CN109649748A - A kind of concentration palletizing system - Google Patents
A kind of concentration palletizing system Download PDFInfo
- Publication number
- CN109649748A CN109649748A CN201811498739.4A CN201811498739A CN109649748A CN 109649748 A CN109649748 A CN 109649748A CN 201811498739 A CN201811498739 A CN 201811498739A CN 109649748 A CN109649748 A CN 109649748A
- Authority
- CN
- China
- Prior art keywords
- return
- pallet
- stacking
- empty pallets
- palletizing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The invention discloses a kind of concentration palletizing systems, including return of empty pallets distribution portion, stacking part and stacking electric control part；Stacking part includes palletizing apparatus and stacking pallet conveyer；Palletizing apparatus includes palletizing mechanical arm and the palletizing mechanical arm that is mounted in palletizing mechanical arm minor details；Return of empty pallets distribution portion includes return of empty pallets conveying device and return of empty pallets storehouse, and the front of stacking pallet conveyer is arranged in return of empty pallets conveying device, the return of empty pallets conveyer including being mounted on return of empty pallets conveying chassis and pallet jacking redoiming conveyor；Stacking electric control part includes stacking control loop, return of empty pallets dispensing loop.This concentration palletizing system can realize that pallet is able to achieve automatic supply on multiple stations under the premise of limited space, especially suitable for carrying out concentration stacking to bulk article.
Description
Technical field
The present invention relates to a kind of palletizing system, specifically a kind of system for being suitable for carrying out automatic stacking to workpiece belongs to
Automatic producing technology field.
Background technique
The core of automated production is ordered into production, currently, well known robot palletizing system is mostly to realize function list
One stacking function, with the continuous development of social productive forces, the need of various novel and multifunctional automation stacking transportation systems
Ask and be continuously increased, integrate shaping, detection, weighing, screening, stacking automatic machinery people palletizing system exactly should actually give birth to
Produce need and generate.
Tray mode industrial at present common are the possible also some irregular tray forms of positive tetragonal body,
In, tray mode is the stacking form of pallet, which determines how object is put in pallet.But due to industrial practical
Application scenarios are complicated and changeable, therefore user may require that the tray form that can adapt to itself practical application scene.
Pallet is distributed to be normally located at automatically and be piled up near mechanical arm in the prior art, and in order to improve efficiency, is led to
Frequently with the mode of multiple stations, how under the premise of limited space to realize that pallet is able to achieve automatic benefit on multiple stations
It gives, and then realizing makes the process of stacking can adapt to itself practical application scene, is the skill that those skilled in the art need to solve
Art problem.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of concentration palletizing systems, can be in limited space
Under the premise of realize pallet automatic supply is able to achieve on multiple stations, especially suitable for carrying out concentration code to bulk article
Pile.
To achieve the goals above, this concentration palletizing system includes return of empty pallets distribution portion, stacking part and stacking electricity
Control part；
Stacking part includes palletizing apparatus and stacking pallet conveyer；Palletizing apparatus includes palletizing mechanical arm and is mounted on code
Palletizing mechanical arm in pile mechanical arm minor details, palletizing mechanical arm include at least X-coordinate driving mechanism, Y-coordinate driving mechanism and Z and sit
Driving mechanism is marked, palletizing mechanical is equipped with multiple negative pressure sucker structures on hand, and negative pressure sucker structure passes through pipeline and negative pressure control valve
Group is connect with negative pressure source；Stacking pallet conveyer is arranged close to palletizing apparatus and stacking pallet conveyer conveys setting forwards,
Stacking pallet conveyer includes that be mounted on stacking pallet conveyer chassis multiple have roll drive mechanism, front-rear direction
The rolling support for rolling setting carries component, and the rear end of stacking pallet conveyer is equipped with pallet limiting component；
Return of empty pallets distribution portion includes return of empty pallets conveying device and return of empty pallets storehouse；The setting of return of empty pallets conveying device
In the front of stacking pallet conveyer, including the return of empty pallets conveyer being mounted on return of empty pallets conveying chassis and pallet jacking
Redoiming conveyor, return of empty pallets conveyer convey setting in left-right direction, and return of empty pallets conveyer includes that front and back is symmetrically arranged
Two groups have the return of empty pallets transfer unit for being driven driving mechanism, height of the conveyor surface of return of empty pallets transfer unit apart from ground
Size carries height dimension of the support section of roller-way apart from ground no more than the support of stacking pallet conveyer, return of empty pallets conveyer
Output end position also is provided with pallet limiting component, pallet jacking redoiming conveyor be arranged in stacking pallet conveyer front,
And be located between two groups of return of empty pallets transfer units, pallet jacking redoiming conveyor includes pallet carrier and carrier elevating mechanism,
Pallet carrier is mounted on return of empty pallets by carrier elevating mechanism and conveys on chassis, and carrier elevating mechanism is hydraulic cylinder or cylinder knot
Structure, pallet carrier are equipped with multiple rolling supports having roll drive mechanism, rolling setting along the longitudinal direction and carry component；It is unloaded
Pallet magazine erection is mounted on the input end position of return of empty pallets conveyer, and return of empty pallets storehouse includes being mounted on pallet magazine chassis
Pallet lift clamp assemblies, pallet lift clamp assemblies include vertical plane towards going up and down vertical plate and bilateral symmetry in the front-back direction
The pallet clamping limb being mounted on lifting vertical plate, lifting vertical plate are mounted on pallet magazine chassis by vertical plate elevating mechanism, pallet
Clamping limb is mounted on lifting vertical plate by clamping limb distance regulating mechanism；
The stacking electric control part includes stacking controller, stacking control loop, return of empty pallets dispensing loop, stacking control
Device processed respectively with the coordinate driving mechanism of palletizing mechanical arm, the vacuum cavitations valve group of palletizing mechanical arm, stacking pallet conveyer
It rolls support and carries member driving mechanism, the transmission driving mechanism of return of empty pallets conveyer, the load component driving of the rolling support of pallet carrier
Mechanism, pallet jacking the carrier elevating mechanism of redoiming conveyor, the vertical plate elevating mechanism in return of empty pallets storehouse, return of empty pallets storehouse folder
The electrical connection of gripping arm distance regulating mechanism.
As a further improvement of the present invention, stacking pallet conveyer is symmetrical set as two pieces, palletizing apparatus
It is arranged between two pieces stacking pallet conveyer.
As a further improvement of the present invention, palletizing mechanical arm is mounted on palletizing mechanical by C coordinate rotation assembly
In arm minor details, C coordinate rotation assembly is electrically connected with stacking controller.
As one embodiment of the present invention, rolling support and carrying component is that support carries roller, and multiple supports carry roller and put down along the longitudinal direction
Row, which is laid with, forms support load roller-way.
As one embodiment of the present invention, rolling support and carrying component is the conveyer belt with roller station.
As one embodiment of the present invention, return of empty pallets transfer unit is driving chain structure.
As one embodiment of the present invention, return of empty pallets transfer unit is live roller structure.
Compared with prior art, this concentration palletizing system may be implemented to hold in the palm due to being equipped with return of empty pallets distribution portion
Automatic supply of the disk on station provides stacking condition to pile up；It, can be with due to being equipped with the stacking part including mechanical arm
Realize automatic stacking；Since the return of empty pallets conveying device of return of empty pallets distribution portion includes height dimension no more than stacking pallet
The return of empty pallets transfer unit and pallet of conveyer support section jack redoiming conveyor, therefore return of empty pallets conveying device does not influence
The transport forward of pallet after completing stacking, can realize that pallet is able to achieve on multiple stations under the premise of limited space
Automatic supply, especially suitable for carrying out concentration stacking to bulk article.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of palletizing apparatus of the present invention；
Fig. 2 is the three dimensional structure diagram at left back visual angle of the present invention；
Fig. 3 is the three dimensional structure diagram at left front visual angle of the present invention.
In figure: 11, palletizing mechanical arm, 12, palletizing mechanical arm, 2, stacking pallet conveyer, 3, return of empty pallets conveying device,
31, return of empty pallets conveyer, 32, pallet jacking redoiming conveyor, 33, pallet carrier, 4, return of empty pallets storehouse, 41, lifting vertical plate,
42, pallet clamping limb.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
This concentration palletizing system includes return of empty pallets distribution portion, stacking part and stacking electric control part；
Stacking part includes palletizing apparatus and stacking pallet conveyer 2；As shown in Figure 1, palletizing apparatus includes palletizing mechanical
Arm 11 and the palletizing mechanical arm 12 being mounted in 11 minor details of palletizing mechanical arm, palletizing mechanical arm 11 include at least X-coordinate driving machine
Structure, Y-coordinate driving mechanism and Z coordinate driving mechanism, palletizing mechanical arm 12 are equipped with multiple absorption and grab structure negative pressure sucker knot
Structure, negative pressure sucker structure are connect by pipeline and vacuum cavitations valve group with negative pressure source；Stacking pallet conveyer 2 is close to palletizing apparatus
Setting and stacking pallet conveyer 2 convey setting forwards, and stacking pallet conveyer 2 includes being mounted on stacking pallet conveyer
Multiple supports having roll drive mechanism, that front-rear direction rolling is arranged on chassis carry roller, and roll drive mechanism can be drive
The chain drive structure for moving motor-driven gear transmission structure, being also possible to driving motor drive, multiple supports carry roller along front and back
Support is formed to parallel laid and carries roller-way, and the rear end that support carries roller-way is equipped with pallet limiting component, and pallet limiting component can be limit
Hardened structure is also possible to limited block structure；
As shown in Figure 2 and Figure 3, return of empty pallets distribution portion includes return of empty pallets conveying device 3 and return of empty pallets storehouse 4；It is unloaded
The front of stacking pallet conveyer 2 is arranged in tray conveying device 3, including the unloaded support being mounted on return of empty pallets conveying chassis
Disk conveyer 31 and pallet jack redoiming conveyor 32, and return of empty pallets conveyer 31 conveys setting, return of empty pallets in left-right direction
Conveyer 31 includes the return of empty pallets transfer unit that symmetrically arranged two groups of front and back has transmission driving mechanism, return of empty pallets conveying
Component can be driving chain structure, is also possible to drive belt configuration or is live roller structure, return of empty pallets transfer unit
Height dimension of the conveyor surface apart from ground carry height of the support section of roller-way apart from ground no more than the support of stacking pallet conveyer 2
Size is spent, the output end position of return of empty pallets conveyer 31 also is provided with pallet limiting component, and pallet jacking redoiming conveyor 32 is set
It sets the front in stacking pallet conveyer 2 and is located between two groups of return of empty pallets transfer units, pallet jacks redoiming conveyor
32 include pallet carrier 33 and carrier elevating mechanism, and pallet carrier 33 is mounted on return of empty pallets by carrier elevating mechanism and conveys bottom
On frame, carrier elevating mechanism can use hydraulic cylinder or air cylinder structure or use the other structures such as electric screw rod structure,
It also is provided with multiple supports having roll drive mechanism, rolling setting along the longitudinal direction on pallet carrier 33 and carries roller, multiple supports carry
Parallel laid forms support load roller-way to roller along the longitudinal direction；Return of empty pallets storehouse 4 sets up the input for being mounted on return of empty pallets conveyer 31
On end position, return of empty pallets storehouse 4 includes the pallet lift clamp assemblies being mounted on pallet magazine chassis, pallet lift clamp assemblies
Including vertical plane towards in the front-back direction lifting vertical plate 41 and be left and right symmetrically arranged lifting vertical plate 41 on pallet clamping limb 42,
Lifting vertical plate 41 be mounted on pallet magazine chassis by vertical plate elevating mechanism, vertical plate elevating mechanism can use chain drive structure,
It can also pass through using hydraulic cylinder or air cylinder structure or using other structures, pallet clamping limbs 42 such as electric screw rod structures
Clamping limb distance regulating mechanism is mounted on lifting vertical plate 41, and clamping limb distance regulating mechanism can use hydraulic cylinder or cylinder knot
Structure can also use the other structures such as electric screw rod structure；
Stacking electric control part includes stacking controller, stacking control loop, return of empty pallets dispensing loop, stacking controller point
Not with the coordinate driving mechanism of palletizing mechanical arm 11, the vacuum cavitations valve group of palletizing mechanical arm 12, the support of stacking pallet conveyer 2
Zai Gun roll drive mechanism, the transmission driving mechanism of return of empty pallets conveyer 31, the support of pallet carrier 33 carry roller roll drive machine
Structure, the pallet jacking carrier elevating mechanism of redoiming conveyor 32, the vertical plate elevating mechanism in return of empty pallets storehouse 4, return of empty pallets storehouse 4
The electrical connection of clamping limb distance regulating mechanism.
The specific working principle is as follows: when original state, carrier elevating mechanism is in retraction state, the support of pallet carrier 33 carries
Face is lower than the support section of stacking pallet conveyer 2；
This concentration palletizing system is started to work, and stacking controller controls pallet clamping limb 42 to bottom from bottom to top first
Second pallet carries out firm clamping, and then control lifting vertical plate 41, which rises, makes the baseplane of second pallet of bottom be detached from bottom
Then the top plane of first pallet controls return of empty pallets conveyer 31 and starts, first pallet is i.e. in return of empty pallets delivery section
It is moved to the left or right under the drive of part to the output end of return of empty pallets conveyer 31, then pallet jacking redoiming conveyor 32 is dynamic
Work rises pallet carrier 33 by first pallet picking-up, then controls the support on pallet carrier 33 and stacking pallet conveyer 2
Carry the equidirectional back rotation of roller, first pallet be moved rearwardly on stacking pallet conveyer 2 and by pallet limiting component into
Row positioning, lifting vertical plate 41 and pallet clamping limb 42 complete the distribution of return of empty pallets after resetting；Then stacking controller issues
Instruction acts palletizing apparatus, and the coordinate under the drive of palletizing mechanical arm 11 of palletizing mechanical arm 12 is moved to the position of workpiece to be piled up
It sets and to workpiece to be piled up close to then vacuum cavitations valve group is opened in the control of stacking controller, and palletizing mechanical arm 12 treats code
It puts workpiece and carries out whole absorption crawl, then stacking controller control stacking device action makes palletizing mechanical arm 12 grab workpiece
Coordinate is moved to the setting position on first pallet, and vacuum cavitations valve group is closed in the control of stacking controller makes palletizing mechanical arm 12
It is piled up, palletizing apparatus is reset to the stacking that original state completes first workpiece, and so on, this concentration palletizing system
It continues working, until the workpiece whole block pattern row pattern of setting quantity completes the stacking of first pallet on first pallet；So
The support that stacking controller issues on instruction control stacking conveyor pallet 2 afterwards carries roller and rotates first for having workpiece to stacking forward
Pallet is conveyed.
In order to improve stacking efficiency, as a further improvement of the present invention, 2 bilateral symmetry of stacking pallet conveyer is set
It is set to two pieces, palletizing apparatus is arranged between two pieces stacking pallet conveyer 2.Two stacking pipelines are worked at the same time and can be mentioned significantly
Height piles up efficiency.
In order to realize the flexibility of palletizing mechanical arm 12, as a further improvement of the present invention, palletizing mechanical arm 12
It is mounted in 11 minor details of palletizing mechanical arm by C coordinate rotation assembly, C coordinate rotation assembly is electrically connected with stacking controller.
As one embodiment of the present invention, rolling support and carrying component is that support carries roller, and multiple supports carry roller and put down along the longitudinal direction
Row, which is laid with, forms support load roller-way.
As one embodiment of the present invention, rolling support and carrying component is the conveyer belt with roller station.
As one embodiment of the present invention, return of empty pallets transfer unit is driving chain structure.
As one embodiment of the present invention, return of empty pallets transfer unit is live roller structure.
This concentration palletizing system is Digitizing And Control Unit, can be seamlessly connected with the number bus of factory and realize concentration number
Word management is not limited to above-mentioned specific control mode.
Claims (7)
1. a kind of concentration palletizing system, which is characterized in that including return of empty pallets distribution portion, stacking part and stacking electric control part
Point；
Stacking part includes palletizing apparatus and stacking pallet conveyer (2)；Palletizing apparatus includes palletizing mechanical arm (11) and installation
Palletizing mechanical arm (12) in palletizing mechanical arm (11) minor details, palletizing mechanical arm (11) include at least X-coordinate driving mechanism, Y
Coordinate driving mechanism and Z coordinate driving mechanism, palletizing mechanical arm (12) are equipped with multiple negative pressure sucker structures, negative pressure sucker structure
It is connect by pipeline and vacuum cavitations valve group with negative pressure source；Stacking pallet conveyer (2) is arranged close to palletizing apparatus and stacking support
Disk conveyer (2) conveys setting forwards, stacking pallet conveyer (2) include be mounted on it is more on stacking pallet conveyer chassis
A to have roll drive mechanism, front-rear direction rolling setting rolling support load component, the rear end of stacking pallet conveyer (2) is set
There is pallet limiting component；
Return of empty pallets distribution portion includes return of empty pallets conveying device (3) and return of empty pallets storehouse (4)；Return of empty pallets conveying device
(3) setting is in the front of stacking pallet conveyer (2), including the return of empty pallets conveyer being mounted on return of empty pallets conveying chassis
(31) and pallet jacking redoiming conveyor (32), return of empty pallets conveyer (31) convey setting in left-right direction, and return of empty pallets is defeated
Sending machine (31) includes the return of empty pallets transfer unit that symmetrically arranged two groups of front and back has transmission driving mechanism, return of empty pallets conveying
Height dimension of the conveyor surface of component apart from ground is not more than height gauge of the support section of stacking pallet conveyer (2) apart from ground
Very little, the output end position of return of empty pallets conveyer (31) also is provided with pallet limiting component, and pallet jacking redoiming conveyor (32) is set
It sets the front in stacking pallet conveyer (2) and is located between two groups of return of empty pallets transfer units, conveying is reprinted in pallet jacking
Machine (32) includes pallet carrier (33) and carrier elevating mechanism, and pallet carrier (33) is mounted on unloaded support by carrier elevating mechanism
Disk conveys on chassis, and carrier elevating mechanism is hydraulic cylinder or air cylinder structure, also is provided with multiple having rolling on pallet carrier (33)
Driving mechanism, the rolling support that rolls setting along the longitudinal direction carry component；It is defeated that return of empty pallets storehouse (4) erection is mounted on return of empty pallets
On the input end position for sending machine (31), return of empty pallets storehouse (4) include the pallet lift clamp assemblies being mounted on pallet magazine chassis,
Pallet lift clamp assemblies include vertical plane towards lifting vertical plate (41) in the front-back direction and are left and right symmetrically arranged in lifting vertical plate
(41) the pallet clamping limb (42) on, lifting vertical plate (41) are mounted on pallet magazine chassis by vertical plate elevating mechanism, tray clamps
Gripping arm (42) is mounted in lifting vertical plate (41) by clamping limb distance regulating mechanism；
The stacking electric control part includes stacking controller, stacking control loop, return of empty pallets dispensing loop, stacking controller
It is conveyed respectively with the coordinate driving mechanism of palletizing mechanical arm (11), the vacuum cavitations valve group of palletizing mechanical arm (12), stacking pallet
The rolling support of machine (2) carries the rolling of member driving mechanism, the transmission driving mechanism of return of empty pallets conveyer (31), pallet carrier (33)
Dynamic support carries member driving mechanism, pallet jacks the vertical plate liter of the carrier elevating mechanism of redoiming conveyor (32), return of empty pallets storehouse (4)
The clamping limb distance regulating mechanism electrical connection of descending mechanism, return of empty pallets storehouse (4).
2. concentration palletizing system according to claim 1, which is characterized in that stacking pallet conveyer (2) is symmetrically set
It is set to two pieces, palletizing apparatus is arranged between two pieces stacking pallet conveyer (2).
3. concentration palletizing system according to claim 1, which is characterized in that palletizing mechanical arm (12) is rotated by C coordinate
Assembly is mounted in palletizing mechanical arm (11) minor details, and C coordinate rotation assembly is electrically connected with stacking controller.
4. concentration palletizing system according to claim 1 or 2 or 3, which is characterized in that rolling support and carrying component is that support carries roller,
Multiple supports carry roller, and parallel laid forms support load roller-way along the longitudinal direction.
5. concentration palletizing system according to claim 1 or 2 or 3, which is characterized in that rolling support and carrying component is with carrying roller
The conveyer belt of group.
6. concentration palletizing system according to claim 1 or 2 or 3, which is characterized in that return of empty pallets transfer unit is transmission
Chain structure.
7. concentration palletizing system according to claim 1 or 2 or 3, which is characterized in that return of empty pallets transfer unit is transmission
Roller structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811498739.4A CN109649748A (en) | 2018-12-08 | 2018-12-08 | A kind of concentration palletizing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811498739.4A CN109649748A (en) | 2018-12-08 | 2018-12-08 | A kind of concentration palletizing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109649748A true CN109649748A (en) | 2019-04-19 |
Family
ID=66113097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811498739.4A Withdrawn CN109649748A (en) | 2018-12-08 | 2018-12-08 | A kind of concentration palletizing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109649748A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111703648A (en) * | 2020-06-24 | 2020-09-25 | 广东铭利达科技有限公司 | Automatic boxing robot |
| CN114314017A (en) * | 2022-03-10 | 2022-04-12 | 徐州市汇力高强标准件有限公司 | Bernoulli rotary type pneumatic and hydraulic double-control building material stacking device |
-
2018
- 2018-12-08 CN CN201811498739.4A patent/CN109649748A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111703648A (en) * | 2020-06-24 | 2020-09-25 | 广东铭利达科技有限公司 | Automatic boxing robot |
| CN114314017A (en) * | 2022-03-10 | 2022-04-12 | 徐州市汇力高强标准件有限公司 | Bernoulli rotary type pneumatic and hydraulic double-control building material stacking device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190419 |