CN103158900B - Robot solidifying encasing system - Google Patents
Robot solidifying encasing system Download PDFInfo
- Publication number
- CN103158900B CN103158900B CN201110419640.2A CN201110419640A CN103158900B CN 103158900 B CN103158900 B CN 103158900B CN 201110419640 A CN201110419640 A CN 201110419640A CN 103158900 B CN103158900 B CN 103158900B
- Authority
- CN
- China
- Prior art keywords
- line
- connecting rod
- robot
- load
- outlet line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a robot solidifying encasing system. A case inlet wire of a packing case conveying wire is connected with a case outlet wire end to end. A spacer capable of lifting longitudinally is arranged between the case inlet wire and the case outlet wire. An accelerating conveyor belt is embedded at the head end of the case outlet wire, wherein speed of the accelerating conveyor belt is larger than that of a case outlet wire conveyor belt. A plurality of packing case clamping positioning devices capable of lifting longitudinally are arranged on the case outlet wire at intervals. A milk bag grabbing robot can grab preset number of milk bags and arrange the milk bags on the packing case on a milk bag conveying line at one side of the case outlet wire. A first sensing device and a second sensing device can respectively send induction signals to a controller. The controller can control the spacer and action of the milk bag grabbing robot. The robot solidifying encasing system can position the packing case accurately, enable fast switch of parallel arrangement of the case inlet wire and the case outlet wire, save space, position accurately, and encase the milk bags fast and accurately.
Description
Technical field
The present invention relates to a kind of milk packing chest mechanism, espespecially relate to a kind of robot solidification packaging system.
Background technology
In the fluid milk processing process of current Tetra Pak form, packaged milk bag flows through from conveyor line, packs of milk bag is manually put into packing chest by vanning personnel, Manual Speed is slow, packaging efficiency is low, labor strength is large, often has milk bag to damage, the phenomenon such as misaligned and neglected loading occurs in milk bag put procedure.
Summary of the invention
In order to overcome above-mentioned defect, the invention provides a kind of robot solidification packaging system, this robot solidifies packaging system transmission to be stablized, case fast, neatly, saves space.
The present invention in order to the technical scheme solving its technical matters and adopt is: a kind of robot solidification packaging system, comprises frame, packing box transmission line, milk bag travel line, milk bag capture robot and controller, wherein:
Packing box transmission line comprises inlet line and outlet line, with actual user to for benchmark, the load-transfer device end of inlet line aligns with the load-transfer device head end of outlet line and is connected, a barrier that longitudinally can be elevated is provided with between inlet line end and outlet line head end, described outlet line head end is embedded with the acceleration load-transfer device that a speed is greater than this outlet line load-transfer device speed, and outlet line is interval with along its sense of motion the packing chest clamping and positioning device that some longitudinal directions can be elevated;
Packing chest clamping and positioning device comprises first, two front clamp connecting rods and first, connecting rod is clamped after two, side walls hinged with the load-transfer device of outlet line in the middle of described first front clamp connecting rod, first front clamp connecting rod one end and the second front clamp connecting rod other end hinged, the load-transfer device of second front clamp connecting rod one end and outlet line is hinged, described second front clamp connecting rod one end is positioned at the front of the load-transfer device sense of motion of outlet line relative to its other end, side walls hinged with the load-transfer device of outlet line in the middle of clamping connecting rod after described first, connecting rod one end is clamped behind clamping connecting rod one end and second hinged after first, after second, the load-transfer device of the clamping connecting rod other end and outlet line is hinged, after described second, clamping connecting rod one end is positioned at the front of the load-transfer device sense of motion of outlet line relative to its other end, after the described first front clamp connecting rod other end and first, the clamping connecting rod other end is all positioned at the used for conveyer belt in the lateral surface of conveying of outlet line,
Milk bag travel line is positioned at the outlet line side of packing box transmission line and runs in the same way with it;
Milk bag captures robot and is fixed in frame, and the milk bag arrangement that milk bag crawl robot can capture setting quantity is positioned in packing chest;
Frame is provided with first, two induction installations, this is first years old, two induction installations can respond to the position of packing chest position and milk bag respectively, first, induced signal can be transferred to controller by two induction installations, controller can control barrier and milk bag captures robot motion, packing chest is positioned on the inlet line of packaging travel line, packing chest travels forward under inlet line drives, and then enter into outlet line head end position, packing chest is accelerated load-transfer device with accelerated movement, the packing chest making to enter outlet line presses closer the first front clamp connecting rod along the front of its sense of motion, when it moves to certain position, vertical state is gradually become by horizontality after clamping connecting rod turns over the second load-transfer device arc section after first, such packing chest is just clamped by clamping connecting rod after the first front clamp connecting rod and first and has been travelled forward, in motion process, it is in clamped condition, deflection can not be there is, ensure registration, prevent to interfere, packing chest is fixedly clamped the most at last, in motion process, packing chest is in clamped condition, deflection can not be there is, ensure registration, prevent to interfere, after last packing chest is not by first before the clamping of clamping connecting rod, barrier between inlet line end and outlet line head end keeps raised configuration to play barrier effect, after preventing, a packing chest clamps connecting rod after flowing through and affecting first and clamps last packing chest, when packing chest and milk bag flow through, first, two induction installations send their location information to controller, controller controls milk bag crawl robot and is arranged in packing chest by milk bag according to setting requirement, packing chest clamping and positioning device is except this kind of structure, those skilled in the art can also be easy to expect similar structure according to this patent, as: adopt cylinder to drive the front and back stop block that longitudinally can be elevated, the chamfering structure of inclination is set on the upside of rear stop block, also or by motor with some cam mechanisms, rotated by cam and realize longitudinally lifting and the clamping along load-transfer device sense of motion.
As a further improvement on the present invention, the side of described first front clamp connecting rod packing chest sense of motion is dorsad provided with one first locating plate, clamping connecting rod is provided with one towards the side of the first front clamp connecting rod and has elastomeric second locating plate after first, second locating plate can be that elastomeric material is made, also after the second locating plate and first, elastic component can be provided with, as spring etc. between clamping connecting rod.
As a further improvement on the present invention, described outlet line is sprocket wheel chain drive structure, and the load-transfer device of outlet line is chain.
As a further improvement on the present invention, packing box transmission line also comprises turning guide marking, this turning guide marking comprises first of arrangement in parallel, two commutation lines, perpendicular transmission line, limitting casing, 3rd induction installation and inhibiting device, first, two commutation lines are connected in the same way with the inlet line of packing box transmission line and outlet line respectively, perpendicular transmission line head end is embedded at the first commutation line end, perpendicular transmission line end is embedded at the second commutation line head end, perpendicular transmission line longitudinally can be elevated, limitting casing is fixed at the first commutation line end, 3rd induction installation can respond to first, two commutation lines and perpendicular transmission line on packing chest position and be messaging in controller, controller can control inhibiting device action, inhibiting device can limit first, two commutation lines and perpendicular transmission line on packing chest motion, when packing chest goes out to enter the first commutation line of turning guide marking from inlet linear flow, when packing chest arrives the first commutation line terminal position (due to limited location frame, packing chest can not drop to outside the first commutation line), perpendicular transmission line rises, packing chest just transmits on perpendicular transmission line, when packing chest arrives perpendicular transmission line end, perpendicular transmission line declines, packing chest just enters into the head end of the second commutation line, and then enter and flow on outlet line, this kind of structure realizes commutation fast when inlet line and outlet line parallel reversed arrangement, save space.
As a further improvement on the present invention, described inhibiting device can limit first, on two commutation lines and perpendicular transmission line, the structure of packing chest motion is: inhibiting device is longitudinally can be elevated first, two, three limiting stoppers, this is first years old, two, three limiting stoppers lay respectively at the middle part of the first commutation line, the middle part of perpendicular transmission line, the medium position of the second commutation line, when the first commutation line end has had packing chest, first limiting stopper rises, prevent from the packing chest on inlet line from continuing to flow into extruding first to commutate line end packing chest, it is interfered to be transported on perpendicular transmission line, when perpendicular transmission line end has packing chest, limiting stopper in the middle of perpendicular transmission line just rises, it is prevented to be continuously introduced to perpendicular transmission line end, the position so just serving packing chest limits, prevent the phenomenon that pile-up interferes transmission, transmission is carried out in order.
As a further improvement on the present invention, the structure that first, second and third limiting stopper described longitudinally can be elevated is: be also provided with first, second and third cylinder, this first, second and third cylinder is that vertical state is fixedly arranged in frame, and the piston rod of first, second and third cylinder is connected with first, second and third limiting stopper respectively.
As a further improvement on the present invention, the both sides of described inlet line packing chest sense of motion vertical with outlet line are even is provided with baffle plate (carrying out spacing to packing chest), the baffle plate of described inlet line head end and the baffle plate of outlet line head end are all in bell mouth shape (have directional tagging, packing chest flows into smooth and easy).
As a further improvement on the present invention, described milk bag travel line head end also extend be provided with one section be connected load-transfer device, this linking load-transfer device is made up of the cylinder of some rotations, ensure that milk bag travel line is connected with the travel line perfection of the canning line of milk bag on manufacturing line, during use, this linking load-transfer device just fills up the gap location being positioned at canning line and the formation of milk bag travel line cohesive end circular arc, achieves the perfect transition of canning line and milk bag travel line.
As a further improvement on the present invention, described milk bag captures the artificial Delta robot of machine and the one selecting compliance to put together machines in arm.
The invention has the beneficial effects as follows: the present invention by arranging packing chest positioning clamping device on outlet line, achieve the accurate location of packing chest, the rapid translating of inlet line and the arrangement of outlet line parallel is achieved by turning guide marking, save space, accurate positioning, achieve milk bag quick, accurately case.
Accompanying drawing explanation
Fig. 1 is block diagram of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 be in Fig. 2 A-A to cutaway view;
Fig. 4 is birds-eye view of the present invention;
Fig. 5 is outlet DNA mitochondrial DNA figure;
Fig. 6 is packing chest clamping and positioning device structural principle schematic diagram on outlet line;
Fig. 7 is milk bag travel line block diagram.
Detailed description of the invention
Embodiment: a kind of robot solidification packaging system, comprises frame 1, packing box transmission line, milk bag travel line 2, milk bag crawl robot 3 and controller, wherein:
Packing box transmission line comprises inlet line 4 and outlet line 5, with actual user to for benchmark, the load-transfer device end of inlet line 4 aligns with the load-transfer device head end of outlet line 5 and is connected, a barrier 6 that longitudinally can be elevated is provided with between inlet line 4 end and outlet line 5 head end, described outlet line 5 head end is embedded with the acceleration load-transfer device 51 that a speed is greater than this outlet line 5 load-transfer device speed, and outlet line 5 is interval with along its sense of motion the packing chest clamping and positioning device that some longitudinal directions can be elevated;
Packing chest clamping and positioning device comprises first, two front clamp connecting rods 52, 53 and first, clamping connecting rod 54 after two, 55, side walls hinged with the load-transfer device of outlet line 5 in the middle of described first front clamp connecting rod 52, first front clamp connecting rod 52 one end and second front clamp connecting rod 53 other end hinged, the load-transfer device of second front clamp connecting rod 53 one end and outlet line 5 is hinged, described second front clamp connecting rod 53 one end is positioned at the front of the load-transfer device sense of motion of outlet line 5 relative to its other end, side walls hinged with the load-transfer device of outlet line 5 in the middle of clamping connecting rod 54 after described first, connecting rod 55 one end is clamped behind clamping connecting rod 54 one end and second hinged after first, after second, the load-transfer device of clamping connecting rod 55 other end and outlet line 5 is hinged, after described second, clamping connecting rod 55 one end is positioned at the front of the load-transfer device sense of motion of outlet line 5 relative to its other end, after described first front clamp connecting rod 52 other end and first, clamping connecting rod 54 other end is all positioned at the used for conveyer belt in the lateral surface of conveying of outlet line 5,
Milk bag travel line 2 is positioned at outlet line 5 side of packing box transmission line and runs in the same way with it;
Milk bag captures robot 3 and is fixed in frame 1, and the milk bag arrangement that milk bag crawl robot 3 can capture setting quantity is positioned in packing chest;
Frame 1 is provided with first, two induction installations, this is first years old, two induction installations can respond to the position of packing chest position and milk bag respectively, first, induced signal can be transferred to controller by two induction installations, controller can control barrier 6 and milk bag captures robot 3 action, packing chest is positioned on the inlet line 4 of packaging travel line, packing chest travels forward under inlet line 4 drives, and then enter into outlet line 5 head end position, packing chest is accelerated load-transfer device with accelerated movement, the packing chest making to enter outlet line 5 presses closer the first front clamp connecting rod 52 along the front of its sense of motion, when it moves to certain position, vertical state is gradually become by horizontality after clamping connecting rod 54 turns over the second load-transfer device arc section after first, such packing chest is just clamped by the first front clamp connecting rod 52 and the first rear clamping connecting rod 54 and has been travelled forward, in motion process, it is in clamped condition, deflection can not be there is, ensure registration, prevent to interfere, packing chest is fixedly clamped the most at last, in motion process, packing chest is in clamped condition, deflection can not be there is, ensure registration, prevent to interfere, before after last packing chest is not by first, clamping connecting rod 54 clamps, barrier 6 between inlet line 4 end and outlet line 5 head end keeps raised configuration to play barrier effect, after preventing, a packing chest clamps connecting rod 54 after flowing through and affecting first and clamps last packing chest, when packing chest and milk bag flow through, first, two induction installations send their location information to controller, controller controls milk bag crawl robot 3 and is arranged in packing chest according to setting requirement by milk bag.Packing chest clamping and positioning device is except this kind of structure, those skilled in the art can also be easy to expect similar structure according to this patent, as: adopt cylinder to drive the front and back stop block that longitudinally can be elevated, the chamfering structure of inclination is set on the upside of rear stop block, also or by motor with some cam mechanisms, rotated by cam and realize longitudinally lifting and the clamping along load-transfer device sense of motion.
The side of described first front clamp connecting rod 52 packing chest sense of motion is dorsad provided with one first locating plate 56, clamping connecting rod 54 is provided with one towards the side of the first front clamp connecting rod 52 and has elastomeric second locating plate 57 after first, second locating plate 57 can be that elastomeric material is made, also elastic component can be provided with, as spring etc. between the second locating plate 57 and the first rear clamping connecting rod 54.
Described outlet line 5 is sprocket wheel chain drive structure, and the load-transfer device of outlet line 5 is chain.
Packing box transmission line also comprises turning guide marking, this turning guide marking comprises first of arrangement in parallel, two commutation lines 71, 72, perpendicular transmission line 73, limitting casing 74, 3rd induction installation and inhibiting device, first, two commutation lines 71, 72 are connected in the same way with the inlet line 4 of packing box transmission line and outlet line 5 respectively, perpendicular transmission line 73 head end is embedded at the first commutation line 71 end, perpendicular transmission line 73 end is embedded at the second commutation line 72 head end, perpendicular transmission line 73 longitudinally can be elevated, limitting casing 74 is fixed at the first commutation line 71 end, 3rd induction installation can respond to first, two commutation lines 71, 72 and perpendicular transmission line 73 on packing chest position and be messaging in controller, controller can control inhibiting device action, inhibiting device can limit first, two commutation lines 71, 72 and perpendicular transmission line 73 on packing chest motion, when packing chest enters the first commutation line 71 of turning guide marking from inlet line 4 outflow, when packing chest arrives the first commutation line 71 terminal position (due to limited location frame 74, packing chest can not drop to outside the first commutation line 71), perpendicular transmission line 73 rises, packing chest just transmits on perpendicular transmission line 73, when packing chest arrives perpendicular transmission line 73 end, perpendicular transmission line 73 declines, packing chest just enters into the head end of the second commutation line 72, and then enter and flow on outlet line 5, this kind of structure commutates with realizing during outlet line 5 parallel reversed arrangement fast at inlet line 4, save space.
Described inhibiting device can limit first, two commutation lines 71, 72 and perpendicular transmission line 73 on the structure of packing chest motion be: inhibiting device is longitudinally can be elevated first, two, three limiting stoppers 75, 76, 77, this is first years old, two, three limiting stoppers 75, 76, 77 middle parts laying respectively at the first commutation line 71, the middle part of perpendicular transmission line 73, the medium position of the second commutation line 72, when the first commutation line 71 end has had packing chest, first limiting stopper 75 rises, prevent from the packing chest on inlet line 4 from continuing to flow into extruding first to commutate line 71 end packing chest, it is interfered to be transported on perpendicular transmission line 73, when perpendicular transmission line 73 end has packing chest, limiting stopper in the middle of perpendicular transmission line 73 just rises, it is prevented to be continuously introduced to perpendicular transmission line 73 end, the position so just serving packing chest limits, prevent the phenomenon that pile-up interferes transmission, transmission is carried out in order.
The structure that first, second and third limiting stopper 75,76,77 described longitudinally can be elevated is: be also provided with first, second and third cylinder, this first, second and third cylinder is that vertical state is fixedly arranged in frame 1, and the piston rod of first, second and third cylinder is connected with first, second and third limiting stopper 75,76,77 respectively.
The both sides of described inlet line 4 packing chest sense of motion vertical with outlet line 5 are even is provided with baffle plate 8 (carrying out spacing to packing chest), the baffle plate 8 of described inlet line 4 head end and the baffle plate 8 of outlet line 5 head end are all in bell mouth shape (have directional tagging, packing chest flows into smooth and easy).
Described milk bag travel line 2 head end also extend be provided with one section be connected load-transfer device 9, this linking load-transfer device is made up of the cylinder of some rotations, ensure that milk bag travel line 2 is connected with the travel line perfection of the canning line of milk bag on manufacturing line, during use, this linking load-transfer device just fills up the gap location being positioned at canning line and the formation of milk bag travel line 2 cohesive end circular arc, achieves the perfect transition of canning line and milk bag travel line 2.
Described milk bag captures the one that robot 3 is Delta robot and selects compliance to put together machines in arm.
Claims (9)
1. a robot solidification packaging system, is characterized in that: comprise frame (1), packing box transmission line, milk bag travel line (2), milk bag crawl robot (3) and controller, wherein:
Packing box transmission line comprises inlet line (4) and outlet line (5), with actual user to for benchmark, the load-transfer device end of inlet line (4) aligns with the load-transfer device head end of outlet line (5) and is connected, a barrier (6) that longitudinally can be elevated is provided with between inlet line (4) end and outlet line (5) head end, described outlet line (5) head end is embedded with the acceleration load-transfer device (51) that a speed is greater than this outlet line (5) load-transfer device speed, outlet line (5) is interval with along its sense of motion the packing chest clamping and positioning device that some longitudinal directions can be elevated,
Packing chest clamping and positioning device comprises first, two front clamp connecting rods (52, 53) and the first, connecting rod (54 is clamped after two, 55), side walls hinged with the load-transfer device of outlet line (5) in the middle of described first front clamp connecting rod (52), first front clamp connecting rod (52) one end and second front clamp connecting rod (53) other end hinged, the load-transfer device of second front clamp connecting rod (53) one end and outlet line (5) is hinged, described second front clamp connecting rod (53) one end is positioned at the front of the load-transfer device sense of motion of outlet line (5) relative to its other end, clamp in the middle of connecting rod (54) side walls hinged with the load-transfer device of outlet line (5) after described first, connecting rod (55) one end is clamped hinged after clamping connecting rod (54) one end and second after first, the load-transfer device clamping connecting rod (55) other end and outlet line (5) after second is hinged, connecting rod (55) one end is positioned at the load-transfer device sense of motion of outlet line (5) front relative to its other end is clamped after described second, clamp connecting rod (54) other end after described first front clamp connecting rod (52) other end and first and be all positioned at the used for conveyer belt in the lateral surface of conveying of outlet line (5),
Milk bag travel line (2) is positioned at outlet line (5) side of packing box transmission line and runs in the same way with it;
Milk bag captures robot (3) and is fixed in frame (1), and the milk bag arrangement that milk bag crawl robot (3) can capture setting quantity is positioned in packing chest;
Frame (1) is provided with first and second induction installation, this first and second induction installation can respond to the position of packing chest position and milk bag respectively, induced signal can be transferred to controller by first and second induction installation, and controller can control barrier (6) and milk bag captures robot (3) action.
2. robot solidification packaging system as claimed in claim 1, it is characterized in that: the side of described first front clamp connecting rod (52) packing chest sense of motion is dorsad provided with one first locating plate (56), clamp connecting rod (54) after first and be provided with one towards the side of the first front clamp connecting rod (52) there is elastomeric second locating plate (57).
3. robot solidification packaging system as claimed in claim 1, it is characterized in that: described outlet line (5) is sprocket wheel chain drive structure, the load-transfer device of outlet line (5) is chain.
4. robot solidification packaging system as claimed in claim 1, it is characterized in that: packing box transmission line also comprises turning guide marking, this turning guide marking comprises first of arrangement in parallel, two commutation lines (71, 72), perpendicular transmission line (73), limitting casing (74), 3rd induction installation and inhibiting device, first, two commutation lines (71, 72) be connected in the same way with the inlet line (4) of packing box transmission line and outlet line (5) respectively, perpendicular transmission line (73) head end is embedded at the first commutation line (71) end, perpendicular transmission line (73) end is embedded at the second commutation line (72) head end, perpendicular transmission line (73) longitudinally can be elevated, limitting casing (74) is fixed at the first commutation line (71) end, and the 3rd induction installation can respond to first, two commutation lines (71, 72) and the position of the upper packing chest of perpendicular transmission line (73) be messaging in controller, controller can control inhibiting device action, and inhibiting device can limit first, two commutation lines (71, 72) and the upper packing chest motion of perpendicular transmission line (73).
5. robot solidification packaging system as claimed in claim 4, it is characterized in that: the structure that described inhibiting device can limit first and second commutation line (71,72) and the upper packing chest motion of perpendicular transmission line (73) is: inhibiting device is first, second and third limiting stopper (75,76,77) that longitudinally can be elevated, the medium position that this first, second and third limiting stopper (75,76,77) lays respectively at the middle part of the first commutation line (71), line (72) is commutated at the middle part, second of perpendicular transmission line (73).
6. robot solidification packaging system as claimed in claim 5, it is characterized in that: the structure that first, second and third limiting stopper described (75,76,77) longitudinally can be elevated is: be also provided with first, second and third cylinder, this first, second and third cylinder is that vertical state is fixedly arranged in frame (1), and the piston rod of first, second and third cylinder is connected with first, second and third limiting stopper (75,76,77) respectively.
7. robot solidification packaging system as claimed in claim 1, it is characterized in that: described inlet line (4) is provided with baffle plate (8) with the both sides of outlet line (5) vertical packing chest sense of motion are even, the baffle plate (8) of described inlet line (4) head end and the baffle plate (8) of outlet line (5) head end are all in bell mouth shape.
8. robot solidification packaging system as claimed in claim 1, is characterized in that: described milk bag travel line (2) head end also extends and is provided with one section and is connected load-transfer device (9), and this linking load-transfer device is made up of the cylinder of some rotations.
9. robot solidification packaging system as claimed in claim 1, is characterized in that: described milk bag captures the one that robot (3) puts together machines in arm for Delta robot and selection compliance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110419640.2A CN103158900B (en) | 2011-12-15 | 2011-12-15 | Robot solidifying encasing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110419640.2A CN103158900B (en) | 2011-12-15 | 2011-12-15 | Robot solidifying encasing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103158900A CN103158900A (en) | 2013-06-19 |
| CN103158900B true CN103158900B (en) | 2015-04-08 |
Family
ID=48582506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110419640.2A Active CN103158900B (en) | 2011-12-15 | 2011-12-15 | Robot solidifying encasing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103158900B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103693417B (en) * | 2013-12-16 | 2017-01-11 | 武汉人天包装技术有限公司 | Carton-grabbing fast steering engine |
| CN106927245A (en) * | 2015-12-30 | 2017-07-07 | 广东新吉欣实业有限公司 | A kind of printed substrate tool feed mechanism |
| CN106697420A (en) * | 2017-01-06 | 2017-05-24 | 上海星派自动化股份有限公司 | Chain line structure of carton |
| CN107738901B (en) * | 2017-09-22 | 2024-04-02 | 江苏耐尔特钻石有限公司 | Novel article feeder |
| CN108327983B (en) * | 2018-01-10 | 2021-01-19 | 杭州娃哈哈精密机械有限公司 | Article boxing workstation and article boxing method |
| CN108072297A (en) * | 2018-01-23 | 2018-05-25 | 江西工业工程职业技术学院 | A kind of firecrackers bobbin fills basket machine |
| CN110937353B (en) * | 2019-12-31 | 2024-07-02 | 云南云铝润鑫铝业有限公司 | Automatic logistics system for sawing and stacking of square aluminum alloy bars |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201169390Y (en) * | 2008-02-04 | 2008-12-24 | 姜广峻 | Equipment for sorting and separate-loading cargo |
| CN201857081U (en) * | 2010-06-02 | 2011-06-08 | 天津津港石油机械修造有限公司 | Stepping sleeve noise damping device |
| CN201914485U (en) * | 2010-12-22 | 2011-08-03 | 苏州澳昆智能机器人技术有限公司 | Integrated boxing system |
| CN202054162U (en) * | 2011-04-13 | 2011-11-30 | 苏州澳昆智能机器人技术有限公司 | Structure-improved boxing system packaging box transportation line |
| CN202054170U (en) * | 2011-04-13 | 2011-11-30 | 苏州澳昆智能机器人技术有限公司 | Milk packing container system |
| CN202670157U (en) * | 2011-12-15 | 2013-01-16 | 苏州澳昆智能机器人技术有限公司 | Robot solidifying box-packing system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04286528A (en) * | 1991-03-12 | 1992-10-12 | Murata Mach Ltd | Device for transferring article |
| GB0603461D0 (en) * | 2006-02-22 | 2006-04-05 | Quin Systems Ltd | Conveyors |
-
2011
- 2011-12-15 CN CN201110419640.2A patent/CN103158900B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201169390Y (en) * | 2008-02-04 | 2008-12-24 | 姜广峻 | Equipment for sorting and separate-loading cargo |
| CN201857081U (en) * | 2010-06-02 | 2011-06-08 | 天津津港石油机械修造有限公司 | Stepping sleeve noise damping device |
| CN201914485U (en) * | 2010-12-22 | 2011-08-03 | 苏州澳昆智能机器人技术有限公司 | Integrated boxing system |
| CN202054162U (en) * | 2011-04-13 | 2011-11-30 | 苏州澳昆智能机器人技术有限公司 | Structure-improved boxing system packaging box transportation line |
| CN202054170U (en) * | 2011-04-13 | 2011-11-30 | 苏州澳昆智能机器人技术有限公司 | Milk packing container system |
| CN202670157U (en) * | 2011-12-15 | 2013-01-16 | 苏州澳昆智能机器人技术有限公司 | Robot solidifying box-packing system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103158900A (en) | 2013-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103158900B (en) | Robot solidifying encasing system | |
| CN202670157U (en) | Robot solidifying box-packing system | |
| CN103159003B (en) | Clamping and conveying device of packing case | |
| CN107394557B (en) | A variety of shot terminal compression joint systems and compression bonding method | |
| CN105197293A (en) | Automatic electric energy meter boxing system | |
| CN104875915A (en) | Automatic bin-packing and stacking production line based on intelligent robot | |
| CN105417095B (en) | A kind of infusion bag upset arrangement apparatus and method | |
| CN103187553A (en) | Automatic positioning and acid filling device for battery | |
| CN202226070U (en) | Vibration exhaust device for gassy powder during packaging | |
| KR102538725B1 (en) | Apparatus and method for packaging products in pre-fabricated packages | |
| CN203111579U (en) | Bag supplying mechanism for bag-feeding type packing machine | |
| CN208716277U (en) | A kind of packing machine vertical box mutual-inserting type array mechanism automatically | |
| CN106898683A (en) | A kind of LED wafer support packaging system and method for packing | |
| CN109502063B (en) | Automatic product boxing system | |
| CN202389622U (en) | High-speed packaging machine | |
| CN206685409U (en) | A kind of LED wafer support packaging system | |
| CN102490325A (en) | Stack mold gripper | |
| CN207239605U (en) | Feeding-distribution device | |
| CN216104734U (en) | Material handling device | |
| CN214528053U (en) | Finished product filling and packaging device for edible oil production | |
| CN201076556Y (en) | Sanitary towel production line high speed ricker | |
| CN209757619U (en) | Package clamping device of cheese packaging and binding machine | |
| CN105173197B (en) | Automatic electric energy meter arranging device used before packing | |
| CN214524625U (en) | V-belt transfer device | |
| CN203652790U (en) | Automatic piling device for transfusion soft bags and medical transfusion soft bag manufacturing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |