CN216582879U - Flexible feeding equipment - Google Patents
Flexible feeding equipment Download PDFInfo
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- CN216582879U CN216582879U CN202122651476.XU CN202122651476U CN216582879U CN 216582879 U CN216582879 U CN 216582879U CN 202122651476 U CN202122651476 U CN 202122651476U CN 216582879 U CN216582879 U CN 216582879U
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Abstract
The utility model discloses flexible feeding equipment, which is characterized in that: the automatic feeding device comprises a rack, a workbench arranged on the rack, a material grabbing mechanism arranged on the workbench, a feeding mechanism and a material receiving disc, wherein the feeding mechanism comprises a material feeding disc; an upper camera and a lower camera are arranged on the rack, the upper camera and the lower camera are electrically connected with the material grabbing mechanism, the upper camera is mounted on the workbench through a support, the upper camera is arranged right above the material loading level, and a lens of the upper camera is arranged towards the material loading level; the lower camera is arranged between the upper material tray and the material receiving tray, and a lens of the lower camera is arranged upwards. The utility model improves the feeding efficiency and quality and reduces the labor intensity and cost of operators.
Description
Technical Field
The utility model relates to feeding equipment, in particular to flexible feeding equipment.
Background
For some small parts, such as parts inside electronic products like mobile phones, due to the small size, when the products are placed on the tray, the products are separated by the vibrating tray, and the products are automatically or manually prevented from being grabbed and placed in the fixed position of the receiving tray, so that the small parts can be used in subsequent assembly. Among them, adopt the manual mode of getting the material, because the product is smaller, operating personnel must operate through instruments such as tweezers, not only inconvenient, operating personnel intensity of labour is high moreover, and efficiency is also than lower. If the automatic material grabbing mode is adopted, firstly an industrial camera is required to be used for photographing, then the material grabbing mechanism is used for grabbing, and then the material is placed. In the mode, a public machine is needed for data connection between the material grabbing mechanism and the industrial camera, so that the response speed is low, the material grabbing efficiency is low, and meanwhile, the industrial camera needs a high-resolution camera and is high in cost.
Disclosure of Invention
The utility model aims to provide flexible feeding equipment, which improves the feeding efficiency and quality and reduces the cost and the labor intensity of operators by using the structure.
In order to achieve the purpose, the utility model adopts the technical scheme that: a flexible feeding device comprises a frame, a workbench arranged on the frame, a material grabbing mechanism arranged on the workbench, a feeding mechanism and a material receiving disc,
the feeding mechanism comprises a feeding disc, a feeding position is arranged on the workbench, the feeding disc is fixedly or movably arranged at the feeding position, and the feeding position is arranged on the left side of the receiving disc;
an upper camera and a lower camera are arranged on the rack, the upper camera and the lower camera are electrically connected with the material grabbing mechanism, the upper camera is mounted on the workbench through a support, the upper camera is arranged right above the material loading level, and a lens of the upper camera is arranged towards the material loading level;
the lower camera is arranged between the upper material tray and the material receiving tray, and the lens of the lower camera is arranged upwards.
In the technical scheme, the feeding disc is a vibrating feeding disc which is fixedly arranged on the feeding level.
Among the above-mentioned technical scheme, be equipped with a vertical transfer chain on the workstation, the middle part of vertical transfer chain set up in material loading position department, material loading dish warp vertical transfer chain removes the process material loading level, just material loading dish remove set up in when the material loading level, the camera lens orientation of going up the camera the top of take-up reel sets up.
In the technical scheme, a handheld camera is arranged on the material grabbing mechanism, the handheld camera is electrically connected with the material grabbing mechanism, the handheld camera moves synchronously along with the material grabbing mechanism, and a lens of the handheld camera is arranged downwards.
In the technical scheme, a vertical plate is arranged on the workbench, and the lower camera is arranged on the side wall of the vertical plate; the top surface of the workbench is provided with a through groove, the bottom of the through groove is communicated with the bottom of the workbench, and the lower phase machine is arranged right above the through groove.
In the technical scheme, the material grabbing mechanism is a multi-shaft manipulator, and a plurality of groups of material grabbing pieces are arranged on the manipulator.
In the technical scheme, the material grabbing mechanism comprises a plurality of groups of material grabbing pieces and a driving mechanism, the tops of the material grabbing pieces are arranged on the bottom surface of a mounting plate, and the driving mechanism drives the mounting plate to move and rotate in the front, back, left, right, up and down directions above the workbench.
In the technical scheme, the driving mechanism comprises a transverse driving mechanism, a longitudinal driving mechanism and a vertical driving mechanism, the top of the mounting plate is connected with the bottom of the vertical driving mechanism through a rotating cylinder, the transverse driving mechanism is installed on the workbench, the longitudinal driving mechanism is connected with the transverse driving mechanism, the vertical driving mechanism is connected with the longitudinal driving mechanism, the transverse driving mechanism drives the material grabbing piece to move transversely left and right, the longitudinal driving mechanism drives the material grabbing piece to move longitudinally back and forth, the vertical driving mechanism drives the material grabbing piece to move vertically up and down, and the rotating cylinder drives the mounting plate and the material grabbing piece to rotate.
In order to achieve the purpose, the utility model adopts a using method of flexible feeding equipment, which comprises the following steps:
directly putting materials into a feeding disc, and separating the materials through the vibration of the feeding disc so that the materials are dispersed in a vibrating disc;
secondly, the charging tray is photographed by the charging camera, the products which can be grabbed are photographed and identified, and data are fed back to the material grabbing mechanism;
the grabbing mechanism grabs the materials which can be grabbed in the feeding disc according to the shooting data of the upper camera, moves the grabbed materials to the upper part of the lower camera, and shoots the grabbed materials through the lower camera so as to judge the posture of the materials in the grabbing state;
and fourthly, the grabbing mechanism adjusts the angle of a grabbing piece in the grabbing mechanism according to the shooting posture of the lower camera on the grabbed material and the product placing position in the material receiving disc, so as to adjust the posture of the material, accurately place the material into the material receiving disc, and realize flexible feeding in such a circulating manner.
In the technical scheme, the material receiving disc is provided with a fixed position and an optional position, when the position of the material receiving disc is fixed, and a lower camera takes a picture of a product, the material grabbing mechanism can directly place the product into the material receiving disc; when the take-up pan is placed on the workstation wantonly be equipped with handheld camera on the mechanism snatchs, handheld camera follows and grabs the material piece and remove together, and after camera was shot the discernment product gesture to the product down, snatchs the mechanism and snatchs the product and rotate to take-up pan and place the region, and handheld camera is shot to the take-up pan, discerns take-up pan position and product blowing position, then snatchs the mechanism and according to product gesture and take-up pan position, and the accurate puts into the take-up pan with the product in, realizes flexible quick material loading.
Due to the application of the technical scheme, compared with the prior art, the utility model has the following advantages:
1. according to the utility model, the product is fed by the feeding mechanism, the product is separated, the upper camera is used for taking a picture, the product which can be grabbed is identified, the material which can be grabbed in the feeding mechanism is grabbed by the grabbing mechanism, and the posture of the grabbed product is identified by the arrangement of the lower camera, so that the product can be quickly and accurately placed into the receiving disc, the resolution ratio of the two groups of cameras is not required to be very high, the quick and accurate feeding of the product can be realized, the feeding efficiency and quality can be improved, the labor intensity of operators is reduced, and the cost is reduced;
2. according to the utility model, through the arrangement of the handheld camera, the position of the receiving disc can be randomly placed in the visual field range where the handheld camera can photograph, so that the position of the receiving disc is not fixed, and the position of the receiving disc can be accurately positioned through photographing by the handheld camera, so that a product can be accurately placed in the receiving disc, and the convenience of feeding is improved;
3. according to the utility model, the upper camera, the lower camera and the handheld camera are directly and electrically connected with the material grabbing mechanism, so that the response speed can be increased, and the material loading efficiency can be improved.
Drawings
FIG. 1 is a schematic structural diagram according to a first embodiment of the present invention;
FIG. 2 is a schematic perspective view of FIG. 1;
fig. 3 is a schematic structural diagram of a driving mechanism in the third embodiment of the present invention.
Wherein: 1. a frame; 2. a work table; 3. a material grabbing mechanism; 4. a take-up pan; 5. feeding a material plate; 6. loading the material; 7. mounting a camera; 8. a lower camera; 9. a support; 10. grabbing the material; 11. a handheld camera; 12. A vertical plate; 13. a through groove; 101. a multi-axis manipulator; 14. mounting a plate; 15. a rotating cylinder; 16. a transverse slide rail; 17. a transverse ball screw; 18. a transverse motor; 19. a transverse slide plate; 20. a longitudinal slide rail; 21. a longitudinal ball screw; 22. a longitudinal motor; 23. a longitudinal slide; 24. a vertical slide rail; 25. a vertical ball screw; 26. a vertical motor; 27. a vertical slide.
Detailed Description
The utility model is further described with reference to the following figures and examples:
the first embodiment is as follows: referring to fig. 1 and 2, a flexible feeding device comprises a frame 1, a workbench 2 arranged on the frame, a material grabbing mechanism 3 arranged on the workbench, a feeding mechanism and a receiving tray 4,
the feeding mechanism comprises a feeding disc 5, a feeding level 6 is arranged on the workbench, the feeding disc is fixedly or movably arranged at the feeding level, and the feeding level is arranged on the left side of the receiving disc;
an upper camera 7 and a lower camera 8 are arranged on the rack, the upper camera and the lower camera are electrically connected with the material grabbing mechanism, the upper camera is mounted on the workbench through a support 9, the upper camera is arranged right above the material loading position, and a lens of the upper camera is arranged towards the material loading position;
the lower camera is arranged between the upper material tray and the material receiving tray, and the lens of the lower camera is arranged upwards.
In this embodiment, the material grabbing mechanism is a multi-axis manipulator 101, and a plurality of groups of material grabbing pieces 10 are arranged on the manipulator. The material grabbing piece can be a clamping jaw or a sucking disc, and the sucking disc is generally adopted for grabbing materials.
In this embodiment, go up the camera and directly communicate with multi-axis manipulator with lower camera, can directly prefabricate vision software in multi-axis manipulator, go up the camera and all directly adopt the vision software in the multi-axis manipulator down the camera, cooperate with multi-axis manipulator. The multi-axis manipulator is a four-axis manipulator or a six-axis manipulator, and the manipulator with corresponding functions is selected according to actual conditions, so that the grabbing of the material part can be realized, and the grabbing part can move and rotate front, back, left and right or has partial functions. When the material receiving tray is used, a pile of products are directly placed in the material receiving tray, the material receiving tray can separate the products in a vibrating mode, then the upper camera shoots the products on the material receiving tray, the products capable of being grabbed are identified, then a plurality of groups of grabbing parts in the material receiving mechanism grab a group of products respectively, then the grabbing parts move to the top of the lower camera, the lower camera shoots the products on the grabbing parts, the postures of the products are identified, after the products are identified, the angle of the grabbing parts is adjusted by the grabbing mechanism according to the product placing positions on the material receiving tray, the postures of the products are matched, the products are enabled to be directly placed into the corresponding product placing positions, and quick and high-precision flexible feeding is achieved.
Wherein, go up the camera and the lower camera all can adopt the camera that resolution ratio need not be too high, at first the upper camera only need discern the material that can snatch in the charging tray can, just also a heap of material is shaken by the charging tray after, certain distance space has between the material that can snatch and the material on next door, can be snatched, when reorganization material is snatched, can not grab the material on next door simultaneously, this for can snatch the material, the upper camera only need take a picture the general outline of product can, resolution ratio does not need how high, so the speed of discernment is comparatively fast, response time is very short. The lower camera photographs the posture of the product, namely the outline of the product, so that a deviation angle of the product can be recognized, other features do not need to be recognized, the requirement on resolution is not high, only one group of products need to be photographed each time, and the recognition response time is extremely short. Therefore, the material loading speed is particularly high after the material grabbing mechanism grabs the material. If a high-resolution camera is directly adopted as the upper camera, and the lower camera is not needed, the upper camera not only needs to identify whether the distance between the adjacent groups of products is qualified, but also needs to photograph the outline of the products, and the key is to photograph the outline of the products at the same time, so that the identification speed is low, the response time is long, the material grabbing and feeding time of the products in a single group is extremely long, and the cost of the camera is much higher than that of the cameras. Therefore, in the embodiment, the upper camera and the lower camera are selected to be matched to recognize, grab and recognize the posture of the product.
Referring to fig. 1 and 2, the feeding plate is a vibrating feeding plate which is fixedly arranged on the feeding position.
The material tray is gone up in the vibration of adopting fixed setting, and the material is put into the material tray in back, directly vibrates the material for the material dispersion is come, and the material that can snatch is convenient for discern to the last camera. The material loading plate is vibrated at regular time, so that the material loading plate is convenient and quick, a public machine is not required to be independently arranged for control, and the cost is lower.
In this embodiment, if only adopt two sets of cameras of camera and lower camera, then the take-up (stock) pan adopts the fixed position mode, is also to be provided with a blowing groove or blowing position on the workstation, and the take-up pan is directly put into this blowing groove or blowing position, and the position of take-up (stock) pan is fixed, and its inside product blowing position is also fixed, and after camera below discerned the product gesture, it can quick adjustment product gesture to grab material mechanism, directly puts into the product blowing position of fixed position take-up (stock) pan.
However, the fixed position of the receiving tray has a disadvantage that a vacuum period exists when the receiving tray is replaced after the receiving tray is fully discharged, and the feeding efficiency is affected because the receiving tray cannot be fed in the vacuum period.
Therefore, in this embodiment, a receiving tray capable of being placed at any position is selected, the receiving tray is located in the position range where the material grabbing mechanism can move, and the accuracy of feeding is guaranteed in order to judge the position of the receiving tray. Therefore, referring to fig. 1 and 2, a handheld camera 11 is arranged on the material grabbing mechanism, the handheld camera is electrically connected with the material grabbing mechanism, the handheld camera moves synchronously along with the material grabbing mechanism, and a lens of the handheld camera is arranged downwards.
Wherein, the take-up pan can be put and can be shot and grab within an area within range that material mechanism can remove at handheld camera, before the blowing, handheld camera takes a picture to the take-up pan, just so can discern the position of take-up pan, the position and the angle of angle and inside product blowing position, follow-up camera is taken a picture to the product down after, the adjustment of product gesture is just according to the position that handheld camera was taken a picture, the gesture of product is adjusted to angle data, in order to guarantee that the product can be fast and accurate put into the take-up pan, high efficiency, high quality.
Referring to fig. 1 and 2, a vertical plate 12 is arranged on the workbench, and the lower phase machine is mounted on the side wall of the vertical plate; the top surface of the workbench is provided with a through groove 13, the bottom of the through groove is communicated with the bottom of the workbench, and the lower phase machine is arranged right above the through groove.
In this embodiment, the setting of riser, the installation of camera is convenient for down, and the unsettled installation of camera is convenient for down in addition, guarantees its quality of shooing, increase of service life. Simultaneously, the setting that leads to the groove, lower camera is in under the groove directly over, and when the product was in under the machine top like this, the reflection of light phenomenon can not appear in this department, guarantees down the camera quality of shooing to the product, and simultaneously, the setting that leads to the groove can also ventilate, is convenient for down the heat dissipation of camera. In this embodiment, the bottom of camera is as close to the workstation top surface as possible down, because the take-up pan is directly put at the workstation top, so its position is not high, and the top height of camera is down highly as far as with take-up pan, the top height of last charging tray keeps unanimous, can shorten the material grabbing of grabbing material mechanism like this, material loading stroke, shorten the material loading time, improve material loading efficiency. Therefore, the arrangement of the through grooves provides a larger heat dissipation space for the lower camera, the heat dissipation effect is improved, and the service life is prolonged.
In order to achieve the purpose, the utility model adopts a using method of flexible feeding equipment, which comprises the following steps:
directly putting materials into a feeding disc, and separating the materials through the vibration of the feeding disc so that the materials are dispersed in a vibrating disc;
secondly, the charging tray is photographed by the charging camera, the products which can be grabbed are photographed and identified, and data are fed back to the material grabbing mechanism;
the grabbing mechanism grabs the materials which can be grabbed in the feeding disc according to the shooting data of the upper camera, moves the grabbed materials to the upper part of the lower camera, and shoots the grabbed materials through the lower camera so as to judge the posture of the materials in the grabbing state;
and fourthly, the grabbing mechanism adjusts the angle of a grabbing piece in the grabbing mechanism according to the shooting posture of the lower camera on the grabbed material and the product placing position in the material receiving disc, so as to adjust the posture of the material, accurately place the material into the material receiving disc, and realize flexible feeding in such a circulating manner.
The material receiving disc is provided with a fixed position and an optional position, when the position of the material receiving disc is fixed, the lower camera takes a picture of the product, and the material grabbing mechanism can directly place the product into the material receiving disc; when the take-up pan is placed on the workstation wantonly be equipped with handheld camera on the mechanism snatchs, handheld camera follows and grabs the material piece and remove together, and after camera was shot the discernment product gesture to the product down, snatchs the mechanism and snatchs the product and rotate to take-up pan and place the region, and handheld camera is shot to the take-up pan, discerns take-up pan position and product blowing position, then snatchs the mechanism and according to product gesture and take-up pan position, and the accurate puts into the take-up pan with the product in, realizes flexible quick material loading.
Example two: the structure of the flexible feeding equipment is basically similar to that of the first embodiment, and the difference is as follows: be equipped with a vertical transfer chain on the workstation, the middle part of vertical transfer chain set up in material loading position department, it warp to go up the charging tray vertical transfer chain removes the process material loading position, just it removes set up in when going up the material loading position, the camera lens orientation of going up the camera the top of take-up (stock) pan sets up. In this kind of mode, vertical transfer chain is equivalent to the assembly line, and goes up the charging tray and then carry through vertical transfer chain, just snatchs flexible material loading like this at the in-process that the material was carried, improves material loading efficiency, need not to carry out the secondary and changes the material, and is efficient, and the cost is cheaper.
Example three: referring to fig. 3, a flexible feeding device and a using method thereof are basically similar to the first embodiment in structure, and are different in that: grab the material mechanism and include that the multiunit grabs material 10 and actuating mechanism, the multiunit grab the top of material and install on the bottom surface of a mounting panel 14, actuating mechanism drive the mounting panel is in the workstation top is carried out preceding, back, left and right, upper and lower removal and rotation.
The driving mechanism comprises a transverse driving mechanism, a longitudinal driving mechanism and a vertical driving mechanism, the top of the mounting plate is connected with the bottom of the vertical driving mechanism through a rotating cylinder 15, the transverse driving mechanism is installed on the workbench, the longitudinal driving mechanism is connected with the transverse driving mechanism, the vertical driving mechanism is connected with the longitudinal driving mechanism, the transverse driving mechanism drives the grabbing piece to move transversely left and right, the longitudinal driving mechanism drives the grabbing piece to move longitudinally back and forth, the vertical driving mechanism drives the grabbing piece to move vertically up and down, and the rotating cylinder drives the mounting plate and the grabbing piece to rotate.
The transverse driving mechanism comprises a transverse sliding rail 16, a transverse ball screw 17, a transverse motor 18 and a transverse sliding plate 19, the transverse sliding rail and the transverse ball screw are arranged above the workbench in parallel, an output shaft of the transverse motor is connected with one end of the transverse ball screw, and the transverse sliding plate is arranged on the transverse sliding rail and the transverse ball screw; the longitudinal driving mechanism is arranged on the transverse sliding plate and comprises a longitudinal sliding rail 20, a longitudinal ball screw 21, a longitudinal motor 22 and a longitudinal sliding plate 23, the longitudinal sliding rail and the longitudinal ball screw are arranged on the transverse sliding plate, the longitudinal ball screw and the longitudinal sliding rail are arranged perpendicular to the transverse sliding rail, an output shaft of the longitudinal motor is connected with one end of the longitudinal ball screw, and the longitudinal sliding plate is arranged on the longitudinal sliding rail and the longitudinal ball screw; the vertical driving mechanism is installed on the side wall of the longitudinal sliding plate and comprises a vertical sliding rail 24, a vertical ball screw 25, a vertical motor 26 and a vertical sliding plate 27, the vertical sliding rail and the vertical ball screw are installed on the longitudinal sliding plate, the vertical sliding rail and the vertical ball screw are perpendicular to the top surface of the longitudinal sliding rail and the top surface of the workbench, an output shaft of the vertical motor is connected with the top of the vertical ball screw, the vertical sliding plate is installed on the vertical sliding rail and the vertical ball screw, and the rotary cylinder is installed on the vertical sliding plate.
The transverse ball screw drives the grabbing piece to move left and right, the longitudinal ball screw drives the grabbing piece to move front and back, the vertical ball screw drives the grabbing piece to move up and down, the rotary cylinder drives the grabbing piece to rotate, and the grabbing piece is moved up and down front and back and left and right and also rotated. Of course, the ball screw and the motor are not used, and the air cylinder can be replaced by the air cylinder to realize the front-back, left-right and up-down movement.
Claims (8)
1. The utility model provides a flexible charging equipment which characterized in that: comprises a frame, a workbench arranged on the frame, a material grabbing mechanism arranged on the workbench, a feeding mechanism and a material receiving disc,
the feeding mechanism comprises a feeding disc, a feeding position is arranged on the workbench, the feeding disc is fixedly or movably arranged at the feeding position, and the feeding position is arranged on the left side of the receiving disc;
an upper camera and a lower camera are arranged on the rack, the upper camera and the lower camera are electrically connected with the material grabbing mechanism, the upper camera is mounted on the workbench through a support, the upper camera is arranged right above the material loading level, and a lens of the upper camera is arranged towards the material loading level;
the lower camera is arranged between the upper material tray and the material receiving tray, and the lens of the lower camera is arranged upwards.
2. The flexible loading device of claim 1, wherein: the material loading plate is a vibration material loading plate which is fixedly arranged on the material loading position.
3. The flexible loading device of claim 1, wherein: be equipped with a vertical transfer chain on the workstation, the middle part of vertical transfer chain set up in material loading position department, it warp to go up the charging tray vertical transfer chain removes the process material loading position, just it removes set up in when going up the material loading position, the camera lens orientation of going up the camera the top of take-up (stock) pan sets up.
4. The flexible loading device of claim 1, wherein: the material grabbing mechanism is provided with a handheld camera, the handheld camera is electrically connected with the material grabbing mechanism, the handheld camera moves synchronously along with the material grabbing mechanism, and a lens of the handheld camera is arranged downwards.
5. The flexible loading device of claim 1, wherein: the workbench is provided with a vertical plate, and the lower camera is arranged on the side wall of the vertical plate; the top surface of the workbench is provided with a through groove, the bottom of the through groove is communicated with the bottom of the workbench, and the lower phase machine is arranged right above the through groove.
6. The flexible feeding apparatus according to claim 1, wherein: the material grabbing mechanism is a multi-shaft manipulator, and a plurality of groups of material grabbing pieces are arranged on the manipulator.
7. The flexible loading device of claim 1, wherein: grab material mechanism and include that the multiunit grabs material spare and actuating mechanism, the multiunit grab the top of material spare and install on the bottom surface of a mounting panel, actuating mechanism drive the mounting panel is in the workstation top is carried out preceding, back, left and right, is moved and is rotatory about the upper and lower.
8. The flexible loading apparatus of claim 7, wherein: the driving mechanism comprises a transverse driving mechanism, a longitudinal driving mechanism and a vertical driving mechanism, the top of the mounting plate is connected with the bottom of the vertical driving mechanism through a rotating cylinder, the transverse driving mechanism is installed on the workbench, the longitudinal driving mechanism is connected with the transverse driving mechanism, the vertical driving mechanism is connected with the longitudinal driving mechanism, the transverse driving mechanism drives the grabbing piece to move transversely left and right, the longitudinal driving mechanism drives the grabbing piece to move longitudinally back and forth, the vertical driving mechanism drives the grabbing piece to move vertically up and down, and the rotating cylinder drives the mounting plate and the grabbing piece to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122651476.XU CN216582879U (en) | 2021-11-01 | 2021-11-01 | Flexible feeding equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122651476.XU CN216582879U (en) | 2021-11-01 | 2021-11-01 | Flexible feeding equipment |
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| CN216582879U true CN216582879U (en) | 2022-05-24 |
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| CN202122651476.XU Active CN216582879U (en) | 2021-11-01 | 2021-11-01 | Flexible feeding equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116022398A (en) * | 2023-03-27 | 2023-04-28 | 起元汇科(福建)机器人有限公司 | Automatic packaging equipment and method for medical gauze |
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2021
- 2021-11-01 CN CN202122651476.XU patent/CN216582879U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116022398A (en) * | 2023-03-27 | 2023-04-28 | 起元汇科(福建)机器人有限公司 | Automatic packaging equipment and method for medical gauze |
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