CN109533463B - A vanning manipulator for oil drum packing - Google Patents
A vanning manipulator for oil drum packing Download PDFInfo
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- CN109533463B CN109533463B CN201811554926.XA CN201811554926A CN109533463B CN 109533463 B CN109533463 B CN 109533463B CN 201811554926 A CN201811554926 A CN 201811554926A CN 109533463 B CN109533463 B CN 109533463B
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- oil drum
- hanging
- gripper
- drum gripper
- sliding
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Classifications
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W90/00—Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation
- Y02W90/10—Bio-packaging, e.g. packing containers made from renewable resources or bio-plastics
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a boxing manipulator for oil drum packaging, which comprises a mounting seat, a plurality of oil drum gripper assemblies arranged below the mounting seat and a gap adjusting mechanism for adjusting the distance between the oil drum gripper assemblies; the gap adjusting mechanism comprises an adjusting cylinder, a cylinder body of the adjusting cylinder is fixed on the mounting seat, and a piston rod of the adjusting cylinder is connected with an oil drum gripper assembly at the edge; the gap adjusting mechanism further comprises a sliding rail arranged below the mounting seat and a sliding block arranged above the oil drum gripper assemblies, the sliding blocks are matched with the sliding rail, the sliding blocks above two adjacent oil drum gripper assemblies are connected through a limiting plate, one end of the limiting plate is fixedly connected with the sliding block above one oil drum gripper assembly, and the other end of the limiting plate is in sliding connection with the sliding block above the other oil drum gripper assembly; multiple groups of oil barrels can be simultaneously grabbed, each group of oil barrels can be just filled into one carton, and boxing efficiency is improved.
Description
Technical Field
The invention relates to a manipulator, in particular to a boxing manipulator for oil drum packaging.
Background
In the packaging of the edible oil barrels, the edible oil barrels are generally packaged by adopting a packaging production line, and a boxing robot is generally arranged on one production line, so that the requirements of the market are hardly met by a single type of robot due to the diversification of the specifications of the edible oil barrels; if robots with different specifications are manufactured, the equipment cost is greatly increased;
the boxing robot generally comprises a body, arms and a manipulator, wherein the manipulator also comprises a gripper, the gripper of the oil drum manipulator in the prior art generally comprises two semicircular gripper bodies which can be opened and closed, arc-shaped protrusions are arranged below the inner walls of the gripper bodies, when the two gripper bodies are closed, the arc-shaped protrusions on the two gripper bodies form annular protrusions, and the annular protrusions are matched with annular grooves at the positions of the oil drum openings, so that the oil drum openings can be exactly clamped; however, this kind of structure, after snatching the oil drum, the free amount of oil drum is more, can rock wantonly, when once snatch a plurality of oil drums, can interfere each other between a plurality of oil drums, and is difficult to aim at the packing box, can greatly reduced vanning efficiency.
After the oil drum is grabbed by the oil drum grabs, the oil drum is not prevented from colliding with parts of the production line due to interference on the production line or shaking of the oil drum, the existing production line is generally hard collided, the oil drum is easy to collide to be damaged, the oil drum is deformed or leaked, if the oil drum cannot be found in time, unqualified products can be boxed, and the quality of the products after leaving the factory is affected.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the boxing manipulator for the oil drum packaging, which is applicable to grabbing oil drums with different specifications, can be used for boxing multiple cases by one-time operation and has high boxing efficiency.
The technical scheme for solving the technical problems is as follows: a vanning manipulator for oil drum packing, includes mount pad, a plurality of oil drum tongs subassembly of locating below the mount pad and adjusts the clearance adjustment mechanism of the distance between a plurality of oil drum tongs subassembly;
the gap adjusting mechanism comprises an adjusting cylinder, a cylinder body of the adjusting cylinder is fixed on the mounting seat, and a piston rod of the adjusting cylinder is connected with an oil drum gripper assembly at the edge;
the gap adjusting mechanism further comprises a sliding rail arranged below the mounting seat and a sliding block arranged above the oil drum gripper assembly, the sliding blocks are matched with the sliding rail, two adjacent sliding blocks above the oil drum gripper assembly are connected through a limiting plate, one end of the limiting plate is fixedly connected with one sliding block above the oil drum gripper assembly, and the other end of the limiting plate is slidably connected with the other sliding block above the oil drum gripper assembly.
The beneficial effects of the invention are as follows: a plurality of oil drum handle assemblies are arranged below the mounting seat, a plurality of groups of oil drums can be simultaneously grabbed, each group of oil drums can be just filled into a paper box, the distance between the adjacent oil drum handle assemblies can be adjusted through the gap adjusting mechanism, after the oil drum handle assemblies grab the oil drums, the oil drum handle assemblies can be separated, the oil drum handle assemblies are respectively corresponding to one paper box, and the oil drums grabbed by the oil drum handle assemblies are respectively filled into the paper boxes and are not interfered with each other.
Further, a sliding groove is formed in the limiting plate, and a limiting screw or a limiting bolt matched with the sliding groove is arranged on a sliding block which is in sliding connection with the limiting plate.
The beneficial effects of adopting the further technical scheme are as follows: be equipped with clearance adjustment mechanism between a plurality of oil drum tongs subassemblies, connect through the limiting plate between two adjacent oil drum tongs subassemblies, be equipped with rectangular hole on the limiting plate, rectangular hole length on each limiting plate is unanimous, can guarantee to separate equidistant between each oil drum tongs subassembly for in the different cartons of packing into that all can mutually noninterfere of oil drum that snatchs on each oil drum tongs subassembly.
Further, each slider on the oil drum tongs subassembly includes two slider bodies respectively, marks as left slider body and right slider body respectively, and adjacent two be equipped with between the right slider body and the left slider body of oil drum tongs subassembly the limiting plate, the right-hand member of limiting plate with left slider body fixed connection on the oil drum tongs subassembly on the right side, the left end of limiting plate passes through stop screw or stop bolt with limiting plate sliding connection.
Further, the oil drum gripper assembly comprises an oil drum gripper, a quick-change assembly and a hanging part, wherein the lower end of the quick-change assembly is connected with at least one oil drum gripper, the upper end of the quick-change assembly is hung on the hanging part, the hanging part comprises a hanging frame and a hanging shaft, a movable groove for the hanging shaft to move is formed in the hanging frame, and a hanging groove matched with the hanging shaft is formed in the upper end of the quick-change assembly; the lower extreme of the hanging frame is also provided with a stop lever which is arranged in parallel with the hanging shaft, a torsion spring is arranged between the hanging shaft and the stop lever, and the support legs at the two ends of the torsion spring are respectively pressed between the stop lever and the hanging shaft.
The beneficial effects of adopting the further technical scheme are as follows: when the oil drum grabbed by the oil drum grabber is collided, the hanging shaft can move in the movable groove, and meanwhile, the hanging shaft moves to drive the quick-connection assembly below the hanging shaft and the oil drum grabber to be integrated, and after the collision is finished, the hanging shaft is reset by the torsion spring; the torsion spring is arranged to buffer the oil drum to a certain extent, so that the oil drum is prevented from being damaged by collision, and the safety in the process of boxing is improved.
Further, the hanging frame is of a U-shaped structure with a downward opening, the hanging frame comprises a top plate and side plates arranged on two sides of the top plate, the movable grooves are formed in the side plates, the hanging shaft is arranged between the movable grooves of the two side plates, the stop lever is also arranged between the two side plates, and a torsion spring installation shaft for installing the torsion spring is arranged between the stop lever and the hanging shaft.
Further, the width of the movable groove is sequentially increased from bottom to top.
The beneficial effects of adopting the further technical scheme are as follows: when the oil drum is impacted, the oil drum gripper drives the oil drum to move upwards and backwards, the free quantity of the movement of the oil drum is improved, and the impact force of the oil drum can be buffered when the oil drum receives forces in different directions.
Further, the oil drum tongs include two semi-cylinder tongs bodies that can open and shut, the below of tongs body inner wall is equipped with first arc arch and second arc arch in proper order from the bottom up, the bellied height of first arc is greater than the bellied height of second arc.
The beneficial effects of adopting the further technical scheme are as follows: the second arc-shaped bulge is arranged above the first half arc-shaped bulge and is used for propping up the outer wall of the oil drum cover from the side surface, so that the shaking of the oil drum can be reduced, the friction and interference between adjacent oil drums are reduced, and the boxing efficiency is improved.
Further, the novel hand grip further comprises a driving mechanism for driving the two hand grip bodies to open and close, the driving mechanism is a finger air cylinder, the finger air cylinder adopts a finger air cylinder in the prior art, two fingers of the finger air cylinder are respectively connected with the upper parts of the two hand grip bodies, and the two fingers simultaneously drive the two hand grip bodies to simultaneously move inwards or outwards.
Further, the device also comprises photoelectric switches arranged on two sides below the mounting seat, and a transmitting head of each photoelectric switch is arranged above the hanging shaft.
The beneficial effects of adopting the further technical scheme are as follows: when the oil drum is collided and moved upwards, the photoelectric switch can timely send signals to the control system of the robot, the robot stops working, the robot is started to work after the obstacle is repaired manually, and the quality of products after leaving factories is guaranteed.
Further, the quick-change assembly comprises hanging plates on two sides and an air supply bag arranged between the two hanging plates, a fixed connecting frame is arranged at the lower end of each hanging plate, and an oil drum gripper is connected to the lower portion of each fixed connecting frame.
The beneficial effects of adopting the further technical scheme are as follows: in the prior art, an air supply bag is usually arranged on a hitching part of a manipulator, when a quick-change part needs to be replaced, an air outlet end of an air supply pipe needs to be pulled out from an air inlet of a finger cylinder one by one, and after the quick-change part is replaced, the air outlet end of the air supply pipe is connected with the air inlet of the finger cylinder one by one, and because of the large number of the finger cylinders, the air supply bag is easy to connect and misplacement, and time and labor are wasted during each replacement; according to the quick-change type air supply bag, the air supply bag is arranged on the quick-change part, when the quick-change type air supply bag is replaced, the air outlet end of the air supply pipe is not required to be pulled out from the finger cylinder, only the air pipe at the air inlet of the air supply pipe is required to be pulled out, time and labor are saved, the air inlet end of the air supply pipe is connected after the quick-change part is replaced, the number of the air inlet end is small, and no error occurs in connection.
Further, the air supply bag is installed on the fixed connecting frame through a bracket.
Further, a plurality of air supply openings are formed in the air supply bag, and the air supply openings are connected with the air inlets of the finger air cylinders one by one.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an enlarged schematic view of a portion of the portion M of FIG. 1;
FIG. 3 is a schematic view of the oil drum grabbing assembly according to the present invention;
FIG. 4 is a left side view of FIG. 3;
FIG. 5 is a schematic cross-sectional view taken along the direction A-A in FIG. 3;
FIG. 6 is a top view of the connection of the hitch shaft, bar, and quick change assembly of the present invention;
FIG. 7 is a schematic view of the structure of the gripper body and the limiting plate in the present invention;
FIG. 8 illustrates the construction of the oil drum grip of the present invention;
in the drawings, the list of component names indicated by the respective reference numerals is as follows: 1. the hand-operated device comprises a limiting plate, 1-1, the upper end of the limiting plate, 1-2, the lower end of the limiting plate, 1-21, a boss, 2, a gripper body, 2-1, a first arc-shaped bulge, 2-2, a second arc-shaped bulge, 3, a connecting screw, 4, a finger cylinder, 4-1, a shell, 4-2, a finger, 5, an oil drum, 5-1, a drum cover, 5-2, an annular groove, 5-3, a drum opening, 5-4, a drum body, 6, a quick-change assembly, 6-1, a hanging plate, 6-11, a hanging groove, 6-2, a fixed connecting frame, 6-3, an air supply bag, 6-31, an air supply opening, 6-4 and a bracket; 7. the device comprises a hanging part, 7-1, a hanging frame, 7-11, a side plate, 7-12, a movable groove, 7-2, a hanging shaft, 7-3, a stop lever, 7-4, a torsion spring, 7-5, a torsion spring mounting shaft, 8, a sliding block, 8-1, a left sliding block body, 8-2, a right sliding block body, 9, a limiting plate, 9-1, a sliding groove, 10, a limiting bolt, 11, a mounting seat, 12, a connecting seat, 13, an adjusting cylinder, 13-1, a cylinder body of the adjusting cylinder, 13-2, a piston rod of the adjusting cylinder, 14 and a photoelectric switch.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1 to 8, a boxing manipulator for oil drum packaging comprises a mounting seat 11, a plurality of oil drum gripper assemblies arranged below the mounting seat 11 and a gap adjusting mechanism for adjusting the distance between the plurality of oil drum gripper assemblies;
the gap adjusting mechanism comprises an adjusting cylinder 13, a cylinder body 13-1 of the adjusting cylinder is fixed on the mounting seat 11, and a piston rod 13-2 of the adjusting cylinder is connected with an oil drum gripper assembly at the edge;
the gap adjusting mechanism further comprises a sliding rail arranged below the mounting seat 11 and a sliding block 8 arranged above the oil drum gripper assembly, the sliding blocks 8 are matched with the sliding rail, two adjacent sliding blocks 8 above the oil drum gripper assembly are connected through a limiting plate 9, one end of the limiting plate 9 is fixedly connected with one sliding block 8 above the oil drum gripper assembly, and the other end of the limiting plate is slidably connected with the other sliding block 8 above the oil drum gripper assembly.
The limiting plate 9 is provided with a sliding groove 9-1, and the sliding block 8 which is in sliding connection with the limiting plate 9 is provided with a limiting bolt 10 which is matched with the sliding groove 9-1.
The sliding blocks 8 on the oil drum grab assembly respectively comprise two sliding block bodies, namely a left sliding block body 8-1 and a right sliding block body 8-2, wherein two adjacent sliding block bodies 8-2 and 8-1 of the oil drum grab assembly are provided with limiting plates 9, the right ends of the limiting plates 9 are fixedly connected with the left sliding block body 8-1 on the right oil drum grab assembly, and the left ends of the limiting plates 9 are in sliding connection with the limiting plates 9 through limiting bolts 10.
The oil drum gripper assembly comprises an oil drum gripper, a quick-change assembly 6 and a hanging part 7, wherein the lower end of the quick-change assembly 6 is connected with at least one oil drum gripper, the upper end of the quick-change assembly 6 is hung on the hanging part 7, the hanging part 7 comprises a hanging frame 7-1 and a hanging shaft 7-2, the hanging frame 7-1 is provided with a movable groove 7-12 for the hanging shaft 7-2 to move, and the upper end of the quick-change assembly is provided with a hanging groove 6-11 matched with the hanging shaft 7-2; the lower end of the hanging frame 7-1 is also provided with a stop lever 7-3 which is arranged in parallel with the hanging shaft 7-2, a torsion spring 7-4 is arranged between the hanging shaft 7-2 and the stop lever 7-3, and support legs at two ends of the torsion spring 7-4 are respectively pressed between the stop lever 7-3 and the hanging shaft 7-2.
The hanging frame 7-1 is of a U-shaped structure with a downward opening, the hanging frame 7-1 comprises a top plate and side plates 7-11 arranged on two sides of the top plate, the movable grooves 7-12 are formed in the side plates 7-11, the hanging frame 7-2 is axially arranged between the movable grooves 7-12 of the two side plates 7-11, the stop lever is also arranged between the two side plates 7-11, and a torsion spring installation shaft 7-5 for installing the torsion spring 7-4 is arranged between the stop lever 7-3 and the hanging shaft 7-2.
The width of the movable grooves 7-12 increases from bottom to top.
The oil drum tongs comprise two openable semi-cylindrical tongs bodies 1, a first arc-shaped bulge 2-1 and a second arc-shaped bulge 2-2 are sequentially arranged below the inner walls of the tongs bodies 1 from bottom to top, and the height of the first arc-shaped bulge 2-1 is larger than that of the second arc-shaped bulge 2-2.
The novel hand grip is characterized by further comprising a driving mechanism for driving the two hand grip bodies 2 to open and close, wherein the driving mechanism is a finger cylinder, the finger cylinder 4 comprises a shell 4-1 and two fingers 4-2 which are arranged below the shell 4-1 and can open and close, and the hand grip bodies 2 are connected with the fingers 4-2 through limiting plates 1.
The limiting plate 1 is connected with the gripper body 2 through a connecting screw 3.
The upper end 1-1 of limiting plate with finger 4-2 passes through countersunk head bolted connection, the lower extreme 1-2 of limiting plate is equipped with boss 1-21, boss 1-21 is used for supporting the lower extreme of tongs body 2.
The photoelectric switch 14 is arranged on two sides below the mounting seat 11, and the transmitting head of the photoelectric switch 14 is arranged above the hanging shaft 7-2; when the oil drum 5 is collided and moved upwards, the photoelectric switch 14 can timely send signals to the control system of the robot, the robot stops working, the robot is started to work after the obstacle is repaired manually, and the quality of products after leaving factories is guaranteed.
The quick-change assembly 6 comprises hanging plates 6-1 on two sides and an air supply bag 6-3 arranged between the two hanging plates 6-1, a fixed connecting frame 6-2 is arranged at the lower end of the hanging plate 6-1, and an oil drum gripper is connected below the fixed connecting frame 6-2.
The air supply bag 6-3 is arranged on the fixed connecting frame 6-2 through a bracket 6-4.
The air supply bag 6-3 is provided with a plurality of air supply ports 6-31, and the air supply ports 6-31 are connected with the air inlets of the finger air cylinders 4 one by one.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (4)
1. The boxing manipulator for oil drum packaging is characterized by comprising a mounting seat, a plurality of oil drum gripper assemblies arranged below the mounting seat and a gap adjusting mechanism for adjusting the distance between the oil drum gripper assemblies;
the gap adjusting mechanism comprises an adjusting cylinder, a cylinder body of the adjusting cylinder is fixed on the mounting seat, and a piston rod of the adjusting cylinder is connected with an oil drum gripper assembly at the edge;
the gap adjusting mechanism further comprises a sliding rail arranged below the mounting seat and a sliding block arranged above the oil drum gripper assemblies, the sliding blocks are matched with the sliding rail, the sliding blocks above two adjacent oil drum gripper assemblies are connected through a limiting plate, one end of the limiting plate is fixedly connected with the sliding block above one oil drum gripper assembly, and the other end of the limiting plate is in sliding connection with the sliding block above the other oil drum gripper assembly;
a sliding groove is formed in the limiting plate, and a limiting screw or a limiting bolt matched with the sliding groove is arranged on a sliding block which is in sliding connection with the limiting plate;
the oil drum gripper assembly comprises an oil drum gripper, a quick-change assembly and a hanging part, wherein the lower end of the quick-change assembly is connected with at least one oil drum gripper, the upper end of the quick-change assembly is hung on the hanging part, the hanging part comprises a hanging frame and a hanging shaft, a movable groove for the hanging shaft to move is formed in the hanging frame, and a hanging groove matched with the hanging shaft is formed in the upper end of the quick-change assembly; the lower end of the hanging frame is also provided with a stop lever which is arranged in parallel with the hanging shaft, a torsion spring is arranged between the hanging shaft and the stop lever, and the support legs at the two ends of the torsion spring are respectively pressed between the stop lever and the hanging shaft;
the hanging frame is of a U-shaped structure with downward openings, the hanging frame comprises a top plate and side plates arranged on two sides of the top plate, the movable grooves are formed in the side plates, the hanging shaft is arranged between the movable grooves of the two side plates, the stop lever is also arranged between the two side plates, and a torsion spring installation shaft for installing the torsion spring is arranged between the stop lever and the hanging shaft;
the oil drum gripper comprises two openable semi-cylindrical gripper bodies, wherein a first arc-shaped bulge and a second arc-shaped bulge are sequentially arranged below the inner wall of the gripper bodies from bottom to top, and the height of the first arc-shaped bulge is larger than that of the second arc-shaped bulge;
the oil drum gripper further comprises a driving mechanism for driving the two gripper bodies to open and close, wherein the driving mechanism is a finger cylinder, and two fingers of the finger cylinder are respectively connected with the upper parts of the two gripper bodies;
the quick-change assembly comprises hanging plates on two sides and an air supply bag arranged between the two hanging plates, a fixed connecting frame is arranged at the lower end of each hanging plate, and an oil drum gripper is connected below the fixed connecting frame.
2. The boxing manipulator for packaging in oil drums according to claim 1, wherein the width of the movable grooves increases sequentially from bottom to top.
3. The boxing manipulator for packaging in oil drums according to claim 1 or 2, wherein the air supply bag is mounted on the fixed connection frame by a bracket.
4. The boxing manipulator for oil drum packaging according to claim 3, wherein the air supply bag is provided with a plurality of air supply ports, and the air supply ports are respectively connected with the air inlets of the finger cylinders one by one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811554926.XA CN109533463B (en) | 2018-12-18 | 2018-12-18 | A vanning manipulator for oil drum packing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811554926.XA CN109533463B (en) | 2018-12-18 | 2018-12-18 | A vanning manipulator for oil drum packing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109533463A CN109533463A (en) | 2019-03-29 |
| CN109533463B true CN109533463B (en) | 2023-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811554926.XA Active CN109533463B (en) | 2018-12-18 | 2018-12-18 | A vanning manipulator for oil drum packing |
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| CN (1) | CN109533463B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673784B (en) * | 2020-06-23 | 2022-09-23 | 郑州大学 | Self-positioning grabbing hand and grabbing device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556386A (en) * | 2011-12-29 | 2012-07-11 | 大连佳林设备制造有限公司 | Vertical bag boxing machine |
| CN103950565A (en) * | 2014-04-18 | 2014-07-30 | 江苏新美星包装机械股份有限公司 | Grabber device on box loader |
| CN105730763A (en) * | 2016-04-26 | 2016-07-06 | 石狮市巨灵机械科技有限公司 | Automatic packing device on cheese packaging conveying equipment |
| CN106956808A (en) * | 2017-03-30 | 2017-07-18 | 惠州爱而泰可包装有限公司 | A kind of full-automatic oil bottle hand holding pull arranges conveying equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014221233A1 (en) * | 2014-10-20 | 2016-04-21 | Krones Aktiengesellschaft | Device and method for handling articles |
-
2018
- 2018-12-18 CN CN201811554926.XA patent/CN109533463B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556386A (en) * | 2011-12-29 | 2012-07-11 | 大连佳林设备制造有限公司 | Vertical bag boxing machine |
| CN103950565A (en) * | 2014-04-18 | 2014-07-30 | 江苏新美星包装机械股份有限公司 | Grabber device on box loader |
| CN105730763A (en) * | 2016-04-26 | 2016-07-06 | 石狮市巨灵机械科技有限公司 | Automatic packing device on cheese packaging conveying equipment |
| CN106956808A (en) * | 2017-03-30 | 2017-07-18 | 惠州爱而泰可包装有限公司 | A kind of full-automatic oil bottle hand holding pull arranges conveying equipment |
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| CN109533463A (en) | 2019-03-29 |
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Effective date of registration: 20220921 Address after: 265200, No. 39 East Longmen Road, Yantai, Shandong, Laiyang Applicant after: LAIYANG LUHUA INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 265200, No. 39 East Longmen Road, Yantai, Shandong, Laiyang Applicant before: SHANDONG LUHUA GROUP Co.,Ltd. Applicant before: LAIYANG LUHUA INTELLIGENT TECHNOLOGY Co.,Ltd. |
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