CN108305379A - Delivery apparatus and its control device and self-service device - Google Patents
Delivery apparatus and its control device and self-service device Download PDFInfo
- Publication number
- CN108305379A CN108305379A CN201710019364.8A CN201710019364A CN108305379A CN 108305379 A CN108305379 A CN 108305379A CN 201710019364 A CN201710019364 A CN 201710019364A CN 108305379 A CN108305379 A CN 108305379A
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- CN
- China
- Prior art keywords
- limiting plate
- article
- delivery apparatus
- limit assembly
- test section
- Prior art date
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Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B81/00—Cabinets or racks specially adapted for other particular purposes, e.g. for storing guns or skis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
- B65D25/10—Devices to locate articles in containers
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention provides a kind of delivery apparatus and control device and self-service device, is related to automation field, including rack, the platform that is flexibly connected with rack, further includes the centering body for being installed on rack；Centering body includes the first limit assembly and the second limit assembly, first limit assembly includes the first limiting plate, second limit assembly includes the second limiting plate, platform is set between the first limiting plate and the second limiting plate, first limiting plate and the second limiting plate can synchronous backward movement simultaneously close to platform, keep the article being placed on platform placed in the middle.The deflection that delivery apparatus provided by the invention there is technical issues that when alleviating article in the related technology due to being placed on platform causes to be detached from moving process.
Description
Technical field
The present invention relates to automation fields, and in particular to a kind of delivery apparatus and its control device and self-service device.
Background technology
With the development of society, the self-service devices such as Self-help vending machine, self-service express delivery cabinet are not due to by time, place
It limits, save manpower, facilitate the features such as transaction, application more and more extensive.This self-service device generally includes cabinet, is arranged in machine
Article-storage device, delivery apparatus inside cabinet and driving device, wherein the surface of cabinet is provided with access port, article-storage device
Including multiple bins for storage article；Delivery apparatus is used for delivering article, driving device between access port and bin
In the horizontal direction and/or vertical direction movement in driving delivery apparatus, so that delivery apparatus and access port or setting position
Bin is opposite, and when delivery apparatus is opposite with access port, article can be placed on by access port on delivery apparatus, when delivery apparatus with
When the bin of setting position is opposite, delivery apparatus can send article in the bin or delivery apparatus is by the object in the bin
After product take out, send to access port.
Wherein, delivery apparatus includes the platform for being used to support article, the vertical shift that moves along the vertical direction of driving platform
Mechanism, and the horizontal mobile mechanism that moves along the longitudinal direction of driving platform, when delivery apparatus is opposite with access port, Yong Hutong
Access port to be crossed to place items on platform, driving device drives delivery apparatus movement, keeps it opposite with the bin of setting position,
Vertical shift mechanism driving platform moves upwards, and article is lifted, and then horizontal mobile mechanism driving platform is inserted into the bin,
Vertical shift mechanism drives platform to move down again, places items on the supporting plate in bin, final level mobile mechanism
Platform is driven to retract.The problem of this delivery apparatus, is, since article is that user is manually placed on platform, what article was placed
There may be deflection in the middle part of position opposed platforms, when platform is along the vertical direction or when front-rear direction moves, by gravity, article
It is possible that being detached from platform, equipment fault is caused.
Invention content
The purpose of the present invention is to provide a kind of delivery apparatus and control devices and self-service device, to alleviate in the related technology
Due to article place deflection cause it is mobile during article be detached from platform the technical issues of.
First aspect present invention provides a kind of delivery apparatus, including rack, the platform that is flexibly connected with rack, further includes pacifying
Centering body loaded on rack；Centering body includes the first limit assembly and the second limit assembly, and the first limit assembly includes the
One limiting plate, the second limit assembly include the second limiting plate, and platform is set between the first limiting plate and the second limiting plate, and first
Limiting plate and the second limiting plate can synchronous backward movement simultaneously close to platform, keep the article being placed on platform placed in the middle.
Further, delivery apparatus further includes testing agency, and testing agency includes the first detection components and the second detection group
Part；First detection components are set to the first limit assembly, for detect the first limiting plate whether with article contacts, the second detection group
Part is set to the second limit assembly, for detect the second limiting plate whether with article contacts.
Further, the first detection components include first sensor and the first test section；First sensor and the first limit
Component is fixedly connected, the position for detecting the first test section；First test section is connect with the first limit assembly, and opposite first
Limiting plate has initial position and retracted position；When the first test section is in initial position, the first test section stretches out in first
Limiting plate；When the first test section is in retracted position, the first test section is retracted the first limiting plate；
Second detection components include second sensor and the second test section；Second sensor is fixed with the second limit assembly to be connected
It connects, the position for detecting the second test section；Second test section is connect with the second limit assembly, and opposite second limiting plate has
Initial position and retracted position；When the second test section is in initial position, the second test section stretches out in the second limiting plate；When
When two test sections are in retracted position, the second test section is retracted the second limiting plate.
Further, the first detection components further include first rotating shaft, and the first test section passes through first rotating shaft and the first limit
Member hinges, and the first test section can be rotated around the axis of first rotating shaft and be cut between initial position and retracted position with realizing
It changes；Second detection components further include the second shaft, and the second test section is hinged by the second shaft and the second limit assembly, and second
Test section can be rotated around the axis of the second shaft to be switched with realizing between initial position and retracted position.
Further, the first detection components are symmetrical arranged with the second detection components about platform.
Further, centering body further includes motor and transmission component；Motor is fixed on rack, for driving transmission component
The first limit assembly and the second limit assembly synchronous backward is driven to move.
Further, transmission component includes drive link, the first driving member and the second driving member；Motor can drive drive link around
Its own axis rotates；First driving member is fixedly connected with the first limit assembly, and the second driving member is fixed with the second limit assembly
Connection；The both ends of drive link are respectively arranged with screw thread and oppositely oriented, the threaded one end connection of the first driving member and drive link, the
Two driving members are threadedly coupled with the other end of drive link.
Further, drive link is respectively external screw thread, the first driving member and the second transmission for the screw thread of shaft-like and its both ends
Part is respectively the screw thread of tubular and the first driving member and the screw thread of the second driving member is respectively internal thread；Or, drive link is tubular
And the screw thread at its both ends is respectively internal thread, the first driving member and the second driving member be shaft-like and the screw thread of the first driving member and
The screw thread of second driving member is external screw thread.
Further, transmission component is rack pinion structure.
Further, centering body further includes guidance set, and guidance set is connect with rack, for the first limit of guiding respectively
Position plate and the second limiting plate are moved along direction initialization.
Second aspect of the present invention provides a kind of control device, for controlling above-mentioned delivery apparatus, including centering driving list
Member, centering judging unit and centering stop unit；Centering driving unit, the motor for controlling delivery apparatus drive delivery apparatus
The first limiting plate and the second limiting plate synchronize the platform close to delivery apparatus；Centering judging unit, for detecting delivery apparatus
The first detection components and delivery apparatus the second detection components output signal, when the first detection components export the first limiting plate
When with the detection signal of article contacts and the detection signal of the second detection components the second limiting plate of output and article contacts, judge
Article is centrally placed on platform；Centering stop unit, for after judging that article is centrally placed on platform, control motor to stop
Rotation stop is dynamic, so that the first limiting plate and the second limiting plate stop movement.
Third aspect present invention provides a kind of self-service device, including cabinet, the article-storage device being set in cabinet, driving dress
It sets, above-mentioned delivery apparatus and above-mentioned control device；The panel of cabinet has access port；Delivery apparatus is set to article-storage device
Between panel, for filling under the drive of the drive by the article delivery being put by access port to article-storage device or by storing
Interior article delivery is set to access port.
The present invention provides a kind of delivery apparatus, including rack, the platform that is flexibly connected with rack, further includes being installed on rack
Centering body；Centering body includes the first limit assembly and the second limit assembly, and the first limit assembly includes the first limiting plate,
Second limit assembly includes the second limiting plate, and platform is set between the first limiting plate and the second limiting plate, passes through the first limit
Plate and the movement of the second limiting plate synchronous backward keep the article being placed on platform placed in the middle simultaneously close to platform.Therefore, the present invention provides
Delivery apparatus avoid in platform motion process and asked by what is fallen off on platform there are deflection since article is placed on platform
Topic.
Further, due to being provided with testing agency on centering body, the first limiting plate and the second limit are able to detect that
Position plate and article contacts, therefore the first limiting plate and the stopping movement of the second limiting plate can be controlled in time, avoid the first limit
The problem of plate and the second limiting plate press from both sides bad article.
Description of the drawings
Fig. 1 is the structural schematic diagram of delivery apparatus according to an embodiment of the invention；
Fig. 2 is the cross-sectional view of the structure of delivery apparatus according to an embodiment of the invention；
Fig. 3 is the structural schematic diagram of the first detection components of delivery apparatus according to an embodiment of the invention；
Fig. 4 is the structural schematic diagram of delivery apparatus according to another embodiment of the present invention；
Fig. 5 is the module composition schematic diagram of the control device of delivery apparatus according to an embodiment of the invention；
Fig. 6 is the appearance diagram of self-service device according to an embodiment of the invention；
Fig. 7 is the internal structure schematic diagram of self-service device according to an embodiment of the invention.
In figure：1- racks；2- platforms；3- centering bodies；4- testing agencies；11- left walls；12- right walls；13- is pushed up
Wall；15- support plates；16- directing plates；18- supporting racks；151- left support plates；152- right support plates；The left guiding of 161-
Plate；The first side plates of 181-；182- connecting plates；The second side plates of 183-；31- motors；32- transmission components；33- first is limited
Component；The second limit assemblies of 34-；321- drive links；The first driving members of 322-；The second driving members of 323-；324- gears
Group；The first supporting racks of 331-；The first limiting plates of 332-；The second supporting racks of 341-；The second limiting plates of 342-；35- first is led
To component；The second guidance sets of 36-；351- retaining elements；352- moving elements；361- retaining elements；362- movement members
Part；The first detection components of 41-；The second detection components of 42-；411- first sensors；The first test sections of 412-；413-
One shaft；The first elastic elements of 414-；421- second sensors；The second test sections of 422-；The second shafts of 423-；424-
Second elastic element；402- centering driving units；404- centering judging units；406- centering stop units；100- cabinets；
200- article-storage devices；300- delivery apparatus；101- panels；102- access ports；201- bins；202- supporting plates.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ", only
For descriptive purposes, it is not understood to indicate or imply relative importance.Wherein, term " first position " and " second position "
For two different positions.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In embodiments of the present invention, unless limited otherwise, term " left and right directions " refers to the side of ab arrows meaning in Fig. 1
To term " front-rear direction " refers to the direction of cd arrows meaning in Fig. 1, and term " upper and lower directions " refers to that ef arrows are signified in Fig. 1
Direction, remaining direction, using above-mentioned direction as refer to benchmark.
Fig. 1 is the structural schematic diagram of delivery apparatus 300 according to an embodiment of the invention, and Fig. 2 is real according to the present invention one
Apply the cross-sectional view of the structure of the delivery apparatus 300 of example.
First aspect present invention provides a kind of delivery apparatus 300, includes rack 1 as shown in Figure 1 and Figure 2, movable with rack 1
The platform 2 of connection further includes the centering body 3 for being installed on rack 1.Centering body 3 is limited including the first limit assembly 33 and second
Hyte part 34, the first limit assembly 33 include the first limiting plate 332, and the second limit assembly 34 includes the second limiting plate 342, platform
2 are set between the first limiting plate 332 and the second limiting plate 342, and the first limiting plate 332 can be synchronous anti-with the second limiting plate 342
To mobile while close platform 2, keep the article being placed on platform 2 placed in the middle.
Synchronous backward moves close to platform 2 to above-mentioned the first limiting plate 332 and the second limiting plate 342 in left-right direction, makes
Center line of the article in left-right direction relative to platform 2 being placed on platform 2 is placed in the middle.
A kind of delivery apparatus, including rack 1, the platform 2 that is flexibly connected with rack 1, further include the centering for being installed on rack 1
Mechanism 3；Centering body 3 includes the first limit assembly 33 and the second limit assembly 34, and platform 2 is located at the first limit assembly 33 and the
Between two limit assemblies 34, the orientation of the first limit assembly 33 and the second limit assembly 34 and the median perpendicular of platform 2 and
It is parallel with the loading end of platform, the first limit assembly 33 and the second limit assembly 34 can along the median perpendicular with platform 2 and with it is flat
The direction synchronous backward that the loading end of platform 2 is parallel moves, and the article placed on platform is placed in the middle.
Wherein, rack 1 includes supporting rack 18, and supporting rack 18 includes the first side plate 181, connecting plate 182 and the second side plate
183, wherein the parallelly interval setting in left-right direction of both the first side plate 181 and the second side plate 183, connecting plate 182 is vertically
It is connected between the first side plate 181 and the second side plate 183；Platform 2 is rectangle tabular structure, and the length of platform 2 is along front and back
To extension, upper surface is used to support article, and platform 2 is flexibly connected with rack 1, can be past along the vertical direction relative to rack 1
It returns mobile first setpoint distance and/or moves back and forth the second setpoint distance along the longitudinal direction.
The embodiment of the present invention provides a kind of delivery apparatus 300, including rack 1, the platform 2 that is flexibly connected with rack 1, also wraps
Include the centering body 3 for being installed on rack 1；Centering body 3 includes the first limit assembly 33 and the second limit assembly 34, the first limit
Component 33 includes the first limiting plate 332, and the second limit assembly 34 includes the second limiting plate 342, and platform 2 is set to the first limiting plate
332 and second between limiting plate 342, by the first limiting plate 332 and the movement of 342 synchronous backward of the second limiting plate simultaneously close to flat
Platform 2 keeps the article being placed on platform 2 placed in the middle；It avoids and exists since article is placed on platform 2 in 2 motion process of platform
Deflection and the problem of fallen off by platform 2.
Centering body 3 is mounted in rack 1, the position for adjusting the article being placed on platform 2, so that the article edge
Left and right directions opposed platforms 2 are placed centrally.Centering body 3 includes motor 31, transmission component 32, the first limit assembly 33 and second
Limit assembly 34, wherein motor 31 is fixedly mounted on rack 1, for driving transmission component 32 to drive 33 He of the first limit assembly
Second limit assembly, 34 synchronous backward moves；Specifically, motor 31 is fixed on the second side plate 183；Transmission component 32 is used for will
The power that motor 31 exports passes to the first limit assembly 33 and the second limit assembly 34；First limit assembly 33 and second limits
Component 34 is located at the left and right sides of platform 2, is flexibly connected with rack 1 by transmission component 32, when the output shaft of motor 31
When rotation, can making the first limit assembly 33 and the second limit assembly 34 by transmission component 32, synchronous backward moves in left-right direction
It is dynamic, while close or separate platform 2.
Transmission component 32 includes drive link 321, the first driving member 322 and the second driving member 323, wherein drive link 321
Length direction extends in left-right direction, and 321 vertical support of drive link is in the first side plate 181 of supporting rack 18 and the second side plate
On 183, left and right ends are respectively arranged with oppositely oriented screw thread, and drive link 321 is sequentially connected with motor 31, and motor 31 can drive
Dynamic drive link 321 is rotated around its own axis, when the output shaft of motor 31 is along first direction or opposite with first direction second
When direction rotates, drive link 321 can be driven to be rotated synchronously around own axes；First driving member 322 and the first limit assembly 33
It is fixedly connected, the second driving member 323 is fixedly connected with the second limit assembly 34, and the both ends of drive link 321 are respectively arranged with screw thread
And it is oppositely oriented, the first driving member 322 is connect with the threaded one end of drive link 321, the second driving member 323 and drive link 321
The other end is threadedly coupled.Specifically, the first driving member 322 and the second driving member 323 are both provided with screw thread along respective axial direction, and
The left end of first driving member 322 and drive link 321 is connected through a screw thread cooperation；The right end of second driving member 323 and drive link 321
It is connected through a screw thread cooperation.
When motor 31 drives drive link 321 to rotate, the first driving member 322 and the second driving member 323 can be made along drive link
321 length direction synchronous backward movement can drive the since the length direction of drive link 321 extends in left-right direction
Synchronous backward moves in left-right direction for one limit assembly 33 and the second limit assembly 34.Wherein, when the output shaft of motor 31 is along
When one direction rotates, the rotation of drive link 321 drive the first driving member 322 and the second driving member 323 in left-right direction simultaneously to by
The direction movement of nearly platform 2, to drive the first limit assembly 33 and the second limit assembly 34 simultaneously close to platform 2；Work as motor
When 31 output shaft is rotated in a second direction, the rotation of drive link 321 drives the first driving member 322 and the second driving member 323 along a left side
Right direction is moved to the direction far from platform 2 simultaneously, to drive the first limit assembly 33 and the second limit assembly 34 remote simultaneously
From platform 2.
It should be noted that drive link 321 can be sequentially connected by gear set 324 or transmission belt with motor 31, this reality
It applies in example, drive link 321 is sequentially connected by gear set 324 and motor 31, and gear set 324 includes multiple engagement connection gears,
First gear in the gear of multiple engagement connections is fixedly attached on the output shaft of motor 31, the gear of multiple engagement connections
In the last one be fixedly attached on drive link 321, when motor 31 output shaft rotation when, can be driven by gear set 324
Drive link 321 rotates synchronously.
It should be noted that drive link 321 is shaft-like in the present embodiment, left and right ends are provided with external screw thread, correspondingly,
First driving member 322 and the second driving member 323 are tubular, respective to be internally provided with internal thread.In other realities of the present invention
It applies in example, drive link 321 is tubular, and left and right ends are provided with internal thread, correspondingly, the transmission of the first driving member 322 and second
Part 323 is shaft-like, and respective outside is provided with external screw thread.
It should be noted that in other embodiment provided by the invention, transmission component 32 can also use rack-and-pinion
Drive mechanism, transmission component 32 include gear and engage two racks of connection with gear, and two racks are arranged in parallel in gear
Both sides, and relative to the central point central symmetry of gear.Wherein, gear is sequentially connected with motor 31, in the driving of motor 31
Under can be around own axis；The length of two racks extends in left-right direction, one in two racks and the first limit
Component 33 connects, another in two racks is connect with the second limit assembly 34, when 31 sliding tooth wheel of motor rotates, can be led to
Cross two rack drives the first limit assemblies 33 and the movement of 34 synchronous backward of the second limit assembly.
Above-mentioned transmission component 32 can also use the form of ball-screw.
First limit assembly 33 includes the first supporting rack 331 and the first limiting plate 332, wherein the first supporting rack 331 and the
One driving member 322 is fixedly connected, and the first limiting plate 332 is fixedly connected with the first supporting rack 331, the length of the first limiting plate 332
Extend along the longitudinal direction, plate face is arranged perpendicular to the upper surface of platform 2；Second limit assembly 34 includes the second supporting rack 341
With the second limiting plate 342, wherein the second supporting rack 341 is fixedly connected with the second driving member 323, the second limiting plate 342 and second
Supporting rack 341 is fixedly connected, and the length of the second limiting plate 342 extends along the longitudinal direction, and plate face is perpendicular to the upper surface of platform 2
Setting.Article is collectively formed in platform 2, the first limiting plate 332 positioned at 2 left and right sides of platform and 342 three of the second limiting plate
Accommodation space can adjust accommodation space by adjusting the spacing of the first limiting plate 332 and the second limiting plate 342 between the two
Width in left-right direction.
When motor 31 drives transmission component 32 that the first driving member 322 and 323 synchronous backward of the second driving member is driven to move,
Synchronous backward moves therewith for first limiting plate 332 and the second limiting plate 342, while closer or far from platform 2, wherein when first
Limiting plate 332 and the second limiting plate 342 are when distance is maximum between the two, both the first limit assembly 33 and the second limit assembly 34
It is respectively positioned on initial position, the distance of the first limiting plate 332 and the second limiting plate 342 between the two is transmitted with delivery apparatus 300
The full-size of article is adapted；When distance is minimum between the two for the first limiting plate 332 and the second limiting plate 342, the first limit
Hyte part 33 and the second limit assembly 34 are both located at extreme position, 342 the two of the first limiting plate 332 and the second limiting plate
Between the minimum dimension of article that transmits of spacing and delivery apparatus 300 be adapted.
Preferably, when platform 2 is moved to extreme higher position along the vertical direction, the first limiting plate 332 and the second limiting plate 342
The lower edge of the two is below the upper surface of platform 2, therefore, even if the article placed on platform 2 is very thin, the first limiting plate 332
Still the article can be pushed to be centrally placed on platform 2 by the left and right sides of platform 2 with the second limiting plate 342.
Further, delivery apparatus 300 further includes testing agency 4.
Testing agency 4 includes the first detection components 41 and the second detection components 42, wherein the setting of the first detection components 41 exists
On first limit assembly 33, for detect first limiting plate 332 whether with article contacts, the second detection components 42 setting exists
On second limit assembly 34, for detect second limiting plate 342 whether with article contacts.
Preferably, the first detection components 41 are used to detect whether first limiting plate 332 to completely attach to article, the
Two detection components 42 for detecting whether second limiting plate 342 completely attaches to article, wherein when the first limiting plate 332 with
When article completely attaches to, the first limiting plate 332 is parallel with the side of article, when the second limiting plate 342 is completely attached to article,
Second limiting plate 342 is parallel with the side of article.
Fig. 3 is the structural schematic diagram of the first detection components 41 of delivery apparatus 300 according to an embodiment of the invention, is such as schemed
Shown in 3, the first detection components 41 include first sensor 411, the first test section 412, first rotating shaft 413 and the first elasticity
Element 414, wherein first sensor 411 is fixedly connected with the first supporting rack 331, the position for detecting the first test section 412
It sets；First test section 412 is flexibly connected with the first limit assembly 33, and opposite first limiting plate 332 has initial position and retraction
Position.Specifically, the first test section 412 is hinged by first rotating shaft 413 and the first limit assembly, and more specifically, the first detection
Portion 412 is hinged by first rotating shaft 413 and the first supporting rack 331, and the first test section 412 can be rotated around first rotating shaft 413, with
Realization switches between initial position and retracted position.Wherein, when the first test section 412 is located at initial position, the first detection
Portion 412 stretches out in first limiting plate 332, i.e. the first test section 412 passes through the opening on the first limiting plate 332 to put in receiving
Space setpoint distance, at this time the first test section 412 detached with first sensor 411, first sensor 411 export the first signal；
When the first test section 412 is located at retracted position, the first test section 412 is retracted the first limiting plate 332, i.e. the first test section 412
Accommodation space is exited, the first test section 412 coordinates with first sensor 411 at this time, and first sensor 411 exports second signal；
One end of first elastic element 414 is connect with the first test section 412, and the other end is connect with the first supporting rack 331, in the first elasticity
Under the action of the elastic force of element 414, the first test section 412 has the movement tendency rotated to initial position always.Preferably,
When the first test section 412 is located at initial position, the part that the first test section 412 puts in accommodation space is plate-like, and is parallel to
The plate face of first limiting plate 332 is arranged, and the contact area that can increase by the first test section 412 and article is arranged such.
Wherein, the first test section 412 can be shrapnel.
Second detection components 42 and the first detection components 41 are symmetrical arranged about platform 2, specifically, the second detection components 42
It is symmetrical arranged about the widthwise central of platform 2 in left-right direction with the first detection components 41.Second detection components 42 include second
Sensor 421, the second test section 422, the second shaft 423 and the second elastic element 424, wherein second sensor 421 with
Second limit assembly 34 is fixedly connected, specifically, second sensor 421 is fixedly connected with the second supporting rack 341, the second test section
422 are flexibly connected with the second limit assembly 34, have initial position and retracted position relative to the second limiting plate 342.Specifically,
Second test section 422 is hinged by the second shaft 423 and the second limit assembly 34, and more specifically, the second test section 422 passes through the
Two shafts 423 and the second supporting rack 341 are hinged, and the second test section 422 can be rotated around the second shaft 423, to realize initial
Switch between position and retracted position.Wherein, when the second test section 422 is located at initial position, the second test section 422 stretches out in
Second limiting plate 342, i.e. the second test section 422 pass through the opening on the second limiting plate 342 to put in accommodation space setpoint distance, this
When the second test section 422 detached with second sensor 421, second sensor 421 export the first signal, when the second test section 422
When being located at retracted position, the second test section 422 is retracted the second limiting plate 342, i.e. the second test section 422 exits accommodation space, this
When the second test section 422 coordinate with second sensor 421, second sensor 421 exports second signal；Second elastic element 424
One end connect with the second test section 422, the other end is connect with the second supporting rack 341, in the elastic force of the second elastic element 424
Under the action of, the second test section 422 has the movement tendency rotated to initial position always.
It should be noted that in other embodiment provided by the invention, the first test section 412 can be relative to the first support
Frame 331 moves in parallel, and has initial position and retracted position, specifically, the first supporting rack 331 relative to the first limiting plate 332
The elongated slot that upper setting length extends in left-right direction, the first test section 412 and elongated slot are mating, can be along the length direction of elongated slot
It is mobile, switch between initial position and retracted position to realize；Second test section 422 can be relative to the second supporting rack 341
It moves in parallel, relative to the second limiting plate 342 there is initial position and retracted position to be specifically arranged on the second supporting rack 341
The elongated slot that length extends in left-right direction, the second test section 422 and elongated slot are mating, can be moved along the length direction of elongated slot,
Switch between initial position and retracted position to realize.
Above-mentioned testing agency 4 can also be another form, and testing agency 4 includes being set to the first of 2 both sides of platform
Photodetector and the second photodetector, the first photodetector are distributed in drive link side, the distribution of the second photodetector
In the other side of drive link the first photodetector of article one end face can be influenced when the first limiting plate and article contacts
Light irradiation, the first photodetector sends out the first signal, when the second limiting plate and article contacts, can influence the article other end
The light of second photodetector part of face irradiates, and the second photodetector sends out the first signal, when the first photodetector
When sending out the first signal with the second photodetector, the first limit assembly and the second limit assembly stop moving toward one another.
Further, centering body 3 further includes guidance set, and guidance set is connect with rack 1, for guiding first respectively
Limiting plate 332 and the second limiting plate 342 are moved along direction initialization.Guidance set includes the first guidance set 35 and the second guiding group
Part 36, the first guidance set 35 are arranged between the first limit assembly 33 and rack 1, and the setting of the second guidance set 36 is in the second limit
Between hyte part 34 and rack 1, guide groove and the mating guide frame of guide post may be used in two guidance sets, or
Using the guide frame of pulley and guide rail cooperation, standard component can also be used, such as sliding friction guide rail, rolling friction guide rail, bullet
Frottage guide rail, fluid friction guide rail isoline guide rail.In the present embodiment, two guidance sets are all made of linear guide rail structure.
Wherein, the first guidance set 35 is for guiding the first limit assembly 33 to move linearly in left-right direction always, and first
The retaining element 351 of guidance set 35 is fixedly connected with rack 1, and length extends in left-right direction, the first guidance set 35
Moving element 352 is fixedly connected with the first supporting rack 331, when motor 31 drives 33 He of the first limit assembly by transmission component 32
When second limit assembly 34 moves, the moving element 352 of the first guidance set 35 is moved along retaining element 351, makes the first limit
Component 33 remains linear movement, and in 33 moving process of the first limit assembly, the first guidance set 35 can also prop up always
The first limit assembly 33 is supportted, therefore keeps the movement of the first limit assembly 33 more steady；Second guidance set 36 is for guiding second
Limit assembly 34 is mobile in left-right direction always, and the retaining element 361 of the second guidance set 36 is fixedly connected with rack 1,
Its length extends in left-right direction, and the moving element 362 of the second guidance set 36 is fixedly connected with the second supporting rack 341, works as electricity
When machine 31 drives the first limit assembly 33 and the second limit assembly 34 to move by transmission component 32, the shifting of the second guidance set 36
Dynamic element 362 is moved along retaining element 361, so that the second limit assembly 34 is remained linear movement, in the second limit assembly 34
In moving process, the second guidance set 36 can also support the second limit assembly 34 always, therefore the second limit assembly 34 is made to move
It is dynamic more steady.
Above-mentioned centering body 3 includes being set to 2 length side of platform there may also be another form, i.e. centering body 3
To symmetrically arranged two cylinders in center both sides, the external part of two cylinders is opposite, and stretches out Frequency Synchronization, flat when needing to adjust
When article on platform 2 is placed in the middle, two cylinders are started, the external part of two cylinders is moved to the width direction center of platform 2, when
Two external parts with article contacts when, the external part of two cylinders stops stretching out.
Fig. 4 is the structural schematic diagram of delivery apparatus 300 according to another embodiment of the present invention.As shown in figure 4, the present embodiment
In, rack 1 further includes left wall 11, right wall 12, roof 13, bottom plate (not shown) and support plate 15, wherein left wall 11
Parallelly interval setting, spacing between the two are more than the maximum width of article in left-right direction with right wall 12；Roof 13 and bottom
Plate is vertically connected between left wall 11 and right wall 12, and roof 13 is located at the top of bottom plate, and spacing between the two is more than article
Maximum height, left wall 11, right wall 12, roof 13, bottom plate one end formed delivery apparatus 300 entrance, four it is another
One end forms the outlet of delivery apparatus 300；The plate face of support plate 15 is parallel with platform 2, and setting is parallelly spaced with bottom plate, branch
Fagging 15 include left support plate 151 and right support plate 152, wherein left support plate 151 is connect with left wall 11, right support plate 152 and
Right wall 12 connects, and is spaced setpoint distance in left-right direction between the two, platform 2 be located at right support plate 152 and right support plate 152 it
Between, the surface of left support plate 151 is provided with the elongated slot for avoiding the first supporting rack 331, and the surface of right support plate 152 is provided with
Elongated slot for avoiding the second supporting rack 341, it is preferable that 152 the two of left support plate 151 and right support plate in left-right direction
Width is equal.
Supporting rack 18 is fixedly connected between bottom plate and support plate 15, and with bottom plate.First limit assembly 33 and second
Limit assembly 34 is located at the left and right sides of platform 2, when the first limit assembly 33 and the second limit assembly 34 are both located at
When initial position, the first limit assembly 33 is adjacent to left wall 11, and the second limit assembly 34 is adjacent to right wall 12, when motor 31 drives
When first limit assembly 33 and the second limit assembly 34 are moved to extreme position, the first supporting rack 331 of the first limit assembly 33
Elongated slot along left support plate 151 is close to platform 2, the length of the second supporting rack 341 of the second limit assembly 34 along right support plate 152
Slot is close to platform 2.
Further, rack 1 further includes directing plate 16, and directing plate includes that left directing plate 161 and right directing plate (do not show in figure
Go out), wherein left directing plate 161 is arranged in the inside of left wall 11, and right directing plate is arranged in the inside of right wall 12, left directing plate 161
It is oppositely arranged with right directing plate, is in the horn-like setting towards the entrance of delivery apparatus 300 between the two；When the first limit assembly
33 and second limit assembly 34 when being both located at initial position, the first limiting plate 332 and 161 flush of left directing plate or
Submerge between left directing plate 161 and left wall 11, the second limiting plate 342 and right directing plate flush or submerge right directing plate with
Between right wall 12.
Further, delivery apparatus 300 further includes horizontal mobile mechanism and vertical shift mechanism (not shown), platform
2 are connect by horizontal mobile mechanism and vertical shift mechanism with supporting rack 18, wherein under the driving of vertical shift mechanism, are put down
Platform 2 can along the vertical direction be moved relative to support plate 15, and under the driving of horizontal mobile mechanism, platform 2 can be relative to branch
Fagging 15 moves along the longitudinal direction.
Delivery apparatus 300 provided by the invention includes platform 2, centering body 3 and testing agency 4, wherein centering body
3 include motor 31, be located at the first limit assembly 33 and the second limit assembly 34 of 2 both sides of platform, and is sequentially connected and exists
Between first limit assembly 33 and the second limit assembly 34, and the transmission component 32 being connect with motor drive, testing agency 4 include
It is located at the first detection components 41 on the first limit assembly 33 and the second detection components on the second limit assembly 34
42, when the rotation of the output shaft of motor 31, the first limit assembly 33 and the second limit assembly 34 can be driven by transmission component 32
Synchronize close to platform, the first limiting plate 332 and the second limiting plate 342 respectively from the left and right sides of article push article movement and/
Or rotation to be to adjust the relative position of article and platform 2, and when article and the first detection components 41 contact, the first test section 412
It is located at retracted position, first sensor 411 exports setting signal, and when article and the second detection components 42 contact, second detects
Portion 422 is located at retracted position, and second sensor 421 exports setting signal, when the first detection components 33 and the second detection components 42
When exporting setting signal, show that the first limiting plate 332 and the second limiting plate 342 are adjacent to the side of article respectively, this time control
Motor 31 processed stops operating, and centering action is completed, and article, which is centered, to be placed on platform 2.Delivery apparatus provided by the invention
300, article can be made to be centrally placed on platform 2, avoid the problem of article on platform by falling off in 2 motion process of platform.
Further, due to being both provided with detection components on two limit assemblies, corresponding various sizes of article is put between two parties in article
Two limit assemblies can be controlled when setting in time and stop movement, avoid the problem of two limit assemblies press from both sides bad article.
Fig. 5 is the module composition schematic diagram of the control device of delivery apparatus 300 according to the ... of the embodiment of the present invention.Such as Fig. 5 institutes
To show, second aspect of the embodiment of the present invention also provides a kind of device that control delivery apparatus 300 works, including：
Centering driving unit 402 drives the first limit assembly 33 and the second limit assembly 34 to pole for controlling motor 31
Extreme position moves；Specifically, the motor 31 for controlling delivery apparatus 300 drives the first limiting plate 332 and the second limiting plate 342
Synchronize the platform 2 close to delivery apparatus 300；
Centering judging unit 404, the output signal for detecting first sensor 411 and second sensor 421, when first
First limiting plate of the output of detection components 41 332 and second limit of the detection signal of article contacts and the output of the second detection components 42
When the detection signal of plate 342 and article contacts, judge that article is centrally placed on the platform 2；
When first sensor 411 and second sensor 421, which both export, detects the setting signal of article, object is judged
Product are centrally placed on platform 2；
Centering stop unit 406 stops operating for after judging that article is centrally placed on platform 2, controlling motor 31,
So that the first limit assembly 33 and the second limit assembly 34 stop movement, specifically, so that first limiting plate 332 and described
Second limiting plate 342 stops movement.
The control device of the delivery apparatus of the present embodiment is synchronous with the second limit assembly 34 to flat in the first limit assembly 33
Platform 2 close to when, detect the first detection components 41 and the second detection components 42 output signal, when the first detection components 41 and second
Detection components 42 export when detecting the setting signal of article, control the first limit assembly 33 and the second limit assembly 34 stops
It is mobile, to make the article between the first limit assembly 33 and the second limit assembly 34 be centered on placement platform 2, and
Since the can be controlled in time when the first detection components 41 and the output of the second detection components 42 detect the setting signal of article
One limit assembly 33 and the second limit assembly 34 stop movement, therefore can be to avoid the first limit assembly 33 and the second limit assembly
34 excessively close to platform 2 so that squeeze the problem of being placed on the article on platform 2.
Fig. 6 is to provide a kind of appearance diagram of self-service device according to one embodiment of the invention third aspect, and Fig. 7 is basis
The internal structure schematic diagram of the self-service device of one embodiment of the invention.As shown in Figure 6, Figure 7, self-service device can be self-service sells
Machine, self-service express delivery cabinet, in the present embodiment, self-service device is self-service express delivery cabinet.Self-service device includes that cabinet 100 and setting exist
Article-storage device 200 inside cabinet 100, above-mentioned delivery apparatus 300 and driving device (not shown) and above-mentioned control
Device.Wherein, it is provided with access port 102 on the panel 101 of cabinet 100, operator is by access port 102 to delivery apparatus 300
Interior placement article takes article away out of delivery apparatus 300.Delivery apparatus 300 be set to article-storage device 200 and panel 101 it
Between, under the drive of the drive by the article delivery being put by access port 102 to article-storage device 200 or by article-storage device
Article delivery in 200 is to access port 102.
Article-storage device 200 and 101 relative spacing of panel of cabinet 100 are arranged, and article-storage device 200 includes multiple bins 201,
Each bin 201 is opened wide towards panel 101, and each bin 201 includes spaced two supporting plates 202 in left-right direction, two
It is spaced setpoint distance between supporting plate 202, when article stores in bin 201, article is supported jointly by two supporting plates 202.It is excellent
Selection of land, multiple bins 201 are in the N row arrangements of M rows；Driving device is for driving delivery apparatus 300 along the vertical direction and/or right and left
To movement, so that the entrance of delivery apparatus 300 is opposite with access port 102, or the outlet of delivery apparatus 300 is made (not show in figure
Go out) it is opposite with the bin 201 of the setting position of article-storage device 200, since the correlation of driving device and the present invention is not strong, herein
It repeats no more.
Along the longitudinal direction, delivery apparatus 300 is located between the panel 101 and article-storage device 200 of cabinet 100, for depositing
It taking and delivers article between mouth 102 and article-storage device 200, i.e., delivery apparatus 300 is used to receive the article being put by access port 102,
It is then sent in the bin 201 of the setting position of article-storage device 200, delivery apparatus 300 can be additionally used in setting article-storage device 200
It positions the article stored in the bin 201 set to take out, be then sent at access port 102.The structure type and work of delivery apparatus 300
Make principle with described in above-described embodiment, details are not described herein.
Self-service device is due to the use of delivery apparatus 300 provided by the invention in the present embodiment, and delivery apparatus 300 is in access port
When being moved between 102 and the bin 201 of article-storage device 200, equipment fault caused by platform 2 can be detached to avoid article.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of delivery apparatus, including rack, the platform that is flexibly connected with the rack, which is characterized in that further include being installed on
The centering body of the rack；The centering body includes the first limit assembly and the second limit assembly, the first limit group
Part includes the first limiting plate, and second limit assembly includes the second limiting plate, and the platform is set to first limiting plate
Between second limiting plate, first limiting plate and second limiting plate can synchronous backward movement simultaneously close to described
Platform keeps the article being placed on the platform placed in the middle.
2. delivery apparatus according to claim 1, which is characterized in that the delivery apparatus further includes testing agency, described
Testing agency includes the first detection components and the second detection components；First detection components are set to the first limit group
Part, for detect first limiting plate whether with article contacts, second detection components are set to the second limit group
Part, for detect second limiting plate whether with article contacts.
3. delivery apparatus according to claim 2, which is characterized in that
First detection components include first sensor and the first test section；
The first sensor is fixedly connected with first limit assembly, the position for detecting first test section；
First test section is connect with first limit assembly, and relatively described first limiting plate has initial position and contracting
Return is set；
When first test section is in initial position, first test section stretches out in first limiting plate；When described
When first test section is in retracted position, first test section is retracted first limiting plate；
Second detection components include second sensor and the second test section；
The second sensor is fixedly connected with second limit assembly, the position for detecting second test section；
Second test section is connect with second limit assembly, and relatively described second limiting plate has initial position and contracting
Return is set；
When second test section is in initial position, second test section stretches out in second limiting plate；When described
When second test section is in retracted position, second test section is retracted second limiting plate.
4. delivery apparatus according to claim 3, which is characterized in that
First detection components further include first rotating shaft, and first test section is limited by the first rotating shaft and described first
Position member hinges, and first test section can be rotated around the axis of the first rotating shaft to realize in the initial position and institute
It states and switches between retracted position；
Second detection components further include the second shaft, and second test section is limited by second shaft and described second
Position member hinges, and second test section can be rotated around the axis of second shaft to realize in the initial position and institute
It states and switches between retracted position.
5. delivery apparatus according to claim 2, which is characterized in that first detection components and the second detection group
Part is symmetrical arranged about the platform.
6. delivery apparatus according to claim 1, which is characterized in that the centering body further includes motor and transmission group
Part；The motor is fixed on the rack, for driving the transmission component to drive first limit assembly and described second
Limit assembly synchronous backward moves.
7. delivery apparatus according to claim 6, which is characterized in that the transmission component includes drive link, the first transmission
Part and the second driving member；
The motor can drive the drive link to be rotated around its own axis；
First driving member is fixedly connected with first limit assembly, second driving member and second limit assembly
It is fixedly connected；
The both ends of the drive link are respectively arranged with screw thread and oppositely oriented, one end of first driving member and the drive link
It is threadedly coupled, second driving member is threadedly coupled with the other end of the drive link.
8. according to claim 1-7 any one of them delivery apparatus, which is characterized in that the centering body further includes being oriented to
Component, the guidance set are connect with the rack, for guiding first limiting plate and second limiting plate edge respectively
Direction initialization moves.
9. a kind of control device, for controlling such as claim 2-8 any one of them delivery apparatus, which is characterized in that including
Centering driving unit, centering judging unit and centering stop unit；
The centering driving unit, the motor for controlling the delivery apparatus drive the delivery apparatus the first limiting plate and
Second limiting plate synchronizes the platform close to the delivery apparatus；
The centering judging unit, the second inspection of the first detection components and the delivery apparatus for detecting the delivery apparatus
Survey component output signal, when first detection components export first limiting plate and article contacts detection signal and
When second detection components export the detection signal of second limiting plate and article contacts, judge that article is centrally placed in institute
It states on platform；
The centering stop unit stops turning for after judging that article is placed centrally on the platform, controlling the motor
It is dynamic, so that first limiting plate and second limiting plate stop movement.
10. a kind of self-service device, which is characterized in that including cabinet, the article-storage device being set in the cabinet, driving device,
Such as claim 1-8 any one of them delivery apparatus and control device as claimed in claim 9；The panel of the cabinet
With access port；The delivery apparatus is set between the article-storage device and the panel, in the driving device
By the article delivery being put by the access port to the article-storage device or by the article delivery in the article-storage device under driving
To the access port.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019364.8A CN108305379B (en) | 2017-01-11 | 2017-01-11 | Delivery device, control device thereof and self-service equipment |
| PCT/CN2018/071345 WO2018130112A1 (en) | 2017-01-11 | 2018-01-04 | Delivery apparatus and control apparatus thereof, and self-service device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019364.8A CN108305379B (en) | 2017-01-11 | 2017-01-11 | Delivery device, control device thereof and self-service equipment |
Publications (2)
| Publication Number | Publication Date |
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| CN108305379A true CN108305379A (en) | 2018-07-20 |
| CN108305379B CN108305379B (en) | 2020-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710019364.8A Active CN108305379B (en) | 2017-01-11 | 2017-01-11 | Delivery device, control device thereof and self-service equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108305379B (en) |
| WO (1) | WO2018130112A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109911253A (en) * | 2019-04-12 | 2019-06-21 | 黄海忠 | With reusing ground capture recyclable device and arrow controllable recovery method |
| CN110238068A (en) * | 2019-06-24 | 2019-09-17 | 乔紫妍 | Adjustable express delivery sorter suitable for more sizes |
| CN110751793A (en) * | 2018-07-23 | 2020-02-04 | 威海新北洋数码科技有限公司 | Intelligent cabinet |
| CN111035160A (en) * | 2019-11-13 | 2020-04-21 | 重庆特斯联智慧科技股份有限公司 | Intelligent internet-of-things tourism management system |
| CN113581530A (en) * | 2021-04-26 | 2021-11-02 | 南京钢诺包装机械有限公司 | High-speed flat-pushing type stacking packaging machine |
| CN114850421A (en) * | 2022-05-06 | 2022-08-05 | 杭州富通集团有限公司 | Processing technology of copper rod |
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| CN108968613A (en) * | 2018-08-15 | 2018-12-11 | 北京凯博瑞达电气有限公司 | A kind of mailbox |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110751793A (en) * | 2018-07-23 | 2020-02-04 | 威海新北洋数码科技有限公司 | Intelligent cabinet |
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| CN114850421A (en) * | 2022-05-06 | 2022-08-05 | 杭州富通集团有限公司 | Processing technology of copper rod |
| CN117963500A (en) * | 2024-03-29 | 2024-05-03 | 山东硕晟机械制造有限公司 | Automatic feeding device for conveyor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108305379B (en) | 2020-06-23 |
| WO2018130112A1 (en) | 2018-07-19 |
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