CN103922160A - Freight train loading system - Google Patents
Freight train loading system Download PDFInfo
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- CN103922160A CN103922160A CN201410037893.7A CN201410037893A CN103922160A CN 103922160 A CN103922160 A CN 103922160A CN 201410037893 A CN201410037893 A CN 201410037893A CN 103922160 A CN103922160 A CN 103922160A
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- mechanical arm
- bulk
- railway
- pedestal
- railway carriage
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 34
- 230000032258 transport Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 9
- 235000010469 Glycine max Nutrition 0.000 description 4
- 244000068988 Glycine max Species 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Abstract
The invention relates to a freight train loading system which comprises bulk buildings for loading bulk cargo to each train carriage and mechanical arms for loading bagged cargo to each train carriage. The bulk buildings and the mechanical arms are sequentially disposed along a railway. Each train carriage sequentially passes the bulk buildings and the mechanical arms to realize bulk cargo loading and bagged cargo loading. By the freight train loading system, loading efficiency of a freight train is increased. Meanwhile, labor resources is saved through automatic loading, and workers are liberated from high-intensity works and severe working environments.
Description
Technical field
The present invention relates to rail shipping field, relate in particular to cargo train Load System.
Background technology
In prior art, when cargo train is loaded, be to set up warehouse in railway both sides, railway carriage is opened in warehouse, manual control railway carriage stop position, then by workman to lade in railway carriage, the mode of this artificial loading not only efficiency is slow, and has potential safety hazard.For this reason, also form mechanization loading, railway carriage has been opened into warehouse, by mechanical loading goods.But railway carriage is a lot, and that the machinery of lade can not be designed to is suitable with the length of permutation railway carriage, and therefore, railway carriage needs the complete several sections of compartments of every loading just output one section forward, so that follow-up compartment is opened into " loaded " position.Load and waste time and energy like this, efficiency is not high.In addition, in the time that railway carriage transports as grains such as soybean, be generally first by bulk soybean enter railway carriage, then spread Intranet, after interior refill on the net carry a packed soybean, to improve carrying capacity, and in prior art, Load System can efficiently not complete the operation of " in bulk " " lapping " " packed ", more in bulk by machinery, then artificial lapping is also by a dead lift bag cargo, and efficiency is low, has potential safety hazard.
Summary of the invention
Provide hereinafter about brief overview of the present invention, to the basic comprehension about some aspect of the present invention is provided.Should be appreciated that this general introduction is not about exhaustive general introduction of the present invention.It is not that intention is determined key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only that the form of simplifying provides some concept, using this as the preorder in greater detail of discussing after a while.
The object of the present invention is to provide a kind of cargo train Load System, can efficiently complete and load bulk freight, lapping and loading bag cargo; Efficiently complete whole bulk freight; Efficiently complete whole bags cargo.
To achieve these goals, a kind of cargo train Load System provided by the invention, comprising: building in bulk, for load bulk freight to compartment; And mechanical arm, for load bag cargo to compartment; Building in bulk, mechanical arm set gradually along railway.
Than prior art, beneficial effect of the present invention is: railway carriage passes through described building in bulk, mechanical arm successively, realizes to compartment is loaded bulk freight, compartment is loaded to bag cargo, has improved the efficiency that railway carriage loads.Meanwhile, the automation of car loading operation has realized saving human resources, and workman is freed from highly intensive labour and severe work situation.
Brief description of the drawings
Below with reference to the accompanying drawings illustrate embodiments of the invention, can understand more easily above and other objects, features and advantages of the present invention.Parts in accompanying drawing are just in order to illustrate principle of the present invention.In the accompanying drawings, same or similar technical characterictic or parts will adopt same or similar Reference numeral to represent.
Fig. 1 is cargo train Load System overall schematic of the present invention;
Fig. 2 is the partial side view of mechanical arm position in cargo train Load System of the present invention;
Fig. 3 is the schematic diagram of mechanical arm in cargo train Load System of the present invention;
Fig. 4 is the schematic diagram of Flat car device in cargo train Load System of the present invention.
Detailed description of the invention
Embodiments of the invention are described with reference to the accompanying drawings.The element of describing in an accompanying drawing of the present invention or a kind of embodiment and feature can combine with element and feature shown in one or more other accompanying drawing or embodiment.It should be noted that for purposes of clarity, in accompanying drawing and explanation, omitted expression and the description of unrelated to the invention, parts known to persons of ordinary skill in the art and processing.
Referring to Fig. 1, cargo train Load System of the present invention, comprising: building 1 in bulk and mechanical arm 3, and they are successively along railway setting, and wherein, building 1 in bulk is for loading bulk freight to railway carriage, and mechanical arm 3 is for loading bag cargo to railway carriage.By cargo train Load System of the present invention, railway carriage passes through described building in bulk 1, mechanical arm 3 successively, realizes to compartment is loaded bulk freight, compartment is loaded to bag cargo, has improved the efficiency that railway carriage loads.It will of course be appreciated that in the time of the whole bulk freight of needs, building in bulk operation, robotic arm can not operation; To when the whole bag cargo of needs, building in bulk can not operation, robotic arm operation.
In one embodiment, referring to Fig. 4, between building in bulk and mechanical arm, also have in Flat car device 2(Fig. 1 not shown).The direction of advancing taking train is as front, and Flat car device 2 is arranged on the front in building in bulk, in the time that compartment installs bulk freight, can pass through Flat car device 2, will be loaded in irregular goods in compartment and be bulldozed.Certainly, Flat car device 2 can be fixedly connected with described building in bulk by connecting arm, but should be appreciated that, the position that Flat car device arranges is a kind of optional mode just.Should be appreciated that, the connecting arm that connects Flat car device is adjustable for height, to adapt to the railway carriage of differing heights, certainly, and also can be by the height change of connecting arm, better smooth goods.Flat car device can be positioned at the top of railway carriage, and Flat car device at least can be bulldozed the goods that exceeds a railway carriage part; Also can regulate by the height of connecting arm, stretch in railway carriage, regulate.
Above Flat car device is a kind of optional embodiment of the present invention, other form, and the Flat car device that can complete smooth goods also can be used in the present invention, such as, install bulk freight at railway carriage, Flat car device slidably reciprocates on railway carriage direct of travel, to realize the object of smooth goods.
Referring to Fig. 2, the mechanical arm 3 of above-mentioned cargo train Load System of the present invention is fixed on the pedestal 4 that is arranged at railway both sides, certainly, can be that multiple mechanical arms 3 are fixed on a pedestal 4, can be also that 4 of pedestals are fixed a mechanical arm 3.For example, in the optional embodiment of one, in railway both sides, pedestal 4 is set respectively, equidistant respectively on each pedestal three mechanical arms 3 is set.And in another embodiment, can be in railway both sides, every side all arranges three pedestals, and a mechanical arm 3 is set on each pedestal.Certainly, in these two kinds of embodiment, all have six mechanical arms 3, but this is not limited to the present invention, the mechanical arm 3 of other fair amount equally can be for the present invention.Further, no matter any in above-mentioned two kinds of optional embodiments, is all railway both sides, and every side has three mechanical arms 3, in the direction of extending along railway, staggers each other at mechanical arm 3 and the mechanical arm 3 of railway opposite side of railway one side.That is to say the mechanical arm 3 of opposite side, stagger each other instead of aspectant setting.Can ensure like this in the time loading bag cargo, mechanical arm 3 can maximum range cover whole positions, avoid having the dead angle that mechanical arm 3 reaches, also can prevent that the scope that multiple mechanical arms 3 work is overlapping too much, work is that the time of dodging is long, reduces operating efficiency.
Should be appreciated that, it is a kind of embodiment that above-mentioned railway both sides there are not survey to have three mechanical arms, is not limited to the present invention.In order to facilitate the loading of mechanical arm, or load the stacking mode of bag cargo according to the type adjustment of different railway carriages, mechanical arm can also be fixed on pedestal by slide rail, and demand when mechanical arm can be piled up bag cargo according to loading regulates self-position.
A nearlyer step, mechanical arm 3 and the height of bottom-to-top-height pedestal higher than railway carriage.To meet loading demand.Be appreciated that, in the present invention, pedestal is optionally reinforced concrete plinth, can ensure good stability, in one embodiment, the height of pedestal equals the height of railway carriage substantially, should be appreciated that, because railway carriage height is not identical, therefore the height of pedestal equals railway carriage height substantially, in some cases, pedestal also can be lower than railway carriage height, if meet pedestal with mechanical arm 3 height and higher than railway carriage.It will be appreciated that, here be in order to meet loading demand to the requirement of pedestal and mechanical arm 3 height, the above-mentioned cargo train Load System according to the present invention, before should knowing mechanical arm 3 of the present invention, be also provided with building 1 in bulk, install bulk freight at railway carriage, just start to load bag cargo by mechanical arm 3, that is to say that bag cargo is loaded in railway carriage top often, based on this higher position, therefore the bottom-to-top-height of pedestal and mechanical arm 3 need to be higher than the height of railway carriage.In the time all loading bag cargo, robotic arm 3 can not be put down bag cargo at car bottom gently, but at certain altitude, goods is put down.
Referring to Fig. 3, in the optional embodiment of one, above-mentioned mechanical arm 3 comprises adapter shaft 5, connecting arm 6 and handgrip, wherein adapter shaft 5 is perpendicular to pedestal, and one end of adapter shaft 5 is rotating to be connected on pedestal, the other end of adapter shaft 5 is connected with one end pivotable of connecting arm 6, and the other end of handgrip and connecting arm 6 is rotationally connected.This mode also can be described as: adapter shaft 5 is perpendicular to described pedestal 4, and one end is connected with described pedestal is rotatable; One end of connecting arm 6 is connected away from one end pivotable of pedestal 4 with adapter shaft 5; Handgrip and connecting arm 6 are rotatably connected away from one end of adapter shaft 5.Should be appreciated that, above-mentioned adapter shaft 5 can have an axle bed 51 and axis body 50, and rotate in axle center that axis body can be connected with axle bed along it, and axle bed and pedestal the mode such as are bolted and fix, and are connected with pedestal is rotating thereby realize adapter shaft 5.Certainly this be one preferred embodiment, by above connection mode to realize the activity of mechanical arm 3, meet loading demand, other arranges form, as adapter shaft adopts versatile spindle to be connected with connecting arm 6, and by the two motion of hydraulic actuating cylinder control, as long as can meet, mechanical arm 3 is moved, complete loading bag cargo and just go for the present invention.It is also understood that, " handgrip " that the present invention mentions, might not refer to the structure with clip shape, also might not be by the mode of " grabbing ", bag cargo to be loaded, for example, can be to promote or scoop up bag cargo, and load and also can to railway carriage.Therefore, handgrip is not limited to the present invention and can only adopts the structure of clip-shaped.
Continue referring to Fig. 3, axis body 50 comprises fixed part 520, the first rotation section 530 and the second rotation section 510, and described the first rotation section 530 and the second rotation section 510 are all articulated and connected with described fixed part 520; Described the first rotation section 530 is also hinged with the fixed end of a lever 522, and two arm of forces of described lever are hinged by first connecting rod 521 and described fixed part 520 and hinged by second connecting rod 523 and described handgrip respectively; Described connecting arm 6 is connected with described the first rotation section 530 pivotables, and described connecting arm 6 is also hinged by third connecting rod 511 and described the second rotation section 510.
Also can be understood as, fixed part 520 and the pedestal of axis body 50 are rotatably connected, and fixed part 520 is also hinged with the first rotation section 530, the second rotation section 510 respectively, the second rotation section 510 is also hinged with one end of third connecting rod 511, the other end of the 3rd pipe link 511 and connecting arm 6 are hinged, connecting arm 6 is also hinged with the first rotation section 530, and the interface point of connecting arm 6 and the first rotation section 530 is different from the hinge-point of connecting arm 6 and third connecting rod 511.The second rotation section 510 drives connecting arm 6 to move by third connecting rod 511.
Fixed part 520 is hinged with one end of first connecting rod 521, and an arm of force of the other end of first connecting rod 521 and lever 522 is hinged, and another arm of force of lever 522 and one end of second connecting rod 523 are hinged, and the fixed end of lever 523 and the first rotation section 530 are hinged.
By the rotation of the first rotation section 530, drive the fixed end of lever to move, and an arm of force of lever is hinged by first connecting rod and fixed part, the second connecting rod now connecting on another arm of force of lever will drive handgrip motion.Move because the rotation of the first motion portion also can drive connecting arm 6, meanwhile, connecting arm 6 can move again under the drive of the second rotation section, and therefore connecting arm 6, under the common drive of two rotation sections, completes motion.
Certainly, these are a kind of optimal way of driving device arm, and alternate manner, or the mechanical arm of other form all can be used for the present invention as long as can complete to train vehicle loading bag cargo.
Further, in order to realize the control requirement to cargo train Load System, also be provided with car card signal recognizer, for judging the type of train vehicle, thereby control the quantity of building 1 in bulk to compartment loading bulk freight, and control the quantity of mechanical arm 3 to the bag cargo of compartment loading, and also comprise according to the type of the railway carriage of judging, confirm the stand of this joint railway carriage in the time carrying out bulk freight loading and bag cargo loading.For example, car card signal recognizer is arranged on railway carriage and enters in building 1 in bulk railway line before, adopt REID, automatically identify target compartment and obtain related data by radiofrequency signal, identification work need not manual intervention, judge compartment model according to this signal, further to control the work of the parts such as building 1 in bulk, mechanical arm 3.Certainly, the mode of model of obtaining various compartments is a lot, and routine rfid device described above can be also numbering coding, as long as differentiate the type in compartment.
Should be appreciated that, railway carriage is allocated and transported by marshalling facilities, and therefore above-mentioned car card signal recognizer judges after compartment model, compartment model can be sent to marshalling facilities, and marshalling facilities is according to compartment model allocation and transportation railway carriage.
Control requirement in order to meet, also be provided with locating and detecting device, coder and car-loading control system, locating and detecting device is for judging whether railway carriage arrives the position of appointment, arriving after assigned address, start and/or stop by the work of car-loading control system control building 1 in bulk, mechanical arm 3, lapping station.Above-mentioned locating point refers to: in the operation process such as loading bulk freight, loading bag cargo, and the position that railway carriage is parked.Because the size of railway carriage has difference, therefore stand can change according to the size of railway carriage.Further, marshalling facilities is allocated and transported the distance that described railway carriage moves described in coder control, and therefore, the compartment varying in size can arrive the position of appointment.Specifically describe working process of the present invention below, in optional embodiment, railway carriage can be common truck, and railway carriage is allocated and transported by marshalling facilities, marshalling facilities can be shunter, and shunter drives in operations such as above-mentioned building 1 in bulk, mechanical arm 3 places effect shipment.Certainly, according to the relevant regulations of railway freight traffic, need on compartment, lay Intranet, therefore, in railway carriage Load System of the present invention, between building 1 in bulk and mechanical arm 3, be provided with lapping station, for laying Intranet to railway carriage, this lapping station can, by manually laying Intranet, also can be laid by mechanical assistance.
Shunter pulls first segment compartment to building 1 in bulk, building 1 in bulk loads bulk freight (as soybean in bulk) to first segment compartment, and now shunter and the disengaging of first segment compartment, return to origin, pull second section railway carriage to advance, until first segment compartment after having freighted in building 1 in bulk, shunter hauls second section compartment, promote first segment compartment simultaneously, until the second compartment is pulled to building 1 in bulk, shunter and second section compartment depart from, and continue to promote first segment compartment until enter the position at lapping station place.First segment compartment enters after lapping station, shunter and first segment compartment depart from, return to origin, pull Section of three compartment to advance, treat that first segment compartment completes lapping at lapping station place, second section compartment completes loading bulk freight at 1 place, building in bulk, shunter pulls Section of three compartment to building 1 in bulk, and now shunter also will promote second section compartment and advances toward lapping station place, meanwhile, second section compartment promotes first segment compartment and advances to mechanical arm 3 places.Section of three compartment is pulled to 1 place, building in bulk by shunter, departs from it, continues promotion first segment and second section compartment and arrive respectively mechanical arm 3 and lapping station place, then return to origin.So repeatedly behind more piece compartment, to the last a joint compartment arrives building 1 in bulk, loads, now also return to origin of shunter, then with the mode that promotes will before all compartments push ahead, and make all compartments all in building 1 in bulk, lapping station and mechanical arm 3 places complete operation separately.Finally leave permutation railway carriage under order loading siding, start the car loading operation of next column train.Can adopt locomotive to leave under order, also can adopt shunter to leave under order.
Should be appreciated that, above-mentioned working process is the optional mode of one corresponding to native system, and alternate manner, as each joint railway carriage connects, is driven together and advanced by shunter, and the operations such as lapping that effect shipment successively, can implement equally.
Although described the present invention and advantage thereof in detail, be to be understood that in the case of not exceeding the spirit and scope of the present invention that limited by appended claim and can carry out various changes, alternative and conversion.And the application's scope is not limited only to the specific embodiment of the described process of specification sheets, equipment, means, method and step.One of ordinary skilled in the art will readily appreciate that from disclosure of the present invention, can use carry out with the essentially identical function of corresponding embodiment described herein or obtain process, equipment, means, method or step result essentially identical with it, that existing and will be developed future according to the present invention.Therefore, appended claim is intended to comprise such process, equipment, means, method or step in their scope.
Claims (10)
1. a cargo train Load System, is characterized in that, comprising:
Building in bulk, for loading bulk freight to railway carriage;
Mechanical arm, for loading bag cargo to railway carriage;
Described building in bulk, mechanical arm set gradually along railway.
2. cargo train Load System according to claim 1, is characterized in that,
Between described building in bulk and mechanical arm, also there is Flat car device, for the bulk freight in smooth railway carriage.
3. cargo train Load System according to claim 1, is characterized in that,
Between described building in bulk and described mechanical arm, be also provided with lapping station, lay Intranet to described railway carriage.
4. cargo train Load System according to claim 1, is characterized in that,
The both sides of described railway are provided with pedestal, and described mechanical arm is arranged on described pedestal;
The bottom-to-top-height of described mechanical arm and described pedestal is higher than the height of described railway carriage.
5. cargo train Load System according to claim 4, is characterized in that,
Described railway both sides are provided with a described pedestal, each described pedestal equal intervals arranges three described mechanical arms, and, in the direction of extending along described railway, be arranged on the mechanical arm on described railway one side group seat, stagger each other with the mechanical arm on described railway opposite side pedestal.
6. cargo train Load System according to claim 4, is characterized in that,
The every side in described railway both sides at least arranges three pedestals, a described mechanical arm is set on each described pedestal, in the direction of extending along railway, be arranged on the mechanical arm on described railway one side group seat, stagger each other with the mechanical arm on described railway opposite side pedestal.
7. according to the cargo train Load System described in claim 4-6 any one, it is characterized in that,
Described mechanical arm has adapter shaft, connecting arm and handgrip; Wherein,
Described adapter shaft is perpendicular to described pedestal, and one end is connected with described pedestal is rotatable;
One end of described connecting arm is connected away from one end pivotable of described pedestal with described adapter shaft;
Described handgrip and connecting arm are rotatably connected away from one end of adapter shaft.
8. cargo train Load System according to claim 7, is characterized in that,
Described adapter shaft comprises axle bed and axis body, and described axle bed is connected with described axis body, and the described axis body axis that can be connected with described axle bed along it rotates, and described axle bed is fixedly connected with described pedestal.
9. cargo train Load System according to claim 8, is characterized in that,
Described axis body comprises fixed part, the first rotation section and the second rotation section, and described the first and second rotation sections are all articulated and connected with described fixed part;
Described the first rotation section is also hinged with the fixed end of a lever, and two arm of forces of described lever are respectively by first connecting rod and described fixed part is hinged and hinged by second connecting rod and described handgrip;
Described connecting arm is connected with described the first rotation section pivotable, and described connecting arm is also hinged by third connecting rod and described the second rotation section.
10. cargo train Load System according to claim 1, is characterized in that,
Described cargo train Load System also has:
Car card signal recognizer, described signal identifier is arranged at described building in bulk and deviates from described mechanical arm one side, be used for differentiating railway carriage type, load the quantity of bulk freight to compartment thereby control building in bulk, and control the quantity of mechanical arm to the bag cargo of compartment loading;
Marshalling facilities, the identification according to described car card signal recognizer to car types, allocates and transports described railway carriage to assigned address;
Locating and detecting device, for judging whether compartment is allocated and transported to assigned address;
Coder, controls described marshalling facilities and allocates and transports the distance that described railway carriage moves;
Car-loading control system, controls described building in bulk, mechanical arm and described lapping station and starts or quit work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410037893.7A CN103922160B (en) | 2014-01-26 | 2014-01-26 | Cargo train Load System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410037893.7A CN103922160B (en) | 2014-01-26 | 2014-01-26 | Cargo train Load System |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103922160A true CN103922160A (en) | 2014-07-16 |
| CN103922160B CN103922160B (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410037893.7A Expired - Fee Related CN103922160B (en) | 2014-01-26 | 2014-01-26 | Cargo train Load System |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911655A (en) * | 2019-04-30 | 2019-06-21 | 南京斯杩克机器人技术有限公司 | A kind of material loading system |
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| US4135631A (en) * | 1977-05-31 | 1979-01-23 | Franz Plasser Bahnbaumaschinen-Industriegesellschaft M.B.H. | Freight train |
| JP2006151595A (en) * | 2004-11-30 | 2006-06-15 | Tcm Corp | Bulk material loading vehicle |
| CN200942994Y (en) * | 2006-08-25 | 2007-09-05 | 赵永胜 | Compartment top material flatter |
| CN101853011A (en) * | 2010-05-26 | 2010-10-06 | 山东莱芜煤矿机械有限公司 | Quickly ration loading system |
| CN102756928A (en) * | 2012-07-18 | 2012-10-31 | 哈尔滨博实自动化股份有限公司 | Method and device for automatic cargo loading |
| CN202594423U (en) * | 2012-05-17 | 2012-12-12 | 大连华锐重工集团股份有限公司 | Railway open-wagon loading system |
| CN203781393U (en) * | 2014-01-26 | 2014-08-20 | 交通运输部水运科学研究所 | Freight train loading system |
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2014
- 2014-01-26 CN CN201410037893.7A patent/CN103922160B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4135631A (en) * | 1977-05-31 | 1979-01-23 | Franz Plasser Bahnbaumaschinen-Industriegesellschaft M.B.H. | Freight train |
| JP2006151595A (en) * | 2004-11-30 | 2006-06-15 | Tcm Corp | Bulk material loading vehicle |
| CN200942994Y (en) * | 2006-08-25 | 2007-09-05 | 赵永胜 | Compartment top material flatter |
| CN101853011A (en) * | 2010-05-26 | 2010-10-06 | 山东莱芜煤矿机械有限公司 | Quickly ration loading system |
| CN202594423U (en) * | 2012-05-17 | 2012-12-12 | 大连华锐重工集团股份有限公司 | Railway open-wagon loading system |
| CN102756928A (en) * | 2012-07-18 | 2012-10-31 | 哈尔滨博实自动化股份有限公司 | Method and device for automatic cargo loading |
| CN203781393U (en) * | 2014-01-26 | 2014-08-20 | 交通运输部水运科学研究所 | Freight train loading system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109911655A (en) * | 2019-04-30 | 2019-06-21 | 南京斯杩克机器人技术有限公司 | A kind of material loading system |
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| CN103922160B (en) | 2016-08-17 |
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