CN105347051A - Stacking and unstacking machine for transferring pallets for autoclaved aerated concrete products - Google Patents
Stacking and unstacking machine for transferring pallets for autoclaved aerated concrete products Download PDFInfo
- Publication number
- CN105347051A CN105347051A CN201510821918.7A CN201510821918A CN105347051A CN 105347051 A CN105347051 A CN 105347051A CN 201510821918 A CN201510821918 A CN 201510821918A CN 105347051 A CN105347051 A CN 105347051A
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- transferring pallet
- frame
- vertical lifting
- drive
- hook
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
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- Load-Engaging Elements For Cranes (AREA)
Abstract
Disclosed is a stacking and unstacking machine for transferring pallets for autoclaved aerated concrete products. The stacking and unstacking machine comprises a rack, a horizontal traveling mechanism, a vertical lifting mechanism and a gripping mechanism, wherein the horizontal traveling mechanism is disposed on the rack; the vertical lifting mechanism is disposed on the horizontal traveling mechanism; the gripping mechanism is disposed at the lower end of the vertical lifting mechanism; the horizontal traveling mechanism can drive the vertical lifting mechanism to move horizontally; the vertical lifting mechanism can drive the gripping mechanism to ascend or descend; the gripping mechanism is used for gripping and releasing the transferring pallets; the vertical lifting mechanism comprises a winding drum and four steel wire ropes which are wound on the winding drum; one end of each steel wire rope is connected with the winding drum, and the other ends of the steel wire ropes are correspondingly connected with the four corners of a gripping rack in the gripping mechanism respectively; the winding drum is driven through a lifting driving device; four gripping hooks are disposed on the lower end face of the gripping rack; the four gripping hooks can simultaneously clamp or release the transferring pallets. The production efficiency is high, the maintaining cost is low, and the demand for automatic safe production can be met.
Description
Technical field
The present invention relates to a kind of walling production of articles machinery, especially relate to a kind of steam pressurized foam concrete transferring pallet heap and unload the goods from the airplane.
Background technology
Steam pressurized foam concrete of the prior art (autoclave aerated concrete building block or sheet material etc.) transferring pallet (below some local abbreviation transferring pallet) is the placement of dispersion caravel in whole production line.Because the whole production cycle cycle of steam pressurized foam concrete is long, make whole manufacturing line take up an area space greatly, production efficiency is low.In addition, the most floor area of this kind of transferring pallet is larger, length is many on 4 meters, weight is also many on 1 ton, heavy transferring pallet like this can steadily, synchronous safety to be lifted by crane and transport be the difficult point that such transferring pallet carries out piling and destacking, traditional hoisting crane easily produces both sides and promotes nonsynchronous phenomenon in operational process, and the danger that transferring pallet is tumbled even occurs, and therefore cannot carry out piling and unload stamping to such transferring pallet in prior art always.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of steam pressurized foam concrete transferring pallet heap and unloading the goods from the airplane, the safe piling to steam pressurized foam concrete transferring pallet and destacking can be realized.
The present invention in order to solve the problems of the technologies described above adopted technical scheme is: a kind of steam pressurized foam concrete transferring pallet heap unloads the goods from the airplane, comprise frame, horizontal running mechanism, vertical lifting mechanism, grasping mechanism and control setup, horizontal running mechanism is arranged in frame, vertical lifting organization establishes is on horizontal running mechanism, grasping mechanism is arranged on the lower end of vertical lifting mechanism, under control of the control means, horizontal running mechanism can drive vertical lifting mechanism to move horizontally in frame, vertical lifting mechanism can drive grasping mechanism to be elevated, grasping mechanism is used for capturing transferring pallet and discharging,
Described vertical lifting mechanism comprises reel and the four piece steel ropes of winding on reel, one end of four steel ropes is fixedly connected with reel respectively, be connected to downward-extension is corresponding with four bights of grasping mechanism respectively after the other end walks around respective track adjusting wheel, reel is driven by lifting drive and rotates;
Described grasping mechanism is provided with the crawl frame of a shaped as frame, the lower end of four steel ropes is corresponding with four bights capturing frame to be respectively connected, the lower surface capturing frame is provided with rotating rotating shaft II, the two ends of rotating shaft II are respectively equipped with a double swing-bar, two double swing-bars are symmetrical arranged, the middle part of double swing-bar is fixedly connected with rotating shaft II, the two ends of double swing-bar are hinged with one end of respective connecting rod respectively, the other end of connecting rod is hinged with corresponding grapple, grapple is hinged with crawl frame simultaneously, rotating shaft II is promoted by the first thrust unit by rocking bar, thus drive two double swing-bars to swing simultaneously, final drive four grapples clamp transferring pallet simultaneously or discharge transferring pallet simultaneously.
Further, described reel is two, and it shares same rotating shaft I, and rotating shaft I is rotatably arranged on walker, each reel is arranged with two steel ropes, two steel ropes around on the contrary; Rotating shaft I is driven by lifting drive and rotates.
Further, walker is also provided with safety anti-falling mechanism, safety anti-falling mechanism comprises the second thrust unit and anti-off the hook, one end of second thrust unit and anti-off the hook is hinged with walker respectively, the clutch end of the second thrust unit and the other end of anti-off the hook are hinged, under the effect of the second thrust unit, anti-off the hook is swingable hooks grasping mechanism or unclamps grasping mechanism.
Further, crawl frame is fixed with locating dowel pin, is provided with knock hole in the corresponding position of walker, when grasping mechanism is sling near horizontal running mechanism by vertical lifting mechanism, locating dowel pin enters corresponding knock hole and is fixed location to grasping mechanism.
Further, the transferring pallet detecting device for transmitting detectable signal to control setup is provided with in the lower surface capturing frame.
Further, be also provided with steel wire rope looseness detecting device, described steel wire rope looseness detecting device comprises jaw type bolt, detection hook, bearing pin and Electrical Testing element; The pincer end of jaw type bolt is fixedly connected with steel rope, the screw rod end of jaw type bolt is threaded with detection hook, detection hook is capturing on frame by hinge, when steel wire rope looseness, detection hook can rotate around bearing pin, and Electrical Testing element is used for sending the rotational angle signal of detection hook to control setup.
Further, described horizontal running mechanism comprises walker and travel driving unit, road wheel is respectively equipped with in four ends of walker, road wheel and parallel interval two guide rails be located in frame coordinate to be installed, and travel driving unit drives a pair road wheel wherein to drive whole horizontal running mechanism to carry out parallel motion along guide rail by transmission shaft.
Further, described travel driving unit is motor and speed reducer integrative-structure, and reductor is wherein coaxial dual output structure, and the transmission shaft be connected between reductor and corresponding road wheel is universal drive shaft.
Beneficial effect:
According to the present invention, under control of the control means, horizontal shift structure, vertical lifting structure and handgrip mechanism cooperate mutually, by being elevated transferring pallet and parallel motion operation, can complete the stacking to transferring pallet or destacking work fast.
The present invention's four steel ropes can lift by crane four bights capturing frame simultaneously, four hooks synchronously can be firmly grasped transferring pallet, thus the safety and steady lifting that can realize transferring pallet and parallel motion, final realization is to the stacking of the highly effective and safe of transferring pallet and destacking.
Further, the setting of safety anti-falling mechanism can make horizontal running mechanism parallel motion safely and fast, avoids transferring pallet to tumble the generation of the accident of dropping.
The present invention is simple and compact for structure, and production efficiency is high, and maintenance cost is low.Effectively can reduce transferring pallet repetition period on a production line and also can reduce to take up an area space, the needs of automated safe production can be met, coordinate with transferring pallet travel line the automatic cycle that can realize transferring pallet to reclaim function.
Below in conjunction with the drawings and specific embodiments, concrete detailed description is further done to the present invention.
Accompanying drawing explanation
Fig. 1 is main TV structure schematic diagram of the present invention.
Fig. 2 is the birds-eye view of Fig. 1.
Fig. 3 is the main TV structure schematic diagram of horizontal running mechanism.
Fig. 4 is the perspective view (simultaneously showing the state that grasping mechanism is thus lifted to end position in figure) of horizontal running mechanism.
Fig. 5 is the perspective view one (grasping mechanism being looked up to the schematic perspective view obtained) of grasping mechanism.
Fig. 6 is the perspective view two (grasping mechanism being overlooked to the schematic perspective view obtained) of grasping mechanism.
Fig. 7 is A place enlarged drawing in Fig. 6.
Fig. 8 is B place enlarged drawing in Fig. 4.
In figure, 1, frame, 101, guide rail, 2, horizontal running mechanism, 201, walker, 202, road wheel, 203, transmission shaft, 204, travel driving unit, 3, vertical lifting mechanism, 301, rotating shaft I, 302, reel, 303, steel rope, 304, track adjusting wheel, 305, lifting drive, 4, grasping mechanism, 401, capture frame, 402, rotating shaft II, 403, rocking bar, 404, double swing-bar, 405, connecting rod, 406, grapple, 407, first thrust unit, 5, transferring pallet detecting device, 6, safety anti-falling mechanism, 601, second thrust unit, 602, anti-off the hook, 7, steel wire rope looseness detecting device, 701, jaw type bolt, 702, detection hook, 703, bearing pin, 704 Electrical Testing elements, 8, baling line transferring pallet travel line, 9, store and use transferring pallet travel line, 10, line of cut transferring pallet travel line, 11, transferring pallet piles up buttress, 12, locating dowel pin.
Detailed description of the invention
As shown in the figure, a kind of steam pressurized foam concrete transferring pallet heap unloads the goods from the airplane, comprise frame 1, horizontal running mechanism 2, vertical lifting mechanism 3, grasping mechanism 4 and control setup, horizontal running mechanism 2 is arranged in frame 1, vertical lifting mechanism 3 is arranged on horizontal running mechanism 2, grasping mechanism 4 is arranged on the lower end of vertical lifting mechanism 2, under control of the control means, horizontal running mechanism 2 can drive vertical lifting mechanism 3 to move horizontally in frame 1, vertical lifting mechanism 3 can drive grasping mechanism 4 to be elevated, grasping mechanism 4 is for capturing transferring pallet and discharging.
Vertical lifting mechanism 3 comprises reel and the four piece steel ropes of winding on reel, one end of four steel ropes is fixedly connected with reel respectively, be connected to downward-extension is corresponding with four bights of grasping mechanism 4 respectively after the other end walks around respective track adjusting wheel 304, reel drives rotation by lifting drive 305;
In present embodiment, described reel is two, and as shown in Figure 2, two reels share same rotating shaft I 301, and rotating shaft I 301 is rotatably arranged on walker 201, each reel 302 is arranged with two steel ropes, 303, two steel ropes around on the contrary; Rotating shaft I 301 drives rotation by lifting drive 305.
In practical application, also can, according to the size choice for use reel will piling the transferring pallet of unloading, dividing plate be adopted reel to be separated into the version of two sections, two steel ropes that then winding direction is contrary on each section of reel at the middle part of this reel.
The lower end that grasping mechanism 4 is provided with crawl frame 401, four steel ropes 303 of a shaped as frame is corresponding with four bights capturing frame 401 to be respectively connected.
As shown in Figure 5, the lower surface capturing frame 401 is provided with rotating rotating shaft II 402, the two ends of rotating shaft II 402 are respectively equipped with a double swing-bar 404, two double swing-bars are symmetrical arranged, the middle part of double swing-bar 404 is fixedly connected with rotating shaft II 402, the two ends of double swing-bar 404 are hinged with one end of respective connecting rod 405 respectively, the other end of connecting rod 405 is hinged with corresponding grapple 406, grapple 406 is hinged with crawl frame 401 simultaneously, rotating shaft II 402 is promoted by the first thrust unit 407 by rocking bar 403, thus drive two double swing-bars 404 to swing simultaneously, final drive four grapples 406 clamp transferring pallet simultaneously or discharge transferring pallet simultaneously.
First thrust unit 407 can adopt in cylinder of the prior art, hydraulic actuating cylinder or electric pushrod any one.
Rocking bar 403 can be arranged on separately in rotating shaft II 402, also can be set to integrative-structure with one of them double swing-bar.
As shown in Figure 3, walker 201 is also provided with safety anti-falling mechanism 6, safety anti-falling mechanism 6 comprises the second thrust unit 601 and anti-off the hook 602, one end of second thrust unit 601 and anti-off the hook 602 is hinged with walker 201 respectively, the clutch end of the second thrust unit 601 and the other end of anti-off the hook 602 are hinged, under the effect of the second thrust unit 601, anti-off the hook 602 is swingable hooks grasping mechanism 4 or unclamps grasping mechanism 4.
Second thrust unit 601 can adopt in cylinder of the prior art, hydraulic actuating cylinder or electric pushrod any one.
Crawl frame 401 is fixed with locating dowel pin 12, knock hole is provided with in the corresponding position of walker 201, when grasping mechanism is sling near horizontal running mechanism by vertical lifting mechanism, locating dowel pin 12 enters corresponding knock hole and is fixed location to grasping mechanism, as shown in Figure 4 and Figure 8.
Be provided with the transferring pallet detecting device 5 for transmitting detectable signal to control setup in the lower surface capturing frame 401, when control setup receives this signal, then can control grasping mechanism action, transferring pallet can be firmly grasped by four grapples 406 simultaneously.
Crawl frame 401 is also provided with steel wire rope looseness detecting device 7, as shown in Figure 6.
Described steel wire rope looseness detecting device 7 comprises jaw type bolt 701, detection hook 702, bearing pin 703 and Electrical Testing element 704; The pincer end of jaw type bolt 701 is fixedly connected with the lower end of steel rope 303, the screw rod end of jaw type bolt 701 is threaded with detection hook 702, detection hook 702 is hinged on by bearing pin 703 and captures on frame 401, when steel rope 303 relaxes, detection hook 702 can rotate around bearing pin 703, Electrical Testing element 704 is for sending the rotational angle signal of detection hook 702 to control setup, thus control setup can control the stopping continuation decline of vertical lifting mechanism according to this detection signal.
Horizontal running mechanism 2 comprises walker 201 and travel driving unit 204, road wheel 202 is respectively equipped with in four ends of walker 201, road wheel 202 and parallel interval two guide rails 101 be located in frame 1 coordinate to be installed, and travel driving unit 204 drives a pair road wheel wherein to drive whole horizontal running mechanism 2 to carry out parallel motion along guide rail 101 by transmission shaft 203.In present embodiment, travel driving unit 204 is motor and speed reducer integrative-structure, and reductor is wherein coaxial dual output structure, and the transmission shaft 203 be connected between reductor and corresponding road wheel is universal drive shaft.
Horizontal running mechanism 2 also can be of the prior art any one.Such as: slide block can be set in four of a walker bight, adopt the mode of cog belt transmission, the two ends of cog belt are fixed on walker, apply corresponding travel driving unit and drive cog belt to drive walker along slide.
Also following form can be adopted:
Walker arranges gear in frame, arranges tooth bar, tooth bar and guide rail parallel are arranged, and wheel and rack is meshed, and drive walker to move along guide rail by driven wheel.
In a word, embodiment described herein is only used to the present invention is described, it is not construed as limiting the invention.Any distortion that the basis of basic conception of the present invention is done is all within protection scope of the present invention.
The principle of work of present embodiment is as follows:
When the transferring pallet 11 on baling line transferring pallet travel line 8 is transported to immediately below grasping mechanism 4 of the present invention, lifting drive 305 drive shaft I 301 is rotated, make to be wrapped in four steel ropes 303 on two reels 302 constantly to discharge, thus drive grasping mechanism 4 to decline at vertical direction;
When being arranged on the transferring pallet detecting device 5 on grasping mechanism 4 and detecting transferring pallet 11, control setup controls lifting drive 305 to be stopped driving, the first thrust unit 407 simultaneously on grasping mechanism 4 orders about rotating shaft II 402 by rocking bar 403 and rotates thus drive double swing-bar 404 to drive grapple 406 to hook transferring pallet 11 by connecting rod 405, then, control setup controls lifting drive 305 reverse drive, steel rope 303 is made constantly to be wrapped on reel 302, thus drive grasping mechanism 4 transferring pallet 11 upwards to be promoted, when grasping mechanism 4 rises to end position, locating dowel pin 12 on the grasping mechanism knock hole corresponding on walker 201 matches and locates, the second thrust unit 601 on horizontal running mechanism 2 promotes anti-off the hook 602 and hooks grasping mechanism 4,
Then travel driving unit 204 ground-engaging wheel 202 makes horizontal running mechanism 2 carry out the movement of horizontal direction along the guide rail 101 in frame 1, after arriving the place (being the position between storage transferring pallet travel line 9 and line of cut transferring pallet travel line 10 shown in figure) of piling, grasping mechanism 4 is unclamped in anti-off the hook 602, under the driving of lifting drive 305, steel rope 303 discharges, after being put into position, grapple 406 unclamps transferring pallet 11, transferring pallet 11 is moved to piles up on buttress, completes a transferring pallet toward the stacking of piling up on buttress.
In like manner, also can unload transferring pallet from piling up buttress, being put into the place of needs, than baling line as illustrated in the drawing with on transferring pallet travel line 8, on storage transferring pallet travel line 9 or on line of cut transferring pallet travel line 10, detailed process repeats no more.
Claims (8)
1. a steam pressurized foam concrete transferring pallet heap unloads the goods from the airplane, it is characterized in that: comprise frame (1), horizontal running mechanism (2), vertical lifting mechanism (3), grasping mechanism (4) and control setup, horizontal running mechanism (2) is arranged in frame (1), vertical lifting mechanism (3) is arranged on horizontal running mechanism (2), grasping mechanism (4) is arranged on the lower end of vertical lifting mechanism (2), under control of the control means, horizontal running mechanism (2) can drive vertical lifting mechanism (3) to move horizontally in frame (1), vertical lifting mechanism (3) can drive grasping mechanism (4) to be elevated, grasping mechanism (4) is for capturing transferring pallet and discharging,
Described vertical lifting mechanism (3) comprises reel and the four piece steel ropes of winding on reel, one end of four steel ropes is fixedly connected with reel respectively, be connected to downward-extension is corresponding with four bights of grasping mechanism (4) respectively after the other end walks around respective track adjusting wheel, reel is driven by lifting drive (305) and rotates;
Described grasping mechanism (4) is provided with the crawl frame (401) of a shaped as frame, the lower end of four steel ropes is corresponding with four bights capturing frame (401) to be respectively connected, the lower surface capturing frame (401) is provided with rotating rotating shaft II (402), the two ends of rotating shaft II (402) are respectively equipped with a double swing-bar (404), two double swing-bars are symmetrical arranged, the middle part of double swing-bar (404) is fixedly connected with rotating shaft II (402), the two ends of double swing-bar (404) are hinged with one end of respective connecting rod (405) respectively, the other end of connecting rod (405) is hinged with corresponding grapple (406), grapple (406) is hinged with crawl frame (401) simultaneously, rotating shaft II (402) is promoted by the first thrust unit (407) by rocking bar (403), thus drive two double swing-bars (404) to swing simultaneously, final drive four grapples (406) clamp transferring pallet simultaneously or discharge transferring pallet simultaneously.
2. a kind of steam pressurized foam concrete transferring pallet heap according to claim 1 unloads the goods from the airplane, it is characterized in that: described reel is two, it shares same rotating shaft I (301), rotating shaft I (301) is rotatably arranged on walker (201), each reel is arranged with two steel ropes, two steel ropes around on the contrary; Rotating shaft I (301) is driven by lifting drive (305) and rotates.
3. a kind of steam pressurized foam concrete transferring pallet heap according to claim 2 unloads the goods from the airplane, it is characterized in that: on walker (201), be also provided with safety anti-falling mechanism (6), safety anti-falling mechanism (6) comprises the second thrust unit (601) and anti-off the hook (602), one end of second thrust unit (601) and anti-off the hook (602) is hinged with walker (201) respectively, the clutch end of the second thrust unit (601) and the other end of anti-off the hook (602) are hinged, under the effect of the second thrust unit (601), anti-off the hook (602) is swingable hooks grasping mechanism (4) or unclamps grasping mechanism (4).
4. a kind of steam pressurized foam concrete transferring pallet heap according to any one of claim 1-3 unloads the goods from the airplane, it is characterized in that: in crawl frame (401), be fixed with locating dowel pin (12), knock hole is provided with in the corresponding position of walker (201), when grasping mechanism (4) is sling near horizontal running mechanism (2) by vertical lifting mechanism (3), locating dowel pin (12) enters corresponding knock hole and is fixed location to grasping mechanism (4).
5. a kind of steam pressurized foam concrete transferring pallet heap according to any one of claim 1-3 unloads the goods from the airplane, and it is characterized in that: be provided with the transferring pallet detecting device (5) for transmitting detectable signal to control setup in the lower surface capturing frame (401).
6. a kind of steam pressurized foam concrete transferring pallet heap according to any one of claim 1-3 unloads the goods from the airplane, it is characterized in that: be also provided with steel wire rope looseness detecting device (7), described steel wire rope looseness detecting device (7) comprises jaw type bolt (701), detection hook (702), bearing pin (703) and Electrical Testing element (704); The pincer end of jaw type bolt (701) is fixedly connected with steel rope (303), the screw rod end of jaw type bolt (701) is threaded with detection hook (702), detection hook (702) is hinged on by bearing pin (703) and captures on frame (401), when steel rope (303) is lax, detection hook (702) can be rotated around bearing pin (703), and Electrical Testing element (704) is for sending the rotational angle signal detecting hook (702) to control setup.
7. a kind of steam pressurized foam concrete transferring pallet heap according to any one of claim 1-3 unloads the goods from the airplane, it is characterized in that: described horizontal running mechanism (2) comprises walker (201) and travel driving unit (204), road wheel (202) is respectively equipped with in four ends of walker (201), road wheel (202) and parallel interval two guide rails (101) be located in frame (1) coordinate installs, travel driving unit (204) drives a pair road wheel wherein to drive whole horizontal running mechanism (2) to carry out parallel motion along guide rail (101) by transmission shaft (203).
8. a kind of steam pressurized foam concrete transferring pallet heap according to claim 7 unloads the goods from the airplane, it is characterized in that: described travel driving unit (204) is motor and speed reducer integrative-structure, reductor is wherein coaxial dual output structure, and the transmission shaft (203) be connected between reductor and corresponding road wheel is universal drive shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510821918.7A CN105347051B (en) | 2015-11-24 | 2015-11-24 | A kind of steam pressurized foam concrete is unloaded the goods from the airplane with transferring pallet heap |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510821918.7A CN105347051B (en) | 2015-11-24 | 2015-11-24 | A kind of steam pressurized foam concrete is unloaded the goods from the airplane with transferring pallet heap |
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| CN105347051A true CN105347051A (en) | 2016-02-24 |
| CN105347051B CN105347051B (en) | 2017-08-25 |
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| CN106379746A (en) * | 2016-11-18 | 2017-02-08 | 山东爱而生智能科技有限公司 | Ceramic tile transferring and stacking method and system based on pallets |
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| CN107055108A (en) * | 2017-06-09 | 2017-08-18 | 福建海源自动化机械股份有限公司 | Point pile induction system automatically of air-entrained concrete building block pallet |
| CN107226346A (en) * | 2017-08-02 | 2017-10-03 | 芜湖富创新型建材有限公司 | A kind of conveyer of aerated blocks |
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| CN111994393B (en) * | 2020-07-15 | 2022-02-11 | 扬州中欧工业机器人有限公司 | Packaging bag grabbing and discharging mechanism and grabbing and discharging method thereof |
| WO2022012105A1 (en) * | 2020-07-15 | 2022-01-20 | 扬州中欧工业机器人有限公司 | Packaging bag grasping and unloading mechanism and grasping and unloading method therefor |
| CN111847009A (en) * | 2020-07-17 | 2020-10-30 | 扬州中欧工业机器人有限公司 | Automatic unloading and feeding system and unloading and feeding method |
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