CN206050319U - A kind of classification Palletizer based on mechanical hand - Google Patents
A kind of classification Palletizer based on mechanical hand Download PDFInfo
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- CN206050319U CN206050319U CN201620917950.5U CN201620917950U CN206050319U CN 206050319 U CN206050319 U CN 206050319U CN 201620917950 U CN201620917950 U CN 201620917950U CN 206050319 U CN206050319 U CN 206050319U
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- 230000002950 deficient Effects 0.000 claims abstract description 5
- 238000002372 labelling Methods 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 7
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 239000010408 film Substances 0.000 description 3
- 239000010409 thin film Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of classification Palletizer based on mechanical hand, including carrier pipeline, carrier pipeline includes feeding roller table conveyer belt, driven roller-way and the positioning roller bed conveyors for setting gradually, dyestripping identification mechanism is provided with above carrier pipeline, positioning roller bed conveyors side is additionally provided with base, six axis robot is provided with base, grasping mechanism on six axis robot, is provided with, six axis robot periphery is additionally provided with non-defective unit rest area, NonConforming Product Area and label-sticking mechanism.This utility model good positioning effect, high precision, and manpower intervention is reduced, little is injured to product.
Description
Technical field
This utility model is related to haulage equipment field, and in particular to a kind of classification Palletizer based on mechanical hand.
Background technology
In many large-scale product warehousings or using front, as outside carrier is packed all, so needing to be arranged
And identification, artificial mode of operation is now typically adopted, but as product stacking is higher, there is larger inconvenience, and product
There is layer protecting film, needs information can be found on the identification code on surface after tearing on surface, extremely inconvenience, and by hand
Dyestripping is more difficult, easily damages product surface.And typically stronger work is needed also by a dead lift when carrying
Power, although mechanical hand can replace manually, but nowadays mechanical hand cannot be competent at for larger article, grasp stability pole
Difference, it is fragile.
The content of the invention
The purpose of this utility model is the problem above for overcoming prior art to exist, there is provided a kind of dividing based on mechanical hand
Class Palletizer, this utility model good positioning effect, high precision, and manpower intervention is reduced, little is injured to product.
To realize above-mentioned technical purpose, above-mentioned technique effect is reached, this utility model is achieved through the following technical solutions：
A kind of classification Palletizer based on mechanical hand, including carrier pipeline, the carrier pipeline include setting successively
Feeding roller table conveyer belt, driven roller-way and the positioning roller bed conveyors put, are provided with dyestripping identification above the carrier pipeline
Mechanism, the positioning roller bed conveyors side are additionally provided with base, and six axis robot, the six axles machine are provided with the base
Tool is provided with grasping mechanism on hand, and the six axis robot periphery is additionally provided with non-defective unit rest area, NonConforming Product Area and labeling
Mechanism.
Further, the positioning roller bed conveyors include rack platform, and the rack platform surface is provided with some rollers
Road, the roller-way are connected with power drive mechanism, are provided with lifting body, at the top of the lifting body below some roller-ways
Some top boards are provided with, the top board is arranged between two neighboring roller-way, on roller-way two ends, are also provided with clamping plate, the folder
Plate surface is provided with some roller-ways and avoids hole, and two clamping plates are set on the axis of guide, between the axis of guide and clamping plate
Axle sleeve is provided with, the axle sleeve is connected with Boards wall, on the clamping plate, is additionally provided with fixing clip, the fixing clip sandwiched
On the first belt gear, the discharge end side of the positioning roller bed conveyors is provided with stop part, on the top board
Even to be provided with guide wheel, the guide wheel is rotated along roller-way axial direction and is arranged.
Further, the dyestripping identification mechanism includes portal frame, is provided with what is moved in the X-axis direction on the portal frame
Slip girder, is provided with the slip auxiliary girder moved along Z-direction, is provided with support on the slip auxiliary girder on the slip girder
Installing plate, the support mounting plate bottom are provided with two detection beams moved along Y direction, are provided with two on the detection beam
The individual mounting bracket for moving in the X-axis direction, is provided with sucker and barcode scanning camera in the mounting bracket.
Further, lift cylinder is provided between the mounting bracket and sucker, the lift cylinder bottom is provided with
Horizontal adjustment plate, is provided with Long Circle hole, spring avoiding mechanism, institute is provided with the Long Circle hole on the horizontal adjustment plate
State sucker and be arranged on spring avoiding mechanism bottom.
Further, the grasping mechanism includes basic framework, and the basic framework is all provided with along two sides of X-direction
It is equipped with guide rail, the guide rail is arranged along Y direction, on two guide rails, is provided with the first slide unit and the
Two slide units, two first slide units are connected with the first crawl frame, and two second slide units are connected with the second crawl frame, described
Grasping plate is provided with first crawl frame and the second crawl frame, the in the corresponding basic framework of the guide rail, is additionally provided with
Two belt gears, sandwiched is fixed with the first transmission jig arm respectively with bottom on the belt top of second belt gear
With the second transmission jig arm, described first is driven jig arm is fixedly installed on the first crawl frame, and the second transmission jig arm is arranged on
On second crawl frame.
Further, mounting plane plate is set in the middle part of the basic framework, and the mounting plane plate middle setting is weighed
Sensor, is additionally provided with axle joined assemblies between the mounting plane plate and basic framework.
Further, the label-sticking mechanism includes mounting platform, and the attachment mesa base is provided with installation bracing frame, institute
Stating and sliding rail and the 3rd belt gear are provided between attachment platform and installing rack, the attachment platform surface is provided with
Bid mechanism, the bid end of bid mechanism are provided with labeling plate, and the labeling plate surface is provided with some adsorption holes, the absorption
Hole is connected with vacuum pipe, and the labeling plate is connected with swingle, and the swingle is arranged on rotary cylinder, the rotation
Cylinder is connected with the first cylinder by link, and first cylinder is arranged on fixing support rack, and the fixing support rack is solid
It is scheduled on attachment platform.
Further, the second cylinder, first gas are additionally provided between first cylinder and fixing support rack
Cylinder and the second cylinder are arranged towards labeling direction.
The beneficial effects of the utility model are:
Carrier is moved to by bottom by the conveyer belt of roller-way structure, its bottom is stopped by stop part, realizes rear and front end
It is spacing, then by lifting body and clip board engagement, carrier can be made to lift up and realize the spacing of right position so that carry
Tool position is always consistent, reduces the demand that mechanical hand is efficiently positioned, and accelerates grasp speed, lifts crawl effect.Using
Power of the driving belt mechanism as clamping plate, it is ensured that two clamping plates synchronously mutually can be moved, and be driven by the second motor
And proximity transducer, the carrier use of arbitrary dimension is can adapt to, the suitability is wide.By two lead screw gear and two
The upper roof beam structure that lead screw gear bottom is respectively provided with realizes omnibearing movement on horizontal plane, can adapt to the product of various sizes
Product are used, and dyestripping uses vacuum cup, and product surface will not be damaged, it is to avoid artificial bad generation, when by fixed
After the roller bed conveyors positioning of position, the location positioning between support mounting plate and positioning roller bed conveyors can be removed from, positioning is reduced
Mechanism intervenes, and improves precision.By the second belt gear arrange enable to both sides grasping plate can relative motion, can
Capture various sizes of product.When axle joined assemblies cause crawl, there can be certain leeway of rocking, weight is reduced to mechanical hand
Impulsive force, improves service life.
By arranging to labeling plate surface after adsorption hole, intervened by vacuum, can quickly adsorb label, and will not
The water surface that pours of label is polluted, labeling plate can by rotary cylinder, the steering of the first cylinder and the second cylinder and release
Labeling is realized, product is passed through from side.Sliding rail is provided between attachment platform and installing rack, can by movement
So that overall labeling part may move, to meet the use of different size mechanism.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of description, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below
Describe in detail bright as after.Specific embodiment of the present utility model is shown in detail in by following examples and its accompanying drawing.
Description of the drawings
For the technical scheme being illustrated more clearly that in this utility model embodiment technology, embodiment technology will be retouched below
Needed for stating, accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only this utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is positioning roller-way conveyer structure schematic diagram of the present utility model；
Fig. 3 is clamping plate part-structure schematic diagram of the present utility model；
Fig. 4 is suction cup portion structural representation of the present utility model；
Fig. 5 is grasping mechanism part-structure schematic diagram of the present utility model；
Fig. 6 is the structural representation of label-sticking mechanism of the present utility model.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of this utility model protection.
Referring to figs. 1 to shown in Fig. 6, a kind of mechanical hand positions grasping mechanism, including carrier pipeline 1, carrier pipeline bag
Feeding roller table conveyer belt 2, driven roller-way 3 and the positioning roller bed conveyors 4 for setting gradually are included, is provided with above carrier pipeline and is torn
Film identification mechanism 15, positioning roller bed conveyors side are additionally provided with base 16, and six axis robot 17, six axle machines are provided with base
Tool is provided with grasping mechanism 18 on hand, and six axis robot periphery is additionally provided with non-defective unit rest area 44, NonConforming Product Area 45 and patch
Mark mechanism 46.
Positioning roller bed conveyors include rack platform 5, and rack platform surface is provided with some roller-ways 6, and roller-way is passed with power
Motivation structure connects, and is provided with lifting body, some top boards 7 are provided with the top of lifting body below some roller-ways, and top board is arranged on
Between two neighboring roller-way, clamping plate 8 on roller-way two ends, is also provided with, cleat surface is provided with some roller-ways and avoids holes 9, two
Clamping plate is set on the axis of guide 10, and axle sleeve 11 is provided between the axis of guide and clamping plate, and axle sleeve is connected with Boards wall, on clamping plate
Fixing clip 12 is additionally provided with, fixing clip is folded on the first belt gear 13, positions the discharge end of roller bed conveyors
Side is provided with stop part 14.
Wherein, roller bed conveyors are positioned carrier is sent on stop part, realizes that one end positions, then lifting body action
Rise, top board can be made by carrier jack-up, after carrier departs from conveyer belt, driving belt mechanism action, driving belt are rotated and passed through
Fixing clip makes two clamping plates mutually draw close, and the position of carrier is further limited adjustment by clamping plate, is folded in positioning roller-way transmission
Centre, makes to be easy to detect beam and mounting bracket to carrier surface in same position on top board per a batch of carrier
The thin film of product is adsorbed and is torn, and is identified information, also allows for grasping mechanism crawl.
Guide wheel 19 is evenly arranged with top board, guide wheel is rotated along roller-way axial direction and arranged, when guide wheel heads on carrier picking-up
Afterwards, the pinching action of clamping plate can make carrier slide on guide wheel, and frictional force is little, therefore the active force of clamping plate can reduce, and move
Make more smooth.
Dyestripping identification mechanism includes portal frame 20, and the slip girder 21 for moving in the X-axis direction is provided with portal frame, slides
The slip auxiliary girder 22 moved along Z-direction is provided with girder, support mounting plate 23, support mounting plate on slip auxiliary girder, is provided with
Bottom is provided with two detection beams 24 moved along Y direction, is provided with two installations for moving in the X-axis direction on detection beam
Frame 25, is provided with sucker 26 and barcode scanning camera 27 in mounting bracket.Detection both beam and mounting bracket are mutually moved along X and Y-axis
Cooperation realizes that horizontal plane is moved, and removes the thin film of product surface by sucker, is produced by barcode scanning camera while removing
Product information.
Lift cylinder 28 is provided between mounting bracket and sucker, lift cylinder bottom is provided with horizontal adjustment plate 29, water
Long Circle hole 30 is provided with flat adjustable plate, spring avoiding mechanism 31 in Long Circle hole, is provided with, sucker is arranged on spring avoidance
Vacuum cup firmly can be pressed on the film of product by actuator base, lift cylinder, and spring avoiding mechanism then avoids vacuum from inhaling
Pressure on disk crosses macrolesion product, improves stability in use.
Grasping mechanism includes basic framework 32, and basic framework is provided with guide rail 33 along two sides of X-direction,
Guide rail is arranged along Y direction, is provided with the first slide unit and the second slide unit on two guide rails, two the first slide units with
First crawl frame 36 connects, and two the second slide units are connected with the second crawl frame 37, is all provided with the first crawl frame and the second crawl frame
Grasping plate 38 is equipped with, the second belt gear 39, the second belt transmission in the corresponding basic framework of guide rail, is additionally provided with
Sandwiched is fixed with the first transmission jig arm 40 and the second transmission jig arm 41, the first transmission jig arm respectively with bottom on the belt top of mechanism
It is fixedly installed on the first crawl frame, the second transmission jig arm is arranged on the second crawl frame.Integrated model can be extended along Y direction
And shortening, adapt to the product gripping of all size.
Mounting plane plate 42 is set in the middle part of basic framework, and mounting plane plate middle setting has LOAD CELLS, mounting plane
Axle joined assemblies 43 are additionally provided between plate and basic framework, the concrete weight of product just can be learnt in crawl, it is convenient fast
Victory, and axle is when even group causes crawl, can have certain leeway of rocking, reduce impulsive force of the weight to mechanical hand, and raising makes
Use the life-span.
Label-sticking mechanism includes mounting platform 47, and attachment mesa base is provided with installation bracing frame 48, mounts platform and installs
Sliding rail 49 and the 3rd belt gear 50 are provided between frame, attachment platform surface is provided with bid mechanism 51, bid
The bid end of mechanism is provided with labeling plate 52, and labeling plate surface is provided with some adsorption holes, and adsorption hole is connected with vacuum pipe, patch
Target is connected with swingle 53, and swingle is arranged on rotary cylinder 54, and rotary cylinder is connected with the first cylinder 55 by link
Connect, the first cylinder is arranged on fixing support rack 56, fixing support rack is fixed on attachment platform.Six axis robot is by crawl
Mechanism crawl product after move in front of label-sticking mechanism, label-sticking mechanism according to product size, by the 3rd belt gear band
The distance between dynamic attachment platform is moved along sliding rail, to vacate enough spaces, keep with product, then bid mechanism will
One label is sent, and rotary cylinder action makes labeling plate keep horizontally disposed position, the first cylinder to shrink, by labeling strip to
Above label, after vacuum intervention, vacuum is inhaled by adsorption hole, label is attracted to labeling plate surface immediately, then rotary cylinder
Action, labeling plate is rotated to plumbness, then the first cylinder release, label is affixed to product surface, and vacuum is closed, you can
Labeling is realized, using the thrust of the first cylinder come labeling, labeling firmness is high, and effect is good, and the first cylinder resets, six axis robot
Just the product for posting label can be removed, simple and fast.
The second cylinder 57 is additionally provided between first cylinder and fixing support rack, the first cylinder and the second cylinder are towards patch
Mark direction is arranged, and the second cylinder coordinates the first cylinder action so that the action of labeling is divided into two parts, after label is drawn, first
First cylinder and labeling plate are first released certain distance by the second cylinder operation, and then rotary cylinder action rotates the position of labeling plate
Put, last first cylinder action is attached to label on product, so that labeling plate will not get to bid mechanism when rotated
On, it is ensured that smooth movements degree.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use that this practicality is new
Type.Various modifications to these embodiments will be apparent for those skilled in the art, determined herein
The General Principle of justice can be realized in the case of without departing from spirit or scope of the present utility model in other embodiments.Cause
This, this utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (8)
1. a kind of classification Palletizer based on mechanical hand, it is characterised in that：Including carrier pipeline, the carrier pipeline bag
Feeding roller table conveyer belt, driven roller-way and the positioning roller bed conveyors for setting gradually are included, is provided with above the carrier pipeline
Dyestripping identification mechanism, the positioning roller bed conveyors side are additionally provided with base, and six axis robot, institute are provided with the base
State, the six axis robot periphery is additionally provided with non-defective unit rest area, defective products and places
Area and label-sticking mechanism.
2. a kind of classification Palletizer based on mechanical hand according to claim 1, it is characterised in that：The positioning roller-way
Conveyer belt includes rack platform, and the rack platform surface is provided with some roller-ways, and the roller-way is connected with power drive mechanism,
Lifting body is provided with below some roller-ways, some top boards at the top of the lifting body, are provided with, the top board is arranged on
Between two neighboring roller-way, clamping plate on roller-way two ends, is also provided with, the cleat surface is provided with some roller-ways and avoids holes, two
The individual clamping plate is set on the axis of guide, and axle sleeve, the axle sleeve and Boards wall are provided between the axis of guide and clamping plate
Connection, is additionally provided with fixing clip on the clamping plate, the fixing clip is folded on the first belt gear, the positioning
The discharge end side of roller bed conveyors is provided with stop part, and guide wheel is evenly arranged with the top board, and the guide wheel is along roller-way axle
Rotate to direction and arrange.
3. a kind of classification Palletizer based on mechanical hand according to claim 1, it is characterised in that：The dyestripping identification
Mechanism includes portal frame, is provided with the slip girder for moving in the X-axis direction, is provided with the slip girder on the portal frame
Support mounting plate is provided with along the slip auxiliary girder that Z-direction is moved, the slip auxiliary girder, the support mounting plate bottom is arranged
There are two detection beams moved along Y direction, on the detection beam, be provided with two mounting brackets for moving in the X-axis direction, institute
State.
4. a kind of classification Palletizer based on mechanical hand according to claim 3, it is characterised in that：The mounting bracket
Lift cylinder is provided between sucker, the lift cylinder bottom is provided with horizontal adjustment plate, sets on the horizontal adjustment plate
Long Circle hole is equipped with, spring avoiding mechanism in the Long Circle hole, is provided with, the sucker is arranged on spring avoiding mechanism bottom.
5. a kind of classification Palletizer based on mechanical hand according to claim 1, it is characterised in that：The grasping mechanism
Including basic framework, the basic framework is provided with guide rail along two sides of X-direction, and the guide rail is along Y
Direction of principal axis is arranged, and is provided with the first slide unit and the second slide unit on two guide rails, two first slide units and the
One crawl frame connection, two second slide units are connected with the second crawl frame, on the first crawl frame and the second crawl frame
Grasping plate is provided with, the second belt gear, second skin in the corresponding basic framework of the guide rail, is additionally provided with
Sandwiched is fixed with the first transmission jig arm and the second transmission jig arm respectively with bottom on the belt top of tape handler, and described first passes
Dynamic jig arm is fixedly installed on the first crawl frame, and the second transmission jig arm is arranged on the second crawl frame.
6. a kind of classification Palletizer based on mechanical hand according to claim 5, it is characterised in that：The basic framework
Middle part arranges mounting plane plate, and the mounting plane plate middle setting has LOAD CELLS, the mounting plane plate and basic frame
Axle joined assemblies are additionally provided between frame.
7. a kind of classification Palletizer based on mechanical hand according to claim 1, it is characterised in that：The label-sticking mechanism
Including attachment platform, the attachment mesa base is provided with installation bracing frame, is provided between the attachment platform and installing rack
Sliding rail and the 3rd belt gear, the attachment platform surface are provided with bid mechanism, and the bid end of bid mechanism sets
Labeling plate is equipped with, the labeling plate surface is provided with some adsorption holes, and the adsorption hole is connected with vacuum pipe, the labeling plate
It is connected with swingle, the swingle is arranged on rotary cylinder, the rotary cylinder is connected with the first cylinder by link,
First cylinder is arranged on fixing support rack, and the fixing support rack is fixed on attachment platform.
8. a kind of classification Palletizer based on mechanical hand according to claim 7, it is characterised in that：Described first
The second cylinder is additionally provided between cylinder and fixing support rack, first cylinder is set towards labeling direction with the second cylinder
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620917950.5U CN206050319U (en) | 2016-08-22 | 2016-08-22 | A kind of classification Palletizer based on mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620917950.5U CN206050319U (en) | 2016-08-22 | 2016-08-22 | A kind of classification Palletizer based on mechanical hand |
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| Publication Number | Publication Date |
|---|---|
| CN206050319U true CN206050319U (en) | 2017-03-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620917950.5U Withdrawn - After Issue CN206050319U (en) | 2016-08-22 | 2016-08-22 | A kind of classification Palletizer based on mechanical hand |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106144625A (en) * | 2016-08-22 | 2016-11-23 | 苏州朗坤自动化设备有限公司 | A kind of classification Palletizer of mechanically-based hands |
| CN107804687A (en) * | 2017-10-26 | 2018-03-16 | 广州莱因智能装备股份有限公司 | Full-automatic disc stack system |
| CN107963386A (en) * | 2017-12-14 | 2018-04-27 | 黄正秀 | It is a kind of to collect heap goods, get in stocks, paste code and the unmanned Storage and circulation equipment of walking one |
| CN108007368A (en) * | 2017-11-30 | 2018-05-08 | 江苏理工学院 | The device that a kind of bearing inner race is detected and classified |
| CN108529180A (en) * | 2018-05-02 | 2018-09-14 | 重庆邮电大学 | A kind of irregular cigarette package conjunction palletizing system based on machine vision |
| CN108528878A (en) * | 2018-04-19 | 2018-09-14 | 天津市晟春阳纸制品有限公司 | A kind of the clad plate extraction element and method of paper-plastic package equipment |
| CN119637228A (en) * | 2025-02-19 | 2025-03-18 | 荣旗工业科技(苏州)股份有限公司 | Labeling equipment and appearance detection system |
-
2016
- 2016-08-22 CN CN201620917950.5U patent/CN206050319U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106144625A (en) * | 2016-08-22 | 2016-11-23 | 苏州朗坤自动化设备有限公司 | A kind of classification Palletizer of mechanically-based hands |
| CN106144625B (en) * | 2016-08-22 | 2018-05-04 | 苏州朗坤自动化设备有限公司 | A kind of classification Palletizer based on manipulator |
| CN107804687A (en) * | 2017-10-26 | 2018-03-16 | 广州莱因智能装备股份有限公司 | Full-automatic disc stack system |
| CN108007368A (en) * | 2017-11-30 | 2018-05-08 | 江苏理工学院 | The device that a kind of bearing inner race is detected and classified |
| CN108007368B (en) * | 2017-11-30 | 2020-02-14 | 江苏理工学院 | Bearing inner race detects and categorised device |
| CN107963386A (en) * | 2017-12-14 | 2018-04-27 | 黄正秀 | It is a kind of to collect heap goods, get in stocks, paste code and the unmanned Storage and circulation equipment of walking one |
| CN108528878A (en) * | 2018-04-19 | 2018-09-14 | 天津市晟春阳纸制品有限公司 | A kind of the clad plate extraction element and method of paper-plastic package equipment |
| CN108529180A (en) * | 2018-05-02 | 2018-09-14 | 重庆邮电大学 | A kind of irregular cigarette package conjunction palletizing system based on machine vision |
| CN108529180B (en) * | 2018-05-02 | 2020-03-17 | 重庆邮电大学 | Irregular cigarette packet combined stacking system based on machine vision |
| CN119637228A (en) * | 2025-02-19 | 2025-03-18 | 荣旗工业科技(苏州)股份有限公司 | Labeling equipment and appearance detection system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170329 Effective date of abandoning: 20180504 |