CN108423412B - Lifting and discharging mechanism of tray charging and feeding device - Google Patents
Lifting and discharging mechanism of tray charging and feeding device Download PDFInfo
- Publication number
- CN108423412B CN108423412B CN201810288481.9A CN201810288481A CN108423412B CN 108423412 B CN108423412 B CN 108423412B CN 201810288481 A CN201810288481 A CN 201810288481A CN 108423412 B CN108423412 B CN 108423412B
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- tray
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- 238000007599 discharging Methods 0.000 title claims abstract description 112
- 230000007246 mechanism Effects 0.000 title claims abstract description 43
- 239000000463 material Substances 0.000 claims abstract description 47
- 230000000712 assembly Effects 0.000 claims abstract description 7
- 238000000429 assembly Methods 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 28
- 238000007789 sealing Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 3
- 238000004064 recycling Methods 0.000 abstract description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Reciprocating Conveyors (AREA)
Abstract
The invention discloses a lifting and discharging mechanism of a tray charging and feeding device, which comprises a lifting frame, a discharging frame, a lifting assembly and a tray frame assembly, wherein the lifting frame and the discharging frame are arranged in parallel; the tray frame assembly comprises a tray frame and a plurality of tray assemblies, and the tray assemblies comprise trays and trays arranged on the trays; the discharging component is used for pulling out the tray filled with the materials from the tray frame, and recycling the empty tray into the tray frame after discharging. The lifting and discharging mechanism of the tray charging and feeding device has the advantages of small occupied area, high automation degree and automatic tray recycling function.
Description
Technical Field
The invention relates to a tray charging and feeding device, in particular to a lifting and discharging mechanism of the tray charging and feeding device.
Background
In the prior art, the incoming material packaging modes of materials are generally divided into bulk material modes, belt material modes, tray material modes, tube material modes and the like. When feeding the tray charge, the tray is generally fed by adopting a conveyor belt, a speed-doubling chain and the like, and the tray is matched with a mechanical arm to take materials. The feeding mode has the defects of large equipment occupation area, low automation degree and the like.
Disclosure of Invention
The invention aims to solve the technical problem of providing a lifting and discharging mechanism of a tray charging and feeding device, which has the advantages of small occupied area, high automation degree and automatic tray recycling function.
In order to solve the technical problems, the invention provides a lifting and discharging mechanism of a tray charging and feeding device, which comprises a lifting frame and a discharging frame which are arranged in parallel, a lifting assembly arranged on the lifting frame, a tray frame assembly which is driven to move up and down along the lifting frame by the lifting assembly, and a discharging assembly arranged on the discharging frame;
The lifting assembly comprises a guide rail bottom plate, a vertical screw rod sliding block mechanism and a material frame supporting plate, wherein the guide rail bottom plate is fixed on the lifting frame;
The tray frame assembly is arranged on the material frame supporting plate and comprises a tray frame and a plurality of tray assemblies, the tray frame is a frame body structure composed of a bottom plate, a top plate and a pair of side plates, a plurality of material tray guide strips are correspondingly and uniformly arranged on the inner sides of the pair of side plates from bottom to top, and two sides of the tray assemblies are arranged on the pair of material tray guide strips; the tray assembly comprises a tray and a material tray fixed on the tray, and a push-pull groove is formed at one end part of two sides of the tray;
the discharging assembly comprises a pair of sliding side vertical plates, a pair of synchronous belt wheel sets, a discharging driving device, a pair of discharging guide rail slide block mechanisms and a pair of material tray baffle plates; the pair of sliding side vertical plates are arranged on the discharging frame in parallel, and one end of each sliding side vertical plate, which is close to the lifting frame, extends out of the discharging frame; the pair of synchronous pulleys are respectively arranged on the opposite side surfaces of the slide side vertical plate, and the synchronous pulley group is provided with a synchronous belt pressing plate; the discharging driving device comprises a discharging motor arranged on the discharging frame, and a discharging belt shaft driven by the discharging motor and used for synchronously driving the pair of synchronous pulley groups to move; the pair of discharging guide rail slide block mechanisms are respectively arranged on the sliding side vertical plates, a slide block positioning plate is fixed on a discharging slide block of the discharging guide rail slide block mechanisms, and the slide block positioning plate is fixedly connected with the synchronous belt pressing plate; the pair of material tray baffle plates are respectively arranged on the slide block positioning plate and are matched with the push-pull groove on the tray, and the pair of material tray baffle plates are used for driving the material tray to horizontally move along the slide material side vertical plate.
In the present invention, the term "screw slider mechanism" refers to a mechanism composed of parts such as a ball screw, a servo motor, a bearing, a coupling, etc., which is used to convert rotary motion into linear motion.
In a preferred embodiment of the invention, the guide rail bottom plate is also provided with a pair of vertical lifting guide rail slide block mechanisms which are respectively arranged at two sides of the vertical screw rod slide block mechanism, and lifting slide blocks in the lifting guide rail slide block mechanisms are fixedly connected with the material frame support plate.
In a preferred embodiment of the present invention, the frame supporting plate is provided with a frame positioning strip.
In a preferred embodiment of the present invention, the tray is provided with a plurality of limiting plates to fix the material frame on the tray relatively.
In a preferred embodiment of the invention, the end of the tray frame, which is far away from the discharging assembly, is provided with a flange strip matched with the tray guide strip.
In a preferred embodiment of the invention, guide wheel mounting bars are mounted on the tops of the pair of slide side vertical plates, and a plurality of guide wheels are arranged on opposite sides of the guide wheel mounting bars so as to guide the horizontal movement of the material tray.
In a preferred embodiment of the present invention, the guide wheel mounting bar is further fixed with a lateral positioning bar.
In a preferred embodiment of the present invention, the synchronous pulley set includes a discharge belt and a pair of discharge synchronous pulleys, and one of the discharge synchronous pulleys extends out of the discharge frame.
In a preferred embodiment of the invention, two ends of the discharging belt shaft are respectively combined with the discharging synchronous shafts of a pair of synchronous belt wheel sets, a discharging driven wheel is fixed on the discharging belt shaft, and a discharging driving wheel is fixed on the discharging motor to drive the discharging driven wheel to rotate.
In a preferred embodiment of the present invention, a front sealing plate is fixed at one end of the pair of sliding side vertical plates away from the lifting frame, and a mounting groove is formed at the top end of the front sealing plate, and a detection sensor is mounted in the mounting groove to detect the position of the tray.
The invention has the beneficial effects that:
1. according to the lifting and discharging mechanism of the tray charging and feeding device, the tray frame assembly is lifted to a certain height through the lifting assembly, then the discharging assembly pulls out the tray in the tray frame to the discharging rack, the feeding device fully utilizes the space in the vertical direction, and compared with the traditional conveyor belt feeding, the occupied area of equipment is greatly reduced;
2. According to the lifting and discharging mechanism, after the materials in the material tray are transferred, the discharging assembly drives the tray to move towards the direction of the tray frame until the tray returns to the tray frame, so that the recovery of the empty material tray is completed, the automation degree of the feeding device is improved, and the feeding efficiency is improved;
3. According to the lifting discharging mechanism, the discharging component adopts the pair of the tray baffle plates to be matched with the push-pull groove on the tray to push and pull the tray, so that the pulling-out and the recycling of the tray are realized.
Drawings
FIG. 1 is a schematic diagram of a stripping discharge mechanism of the present invention;
FIG. 2 is a schematic view of the construction of the lifting assembly of FIG. 1;
FIG. 3 is a schematic view of the tray frame assembly of FIG. 1;
FIG. 4 is a schematic view of the tray assembly of FIG. 1;
FIG. 5 is a schematic view of the discharge assembly of FIG. 1;
FIG. 6 is an enlarged schematic view at A in FIG. 5;
Wherein:
1. A material lifting frame; 11. a frame base plate; 12. casters;
2. a lifting assembly; 21. a guide rail bottom plate; 22. a vertical screw rod sliding block mechanism; 23. a material frame supporting plate; 231. a material frame positioning strip; 24. a lifting guide rail slide block mechanism;
3. a tray frame assembly; 31. a tray frame; 311. a tray guide bar; 312. a flange strip; 32. a tray; 321. a bar-shaped hole; 322. a push-pull groove; 33. a limiting plate; 34. and a material tray.
4. A discharging rack; 41. a top sealing plate;
5. a discharge assembly; 51. a slide side vertical plate; 511. a synchronizing wheel locking plate; 52. a synchronous belt wheel set; 521. a discharging synchronous wheel; 522. a discharge belt; 523. a synchronous belt pressing plate; 531. a discharging motor; 532. a discharging driving wheel; 533. a discharging belt shaft; 534. a discharging driven wheel; 535. a bearing support; 541. a discharging guide rail; 542. a discharging slide block; 543. a slide block positioning plate; 544. a tray baffle; 551. a guide wheel mounting bar; 552. a guide wheel; 553. a lateral positioning strip; 56. a front sealing plate; 561. and a mounting groove.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
The invention discloses a lifting and discharging mechanism of a tray charging and feeding device, which comprises a lifting frame 1, a lifting assembly 2 arranged on the lifting frame 1, a tray frame assembly 3 driven by the lifting assembly 2 to move up and down along the lifting frame 1, a discharging frame 4 and a discharging assembly 5 arranged on the discharging frame 4.
Specifically, referring to fig. 1, a material lifting frame 1 and a material discharging frame 4 are arranged in parallel, and are formed by splicing a plurality of aluminum profiles. The bottoms of the lifting frame 1 and the discharging frame 4 are provided with a frame bottom plate 11, and a plurality of casters 12 are arranged on the frame bottom plate 11 so as to facilitate movement. A top sealing plate 41 is mounted on the top of the discharging frame 4 in a covering manner so as to mount the discharging assembly 5.
Referring to fig. 2, the lifting assembly 2 includes a guide rail base plate 21, a vertical screw slider mechanism 22, and a frame support plate 23, wherein the guide rail base plate 21 is vertically fixed on the lifting frame, the vertical screw slider mechanism 22 is mounted on the guide rail base plate 21, and the frame support plate 23 is mounted on a vertical slider of the vertical screw slider mechanism 22. In this embodiment, the guide rail bottom plate 21 is further provided with a pair of vertical lifting guide rail slider mechanisms 24 respectively arranged at two sides of the vertical screw rod slider mechanism 22, and lifting sliders in the lifting guide rail slider mechanisms 24 are fixedly connected with the material frame supporting plate 23, so that the stability of the material frame supporting plate 23 moving in the vertical direction is improved. Preferably, the frame support plate 23 is provided with a frame positioning bar 231 to better fix the tray frame assembly 3.
Referring to fig. 3-4, the tray frame assembly 3 is disposed on the frame support plate 23, and includes a tray frame 31 and a plurality of tray assemblies. Wherein, the tray frame 31 is a frame structure composed of a bottom plate, a top plate and a pair of side plates, the inner sides of the pair of side plates are correspondingly and uniformly provided with a plurality of tray guide strips 311 from bottom to top, and two sides of the tray assembly are arranged on the pair of tray guide strips 311; the tray assembly comprises a tray 32 and a tray 34 fixed on the tray 32, wherein push-pull grooves 322 are formed in the ends, close to the discharging rack 4, of the two sides of the tray 32. In this embodiment, a flange 312 matching with the tray guiding strip 311 is disposed at one end of the tray frame 31 far away from the discharging frame 4, and when the tray 34 is recovered, the flange 312 can limit the position of the tray 32 on the tray frame 31, so as to prevent the tray 32 from falling from the tray frame 31. In this embodiment, a plurality of limiting plates 33 are disposed on the tray 32 to fix the tray 34. A bar hole 321 may be provided on the tray 32, and when the limiting plate 33 is mounted on the bar hole 321 by a bolt, the position of the limiting plate 33 may be adjusted to better fix the tray 34.
Referring to fig. 5-6, the outfeed assembly 5 includes a pair of slide side risers 51, a pair of timing belt sets 52, an outfeed drive, a pair of outfeed rail slide mechanisms, and a pair of tray stops 544. The slide side vertical plates 51 are fixed to the top sealing plate 41 in parallel, and have one end portion flush with one side of the top sealing plate 41 and the other end portion extending out of the other side of the top sealing plate 41.
A pair of timing belt pulley groups 52 are respectively provided on opposite sides of the slide side riser 51, and a timing belt pressing plate 523 is provided on the timing belt pulley groups 52. The timing belt pulley set 52 includes a discharge belt 522 and a pair of discharge timing pulleys 521, and the discharge timing pulleys 521 are respectively installed at positions on both sides of the slide side riser 51. In this embodiment, a synchronizing wheel locking plate 511 is fixed to the slide side vertical plate 51 to mount the discharge synchronizing wheel 521.
The discharging driving device comprises a discharging motor 531 arranged on the top sealing plate 41, and a discharging belt shaft 533 driven by the discharging motor 531, wherein the discharging belt shaft 533 is used for synchronously driving a pair of synchronous belt wheel sets 52 to move. In this embodiment, the discharging motor 531 is fixed on the top sealing plate 41, two ends of the discharging belt shaft 533 are respectively in shaft engagement with the discharging synchronous wheels 521 of the pair of synchronous belt wheel sets 52, the discharging driven wheel 534 is fixed on the discharging belt shaft 533, and the discharging driving wheel 532 is fixed on the discharging motor 531 to drive the discharging driven wheel 534 to rotate.
A pair of discharging guide rail slide block mechanisms are respectively arranged on the slide side vertical plate 51, a slide block positioning plate 543 is fixed on a discharging slide block 542 of the discharging guide rail slide block mechanisms, and the slide block positioning plate 543 is fixedly connected with the synchronous belt pressing plate 523. The discharging guide rail slide block mechanism comprises a discharging guide rail 541 and a discharging slide block 542, wherein the discharging guide rail 541 is arranged on the opposite side surfaces of the sliding side vertical plate 51 and is positioned above the synchronous belt wheel set 52, and the slide block positioning plate 543 is fixed on the discharging slide block 542 through screws. The hold-in range clamp plate 523 locates the below of ejection of compact belt 522, and it passes through screw fixed connection between slider locating plate 543, and the screw passes ejection of compact belt 522.
A pair of tray stoppers 544 are respectively mounted on the slide positioning plates 543 for driving the trays 34 to move horizontally along the slide side vertical plate 51. The tray stop 544 preferably has an upwardly extending stop bar that mates with the push-pull slot 322 on the tray 32 to effect the pulling and retraction of the tray 34.
In order to make the movement of the tray 32 on the slide side vertical plate 51 smoother, in this embodiment, guide wheel mounting strips 551 are mounted on the top of the slide side vertical plate 51, and a plurality of guide wheels 552 are disposed on opposite sides of the guide wheel mounting strips 551 to guide the horizontal movement of the tray 34, and lateral positioning strips 553 are further fixed on the guide wheel mounting strips 551 to define the lateral position of the tray 32, so as to prevent the tray 32 from being laterally offset during the movement.
In the present embodiment, a front seal plate 56 is fixed to an end of the slide side vertical plate 51, and a mounting groove 561 is provided at a top end of the front seal plate 56, and a detection sensor is mounted in the mounting groove 561 to detect a position of the tray 34. A plurality of bearing brackets 535 are also mounted to the front seal plate 56 to relatively secure the discharge belt shaft 533.
When the lifting and discharging mechanism of the embodiment works, firstly, a tray assembly filled with materials is filled into the tray frame 31, and then the lifting assembly 2 drives the tray frame 31 to ascend; when the uppermost layer of tray 32 in the tray frame 31 is slightly higher than the discharging component 5, the discharging motor 531 is started to drive the tray baffle 544 to be close to the tray component until the baffle strip of the tray baffle 544 is positioned right below the push-pull groove 322 of the tray 32; then the lifting assembly 2 drives the tray frame 31 to descend so that the barrier bars are matched with the push-pull grooves 322; then, the discharging motor 531 is started to drive the tray blocking piece 544 to move in the opposite direction, so that the tray 32 leaves the tray frame 31 under the pulling action of the blocking strip and slides on the guide wheel 552 until reaching a preset station, and the manipulator waits for taking materials from the tray 34; when the material in the tray 34 is completely removed, the discharging motor 531 is started again to drive the tray 32 to move towards the tray frame 31, so that the tray 32 returns to the original position in the tray frame 31; finally, the discharging motor 531 drives the tray blocking piece 544 to slightly leave away, and then the lifting assembly 2 drives the tray frame 31 to rise, so that the second layer of tray 32 is at a height slightly higher than the discharging assembly 5, and the above actions are repeated, so that the discharging of the tray loading can be completed.
The above-described embodiments are merely preferred embodiments for fully explaining the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutions and modifications will occur to those skilled in the art based on the present invention, and are intended to be within the scope of the present invention. The protection scope of the invention is subject to the claims.
Claims (3)
1. The lifting and discharging mechanism of the tray charging and feeding device is characterized by comprising a lifting frame and a discharging frame which are arranged in parallel, a lifting assembly arranged on the lifting frame, a tray frame assembly which is driven to move up and down along the lifting frame by the lifting assembly, and a discharging assembly arranged on the discharging frame;
The lifting assembly comprises a guide rail bottom plate, a vertical screw rod sliding block mechanism and a material frame supporting plate, wherein the guide rail bottom plate is fixed on the lifting frame;
The tray frame assembly is arranged on the material frame supporting plate and comprises a tray frame and a plurality of tray assemblies, the tray frame is a frame body structure composed of a bottom plate, a top plate and a pair of side plates, a plurality of material tray guide strips are correspondingly and uniformly arranged on the inner sides of the pair of side plates from bottom to top, and two sides of the tray assemblies are arranged on the pair of material tray guide strips; the tray assembly comprises a tray and a material tray fixed on the tray, and a push-pull groove is formed at one end part of two sides of the tray;
The discharging assembly comprises a pair of sliding side vertical plates, a pair of synchronous belt wheel sets, a discharging driving device, a pair of discharging guide rail slide block mechanisms and a pair of material tray baffle plates; the pair of sliding side vertical plates are arranged on the discharging frame in parallel, and one end of each sliding side vertical plate, which is close to the lifting frame, extends out of the discharging frame; the pair of synchronous pulleys are respectively arranged on the opposite side surfaces of the slide side vertical plate, and the synchronous pulley group is provided with a synchronous belt pressing plate; the discharging driving device comprises a discharging motor arranged on the discharging frame, and a discharging belt shaft driven by the discharging motor and used for synchronously driving the pair of synchronous pulley groups to move; the pair of discharging guide rail slide block mechanisms are respectively arranged on the sliding side vertical plates, a slide block positioning plate is fixed on a discharging slide block of the discharging guide rail slide block mechanisms, and the slide block positioning plate is fixedly connected with the synchronous belt pressing plate; the pair of material tray baffle plates are respectively arranged on the slide block positioning plate and are matched with the push-pull groove on the tray, and the pair of material tray baffle plates are used for driving the material tray to horizontally move along the slide material side vertical plate;
the tray is provided with a plurality of limiting plates for relatively fixing the material frame on the tray, the tray is provided with strip-shaped holes, and the limiting plates are arranged on the strip-shaped holes through bolts;
One end of the tray frame, which is far away from the discharging component, is provided with a flange strip matched with the tray guide strip;
The tops of the sliding side vertical plates are respectively provided with a guide wheel mounting strip, and the opposite side surfaces of the guide wheel mounting strips are provided with a plurality of guide wheels for guiding the horizontal movement of the material tray; a lateral positioning strip is also fixed on the guide wheel mounting strip;
A front sealing plate is fixed at one end of the pair of sliding side vertical plates, which is far away from the lifting frame, and the top end of the front sealing plate is provided with a mounting groove in which a detection sensor is arranged to detect the position of the material tray;
The synchronous pulley group comprises a discharging belt and a pair of discharging synchronous pulleys, and one of the discharging synchronous pulleys extends out of the discharging rack.
2. The tray feeding device's of claim 1, wherein the guide rail bottom plate is further provided with a pair of vertical lifting guide rail slide block mechanisms respectively arranged at two sides of the vertical screw rod slide block mechanism, and lifting slide blocks in the lifting guide rail slide block mechanisms are fixedly connected with the material frame supporting plate.
3. The tray feeding device's lifting and discharging mechanism according to claim 1, wherein the frame supporting plate is provided with a frame positioning strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810288481.9A CN108423412B (en) | 2018-03-30 | 2018-03-30 | Lifting and discharging mechanism of tray charging and feeding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810288481.9A CN108423412B (en) | 2018-03-30 | 2018-03-30 | Lifting and discharging mechanism of tray charging and feeding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108423412A CN108423412A (en) | 2018-08-21 |
| CN108423412B true CN108423412B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810288481.9A Active CN108423412B (en) | 2018-03-30 | 2018-03-30 | Lifting and discharging mechanism of tray charging and feeding device |
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| Country | Link |
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| CN (1) | CN108423412B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108792492A (en) * | 2018-09-04 | 2018-11-13 | 江西机电职业技术学院 | A kind of automatical feeding system |
| CN109825997B (en) * | 2019-03-12 | 2024-03-22 | 浙江工业大学之江学院 | Adjustment mechanism and clothing apparatus for producing |
| CN111283962A (en) * | 2020-03-30 | 2020-06-16 | 浙江大晋新材料科技有限公司 | Material collecting device of injection molding machine |
| CN114291472B (en) * | 2021-12-31 | 2023-12-26 | 西安航天动力研究所 | Automatic go up multilayer transfer device of unloading |
| CN115321196A (en) * | 2022-10-13 | 2022-11-11 | 前海晶方云(深圳)测试设备有限公司 | Transport mechanism and Tray disk marking device |
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| CN105621110A (en) * | 2016-01-20 | 2016-06-01 | 昆山佰奥智能装备股份有限公司 | Tray type automatic supply and retraction equipment |
| CN205902326U (en) * | 2016-07-16 | 2017-01-18 | 深圳市兴禾自动化有限公司 | Flexible line way board automatic feed device |
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| CN208217811U (en) * | 2018-03-30 | 2018-12-11 | 苏州盟川自动化科技有限公司 | One discharge plate charging feeding device mentions material discharging mechanism |
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2018
- 2018-03-30 CN CN201810288481.9A patent/CN108423412B/en active Active
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|---|---|---|---|---|
| CN204056924U (en) * | 2014-07-30 | 2014-12-31 | 浙江瑞宏机器人有限公司 | Automatic access bin |
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| CN105621110A (en) * | 2016-01-20 | 2016-06-01 | 昆山佰奥智能装备股份有限公司 | Tray type automatic supply and retraction equipment |
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| CN108423412A (en) | 2018-08-21 |
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