CN206050194U - Intestinal machine is put by robot - Google Patents
Intestinal machine is put by robot Download PDFInfo
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- CN206050194U CN206050194U CN201620787103.1U CN201620787103U CN206050194U CN 206050194 U CN206050194 U CN 206050194U CN 201620787103 U CN201620787103 U CN 201620787103U CN 206050194 U CN206050194 U CN 206050194U
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Abstract
The robot pendulum intestinal machine that this utility model is provided, including batcher, straight line permutation arrange induction system and sequence is drawn away from conveyer and robot.The robot pendulum intestinal machine that this utility model is provided, vibrations are carried out to the sausage through batcher by setting straight line permutation arrangement induction system to shakeout, prevent sausage from there is more than two-layer and two-layer in the height direction, and the spacing before and after increasing between sausage, by arranging robot, jaw and vision guide can will shakeout through vibrations and draw the sausage after to pick up and send in sealed in unit, sorting pendulum intestinal is carried out without the need for workman, increase production efficiency, eliminate food sanitation safe hidden danger, and by increasing vision measurement system, can realize that automatization adjusts feeding transfer efficiency.
Description
Technical field
This utility model is related to food processing field, particularly robot pendulum intestinal machine.
Background technology
Substantial amounts of sorting, pickup and packing work be there is in food service industry, at present these work mainly by being accomplished manually,
There is high labor intensive, low production efficiency, easily pollute.With automation equipments such as the development of science and technology, robots
Introducing become the development trend of industry.More than existing equipment by the way of rotation vibrating disc or straight-line oscillation.Both modes
There is good finishing effect to the sausage of regular (diameter, length, flexibility and error are within 5%).But for apparent size
The permutation arranging order that irregularly sausage of (diameter, length, flexibility and error are between 5%-30%) cannot be realized.
Easily there are the phenomenons such as putty, overlap, intersection.And automatization cannot be even more realized in rear end packing stage, and manually sort.
The content of the invention
In order to solve above-mentioned technical problem, there is provided a kind of that the sausage of holotype shape can be sorted, and not to sausage
Carry out the robot pendulum intestinal machine of secondary pollution.
Intestinal machine is put by a kind of robot, including batcher, the stacked state of sausage can be destroyed and by row arrangement
Straight line permutation arranges induction system and the sequence of spacing can be carried out to sausage longitudinal separation and draws away from conveyer and can be to institute
Stating sequence drawing carries out sorting, putting the robot of intestinal away from sausage on conveyer, and the batcher, the straight line permutation arrange delivery system
System and the sequence are drawn and are sequentially connected with away from conveyer, and the robot is arranged on the upside of the sequence dragsaw conveyer, the perfume (or spice)
Intestinal sends into the straight line permutation arrangement induction system arrangement stacked state by the batcher and the sequence draws fixed away from conveyer
Operated by guiding the robot to carry out sorting by vision measurement system, put intestinal after..
The batcher includes charging aperture, discharging opening, conveyer belt, baffle plate and frame, and the conveyer belt is arranged at the machine
On frame, and there is angle with horizontal plane, the baffle plate is surrounded on the week side of boss of the conveyer belt, and the charging aperture is arranged at described defeated
The top of band is sent, the discharging opening is arranged at the baffle plate on the side that the straight line permutation arranges induction system, and institute
The height that charging aperture is stated apart from horizontal plane is more than height of the discharging opening apart from same level, and the straight line permutation arranges defeated
System is sent to be arranged on the downside of the discharging opening.
The baffle plate extends the protrusion discharging opening along the length direction of the conveyer belt.
The angular range of the angle is 10 ° to 30 °.
The straight line permutation arranges induction system includes installing rack, vibration feeder and at least three-level straight line reason material conveying shake
Moving plate, all straight line reason material conveying vibrating discs are may be contained within the installing rack, and along the batcher to the sequence
The direction away from conveyer is drawn to be sequentially connected with the way of the height apart from horizontal plane is sequentially reduced, the vibration feeder is arranged at
On the installing rack, and one end is connected with the batcher, and the other end is managed with straight line described in the height highest apart from horizontal plane
Material conveying vibrating disc connection.
It is provided with straight line reason material conveying vibrating disc for accommodating the groove of sausage, the groove is managed along the straight line
The length direction of material conveying vibrating disc is arranged and length is equal to straight line reason material conveying vibrating disc；The groove is by horizontal bottom
The vertical group on edge on an inclined-plane is respectively arranged at the inclined-plane and two for being respectively arranged at the horizontal bottom both sides
Into the inclined-plane there is the width of obtuse angle angle, the height of the vertical and the inclined-plane to be institute with the horizontal bottom
State sausage diameter 1/3rd.
The straight line permutation arranges induction system also includes particle discharge bucket and particle splicing groove, the two neighboring straight line
A particle discharge bucket is provided between reason material conveying vibrating disc, the particle splicing groove is arranged at the installing rack
On, and the outlet of all particle discharge buckets may be contained within the upside of the particle splicing groove.
The robot includes fixed mount, two groups of mechanical arms and two groups of pick devices, and the sequence is drawn and arranged away from conveyer
On the fixed mount, described in two groups, mechanical arm is fixedly installed on the fixed mount, and each mechanical arm lower end is solid
Surely a pick device is provided with, and the full degree of freedom action of the pick device can be controlled.
The pick device include upper end fixed plate, side fixed plate, at least one jaw cylinder and with the jaw cylinder
One-to-one jaw, the upper end are fixed and do the lower end for being fixedly installed on the mechanical arm, and the side fixed plate is arranged at institute
State the downside of upper end fixed plate and all jaw cylinders are juxtaposed on the side fixed plate side, a jaw sets
Put a jaw cylinder lower end, and opened and closed by jaw cylinder control.
The pick device also includes being connected bolster with the one-to-one telescopic cylinder of the jaw cylinder and cylinder, institute
There is the telescopic cylinder to be juxtaposed on the side of the side fixed plate, and a telescopic cylinder lower end passes through the cylinder
Connection bolster is fixedly installed a jaw cylinder；The jaw is closed to jaw away from one end of the jaw cylinder
Direction is bent to form fixed part；Hollow out through hole is provided with the jaw.
Also include for guiding the robot to carry out the First look measuring system of crawl positioning and be used to monitor described
Permutation arranges the second vision measurement system of sausage quantity in induction system, and the First look measuring system includes the first frame
Frame, panel, display screen and first camera, first framework are fixedly installed on the sequence and draw on conveyer, and described the
One camera is fixedly installed on first framework, and towards it is described sequence draw taken pictures away from conveyer, the panel and
The display screen is fixedly installed on the sequence and draws on conveyer, and electrically connects with the panel and the first camera,
Second vision measurement system includes second camera and the second framework, and second framework is fixedly installed on the straight line permutation
Arrange in induction system, the second camera is fixedly installed on second framework, and arrange defeated towards the straight line permutation
System is sent to be taken pictures, the second camera is electrically connected with the panel and the display, the panel and the machine
Device people electrically connects.
The robot pendulum intestinal machine that this utility model is provided, by arranging batcher, can be that the other systems of sorter are entered
Row controllability feed, and interim storage can be carried out to importing the sausage in sorter, arrange defeated by arranging straight line permutation
Send system vibrations to be carried out to the sausage through batcher to shakeout, prevent sausage from there is more than two-layer and two-layer in the height direction,
By arranging spacing of the sequence drawing between sausage before and after conveyer, increase, by arranging robot, jaw and vision guide
Can will shakeout through vibrations and draw the sausage after to pick up and send in sealed in unit, be full-automatic process in whole process,
Sorted without the need for workman, and, arranged in induction system by straight line permutation and groove is set, holotype shape sausage can be made also solid
It is scheduled in groove, that is, ensures that position is constant, be easy to robot to be gripped, increase production efficiency, eliminate food sanitation safe
Hidden danger, by increasing vision measurement system, can realize that automatization adjusts transfer efficiency.
Description of the drawings
Fig. 1 puts the structural representation of intestinal machine for the robot that this utility model is provided；
Fig. 2 puts the structural representation of the batcher of intestinal machine for the robot that this utility model is provided；
Fig. 3 arranges the structural representation of induction system for the straight line permutation that intestinal machine is put by the robot that this utility model is provided；
Fig. 4 draws the structural representation away from conveyer for the sequence that this utility model is provided；
Fig. 5 draws the axonometric chart away from conveyer for the sequence that this utility model is provided；
The structural representation of the robot that Fig. 6 is provided for this utility model；
The structural representation of the jaw that Fig. 7 is provided for this utility model；
In figure：
1st, batcher；2nd, straight line permutation arranges induction system；3rd, sequence is drawn away from conveyer；4th, robot；11st, charging aperture；
12nd, discharging opening；13rd, conveyer belt；14th, baffle plate；15th, frame；21st, installing rack；22nd, vibration feeder；23rd, straight line reason material conveying shake
Moving plate；24th, groove；25th, particle discharge bucket；26th, particle splicing groove；41st, fixed mount；42nd, mechanical arm；43rd, pick device；51、
Second vision measurement system；55th, First look measuring system；431st, upper end fixed plate；432nd, side fixed plate；433rd, jaw gas
Cylinder；434th, jaw；511st, second camera；512nd, the second framework；551st, the first framework；552nd, panel；553rd, display screen；554、
First camera.
Specific embodiment
This utility model is described in further details with specific embodiment below in conjunction with the accompanying drawings：
Robot pendulum intestinal machine as shown in Figures 1 to 7, including batcher 1, the stacked state of sausage can be destroyed
And the straight line permutation by row arrangement arranges induction system 2 and the sequence drawing of spacing can be carried out to sausage longitudinal separation away from conveyer
3 and the sequence can be moved draw robot 4 away from sausage on conveyer 3, the batcher 1, the straight line permutation to arrange
Induction system 2 and the sequence are drawn and are sequentially connected with away from conveyer 3, and the robot 4 is arranged at the sequence and draws on conveyer
Side, the sausage are sent into the straight line permutation arrangement induction system 2 by the batcher 1 and arrange stacked state and sequence drawing
Send in sealed in unit through the robot 4 after 3 spacing of conveyer.
The batcher 1 includes charging aperture 11, discharging opening 12, conveyer belt 13, baffle plate 14 and frame 15, the conveyer belt 13
It is arranged in the frame 15, and there is angle with horizontal plane, the baffle plate 14 is surrounded on the week side of boss of the conveyer belt 13, described
Charging aperture 11 is arranged at the top of the conveyer belt 13, and the discharging opening 12 is arranged at the baffle plate 14 near the straight line permutation
Arrange on the side of induction system 2, and the charging aperture 11 is more than the discharging opening 12 apart from same apart from the height of horizontal plane
The height of horizontal plane, the straight line permutation arrange induction system 2 and are arranged on the downside of the discharging opening 12.
The baffle plate 14 extends the protrusion discharging opening 12 along the length direction of the conveyer belt 13, effectively can prevent
Sausage during dropping produces lateral displacement and falls to the straight line permutation and arrange outside induction system 2.
The angular range of the angle is 25 ° to 35 °, and sausage deadweight can be utilized to carry out once the stacked state of sausage
The sausage of lower floor is preferentially delivered to the straight line permutation by the conveyer belt 13 and is arranged in induction system 2 by destruction, upper strata
Sausage is slided or is rolled to the direction away from the discharging opening 12 because of the angle, finally moves to quilt on the conveyer belt 13
13 band of the conveyer belt is to the discharging opening 12.
The straight line permutation arranges induction system 2 includes that installing rack 21, vibration feeder 22 and at least three-level straight line reason are expected
Conveying vibrating disc 23, all straight line reason material conveying vibrating discs 23 are may be contained within the installing rack 21, and along the feed
Machine 1 draws the direction away from conveyer 3 to be sequentially connected with the way of the height apart from horizontal plane is sequentially reduced to the sequence, described to shake
Dynamic feed appliance 22 is arranged on the installing rack 21, and one end is connected with the batcher 1, the other end and the height apart from horizontal plane
Described in degree highest, straight line reason material conveying vibrating disc 23 connects.It is provided with for accommodating on the straight line reason material conveying vibrating disc 23
The groove 24 of sausage, the groove 24 is arranged along the length direction that the straight line manages material conveying vibrating disc 23 and length is equal to described
Straight line reason material conveying vibrating disc 23；The groove 24 by horizontal bottom and be respectively arranged at the horizontal bottom both sides inclined-plane and
Two vertical compositions for being respectively arranged at edge on an inclined-plane, the inclined-plane there is obtuse angle to press from both sides with the horizontal bottom
Angle, the angular range of the preferred obtuse angle angle is 135 ± 5 °；The width on the height of the vertical and the inclined-plane is
/ 3rd of the diameter of the sausage.The straight line permutation arranges induction system 2 also includes that particle discharge bucket 25 and particle connect
Hopper 26, is provided with a particle discharge bucket 25 between the two neighboring straight line reason material conveying vibrating disc 23, described
Particle splicing groove 26 is arranged on the installing rack 21, and the outlet of all particle discharge buckets 25 may be contained within the particle
The upside of splicing groove 26.
The straight line permutation is arranged induction system 2 and is fixedly connected with the frame 15 by the installing rack 21, described to shake
Dynamic feed appliance 22 and all straight lines reason material conveying vibrating disc 23 relative to the installing rack 21 the installing rack 21 length
Vibration is produced on degree direction, and the height of the vibration feeder 22 and all straight line reason material conveying vibrating discs 23 drops successively
It is low, when sausage enters next stage with certain momentum that be used to and advance, and particle can be discharged by the particle
Bucket 25 is sent in the particle splicing groove 26, wherein, it is preferred that the vibration feeder 22 and the adjacent straight line reason material
Spacing between the spacing of the length direction between conveying vibrating disc 23 and the two neighboring straight line reason material conveying vibrating disc 23
Size of the scope not less than sausage particle；By arranging the groove 24, the straight line reason material can be effectively secured into defeated
Send the orlop sausage of vibrating disc 23 so that the sausage of stacked state is separated.
It is V-arrangement conveyer belt that the sequence is drawn and pulled up away from conveyer belt away from conveyer 3, that is, draw on conveyer belt along the drawing away from defeated
Send the width of band to be set side by side with v-depression, be prevented from sausage and produce on the width of conveyer belt in the drawing
Displacement；Wherein preferred, the quantity of the v-depression is 4 with the quantity of the groove 24.
The robot 4 includes 41, two groups of mechanical arms 42 of fixed mount and two groups of pick devices 43, and the fixed mount 41 is fixed
It is arranged at the sequence to draw on conveyer 3, described in two groups, mechanical arm 42 is fixedly installed on the fixed mount 41, Mei Yisuo
State 42 lower end of mechanical arm and be fixedly installed a pick device 43, and 43 full degree of freedom of the pick device can be controlled
Action.The pick device 43 include upper end fixed plate 431, side fixed plate 432, at least one jaw cylinder 433 and with it is described
433 one-to-one jaw 434 of jaw cylinder, the upper end are fixed and do the lower end for being fixedly installed on the mechanical arm 42, described
Side fixed plate 432 is arranged at the downside of the upper end fixed plate 431 and all jaw cylinders 433 are juxtaposed on the side
432 side of fixed plate, a jaw 434 are arranged on 433 lower end of jaw cylinder, and receive the jaw cylinder
433 controls are opened and are closed.The pick device 43 also includes and 433 one-to-one telescopic cylinder 435 of the jaw cylinder
Connect bolster 436 with cylinder, all telescopic cylinders 435 are juxtaposed on the side of the side fixed plate 432, and one
435 lower end of the telescopic cylinder connects bolster 436 by the cylinder and is fixedly installed a jaw cylinder 433；Institute
One end that jaw 434 is stated away from the jaw cylinder 433 is bent to form fixed part 4341, Neng Goutong to 434 closing direction of jaw
The convenient gripping sausage of the fixed part is crossed, wherein preferably, the crooked radian of the fixed part is approximately equal to the outer of sausage
Circle of contact radius；Hollow out through hole is provided with the jaw 434, the weight of the jaw 434 can be reduced, facilitate the jaw
434 inertia for moving and reducing the jaw 434.
The mechanical arm 42 is fixed on the sequence and is drawn on conveyer 3 by the fixed mount 41,42 energy of the mechanical arm
The pick device 43 is enough driven to be operated along four degree of freedom all around, 435 fixing end of the telescopic cylinder is fixed and set
Put in the lower end of the mechanical arm 42, movable end is fixedly connected the jaw cylinder 433, the jaw 434 can be controlled upper
It is operated in lower two degree of freedom, that is, meeting the jaw 434 can carry out full degree of freedom work.
The robot pendulum intestinal machine also includes the First look measurement system that positioning is captured for guiding the robot 4 to carry out
System 55 and the second vision measurement system 51 for monitoring sausage quantity in the permutation arrangement induction system 2, described first regards
Feel that measuring system 55 includes the first framework 551, panel 552, display screen 553 and first camera 554, first framework 551
It is fixedly installed on the sequence to draw on conveyer 3, the first camera 554 is fixedly installed on 551 on first framework, and
Draw towards the sequence and taken pictures away from conveyer 3, the panel 552 and the display screen 553 are fixedly installed on the row
Sequence is drawn on conveyer 3, and is electrically connected with the first camera 554, and second vision measurement system 51 includes second camera
511 and second framework 512, second framework 512 is fixedly installed on the straight line permutation and arranges in induction system 2, and described the
Two cameras 511 are fixedly installed on second framework 512, and are taken pictures towards straight line permutation arrangement induction system 2,
The second camera 512 is electrically connected with the panel 552 and the display 553, the panel 552 and the robot
4 electrical connections.
The first camera 554 is drawn to the sequence in real time and is taken pictures away from conveyer 3, and by the data transfer after taking pictures
To the controller 552, the robot 4 is controlled by the controller 552 sausage of fixed position is gripped.
The second camera 511 arranges the sausage quantity in induction system 2 to the straight line permutation in real time and takes pictures, and examines
Survey the state of sausage in robot pendulum intestinal machine, and pass through the control panel 552 and the display screen 553 carry out prompting and
Control the running status of the batcher 1.
Manually sausage is poured in the batcher 1 by feeding mouth, the discharging opening is delivered to by the conveyer belt 13
Further send in the vibration feeder 22 at 12, the vibration feeder 22 and all straight line reason material convey vibrating disc 23
Vibration is produced along its width, sausage is fallen to after the vibration of vibration feeder 22 described in and connected with the vibration feeder 22
It is defeated in straight line reason material conveying vibrating disc 23 described in the first order for connecing and straight line reason material described in next stage to be sequentially entered by vibration influence
Send in vibrating disc 23, eventually enter into sequence and draw in conveyer, sausage is in all straight line reason material conveying 23 endogenous causes of ill of vibrating disc
The reason for vibration can be its flat presentation from stacked state motion, and all sausages can finally be laid in the groove 24,
When the shape of sausage is not strip, i.e., sausage also locally can be fixed in the groove 24 for bending, and then is reached
Separate and fixed sausage purpose, in sausage, the straight line reason material conveying vibrating disc 23 by described in afterbody is vibrated to the sequence
Draw away from conveyer 3 when because the rate travel of transfer rate away from conveyer 3 more than sausage after vibrated is drawn in sequence, therefore, it is fragrant
Intestinal draws in the sequence and can pull open longitudinal separation on conveyer 3, and the robot 4, will by the pick device 43
Being transported to the sequence draws the sausage on conveyer 3 to grip and send in the equipment of next step.
The above, preferred embodiment only of the present utility model is not to limit this utility model, every according to this
Any trickle amendment, equivalent and improvement that the technical spirit of utility model is made to above example, should be included in this
Within the protection domain of utility model technical scheme.
Claims (10)
1. intestinal machine is put by a kind of robot, it is characterised in that：Including batcher, the stacked state of sausage can be destroyed and by
The straight line permutation of row arrangement arrange induction system and sausage longitudinal separation can be carried out spacing sequence draw away from conveyer and
Robot of the sequence drawing away from sausage on conveyer can be moved, the batcher, the straight line permutation arrange induction system
Draw with the sequence and be sequentially connected with away from conveyer, the robot is arranged at the sequence and draws on the upside of conveyer, the sausage
The straight line permutation is sent into by the batcher induction system arrangement stacked state and sequence drawing are arranged away from conveyer spacing
Send in sealed in unit through the robot afterwards.
2. intestinal machine is put by robot according to claim 1, it is characterised in that：The batcher include charging aperture, discharging opening,
Conveyer belt, baffle plate and frame, the conveyer belt are arranged in the frame, and have an angle with horizontal plane, the baffle rings around
In the week side of boss of the conveyer belt, the charging aperture is arranged at the top of the conveyer belt, and the discharging opening is arranged at the baffle plate
On the side that the straight line permutation arranges induction system, and the charging aperture is more than the discharging apart from the height of horizontal plane
Height of the mouth apart from same level, the straight line permutation arrange induction system and are arranged on the downside of the discharging opening.
3. intestinal machine is put by robot according to claim 2, it is characterised in that：The baffle plate is along the length side of the conveyer belt
To the prominent discharging opening of extension.
4. intestinal machine is put by robot according to claim 2, it is characterised in that：The angular range of the angle is arrived for 10 °
30°。
5. intestinal machine is put by robot according to claim 1, it is characterised in that：The straight line permutation arranges induction system to be included
Installing rack, vibration feeder and at least three-level straight line reason material conveying vibrating disc, all straight lines reason material conveying vibrating discs are all provided with
Be placed on the installing rack, and along the batcher to the sequence draw direction away from conveyer with the height apart from horizontal plane according to
The mode of secondary reduction is sequentially connected with, and the vibration feeder is arranged on the installing rack, and one end is connected with the batcher,
The other end is connected with straight line reason material conveying vibrating disc described in the height highest apart from horizontal plane.
6. intestinal machine is put by robot according to claim 5, it is characterised in that：Arrange on the straight line reason material conveying vibrating disc
Have for accommodating the groove of sausage, the groove is arranged along the length direction that the straight line manages material conveying vibrating disc and length is equal to
The straight line reason material conveying vibrating disc；The groove by horizontal bottom and be respectively arranged at the horizontal bottom both sides inclined-plane and
Two vertical compositions for being respectively arranged at edge on an inclined-plane, the inclined-plane there is obtuse angle to press from both sides with the horizontal bottom
The width on angle, the height of the vertical and the inclined-plane is 1/3rd of the diameter of the sausage.
7. intestinal machine is put by robot according to claim 5, it is characterised in that：The straight line permutation arranges induction system and also wraps
Include particle discharge bucket and particle splicing groove, be provided between the two neighboring straight line reason material conveying vibrating disc one it is described broken
Material discharge bucket, the particle splicing groove is arranged on the installing rack, and the outlet of all particle discharge buckets may be contained within
The upside of the particle splicing groove.
8. intestinal machine is put by robot according to claim 1, it is characterised in that：The robot includes fixed mount, two groups of machines
Tool arm and two groups of pick devices, the sequence draw and are arranged on the fixed mount away from conveyer, and mechanical arm described in two groups is fixed
It is arranged on the fixed mount, each mechanical arm lower end is fixedly installed a pick device, and can control
The full degree of freedom action of the pick device.
9. intestinal machine is put by robot according to claim 8, it is characterised in that：The pick device include upper end fixed plate,
Side fixed plate, at least one jaw cylinder and with the one-to-one jaw of the jaw cylinder, the upper end fixed plate fixes and sets
The lower end of the mechanical arm is placed in, the side fixed plate is arranged at the downside of the upper end fixed plate and all jaw cylinders
The side fixed plate side is juxtaposed on, a jaw is arranged on a jaw cylinder lower end, and receives the folder
The control of pawl cylinder is opened and is closed, and the pick device also includes and the one-to-one telescopic cylinder of the jaw cylinder and cylinder
Connection bolster, all telescopic cylinders are juxtaposed under the side of the side fixed plate, and a telescopic cylinder
End connects bolster by the cylinder and is fixedly installed a jaw cylinder；The jaw is away from the jaw cylinder
One end is bent to form fixed part to jaw closing direction；Hollow out through hole is provided with the jaw.
10. intestinal machine is put by robot according to claim 1, it is characterised in that：Also include being grabbed for guided robot
The First look measuring system for taking positioning and the second vision that sausage quantity in induction system is arranged for monitoring the permutation are surveyed
Amount system, the First look measuring system include the first framework, panel, display screen and first camera, first framework
It is fixedly installed on the sequence to draw on conveyer, the first camera is fixedly installed on first framework, and towards institute
State sequence drawing to be taken pictures away from conveyer, the panel and the display screen are fixedly installed on the sequence and draw away from conveyer
On, and electrically connect with the panel and the first camera, second vision measurement system includes second camera and second
Framework, second framework are fixedly installed on the straight line permutation and arrange in induction system, and the second camera is fixedly installed on
On second framework, and induction system is arranged towards the straight line permutation and taken pictures, the second camera and the control
Plate and display screen electrical connection, the panel are electrically connected with the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620787103.1U CN206050194U (en) | 2016-07-25 | 2016-07-25 | Intestinal machine is put by robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620787103.1U CN206050194U (en) | 2016-07-25 | 2016-07-25 | Intestinal machine is put by robot |
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| Publication Number | Publication Date |
|---|---|
| CN206050194U true CN206050194U (en) | 2017-03-29 |
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ID=58376478
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620787103.1U Active CN206050194U (en) | 2016-07-25 | 2016-07-25 | Intestinal machine is put by robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107352079A (en) * | 2017-08-08 | 2017-11-17 | 郑州润华智能设备有限公司 | A kind of branched intestines put intestines machine with robot |
| CN107600904A (en) * | 2017-10-13 | 2018-01-19 | 安徽柏兆记食品股份有限公司 | A kind of automatically food material classification reason material conveying device |
| CN108142973A (en) * | 2017-11-14 | 2018-06-12 | 湖南腾远智能设备有限公司 | A kind of betel nut vision positioning assemble mechanism and method |
| CN108163526A (en) * | 2017-11-14 | 2018-06-15 | 湖南腾远智能设备有限公司 | A kind of grape shaping, vision positioning grasping mechanism and method |
| CN109132463A (en) * | 2018-09-29 | 2019-01-04 | 佛山市奥楷机械科技有限公司 | A kind of sausage hang lever system |
| CN112278762A (en) * | 2020-07-27 | 2021-01-29 | 北京京东乾石科技有限公司 | Ice plate conveying line and ice plate automatic processing system |
| CN112930302A (en) * | 2018-09-26 | 2021-06-08 | 聪慧公司 | Robot full-set goods picking system |
| US11731792B2 (en) | 2018-09-26 | 2023-08-22 | Dexterity, Inc. | Kitting machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352079A (en) * | 2017-08-08 | 2017-11-17 | 郑州润华智能设备有限公司 | A kind of branched intestines put intestines machine with robot |
| CN107352079B (en) * | 2017-08-08 | 2023-04-25 | 郑州润华智能设备有限公司 | Robot sausage placing machine for multiple sausages |
| CN107600904A (en) * | 2017-10-13 | 2018-01-19 | 安徽柏兆记食品股份有限公司 | A kind of automatically food material classification reason material conveying device |
| CN108142973A (en) * | 2017-11-14 | 2018-06-12 | 湖南腾远智能设备有限公司 | A kind of betel nut vision positioning assemble mechanism and method |
| CN108163526A (en) * | 2017-11-14 | 2018-06-15 | 湖南腾远智能设备有限公司 | A kind of grape shaping, vision positioning grasping mechanism and method |
| CN108142973B (en) * | 2017-11-14 | 2020-04-10 | 湖南腾远智能设备有限公司 | Visual positioning and assembling mechanism and method for betel nuts |
| CN112930302A (en) * | 2018-09-26 | 2021-06-08 | 聪慧公司 | Robot full-set goods picking system |
| US11731792B2 (en) | 2018-09-26 | 2023-08-22 | Dexterity, Inc. | Kitting machine |
| CN109132463A (en) * | 2018-09-29 | 2019-01-04 | 佛山市奥楷机械科技有限公司 | A kind of sausage hang lever system |
| CN109132463B (en) * | 2018-09-29 | 2024-05-14 | 佛山市奥楷机械科技有限公司 | Sausage peg system |
| CN112278762A (en) * | 2020-07-27 | 2021-01-29 | 北京京东乾石科技有限公司 | Ice plate conveying line and ice plate automatic processing system |
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