CN106742283A - A kind of packaging system and its method - Google Patents
A kind of packaging system and its method Download PDFInfo
- Publication number
- CN106742283A CN106742283A CN201710086224.2A CN201710086224A CN106742283A CN 106742283 A CN106742283 A CN 106742283A CN 201710086224 A CN201710086224 A CN 201710086224A CN 106742283 A CN106742283 A CN 106742283A
- Authority
- CN
- China
- Prior art keywords
- cased
- thing
- connecting rod
- plate
- packaging system
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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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/50—Stacking one article, or group of articles, upon another before packaging
-
- 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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
-
- 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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/40—Arranging and feeding articles in groups by reciprocating or oscillatory pushers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Basic Packing Technique (AREA)
Abstract
The invention discloses a kind of packaging system, including a conveying device, one bunching device, one Handling device, one pushes away goods device and a Kaifeng case apparatus, the Handling device is installed on the fixture of the manipulator including a manipulator and one, the conveying device is used to for some things to be cased to be delivered to the bunching device, the bunching device is used for some thing stackings to be cased, fixture described in the mechanical hand-motion clamps the good thing to be cased of some stackings and rotates the thing to be cased, be positioned over for the thing to be cased and described push away goods device by the manipulator, the thing to be cased is pushed to the Kaifeng case apparatus by the goods device that pushes away.The invention further relates to a kind of packing method based on above-mentioned packaging system.
Description
Technical field
The present invention relates to packaging industry, more particularly, to a kind of packaging system.
Background technology
In tobacco business, often bar cigarette is fitted into big Turnover Box, is so accomplished by mechanical vanning, existing volume
The method of tobacco factory's bar cigarette boxing apparatus is：Bar cigarette out, is conveyed, by vertical slideway, into bar cigarette from mica wrappingmachine into a high position
Stacking collects machine, then the good bar cigarette of stacking is advanced into smoke box through tobacco pushing device.Use the system production efficiency of which for 6 casees/
Minute, with the change of the market demand, requirement to product quality and production efficiency also more and more higher, these all govern cigarette
The development of manufactory and the lifting of yield.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of production efficiency packaging system high.
The purpose of the present invention is realized using following technical scheme：
A kind of packaging system, including a conveying device, a bunching device, a Handling device, one push away goods device and a Kaifeng
Case apparatus, the Handling device includes a manipulator and one is installed on the fixture of the manipulator, and the conveying device is used for will
Some things to be cased are delivered to the bunching device, and the bunching device is used for some thing stackings to be cased, the machine
Fixture described in tool hand-motion clamps the good thing to be cased of some stackings and rotates the thing to be cased, and the manipulator will be described
Thing to be cased is positioned over described in pushing away goods device, and the thing to be cased is pushed to the Kaifeng case apparatus by the goods device that pushes away.
Preferably, the conveying device includes a horizontal conveying belt and a vertical conveyor apron, and the vertical conveyor apron includes
One slideway and a belt conveyor for being installed on the slideway, the horizontal conveying belt are provided with a blanking port, and the slideway is fixed
The blanking port side is installed on, the thing to be cased is along the horizontal feed Tape movement until entering described from the blanking port
Belt conveyor, and slided along the belt conveyor.
Preferably, the fixture includes a sliding part, and the sliding part includes a fixed plate, two first slide rails, one first
Actuator, one first driving member and two connecting rod installing plates, described two first slide rails and the first actuator are fixedly installed in described solid
Fixed board, described first actuator one end is fixedly connected with connecting rod installing plate described in, and the two connecting rods installing plate is slidably mounted on
Described two first slide rails, the first driving member rotation is installed on the fixed plate and two ends are solid with the two connecting rods installing plate
Fixed connection.
Preferably, first driving member includes a first connecting rod, one first tumbler and a second connecting rod, described first
Tumbler is rotated and is installed on the fixed plate, and described first connecting rod one end rotates and is installed on first tumbler, and the other end is solid
Dingan County is loaded on connecting rod installing plate described in, and described second connecting rod one end is rotated and is installed on first tumbler, and the other end is fixed
It is installed on another connecting rod installing plate.
Preferably, the fixture also include two clamping parts, each clamping part include a connecting plate, two second slide rails,
One second actuator, one second driving member and two holding pieces, the connecting plate are fixedly installed in connecting rod installing plate described in described,
Described two second slide rails and second actuator are fixedly installed in the connecting plate, and two holding piece is slidably mounted on described
Two second slide rails, described second actuator one end is fixedly connected with holding piece described in, and second driving member is rotated and is installed on
The connecting plate and two ends are fixed with two holding piece respectively.
Preferably, second driving member includes one second tumbler, a third connecting rod and a fourth link, described second
Tumbler is rotated and is installed on the connecting plate, and described third connecting rod one end rotates and is installed on second tumbler, and the other end is solid
Dingan County is loaded on holding piece described in, and described fourth link one end rotates and is installed on second tumbler, other end fixed installation
In another holding piece.
Preferably, the goods device that pushes away includes a framework and a pushing structure, and the pushing structure includes a base plate and one
Pushing part, the base plate is fixedly installed in the framework, and it is described in order to promote that the pushing part is slidably mounted on the base plate
Thing to be cased is moved along a first direction.
Preferably, the pushing structure also includes that one arranges structure, and the arrangement structure includes a support and two slip peaces
Neat plate loaded on the support, the two neat plate can along one perpendicular to the first direction second direction move in order to
The neat thing to be cased.
Preferably, the arrangement structure also includes one the 3rd actuator and one the 3rd driving member, and the 3rd actuator is consolidated
Loaded on the base plate and being fixedly connected with neat plate described in, the 3rd driving member includes one the 3rd tumbler, one for Dingan County
Five connecting rods and a six-bar linkage, the 5th connecting rod and six-bar linkage are distinguished one end and are connected with the 3rd tumbler rotation, separately
One end is fixedly connected with neat plate described in.
A kind of packing method based on packaging system, comprises the following steps, step one：Thing to be cased is along the conveying device
Horizontal feed Tape movement until fall into the vertical conveyor apron, described in be delivered to for thing case by the belt conveyor
Bunching device, the bunching device senses described wait carrying out stacking after thing of casing；Step 2：After the completion of stacking, the carrying
The mechanical hand-motion fixture of device clamps good thing case of the stacking, and the thing to be cased is put to the goods that pushes away fills
Put；Step 3：The thing to be cased is arranged neat by the goods device that pushes away, and the pushing structure pushes to the thing to be cased
In the casing of the Kaifeng case apparatus；Step 4：The Kaifeng case apparatus seal casing packing, then are delivered to an output
Device.
Compared to existing technology, thing to be cased is delivered to bunching device, stacking dress by the conveying device of packaging system of the present invention
Put will thing stacking be cased, good thing case of mechanical hand-motion fixture clamping stacking simultaneously makes thing rotation case, manipulator general
Thing to be cased is positioned in pushing away goods device, pushes away goods device and thing to be cased is pushed into Kaifeng case apparatus.
Brief description of the drawings
Fig. 1 is a stereogram of packaging system of the present invention.
Fig. 2 is another stereogram of packaging system of the present invention.
Fig. 3 is the another stereogram of packaging system of the present invention.
Fig. 4 is a stereogram of a fixture of packaging system of the present invention.
Fig. 5 is a three-dimensional exploded view of Fig. 4 fixtures.
Fig. 6 is a stereogram of a sliding part of the fixture of Fig. 5.
Fig. 7 is another stereogram of the sliding part of Fig. 6.
Fig. 8 is a stereogram of a clamping part of the fixture of Fig. 5.
Fig. 9 is a use state schematic diagram of the fixture of Fig. 4.
Figure 10 is the one of the packaging system of the present invention stereogram for pushing away goods device.
Figure 11 is the three-dimensional exploded view for pushing away goods device of Figure 10.
Figure 12 is the internal structure schematic diagram for pushing away goods device of Figure 10.
Figure 13 is another internal structure schematic diagram for pushing away goods device of Figure 10.
Figure 14 is the use state schematic diagram for pushing away goods device of Figure 10.
In figure：100th, packaging system；10th, conveying device；12nd, horizontal conveying belt；120th, blanking port；14th, vertical conveyor apron；
140th, slideway；142nd, belt conveyor；20th, bunching device；30th, Handling device；32nd, fixed mount；34th, manipulator；36th, fixture；
360th, sliding part；3601st, fixed plate；3602nd, the first slide rail；3603rd, switch；3604th, the first actuator；3605th, the first transmission
Part；3606th, first connecting rod；3607th, the first tumbler；3608th, second connecting rod；3609th, connecting rod installing plate；362nd, clamping part；
3620th, connecting plate；3621st, the second slide rail；3623rd, the second actuator；3624th, the second driving member；3625th, third connecting rod；3626、
Second tumbler；3627th, fourth link；3628th, holding piece；40th, goods device is pushed away；42nd, framework；420th, main body；44th, knot is promoted
Structure；440th, base plate；442nd, pushing part；444th, upper lid；46th, structure is arranged；460th, support；462nd, the 3rd actuator；464th, the 3rd
Driving member；4640th, the 5th connecting rod；4642nd, the 3rd tumbler；4643rd, six-bar linkage；466th, neat plate；468th, detection means；
50th, break a seal case apparatus；200th, thing to be cased.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can directly on another component
Or can also there is component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it
Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " level ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article with belong to technical field of the invention
The implication that technical staff is generally understood that is identical.The term for being used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all of combination of the Listed Items of pass.
Fig. 1 to Fig. 3 is referred to, a kind of packaging system 100 is used to be cased to thing to be cased 200.The packaging system 100 is wrapped
Include a conveying device 10, a bunching device 20, a Handling device 30, and push away the Kaifeng of a goods device 40 and case apparatus 50.
The conveying device 10 includes a horizontal conveying belt 12 and a vertical conveyor apron 14.The horizontal conveying belt 12 is provided with
One blanking port 120.The vertical conveyor apron 14 includes a slideway 140 and one is installed on the belt conveyor of the slideway 140
142.The slideway 140 is fixedly installed in the side of the blanking port 120.
Please continue to refer to Fig. 4 to Fig. 9, the Handling device 30 includes that a fixed mount 32 and a manipulator 34 and are installed on
The fixture 36 of the manipulator 34.The manipulator 34 is fixedly installed in the fixed mount 32.The fixture 36 includes
One sliding part 360 and two clamping parts 362.
The sliding part 360 includes that a fixed plate 3601, two first slide rail 3602, switch 3603, one first actuator
3604th, one first driving member 3605 and two connecting rod installing plates 3609.Described two first slide rails 3602, switch 3603 and first drive
Part 3604 is fixedly installed in the fixed plate 3601, and described one end of first actuator 3604 is consolidated with connecting rod installing plate 3609 described in
Fixed connection, the two connecting rods installing plate 3609 is slidably mounted on described two first slide rails 3602.First actuator 3604 is
One cylinder.The switch 3603 is electrically connected with first actuator 3604.First driving member 3605 includes one the
One connecting rod 3606, one first tumbler 3607 and a second connecting rod 3608, the rotation of the first tumbler 3605 are installed on described
Fixed plate 3601, one end of the first connecting rod 3606 rotates and is installed on first tumbler 3607, and the other end is fixedly installed in
Connecting rod installing plate 3609 described in one, one end of the second connecting rod 3608 rotates and is installed on first tumbler 3607, the other end
It is fixedly installed in another connecting rod installing plate 3609.The switch 3603 is a magnetic valve.
Each clamping part 362 includes a connecting plate 3620, two second slide rails 3621, one second actuator 3623,
Second driving member 3624 and two holding pieces 3628.The connecting plate 3620 is fixedly installed in connecting rod installing plate described in described
3609, described two second slide rails 3621 and second actuator 3623 are fixedly installed in the connecting plate 3620, two folder
Hold piece 3628 and be slidably mounted on described two second slide rails 3621, described one end of second actuator 3623 and holding piece 3628 described in
It is fixedly connected.Second actuator 3623 is a cylinder.
Second driving member 3624 includes one second tumbler 3626, a third connecting rod 3625 and a fourth link
3627, second tumbler 3626 is rotated and is installed on the connecting plate 3620, and the one end of the third connecting rod 3625 rotates installs
In second tumbler 3626, the other end is fixedly installed in holding piece 3628 described in, and the one end of the fourth link 3627 turns
Dynamic to be installed on second tumbler 3626, the other end is fixedly installed in another holding piece 3628.
Please continue to refer to Figure 10 to Figure 14, the goods device 40 that pushes away includes a framework 42, a pushing structure 44 and an arrangement
Structure 46.The framework 42 includes a main body 420.The pushing structure 44 is including on a base plate 440, a pushing part 442 and
Lid 444.The base plate 440 is fixedly installed in the main body 420.The base plate 440 is provided with slide rail.Slide the pushing part 442
It is dynamic to be installed on the base plate 440.The upper lid 444 is fixedly installed in the base plate 440, and the one end of the pushing part 442 is located at institute
State between base plate 440 and the upper lid 444 to prevent the pushing part 442 from departing from the base plate 440.
The arrangement structure 46 includes a support 460, one the 3rd actuator 462, one the 3rd driving member 464, two neat plates
466 and a detection means 468.The two neat plate 466 is slidably mounted on the support 460.3rd actuator 462 is fixed
It is installed on the base plate 440 and is fixedly connected with neat plate 466 described in.3rd driving member 464 includes that one the 3rd rotates
Part 4642, one the 5th connecting rod 4640 and a six-bar linkage 4643.5th connecting rod 4640 and the difference of six-bar linkage 4643 one end
Rotated with the 3rd tumbler 464 and be connected, the other end is fixedly connected with neat plate 466 described in.3rd tumbler 464
Rotation is installed on the base plate 440.The detection means 468 is a sensor.
During using the packaging system 100, the thing to be cased 200 is moved until from described along the horizontal conveying belt 12
Blanking port 120 enters the belt conveyor 142, and slides 142 to the bunching device 20 along the belt conveyor.It is described
Bunching device 20 senses described wait carrying out stacking after thing 200 of casing.After the completion of stacking, the manipulator 34 of the Handling device 30
The fixture 36 is driven to be moved to the top of thing to be cased 200.
The switch 3603 is opened.Second actuator 3623 of each clamping part 362 stretches and orders about and pressed from both sides described in one
Piece 3628 is held to be moved along second slide rail 3621.The holding piece 3628 drives described second by the third connecting rod 3625
Tumbler 3626 is rotated, and second tumbler 3626 drives another holding piece 3628 to move by the fourth link 3627
Dynamic, the clamping part 362 is opened in order to clamp the thing to be cased 200.Second actuator 3623 is reclaimed can make institute
State that two holding pieces 3628 are close to each other to clamp the thing to be cased 200.
First actuator 3604 of the sliding part 360 stretches makes connecting rod installing plate 3609 described in along first slide rail
3602 slide, and the connecting rod installing plate 3609 drives another edge of connecting rod installing plate 3609 by first driving member 3605
First slide rail 3602 is moved in the opposite direction, and now two clamping part 362 is separated.
The manipulator 34 drives the fixture 36 to move and rotate the thing to be cased 200 for making the stacking good and puts to described
Push away on the upper lid 444 of goods device 40.The detection means 468 detects described after thing 200 is cased in place, the 3rd driving
Part 462 drives described two neat plates 466 close to each other along a second direction by the 3rd driving member 464.Due to described two
Neat plate 466 is parallel to each other, and the good thing to be cased 200 of the stacking is contradicted by described two neat plate 466 and is organized neatly.It is described
Pushing part 442 promote thing case 200 along one perpendicular to the second direction first direction movement up to the Kaifeng
In case apparatus 50.
The invention further relates to a kind of packing method based on above-mentioned packaging system 100, comprise the following steps, step one：Institute
Thing to be cased 200 is stated along the movement of horizontal conveying belt 12 of the conveying device 10 until falling into the vertical conveyor apron 14, it is described
The thing to be cased 200 is delivered to the bunching device 20 by belt conveyor 142, and the bunching device 20 senses described treating
Stacking is carried out after vanning thing 200；Step 2：After the completion of stacking, the manipulator 34 of the Handling device 30 drives fixture 36 to clamp
The good thing to be cased 200 of the stacking, and the thing to be cased 200 is put to described push away goods device 40；Step 3：It is described to push away goods
Device 40 arranges neatly the thing to be cased 200, and the thing to be cased 200 is pushed to the Kaifeng by the pushing structure 40
In the casing of case apparatus 50；Step 4：The Kaifeng case apparatus 50 seal casing packing, then are delivered to output dress
Put.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (10)
1. a kind of packaging system, an including conveying device, it is characterised in that：The packaging system also includes a bunching device, one
Handling device, one push away goods device and a Kaifeng case apparatus, and the Handling device is installed on the machinery including a manipulator and one
The fixture of hand, the conveying device is used to for some things to be cased to be delivered to the bunching device, and the bunching device is used for will
Some thing stackings to be cased, fixture described in the mechanical hand-motion clamps the good thing to be cased of some stackings, the machinery
Hand by the thing to be cased be positioned over it is described push away goods device, the thing to be cased is pushed to the Kaifeng by the goods device that pushes away
Case apparatus.
2. packaging system according to claim 1, it is characterised in that：The conveying device includes a horizontal conveying belt and one
Vertical conveyor apron, the vertical conveyor apron is installed on the belt conveyor of the slideway including a slideway and one, and the level is defeated
Band is sent to be provided with a blanking port, the slideway is fixedly installed in the blanking port side, and the thing to be cased is along the horizontal feed
Tape movement from the blanking port until enter the belt conveyor, and slide along the belt conveyor.
3. packaging system according to claim 1, it is characterised in that：The fixture includes a sliding part, the sliding part
Including a fixed plate, two first slide rails, one first actuator, one first driving member and two connecting rod installing plates, described two first slide
Rail and the first actuator are fixedly installed in the fixed plate, and described first actuator one end is fixed with connecting rod installing plate described in and connected
Connect, the two connecting rods installing plate is slidably mounted on described two first slide rails, first driving member is rotated and is installed on the fixation
Plate and two ends are fixedly connected with the two connecting rods installing plate.
4. packaging system according to claim 3, it is characterised in that：First driving member includes a first connecting rod, one
First tumbler and a second connecting rod, first tumbler are rotated and are installed on the fixed plate, and described first connecting rod one end turns
Dynamic to be installed on first tumbler, the other end is fixedly installed in connecting rod installing plate described in, and described second connecting rod one end rotates
First tumbler is installed on, the other end is fixedly installed in another connecting rod installing plate.
5. packaging system according to claim 3, it is characterised in that：The fixture also includes two clamping parts, each described
Clamping part includes a connecting plate, two second slide rails, one second actuator, one second driving member and two holding pieces, the connecting plate
Connecting rod installing plate described in described one is fixedly installed in, described two second slide rails and second actuator are fixedly installed in the company
Fishplate bar, two holding piece is slidably mounted on described two second slide rails, and described second actuator one end is consolidated with holding piece described in
Fixed connection, the second driving member rotation is installed on the connecting plate and two ends are fixed with two holding piece respectively.
6. packaging system according to claim 5, it is characterised in that：Second driving member include one second tumbler,
One third connecting rod and a fourth link, second tumbler are rotated and are installed on the connecting plate, and described third connecting rod one end turns
Dynamic to be installed on second tumbler, the other end is fixedly installed in holding piece described in, and described fourth link one end rotates installs
In second tumbler, the other end is fixedly installed in another holding piece.
7. packaging system according to claim 1, it is characterised in that：The goods device that pushes away promotes knot including a framework and one
Structure, the pushing structure includes a base plate and a pushing part, and the base plate is fixedly installed in the framework, and the pushing part is slided
The base plate is installed in order to promote the thing to be cased to be moved along a first direction.
8. packaging system according to claim 7, it is characterised in that：The pushing structure also includes that one arranges structure, institute
State and arrange the neat plate that structure is slidably mounted on the support including a support and two, the two neat plate can be along one perpendicular to institute
The second direction for stating first direction is moved in order to the neat thing to be cased.
9. packaging system according to claim 8, it is characterised in that：It is described arrangement structure also include one the 3rd actuator and
One the 3rd driving member, the 3rd actuator is fixedly installed in the base plate and is fixedly connected with neat plate described in, and described
Three driving members include one the 3rd tumbler, one the 5th connecting rod and a six-bar linkage, the 5th connecting rod and six-bar linkage difference one
End rotates with the 3rd tumbler and is connected, and the other end is fixedly connected with neat plate described in.
10. a kind of packing method of the packaging system based on described in claim any one of 1-9, comprises the following steps, its feature
It is：
Step one：Thing to be cased along the horizontal feed Tape movement of the conveying device until fall into the vertical conveyor apron, it is described
The thing to be cased is delivered to the bunching device by belt conveyor, and the bunching device senses that the thing to be cased is laggard
Row stacking；
Step 2：After the completion of stacking, the mechanical hand-motion fixture of the Handling device clamps the good thing to be cased of the stacking, and
The thing to be cased is put to described and pushes away goods device；
Step 3：Push away goods device and the thing to be cased is arranged neat, the thing to be cased is pushed to institute by the pushing structure
State Kaifeng case apparatus casing in；
Step 4：Kaifeng case apparatus seal casing packing, then are delivered to an output device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710086224.2A CN106742283A (en) | 2017-02-17 | 2017-02-17 | A kind of packaging system and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710086224.2A CN106742283A (en) | 2017-02-17 | 2017-02-17 | A kind of packaging system and its method |
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| Publication Number | Publication Date |
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| CN106742283A true CN106742283A (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710086224.2A Pending CN106742283A (en) | 2017-02-17 | 2017-02-17 | A kind of packaging system and its method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108284981A (en) * | 2017-12-28 | 2018-07-17 | 芜湖瑞思机器人有限公司 | A kind of Aloe Vera Gel mounted box method |
| CN108298138A (en) * | 2017-12-28 | 2018-07-20 | 芜湖瑞思机器人有限公司 | A kind of Aloe Vera Gel boxing device send case structure |
| CN108298137A (en) * | 2017-12-28 | 2018-07-20 | 芜湖瑞思机器人有限公司 | A kind of Aloe Vera Gel boxing device front delivery mechanism |
| CN108313374A (en) * | 2017-12-28 | 2018-07-24 | 芜湖瑞思机器人有限公司 | A kind of Aloe Vera Gel boxing device |
| CN110884715A (en) * | 2018-09-07 | 2020-03-17 | 株式会社日立物流 | Robot system and control method thereof |
| CN113148299A (en) * | 2021-04-25 | 2021-07-23 | 安徽万创医疗科技有限公司 | Automatic boxing device for wet tissues |
| CN115384869A (en) * | 2022-08-10 | 2022-11-25 | 深圳力生物流仓储科技有限公司 | Product sorting and stacking equipment |
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Application publication date: 20170531 |