CN117002812B - An online cotton packaging system and packaging method for automated packaging - Google Patents
An online cotton packaging system and packaging method for automated packagingInfo
- Publication number
- CN117002812B CN117002812B CN202310622362.3A CN202310622362A CN117002812B CN 117002812 B CN117002812 B CN 117002812B CN 202310622362 A CN202310622362 A CN 202310622362A CN 117002812 B CN117002812 B CN 117002812B
- Authority
- CN
- China
- Prior art keywords
- bag
- cotton
- section
- axis
- bags
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
- B65B43/14—Feeding individual bags or carton blanks from piles or magazines
- B65B43/16—Feeding individual bags or carton blanks from piles or magazines by grippers
- B65B43/18—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated 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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
- B65B43/30—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated
-
- 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
- B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
- B65B51/04—Applying separate sealing or securing members, e.g. clips
- B65B51/08—Applying binding material, e.g. to twisted bag necks
-
- 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
- B65B57/00—Automatic control, checking, warning, or safety devices
-
- 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
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B63/00—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged
- B65B63/02—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged for compressing or compacting articles or materials prior to wrapping or insertion in containers or receptacles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
本发明涉及一种自动化包裹包的线上棉花打包系统及其打包方法，采用包裹包的打包法，以出包机构的中心为原点，平行于出包机构长边方向为X轴，平行于出包机构短边方向为Y轴，垂直于出包机构放置面的方向为Z轴，建立三维坐标系；出包机构位于Y轴正方向的一侧设置取包区，其位于Y轴负方向的一侧设置传送带；取包区上设置若干平铺堆叠的布袋；出包机构位于Z轴正方向的顶部设置主压机构；出包机构位于X轴的两侧分别安装抓取机构，抓取机构从取包区的若干布袋里吸附同一个布袋后，将布袋夹取放置出包机构工位；本发明满足了棉花在线打包过程中的送棉、夹取布袋、安装布袋、压缩棉花、打包棉包、以及捆扎等一系列工序需求。
The present invention relates to an online cotton packaging system for automated wrapping and a packaging method thereof. The system adopts a wrapping packaging method, and establishes a three-dimensional coordinate system with the center of a bag-discharging mechanism as the origin, the X-axis parallel to the long side of the bag-discharging mechanism, the Y-axis parallel to the short side of the bag-discharging mechanism, and the Z-axis perpendicular to the placement surface of the bag-discharging mechanism. A bag-taking area is provided on the side of the bag-discharging mechanism located in the positive direction of the Y-axis, and a conveyor belt is provided on the side of the bag-taking area located in the negative direction of the Y-axis. A plurality of flat and stacked cloth bags are provided on the bag-taking area. A main pressing mechanism is provided on the top of the bag-discharging mechanism located in the positive direction of the Z-axis. A gripping mechanism is respectively installed on both sides of the bag-discharging mechanism on the X-axis. After the gripping mechanism absorbs the same cloth bag from a plurality of cloth bags in the bag-taking area, the cloth bag is clamped and placed on the workstation of the bag-discharging mechanism. The system meets the requirements of a series of processes such as cotton feeding, cloth bag clamping, cloth bag installation, cotton compression, cotton bale packaging, and bundling in the process of online cotton packaging.
Description
Technical Field
The invention relates to an on-line cotton packaging system and a packaging method of an automatic package, and belongs to the field of cotton packaging.
Background
Cotton packing is the last procedure of cotton processing, and the task of packing is to pack rolled ginned cotton, stripped cotton linters and recovered and cleaned cotton fibers into standard bags respectively. The products are packaged according to different grades and fiber lengths, so as to be convenient for transportation, storage and reasonable use. While cotton bales are quite different from the previous specific processes, the importance of this process is not an alternative. Because the final cotton must be packaged by the packaging process, it cannot be marketed without passing the packaging. It can be seen that cotton packaging is a key link directly facing the market in the whole cotton processing and production process.
There are two ways of packaging cotton bales, namely, strapping inside and outside, and the cotton bales are called "bare bales" in the industry, and strapping outside and inside, and the cotton bales are called "wrapped bales" in the industry. Aiming at the 'naked bales', the action flow of the baler is fully automatic, however, the naked bales have higher bad bales rate and lower safety, and the conditions of breakage of the joint of the cotton bales and breakage of the cotton bales are easy to occur, so that economic losses are brought to a cotton processing plant, and the latest national standard requirement is to replace the 'naked bales' with the 'wrapped bales' with higher safety.
The current cotton packing system type mainly comprises an off-line packing type and an on-line packing type, and the cotton on-line packing system has the task of improving and innovating on the basis of the traditional cotton packing machine and adopting a reasonable structure and a power mechanism so as to solve the problem which cannot be solved by the traditional cotton packing machine. The pain point of the existing cotton online packing system is that automation can only be achieved on bare bags with low safety, manual packing is still adopted on wrapping bags with high safety, labor efficiency is low, potential safety risks exist for operators, accurate grabbing of cotton cloth in a bag taking area is problematic, due to the fact that the cotton cloth is thin and soft, when a plurality of cotton cloths are tiled and stacked in the bag taking area, how to accurately and efficiently separate and obtain single cotton cloth in the bag taking area becomes a difficult point, and when a cloth bag is installed, how to prevent the cotton cloth from falling off possibly after installation is completed, and packing failure is caused.
The intelligent cotton baler comprises a cotton collecting assembly, a forming assembly, a film coating assembly, a separating assembly and a travelling mechanism, wherein the cotton collecting assembly, the forming assembly, the film coating assembly and the separating assembly are used for receiving cotton bundling specification requirements on the intelligent cotton baler and controlling a hydraulic executing piece to operate, the hydraulic executing piece is used for adjusting cotton bundling specifications in the forming assembly, can pack bundled cotton in the forming assembly in a film mode, and can meet the adjustable requirements of cotton bundling specifications, meanwhile, the accuracy of the cotton bundling specifications is ensured, the CN111959862B discloses a linear cotton bundling system and a linear cotton bundling method, two cotton bundling conveying trolleys are added between the cotton baler and the bundling machine for cotton bales, cotton bundling and bundling processing are respectively realized on different stations, bundling time of the baler is effectively saved, one bundling machine corresponds to two balers, and working efficiency of the bundling machine is also effectively improved. However, the above method has the problems that the bare bales of compressed cotton are directly baled, the bare Bao Huaibao rate is high, the safety is low, the joint of the cotton bales is broken, the cotton bales are broken, the baling efficiency is low, the increasing market demands cannot be met, the working efficiency of the baler is improved, the baling process is not improved, and the industry standard of baling before baling cannot be completed, so that an on-line improvement system of the cotton baling machine capable of realizing baling automation is needed.
Disclosure of Invention
The invention provides an on-line cotton packing system and a packing method of an automatic package, which meet a series of process demands of cotton feeding, cloth bag clamping, cloth bag installation, cotton compression, cotton package packing, bundling and the like in the cotton on-line packing process.
The technical scheme adopted for solving the technical problems is as follows:
an on-line cotton packing system for automatically packing bags comprises a bag discharging mechanism, wherein the bag discharging mechanism is used for packing the cotton bags at a station of the bag discharging mechanism, the center of the bag discharging mechanism is taken as an origin, the direction parallel to the long side of the bag discharging mechanism is taken as an X axis, the direction parallel to the short side of the bag discharging mechanism is taken as a Y axis, and the direction perpendicular to the placing surface of the bag discharging mechanism is taken as a Z axis, so that a three-dimensional coordinate system is established;
the bag taking out mechanism is provided with a bag taking area at one side in the positive direction of the Y axis, and a conveyor belt at one side in the negative direction of the Y axis;
The bag discharging mechanism is positioned in the positive direction of the Z axis a main pressing mechanism is arranged at the top of the box body;
The bag discharging mechanism is arranged on two sides of the X axis and is respectively provided with a grabbing mechanism, and after the grabbing mechanisms adsorb the same cloth bag from a plurality of cloth bags in a bag taking area, the cloth bags are clamped and placed at a bag discharging mechanism station;
as a further preferred aspect of the present invention, the gripping mechanism includes a pneumatic gripper and a mechanical arm, the pneumatic gripper being connected to the mechanical arm through a gripper arm connecting plate;
the pneumatic mechanical claw comprises a machine seat, a connecting upright post, a connecting block, a fixed connecting matrix, a long connecting rod of the pneumatic claw, a short connecting rod, a machine claw, a simplified air cylinder, an air cylinder push rod and a connecting matrix,
The center of the bottom end of the machine base is coaxially provided with a simplified air cylinder, one end of an air cylinder push rod is inserted into the simplified air cylinder, the other end of the air cylinder push rod is linked with a connecting matrix, a plurality of uniformly distributed connecting upright posts are arranged along the circumferential direction of the bottom end of the machine base and are parallel to the central axis of the simplified air cylinder, namely, one end of each connecting upright post is fixed with the machine base, the other end of each connecting upright post is connected with a fixed connecting matrix, and the connecting matrix is positioned in an inner cavity of the fixed connecting matrix;
The connecting matrix comprises a plurality of extending ends, each extending end is movably connected with one end of a long gas claw connecting rod through a connecting block, meanwhile, the position, close to one end, of the long gas claw connecting rod is movably connected with the fixed connecting matrix, one end of a short connecting rod is movably connected with the fixed connecting matrix, and the other end of the long gas claw connecting rod and the other end of the short connecting rod are simultaneously fixed with the machine claw, and the other end of the short connecting rod is close to an extension line of the central axis of the simplified cylinder;
the top end of the machine base is provided with a claw arm connecting disc which is fixed with the mechanical arm;
as a further preferred aspect of the present invention, the mechanical arm includes a first section, a second section, a third section and a fourth section which are sequentially connected, one end of the first section is movably connected with the rotating disc through a first joint, one end of the second section is movably connected with the other end of the first section through a second joint, one end of the third section is movably connected with the other end of the second section through a third joint, one end of the fourth section is movably connected with the other end of the third section through a fourth joint, and the other end of the fourth section is connected with the top end of the base through a claw arm connecting disc;
Motors are arranged at the first joint, the second joint, the third joint and the fourth joint;
as a further preferred aspect of the present invention, in the robot arm, the length of the first section is longer than the length of the second section, the length of the second section is longer than the length of the fourth section, and the length of the fourth section is longer than the length of the third section;
the plane formed by the rotation of the second section relative to the first section, the plane formed by the rotation of the third section relative to the second section and the plane formed by the rotation of the fourth section relative to the third section are all in the same plane;
as a further preferred mode of the invention, the grabbing mechanism further comprises a suction mechanism which comprises a micro air pump, a sucker and an air guide plate, wherein the top of the micro air pump is connected with the center of the bottom of the connecting matrix through a connecting column;
As a further preferred mode of the invention, the main pressing mechanism comprises a pressing head which is of a square structure, two guide rails are arranged on the side surface of the pressing head parallel to the Z axis, each guide rail is parallel to the Z axis, and a slide block clamp is connected in a sliding manner in each guide rail and is used for clamping a cloth bag;
as a further preferred aspect of the present invention, the slide clip includes two guide rail slides, a slide chuck and a chuck limit bar, the guide rail slides are arranged in parallel, and a space is formed between the two guide rail slides;
the clamping head limiting strip is fixed in the space, is perpendicular to the guide rail sliding blocks and is fixed at the end part of the guide rail sliding blocks positioned outside, and the sliding block clamping head is arranged in an L shape, and the transverse part of the sliding block clamping head is rotatably fixed in the space formed between the two guide rail sliding blocks through a rotating shaft;
A packaging method of an on-line cotton packaging system based on the automatic package,
Step S1, horizontally laying and stacking a plurality of cloth bags in a bag taking area, starting a grabbing mechanism of a bag discharging mechanism positioned on two sides of an X axis, moving two pneumatic mechanical claws to the bag taking area, and moving towards the negative direction of a Z axis to approach the horizontally laid and stacked cloth bags;
Step S2, pushing out a cylinder push rod in the pneumatic mechanical claw to the negative direction of the Z axis, linking a long connecting rod and a short connecting rod of the pneumatic claw, expanding the pneumatic claw with the motor claw, and simultaneously driving the suction mechanism to attach to two sides of a plurality of cloth bags stacked in a tiling way by the cylinder push rod;
s3, starting a miniature air pump, and sucking the corresponding cloth bag side by a sucker;
S4, the cylinder push rod in the pneumatic mechanical claw contracts towards the positive direction of the Z axis, the sucker ascends in the direction of the Z axis to lift two sides of the cloth bag at the topmost layer in the plurality of cloth bags which are tiled and stacked, and the interlocking mechanical claw contracts to clamp two sides of the cloth bag;
s5, moving and installing the clamped cloth bag to a pressure head by a pneumatic mechanical claw, and returning to an initial state;
S6, rotating the slider chuck in the direction of the guide slider to clamp and fix the cloth bag around the pressure head;
S7, starting a grabbing mechanism, enabling two pneumatic mechanical claws to move to a bag taking area again, and running in the negative direction of the Z axis to be close to a plurality of bags which are tiled and stacked;
step S8, pushing out a cylinder push rod in the pneumatic mechanical claw to the negative Z-axis direction, linking a long connecting rod and a short connecting rod of the pneumatic claw, expanding the pneumatic claw with the motor claw, and simultaneously driving the suction mechanism to attach to two sides of a plurality of cloth bags which are stacked in a residual tiling way by the cylinder push rod;
step S9, starting a miniature air pump, and sucking the corresponding cloth bag side by a sucker;
S10, a pneumatic mechanical claw moves and places the re-clamped cloth bag on a bag discharging mechanism placing surface;
Step S11, cotton is fed, and materials are compressed in a cotton box;
step S12, the cotton box moves towards the negative direction of the Z axis, materials are continuously compressed, the cotton box is lifted, and compressed cotton is formed;
S13, sliding the slider clamp along the guide rail to the compressed cotton direction so that the cloth bags fixed on the periphery of the pressure head are wrapped on the compressed cotton;
S14, grabbing two sides of a cloth bag on the placing surface of the bag discharging mechanism by using a pneumatic mechanical claw, and moving the cloth bag towards the positive direction of the Z axis to enable the cloth bag on the placing surface of the bag discharging mechanism to be sleeved with compressed cotton;
s15, retracting the pneumatic mechanical claw, starting the strapping machine to strap two cloth bags to form a cotton bag;
s16, tilting the bag discharging mechanism towards the direction of the conveyor belt, and pouring the cotton bags onto the conveyor belt;
s17, receiving and conveying cotton bags to a warehouse by a bag receiving trolley;
as a further preferred aspect of the present invention, the specific steps of step S11 are:
Step S111, materials flow into a cotton feeding device through a cotton sliding channel, a cotton feeding cylinder pushes the materials into the front end, and a pedal at the lower end of a pre-pressing cylinder presses the materials into a cotton box;
Step S112, pre-pressing cotton feeding for multiple times to press materials into a cotton box, wherein the weight of the materials in the cotton box reaches 217-237kg, and a pressure relay for weight measurement sends a signal;
and step S113, starting a main pressure cylinder of the main pressure mechanism, driving the pressure head to move towards the direction of the placement surface, compressing the material, and stopping when the set speed is changed from fast to slow and the material compression height is 490-500 mm.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. according to the on-line cotton packaging system for the automatic package, the package is packaged, so that the situation that the package is broken due to the breakage of the joint of the cotton package strapping tape is avoided, the package breaking rate is reduced, the safety is improved, and the economic loss of a cotton processing plant caused by bare packages is avoided;
2. according to the on-line cotton packaging system for the automatic package, provided by the invention, the suction mechanism can separate cloth individuals when the pneumatic mechanical claws grasp flexible stacked objects such as cloth, so that the problem that a common mechanical arm is difficult to clamp the flexible stacked objects such as cloth is solved, the clamping success rate is high, and the clamping is stable;
3. according to the packaging method of the on-line cotton packaging system based on the automatic package, disclosed by the invention, the process of packaging cotton into the package is automated, and the labor cost and the operation risk are reduced.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a flow chart of a packaging method of an on-line cotton packaging system based on automated package packaging provided by the invention;
FIG. 2 is a schematic view of the structure of the suction mechanism in the preferred embodiment provided by the present invention;
FIG. 3 is a schematic view of the structure of a pneumatic gripper in a preferred embodiment provided by the present invention;
FIG. 4 is a detailed schematic of the pneumatic gripper in a preferred embodiment provided by the present invention;
FIG. 5 is a schematic view of a mechanical arm in a preferred embodiment of the present invention;
FIG. 6 is a schematic view of the main pressing mechanism in the preferred embodiment of the present invention;
FIG. 7 is a schematic view of the structure of a slider clip in accordance with a preferred embodiment of the present invention;
fig. 8 is a schematic overall structure of a preferred embodiment provided by the present invention.
In the figure, 1 is a sucker, 2 is a miniature air pump, 4 is an air guide plate, 5 is a machine seat, 6 is a connecting upright post, 7 is a connecting block, 8 is a fixed connecting matrix, 9 is an air claw long connecting rod, 10 is a short connecting rod, 11 is a claw, 12 is a simplified cylinder, 13 is a cylinder push rod, 14 is a connecting matrix, 15 is a rotating disk, 16 is a first section, 17 is a second section, 18 is a third section, 19 is a fourth section, 20 is a claw-arm connecting disk, 21 is a guide rail slider, 22 is a slider chuck, 101 is a slider chuck, 102 is a guide rail, 103 is a pressure head, 201 is a pneumatic mechanical claw, 202 is a bag taking area, 203 is a main pressing mechanism, 204 is a bag discharging mechanism, and 205 is a conveyor belt.
Detailed Description
The application will now be described in further detail with reference to the accompanying drawings. In the description of the present application, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present application. The specific dimensions adopted in the present embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present application.
As described in the background art, the on-line packing method for the package has several obvious defects, namely, firstly, automatic packing can only be realized for the bare package with lower safety, the bare package is packed firstly, and then the bare package is packed, so that the expansion force of cotton packages needs to be born when the strapping tape is packed, and the breakage of the joints of the strapping tape is caused, and the package collapse phenomenon occurs.
In order to overcome the above-mentioned problems, the present application provides an on-line cotton packaging system for automatic package, which uses the center of the package discharging mechanism 204 (performing package packaging operation on cotton packages at the station of the package discharging mechanism) as an origin, uses the direction parallel to the long side of the package discharging mechanism as an X-axis, uses the direction parallel to the short side of the package discharging mechanism as a Y-axis, uses the direction perpendicular to the placing surface of the package discharging mechanism as a Z-axis, and establishes a three-dimensional coordinate system for convenience in describing the preferred embodiment of the present application.
As shown in FIG. 8, a distribution diagram of each station is constructed, a bag taking area is arranged on one side of the bag taking mechanism in the positive direction of the Y axis, a conveyor belt 205 is arranged on one side of the bag taking mechanism in the negative direction of the Y axis, a plurality of cloth bags which are tiled and stacked are arranged on the bag taking area, a main pressing mechanism 203 is arranged on the top of the bag taking mechanism in the positive direction of the Z axis, grabbing mechanisms are respectively arranged on two sides of the bag taking mechanism in the X axis, and after the grabbing mechanisms absorb the same cloth bag from the cloth bags in the bag taking area, the cloth bags are clamped and placed out of the stations of the bag taking mechanism.
In the preferred embodiment, only two grabbing mechanisms are arranged and are respectively positioned at two sides of the bag discharging mechanism, so that the requirement of grabbing a cloth bag is met, and the packing cost is reduced.
The grabbing mechanism comprises a pneumatic mechanical claw 201 and a mechanical arm, as one innovation point of the application, as shown in fig. 3-5, the pneumatic mechanical claw is connected with the mechanical arm through a claw arm connecting disc 20, the pneumatic mechanical claw comprises a base 5, connecting upright posts 6, a connecting block 7, a fixed connecting matrix 8, a long connecting rod 9 of the pneumatic claw, a short connecting rod 10, a claw 11, a simplified cylinder 12, a cylinder push rod 13 and a connecting matrix 14, the center position of the bottom end of the base is coaxially provided with the simplified cylinder, one end of the cylinder push rod is inserted into the simplified cylinder, the other end of the cylinder push rod is linked with the connecting matrix, a plurality of connecting upright posts which are uniformly distributed are arranged along the circumferential direction of the bottom end of the base (five connecting upright posts can meet the operation requirement in the preferred embodiment), the connecting upright posts are parallel to the central axis of the simplified cylinder, namely one end of each connecting upright post is fixed with the base, the other end of each connecting upright post is connected with the fixed connecting matrix, and the connecting matrix is positioned in the inner cavity of the fixed connecting matrix;
As can be seen from FIG. 4, the connecting base comprises a plurality of extending ends, each extending end is movably connected with one end of a long gas claw connecting rod through a connecting block, three extending ends are designed in the embodiment, meanwhile, the position, close to one end, of the long gas claw connecting rod is movably connected with the fixed connecting base, one end of a short connecting rod is movably connected with the fixed connecting base, the other end of the long gas claw connecting rod and the other end of the short connecting rod are simultaneously fixed with the machine claw, the other end of the short connecting rod is close to an extension line of a central axis of the simplified cylinder, the clamping end of the machine claw extends towards the extension line direction of the central axis of the simplified cylinder, and the three machine claws meet the most stable operation of clamping the cloth bag at the lowest manufacturing cost. The top end of the machine base is provided with a claw arm connecting disc which is fixed with the mechanical arm.
The grabbing mechanism further comprises a suction mechanism, as shown in fig. 2, the grabbing mechanism comprises a micro air pump 2, a sucker 1 and an air guide plate 4, the top of the micro air pump is connected with the center of the bottom of a connecting base body through a connecting column, the bottom end of the micro air pump is connected with the sucker through an air guide channel, and the air guide plate is arranged at the joint of the sucker and the air guide channel.
The suction mechanism and the pneumatic mechanical claw are matched for operation, as a plurality of cloth bags are stacked and tiled together, the common pneumatic claw cannot directly clamp a single cloth bag, so that the suction mechanism is needed to suck two sides of the single cloth bag, the suction mechanism is fixed below the connecting substrate from the view point of fig. 3, the claw is opened along with the descending of the connecting substrate, when the connecting substrate descends, the claw is opened, the suction mechanism descends simultaneously, the suction mechanism utilizes the semi-permeability of cloth bags, the uppermost cloth bag can be singly sucked, and the suction disc adsorbs the cloth bag when the cloth bag is clamped for operation, so that the grabbing is accurate and efficient.
Because the pneumatic mechanical claw is required to freely rotate in a formed three-dimensional coordinate system, the structure for realizing 360-degree rotation operation of the pneumatic mechanical claw is a mechanical arm, the mechanical arm comprises a first section 16, a second section 17, a third section 18 and a fourth section 19 which are sequentially connected, one end of the first section is movably connected with a rotating disc 15 through a first joint, one end of the second section is movably connected with the other end of the first section through a second joint, one end of the third section is movably connected with the other end of the second section through a third joint, one end of the fourth section is movably connected with the other end of the third section through a fourth joint, the other end of the fourth section is connected with the top end of a machine seat through a claw arm connecting disc, and motors are arranged at the positions of the first joint, the second joint, the third joint and the fourth joint. The plane formed by the rotation of the second section relative to the first section, the plane formed by the rotation of the third section relative to the second section and the plane formed by the rotation of the fourth section relative to the third section are all in the same plane. The first joint is connected with the rotating disc and the first section of the mechanical arm, so that the mechanical arm can integrally rotate, meanwhile, the first joint can control the lifting of the pneumatic mechanical claw integrally, and the second joint can control the movement of the pneumatic mechanical claw in the front-back direction. Because in the mechanical arm, the length of the first section is longer than that of the second section, the length of the second section is longer than that of the fourth section, and the length of the fourth section is longer than that of the third section, namely the length of the third section is shortest, under the condition that joints move by the same angle, the third section enables the moving distance of the pneumatic mechanical claw to be smaller, so that the pneumatic mechanical claw can be controlled to perform fine adjustment, the fourth section of the mechanical arm can control the left and right adjustment of the pneumatic mechanical claw, and the working range of the mechanical arm is greatly increased;
Fig. 6 shows a main pressing mechanism provided by the application, which comprises a pressing head 103, wherein the pressing head is of a square structure, two guide rails 102 are arranged on the side surface of the pressing head parallel to the Z axis, each guide rail is parallel to the Z axis, and simultaneously, a slide block clamp 101 is slidably connected in each guide rail, and the slide block clamp is used for clamping a cloth bag.
There is provided a preferred embodiment of the slider clip, as shown in fig. 7, which includes two guide rail sliders 21, a slider clip 22 and a clip stopper, the guide rail sliders including two guide rail sliders arranged in parallel with each other to form a space between the two guide rail sliders, the clip stopper being fixed in the space and the clip stopper being perpendicular to the guide rail sliders and fixed at an end portion of the guide rail sliders located outside, the slider clip being provided in an L-shape, a lateral portion of which is rotatably fixed in the space formed between the two guide rail sliders by a rotation shaft. That is, when the cloth bag is mounted on the pressure head, the cloth bag is just spread on the guide rail slide block, and at the moment, the slide block clamping head rotates around the rotating shaft, so that the slide block clamping head clamps the cloth bag.
Finally, the application also provides a packing method of the on-line cotton packing system based on the automatic packing bag, which is shown in fig. 1 and specifically comprises the following steps:
Step S1, a plurality of cloth bags are horizontally paved and stacked in a bag taking area 202 of a bag taking area, a grabbing mechanism of a bag discharging mechanism positioned on two sides of an X axis is started, two pneumatic mechanical claws move to the bag taking area and move towards the negative direction of a Z axis, and a plurality of cloth bags are horizontally paved and stacked;
Step S2, pushing out a cylinder push rod in the pneumatic mechanical claw to the negative direction of the Z axis, linking a long connecting rod and a short connecting rod of the pneumatic claw, expanding the pneumatic claw with the motor claw, and simultaneously driving the suction mechanism to attach to two sides of a plurality of cloth bags stacked in a tiling way by the cylinder push rod;
s3, starting a miniature air pump, and sucking the corresponding cloth bag side by a sucker;
S4, the cylinder push rod in the pneumatic mechanical claw contracts towards the positive direction of the Z axis, the sucker ascends in the direction of the Z axis to lift two sides of the cloth bag at the topmost layer in the plurality of cloth bags which are tiled and stacked, and the interlocking mechanical claw contracts to clamp two sides of the cloth bag;
s5, moving and installing the clamped cloth bag to a pressure head by a pneumatic mechanical claw, and returning to an initial state;
S6, rotating the slider chuck in the direction of the guide slider to clamp and fix the cloth bag around the pressure head;
S7, starting a grabbing mechanism, enabling two pneumatic mechanical claws to move to a bag taking area again, and running in the negative direction of the Z axis to be close to a plurality of bags which are tiled and stacked;
step S8, pushing out a cylinder push rod in the pneumatic mechanical claw to the negative Z-axis direction, linking a long connecting rod and a short connecting rod of the pneumatic claw, expanding the pneumatic claw with the motor claw, and simultaneously driving the suction mechanism to attach to two sides of a plurality of cloth bags which are stacked in a residual tiling way by the cylinder push rod;
step S9, starting a miniature air pump, and sucking the corresponding cloth bag side by a sucker;
S10, a pneumatic mechanical claw moves and places the re-clamped cloth bag on a bag discharging mechanism placing surface;
Step S11, cotton is fed, and materials are compressed in a cotton box;
Step S111, materials flow into a cotton feeding device through a cotton sliding channel, a cotton feeding cylinder pushes the materials into the front end, and a pedal at the lower end of a pre-pressing cylinder presses the materials into a cotton box;
Step S112, pre-pressing cotton feeding for multiple times to press materials into a cotton box, wherein the weight of the materials in the cotton box reaches 217-237kg, and a pressure relay for weight measurement sends a signal;
step S113, starting a main pressure cylinder of a main pressure mechanism, driving a pressure head to move towards a placing surface, compressing materials, setting the speed to be changed from fast to slow, and stopping when the material compression height is 490-500 mm;
step S12, the cotton box moves towards the negative direction of the Z axis, materials are continuously compressed, the cotton box is lifted, and compressed cotton is formed;
S13, sliding the slider clamp along the guide rail to the compressed cotton direction so that the cloth bags fixed on the periphery of the pressure head are wrapped on the compressed cotton;
S14, grabbing two sides of a cloth bag on the placing surface of the bag discharging mechanism by using a pneumatic mechanical claw, and moving the cloth bag towards the positive direction of the Z axis to enable the cloth bag on the placing surface of the bag discharging mechanism to be sleeved with compressed cotton;
s15, retracting the pneumatic mechanical claw, starting the strapping machine to strap two cloth bags to form a cotton bag;
s16, tilting the bag discharging mechanism towards the direction of the conveyor belt, and pouring the cotton bags onto the conveyor belt;
and S17, receiving and conveying the cotton bale to a warehouse by the bale receiving trolley.
According to the packing method, the packing method is characterized in that the packing method is aimed at a packing method of a package, the bare package is firstly bundled and then packed, so that the bundling belt needs to bear the expansion force of a cotton package during packing, the bundling belt joint is easy to break and collapse, the bundling belt is easy to break when the packing and wrapping are arranged in the packing method, the bundling belt is prevented from breaking when the packing and wrapping are arranged outside, the problem that a common mechanical arm is difficult to clamp flexible piled objects such as cloth is solved, the cylinder push rod is downward, the machine claw is opened, the suction mechanism is downward along with a connecting substrate, the effect of opening the machine claw and stretching out of the suction mechanism is achieved, the cylinder push rod is upward, the machine claw is closed, the suction mechanism is upward along with the connecting substrate, the effect of retracting the suction mechanism and grabbing by the machine claw is achieved, the clamping success rate is high, and the clamping is stable. The process of packing cotton into a package is automated, the labor cost and the operation risk are reduced, and the matched movement of the claw and the suction mechanism is realized by the linkage of the cylinder push rod, so that the function is perfect, the machine is simplified, the operation is convenient, and the cost is reduced.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present application means that each exists alone or both exist.
"Connected" as used herein means either a direct connection between components or an indirect connection between components via other components.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (8)
1. An on-line cotton packing system for automatically packing cotton bags comprises a bag discharging mechanism, wherein the bag discharging mechanism is used for packing the cotton bags on stations of the bag discharging mechanism, and is characterized in that the center of the bag discharging mechanism is taken as an original point, the direction parallel to the long side of the bag discharging mechanism is taken as an X axis, the direction parallel to the short side of the bag discharging mechanism is taken as a Y axis, the direction perpendicular to the placing surface of the bag discharging mechanism is taken as a Z axis, a three-dimensional coordinate system is established, a bag taking area is arranged on one side of the bag discharging mechanism in the positive direction of the Y axis, a conveyor belt is arranged on one side of the bag discharging mechanism in the negative direction of the Y axis, a plurality of cloth bags which are tiled and stacked are arranged on the bag taking area, a main pressing mechanism is arranged on the top of the bag discharging mechanism in the positive direction of the Z axis, a grabbing mechanism is respectively arranged on two sides of the X axis, and the grabbing mechanism clamps the cloth bags to place the bag discharging mechanism after adsorbing the same cloth bag from the cloth bags in the bag taking area;
The main pressing mechanism comprises a pressing head which is of a square structure, two guide rails are arranged on the side face of the pressing head parallel to the Z axis, each guide rail is parallel to the Z axis, and meanwhile, a slider clamp is connected in a sliding mode in each guide rail and used for clamping a cloth bag.
2. The on-line cotton packaging system for automatic packaging bags according to claim 1, wherein the grabbing mechanism comprises a pneumatic mechanical claw and a mechanical arm, the pneumatic mechanical claw is connected with the mechanical arm through a claw arm connecting disc, the pneumatic mechanical claw comprises a base (5), a connecting column (6), a connecting block (7), a fixed connecting matrix (8), a long gas claw connecting rod (9), a short connecting rod (10), a claw (11), a simplified cylinder (12), a cylinder push rod (13) and a connecting matrix (14), the simplified cylinder is coaxially arranged at the center position of the bottom end of the base (5), one end of the cylinder push rod is inserted in the simplified cylinder, the other end of the cylinder push rod (13) is linked with the connecting matrix (14), a plurality of uniformly distributed connecting columns (6) are arranged along the circumferential direction of the bottom end of the base, the connecting columns are parallel to the central axis of the simplified cylinder, namely one end of each connecting column is fixed with the base, the other end of each connecting column is connected with the fixed connecting matrix (8), the connecting matrix (14) is positioned in an inner cavity of the fixed connecting matrix (8), the connecting matrix (14) comprises a plurality of extending ends, each extending ends is movably connected with one long gas claw (9) through the connecting rod (7), and the other end of the connecting matrix (10) is movably connected with one end of the long gas claw (8) at the same time, and the other end of the connecting matrix is movably connected with the long connecting rod (10) through the long connecting rod The other end of the short connecting rod is fixed with the machine claw (11) at the same time, the other end of the short connecting rod is close to the extension line of the central axis of the simplified cylinder, the clamping end of the machine claw extends towards the extension line direction of the central axis of the simplified cylinder, and the top end of the machine seat is provided with a claw arm connecting disc which is fixed with the mechanical arm.
3. The on-line cotton packaging system of the automatic packaging bag of claim 2, wherein the mechanical arm comprises a first section, a second section, a third section and a fourth section which are sequentially connected, one end of the first section is movably connected with the rotating disc through a first joint, one end of the second section is movably connected with the other end of the first section through a second joint, one end of the third section is movably connected with the other end of the second section through a third joint, one end of the fourth section is movably connected with the other end of the third section through a fourth joint, the other end of the fourth section is connected with the top end of the machine base through a claw arm connecting disc, and motors are arranged at the positions of the first joint, the second joint, the third joint and the fourth joint.
4. The automated bale-wrapping on-line cotton bale system of claim 3, wherein the robotic arm has a first section having a length greater than a second section having a length greater than a fourth section having a length greater than a third section, wherein the plane defined by rotation of the second section relative to the first section, the plane defined by rotation of the third section relative to the second section, and the plane defined by rotation of the fourth section relative to the third section are all in the same plane.
5. The on-line cotton packaging system of the automatic packaging bag of claim 4, wherein the grabbing mechanism further comprises a suction mechanism, the suction mechanism comprises a micro air pump, a sucker and an air guide plate, the top of the micro air pump is connected with the center of the bottom of the connecting base body through a connecting column, the bottom end of the micro air pump is connected with the sucker through an air guide channel, and the air guide plate is arranged at the joint of the sucker and the air guide channel.
6. The system of claim 1, wherein the slider clip comprises two guide rail sliders, two guide rail sliders are arranged in parallel, a space is formed between the two guide rail sliders, the clip limiting bar is fixed in the space and perpendicular to the guide rail sliders and fixed at the end part of the guide rail sliders located outside, and the slider clip is in an L-shaped arrangement, and a transverse part of the slider clip is rotatably fixed in the space formed between the two guide rail sliders through a rotating shaft.
7. The packing method based on the on-line cotton packing system for automatically packing bags according to any one of claims 1 to 6 is characterized in that the step S1 is that a plurality of cloth bags are horizontally stacked in a bag taking area, a grabbing mechanism of a bag discharging mechanism positioned at two sides of an X axis is started, two pneumatic mechanical claws move to the bag taking area and move towards the negative direction of a Z axis, and a plurality of cloth bags are horizontally stacked; step S2, pushing out cylinder push rods in pneumatic mechanical claws in the negative Z-axis direction, connecting a long connecting rod and a short connecting rod of the pneumatic mechanical claws, opening the pneumatic mechanical claws, driving suction mechanisms to attach to two sides of a plurality of bags stacked in a tiling mode, step S3, starting a micro air pump, sucking corresponding bag sides by suction cups, step S4, pulling up cylinder push rods in the pneumatic mechanical claws in the positive Z-axis direction, lifting two sides of the topmost bag in the plurality of bags stacked in the tiling mode by the suction cups in the positive Z-axis direction, simultaneously connecting the suction cups, pulling back the two sides of the cloth bags by the connecting rods, step S5, moving the clamped bags to a pressure head by the pneumatic mechanical claws, returning to an initial state, step S6, rotating a sliding block chuck in the direction to guide rail sliding blocks, clamping and fixing the bags around the pressure head, step S7, starting the grabbing mechanisms, moving the two pneumatic mechanical claws to a bag picking area again, moving towards the negative Z-axis direction, approaching the plurality of bags stacked in the rest tiling mode, step S8, pushing out the cylinder push rods in the pneumatic mechanical claws in the positive Z-axis direction, connecting rods in the pneumatic mechanical claws, connecting the long connecting rods and the short connecting rods, simultaneously driving the suction rods to attach to the rest bag to the two sides of the bag stacked in the tiling mode, placing step S9, placing the pneumatic mechanical claws to clamp the rest bag tightly, opening the two sides of the bag, and driving the suction heads to clamp the bag tightly, and opening the suction heads to the rest bag, and opening the suction heads to the bag, and opening the suction heads, and opening the cotton bags, and the cotton bags, respectively, and the step 9, the method comprises the steps of compressing materials in a cotton box, moving the cotton box in the negative Z-axis direction, continuously compressing the materials, lifting the cotton box, compressing cotton for forming, sliding a slider clamp along a guide rail in the direction of compressing cotton to enable cloth bags fixed on the periphery of a pressing head to be wrapped on the compressed cotton, grabbing two sides of the cloth bags on a bag discharging mechanism placing surface by a pneumatic mechanical claw, moving the cloth bags in the positive Z-axis direction to enable the cloth bags on the bag discharging mechanism placing surface to be sleeved with the compressed cotton, retracting the pneumatic mechanical claw, starting a bundling machine to bundle two cloth bags to form cotton bags, tilting the bag discharging mechanism in the direction of a conveying belt, pouring the cotton bags onto the conveying belt, and receiving and conveying the cotton bags to a warehouse by a bag receiving trolley, wherein the step S17 is carried out.
8. The method for packing the on-line cotton packing system of the automatic packing bag according to claim 7, wherein the specific steps of the step S11 are that the material flows into the cotton feeding device through a cotton sliding channel, the cotton feeding cylinder pushes the material into the front end, the pedal at the lower end of the pre-pressing cylinder presses the material into the cotton box, the cotton feeding cylinder retreats after the pre-pressing moves down to a preset position, the cotton feeding cylinder retreats to an initial position after the cotton feeding cylinder retreats to the preset position, the pre-pressing feeding cycle is completed once, the pre-pressing feeding back and forth cycle action is completed, the step S112 is that the material is pressed into the cotton box through the pre-pressing feeding cycle for a plurality of times, the weight of the material in the cotton box reaches 217-237kg, a pressure relay for weight measurement sends a signal, the pre-pressing feeding stop action, the packing machine starts the suitcase, the rotating box rotates to one side after the rotating box passes, the cotton box where the material is placed is rotated to a main pressing mechanism placing surface, the main pressing cylinder of the main pressing mechanism starts, the main pressing cylinder of the main pressing mechanism moves to the direction, the pressing head is driven to move to the placing surface, and the material is compressed to a speed is set to be 500 mm from 490 mm high when the compressing speed is reached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310622362.3A CN117002812B (en) | 2023-05-30 | 2023-05-30 | An online cotton packaging system and packaging method for automated packaging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310622362.3A CN117002812B (en) | 2023-05-30 | 2023-05-30 | An online cotton packaging system and packaging method for automated packaging |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117002812A CN117002812A (en) | 2023-11-07 |
| CN117002812B true CN117002812B (en) | 2025-10-28 |
Family
ID=88575181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310622362.3A Active CN117002812B (en) | 2023-05-30 | 2023-05-30 | An online cotton packaging system and packaging method for automated packaging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117002812B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202088497U (en) * | 2011-04-28 | 2011-12-28 | 泸州水源液压机械有限责任公司 | Packing machine |
| CN112192605A (en) * | 2020-08-28 | 2021-01-08 | 南京轩世琪源软件科技有限公司 | Industrial robot grabbing and identifying system and using method thereof |
| CN212502902U (en) * | 2020-04-27 | 2021-02-09 | 广东信澳化肥有限公司 | Clamping mechanism of bagged fertilizer stacking machine with compaction device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10114316A (en) * | 1996-10-02 | 1998-05-06 | Okabe Lock:Kk | Push-in type bag laying device |
| JP5285647B2 (en) * | 2010-03-31 | 2013-09-11 | 株式会社フジキカイ | Article supply equipment |
| AU2012207051B2 (en) * | 2011-08-05 | 2016-04-21 | Stephen Dwyer | Cotton processing systems and components therefor |
| CN111959862B (en) * | 2020-08-24 | 2022-02-08 | 济南大学 | Linear type cotton packing and bundling system and method |
| CN214981151U (en) * | 2021-08-17 | 2021-12-03 | 成都信息工程大学 | a robot hand |
| CN116101588B (en) * | 2021-11-09 | 2025-02-25 | 沈阳新松机器人自动化股份有限公司 | Automatic bag cutting and feeding device for ton-bag granular materials |
| CN115158820B (en) * | 2022-07-12 | 2023-08-01 | 北华航天工业学院 | A vision-based non-destructive automatic bag unpacking system |
| CN115402602B (en) * | 2022-09-13 | 2023-06-13 | 南通大学 | Cotton offline packing system and packing method |
-
2023
- 2023-05-30 CN CN202310622362.3A patent/CN117002812B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202088497U (en) * | 2011-04-28 | 2011-12-28 | 泸州水源液压机械有限责任公司 | Packing machine |
| CN212502902U (en) * | 2020-04-27 | 2021-02-09 | 广东信澳化肥有限公司 | Clamping mechanism of bagged fertilizer stacking machine with compaction device |
| CN112192605A (en) * | 2020-08-28 | 2021-01-08 | 南京轩世琪源软件科技有限公司 | Industrial robot grabbing and identifying system and using method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 基于有限元法对棉花在线打包系统的轻量化仿真及优化;孙威;林业机械与木工设备;20231015;第51卷(第10期);21-26 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117002812A (en) | 2023-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105584666B (en) | A kind of silk stocking automatic packaging production line | |
| US4516762A (en) | System for picking up and separating bags from a pack to be applied to automatic bag inserting apparatus | |
| CN115402602B (en) | Cotton offline packing system and packing method | |
| CN113998183B (en) | Automatic material collecting device of wrapping bag | |
| CN205767953U (en) | A kind of automatic film tearing device | |
| CN205525145U (en) | Automatic packaging production line of silk socks | |
| CN115416892B (en) | Automatic packaging processing system of non-woven fabrics bag | |
| CN109878783A (en) | A kind of bottom sealed plastic packaging machine | |
| CN110963103A (en) | Automatic bagging equipment of product and description | |
| CN210618631U (en) | Transfusion device packaging machine | |
| CN116119102A (en) | Wafer card holder automatic packaging machine | |
| CN116374303A (en) | Biological freeze-drying microsphere assembly device and biological freeze-drying microsphere assembly machine | |
| CN117002812B (en) | An online cotton packaging system and packaging method for automated packaging | |
| CN211943894U (en) | Automatic change bale packing device | |
| CN112938009A (en) | Automatic adhesive tape packaging production line for pulling-on pieces | |
| CN107834099A (en) | The automatic Machine for packing steel band of power battery module | |
| CN115258664A (en) | A Tray tray automatic packaging line and a tray feeding mechanism with strapping | |
| CN111056071B (en) | Automatic sorting and packaging equipment for injection molded sole components and working method thereof | |
| CN217295018U (en) | Bag arranging and bundling machine | |
| CN107187628B (en) | Pile up automatic packaging module of material | |
| CN216660483U (en) | Cigarette carton storage device | |
| CN114955041B (en) | Automatic packaging and stacking system for metal covers | |
| CN215399793U (en) | Folding strapping machine for packaging bags | |
| CN221938717U (en) | Automatic film tearing and sealing device for self-adhesive packaging bags | |
| CN211731886U (en) | A finished battery assembly box equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |