CN103449089A - High-speed regular article replenishing lorry and precisely positioning method thereof - Google Patents

High-speed regular article replenishing lorry and precisely positioning method thereof Download PDF

Info

Publication number
CN103449089A
CN103449089A CN2013104125463A CN201310412546A CN103449089A CN 103449089 A CN103449089 A CN 103449089A CN 2013104125463 A CN2013104125463 A CN 2013104125463A CN 201310412546 A CN201310412546 A CN 201310412546A CN 103449089 A CN103449089 A CN 103449089A
Authority
CN
China
Prior art keywords
car
replenishes
lorry
speed
regular article
Prior art date
Application number
CN2013104125463A
Other languages
Chinese (zh)
Other versions
CN103449089B (en
Inventor
吴耀华
蒋霞
张小艺
张贻弓
张绪鹏
肖世强
Original Assignee
山东兰剑物流科技股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 山东兰剑物流科技股份有限公司 filed Critical 山东兰剑物流科技股份有限公司
Priority to CN201310412546.3A priority Critical patent/CN103449089B/en
Publication of CN103449089A publication Critical patent/CN103449089A/en
Application granted granted Critical
Publication of CN103449089B publication Critical patent/CN103449089B/en

Links

Abstract

The invention relates to a high-speed regular article replenishing lorry and a precisely positioning method thereof, particularly to a full-automatic high-speed replenishing lorry and a precisely positioning method thereof in the field of tobacco logistics. The replenishing lorry comprises a frame, wheels arranged at the bottom of the frame, a transferring device and a lorry body driving device both mounted on the frame. The replenishing lorry is characterized in that an embracing and clamping mechanism capable of embracing and clamping goods to prevent stack transfer is arranged on the transferring device; a synchronous belt transmission drive mechanism is arranged on the lorry body driving device; an initial position sensor is arranged on the reciprocating movement path of the replenishing lorry; the output signal of the sensor is used for correcting the lorry position through a travel controlling computer, so as to eliminate accumulated errors radically. Compared with the traditional replenishing lorry driven by wheels, the high-speed regular article replenishing lorry is high in driving speed and positioning precision, small in size, stable in operation, convenient to operate, and low in noise, has a simple structure, and can be used for realizing the full-automatic replenishment in the field of tobacco logistics.

Description

A kind of high speed regular article replenish car and precise positioning method thereof

?

Technical field

The present invention relates to a kind of high speed regular article replenish car and precise positioning method thereof, relate in particular to a kind of fully automatic high-speed in tobacco flow field replenish car and precise positioning method thereof.

 

Background technology

At present, scale and the degree of automation of large warehoused logistics improve constantly, and in the article inbound/outbound process sorting operation of rule, the equipment automatization of freighting, replenishing requires also to increase substantially.The vehicle of freighting, replenishing at a high speed constantly is improved.

Take cigarette industry as example, and in the sorting cigarette process, the mode of the tabacco barn of sorting cigarette equipment being mended to cigarette has two kinds: a kind of is manually to mend cigarette, and another kind is the automation mode that traditional shuttle driven with wheel is mended cigarette or diaphragm capsule circulation benefit cigarette.Artificial benefit cigarette operator labour intensity is large, cigarette delivery efficiency is low, and is difficult to guarantee to mend the kind of the bar tabacco barn in certain cigarette and the correctness of quantity, and degree of automation is low, is unfavorable for realizing the automation of whole dispensing flow process; Traditional shuttle driven with wheel is mended cigarette mode (as patent CN 2855978Y) and is adopted power wheel, rely on the stop place of wheel to position car body, although met the requirement of tobacco dispensing automation, overcome the high shortcoming of the error rate that manually replenishes, but its running velocity is low, the location inaccuracy, and the part cigarette is easily stamped in the process of transfer.Diaphragm capsule is mended the cigarette complex structure, and running velocity is slow, and a diaphragm capsule operation is broken down and can be affected whole diaphragm capsule circulating system, reduces and mends cigarette efficiency.

 

Summary of the invention

The object of the invention is to: a kind of high speed regular article of can be automatically tabacco barn being carried out steadily, fast, accurately mending cigarette operation car that replenishes is provided.Improve dispensing efficiency and the automatization level of whole cigarette delivery flow process, overcome in prior art and manually to mend that cigarette efficiency is low, the shortcoming of misoperation appears greatly and easily in operator's labour intensity, the shuttle benefit cigarette speed that wheel drives is low, the location inaccuracy, the shortcoming that the part cigarette is easily stamped in the process of transfer.

The present invention also aims to: the pinpoint method and the accurate positioning device that provide a kind of high speed regular article to replenish car, and with the high speed regular article of the accurate positioning device car that replenishes.

Overall technical architecture of the present invention is:

Adopt the car body of rail vehicle, by wheel and track load-bearing, have advantages of that running is brisk, coordinate the type of drive of servomotor and Timing Belt driver train, there is registration, stable drive, noise is low, and driving efficiency is high, the fast advantage of transfer line.The scheme that Timing Belt drives is: Timing Belt is fixed two ends, motor is fixed on vehicle body frame, motor shaft end is fixed with synchronous pulley, synchronous pulley and Timing Belt closely cooperate under the effect of tension wheel, when the driven by motor synchronous pulley rotates, car body moves along the Timing Belt direction, the motion between synchronous pulley and Timing Belt, similar rack-and-gear transmission.Adopt this kind of driver train, body movement is steady, registration, and noise is lower, has overcome the shortcoming of traditional shuttle that replenishes.

Add and embrace the loose problem of stamping of clamp mechanism solution part cigarette, embrace clamp mechanism and use a dynamical element to be swift in response, can not separately need propulsion source.Existing linear electric motors and ball screw framework running velocity are slower, affect operating rate; Although cylinder is swift in response, need to there is source of the gas also the access of tracheae will be arranged.The electricity cylinder is swift in response, accesses without the need for tracheae, cheap, meets the demand of embracing clamp mechanism, therefore select electric cylinder for embracing the dynamical element of clamp mechanism.

On above improved basis, accurate positioning device is set, the replenish approach of car crank motion process of high speed regular article is arranged to home sensor, the signal of sensor is controlled computer by travelling vehicle location is proofreaied and correct, thoroughly eliminate accumulated error, make location more accurate.

A kind of high speed regular article car that replenishes, comprise vehicle frame, the wheel of bottom of frame, be arranged on shifting apparatus and car body actuating device on vehicle frame, it is characterized in that described shifting apparatus setting can embrace goods the clamp mechanism of embracing that folder prevents collapse of setting, described car body actuating device arranges the toothed belt transmission driver train.

The wheel of described vehicle frame and described bottom of frame, adopt the railcar structure of standard, comprises the base plate of rectangle, and four jiaos of wheels that distribute, arrange the framework that shifting apparatus is installed on the base plate of described rectangle;

Described shifting apparatus comprises the article delivery transfer mechanism consisted of the motorized pulleys load-transfer device be arranged in described framework;

Described armful of clamp mechanism comprises the linear reciprocating mechanism of the linear bearing mix proportion that the optical axis that is arranged on above framework and electric cylinder drive, and linear bearing connects can be by the clamping plate of embracing of article clamping;

Described toothed belt transmission driver train comprises the Timing Belt that two ends are fixing, be fixed on the motor on vehicle body frame, and the synchronous pulley of motor shaft end setting, the large cornerite of synchronous pulley and Timing Belt closely cooperates, when the driven by motor synchronous pulley rotates, the driven by motor car body moves along the Timing Belt direction.

Motor adopts servomotor.

Timing Belt and synchronous pulley are spacing by the flower wheel that is arranged on the synchronous pulley both sides, realize closely cooperating with the large cornerite of synchronous pulley.

A kind of the replenish precise positioning method of car of high speed regular article, comprise the servomotor of being controlled by computer is set, the Timing Belt driver train that servomotor drags, it is characterized in that, in the approach of replenish car and crank motion process, home sensor is set, the output signal of home sensor is proofreaied and correct vehicle location by the computer of controlling servomotor, eliminate the relative position error of servomotor and Timing Belt driver train, make location more accurate.

Home sensor comprises and is arranged on the receptor that the high speed regular article replenishes on car, and is arranged on the projector relative with receptor on the path of the car crank motion process that replenishes.

Receptor adopts Hall element, and projector adopts permanent magnet component.

Said method and device both can be controlled the run location of the car that replenishes, and also were adapted at the positioning control of restarting after device powers down.

At least two adjacent projectors are set in the interval of not stopping continuously at the car that replenishes, can detect the speed parameter of the car that replenishes, indirectly reflect the tightness of Timing Belt, can send alerting signal in case of necessity.

When the present invention works, wheel is combined with track and is formed Free-rolling, tears Timing Belt by motor and drives; Embrace clamp mechanism article are added and hold release while fixedly replenishing, article are unloaded by shifting apparatus.

Beneficial effect of the present invention is: this high speed regular article car that replenishes adopt to adopt traditional four-wheel rail vehicle and toothed belt transmission straight-line motion mechanism to drive, and is provided with home sensor, has added to embrace clamp mechanism and solved the deficiency that the part cigarette falls apart and stamps.With the car that replenishes that traditional wheel drives, compare, running velocity of the present invention is fast, and positioning precision is high, and volume is little, stable, simple in structure, easy to operate, and noise is low, for the tobacco flow field, has realized that full-automation replenishes.

 

The accompanying drawing explanation

Fig. 1 is structural representation of the present invention.

Fig. 2 is integral structure block diagram of the present invention.

1-optical axis in figure, the 2-linear bearing, 3-electricity cylinder, the 4-vehicle frame, 5-embraces clamping plate, 6-regular article, 7-motorized pulleys, 8-motor, 9-driving pulley, 10-Timing Belt, 11-flower wheel support, 12-driven pulley, 13-track, 14-wheel.

 

The specific embodiment

Embodiment mono-, referring to accompanying drawing 1,2.

A kind of high speed regular article car that replenishes, comprise vehicle frame 4, the wheel 14 of bottom of frame, be arranged on shifting apparatus and car body actuating device on vehicle frame, it is characterized in that described shifting apparatus setting can embrace goods the clamp mechanism of embracing that folder prevents collapse of setting, described car body actuating device arranges the toothed belt transmission driver train.

The wheel of described vehicle frame and described bottom of frame, adopt the railcar structure of standard, comprises the base plate of rectangle, and four jiaos of wheels 14 that distribute, arrange the framework that shifting apparatus is installed on the base plate of described rectangle;

Described shifting apparatus comprises the article delivery transfer mechanism consisted of motorized pulleys 7 load-transfer devices be arranged in described framework;

Described armful of clamp mechanism comprises the linear reciprocating mechanism of linear bearing 2 mix proportions that the optical axis 1 that is arranged on above framework and electric cylinder 3 drive, linear bearing 2 connect can be by the article clamping embrace clamping plate 5;

Described toothed belt transmission driver train comprises the fixing Timing Belt in two ends 10, be fixed on the motor 8 on vehicle body frame 4, and the synchronous pulley 9 of motor shaft end setting, the large cornerite of synchronous pulley and Timing Belt closely cooperates, when the driven by motor synchronous pulley rotates, the driven by motor car body moves along the Timing Belt direction.

Motor 8 adopts servomotor.

Timing Belt and synchronous pulley are spacing by the driven pulley 12 that is arranged on the synchronous pulley both sides, realize closely cooperating with the large cornerite of synchronous pulley.

Concrete thin section structure:

Embrace clamp mechanism by the optical axis 1 be fixed on vehicle frame 4, the linear bearing 2 that can slide flexibly on optical axis 1, the electric cylinder of embracing clamping plate 5 and being hinged on vehicle frame 4 be fixed on linear bearing 2 forms.Two armfuls of clamping plate 5 are positioned at the dolly both sides as shown in Figure 1, during electric cylinder 3 rise, embrace clamping plate 5 for two and clamp regular article 6, and during fixing also electric cylinder 3 backhaul of centering regular article 6., two armfuls of clamping plate 5, to dolly two lateral movements, loosen regular article 6.

Transfer mechanism consists of the belt that a plurality of motorized pulleys 7 or motorized pulleys 7 drive side by side.Motorized pulleys can forward or reversion, to realize the transfer to regular article 6.

Driver train is by motor 8, driving pulley 9, and two ends are fixed on the Timing Belt 10 on track 13, are connected to the flower wheel support 11 on vehicle frame 4, are hinged on the driven pulley 12 on flower wheel support 11, and the wheel 14 be hinged on vehicle frame 4 forms.Driven pulley 12 is distributed on driving pulley 9 both sides, to being wound around superincumbent Timing Belt 10, the tensioning fixation is arranged.The weight of whole dolly is born and is delivered on track 13 by the wheel 14 be arranged symmetrically with.

The present invention is directed to regular article and replenished, the part cigarette of unpacking of take here carries out process description as example.

1. connect goods:

By driver train as mentioned above, dolly is accurately located, while driving to assigned address, two electric cylinders 3 are done drawback movement, both sides are embraced clamping plate 5 and are opened, unpacking part cigarette is pushed to dolly mend plane that ,Bu Yan plane, cigarette plane is comprised of motorized pulleys or the belt horizontal surface of motorized pulleys driving by mending cigarette equipment.After the part cigarette pushes fully, two electric cylinders 3 are done the rise motion, and clamping plate 5 clamping element cigarettes are embraced in both sides, and regular cigarette also makes it to produce centering, are clamped in by double team plate 5 due to the part cigarette in the process of walking and do not there will be the phenomenon of stamping.

2. walking:

After the part cigarette is held tightly, dolly obtains walk signal, the motor 8 drive driving pulleys 9 that are fixed on vehicle frame 4 start to rotate, Timing Belt 10 two ends are fixed, when driving pulley 9 rotates, synchronous pulley 9 drive motors 8 and whole car body are along the direction setting in motion of Timing Belt, and this process is similar to the motion of gear on tooth bar, because the weight of dolly all concentrates on wheel 14, the friction of rolling that the power output of motor 4 only need to overcome car load gets final product.Because toothed belt transmission has stable drive, registration, the characteristics that running velocity is fast, dolly stops and relies on driving pulley 9 and Timing Belt 10 profiles of tooth to mesh to locate.Therefore this car is faster, more stable than the crab traversing speed of traditional dependence drive wheel location, positioning precision is higher.

3. replenish:

Carriage walking stops after assigned address, and due to toothed belt transmission, steadily accurately noise is low for this process.Now two electric cylinders 3 are done drawback movement, and both sides are embraced clamping plate 5 and opened, the part cigarette state that affranchises.Transfer mechanism receives that signal motorized pulleys 7 start rotate to drive the platoon cylinder or belt conveyor carries out transfer to the part cigarette, and transfer completes the consequent cigarette and enters sorting arrangement.Dolly repeats above flow process the sorting arrangement tabacco barn is replenished.

 

Embodiment bis-, referring to accompanying drawing 1.

A kind of high speed regular article car that replenishes, comprise vehicle frame 4, the wheel 14 of bottom of frame, be arranged on shifting apparatus and car body actuating device on vehicle frame, it is characterized in that described shifting apparatus setting can embrace goods the clamp mechanism of embracing that folder prevents collapse of setting, described car body actuating device arranges the toothed belt transmission driver train; The approach of car and the crank motion process of replenishing arranges home sensor, and the output signal of home sensor is controlled computer by travelling vehicle location is proofreaied and correct, and thoroughly eliminates accumulated error, makes location more accurate; Home sensor comprises and is arranged on the Hall element that the high speed regular article replenishes on car, and is arranged on the permanent magnet component relative with Hall element on the path of the car crank motion process that replenishes.

Described home sensor can adopt and be arranged on the far-infrared sensor that the high speed regular article replenishes on car, and is arranged on far-infrared light-emitting pipe relative with far-infrared sensor on the path of the car crank motion process that replenishes.The car impact that side on oscillation causes Hall element of travelling that can effectively prevent from replenishing of the home sensor of this structure.

 

Embodiment tri-

Can simple and easy velometer be installed on the car that replenishes, monitor at any time gait of march, data be passed to the computer of controlling servomotor, be convenient to accurate location.

Claims (10)

1. the high speed regular article car that replenishes, comprise vehicle frame (4), the wheel of bottom of frame (14), be arranged on shifting apparatus and car body actuating device on vehicle frame, it is characterized in that described shifting apparatus setting can embrace goods the clamp mechanism of embracing that folder prevents collapse of setting, described car body actuating device arranges the toothed belt transmission driver train.
2. the high speed regular article according to claim 1 car that replenishes, the approach of car and crank motion process of it is characterized in that replenishing arranges home sensor, the output signal of home sensor is controlled computer by travelling vehicle location is proofreaied and correct, thoroughly eliminate accumulated error, make location more accurate; Home sensor comprises and is arranged on the Hall element that the high speed regular article replenishes on car, and is arranged on the permanent magnet component relative with Hall element on the path of the car crank motion process that replenishes.
3. the high speed regular article according to claim 1 car that replenishes, the wheel that it is characterized in that described vehicle frame and described bottom of frame, the base plate that comprises rectangle, four jiaos of wheels (14) that distribute, arrange the framework that shifting apparatus is installed on the base plate of described rectangle.
4. according to the described high speed regular article of claim 1 or 3 car that replenishes, it is characterized in that described shifting apparatus comprises the article delivery transfer mechanism consisted of motorized pulleys (7) load-transfer device be arranged in described framework.
5. according to the described high speed regular article of claim 1 or 3 car that replenishes, it is characterized in that described armful of clamp mechanism comprises the linear reciprocating mechanism of linear bearing (2) mix proportion that the optical axis (1) that is arranged on above framework and electric cylinder (3) drive, linear bearing (2) connect can be by the article clamping embrace clamping plate (5).
6. the high speed regular article according to claim 1 car that replenishes, it is characterized in that described toothed belt transmission driver train comprises the fixing Timing Belts in two ends (10), be fixed on the motor (8) on vehicle body frame (4), and the synchronous pulley (9) of motor shaft end setting, the large cornerite of synchronous pulley and Timing Belt closely cooperates, when the driven by motor synchronous pulley rotates, the driven by motor car body moves along the Timing Belt direction.
7. the high speed regular article according to claim 6 car that replenishes, is characterized in that described Timing Belt and synchronous pulley are spacing by the driven pulley that is arranged on the synchronous pulley both sides (12), realizes closely cooperating with the large cornerite of synchronous pulley.
8. the high speed regular article precise positioning method of car that replenishes, comprise the servomotor of being controlled by computer is set, the Timing Belt driver train that servomotor drags, it is characterized in that, in the approach of replenish car and crank motion process, home sensor is set, the output signal of home sensor is proofreaied and correct vehicle location by the computer of controlling servomotor, eliminate the relative position error of servomotor and Timing Belt driver train, make location more accurate.
9. the high speed regular article accurate-location device of car that replenishes, it is characterized in that home sensor comprises is arranged on the receptor that the high speed regular article replenishes on car, and be arranged on the projector relative with receptor on the path of the car crank motion process that replenishes, receptor adopts far-infrared sensor, and projector adopts the far-infrared light-emitting pipe.
10. the high speed regular article according to claim 8 precise positioning method of car that replenishes, is characterized in that, can be controlled the run location of the car that replenishes, and also is adapted at the positioning control of restarting after device powers down; At least two adjacent projectors are set in the interval of not stopping continuously at the car that replenishes, can detect the speed parameter of the car that replenishes, indirectly reflect the tightness of Timing Belt, can send alerting signal in case of necessity.
CN201310412546.3A 2013-09-12 2013-09-12 A kind of high speed regular article replenishes car and precise positioning method thereof CN103449089B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310412546.3A CN103449089B (en) 2013-09-12 2013-09-12 A kind of high speed regular article replenishes car and precise positioning method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310412546.3A CN103449089B (en) 2013-09-12 2013-09-12 A kind of high speed regular article replenishes car and precise positioning method thereof

Publications (2)

Publication Number Publication Date
CN103449089A true CN103449089A (en) 2013-12-18
CN103449089B CN103449089B (en) 2016-01-13

Family

ID=49732013

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310412546.3A CN103449089B (en) 2013-09-12 2013-09-12 A kind of high speed regular article replenishes car and precise positioning method thereof

Country Status (1)

Country Link
CN (1) CN103449089B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105417043A (en) * 2015-12-10 2016-03-23 山东兰剑物流科技股份有限公司 Logistics commodity replenishment trolley
CN106429262A (en) * 2016-10-20 2017-02-22 滁州艾普机电科技有限公司 Bidirectional carrying trolley applied to hydraulic foaming clamp
CN107601367A (en) * 2017-08-16 2018-01-19 国网浙江省电力公司电力科学研究院 A kind of clipping type fork mechanism suitable for hopper piler
CN109230322A (en) * 2018-10-12 2019-01-18 珠海格力智能装备有限公司 Conveying equipment

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101445996A (en) * 2008-12-26 2009-06-03 常州市润源经编机械有限公司 Transverse transmission device of weft paving trolley of tricot machine
US20120001403A1 (en) * 2010-06-30 2012-01-05 John Wydner Trailer
CN202219955U (en) * 2011-08-11 2012-05-16 昆明天彪科技开发有限责任公司 Horizontal conveyer
CN202828681U (en) * 2012-10-11 2013-03-27 贵阳普天物流技术有限公司 Automatic goods-storing and goods-taking trolley used for regular articles on multi-layer goods shelf
CN202953540U (en) * 2012-10-29 2013-05-29 湖南烟叶复烤有限公司永州复烤厂 Clamping device for finished cigarette tanks
CN203473714U (en) * 2013-09-12 2014-03-12 山东兰剑物流科技股份有限公司 High-speed regular goods supplementing vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101445996A (en) * 2008-12-26 2009-06-03 常州市润源经编机械有限公司 Transverse transmission device of weft paving trolley of tricot machine
US20120001403A1 (en) * 2010-06-30 2012-01-05 John Wydner Trailer
CN202219955U (en) * 2011-08-11 2012-05-16 昆明天彪科技开发有限责任公司 Horizontal conveyer
CN202828681U (en) * 2012-10-11 2013-03-27 贵阳普天物流技术有限公司 Automatic goods-storing and goods-taking trolley used for regular articles on multi-layer goods shelf
CN202953540U (en) * 2012-10-29 2013-05-29 湖南烟叶复烤有限公司永州复烤厂 Clamping device for finished cigarette tanks
CN203473714U (en) * 2013-09-12 2014-03-12 山东兰剑物流科技股份有限公司 High-speed regular goods supplementing vehicle

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105417043A (en) * 2015-12-10 2016-03-23 山东兰剑物流科技股份有限公司 Logistics commodity replenishment trolley
CN105417043B (en) * 2015-12-10 2017-09-29 山东兰剑物流科技股份有限公司 Flow goods replenish car
CN106429262A (en) * 2016-10-20 2017-02-22 滁州艾普机电科技有限公司 Bidirectional carrying trolley applied to hydraulic foaming clamp
CN107601367A (en) * 2017-08-16 2018-01-19 国网浙江省电力公司电力科学研究院 A kind of clipping type fork mechanism suitable for hopper piler
CN107601367B (en) * 2017-08-16 2019-07-23 国网浙江省电力公司电力科学研究院 A kind of clipping type fork mechanism suitable for hopper piler
CN109230322A (en) * 2018-10-12 2019-01-18 珠海格力智能装备有限公司 Conveying equipment

Also Published As

Publication number Publication date
CN103449089B (en) 2016-01-13

Similar Documents

Publication Publication Date Title
CN103386388B (en) Full-automatic vision LED point gum machine
CN103896000B (en) Automatically the formula that switches tracks shuttle
CN205614149U (en) Mariages section of thick bamboo spark -erosion wire cutting machine bed
CN106276323B (en) A kind of bagged material automatic loading machine
CN103128031A (en) Dispensing assembly and dispenser adopting the dispensing assembly
US1934835A (en) Conveyer advance mechanism
CN203902867U (en) Online horizontal type annulus winding packaging machine
CN203358058U (en) Laser marker for tubular workpiece
CN202124287U (en) Long-distance conveying sliding table with cylinder
CN206316550U (en) Full-automatic gantry numerical control cutting machine is used in a kind of auto parts machinery production
CN202880433U (en) Workpiece tray transferring device
CN207861344U (en) A kind of novel jacking transferring machine
CN204583615U (en) A kind of four axle point gum machines
CN203381805U (en) Automatic boxing machine
CN203498560U (en) Two-for-one twister transverse yarn guiding device
CN103612379B (en) A kind of detent mechanism of clamping part of manipulator of bottle blowing machine
CN203806197U (en) Material pushing device of intermittent boxing machine
CN204771138U (en) Remove slip table
CN105751892B (en) Compact AGV drives steering integrated device
CN201952623U (en) Frame driving device for embroidery machine
CN105109945B (en) A kind of woven hose transmission mechanism
CN206552739U (en) A kind of trailing type express delivery scanning means
CN204355308U (en) A kind of spiral arm carries out top wrapping machine
CN201862530U (en) Three-section transmission type three-shaft glue dispenser
WO2018149113A1 (en) Pneumatic fixed distance conveying device

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: High-speed regular article replenishing lorry and precisely positioning method thereof

Effective date of registration: 20170731

Granted publication date: 20160113

Pledgee: Dezhou finance Company limited by guarantee

Pledgor: Shandong Bluesword Logistics Co., Ltd.

Registration number: 2017370000106

PE01 Entry into force of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20180822

Granted publication date: 20160113

Pledgee: Dezhou finance Company limited by guarantee

Pledgor: Shandong Bluesword Logistics Co., Ltd.

Registration number: 2017370000106

PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: High-speed regular article replenishing lorry and precisely positioning method thereof

Effective date of registration: 20180828

Granted publication date: 20160113

Pledgee: Dezhou finance Company limited by guarantee

Pledgor: Shandong Bluesword Logistics Co., Ltd.

Registration number: 2018370000154

PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20191012

Granted publication date: 20160113

Pledgee: Dezhou finance Company limited by guarantee

Pledgor: Shandong Bluesword Logistics Co., Ltd.

Registration number: 2018370000154

PC01 Cancellation of the registration of the contract for pledge of patent right
CP03 Change of name, title or address
CP03 Change of name, title or address

Address after: 250000 Floor 19, Building No.1, No.9 Longyao North Road, Jinan High-tech Zone, Shandong Province, 909 Haixin Longyao 9

Patentee after: Lanjian Intelligent Technology Co., Ltd.

Address before: 250101 Shandong city of Ji'nan province high tech Zone Shun Road No. 1117 Department Building 6 layer

Patentee before: Shandong Bluesword Logistics Co., Ltd.