CN113233214A - Dustproof bale breaking ration of intelligence system of throwing - Google Patents
Dustproof bale breaking ration of intelligence system of throwing Download PDFInfo
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- CN113233214A CN113233214A CN202110423433.8A CN202110423433A CN113233214A CN 113233214 A CN113233214 A CN 113233214A CN 202110423433 A CN202110423433 A CN 202110423433A CN 113233214 A CN113233214 A CN 113233214A
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- unpacking
- industrial robot
- dust
- quantitative feeding
- bagged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- 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
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0008—Opening and emptying bags
-
- 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
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0033—Unpacking of articles or materials, not otherwise provided for by cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/40—Devices for emptying otherwise than from the top
- B65G65/46—Devices for emptying otherwise than from the top using screw conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/18—Preventing escape of dust
- B65G69/185—Preventing escape of dust by means of non-sealed systems
- B65G69/186—Preventing escape of dust by means of non-sealed systems with aspiration means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/02—Mechanical actuation
- G08B13/12—Mechanical actuation by the breaking or disturbance of stretched cords or wires
- G08B13/122—Mechanical actuation by the breaking or disturbance of stretched cords or wires for a perimeter fence
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
本发明公开了一种智能防尘拆包定量投料系统，具有用来作业抓取和搬运袋装粉状物料包的工业机器人，所述工业机器人的机械手臂末端安装有真空吸盘、抓勾、力传感器、图像识别系统和除尘装置，所述真空吸盘和抓勾用来吸取和抓取袋装粉状物料包，所述力传感器用来检测袋装粉状物料包的重量和袋装粉状物料包拆包后的空袋的重量，所述图像识别系统用来指导工业机器人精准抓取袋装粉状物料包，所述除尘装置用来清除图像识别系统的镜头或探头上的粉尘。该智能防尘拆包定量投料系统，用以解决袋装粉状物料在拆垛拆包投料过程中粉尘较大的情况下，仍然能够实现自动拆包定量投料的全自动化无人化的连续性生产作业的目的。
The invention discloses an intelligent dust-proof unpacking and quantitative feeding system, which has an industrial robot for grabbing and handling bagged powder material bags, and a vacuum suction cup, a gripping hook, a force Sensors, image recognition systems and dust removal devices, the vacuum suction cups and gripping hooks are used to suck and grab bagged powder material packages, and the force sensor is used to detect the weight of the bagged powder material packages and the bagged powder materials The weight of the empty bag after unpacking, the image recognition system is used to guide the industrial robot to accurately grasp the bagged powder material package, and the dust removal device is used to remove the dust on the lens or probe of the image recognition system. The intelligent dust-proof unpacking and quantitative feeding system is used to solve the problem of large dust in the process of unpacking, unpacking and feeding of bagged powder materials, and still can achieve fully automatic unmanned continuity of automatic unpacking and quantitative feeding. The purpose of the production job.
Description
Technical Field
The invention relates to the technical field of unpacking and quantitative feeding, in particular to an intelligent dustproof unpacking and quantitative feeding system.
Background
In the automatic operation process of unstacking and unpacking bagged powdery materials, the incoming materials of the bagged materials are required to be stacked regularly, but the incoming materials of the bagged materials are difficult to stack regularly and place, manual arrangement is generally needed, the unstacking and grabbing operation of the prior automation can be adapted after the ordering rules, and great manpower is consumed. The manual unpacking and feeding are adopted, so that the labor intensity is high, the environment is severe, and stable and balanced feeding cannot be realized.
The stacking and unpacking processes of some powdery materials have large dust and the operation environment is severe. When using automation equipment to snatch, automation equipment's identification system easily receives the dust influence and influences its recognition effect, and it is great if to the scanning identification operation influence of camera lens or probe, causes automation equipment's operating efficiency low, is difficult to satisfy automatic efficient production operation demand, and identification system needs the manpower in time to clear up, clears away the dust on the identification system.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a dustproof quantitative material system of throwing of unpacking of intelligence for solve the powdery material in bags and unpack the unstacking and throw under the great condition of material in-process dust, still can realize the automatic unmanned continuity production operation's of full automatization of throwing the material of automatic unpacking.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a dustproof quantitative material feeding system that unpacks of intelligence, has the industrial robot who is used for the operation to snatch and transport bagged powder material package, the robotic arm end of industrial robot installs vacuum chuck, grabs and colludes, force transducer, image recognition system and dust collector, vacuum chuck and grab and collude and be used for absorbing and snatch bagged powder material package, force transducer is used for detecting the weight of bagged powder material package and the weight of the empty bag after bagged powder material package is unpacked, image recognition system is used for instructing industrial robot to snatch bagged powder material package accurately, dust collector is used for cleaing away the dust on image recognition system's camera lens or the probe.
In an embodiment of the invention, an unpacking and quantitative feeding system is arranged on the side of the industrial robot, and an unpacking blade for unpacking is arranged above a hopper of the unpacking and quantitative feeding system.
In an embodiment of the present invention, a dust exhaust device is installed above the hopper, and the dust exhaust device is used for exhausting dust generated during unpacking operation.
In an embodiment of the present invention, a screw conveyor is connected to a lower portion of the hopper, the screw conveyor is configured to convey unpacked powder materials to a discharge port for feeding, the screw conveyor is configured with a servo motor, a weighing and quantitative feeding device is configured to a lower portion of the discharge port, and the weighing and quantitative feeding device is configured to realize quantitative feeding.
In an embodiment of the present invention, an industrial camera or a scanning device is installed above the operation of the industrial robot, and the industrial camera or the scanning device is used for identifying and calibrating the area position and the stacking condition of the bagged powdery material packet on the pallet or the conveying line, and guiding the industrial robot to unstack and grab the bagged powdery material packet.
In an embodiment of the present invention, a dust removing and cleaning device is installed in front of the lens of the industrial camera or the probe of the scanning device.
In an embodiment of the invention, the working area of the industrial robot is equipped with a safety electronic fence.
The invention has the beneficial effects that: the invention can dispense with manual operation, and the feeding and discharging are balanced and stable, thereby realizing full-automatic operation management in the production process; specifically, a scanning device and an image recognition system which are arranged above the operation stations are used for determining the position for grabbing the bagged powdery material bag through double recognition and calibration, so that the problem that incoming material stacking is disordered and irregular and accurate unstacking and bag grabbing can be realized is solved; the dust removal cleaning device is used for cleaning lenses or probes of the scanning device and the image recognition system, so that the problem of operation efficiency in a severe environment with large dust in the operation process is solved; a mechanical arm of an industrial robot is provided with a force sensor, so that the quantity of unstacking, packet grabbing and hopper throwing can be measured, and whether all materials in a material packet fall into the hopper during empty bag recovery is judged; the quantitative weighing and feeding device is arranged at the feeding port and is provided with the electronic scale, so that the problem of accurate quantitative feeding and feeding can be solved.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of an industrial robot;
FIG. 3 is a schematic diagram of the construction of an unpackaged dosing system;
fig. 4 is a schematic structural diagram of a weighing and dosing device.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
See fig. 1, fig. 2, fig. 3 and fig. 4, a dustproof quantitative material feeding system that unpacks of intelligence, control system 1 has, robot base 3 and the industrial robot 2 that is used for the operation to snatch and transport bagged powder material package 19, industrial robot 2 installs on robot base 3, industrial robot 2's arm exhibition can cover the region of the unpacking of wanting the pile, industrial robot 2's robotic arm end is installed vacuum chuck 4, grab hook 5, force transducer 8, image recognition system 6 and dust collector 7, vacuum chuck 4 and grab hook 5 are used for absorbing and snatching bagged powder material package 19, grab hook 5 still is used for snatching the recovery process of unpacked material package and empty bag. Force sensor 8 is used for detecting the weight of bagged powdery material package 19 and the weight of the empty bag after the bagged powdery material package 19 is unpacked, and image recognition system 6 is used for guiding industrial robot 2 to accurately grab bagged powdery material package 19, and dust collector 7 is used for clearing away the dust on the camera lens or the probe of image recognition system 6. The dust removing device 7 can use a brush to remove dust, can also use compressed air to remove dust, and of course, can also be used in combination with the brush and the compressed air.
An unpacking and quantitative feeding system 9 is arranged on the side of the industrial robot 2, and an unpacking blade 12 for unpacking is arranged above a hopper 11 of the unpacking and quantitative feeding system 9.
A dust exhaust device 21 is arranged above the hopper 11, a dust exhaust fan 22 is arranged on the dust exhaust device 21, and the dust exhaust fan 22 is used for exhausting dust generated in unpacking operation. A spiral conveying device 13 is connected below the hopper 11, the spiral conveying device 13 is used for conveying unpacked powdery materials to a discharge port to be thrown, a servo motor 14 is configured on the spiral conveying device 13, a weighing and quantitative throwing device 15 is configured below the discharge port, and the weighing and quantitative throwing device 15 is used for realizing quantitative throwing.
An industrial camera or scanning device 17 is installed above the operation of the industrial robot 2, and the industrial camera or scanning device 17 is used for identifying and calibrating the regional position and stacking condition of the bagged powdery material bags 19 on the pallet or conveying line, and guiding the industrial robot 2 to unstack and grab the bagged powdery material bags 19.
The dust removing and cleaning device 18 is installed in front of the lens of the industrial camera or the probe of the scanning device 17, the dust removing and cleaning device 18 can use a hairbrush to remove dust on the lens of the industrial camera or the probe of the scanning device 17, can also use compressed air to remove dust on the lens of the industrial camera or the probe of the scanning device 17, and certainly, the dust removing and cleaning device and the dust removing device can also be used in combination.
The working area of the industrial robot 2 is equipped with a safety electronic fence 16, and the safety electronic fence 16 is used for safely protecting people, objects and equipment in the sampling area. The unpacking quantitative feeding system 9, the industrial robot 2, the robot base 3, the bagged powder material bag 19 and the empty bag recycling frame 20 are all arranged inside the safety electronic fence 16, and the control system 1, the scanning device 17 and the dust removal cleaning device 18 are all arranged outside the safety electronic fence 16.
When a person or foreign objects enter the working area during operation, the system is lighted with a red light to give an alarm, the industrial robot 2 emergently stops working, and the manager restarts the operation of the industrial robot 2 after confirming safety. When industrial robot 2 promptly shuts down, do not influence screw conveyor 13 and bale breaking ration feeding system 9's normal operation, if the material of keeping in meeting hopper 11 and screw conveyor 13 is less than the safety volume this moment, the system lights the red light and reports to the police and reminds managers emergency treatment.
The working process of the intelligent dustproof unpacking quantitative feeding system is as follows:
firstly, placing a pallet filled with a bagged powdery material bag 19 in a station of a grabbing operation area of an industrial robot 2;
secondly, scanning the position and the stacking condition of the powder material bag 19 packaged on the pallet by a scanning device 17 to guide the industrial robot 2 to grab the bag;
step three, the mechanical arm of the industrial robot 2 moves to the position above the bagged powdery material bag 19 to be grabbed, and the image recognition system 6 recognizes the bagged powdery material bag 19 to determine the grabbing position;
fourthly, the vacuum chuck 4 and the grabbing hook 5 on the industrial robot 2 grab the bagged powdery material bag 19 according to the position determined by the image recognition system 6;
fifthly, the industrial robot 2 transports the bagged powder material bag 19 to a certain height above a hopper 11 and an unpacking cutting edge 12 of the unpacking quantitative feeding system 9, the force sensor 8 records the weight of the grabbed bagged powder material bag 19, then the vacuum chuck 4 and the grabbing hook 5 release the bagged powder material bag 19, and the bagged powder material bag 19 falls onto the unpacking cutting edge 12 in the hopper 11;
sixthly, after the bagged powder material bag 19 falls onto the unpacking blade 12 in the hopper 11, the unpacking blade 12 rotates or moves transversely and vertically to cut the bottom of the bagged powder material bag 19;
step seven, grabbing the unpacked material bag by a grabbing hook 5 on the industrial robot 2, shaking the material bag left and right and back and forth while grabbing the material bag, and enabling all the powder materials in the material bag to fall into a hopper 11; dust generated during unpacking is pumped away by a dust exhaust fan 22 of a dust exhaust device 21 above the hopper 11;
step eight, sensing the weight of the empty material bag by a force sensor 8 to judge that all the materials in the material bag fall into the hopper 11, and putting the empty bag into an empty bag recovery frame 20 by a mechanical arm;
step nine, recording the weight of the material bags grabbed by the industrial robot 2 and the quantity of the material bags thrown and placed by the unpacking quantitative feeding system 9 by the system, and calculating the quantity of the materials stored in the hopper 11 and the spiral conveying device 13 so as to judge whether the next unstacking and bag grabbing operation is continued or waiting; when the residual materials in the hopper 11 and the spiral conveying device 13 are less than the rated quantity, the industrial robot 2 continues to unstack and grab the bags;
step ten, conveying the material falling into the hopper 11 to a discharge port by a spiral conveying device 13, and falling into a weighing and quantitative feeding device 15;
step eleven, when the weighing sensor senses that the material in the weighing quantitative feeding device 15 reaches the set feeding amount, starting a cylinder 23 in the weighing quantitative feeding device 15, and pushing all the material in a piston track trough 25 into a feeding port by a piston 24 of the cylinder 23 to feed the material; the rotating speed of a servo motor 14 of the spiral conveying device 13 and the working rhythm of a cylinder piston 24 are adjusted, and quantitative feeding of the system is realized.
The scanning device 17 and the image recognition system 6 which are arranged above the operation stations are used for determining the position for grabbing the bagged powdery material bag 19 through double recognition and calibration, so that the problem that the incoming material stacking is disordered and irregular and the bag can be accurately unstacked and grabbed is solved.
The lens or probe of the scanning device 17 and the image recognition system 6 is cleaned using a dust cleaning device 18. The problem of operating efficiency under the severe environment that the dust is big in the operation process is solved.
A mechanical arm of the industrial robot 2 is provided with a force sensor 8 which can measure the quantity of the unstacking, bale grabbing and feeding hopper 11 and judge whether all the materials in the bale fall into the hopper 11 when empty bags are recovered.
The feeding port is provided with a weighing quantitative feeding device 15 and an electronic scale 26, so that the problem of accurate quantitative feeding can be solved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides a dustproof bale breaking ration of intelligence throws material system which characterized in that: the automatic dust removal device comprises an industrial robot (2) used for grabbing and carrying bagged powder material bags (19) in a working mode, wherein a vacuum sucker (4), a grabbing hook (5), a force sensor (8), an image recognition system (6) and a dust removal device (7) are mounted at the tail end of a mechanical arm of the industrial robot (2), the vacuum sucker (4) and the grabbing hook (5) are used for sucking and grabbing the bagged powder material bags (19), the force sensor (8) is used for detecting the weight of the bagged powder material bags (19) and the weight of empty bags after the bagged powder material bags (19) are unpacked, the image recognition system (6) is used for guiding the industrial robot (2) to accurately grab the bagged powder material bags (19), and the dust removal device (7) is used for removing dust on lenses or probes of the image recognition system (6).
2. The intelligent dustproof unpacking quantitative feeding system as set forth in claim 1, wherein: an unpacking and quantitative feeding system (9) is arranged on the side edge of the industrial robot (2), and an unpacking blade (12) for unpacking is installed above a hopper (11) of the unpacking and quantitative feeding system (9).
3. The intelligent dustproof unpacking quantitative feeding system as set forth in claim 2, wherein: and a dust exhaust device (21) is arranged above the hopper (11), and the dust exhaust device (21) is used for exhausting dust generated in unpacking operation.
4. The intelligent dustproof unpacking quantitative feeding system as set forth in claim 3, wherein: the below of hopper (11) is connected with screw conveyor (13), screw conveyor (13) are used for transporting the powdery material of unpacking to the bin outlet and throw in, and screw conveyor (13) dispose servo motor (14), the bin outlet below is disposed and is weighed quantitative input device (15), it is used for realizing the ration and throws the material to weigh quantitative input device (15).
5. The intelligent dustproof unpacking quantitative feeding system as set forth in claim 1, wherein: an industrial camera or scanning device (17) is installed above the operation of the industrial robot (2), and the industrial camera or scanning device (17) is used for identifying and calibrating the region position and the stacking condition of the bagged powdery material bag (19) on the pallet or the conveying line and guiding the industrial robot (2) to unstack and grab the bagged powdery material bag (19).
6. The intelligent dustproof unpacking quantitative feeding system as set forth in claim 5, wherein: and a dust removal cleaning device (18) is arranged in front of a lens of the industrial camera or a probe of the scanning device (17).
7. The intelligent dustproof unpacking quantitative feeding system as set forth in claim 1, wherein: a safety electronic fence (16) is installed in the working area of the industrial robot (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110423433.8A CN113233214A (en) | 2021-04-20 | 2021-04-20 | Dustproof bale breaking ration of intelligence system of throwing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110423433.8A CN113233214A (en) | 2021-04-20 | 2021-04-20 | Dustproof bale breaking ration of intelligence system of throwing |
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| Publication Number | Publication Date |
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| CN113233214A true CN113233214A (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110423433.8A Pending CN113233214A (en) | 2021-04-20 | 2021-04-20 | Dustproof bale breaking ration of intelligence system of throwing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115402607A (en) * | 2022-09-16 | 2022-11-29 | 湖南金能自动化设备有限公司 | Automatic feeding system for bagged materials |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115402607A (en) * | 2022-09-16 | 2022-11-29 | 湖南金能自动化设备有限公司 | Automatic feeding system for bagged materials |
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Application publication date: 20210810 |