates through the top end of the positioning seat 121, and the lower end of the conical positioning pin is limited in the positioning seat 121 in a conical manner; the steel balls 123 are uniformly distributed on the conical inclined plane of the conical positioning pin 122 around the axis; through limiting holes 126 are formed in the positions, located on the steel ball 123, of the circumference of the positioning seat 121, and the aperture of each limiting hole 126 is smaller than the diameter of the steel ball 123, so that the steel ball 123 cannot fall out; the inner wall of the clamp head 120 is provided with a V-shaped annular groove 125, and the steel ball 123 moves upwards on the conical positioning pin 122 to push the steel ball to protrude downwards out of the limiting hole 126 and be tightly clamped with the V-shaped annular groove 125; when the mold is changed, firstly, the conical positioning pin 122 is pressed downwards to enable the conical positioning pin to move downwards, the extrusion spring 124 is in a compressed state, and the conical outer wall inclined plane at the lower part of the conical positioning pin 122 releases the limit on the steel ball 123; then, an upward force is applied to the clamp head 120, the steel ball 123 moves inwards under the action of the V-shaped ring groove 125, the limitation on the clamp head 120 is removed, and the clamp head 120 is easily taken down; at the moment, only the replacement fixture head with the required specification needs to be pressed downwards in an opposite position, then the conical positioning pin 122 is loosened, the conical positioning pin 122 moves upwards under the action of the spring 124, the steel ball 123 is further extruded to move outwards to protrude and be clamped with the V-shaped ring groove 125, the fixture head 120 is limited and clamped, the fixture head replacement is completed, and the replacement operation is very convenient and fast; the cup body to be processed is placed upside down on the clamp head 120 and is conveyed to a corresponding station along with the production line for processing.
The clamping jaw component 4 is arranged on a cup body aligning station of the cup body conveying mechanism 1, and the clamping jaw component 4 is arranged above the cup body conveying mechanism 1 in a spanning mode through a mounting frame 40; the clamping jaw assembly 4 is provided with two clamping jaws 41, the clamping jaws 41 can move up and down to grab and rotate, and each clamping jaw 41 corresponds to the cup body 100 to be processed on the lower clamping assembly 12; the gripping jaws 41 may also be manipulators; a cup body vision camera 5 for taking pictures correspondingly is arranged on the side face of each clamping jaw 41, the cup body vision cameras 5 are mounted on the mounting frame 40 and face to the figure or LOGO of the cup body, namely the clamping jaw assembly 4 is provided with the clamping jaws 41 with two stations acting simultaneously and the two cup body vision cameras 5, and each cup body vision camera 5 is arranged at the corresponding clamping jaw 41; after the clamping jaw 41 clamps up and waits to process cup 100, cup vision camera 5 shoots and gathers it to image information with gathering sends to the industrial computer, and the industrial computer sends instruction information through comparison analysis, and clamping jaw 41 is according to the instruction information rotation of receiving to place back to on anchor clamps subassembly 12 after the cup well, and the figure or the LOGO of cup body is just right the direction perpendicular with the assembly line this moment, continues to transport and assembles the station to next station promptly.
The steel bottom conveying mechanism 2 is arranged beside the cup body conveying mechanism 1, and the tail end of the steel bottom conveying mechanism 2 is positioned on the side surface of an assembly station in the cup body conveying mechanism 1; referring to fig. 4, the steel bottom conveying mechanism 2 adopts a belt 21 (conveyor belt) production line driven by a stepping motor 20, and the stepping motor 20 can adopt a 57-series two-phase high-performance hybrid closed-loop stepping motor; the starting end of the steel bottom conveying mechanism 2 is provided with a guide inclined plane 23, and the guide inclined plane 23 is an inclined plane which gradually decreases towards the middle direction of the steel bottom conveying mechanism 2, so that the steel bottom 200 is guided by the inclined plane to slide into the belt 21 of the steel bottom conveying mechanism 2; flanges 22 are further arranged on two sides of the steel bottom conveying mechanism 2, the flanges 22 are used for limiting the steel bottom 200 left and right, and the distance between the flanges 22 is matched with the size of the steel bottom 200; the tail end of the steel bottom conveying mechanism 2 is provided with a baffle plate 24, and a V-shaped limiting groove 29 is arranged at the contact position of the steel bottom 200 and the baffle plate 24 and used for limiting and positioning the steel bottom 200; a laser sensor 25 is further arranged on the flange 22 at the tail end of the steel bottom conveying mechanism 2; the laser sensor 25 is connected with an industrial personal computer in a circuit, the industrial personal computer receives signals to control the start and stop of the stepping motor 20, namely, the steel bottom 200 rotates along with the belt 21 to contact with the baffle 24, the laser sensor 25 senses the position of the steel bottom 200 and transmits the signals to the industrial personal computer, and the industrial personal computer controls the stepping motor 20 of the steel bottom conveying mechanism 2 to stop so as to pause the production line; a fixed seat 26 also extends from the tail end of the steel bottom conveying mechanism 2, and an accommodating groove 27 with an upward opening is formed in the fixed seat 26; the steel bottom vision camera 6 is embedded in the center of the accommodating groove 27; an angle plate 28 is further arranged at the tail end of the fixing seat 26, and the other end of the angle plate 28 is fixed with the cup body conveying mechanism 1.
The spider manipulator 3 is positioned above the junction of the tail end of the steel bottom conveying mechanism 2 and the cup body conveying mechanism 1, namely above an assembly station in the cup body conveying mechanism 1; the clamping part of the spider manipulator 3 is a vacuum chuck 30; the vacuum chuck 30 of the spider manipulator 3 sucks up the steel bottom 200, the steel bottom 200 is moved above the steel bottom vision camera 6, pictures are taken, the pattern or LOGO information of the steel bottom 200 is acquired and sent to an industrial personal computer, the industrial personal computer analyzes the direction and angle needing to be rotated and transmits the analysis result to the spider manipulator 3, the spider manipulator 3 rotates and adjusts the alignment according to the received information, then the steel bottom 200 is assembled on the aligned cup body, because the steel bottom 200 is of a single-layer structure, the pattern or LOGO punched on the steel bottom has marks on the front and back surfaces of the steel bottom, the spider manipulator 3 sucks up the outer surface of the steel bottom 200, and the steel bottom vision camera 6 scans the inner surface of the steel bottom 200; and after the steel bottom 200 is aligned and assembled on the aligned cup body by the spider manipulator 3, the steel bottom continues to flow to the next station, namely a bottom pressing station, along with the cup body conveying mechanism 1.
The pressing mechanism 7 is arranged on the cup body conveying mechanism 1 and is positioned at the bottom pressing station; the pressing mechanism 7 comprises a fixed frame 72, two air cylinders 71 and two pressing heads 70; the pressure heads 70 are respectively fixed at the telescopic ends of the air cylinders 71, the two air cylinders 71 which act simultaneously are fixed on a fixed frame 72 at intervals, and the fixed frame 72 is fixed on the frame 10 of the cup body conveying mechanism 1 in a spanning manner; the air cylinder 71 controls the pressure head 70 to vertically press down and lift up; the bottom surface of the pressure head 70 is flat, and the diameter of the pressure head 70 is larger than that of the steel bottom 200; the pressing heads 70 respectively correspond to the bottom-to-be-pressed cup bodies below the pressing heads; a steel bottom detection sensor can be arranged at the position corresponding to the to-be-pressed bottom cup body on the fixing frame 72, the assembled to-be-pressed bottom cup body enters the pressing mechanism 7, and after the steel bottom detection sensor detects that the to-be-pressed bottom cup body is pressed, the pressing head 70 is started to enable the steel bottom 200 to be mounted on the cup body under the action of pressure and pressed in place to complete the steel bottom pressing process.
The automatic labeling mechanism 8 is arranged at a labeling station of the cup body conveying mechanism 1, namely, is positioned between the pressing mechanism 7 and the transferring mechanism 9; the automatic labeling mechanism 8 is the prior art, and this embodiment takes a pull-back type labeling machine as an example for illustration, and when the cup body at the bottom of the cylinder is moved to the labeling station, the automatic labeling mechanism 8 automatically completes labeling work at a designated position, and automatically pastes a product information label or a two-dimensional code label on the cup body.
The transfer mechanism 9 is arranged at the tail end of the cup body conveying mechanism 1 and is positioned at a transfer station; the transfer mechanism 9 comprises a transfer frame 91, a PPU manipulator 92 and a next process production line 90, and a clamping part of the PPU manipulator 92 is a vacuum chuck; the next process production line 90 is arranged at the tail end of the cup body conveying mechanism 1, and the next process production line 90 is vertical to the cup body conveying mechanism 1; the transfer frame 91 is fixed at the tail end of the cup body conveying mechanism 1, the PPU manipulator 92 is arranged on the transfer frame 91, and the PPU manipulator 92 can rotate (for adjusting the direction before transfer), move up and down (for taking and placing the cup body), and move horizontally; the PPU manipulator 92 is two, and is the setting of duplex position on shifting frame 91, and PPU manipulator 92 below is equipped with vacuum chuck, adsorbs the bottom of steel through vacuum chuck and grabs the cup that the below corresponds, and PPU manipulator 92 moves down to suck the cup of accomplishing the assembly and pressing the end promptly, shifts to next process production line 90 after rotatory appointed angle with the cup.
A processing method of the automatic alignment bottom pressing production line of the water cup comprises the following steps:
s1, placing a cup body to be processed 100 with an opening facing downwards and a cup body logo facing to a cup body vision camera 5 side on a clamp assembly 12 of a cup body conveying mechanism 1;
s2, the opening part of the steel bottom 200 faces downwards and is placed on the belt 21 of the steel bottom conveying mechanism 2 in an inverted mode;
s3, the cup body 100 to be processed is stepped below the clamping jaws 41 along with the double stations of the cup body conveying mechanism 1, the cup body is grabbed by the two groups of clamping jaws 41 simultaneously, the two cup body vision cameras 5 are simultaneously operated to photograph the logo on the cup body and transmit the picture to an industrial personal computer, the industrial personal computer compares and analyzes the photographing result, the rotating direction and the rotating angle of the cup body are needed, an instruction is transmitted to the clamping jaws 41 according to the analysis result, the clamping jaws 41 rotate to drive the cup body to rotate and align, then the cup body is placed back on the clamp assembly 12, and the direction of the logo on the cup body is perpendicular to the cup body conveying mechanism 1;
s4, the steel bottom 200 is conveyed to the tail end of the steel bottom conveying mechanism 2, the steel bottom 200 is in contact with a baffle plate 24, a laser sensor 25 senses that the steel bottom 200 is located, a signal is transmitted to an industrial personal computer, the industrial personal computer controls a stepping motor 20 of the steel bottom conveying mechanism 2 to stop, a production line is suspended, a vacuum sucker 30 of a spider manipulator 3 sucks the steel bottom 200, the laser sensor 25 controls the steel bottom conveying mechanism 2 to start, the spider manipulator 3 moves to the position above a steel bottom vision camera 6, the steel bottom vision camera 6 photographs a logo steel seal on the inner side of the steel bottom 200 and transmits the logo steel bottom to the industrial personal computer, the industrial personal computer analyzes the direction and the angle needing to be rotated and transmits the result to the spider manipulator 3 to rotate so that the steel bottom is aligned, then the steel bottom 200 is placed on an aligned cup body, and the steel bottom logo is parallel to the cup body at the moment;
s5, the aligned cup body and the aligned steel bottom are continuously conveyed to a pressing mechanism 7 along with the cup body conveying mechanism 1, after a sensor of the pressing mechanism detects a cup body to be pressed, two air cylinders 71 are simultaneously started, the steel bottom is installed on the cup body under the pressure action of a pressure head 70 and is pressed in place, the steel bottom is pressed, and the assembly is completed;
s6, continuously conveying the assembled cup bodies to an automatic labeling mechanism 8 for labeling, wherein the automatic labeling mechanisms 8 are also arranged into two groups, and labeling is carried out at the same time in double stations;
s7, the assembled cup body is continuously conveyed to the transfer mechanism 9, the vacuum chucks of the two PPU manipulators 92 move downwards simultaneously to suck the cup body, the processed cup body is rotated by a specified angle, and the cup body is transferred to a next procedure production line 90 to be processed next.
Example 2: referring to fig. 6, on the basis of embodiment 1, empty cup detection sensors 300 are arranged on the cup body conveying mechanism 1 at positions corresponding to the clamp assemblies 12; the empty cup detection sensor 300 is connected with an industrial personal computer through a circuit, and when the empty cup detection sensor 300 detects an empty cup state, an alarm is triggered or the cup body conveying mechanism 1 is paused.
In the description of the present technical solution, it should be noted that the terms such as "upper", "inner", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for convenience of describing the technical solution and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the technical solution.
Meanwhile, in the description of the present technical solution, it should be noted that, unless explicitly stated or limited otherwise, the terms "fixed" and "coupled" should be interpreted broadly, and for example, they may be fixedly connected, detachably connected, or integrally connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present technical solution can be understood according to specific situations by a person of ordinary skill in the art.
Although embodiments of the present technical solution have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the technical solution, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a production line at bottom is pressed to drinking cup automatic alignment which characterized in that: comprises a cup body conveying mechanism (1) which is in circuit connection with an industrial personal computer, a steel bottom conveying mechanism (2), a clamping jaw assembly (4), a pressing mechanism (7), a spider manipulator (3), a cup body vision camera (5), a steel bottom vision camera (6) and a transfer mechanism (9); the cup body conveying mechanism (1) is a plate chain type production line, the clamping jaw assembly (4), the pressing mechanism (7) and the transfer mechanism (9) are arranged on the cup body conveying mechanism (1) at intervals, and the transfer mechanism (9) is positioned at the tail end of the cup body conveying mechanism (1); the cup body vision camera (5) is arranged on the mounting frame (40) of the clamping jaw assembly (4), collects cup body image information clamped by the clamping jaw (41), transmits the cup body image information to the industrial personal computer, and controls the clamping jaw (41) to rotate, adjust and then put back by the industrial personal computer; the steel bottom conveying mechanism (2) is arranged beside the cup body conveying mechanism (1) and is positioned at a station between the clamping jaw component (4) and the pressing mechanism (7), the spider manipulator (3) is positioned above the station, the steel bottom vision camera (6) is positioned below the spider manipulator (3), acquires steel bottom image information clamped by the spider manipulator (3), transmits the steel bottom image information to the industrial personal computer, and is assembled on the cup body after the industrial personal computer controls the spider manipulator (3) to rotate and adjust; the diameter of a pressure head (70) of the pressing mechanism (7) is larger than that of the steel bottom; the transfer mechanism (9) is a PPU manipulator, and the clamping part of the PPU manipulator is a vacuum chuck.
2. The automatic alignment bottom pressing production line for water cups according to claim 1, which is characterized in that: the cup body conveying mechanism (1) comprises a servo motor (13), two chains (14) driven by the servo motor (13), a plurality of bottom plates (11) fixed on the chains (14), and clamp assemblies (12) arranged on the bottom plates (11); the clamping part of the spider manipulator (3) is a vacuum chuck.
3. The automatic alignment bottom pressing production line for water cups according to claim 2, which is characterized in that: empty cup detection sensors (300) are arranged on the cup body conveying mechanism (1) and correspond to the clamp assemblies (12); the clamp assembly (12) comprises a clamp head (120), a positioning seat (121), a spring (124), a steel ball (123) and a conical positioning pin (122); the positioning seat (121) is of a hollow structure, and the bottom of the positioning seat (121) is fixed on the bottom plate (11); the conical positioning pin (122) is movably arranged in the positioning seat (121), the spring (124) is arranged below the conical positioning pin (122), the upper end of the conical positioning pin (122) penetrates through the top end of the positioning seat (121), and the lower end of the conical positioning pin is limited in the positioning seat (121) in a conical manner; the steel balls (123) are uniformly distributed on the conical inclined plane of the conical positioning pin (122) around the axis; limiting holes (126) are formed in the positions, located on the steel ball (123), of the circumference of the positioning seat (121), and the aperture of each limiting hole (126) is smaller than the diameter of the steel ball (123); the inner wall of the clamp head (120) is provided with a V-shaped ring groove (125), and the steel ball (123) moves up the conical positioning pin (122) to push the steel ball to protrude out of the limiting hole (126) and be tightly clamped with the V-shaped ring groove (125).
4. The automatic alignment bottom pressing production line for water cups according to claim 1, which is characterized in that: the steel bottom conveying mechanism (2) comprises a stepping motor (20) and a conveying belt driven by the stepping motor (20); the starting end of the steel bottom conveying mechanism (2) is provided with a guide inclined plane (23); a baffle plate (24) is arranged at the tail end of the steel bottom conveying mechanism (2), and a V-shaped limiting groove (29) is arranged at the contact position of the steel bottom and the baffle plate (24); flanges (22) are arranged on two sides of the steel bottom conveying mechanism (2), and a laser sensor (25) for controlling the suspension of the steel bottom conveying mechanism (2) is arranged at the tail end of each flange (22).
5. The automatic alignment bottom pressing production line for water cups according to claim 1, which is characterized in that: the tail end of the steel bottom conveying mechanism (2) is provided with a fixing seat (26), the steel bottom vision camera (6) is installed on the fixing seat (26) lower than the tail end of the steel bottom conveying mechanism (2), and the steel bottom vision camera (6) is embedded in the fixing seat (26).
6. The automatic alignment bottom pressing production line for water cups according to claim 1, which is characterized in that: the cup body vision camera (5) and the steel bottom vision camera (6) are CCD industrial cameras; the clamping jaw assembly (4) is provided with two clamping jaws (41) with stations acting simultaneously and two cup body vision cameras (5), and each cup body vision camera (5) is arranged at the corresponding clamping jaw (41) respectively; the pressing mechanism (7) is provided with two air cylinders (71) with stations acting simultaneously.
7. The automatic alignment bottom pressing production line for water cups according to claim 1, which is characterized in that: an automatic labeling mechanism (8) is further arranged between the pressing mechanism (7) and the transferring mechanism (9), and the automatic labeling mechanism (8) is installed on the cup body conveying mechanism (1).
8. The processing method of the automatic alignment bottom pressing production line of the water cup is characterized in that: the automatic alignment bottom pressing production line for the water cups as claimed in claim 2 comprises the following steps,
s1, placing a cup body logo facing a cup body vision camera (5) side on a clamp assembly (12) of a cup body conveying mechanism (1) with a cup body opening facing downwards;
s2, the opening part of the steel bottom is downward and is inversely arranged on the steel bottom conveying mechanism (2);
s3, the cup body is stepped to a clamping jaw assembly (4) along with the cup body conveying mechanism (1), the clamping jaw (41) grabs the cup body, a cup body vision camera (5) works to photograph the logo on the cup body and transmits the picture to an industrial personal computer, the industrial personal computer compares and analyzes the photographed result and needs to analyze the rotating direction and angle of the cup body, the clamping jaw (41) rotates to drive the cup body to rotate and align according to the analyzed result and then is placed back on the clamp assembly (12), and the direction of the logo right facing the cup body is perpendicular to the cup body conveying mechanism (1);
s4, conveying the steel bottom to the tail end of the steel bottom conveying mechanism (2), sucking the steel bottom by a vacuum sucker (30) of the spider manipulator (3), moving the steel bottom to the position above a steel bottom vision camera (6), photographing a logo steel seal on the inner side of the steel bottom by the steel bottom vision camera (6) and transmitting the logo steel seal to an industrial personal computer, analyzing the direction and the angle of rotation by the industrial personal computer, transmitting the result to the spider manipulator (3) to rotate so as to align the steel bottom, then placing the steel bottom on the aligned cup body, and enabling the steel bottom logo and the cup body logo to be parallel at the moment;
s5, conveying the aligned cup body and the aligned steel bottom to a pressing mechanism (7), starting an air cylinder (71), installing the steel bottom on the cup body under the pressure action of a pressure head (70), pressing in place, and finishing assembly;
s6, the cup body which is assembled is continuously conveyed to a transfer mechanism (9), a vacuum sucker of the PPU manipulator moves downwards to suck the cup body, the cup body which is processed is rotated by a specified angle, and the cup body is transferred to other production lines to be processed in the next step.
9. The processing method of the automatic alignment bottom pressing production line of the water cup according to claim 8, characterized in that: the clamping jaw assembly (4) in the step S3 is provided with two groups of clamping jaws (41) and a cup body vision camera (5), and double-station setting is carried out simultaneously; the pressing mechanism (7) in the step S5 is provided with two air cylinders (71), and the two stations are arranged to simultaneously press down; the cup body conveying mechanism (1) runs in a double-station stepping mode.
10. The processing method of the automatic alignment bottom pressing production line of the water cup according to claim 8, characterized in that: an automatic labeling mechanism (8) is arranged on the cup body conveying mechanism (1) and between the pressing mechanism (7) and the transferring mechanism (9); and the cup body which is assembled in the step S5 is continuously conveyed to an automatic labeling mechanism (8) for labeling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210934798.1A CN115255889B (en) | 2022-08-05 | 2022-08-05 | Automatic water cup alignment and bottom pressing production line and processing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210934798.1A CN115255889B (en) | 2022-08-05 | 2022-08-05 | Automatic water cup alignment and bottom pressing production line and processing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115255889A true CN115255889A (en) | 2022-11-01 |
| CN115255889B CN115255889B (en) | 2024-04-09 |
Family
ID=83749707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210934798.1A Active CN115255889B (en) | 2022-08-05 | 2022-08-05 | Automatic water cup alignment and bottom pressing production line and processing method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115255889B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101941537A (en) * | 2010-09-11 | 2011-01-12 | 天津普达软件技术有限公司 | Instant noodles bowl self-aligning detection method and instrument based on machine vision |
| CN206383153U (en) * | 2016-12-02 | 2017-08-08 | 江苏尚诚精密模具科技有限公司 | A kind of manipulator fixture quick-changing mechanism |
| KR101979021B1 (en) * | 2018-12-17 | 2019-05-17 | 이래용 | Position alignment system for packaging container |
| CN109911822A (en) * | 2019-01-07 | 2019-06-21 | 上海达和荣艺包装机械有限公司 | A kind of high lid capping machine |
| CN109987267A (en) * | 2019-05-07 | 2019-07-09 | 江苏永兴长和智能科技有限公司 | A kind of capping machine |
| CN111015313A (en) * | 2019-12-28 | 2020-04-17 | 无锡市瑞可特科技有限公司 | Oil pressure quick positioning device |
| CN113070652A (en) * | 2020-01-03 | 2021-07-06 | 永康市强锋自动化科技有限公司 | Full-automatic assembly device of thermos cup body and bottom of cup |
-
2022
- 2022-08-05 CN CN202210934798.1A patent/CN115255889B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101941537A (en) * | 2010-09-11 | 2011-01-12 | 天津普达软件技术有限公司 | Instant noodles bowl self-aligning detection method and instrument based on machine vision |
| CN206383153U (en) * | 2016-12-02 | 2017-08-08 | 江苏尚诚精密模具科技有限公司 | A kind of manipulator fixture quick-changing mechanism |
| KR101979021B1 (en) * | 2018-12-17 | 2019-05-17 | 이래용 | Position alignment system for packaging container |
| CN109911822A (en) * | 2019-01-07 | 2019-06-21 | 上海达和荣艺包装机械有限公司 | A kind of high lid capping machine |
| CN109987267A (en) * | 2019-05-07 | 2019-07-09 | 江苏永兴长和智能科技有限公司 | A kind of capping machine |
| CN111015313A (en) * | 2019-12-28 | 2020-04-17 | 无锡市瑞可特科技有限公司 | Oil pressure quick positioning device |
| CN113070652A (en) * | 2020-01-03 | 2021-07-06 | 永康市强锋自动化科技有限公司 | Full-automatic assembly device of thermos cup body and bottom of cup |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115255889B (en) | 2024-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109514238B (en) | Automatic dynamic bearing equipment for small motor shell | |
| CN218808924U (en) | Conveying device | |
| CN211235571U (en) | Capacitance detection device | |
| CN114798465A (en) | PTC heater chip automatic feeding check out test set | |
| CN117415459B (en) | Dewar flask assembling device and Dewar flask assembling method | |
| CN115255889A (en) | Automatic water cup aligning and bottom pressing production line and processing method thereof | |
| CN107283165B (en) | Material assembly system is pulled out to first sideslip module of intellectuality of fuel pump automatic assembly line | |
| CN217859783U (en) | Automatic cup bottom aligning and assembling equipment | |
| CN112224868A (en) | FPC (Flexible printed Circuit) light bar feeding method based on CCD (Charge coupled device) | |
| CN112317363A (en) | Intelligent detection system and detection method for industrial products | |
| CN113857844B (en) | Automatic assembling device for bent core hydraulic connector | |
| CN216326243U (en) | Earphone box rotating shaft assembling equipment | |
| CN212863124U (en) | Automatic error-proof correcting device and automatic feeding system comprising same | |
| CN112960397A (en) | Loading attachment and have this loading attachment's automatic subsides installation | |
| CN109532248B (en) | ICT intelligent detection marking system | |
| CN113681259A (en) | Earphone box rotating shaft assembling equipment | |
| CN219104754U (en) | Detection device of automobile sensor | |
| CN218808939U (en) | Automatic cup body orientation equipment | |
| CN215707770U (en) | Centrifugal tube labeling device | |
| CN220411903U (en) | Special-shaped connector loading attachment | |
| CN219077653U (en) | Anti-overflow pollutes milk tea cup sealing membrane device | |
| CN216326250U (en) | Earphone tail sleeve assembling equipment | |
| CN220934105U (en) | Silicon wafer anti-reverse-discharge device | |
| CN115108123B (en) | Automatic turnover labeling equipment for trays | |
| CN211254373U (en) | Automatic marking automation device for differential mechanism |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |