CN117049136A - Automatic change commodity circulation detection conveyer of control - Google Patents
Automatic change commodity circulation detection conveyer of control Download PDFInfo
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- CN117049136A CN117049136A CN202311124554.8A CN202311124554A CN117049136A CN 117049136 A CN117049136 A CN 117049136A CN 202311124554 A CN202311124554 A CN 202311124554A CN 117049136 A CN117049136 A CN 117049136A
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- 230000008859 change Effects 0.000 title description 2
- 230000007246 mechanism Effects 0.000 claims abstract description 85
- 238000000034 method Methods 0.000 claims description 22
- 230000008569 process Effects 0.000 claims description 21
- 230000007306 turnover Effects 0.000 claims description 17
- 238000007599 discharging Methods 0.000 claims description 11
- 238000007689 inspection Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 9
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 230000000087 stabilizing effect Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/68—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
- B65G47/71—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor the articles being discharged or distributed to several distinct separate conveyors or to a broader conveyor lane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/80—Turntables carrying articles or materials to be transferred, e.g. combined with ploughs or scrapers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The application discloses an automatically controlled logistics detection and transportation device, and belongs to the technical field of industrial automatic control equipment. Including carrying big carousel, circulation reposition of redundant personnel mechanism, detecting little carousel, detection mechanism, centre gripping tilting mechanism, parcel body and conveying mechanism, the parcel body that carrying big carousel is used for driving its top rotates for the reposition of redundant personnel to the parcel body, circulation reposition of redundant personnel mechanism sets up in the bottom of carrying big carousel, circulation reposition of redundant personnel mechanism is used for making carrying big carousel and detecting little carousel can synchronous rotation, can release the parcel after the detection to corresponding conveyer belt through detection mechanism's setting, is convenient for reach the effect of intelligent reposition of redundant personnel, and incessantly detects the reposition of redundant personnel to the parcel, improves the conveying efficiency that commodity circulation detected.
Description
Technical Field
The application relates to the technical field of industrial automation control equipment, in particular to an automatically controlled logistics detection and transportation device.
Background
The automatic control logistics detection and transportation device technology is an intelligent logistics technology, can be applied to all links of logistics transportation, including warehouse management, logistics distribution, cargo transportation and the like, and in logistics transportation, the function of detection and transportation is to ensure the safety and the integrity of cargoes in the transportation process. The goods can be monitored and tracked in real time through the equipment such as the sensor, the camera, the RFID, and the like, and the data can help logistics enterprises to better manage the transportation process of the goods, improve the safety and the reliability of the goods, and reduce the occurrence rate of goods loss and goods slip.
The prior art publication No. CN110589351a provides an automatically controlled logistics detection and transportation device, which is transported by placing logistics packages on a conveyor belt, when the logistics packages arrive at the tail end of the conveyor belt, a moving block is moved to the position right below the packages through the action of a moving motor, suction cups are used for grabbing the packages and placing the packages on a detection turntable through a grabbing cylinder, and the packages are automatically pushed into collection frames at different positions after detection.
In the related art, the logistics packages are transported by the conveyor belt, when the logistics packages arrive at the tail end of the conveyor belt soon, the moving block is moved to the position right below the packages by the action of the moving motor, the suction disc is enabled to grasp the packages and put on the detection turntable by the grabbing cylinder, and the packages are automatically pushed into the collection frames at different positions after detection.
The prior art scheme can realize the effect of grabbing the package and placing the package in the collecting frame through the arrangement of the grabbing cylinder and the sucker, but has the following defects; when the device detects the parcel, the conveyer belt can then stop, and the parcel just can carry and detect next parcel in getting into the collection frame, leads to detecting inefficiency. In view of this, we propose an automatically controlled logistics detection transportation apparatus.
Disclosure of Invention
One of the objects of the present application is to provide an automatically controlled logistics transportation apparatus which solves at least one of the above-mentioned drawbacks of the prior art.
In order to achieve the purpose, the application adopts the following technical scheme: an automatically controlled logistics detection and transportation device comprises a circulation diversion mechanism, a small detection turntable, a large carrying turntable, a detection module, a material ejection module, a clamping turnover mechanism and a conveying mechanism; the detection small turntables are arranged at the side parts of the carrying large turntables in a plurality of mode and are equidistantly arranged along the circumferential direction; the detection module is arranged on the large carrying turntable and is positioned above the small detection turntable, and the ejection module is arranged in the middle of the large carrying turntable; the clamping turnover mechanisms are arranged on the large carrying turntable and are provided with a plurality of pairs, and two clamping turnover mechanisms of each pair are correspondingly positioned on two sides of the small detection turntable; the conveying mechanism is suitable for conveying the package body to be detected to the small detection turntable along the corresponding station; the circulating and shunting mechanism is suitable for driving the small detection turntable to rotate, and the detection module is suitable for detecting the damage and the label of the package body in the rotation process of the small detection turntable; the clamping and overturning mechanism is suitable for overturning the package body according to the detection result of the detection module so that the surface of the package body attached with the label faces upwards; the circulating and distributing mechanism is further suitable for driving the carrying large turntable to drive the small detection turntable and the package body to rotate circumferentially so as to pass through a plurality of stations; and then the ejection module is used for discharging the package bodies in different states to corresponding stations in the small detection turntables according to the detection result of the detection module.
Preferably, the carrying turntable is rotatably arranged on a base frame fixedly arranged below, and a fixed toothed ring concentric with the carrying turntable is arranged on the side part of the base frame; the small detection turntable is rotatably arranged on the large carrying turntable through a connecting rod, and the connecting rod is meshed with the fixed toothed ring below the large carrying turntable through a driven gear; the circulating and shunting mechanism comprises a servo motor which is fixedly arranged on the base frame and is in transmission connection with the large carrying turntable; so that the carrying large turntable rotates under the driving of the servo motor, and the detection small turntable rotates through the engagement of the driven gear and the fixed toothed ring in the rotating process of the carrying large turntable.
Preferably, the outer side of the carrying large turntable is provided with a feeding station and a plurality of discharging stations in sequence along the circumferential direction; the side part of the feeding station is correspondingly provided with a conveying mechanism, and the conveying mechanism is suitable for conveying the package body to be detected from the feeding station to the corresponding small detection turntable; the side part of each blanking station is correspondingly provided with a conveying belt; according to the detection result of the detection module, the material pushing module pushes the package bodies in different states to the corresponding conveying belt at different material discharging stations to carry out sorting and discharging.
Preferably, the material ejection module comprises a plurality of telescopic devices corresponding to the small detection turntables; the output end of the telescopic device is connected with a diversion push plate; the telescopic device is suitable for driving the diversion pushing plate to push the package body on the small detection turntable to move along the radial direction of the large carrying turntable.
Preferably, a long transverse plate extending radially is fixed above each small detection turntable by the large carrying turntable; the detection module comprises a plurality of groups of detection units which are arranged on each long transverse plate; one of the detection units of each group is positioned right above the small detection turntable and used for detecting the upper end face of the package body, and the other detection unit is inclined to the small detection turntable and used for detecting the front side face of the package body.
Preferably, when the package body is conveyed to the small detection turntable corresponding to the feeding station; the package body is in one of three states of label face up, label face side and label face down; if the package body faces upwards, the clamping and overturning mechanism overturns the package body by 360 degrees in the process of carrying out one turn of the detection small turntable; if the package body faces the side of the label, when the package body rotates along with the small detection turntable to the outside of the label face, the clamping turnover mechanism turns the package body upwards by 90 degrees; if the label surface of the package body faces downwards, the clamping and overturning mechanism overturns the package body by 180 degrees in the process of carrying out one turn of the detection small turntable; through the upset of centre gripping tilting mechanism to the parcel body, the label face of parcel body is upwards convenient to carry out the damage detection of full face to the parcel body.
Preferably, the clamping turnover mechanism comprises a lifting device, a rotating device and a sliding sleeve; the lifting device is fixedly arranged on the carrying large turntable; the rotating device is fixedly arranged on a connecting seat fixed at the output end of the lifting device, and a fixed sleeve is arranged on the end face, facing the small detection turntable, of the connecting seat; the sliding sleeve is slidably arranged on the fixed sleeve, and the outer side of the sliding sleeve is connected with the fixed sleeve through a guide structure; when the overturning of the package body is needed, the sliding sleeve rotates under the driving of the rotating device, and then the sliding sleeve spirally extends towards the direction close to the package body through the guiding structure until the clamping plate elastically and slidably mounted at the front end of the sliding sleeve clamps the package body, and the lifting device is suitable for driving the clamped package body to move upwards to be spaced in the detection small turntable, and then the package body is driven to rotate along with the sliding sleeve by a set angle through the continuous driving of the rotating device.
Preferably, the output end of the rotating device is in spline connection with the inner side of the sliding sleeve through a rotating connecting rod; the guide structure comprises a chute which is arranged on the inner wall of the fixed sleeve in a spiral manner and a sliding lug which is arranged on the outer side of the rear part of the sliding sleeve; when the sliding sleeve rotates under the drive of the rotating connecting rod, the sliding lug slides along the sliding groove to drive the sliding sleeve to axially and spirally move.
Preferably, a limiting baffle for limiting the package body is arranged on the small detection turntable; when the overturning of the package body is needed, before the rotating device is started, the size of the package body is detected according to the detecting module, the material ejection module is suitable for pushing the package body to the position where the midpoint of the width is located in the same plane with the axis of the sliding sleeve, and meanwhile, the lifting device drives the sliding sleeve to move to the position where the axis of the sliding sleeve is located in the same plane with the midpoint of the height of the package body.
Preferably, the conveying mechanism comprises a platform, a plurality of sliding balls are arranged on the top end of the platform in a rolling mode, an extension sliding plate is fixedly arranged on one side of the platform, connecting side plates are fixedly arranged on two sides of the platform, a driving motor is fixedly arranged on one side of each connecting side plate, a first sprocket is fixedly arranged on the driving end of each driving motor, the first sprocket is connected with a second sprocket through a chain in a transmission mode, the first sprocket and the second sprocket are rotatably arranged on one side, close to each other, of each connecting side plate, and a plurality of conveying plates are fixedly arranged on the outer side of the chain.
Compared with the prior art, the application has the beneficial effects that:
(1) According to the application, through the arrangement of the detection mechanism, the detected packages can be pushed out to the corresponding conveyor belt, so that the intelligent distribution effect is achieved, the packages are continuously detected and distributed, and the transportation efficiency of logistics detection is improved.
(2) According to the application, the package body can be clamped and turned over by the arrangement of the clamping and turning mechanism, so that the package body can be detected more comprehensively, better detection quality is achieved, and the logistics information at the bottom of the package body can be detected.
(3) According to the application, through the arrangement of the circulating diversion mechanism, the carrier large turntable and the detection small turntable can be rotated at the same time, so that the package body can be transported while being detected, and the detection of the package body can be more comprehensive by detecting the rotation of the small turntable, and meanwhile, the effects of transportation and gain on the package body detection are achieved.
Drawings
Fig. 1 is a schematic diagram of an automatic control logistics detecting and transporting apparatus according to a preferred embodiment of the present application.
Fig. 2 is a schematic diagram of an overall structure of an automatic control logistics detecting and transporting apparatus according to a preferred embodiment of the present application.
Fig. 3 is a schematic diagram of a combination structure of a middle supporting column, a long transverse plate, a first photographing unit and a second photographing unit in an automatically controlled logistics detecting and transporting device according to a preferred embodiment of the present application.
Fig. 4 is a schematic diagram of a split structure of a large carrying turntable and a circulating diversion mechanism in an automatically controlled logistics detecting and transporting apparatus according to a preferred embodiment of the present application.
Fig. 5 is a schematic diagram of a split structure of a detection small turntable and a part of a detection mechanism in an automatically controlled logistics detection transportation apparatus according to a preferred embodiment of the present application.
Fig. 6 is a schematic diagram illustrating the separation of the small inspection turntable and the stable ring frame in the automatically controlled logistics inspection transportation apparatus according to a preferred embodiment of the present application.
Fig. 7 is a schematic diagram of a split structure of a middle clamping turnover mechanism of an automatically controlled logistics detecting and transporting apparatus according to a preferred embodiment of the present application.
Fig. 8 is a schematic diagram illustrating a split cross-sectional structure of a clamping and turning mechanism in an automatically controlled logistics inspection transportation apparatus according to a preferred embodiment of the present application.
Fig. 9 is a schematic diagram showing the overall structure of a conveying mechanism in an automatically controlled logistics detecting and transporting apparatus according to a preferred embodiment of the present application.
In the figure: carrying carousel 1, first conveyor belt 101, second conveyor belt 102, third conveyor belt 103, center support column 104, long cross-bar 105, first camera unit 106, second camera unit 107, circulation diverter mechanism 2, servo motor 201, drive gear 202, main rotor gear 203, fixed link 204, driven gear 205, connecting rod 206, fixed toothed ring 207, base frame 208, detection carousel 3, limit stop 301, detection mechanism 4, stability ring frame 401, diverter slide 402, connecting block 403, riser 404, telescoping device 405, connecting member 406, diverter push plate 407, detection camera 408, stability spring 409, sliding push rod 410, sliding push column 411, stop plate 412, clamping and flipping mechanism 5, lifting device 501, connection mount 502, rotation device 503, fixed sleeve 504, chute 5041, rotation link 505, sliding sleeve 506, sliding bump 5061, pressure detector 507, clamping spring 508, clamping push rod 509, clamping plate 510, wrapping body 6, conveying mechanism 7, platform 701, sliding ball 702, extension 703, connection side plate 704, drive motor 705, first sprocket 706, second sprocket 706, sprocket 709, and slot 707.
Detailed Description
The present application will be further described with reference to the following specific embodiments, and it should be noted that, on the premise of no conflict, new embodiments may be formed by any combination of the embodiments or technical features described below.
In the description of the present application, it should be noted that, for the azimuth words such as terms "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the azimuth and positional relationships are based on the azimuth or positional relationships shown in the drawings, it is merely for convenience of describing the present application and simplifying the description, and it is not to be construed as limiting the specific scope of protection of the present application that the device or element referred to must have a specific azimuth configuration and operation.
It should be noted that the terms "first," "second," and the like in the description and in the claims are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
In one preferred embodiment of the application, as shown in fig. 1 to 9, an automatically controlled logistics detection and transportation device comprises a circulation diversion mechanism 2, a detection small turntable 3, a carrying large turntable 1, a detection mechanism 4, a clamping turnover mechanism 5 and a conveying mechanism 7.
Wherein, detect little carousel 3 have a plurality ofly and along the circumferencial direction equidistance install in the lateral part of carrying big carousel 1, detect little carousel 3 can be used for placing the parcel body 6 that waits to detect. The detection mechanism 4 comprises a detection module and a material ejection module; the detection module is arranged on the carrying large turntable 1 and is positioned above the small detection turntable 3 for detecting the surface condition of the package body 6; the liftout module is installed in the middle part of carrying on carousel 1 and is used for carrying out the unloading to parcel body 6. The clamping turnover mechanisms 5 are arranged on the carrying large turntable 1 and are provided with a plurality of pairs, two clamping turnover mechanisms 5 of each pair are correspondingly positioned on two sides of the small detection turntable 3, and the two clamping turnover mechanisms 5 of each pair can turn over the corresponding package body 6 on the small detection turntable 3. The conveying mechanism 7 can convey the package body 6 to be detected onto the small detection turntable 3 along the corresponding station. The circulation diversion mechanism 2 can drive the large carrying turntable 1 and the small detecting turntable 3 to rotate respectively.
In the process of detecting the rotation of the small turntable 3, the detection module can perform omnibearing damage detection and label detection on the package body 6; the clamping and overturning mechanism 5 can overturn the package body 6 according to the detection result of the detection module, so that the face of the package body 6 attached with the label faces upwards. In the process of rotating the carrying large turntable 1, the small detection turntable 3 and the package body 6 rotate circumferentially along with the carrying large turntable 1 around the axis of the small detection turntable to pass through a plurality of stations; and then the liftout module is according to the testing result of detection module with the parcel body 6 of different states on detecting little carousel 3 unloading to corresponding station.
It should be noted that the setting of circulation reposition of redundant personnel mechanism 2 can make simultaneously and carry big carousel 1 and detect little carousel 3 rotation for parcel body 6 can be transported when being detected, detects the rotation of little carousel 3 and can make the detection of parcel body 6 more comprehensive, reaches the effect that transportation and gain detected parcel body 6 simultaneously, is convenient for shunt parcel body 6, and carries out the damage detection to the outside of parcel body 6, in time picks out the damaged parcel so that handle. Detection mechanism 4 can push out the parcel after detecting through the liftout module on the conveyer belt of corresponding station one side installation, be convenient for reach intelligent reposition of redundant personnel's effect, and incessantly detect the reposition of redundant personnel to the parcel, improve commodity circulation detection's conveying efficiency, can be with parcel body 6 centre gripping upset through the setting of centre gripping tilting mechanism 5, can make parcel body 6 more comprehensive by detecting like this, reach better detection quality, and can make the commodity circulation information of parcel body 6 bottom can be detected.
It should be noted that the specific number of the small detecting turntables 3 may be selected according to practical needs, for example, as shown in fig. 1, the number of the small detecting turntables 3 is four. Meanwhile, the logistic information of the package body 6 is generally attached to one side end face of the package body 6 through a label.
In this embodiment, as shown in fig. 2 and 4, the carrying turntable 1 is rotatably mounted on a base frame 208 fixedly arranged below, and a fixing toothed ring 207 concentric with the carrying turntable 1 is arranged on the side of the base frame 208. The small detection turntable 3 is rotatably mounted on the large carrying turntable 1 through a connecting rod 206, and the connecting rod 206 is meshed with a fixed toothed ring 207 below the large carrying turntable 1 through a mounted driven gear 205. The circulating shunt mechanism 2 comprises a servo motor 201, and the servo motor 201 is fixedly arranged on a base frame 208 and is in transmission connection with the carrying turntable 1; so that the carrying large turntable 1 rotates under the driving of the servo motor 201, and the small turntable 3 is detected to rotate through the engagement of the driven gear 205 and the fixed gear ring 207 in the rotating process of the carrying large turntable 1.
Specifically, as shown in fig. 2 and 4, a driving gear 202 is fixedly arranged at the driving end of the servo motor 201, the outer side of the driving gear 202 is meshed with a driving gear 203 fixed at the bottom end of the carrying turntable 1, and the diameter of the main rotating gear 203 is larger than that of the driving gear 202. Detect little carousel 3 and run through the rotation setting in carrying big carousel 1 through connecting rod 206, driven gear 205 installs in connecting rod 206's lower extreme, and driven gear 205's diameter is less than main commentaries on classics gear 203, and fixed ring gear 207's bottom mounting is provided with fixed interlink 204, and fixed interlink 204 passes through bottom mounting and sets up in base frame 208, and servo motor 201 is fixed to be set up in base frame 208's bottom, and main commentaries on classics gear 203 rotates and sets up in base frame 208's inboard top.
In this embodiment, as shown in fig. 1, a feeding station and a plurality of discharging stations are sequentially arranged on the outer side of a carrying turntable 1 along the circumferential direction; the side part of the feeding station is correspondingly provided with a conveying mechanism 7, and the conveying mechanism 7 can convey the package body 6 to be detected to the corresponding small detection turntable 3 from the feeding station; the side parts of the blanking stations are correspondingly provided with conveying belts; according to the detection result of the detection module, the package bodies 6 in different states are pushed onto corresponding conveying belts through the ejection module to be sorted and discharged.
It should be noted that the specific number of the blanking stations may be determined according to actual detection items, for example, as shown in fig. 1, the number of the blanking stations is three, and the blanking stations and the feeding stations share four stations, so that an included angle between two adjacent stations is 90 °. The conveyer belts corresponding to the three blanking stations are a first conveyer belt 101, a second conveyer belt 102 and a third conveyer belt 103 respectively. The large carrier turntable 1 can drive the small detection turntable 3 and the package body 6 to sequentially rotate to the start end of one of the corresponding first conveying belt 101, second conveying belt 102 and third conveying belt 103 under the drive of the circulating diverting mechanism 2.
In order to achieve a better detection effect, it may be provided that the driven gear 205 drives the small detection turntable 3 to rotate 360 ° every 90 ° rotation of the large detection turntable 1. If the appearance of the package body 6 is detected to be good, the logistics information is complete, the package body 6 can be stopped when reaching the third conveying belt 103, and the material ejection module can push the package body 6 out to the top end of the third conveying belt 103 for conveying and discharging. If the appearance of the package body 6 is damaged, the package body 6 can be stopped when reaching the second conveying belt 102, so that the material ejection module can push the corresponding package body 6 to the top end of the second conveying belt 102 for conveying and discharging. If the package body 6 has no logistics information or the logistics information is not clear, the package body 6 can be stopped when reaching the first conveying belt 101, so that the ejection module can push the corresponding package body 6 to the top end of the first conveying belt 101 for conveying and discharging.
In this embodiment, as shown in fig. 1, 5 and 6,
preferably, the material ejection module comprises a plurality of telescopic devices 405 corresponding to the small detection turntables 3; the output end of the telescopic device 405 is connected with a diversion push plate 407; the telescopic device 405 can drive the split-flow push plate 407 to push the package body 6 on the small detection turntable 3 to move along the radial direction of the large carrying turntable 1, so as to push the package body 6 to the corresponding conveying belt.
It is understood that the specific structure and operation of the telescoping device 405 are well known to those skilled in the art and will not be described in detail herein.
Specifically, as shown in fig. 1, fig. 5 and fig. 6, the liftout module further includes a stabilizing ring frame 401, the stabilizing ring frame 401 rotates and sets up in the outside that detects little carousel 3, the bottom fixed of stabilizing ring frame 401 is provided with a plurality of connecting blocks 403, make the stabilizing ring frame 401 pass through the fixed top that sets up in carrying carousel 1 of connecting block 403, the fixed riser 404 that is provided with in top one side of stabilizing ring frame 401, one side of riser 404 runs through the slip and is provided with sliding push rod 410 and sliding push column 411, sliding push rod 410 and sliding push column 411's the fixed reposition of redundant personnel push pedal 407 that is provided with, sliding push rod 410 symmetry sets up in sliding push column 411's both sides, sliding push rod 410's the outside all is provided with firm spring 409, firm spring 409 is fixed to be set up between riser 404 and reposition of redundant personnel push pedal 407, sliding push rod 410 and sliding push column 411's the fixed baffle 412 that is provided with of the other end, one side of baffle 412 is fixedly provided with telescoping device 405, telescoping device 405's other end is fixedly provided with connecting member 406, connecting member 406 is fixedly provided with in riser 404, the top and bottom and the bottom of reposition of redundant personnel push plate 407 all are provided with and detect camera body 408 in order to detect the outside that detects module 6 and wrap up the fixed outside that detects the fixed ring 402 of sliding plate 401.
In this embodiment, as shown in fig. 1 and 3, a long transverse plate 105 extending radially is fixed above each small detection turntable 3 to carry the large turntable 1. The detection module comprises a plurality of groups of detection units mounted on each long transverse plate 105; one of the detection units of each group is located right above the detection small rotary table 3 for detecting the upper end face of the package body 6, and the detection direction of the other detection unit is inclined with the detection small rotary table 3 for detecting the front side face of the package body 6.
It can be understood that the specific number of the detection units in each group can be selected according to actual needs; for example, as shown in fig. 3, the number of detection units per group is two; the specific structure and working principle of the detection unit are well known to those skilled in the art, and a common detection unit is an image pickup unit. The two detection units are the first imaging unit 106 and the second imaging unit 107, respectively. The first camera unit 106 is located right above the small detection turntable 3, and the first camera unit 106 can detect the upward label surface of the package body 6 to identify whether the logistics information of the package body 6 is normal or not and whether the upward surface of the package body 6 is damaged or not. The second camera unit 107 compares first camera unit 106 and carries out setting to the outside of carrying the big carousel 1 for the direction of detection slope of second camera unit 107 detects little carousel 3, and then at the in-process of detecting little carousel 3 rotation, and the second camera unit 107 can detect the leading flank of parcel body 6, promptly through detecting the autorotation round of little carousel 3, and the second camera unit 107 can detect the whole side of parcel body 6, in order to discern whether the side of parcel body 6 is damaged.
Specifically, as shown in fig. 1 and 3, a plurality of long transverse plates 105 are fixedly arranged on top of a middle support column 104 vertically fixed in the middle of the carrying turntable 1.
It should be appreciated that when the parcel body 6 to be inspected is delivered to the inspection carousel 3 corresponding to the loading station, the parcel body 6 may be in one of three states, label-side up, label-side down.
In order to realize comprehensive detection of the package body 6 in all the states, in one embodiment of the present application, for the case that the package body 6 is with the label facing upwards, in the process of detecting the small turntable 3 for one rotation, the second image capturing unit 107 and the first image capturing unit 106 can detect the upper end face and the side end face of the package body 6; when the bottom surface of the package body 6 is not detected. Therefore, in the process of detecting the small turntable 3 to perform one turn, the package body 6 can be turned over by 360 ° by the clamping and turning mechanism 5. In the process of overturning the package body 6 by 360 degrees, the second image capturing unit 107 or the first image capturing unit 106 can detect the original bottom surface of the package body 6, and finally continue to enable the label surface of the package body 6 to face upwards, so that the subsequent package body 6 can sort regions according to logistics information.
When the package body 6 rotates to the label surface outwards along with the detection of the small turntable 3, the clamping turnover mechanism 5 can turn the package body 6 upwards by 90 degrees under the condition that the package body 6 faces the label surface outwards. Because the label face has the condition all around to the side, when the label face just forward, then can carry out 90 upset up to parcel body 6 through centre gripping tilting mechanism 5 after detecting little carousel 3 autogenous rotation round to make parcel body 6 can realize the detection of all faces after 90 upset. When the label surface needs to rotate 90 ° or 180 ° to face forward, the detection camera 408 described above can be combined to realize the complete detection of the package body 6. When the label surface rotates 270 degrees to face forward, the initial front side surface of the package body 6 is detected by the second camera unit 107, so that detection of all the side surfaces can be realized only by rotating the label surface 270 degrees.
In the process of detecting the small turntable 3 to perform one turn by itself, the package body 6 can be turned 180 degrees by the clamping and turning mechanism 5 for the condition that the label of the package body 6 faces downwards. Since the initial upper end surface of the package body 6 has been detected by the first image pickup unit 106, the second image pickup unit 107 detects four sides of the package body 6 when the package body 6 is turned 180 ° without affecting its rotation once.
In this embodiment, as shown in fig. 1, 7 and 8, the clamping and turning mechanism 5 includes a lifting device 501, a rotating device 503 and a sliding sleeve 506. The lifting device 501 is fixedly arranged on the carrying large turntable 1; the rotating device 503 is fixedly arranged on a connecting seat 502 fixed at the output end of the lifting device 501, and a fixed sleeve 504 is arranged on the end face of the connecting seat 502 facing the small detection turntable 3; the sliding sleeve 506 is slidably mounted on the fixed sleeve 504, and the outer side of the sliding sleeve 506 is connected with the fixed sleeve 504 through a guide structure; the front end of the sliding sleeve 506 is elastically and slidably mounted with a clamping plate 510 by a clamping spring 508, and the clamping plate 510 is spline-connected with the sliding sleeve 506 by a clamping push rod 509.
When the overturning of the package body 6 is needed, the sliding sleeve 506 rotates under the driving of the rotating device 503, and then the sliding sleeve 506 spirally extends to the direction close to the package body 6 through the guiding structure until the front end of the sliding sleeve 506 clamps the package body 6 through the clamping plate 510 which is elastically installed, the lifting device 50 can drive the clamped package body 6 to move upwards to be spaced from the small detection turntable 3, and then the rotating device 503 is driven continuously to drive the package body 6 to rotate along with the sliding sleeve 506 by a set angle.
It will be appreciated that, since the package body 6 is generally rectangular in structure, when the package body 6 is located on the small detection turntable 3, the end face of the small detection turntable 3 interferes with the turning of the package body 6. Therefore, the package body 6 can be clamped before being turned over, and then the package body 6 is driven to rise to a set height and then turned over. Moreover, in the process of elastically clamping the package body 6 by the clamping plate 510, the clamping plate 510 moves along with the sliding sleeve 506 in a spiral manner, but the contact between the package body 6 and the small detection turntable 3 can offset the rotation force of the clamping plate 510, so that the clamping plate 510 can only clamp the package body 6 in the axial direction.
Specifically, as shown in fig. 7 and 8, the output end of the rotating device 503 is splined to the inner side of the sliding sleeve 506 through a rotating link 505. The guiding structure comprises a chute 5041 which is arranged on the inner wall of the fixed sleeve 504 and is spirally arranged, and a sliding lug 5061 which is arranged on the outer side of the rear part of the sliding sleeve 506; when the sliding sleeve 506 is driven to rotate by the rotating link 505, the sliding projection 5061 slides along the sliding groove 5041 to drive the sliding sleeve 506 to axially and spirally move.
It can be understood that the pressure detector 507 is fixedly arranged on the inner side of the sliding sleeve 506, so that when the clamping plate 510 extrudes the package body 6, the pressure detector 507 can detect the extrusion force generated by the clamping plate 510; positive pressure when the pressing force of the clamping plate 510 satisfies the lifting of the package body 6; the lifting device 501 will now be activated to bring the parcel body 6 up.
In order to further improve the overturning stability of the package body 6, when the package body 6 needs to be overturned, before the rotating device 503 is not started, the size of the package body 6 can be detected according to the detecting module, then the ejection module can push the package body 6 to the position where the midpoint of the width is located in the same plane with the axis of the sliding sleeve 506, and meanwhile, the lifting device 501 drives the sliding sleeve 506 to move until the axis of the sliding sleeve 506 is located in the same plane with the midpoint of the height of the package body 6. When the rotating device 503 drives the sliding sleeve 506 to perform a spiral movement to squeeze the wrapping body 6, the squeezing position of the clamping plate 510 and the wrapping body 6 is exactly located at the center of the side surface of the wrapping body 6.
In this embodiment, as shown in fig. 6, a limit baffle 301 for limiting the package body 6 is disposed on the small detection turntable 3; therefore, when the package body 6 is conveyed onto the small detection turntable 3, the limit baffle 301 can ensure that the package body 6 is not separated from the small detection turntable 3, and in the process of detecting the rotation of the small detection turntable 3, the limit baffle 301 can ensure that the package body 6 rotates together with the small detection turntable 3.
In this embodiment, as shown in fig. 1 and 9, the conveying mechanism 7 includes a platform 701, a plurality of sliding balls 702 are provided on the top end of the platform 701 in a rolling manner, an extension sliding plate 703 is fixedly provided on one side of the platform 701, connection side plates 704 are fixedly provided on two sides of the platform 701, a driving motor 705 is fixedly provided on one side of the connection side plates 704, a first sprocket 706 is fixedly provided on the driving end of the driving motor 705, the first sprocket 706 is in transmission connection with a second sprocket 7061 through a chain 707, the first sprocket 706 and the second sprocket 7061 are rotatably provided on one side of the connection side plates 704 close to each other, and a plurality of conveying plates 708 are fixedly provided on the outer side of the chain 707.
When the feeding conveying of the package body 6 is carried out, the package body 6 is positioned at the top end of the conveying mechanism 7, after the driving motor 705 in the conveying mechanism 7 is started, the first chain wheel 706 rotates, the rotation of the first chain wheel 706 drives the chain 707 to operate, meanwhile, the second chain wheel 7061 is driven to rotate, the side-region chain 707 can stably operate, the conveying plate 708 is driven to circularly move, the movement of the conveying plate 708 can push the package body 6 at the top end of the platform 701 to move, the sliding ball 702 can be driven to roll under the movement of the package body 6, the package body 6 can be assisted to move forwards, the offering of the abdicating groove 709 is used for preventing the conveying plate 708 from interfering with the long transverse plate 105 during movement, and the conveying plate 708 pushes the package body 6 to the top end of the small detection turntable 3 to carry out detection and shunt.
The following detailed description of the specific operation of the present application is provided for ease of understanding.
When feeding is performed, the package body 6 is positioned at the top end of the conveying mechanism 7, after the driving motor 705 in the conveying mechanism 7 is started, the first sprocket 706 rotates, the rotation of the first sprocket 706 drives the chain 707 to operate, meanwhile drives the second sprocket 7061 to rotate, the edge region chain 707 can stably operate, and drives the conveying plate 708 to circularly move, the movement of the conveying plate 708 can push the package body 6 at the top end of the platform 701 to move, the sliding ball 702 can be driven to roll under the movement of the package body 6, the package body 6 can be assisted to move forwards, the setting of the position-giving groove 709 is used for preventing the conveying plate 708 from interfering the long transverse plate 105 during movement, and the conveying plate 708 pushes the package body 6 to the top end of the small detection turntable 3 for detection and split flow;
at this time, the package body 6 will contact with the limit baffle 301, then the second camera unit 107 will detect whether the top end of the package body 6 has damage and logistics information, meanwhile, the first camera unit 106 will detect whether one side of the package body 6 has damage and logistics information, the detection camera 408 in the detection mechanism 4 will also detect whether the other side of the package body 6 has logistics information and damage, and the first camera unit 106 and the second camera unit 107 can also measure the height and width of the package body 6, meanwhile, the telescopic device 405 in the detection mechanism 4 will be started, the telescopic device 405 shortens and drives the baffle 412 to be close to the vertical plate 404, the stabilizing spring 409 will lengthen, the sliding push rod 410 and the sliding push column 411 will slide on the inner side of the vertical plate 404, and the split push plate 407 will push the package body 6, so that the package body 6 can be located at the center position of the clamping plate 510 in the clamping and overturning mechanism 5;
at this time, the lifting device 501 in the clamping and turning mechanism 5 is started, so that the clamping plate 510 is located at the right center of two sides of the package body 6, then the rotating device 503 is started, the rotating connecting rod 505 is driven to rotate, the rotating connecting rod 505 rotates to drive the sliding sleeve 506 to move, the sliding sleeve 506 moves gradually and contacts the package body 6 through sliding between the sliding protruding block 5061 and the sliding groove 5041, the clamping push rod 509 slides on the inner side of the sliding sleeve 506, the clamping spring 508 is compressed until the pressure detector 507 generates a set pressure value, the rotating device 503 stops, the lifting device 501 operates again, so that the package body 6 is lifted, at this time, the clamping plate 510 is started, so that the package body 6 can rotate by 90 degrees, the bottom surface can be photographed and detected by the first photographing unit 106, and then the package body 6 is loosened, so that more comprehensive detection is achieved, and the detection quality is improved;
meanwhile, under the driving of the servo motor 201 in the circulation diversion mechanism 2, the driving gear 202 can rotate, the rotation of the driving gear 202 drives the main rotating gear 203 to rotate, the rotation of the main rotating gear 203 drives the carrying large turntable 1 to rotate, so that the package body 6 can be driven to rotate to the starting end of one of the corresponding first conveying belt 101, the second conveying belt 102 and the third conveying belt 103, the rotation of the carrying large turntable 1 can enable the driven gear 205 to move annularly, the driven gear 205 is enabled to rotate under the cooperation of the fixed toothed ring 207, the rotation of the driven gear 205 drives the small detecting turntable 3 to rotate, the package body 6 is driven to rotate, the package body 6 can be detected annularly under the rotation, a better detection effect is achieved, and when the carrying large turntable 1 rotates by 90 degrees, the driven gear 205 drives the small detecting turntable 3 to rotate 360 degrees, if the appearance of the package body 6 is detected to be intact, the detailed logistics information can stop when the package body 6 reaches the third conveying belt 103, and the detection mechanism 4 can push the package body 6 to the top end of the third conveying belt 103 to continue;
the process of pushing out the parcel body 6 can be simultaneously with the parcel body 6 on platform 701 top remove the top of detecting little carousel 3, repeat the operation of above-mentioned detection and centre gripping upset, this step of repetition can incessantly detect the reposition of redundant personnel to parcel body 6, if the outside of parcel body 6 is damaged, then can push the transportation of second conveyer belt 102 with parcel body 6, if logistics information is unclear can't scan, then parcel body 6 can be pushed to the top of first conveyer belt 101 and carry, thereby reach more accurate reposition of redundant personnel effect, improve the reposition of redundant personnel conveying efficiency to parcel body 6.
The foregoing has outlined the basic principles, features, and advantages of the present application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present application, and various changes and modifications may be made therein without departing from the spirit and scope of the application, which is defined by the appended claims. The scope of the application is defined by the appended claims and equivalents thereof.
Claims (10)
1. An automatically controlled logistics detection transportation apparatus, comprising:
carrying a large turntable;
detecting a small turntable; the detection small turntables are arranged on the side parts of the carrying large turntables at equal intervals along the circumferential direction, and are used for placing package bodies to be detected;
a clamping turnover mechanism; the clamping turnover mechanisms are arranged on the large carrying turntable and are provided with a plurality of pairs, and two clamping turnover mechanisms of each pair are correspondingly positioned on two sides of the small detection turntable; and
a circulation diversion mechanism; the circulating and distributing mechanism is suitable for driving the large carrying turntable and the small detection turntable to rotate;
in the process of detecting the rotation of the small turntable, a detection module positioned above the small turntable is suitable for detecting the damage and the label of the package body; the clamping and overturning mechanism is suitable for overturning the package body according to the detection result so that the surface of the package body attached with the label faces upwards;
in the process of rotating the carrying large turntable, the small turntable is suitable for driving the small turntable to carry out circumferential rotation together with the package body so as to pass through a plurality of stations; the ejection module positioned in the middle of the carrying large turntable is suitable for pushing the package bodies in different states to corresponding stations according to the detection result of the detection module.
2. The automatically controlled logistics inspection transporter of claim 1, wherein: the carrier turntable is rotatably arranged on a base frame fixedly arranged below, and a fixed toothed ring concentric with the carrier turntable is arranged on the side part of the base frame;
the small detection turntable is rotatably arranged on the large carrying turntable through a connecting rod, and the connecting rod is meshed with the fixed toothed ring below the large carrying turntable through a driven gear;
the circulating and shunting mechanism comprises a servo motor which is fixedly arranged on the base frame and is in transmission connection with the large carrying turntable; so that the carrying large turntable rotates under the driving of the servo motor, and the detection small turntable rotates through the engagement of the driven gear and the fixed toothed ring in the rotating process of the carrying large turntable.
3. The automatically controlled logistics inspection transporter of claim 1, wherein: the outer side of the carrying large turntable is sequentially provided with a feeding station and a plurality of discharging stations along the circumferential direction;
the side part of the feeding station is correspondingly provided with a conveying mechanism, and the conveying mechanism is suitable for conveying the package body to be detected from the feeding station to the corresponding small detection turntable;
the side part of each blanking station is correspondingly provided with a conveying belt; according to the detection result of the detection module, the material pushing module pushes the package bodies in different states to the corresponding conveying belt at different material discharging stations to carry out sorting and discharging.
4. The automatically controlled logistics inspection transporter of claim 1, wherein: the material ejection module comprises a plurality of telescopic devices corresponding to the small detection turntables; the output end of the telescopic device is connected with a diversion push plate; the telescopic device is suitable for driving the diversion pushing plate to push the package body on the small detection turntable to move along the radial direction of the large carrying turntable.
5. An automatically controlled logistics in accordance with any one of claims 1-4, wherein: a long transverse plate extending radially is fixed above each small detection turntable by the large carrying turntable; the detection module comprises a plurality of groups of detection units which are arranged on each long transverse plate;
one of the detection units of each group is positioned right above the small detection turntable and used for detecting the upper end face of the package body, and the other detection unit is inclined to the small detection turntable and used for detecting the front side face of the package body.
6. The automated controlled logistics inspection transporter of claim 5, wherein: when the package body is conveyed to the corresponding small detection turntable by the feeding station; the package body is in one of three states, label facing up, label facing side, and label facing down;
if the package body faces upwards, the clamping and overturning mechanism overturns the package body by 360 degrees in the process of carrying out one turn of the detection small turntable;
if the package body faces the side of the label, when the package body rotates along with the small detection turntable to the outside of the label face, the clamping turnover mechanism turns the package body upwards by 90 degrees;
if the label surface of the package body faces downwards, the clamping and overturning mechanism overturns the package body by 180 degrees in the process of carrying out one turn of the detection small turntable.
7. The automated controlled logistics inspection transporter of claim 6, wherein: the clamping turnover mechanism comprises a lifting device, a rotating device and a sliding sleeve;
the lifting device is fixedly arranged on the carrying large turntable; the rotating device is fixedly arranged on a connecting seat fixed at the output end of the lifting device, and a fixed sleeve is arranged on the end face, facing the small detection turntable, of the connecting seat; the sliding sleeve is slidably arranged on the fixed sleeve, and the outer side of the sliding sleeve is connected with the fixed sleeve through a guide structure;
when the wrapping body needs to be overturned, the sliding sleeve is driven to rotate by the rotating device, and then the sliding sleeve spirally extends to a direction close to the wrapping body through the guide structure;
when the clamping plate which is elastically and slidably arranged at the front end of the sliding sleeve clamps the wrapping body, the lifting device is suitable for driving the clamped wrapping body to move upwards to be spaced from the small detection turntable, and further the rotating device is driven continuously to drive the wrapping body to rotate along with the sliding sleeve for a set angle.
8. The automated controlled logistics transport apparatus of claim 7, wherein: the output end of the rotating device is in spline connection with the inner side of the sliding sleeve through a rotating connecting rod;
the guide structure comprises a chute which is arranged on the inner wall of the fixed sleeve in a spiral manner and a sliding lug which is arranged on the outer side of the rear part of the sliding sleeve;
when the sliding sleeve rotates under the drive of the rotating connecting rod, the sliding lug slides along the sliding groove to drive the sliding sleeve to axially and spirally move.
9. The automated controlled logistics transport apparatus of claim 7, wherein: a limiting baffle plate for limiting the package body is arranged on the small detection turntable;
when the overturning of the package body is needed, before the rotating device is started, the size of the package body is detected according to the detecting module, the material ejection module is suitable for pushing the package body to the position where the midpoint of the width is located in the same plane with the axis of the sliding sleeve, and meanwhile, the lifting device drives the sliding sleeve to move to the position where the axis of the sliding sleeve is located in the same plane with the midpoint of the height of the package body.
10. An automatically controlled logistics inspection and transportation apparatus of claim 3, wherein: the conveying mechanism comprises a platform, a plurality of sliding balls are arranged on the top end of the platform in a rolling mode, an extension sliding plate is fixedly arranged on one side of the platform, connecting side plates are fixedly arranged on two sides of the platform, a driving motor is fixedly arranged on one side of each connecting side plate, a first sprocket is fixedly arranged on the driving end of each driving motor, the first sprocket is connected with a second sprocket through a chain in a transmission mode, the first sprocket and the second sprocket are rotatably arranged on one side, close to each other, of each connecting side plate, and a plurality of conveying plates are fixedly arranged on the outer side of the chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311124554.8A CN117049136A (en) | 2023-09-01 | 2023-09-01 | Automatic change commodity circulation detection conveyer of control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311124554.8A CN117049136A (en) | 2023-09-01 | 2023-09-01 | Automatic change commodity circulation detection conveyer of control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117465952A (en) * | 2023-12-04 | 2024-01-30 | 哈尔滨学院 | Food processing material conveying and distributing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117465952A (en) * | 2023-12-04 | 2024-01-30 | 哈尔滨学院 | Food processing material conveying and distributing device |
| CN117465952B (en) * | 2023-12-04 | 2024-04-09 | 哈尔滨学院 | Food processing material conveying and distributing device |
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