CN102190157A - Automatic conveying and stacking method and device for standard boxes - Google Patents

Automatic conveying and stacking method and device for standard boxes Download PDF

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Publication number
CN102190157A
CN102190157A CN2010101271661A CN201010127166A CN102190157A CN 102190157 A CN102190157 A CN 102190157A CN 2010101271661 A CN2010101271661 A CN 2010101271661A CN 201010127166 A CN201010127166 A CN 201010127166A CN 102190157 A CN102190157 A CN 102190157A
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China
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conveyer
standard casing
long
pending
equipment
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CN2010101271661A
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Chinese (zh)
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CN102190157B (en
Inventor
张正明
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贵阳普天物流技术股份有限公司
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Priority to CN201010127166.1A priority Critical patent/CN102190157B/en
Publication of CN102190157A publication Critical patent/CN102190157A/en
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Publication of CN102190157B publication Critical patent/CN102190157B/en

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Abstract

The invention discloses an automatic conveying and stacking method and an automatic conveying and stacking device for standard boxes. In the invention, the standard boxes are flatly put on a roller conveyor and conveyed, a turnover mechanism turns the standard boxes 90 degrees and vertically puts the standard boxes on a stacking chain conveyor, the stacking chain conveyor conveys the standard boxes to a roller conveying type stacking conveyor, the front end of the stacking conveyor is provided with a box pressing device which can press a standard box at the foremost end of the stacking conveyor according to a requirement of a control signal, a box pushing mechanism at the tail of the stacking conveyor can push more than two standard boxes onto a box stacking fork, and a robot simultaneously grabs the more than two standard boxes on the box stacking fork and moves the standard boxes onto a stacking tray for stacking. The automatic conveying and stacking device can stack the standard boxes according to the required stacking height, stacking rule and the like, can greatly improve work efficiency and reduce labor intensity of workers, and has the advantages of high reliability and high automation degree.

Description

A kind of automatic transport palletizing method and device of standard casing

Technical field

The present invention relates to a kind of automatic transport palletizing method and device of standard casing, belong to storage standard casing and carry the palletizing technology field.

Background technology

In large warehoused, often need with the standard casing neatly and cleanly piling at pallet so that the transportation or the distribution.Generally will be at the standard casing of sign indicating number more than two-layer on the pallet, and a plurality of standard casings that are close together are arranged in every layer.At present, the piling mode of standard casing mainly be by manually with casing by certain rule sign indicating number in layer on stacking pallet, such mode not only exists the problem that piling efficient is low, labour intensity is big, but also exist the piling height influenced, easily the standard casing is staved damage, easily damage article in the casing, can not satisfy the problems such as requirement of automation conveying object fully.In order to improve piling efficient, though also used some simple carrying and conveying machineries at some warehouse districts, its degree of automation and reliability are still very low.Along with the raising of production automation degree, also high more to the requirement of logistics conveying, storage, transport efficacy, reliability and degree of automation, therefore existing piling mode has been difficult to satisfy the requirement that reality is used.

Summary of the invention

The objective of the invention is to, a kind of automatic transport palletizing method and device of standard casing is provided, with the reliability and degree of automation, the raising piling efficient that improve piling, alleviate working strength of workers, thereby overcome the deficiencies in the prior art.

The present invention is achieved in that the automatic transport palletizing method of a kind of standard casing of the present invention is, this method comprises that employing mode artificial or mechanical transport equipment is put into the standard casing method of carrying and adopt robot gripping and mobile standard casing on the roller conveyer, the standard casing is being put into when carrying on the roller conveyer by mode artificial or mechanical transport equipment, the standard casing lain on the roller conveyer carry, tail end at the roller conveyer is provided with a switching mechanism, on the gathering chain formula conveyer that its setting is placed on after with standard casing upset 90 degree to be arranged on the switching mechanism other end by switching mechanism, gathering chain formula conveyer is transported to the standard casing the long-pending of roller conveying-type that is engaged on its tail end and puts on the conveyer, at the long-pending front end of putting conveyer a pressure punch-out equipment structure is set, this pressure punch-out equipment structure can will amass a standard casing of putting on the conveyer foremost according to the requirement of control signal and push down, when pressing the punch-out equipment structure that the standard casing is pushed down, long-pending put conveyer and stop transportation work, and gathering chain formula conveyer still moves, and at this moment the standard casing on the gathering chain formula conveyer is being stopped by the standard casing pushed down down and is being close together closely and skids on the chain of gathering chain formula conveyer and stop to move mutually; When unclamping the standard casing of being pushed down when pressing the punch-out equipment structure to reset, the long-pending conveyer of putting moves and carries the standard casing that is close together, when long-pending when putting conveyer the standard casing that is close together being transported to its tail end, it is long-pending that to put conveyer out of service, and press the punch-out equipment structure to move to amass a standard casing of putting on the conveyer foremost to push down, at this moment being arranged on the long-pending punch-out equipment structure that pushes away of putting conveyer tail end one side moves, the standard casing more than 2 or 2 that is close together shifted onto be arranged on the long-pending long-pending case fork body of putting conveyer tail end opposite side, at this moment robot motion, grasp the standard casing more than 2 or 2 that is close together on the long-pending case fork body simultaneously, and it is moved to carry out piling on the stacking pallet; When push away the punch-out equipment structure finish push away case action and reset after, press the punch-out equipment structure also to reset simultaneously, long-pendingly put conveyer and bring into operation again; So circulation can realize automatic transport and piling to the standard casing.

The standard casing that is close together more than 2 or 2 is moved and piling on stacking pallet the time piling number of plies 〉=2 of the standard casing of its piling on stacking pallet layer by robot.

The standard casing is being lain in when carrying on the roller conveyer, it keeps flat is that the one side of maximum area with being shaped as the standard casing of cuboid is placed on the roller conveyer as conveyor surface; And for the standard casing of square its to keep flat be that its any one side is placed on the roller conveyer as conveyor surface.

When its setting being placed on by switching mechanism after with standard casing upset 90 degree to carry on the gathering chain formula conveyer, it is erect and places is that the one side of minimum area with being shaped as the standard casing of cuboid is placed on the gathering chain formula conveyer as conveyor surface; And place for its setting of standard casing of square is that its any one side is placed on the gathering chain formula conveyer as conveyor surface.

The automatic transport palletizing apparatus of a kind of standard casing of the present invention is: this device comprises roller formula conveyer, the gathering chain formula conveyer of chain conveying-type, the long-pending conveyer of putting of roller conveying-type, push away the punch-out equipment structure, long-pending case fork body, robot and stacking pallet, tail end at the roller conveyer is provided with a switching mechanism, the cross upset fork that rotates by electric machine control is installed on the frame of switching mechanism, the other end at switching mechanism is provided with gathering chain formula conveyer, the roller conveyer is vertical with the throughput direction of gathering chain formula conveyer, tail end linking at gathering chain formula conveyer has the long-pending conveyer of putting, gathering chain formula conveyer is consistent with the long-pending throughput direction of putting conveyer, be provided with at the long-pending front end of putting conveyer and press the punch-out equipment structure, the cylinder of the pneumatic actuation formula that is used to press case is installed on the frame of pressing the punch-out equipment structure; A long-pending side of putting the conveyer tail end be provided with the cylinder pushing mechanism is installed push away the punch-out equipment structure, be provided with long-pending case fork body at the long-pending opposite side of putting the conveyer tail end, be respectively equipped with robot and stacking pallet on long-pending case fork body side.

Also be provided with the retaining punch-out equipment structure of being made up of support, telescopic cylinder and interlock pin on above-mentioned pressure punch-out equipment structure side, the tail end of telescopic cylinder is connected with support by hinge, and the piston rod of telescopic cylinder is connected with the interlock pin, and the rotating shaft of interlock pin is installed on the support.

The telescopic cylinder of above-mentioned retaining punch-out equipment structure and the cylinder interlock of pressing the punch-out equipment structure.

On the front end of gathering chain formula conveyer, be provided with the protecting box mechanism that forms by support, oscillating type telescopic cylinder and swing axostylus axostyle, the tail end of oscillating cylinder is connected with support by hinge, the piston rod of oscillating cylinder is connected with the swing axostylus axostyle, the rotating shaft of swing axostylus axostyle is rack-mount, is fixed with the protecting box catch on the swing axostylus axostyle.

The piston rod action of the oscillating cylinder of above-mentioned protecting box mechanism is synchronous with the action of the cross upset fork of switching mechanism, i.e. the angle of moving one time 90 degree of cross upset fork revolution of switching mechanism, and then the piston rod of the oscillating cylinder of protecting box mechanism is made expanding-contracting action once.

Owing to adopted technique scheme, the present invention can realize the automatic transport of standard casing, upset, commutation are carried, distribute casing on request, carried out operation such as automatic stacking by rule request.Therefore, the present invention compared with prior art, the present invention not only has significantly raising work imitates, alleviates the advantage of labor strength, but also has the high and high advantage of degree of automation of reliability.The present invention can also carry out piling according to requirements such as needed piling height, piling rules in addition.Use the present invention can be easy to satisfy piling standardization, standardized requirement.

Description of drawings

Fig. 1 is the plan structure scheme drawing of apparatus of the present invention;

Fig. 2 is that the switching mechanism of apparatus of the present invention is connected with roller conveyer and gathering chain formula conveyer and gathering chain formula conveyer and long-pending structural representation when putting conveyer and being connected;

Fig. 3 is the structural representation of apparatus of the present invention protecting box mechanism;

Fig. 4 is the structural representation of apparatus of the present invention retaining punch-out equipment structure.

The specific embodiment

The present invention is described in further detail below in conjunction with drawings and Examples.

Embodiments of the invention: apparatus structure scheme drawing of the present invention as depicted in figs. 1 and 2, its roller formula conveyer 1, the gathering chain formula conveyer 3 of chain conveying-type, the long-pending conveyer 4 of putting of roller conveying-type, push away punch-out equipment structure 6, long-pending case fork body 7, robot 8 and stacking pallet 9 all can adopt complete equipment of the prior art to assemble making, during making, tail end at roller conveyer 1 is installed a switching mechanism 2, this switching mechanism 2 is by frame, motor is formed with the cross upset fork 2-1 that has rotating shaft, the rotating shaft of cross upset fork 2-1 is installed on the frame, motor drives cross upset fork 2-1 by traditional transmission device and rotates, install gathering chain formula conveyer 3 at the other end of switching mechanism 2, make roller conveyer 1 vertical with the throughput direction of gathering chain formula conveyer 3, and cross upset fork 2-1 can rotated between the roller of roller conveyer 1 tail end and between the chain of gathering chain formula conveyer 3, after making standard casing 12 be reversed 90 degree, can be erected at reliably on the chain of gathering chain formula conveyer 3 by switching mechanism 2, on the front end of gathering chain formula conveyer 3, install one by support 11-1, the protecting box mechanism 11 that oscillating type telescopic cylinder 11-2 and swing axostylus axostyle 11-3 form, the tail end of oscillating cylinder 11-2 is connected with support 11-1 by hinge, the piston rod of oscillating cylinder 11-2 is connected with swing axostylus axostyle 11-3, the rotating shaft of swing axostylus axostyle 11-3 is installed on the support 11-1, on swing axostylus axostyle 11-3, fix protecting box catch 11-4, make the piston rod action of oscillating cylinder 11-2 of protecting box mechanism 11 synchronous with the action of the cross upset fork 2-1 of switching mechanism 2, even the cross upset fork 2-1 of switching mechanism 2 is when the angle of moving one time 90 degree of revolution, make the piston rod of the oscillating cylinder 11-2 of protecting box mechanism 11 make expanding-contracting action once, like this when the angle of moving one time 90 degree of cross upset fork 2-1 revolution of switching mechanism 2 is turned over a standard casing 12 on the chain that is put into gathering chain formula conveyer 3 after turning 90 degrees from roller conveyer 1, this standard casing 12 will be kept off by the protecting box catch 11-4 of protecting box mechanism 11, translates into because of inertia with the standard casing 12 that prevents this setting; Long-pendingly on the tail end of gathering chain formula conveyer 3 is connected then put conveyer 4, make gathering chain formula conveyer 3 and to amass the throughput direction of putting conveyer 4 consistent; Make a pressure punch-out equipment structure 5 of forming by the cylinder 5-1 of frame and pneumatic drive-type at the long-pending front end of putting conveyer 4, to be used to press the cylinder 5-1 of the pneumatic actuation formula of case to be installed in the frame of pressing punch-out equipment structure 5, the standard container body can be stopped more reliably when pressing case, install one again by support 10-1 on pressure punch-out equipment structure 5 sides, the retaining punch-out equipment structure 10 that telescopic cylinder 10-2 and interlock pin 10-3 form, the tail end of telescopic cylinder 10-2 is connected with support 10-1 by hinge, the piston rod of telescopic cylinder 10-2 is connected with interlock pin 10-3, the rotating shaft of interlock pin 10-3 is installed on the support 10-1, so promptly constitute retaining punch-out equipment structure 10, the telescopic cylinder 10-2 that will keep off punch-out equipment structure 10 then links with the cylinder 5-1 that presses punch-out equipment structure 5, promptly when the cylinder 5-1 that presses punch-out equipment structure 5 does to press the case action, make the telescopic cylinder 10-2 of retaining punch-out equipment structure 10 drive the action of interlock pin 10-3 work retaining case, when the cylinder 5-1 that presses punch-out equipment structure 5 unclamps pressure case return, make the telescopic cylinder 10-2 of retaining punch-out equipment structure 10 drive interlock pin 10-3 and make revert action, the control criterion casing stops or letting pass so more reliably; Push away punch-out equipment structure 6 what a long-pending side of putting conveyer 4 tail ends was installed a cylinder pushing mechanism then, at the long-pending opposite side of putting conveyer 4 tail ends a long-pending case fork body 7 is installed simultaneously, when making the cylinder pushing mechanism that pushes away punch-out equipment structure 6 push away the case action, the standard casing can be shifted onto on the long-pending case fork body 7, by long-pending case fork body 7, install robot 8 and stacking pallet 9 then respectively.

Said apparatus of the present invention is that the automatic transport palletizing method according to standard casing of the present invention carries out work, when said apparatus of the present invention is worked, by traditional mode artificial or mechanical transport equipment standard casing 12 is put on the roller conveyer 1 earlier and carries, standard casing 12 is being put into when carrying on the roller conveyer 1 by mode artificial or mechanical transport equipment, standard casing 12 lain on the roller conveyer 1 carry, standard casing 12 is being lain in when carrying on the roller conveyer 1, it keeps flat is that the one side of maximum area with being shaped as the standard casing 12 of cuboid is placed on the roller conveyer 1 as conveyor surface, and for the standard casing 12 of square its to keep flat be that its any one side is placed on the roller conveyer 1 as conveyor surface; When standard casing 12 is transported to the tail end of roller conveyer 1, switching mechanism 2 by being arranged on roller conveyer 1 tail end turns over standard casing 12 and its setting is placed on after turning 90 degrees to be arranged on the gathering chain formula conveyer 3 of switching mechanism 2 other ends, it is that the one side of minimum area with being shaped as the standard casing 12 of cuboid is placed on the gathering chain formula conveyer 3 as conveyor surface that this setting is placed, and it erects that to place be that its any one side is placed on the gathering chain formula conveyer 3 as conveyor surface for the standard casing 12 of square; Gathering chain formula conveyer 3 is transported to standard casing 12 the long-pending of roller conveying-type that is engaged on its tail end and puts on the conveyer 4 then, owing to be provided with a pressure punch-out equipment structure 5 at the long-pending front end of putting conveyer 4, this pressure punch-out equipment structure 5 will amass a standard casing 12 of putting on the conveyer 4 foremost according to the requirement of control signal and push down (for the purpose of reliable, also can add a retaining punch-out equipment structure 10 again and do the action of retaining case), when pressing punch-out equipment structure 5 that standard casing 12 is pushed down, long-pending put conveyer 4 and stop transportation work, and gathering chain formula conveyer 3 still moves, and at this moment the standard casing 12 on the gathering chain formula conveyer 3 is being stopped by the standard casing 12 pushed down down and is being close together closely and skids on the chain of gathering chain formula conveyer 3 and stop to move mutually; When unclamping the standard casing of being pushed down 12 (at this moment keeping off punch-out equipment structure 10 also resets and the retaining catch case) when pressing punch-out equipment structure 5 to reset, the long-pending conveyer 4 of putting moves and carries the standard casing 12 that is close together, when long-pending when putting conveyer 4 the standard casing 12 that is close together being transported to its tail end, it is long-pending that to put conveyer 4 out of service, and press 5 actions of punch-out equipment structure to amass to put on the conveyer 4 a standard casing 12 foremost to push down, at this moment being arranged on the long-pending punch-out equipment structure 6 that pushes away of putting conveyer 4 tail ends one side moves, the standard casing 12 more than 2 or 2 that is close together shifted onto be arranged on the long-pending long-pending case fork body 7 of putting conveyer 4 tail end opposite sides, robot 8 actions, grasp the standard casing 12 more than 2 or 3 or 3 that is close together on the long-pending case fork body 7 simultaneously, and it is moved to carry out piling on the stacking pallet 9, the piling number of plies 〉=2 of the standard casing 12 of its piling on stacking pallet 9 layer; When push away punch-out equipment structure 6 finish push away case action and reset after, press punch-out equipment structure 5 also to reset simultaneously, long-pendingly put conveyer 4 and bring into operation again; So circulation can realize automatic transport and piling to standard casing 12.

Claims (9)

1. the automatic transport palletizing method of a standard casing, comprise that the mode that adopts artificial or mechanical transport equipment is put into standard casing (12) method of carrying and adopt robot (8) extracting and mobile standard casing (12) on the roller conveyer (1), it is characterized in that: standard casing (12) is being put into when carrying on the roller conveyer (1) by mode artificial or mechanical transport equipment, standard casing (12) lain on the roller conveyer (1) carry, tail end at roller conveyer (1) is provided with a switching mechanism (2), by switching mechanism (2) standard casing (12) is turned over and its setting to be placed on after turning 90 degrees to be arranged on the gathering chain formula conveyer (3) of switching mechanism (2) other end, gathering chain formula conveyer (3) is transported to standard casing (12) the long-pending of roller conveying-type that is engaged on its tail end and puts on the conveyer (4), at the long-pending front end of putting conveyer (4) a pressure punch-out equipment structure (5) is set, this pressure punch-out equipment structure (5) can will amass a standard casing (12) of putting on the conveyer (4) foremost according to the requirement of control signal and push down, when pressing punch-out equipment structure (5) that standard casing (12) is pushed down, long-pending put conveyer (4) and stop transportation work, and gathering chain formula conveyer (3) still moves, and at this moment the standard casing (12) on the gathering chain formula conveyer (3) is being stopped by the standard casing (12) pushed down down and is being close together closely mutually and skids on the chain of gathering chain formula conveyer (3) and stop to move; When unclamping the standard casing of being pushed down (12) when pressing punch-out equipment structure (5) to reset, the long-pending conveyer (4) of putting moves and carries the standard casing (12) that is close together, when long-pending when putting conveyer (4) the standard casing (12) that is close together being transported to its tail end, it is long-pending that to put conveyer (4) out of service, and press punch-out equipment structure (5) action to amass to put on the conveyer (4) a standard casing (12) foremost to push down, at this moment being arranged on the long-pending punch-out equipment structure (6) that pushes away of putting conveyer (4) tail end one side moves, the standard casing (12) more than 2 or 2 that is close together shifted onto be arranged on the long-pending long-pending case fork body (7) of putting conveyer (4) tail end opposite side, at this moment robot (8) action, grasp the standard casing (12) more than 2 or 2 that is close together on the long-pending case fork body (7) simultaneously, and it is moved on the stacking pallet (9) carry out piling; When push away punch-out equipment structure (6) finish push away case action and reset after, press punch-out equipment structure (5) also to reset simultaneously, long-pendingly put conveyer (4) and bring into operation again; So circulation can realize automatic transport and piling to standard casing (12).
2. the automatic transport palletizing method of standard casing according to claim 1, it is characterized in that: by robot (8) the standard casing (12) that is close together more than 2 or 2 is moved and piling when stacking pallet (9) is gone up, the piling number of plies 〉=2 of the standard casing (12) of its piling on stacking pallet (9) layer.
3. the automatic transport palletizing method of standard casing according to claim 1, it is characterized in that: standard casing (12) is being lain in when carrying on the roller conveyer (1), it keeps flat is that the one side of maximum area with being shaped as the standard casing (12) of cuboid is placed on the roller conveyer (1) as conveyor surface; And for the standard casing (12) of square its to keep flat be that its any one side is placed on the roller conveyer (1) as conveyor surface.
4. the automatic transport palletizing method of standard casing according to claim 1, it is characterized in that: by switching mechanism (2) standard casing (12) is being turned over when its setting being placed on after turning 90 degrees to carry on the gathering chain formula conveyer (3), it is erect and places is that the one side of minimum area with being shaped as the standard casing (12) of cuboid is placed on the gathering chain formula conveyer (3) as conveyor surface; And place for its setting of standard casing (12) of square is that its any one side is placed on the gathering chain formula conveyer (3) as conveyor surface.
5. the automatic transport palletizing apparatus of a standard casing, comprise roller formula conveyer (1), the gathering chain formula conveyer (3) of chain conveying-type, the long-pending conveyer (4) of putting of roller conveying-type, push away punch-out equipment structure (6), long-pending case fork body (7), robot (8) and stacking pallet (9), it is characterized in that: the tail end at roller conveyer (1) is provided with a switching mechanism (2), the cross upset fork (2-1) that rotates by electric machine control is installed on the frame of switching mechanism (2), the other end at switching mechanism (2) is provided with gathering chain formula conveyer (3), roller conveyer (1) is vertical with the throughput direction of gathering chain formula conveyer (3), tail end linking at gathering chain formula conveyer (3) has the long-pending conveyer (4) of putting, gathering chain formula conveyer (3) is consistent with the long-pending throughput direction of putting conveyer (4), be provided with at the long-pending front end of putting conveyer (4) and press punch-out equipment structure (5), the cylinder (5-1) of the pneumatic actuation formula that is used to press case is installed on the frame of pressing punch-out equipment structure (5); A long-pending side of putting conveyer (4) tail end be provided with the cylinder pushing mechanism is installed push away punch-out equipment structure (6), be provided with long-pending case fork body (7) at the long-pending opposite side of putting conveyer (4) tail end, at other robot (8) and the stacking pallet (9) of being respectively equipped with of long-pending case fork body (7).
6. the automatic transport palletizing apparatus of standard casing according to claim 5, it is characterized in that: pressing the other retaining punch-out equipment structure of forming by support (10-1), telescopic cylinder (10-2) and interlock pin (10-3) (10) that also is provided with of punch-out equipment structure (5), the tail end of telescopic cylinder (10-2) is connected with support (10-1) by hinge, the piston rod of telescopic cylinder (10-2) is connected with interlock pin (10-3), and the rotating shaft of interlock pin (10-3) is installed on the support (10-1).
7. the automatic transport palletizing apparatus of standard casing according to claim 6 is characterized in that: the telescopic cylinder (10-2) of retaining punch-out equipment structure (10) and cylinder (5-1) interlock of pressing punch-out equipment structure (5).
8. the automatic transport palletizing apparatus of standard casing according to claim 5, it is characterized in that: on the front end of gathering chain formula conveyer (3), be provided with by support (11-1), the protecting box mechanism (11) that oscillating type telescopic cylinder (11-2) and swing axostylus axostyle (11-3) are formed, the tail end of oscillating cylinder (11-2) is connected with support (11-1) by hinge, the piston rod of oscillating cylinder (11-2) is connected with swing axostylus axostyle (11-3), the rotating shaft of swing axostylus axostyle (11-3) is installed on the support (11-1), is fixed with protecting box catch (11-4) on swing axostylus axostyle (11-3).
9. the automatic transport palletizing apparatus of standard casing according to claim 6, it is characterized in that: the piston rod action of the oscillating cylinder (11-2) of protecting box mechanism (11) is synchronous with the action of the cross upset fork (2-1) of switching mechanism (2), be the angle of moving one time 90 degree of cross upset fork (2-1) revolution of switching mechanism (2), then the piston rod of the oscillating cylinder (11-2) of protecting box mechanism (11) is made expanding-contracting action once.
CN201010127166.1A 2010-03-18 2010-03-18 The automatic transport palletizing method of a kind of standard box bodies and device CN102190157B (en)

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Application Number Priority Date Filing Date Title
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CN102190157B CN102190157B (en) 2016-06-08

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CN102303785A (en) * 2011-09-30 2012-01-04 广州达意隆包装机械股份有限公司 Unpiler
CN102616578A (en) * 2011-11-18 2012-08-01 上海沃迪自动化装备股份有限公司 Multifunctional robot palletizing system
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CN103587965A (en) * 2013-11-21 2014-02-19 江苏淮安双鹤药业有限责任公司 Automatic stacking production line of medicine chests
CN104203493A (en) * 2012-04-02 2014-12-10 株式会社安川电机 Production system and manufacturing method for processed products
CN104355125A (en) * 2014-10-28 2015-02-18 辽宁省机械研究院有限公司 Automatic device for stacking air-conditioning heat exchanger cores and using method of automatic device
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CN105800321A (en) * 2016-05-30 2016-07-27 成都经纬机械制造有限公司 Full-automatic carton stacking production line
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CN106882598A (en) * 2017-03-31 2017-06-23 江苏新美星包装机械股份有限公司 Pile type is molded carrying method
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