CN105775264A - Packet module type coin packaging machine - Google Patents
Packet module type coin packaging machine Download PDFInfo
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- CN105775264A CN105775264A CN201610293623.1A CN201610293623A CN105775264A CN 105775264 A CN105775264 A CN 105775264A CN 201610293623 A CN201610293623 A CN 201610293623A CN 105775264 A CN105775264 A CN 105775264A
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B63/00—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged
- B65B63/02—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged for compressing or compacting articles or materials prior to wrapping or insertion in containers or receptacles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/02—Driving gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Basic Packing Technique (AREA)
Abstract
The invention provides a packet module type coin packaging machine. The machinery part of the packet module type coin packaging machine is mainly formed by the connection of a swinging drum sliding rail device, a coin storage cup device, a disk clamping device, a transverse beam module device and a scissors clamping device. The circuit control part of the packet module type coin packaging machine is mainly formed by a single chip microcomputer STC89C51RC, a motor driving module L298N, a photoelectric counter module, a stepping motor driver board ULN2003, a stepping motor driver 2HB3525 and a relay module. The packet module type coin packaging machine has the following advantages that the manufacturing cost is low and the environment protection property is good; the mechanical-electrical-pneumatic integration can be achieved so that labor force can be liberated; the footprint is small and the operation is easy and convenient; the coin packaging machine is suitable for all the places where cash flow is big so that the application range is wide; and electropneumatic force is used as driving force so that non-pollution is achieved.
Description
Technical field
The present invention is pack mode Coin packaging machine, particularly relates to the gold such as bank, public transport company and flows bigger place and liberation human side.
Background technology
Fast development along with China's economic, the growth of national GDP, coin quantity also rises rapidly in China, especially coin, applies widely as low-denomination coin in life, while bringing convenience to people's lives, also make troubles, such as in the place that this kind of cash flow of bank is relatively larger, the counting of coin, be packaged into the difficult problem of staff, this work is not only loaded down with trivial details, and efficiency is low.The ring that coin is indispensable as financial system, very important, and use frequently in daily life, it has to come into one's own.Worldwide coin is wear-resistant often with the low circulation of its cost at present, it is trend of the times that the advantage that easy recovery etc. can not be substituted will capture low-denomination money market, along with the use frequency of coin is gradually increased, the separation of coin, statistics and packaging become a social difficult problem urgently to be resolved hurrily, therefore we apply the knowledge learned go analyze, solve such problem.
At present, then few for the machinery equipment of Coin packing on market, the Coin packaging machine of some main flows exists that volume is big, cost is expensive, shortcoming not environmentally, is not suitable for middle-size and small-size Coin processing device structure.Simultaneously traditional Manual Packaging cost is big, and profit is little, and generally complex point and error are not many, and workload is big, and efficiency is low, also wastes human resources greatly.Therefore the coin of a kind of mature and reliable of the market demand is automatically separated the device of packaging.
Summary of the invention
The purpose of the present invention is solving above-mentioned existing existing problem, it is provided that the more environmental protection of a kind of Coin packing, in hgher efficiency, reduce the pack mode Coin packaging machine of packing cost.
The present invention is achieved in that and is mainly made up of mechanical part, pneumatic part and Single-chip Controlling three part；
Mechanical part, get rid of bucket and be fixed in main body by threaded rod, get rid of and conical disc is set in bucket, conical disc centre bottom connects axostylus axostyle one end by screw and shaft coupling, the axostylus axostyle other end is connected to by shaft coupling and gets rid of on barrel motor, and the top of runner device connects gets rid of bucket, and the middle part of runner device connects fixes 42 motor tops, coin Storage Cup device, the first cylinder, the second cylinder are connected in main body, and plate bracket assembly is connected in main body by ring flange；42 motors are fixed on above main body by long screw, lower disc optical axis is fixed in main body by light axle bed, shears clamping device is in lower disc clamping device both sides, it is made up of knife plate, shears, steel disc and the 3rd cylinder, shears clamping device is fixed in main body by threaded rod, and transverse beam assembly device is connected in main body by ring flange；Upper disk chucking apparatus connects on plate bracket assembly by linear bearing, lower disc clamping device connects lower disc optical axis by threaded rod, rotating beam two ends on transverse beam assembly are provided with light axle clamp, light axle clamp two optical axises of clamping, fresh-keeping module is fixed on optical axis by nut, slide block is connected on the first cylinder by slide block optical axis, and vertical steel disc connects horizontal steel disc by screw, and the crossbeam of transverse beam assembly device is connected on ring flange by screw；Guiding optical axis is fixed on crossbeam, two roller bearings are installed in the middle of upper disk chucking apparatus, motor is connected to the bottom of lower disc clamping device by shaft coupling, gear, roller bearing is connected with gear, roller bearing end is fixed on lower disc clamping device, small DC motor is fixed on the bottom of lower disc clamping device, and leading screw is connected with small DC motor, and clamping coin device is spun on leading screw by nut.
Circuit-line controls part, is mainly made up of single-chip microcomputer STC89C51RC, L298N motor drive module, photoelectric counter module, ULN2003 step motor drive plate, 2HB3525 stepper motor driver, relay module；nullIts single-chip microcomputer STC89C51RC1-3 pin connects the PU end of 2HB3525 respectively、DR end、MF end，The 1--7 pin contact relay JDQ module 10-18 pin of single-chip microcomputer STC89C51RC，Single-chip microcomputer STC89C51RC5 pin connects photoelectric counter module infrared receiver signal output pin，The 28-25 pin of single-chip microcomputer STC89C51RC connects the 1-4 pin of ULN2003 step motor drive plate，The 1-4 pin 8-11 of ULN2003 step motor drive plate connects four phases of motor，The 21-24 pin of single-chip microcomputer STC89C51RC connects the Int1-Int4 end of L298N module，Out1-Out4 termination gets rid of barrel motor and low bottom-disc clamping motor，The 20 pin ground connection of single-chip microcomputer STC89C51RC，40 pins of single-chip microcomputer STC89C51RC connect 5V power supply.
The invention have the advantage that
(1) cheap for manufacturing cost, environmental protection；
(2) electrical-mechanical movement and motor-driven integrative, liberates labour force；
(3) take up room little, simple to operation；
(4) applied widely, it is suitable for the place that all gold stream is big；
(5) use electric-pneumatic as driving, pollution-free.
Accompanying drawing explanation
Fig. 1 is front view；
Fig. 2 left view；
Fig. 3 is top view；
Fig. 4 is transverse beam assembly structural representation；
Fig. 5 is Storage Cup push rod modular construction schematic diagram；
Fig. 6 is push-rod assembly structural representation；
Fig. 7 plate bracket assembly X-Y scheme；
Fig. 8 stage property clamping device X-Y scheme；
Disk front view on Fig. 9；
Disk top view on Figure 10；
Figure 11 lower disc structural representation；
Figure 12 conical disc structural representation；
Figure 13 Electric control circuit figure；‘
Figure 14 is the A place enlarged drawing of Figure 13；
Figure 15 is the B place enlarged drawing of Figure 13；
Figure 16 is the C place enlarged drawing of Figure 13；
Figure 17 is the D place enlarged drawing of Figure 13；
Figure 18 is the E place enlarged drawing of Figure 13；
Figure 19 is Pneumatic circuit.
Detailed description of the invention:
Below in conjunction with drawings and Examples, the present invention is further described, is mainly made up of mechanical part, pneumatic part and Single-chip Controlling three part.
The bucket 1 that gets rid of of mechanical part is fixed in main body 29 by threaded rod 12, get rid of and a conical disc 20 is set in bucket 1, conical disc 20 centre bottom connects axostylus axostyle 10 one end by screw and shaft coupling 14, axostylus axostyle 10 other end is connected to by shaft coupling 14 and gets rid of on barrel motor 11, the top of runner device 2 connects gets rid of bucket 1, the middle part of runner device 2 connects fixes 42 motor 7 tops, coin Storage Cup device the 3, first cylinder the 4, second cylinder 5 is connected in main body 29, and plate bracket assembly 6 is connected in main body 29 by ring flange 31；42 motors 7 are fixed on above main body 29 by long screw 15, lower disc optical axis 8 is fixed in main body 29 by light axle bed 19, shears clamping device 9 is in lower disc clamping device 18 both sides, it is made up of knife plate 35, shears 36, steel disc 38 and the 3rd cylinder 37, shears clamping device 9 is fixed in main body 29 by threaded rod 39, and transverse beam assembly device 13 is connected in main body 29 by ring flange 16；Upper disk chucking apparatus 17 connects on plate bracket assembly 6 by linear bearing 40, lower disc clamping device 18 connects lower disc optical axis 8 by threaded rod, there is light axle clamp 22 at rotating beam 21 two ends on transverse beam assembly 13, light axle clamp 22 clamps two optical axises 23, fresh-keeping module 24 is fixed on optical axis 23 by nut, slide block 25 is connected on the first cylinder 4 by slide block optical axis 26, vertical steel disc 30 connects horizontal steel disc 28 by screw 27, and the crossbeam 32 of transverse beam assembly device 13 is connected on ring flange 31 by screw；Guiding optical axis 33 is fixed on crossbeam 32, in the middle of upper disk chucking apparatus 17, two roller bearings 41 are installed, motor 42 is connected to the bottom of lower disc clamping device 18 by shaft coupling 43, gear 44, roller bearing 45 is connected with gear 44, roller bearing 45 end is fixed on lower disc clamping device 18, small DC motor 46 is fixed on the bottom of lower disc clamping device 18, and leading screw 47 is connected with small DC motor 46, and clamping coin device 48 is spun on leading screw 47 by nut.
Get rid of and a conical disc 20 is set in bucket 1, conical disc 20 centre bottom connects axostylus axostyle 10 one end by screw and shaft coupling 14, the other end is connected to by shaft coupling and gets rid of on barrel motor 11, get rid of bucket 1 and be fixed in main body by threaded rod 12, get rid of barrel motor 11 to rotarily drive axostylus axostyle 10 and rotate, thus driving conical disc 20 to rotate getting rid of in bucket 1, utilizing conical disc 20 to rotate and producing centrifugal force coin in bucket is thrown to slideway 2 from bucket side ports one by one, the smooth road 2 of coin glides, and slideway 2 lower end enumerator counts one by one.nullCoin falls in coin Storage Cup 3 one by one，Stop when getting rid of bucket 1 after full 50 of rolling counters forward，Cylinder 4 promotes coin Storage Cup 3 to make it become level from vertical state simultaneously，Cylinder 4 pushes end and connects a vertical steel disc 30 by nut，The steel disc other end connects a horizontal steel disc 28 by screw 27，Thus the first cylinder 4 moves, the horizontal steel disc 28 of drive moves，Coin Storage Cup 3 is made to be up to the standard shape，The slidably baffle plate of Storage Cup 3 is hauled out by the slide block 25 being fixed on the second cylinder 5 top，Cylinder 5 two ends linear bearing connects two optical axises 26 and leads，After hauling out baffle plate, coin neatly falls on company's root roller bearing 45 of lower disc clamping device 18 central recess，The travel path of lower disc is led by lower disc optical axis 8，Lower disc optical axis 8 is fixed in main body by light axle bed 19，It is made up of two roller bearings 45 and clamping coin device 48 in groove，Roller bearing 45 is connected with motor 42 by gear 44 and shaft coupling 43，Motor 42 rotates and drives coin on roller bearing 45 to rotate，Coin is made to move in a circle on central axis，Through hole nut is had in clamping device 48，By on the leading screw 47 that the small DC motor 46 being connected to bottom lower disc clamping device 18 stretches out，Leading screw 47 rotates and makes clamping device 48 do adjustable rectilinear motion，Clamping coin is rotated thereby through leading screw 47，Lower disc clamping device 18 drives the upper disk chucking apparatus 17 entered on bagging area rear fender carriage assembly 6 to fall to making coin fix above coin by cylinder.Crossbeam 32 on plate bracket assembly 6 is connected in main body by ring flange 31, two roller bearings 41 are had in the middle of upper disk chucking apparatus 17, realize the longitudinal direction of coin is clamped by four roller bearings in upper lower disc, linear bearing 40 and optical axis 33 on edge, make disk chucking apparatus 17 motor process plays guide effect, realize the transverse direction to coin by the clamping device 48 in lower disc clamping device 18 and clamp.By 42 motors 7 by ring flange 16 connecting cross beam assembly 13, crossbeam 21 two ends on transverse beam assembly 13 are provided with light axle clamp 22, light axle clamp 22 clamps two optical axises 23, fresh-keeping module 24 is fixed on optical axis 23 by nut, 42 motors 7 are fixed on above main body by long screw 15,42 motors 7 rotate clockwise drive transverse beam assembly 13 and rotate, thus driving the preservative film block 24 on transverse beam assembly 13 to rotate, roller bearing 45 in groove drives coin to do steady circular's rotation at its axis simultaneously, thus realizing 360 degree of comprehensive packagings to coin.After packaging, shears clamping device 9 cuts off preservative film, simultaneously clamp on preservative film that module 24 fresh-keeping with on transverse beam assembly be connected in order to packaging next time, shears clamping device 9 is in lower disc clamping device 18 both sides, by knife plate 35, shears 36, steel disc 38 and cylinder 37 are constituted, threaded rod 39 be tightened on base plate by knife plate 35, shears is connected by four-bar mechanism, it is achieved the control to shears 36 by cylinder 37.After cutting off preservative film, upper disk chucking apparatus 17 recovers initial position, releases lower disc clamping device 18, finally released the coin packed by cylinder 5 and complete once to pack to box after packaging.
Circuit-line controls part, is mainly made up of single-chip microcomputer STC89C51RC, L298N motor drive module, photoelectric counter module, ULN2003 step motor drive plate, 2HB3525 stepper motor driver, relay module.
nullSingle-chip microcomputer STC89C51RC1-3 pin connects the PU end of 2HB3525 respectively、DR end、MF end，The 1--7 pin contact relay JDQ module 10-18 pin of single-chip microcomputer STC89C51RC，Single-chip microcomputer STC89C51RC5 pin connects photoelectric counter module infrared receiver signal output pin，The 28-25 pin of single-chip microcomputer STC89C51RC connects the 1-4 pin of ULN2003 step motor drive plate，The 1-4 pin 8-11 of ULN2003 step motor drive plate connects four phases of motor，The 21-24 pin of single-chip microcomputer STC89C51RC connects the Int1-Int4 end of L298N module，Out1-Out4 termination gets rid of barrel motor and low bottom-disc clamping motor，The 20 pin ground connection of single-chip microcomputer STC89C51RC，40 pins of single-chip microcomputer STC89C51RC connect 5V power supply.
When program starts, get rid of a barrel motor job, make coin skid off successively along coin rail, when coin is by photogate, blocking the signal of infrared receiver receiver module, current potential sets low, and this is carried out detection counting by single-chip microcomputer, when counting reaches the multiple of 50, the 1 pin output low level signal of single-chip microcomputer STC89C51RC, controls relay J DQ1 work, drives relay J DQ2 work, making cylinder QG1 work, coin bucket is erected by horizontal change；After postponing 2s, the 2 pin output low level signals of single-chip microcomputer STC89C51RC, control relay J DQ3 work, make cylinder QG2 work, pull out coin baffle plate slide block, after postponing 2s；The 3 pin output low level signals of single-chip microcomputer STC89C51RC, control relay J DQ4 work, make cylinder QG3 work, and make low bottom-disc enter wrapping position, after postponing 2s；The 4 pin output low level signals of single-chip microcomputer STC89C51RC, control relay J DQ5 work, make cylinder QG4 work, and upper dish compresses, after postponing 2s；The 1 pin output impulse wave of single-chip microcomputer STC89C51RC, 2 pin output high level, 3 pin output high level, make 42 motor uniform rotation clockwise, drive preservative film packaging coin；After packaging, the 5 pin output low level signals of single-chip microcomputer STC89C51RC, control relay J DQ6 work, make left cylinder LQG5, right cylinder RQG5 work, cut off preservative film；Last cylinder QG3 discharges, and cylinder QG2 discharges, and releases the coin that packaging is complete, completes cycle of operation.
Aerodynamic force part is mainly by source of the gas, pneumatic triple piece, two-position five-way solenoid directional control valve, one-way speed-regulating valve and single pole double acting straight line cylinder.
Being supplied by air pump, be connected to pneumatic triple piece one end by trachea, source of the gas can be carried out voltage stabilizing by pneumatic triple piece, makes source of the gas be in steady state, its pressure is reduced to the pressure needed for device, and makes post-decompression pressure stability in desirable pressure value.The pneumatic triple piece other end is connected on two-position five-way solenoid directional control valve by trachea, utilizes two-position five-way solenoid directional control valve to control to perform single pole double acting straight line cylinder in this device and starts, stops and the direction of motion.The movement velocity of cylinder is controlled by regulating one-way speed-regulating valve.
It is be combined with each other by mechanical part, pneumatic part and single chip part, perfectly realize fully-automatic packaging coin, reach to save manpower, put forward high efficiency effect.
Claims (1)
1. a pack mode Coin packaging machine, it is characterised in that be made up of mechanical part, pneumatic part and Single-chip Controlling three part；
Mechanical part, get rid of bucket and be fixed in main body by threaded rod, get rid of and conical disc is set in bucket, conical disc centre bottom connects axostylus axostyle one end by screw and shaft coupling, the axostylus axostyle other end is connected to by shaft coupling and gets rid of on barrel motor, and the top of runner device connects gets rid of bucket, and the middle part of runner device connects fixes 42 motor tops, coin Storage Cup device, the first cylinder, the second cylinder are connected in main body, and plate bracket assembly is connected in main body by ring flange；42 motors are fixed on above main body by long screw, lower disc optical axis is fixed in main body by light axle bed, shears clamping device is in lower disc clamping device both sides, it is made up of knife plate, shears, steel disc and the 3rd cylinder, shears clamping device is fixed in main body by threaded rod, and transverse beam assembly device is connected in main body by ring flange；Upper disk chucking apparatus connects on plate bracket assembly by linear bearing, lower disc clamping device connects lower disc optical axis by threaded rod, rotating beam two ends on transverse beam assembly are provided with light axle clamp, light axle clamp two optical axises of clamping, fresh-keeping module is fixed on optical axis by nut, slide block is connected on the first cylinder by slide block optical axis, and vertical steel disc connects horizontal steel disc by screw, and the crossbeam of transverse beam assembly device is connected on ring flange by screw；Guiding optical axis is fixed on crossbeam, two roller bearings are installed in the middle of upper disk chucking apparatus, motor is connected to the bottom of lower disc clamping device by shaft coupling, gear, roller bearing is connected with gear, roller bearing end is fixed on lower disc clamping device, small DC motor is fixed on the bottom of lower disc clamping device, and leading screw is connected with small DC motor, and clamping coin device is spun on leading screw by nut；
Circuit-line controls part, is mainly made up of single-chip microcomputer STC89C51RC, L298N motor drive module, photoelectric counter module, ULN2003 step motor drive plate, 2HB3525 stepper motor driver, relay module；nullIts single-chip microcomputer STC89C51RC1-3 pin connects the PU end of 2HB3525 respectively、DR end、MF end，The 1--7 pin contact relay JDQ module 10-18 pin of single-chip microcomputer STC89C51RC，Single-chip microcomputer STC89C51RC5 pin connects photoelectric counter module infrared receiver signal output pin，The 28-25 pin of single-chip microcomputer STC89C51RC connects the 1-4 pin of ULN2003 step motor drive plate，The 1-4 pin 8-11 of ULN2003 step motor drive plate connects four phases of motor，The 21-24 pin of single-chip microcomputer STC89C51RC connects the Int1-Int4 end of L298N module，Out1-Out4 termination gets rid of barrel motor and low bottom-disc clamping motor，The 20 pin ground connection of single-chip microcomputer STC89C51RC，40 pins of single-chip microcomputer STC89C51RC connect 5V power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610293623.1A CN105775264B (en) | 2016-05-06 | 2016-05-06 | Pack mode Coin packaging machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610293623.1A CN105775264B (en) | 2016-05-06 | 2016-05-06 | Pack mode Coin packaging machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105775264A true CN105775264A (en) | 2016-07-20 |
| CN105775264B CN105775264B (en) | 2017-09-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610293623.1A Expired - Fee Related CN105775264B (en) | 2016-05-06 | 2016-05-06 | Pack mode Coin packaging machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105775264B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672582A (en) * | 2017-03-02 | 2017-05-17 | 桐乡市乌镇润桐嘉业机械维修中心 | Packaging and conveying assembly of multifunctional printed circuit board unscrambling machine |
| CN108466721A (en) * | 2018-05-25 | 2018-08-31 | 辽宁工业大学 | The bionical spherical fruit packaging of duck-beak type collects weighing device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3906964A (en) * | 1973-01-12 | 1975-09-23 | Glory Kogyo Kk | Coin wrapping apparatus |
| CN2087365U (en) * | 1991-04-03 | 1991-10-23 | 浙江桐乡灯具厂 | All-automatic coin checking device |
| CN2277940Y (en) * | 1996-11-29 | 1998-04-08 | 杭州飞翔金融设备厂 | Coin sorting and counting package machine |
| CN103793995A (en) * | 2014-01-21 | 2014-05-14 | 洛阳理工学院 | Coin screening stacking machine |
| CN204871682U (en) * | 2015-07-27 | 2015-12-16 | 宜春学院 | Mechanical type coin wrapping machine |
| CN204916281U (en) * | 2015-08-12 | 2015-12-30 | 浙江水利水电学院 | Coin automatic separation packagine machine |
| CN205770514U (en) * | 2016-05-06 | 2016-12-07 | 辽宁工业大学 | Pack mode Coin packaging machine |
-
2016
- 2016-05-06 CN CN201610293623.1A patent/CN105775264B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3906964A (en) * | 1973-01-12 | 1975-09-23 | Glory Kogyo Kk | Coin wrapping apparatus |
| CN2087365U (en) * | 1991-04-03 | 1991-10-23 | 浙江桐乡灯具厂 | All-automatic coin checking device |
| CN2277940Y (en) * | 1996-11-29 | 1998-04-08 | 杭州飞翔金融设备厂 | Coin sorting and counting package machine |
| CN103793995A (en) * | 2014-01-21 | 2014-05-14 | 洛阳理工学院 | Coin screening stacking machine |
| CN204871682U (en) * | 2015-07-27 | 2015-12-16 | 宜春学院 | Mechanical type coin wrapping machine |
| CN204916281U (en) * | 2015-08-12 | 2015-12-30 | 浙江水利水电学院 | Coin automatic separation packagine machine |
| CN205770514U (en) * | 2016-05-06 | 2016-12-07 | 辽宁工业大学 | Pack mode Coin packaging machine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672582A (en) * | 2017-03-02 | 2017-05-17 | 桐乡市乌镇润桐嘉业机械维修中心 | Packaging and conveying assembly of multifunctional printed circuit board unscrambling machine |
| CN108466721A (en) * | 2018-05-25 | 2018-08-31 | 辽宁工业大学 | The bionical spherical fruit packaging of duck-beak type collects weighing device |
| CN108466721B (en) * | 2018-05-25 | 2024-04-19 | 辽宁工业大学 | Bionic duckbill type ball-like fruit packaging, collecting and weighing device |
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| Publication number | Publication date |
|---|---|
| CN105775264B (en) | 2017-09-29 |
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Granted publication date: 20170929 Termination date: 20180506 |