CN109704086A - Device for automatically loading goods into container - Google Patents
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- CN109704086A CN109704086A CN201910030460.1A CN201910030460A CN109704086A CN 109704086 A CN109704086 A CN 109704086A CN 201910030460 A CN201910030460 A CN 201910030460A CN 109704086 A CN109704086 A CN 109704086A
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- 230000005540 biological transmission Effects 0.000 description 14
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- 238000009434 installation Methods 0.000 description 3
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Abstract
The invention provides a device for automatically loading goods into a container, which solves the technical problem of high labor cost caused by manually loading the goods onto logistics vehicles in the prior art. The device comprises a multi-axis robot, a movable workbench, a cargo conveying line body and a control device; wherein the multi-axis robot is mounted on a movable table; the goods outlet end of the goods conveying line body corresponds to the goods taking position of the multi-axis robot; the multi-axis robot, the movable workbench and the cargo conveying line body are respectively electrically connected with the control device. The automatic stacking loading device is used for automatically loading goods into the container, realizes automatic stacking loading into the container, realizes on-line mechanization to replace manual operation, and reduces the expenditure of the labor cost.
Description
Technical Field
The invention relates to a device for automatically loading goods into a container.
Background
The products manufactured by the manufacturing enterprises are required to be loaded and delivered, and then are delivered to customers in a logistics mode. The current common method is to load the goods onto the logistics vehicles by manual work, and the logistics vehicles are often loaded by containers or direct loading. Therefore, the loading and delivery of products for manufacturing enterprises often occupy more manpower and material resources, and particularly under the background that the labor cost is increasing, the pressure of the loading and delivery of logistics and the transportation cost is becoming more and more severe.
The applicant has found that the prior art has at least the following technical problems:
the logistics vehicle is installed on goods manually in the prior art, and the problem of high labor cost exists.
Disclosure of Invention
The invention aims to provide a device for automatically loading goods into a container, which aims to solve the technical problem of high labor cost caused by manually loading the goods onto logistics vehicles in the prior art. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a device for automatically loading goods into a container, which comprises a multi-axis robot, a movable workbench, a goods conveying line body and a control device, wherein the movable workbench is arranged on the multi-axis robot; wherein,
the multi-axis robot is arranged on the movable workbench;
the goods outlet end of the goods conveying line body corresponds to the goods taking position of the multi-axis robot;
the multi-axis robot, the movable workbench and the cargo conveying line body are respectively electrically connected with the control device.
Alternatively or preferably, the movable workbench comprises a plate body, the bottom of the plate body is provided with a driving device, and the multi-axis robot is mounted at the top of the plate body.
Alternatively or preferably, the drive means comprises a motor, a drive wheel and a driven wheel; wherein,
the driving wheel is connected with the output end of the motor;
the driving wheel and the driven wheel are both arranged at the bottom of the plate body.
Optionally or preferably, guide wheels and telescopic guide wheels are respectively arranged on two sides of the plate body, and the width between the outer edge of each guide wheel and the outer edge of each telescopic guide wheel is adapted to the width of the inner side of the container.
Optionally or preferably, the multi-axis robot further comprises a goods taking device, the goods taking device is connected to the free end of the multi-axis robot, and the goods taking device is electrically connected with the control device.
Optionally or preferably, the goods taking device comprises a goods bearing plate and a telescopic mechanism mounting plate vertically arranged with the goods bearing plate; and the telescopic sucker mechanism is arranged on the telescopic mechanism mounting plate.
Optionally or preferably, the bottom of the plate body is connected with a lifting mechanism, the other end of the lifting mechanism is connected with a universal wheel, and the lifting mechanism is arranged at one end, far away from the goods conveying line body, of the plate body.
Optionally or preferably, the system further comprises a cargo positioning device arranged at the cargo outlet end of the cargo conveying line body.
Optionally or preferably, the cargo positioning device comprises a cargo blocking plate arranged at a cargo outlet end of the cargo conveying line body and a cargo pushing cylinder arranged on one side of the cargo conveying line body, the cargo pushing cylinder is connected with the cargo pushing plate, and the cargo pushing plate corresponds to the cargo blocking plate in position; the goods pushing cylinder is electrically connected with the control device.
Optionally or preferably, the device further comprises a cargo rotating mechanism arranged on the cargo conveying line body, and the cargo rotating mechanism is electrically connected with the control device.
Optionally or preferably, the cargo conveyor line body is a roller conveyor.
Based on the technical scheme, the embodiment of the invention can at least produce the following technical effects:
according to the device for automatically loading goods into the container, the goods conveying line body automatically conveys the goods to the movable workbench under the control of the control device in use; when in use, the multi-axis robot takes off the goods from the goods conveying line body under the control of the control device and then stacks the goods in the container; the movable workbench controls the depth of the movable workbench entering the container through the control device during use, and gradually exits from the container in the process of stacking the goods so as to facilitate stacking of the goods; the device for automatically loading goods into the container realizes automatic stacking and loading of goods into the container, realizes on-line mechanization to replace manual operation, reduces the expenditure of labor cost and relieves the pressure of logistics loading and delivery cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a top view of a movable table and a cargo conveyor line body in embodiment 1 of the present invention;
fig. 2 is a bottom view of the movable table in embodiments 1 and 2 of the present invention;
fig. 3 is a schematic view of the guide wheels, the telescopic guide wheels and the universal wheels mounted on the plate body in the embodiment 1 and the embodiment 2 of the invention;
FIG. 4 is a schematic view showing the installation of a guide wheel in examples 1 and 2 of the present invention;
fig. 5 is a schematic view showing the installation of the telescopic guide wheels in embodiments 1 and 2 of the present invention;
FIG. 6 is a schematic view showing the construction of a pickup device according to examples 1 and 2 of the present invention;
FIG. 7 is a first schematic view of the use state of the picking device in the embodiment 1 and the embodiment 2 of the invention;
FIG. 8 is a second schematic view showing the use state of the picking device in examples 1 and 2 of the present invention;
FIG. 9 is a schematic view showing a use state of the apparatus according to embodiment 1 of the present invention (the pickup apparatus is not shown);
fig. 10 is a top view of the movable table and the cargo conveyor line body in embodiment 2 of the present invention.
In the figure: 1. a plate body; 2. a motor; 3. a drive wheel; 4. a driven wheel; 5. a drive shaft; 6. mounting holes; 7. a connecting seat; 8. a guide wheel; 9. a telescopic guide wheel; 10. a multi-axis robot; 11. a goods conveyor line body; 12. a lifting mechanism; 13. a universal wheel; 14. an installation table; 15. a cargo carrying floor; 16. a telescoping mechanism mounting plate; 17. a telescoping mechanism; 18. a suction cup; 19. a connecting shaft; 20. mounting a plate; 21. a connecting flange; 22. goods; 23. a container; 24. a second transmission gear; 25. a spring; 26. a cargo barrier; 27. a goods pushing cylinder; 28 push the pallet.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
As shown in fig. 1-10:
example 1:
the invention provides a device for automatically loading goods into a container, which comprises a multi-axis robot 10, a movable workbench, a goods conveying line body 11 and a control device, wherein the movable workbench is arranged on the multi-axis robot; wherein,
the multi-axis robot 10 is mounted on a movable table;
the goods outlet end of the goods conveying line body 11 corresponds to the goods taking position of the multi-axis robot 10;
the multi-axis robot 10, the movable workbench and the cargo conveying line body 11 are electrically connected with the control device respectively.
The multi-axis robot 10 may be a four-axis robot, a five-axis robot, a six-axis robot, or the like, and may be selected as needed.
According to the device for automatically loading goods into the container, the goods conveying line body 11 automatically conveys the goods 22 to the movable workbench under the control of the control device in use; the multi-axis robot 10 is controlled by the control device to remove the goods 22 from the goods conveying line body 11 and then palletize the goods into the container 23 in use; the movable workbench is controlled by the control device to enter the container 23 in use, and gradually exits from the container 23 in the process of stacking the goods 22 so as to facilitate stacking of the goods 22; the device for automatically loading goods into the container realizes automatic stacking and loading of goods into the container 23, realizes on-line mechanical replacement of manual operation, reduces the expenditure of labor cost, and relieves the pressure of logistics loading and delivery cost.
As an alternative embodiment, the multi-axis robot 10 is mounted on the plate body 1 through a mounting table 14; the structure and mounting of the multi-axis robot 10 are conventional and will not be described in detail herein.
As an alternative embodiment, the movable worktable comprises a plate body 1, the bottom of the plate body 1 is provided with a driving device, and the multi-axis robot 10 is installed on the top of the plate body 1.
As an alternative embodiment, the driving means comprise an electric motor 2, a driving wheel 3 and a driven wheel 4; wherein,
the driving wheel 3 is connected with the output end of the motor 2;
the driving wheel 3 and the driven wheel 4 are both arranged at the bottom of the plate body 1.
As an alternative embodiment, the plate body 1 is rectangular; of course, the shape of the plate body 1 is not limited, and may be circular or elliptical.
Specifically, the motor 2 is installed in the middle of the plate body 1 and is located on the upper side of the plate body 1; a mounting hole 6 is formed in the plate body 1 corresponding to the output shaft of the motor 2, and a first transmission gear is sleeved on the output shaft of the motor 2;
the plate is characterized by further comprising a transmission shaft 5, wherein two ends of the transmission shaft 5 are rotatably connected below the plate body 1 through connecting seats 7, and the end parts of two ends of the transmission shaft 5 extend out of the outer sides of the connecting seats 7; the number of the driving wheels 3 is two, and the two driving wheels 3 are connected to the end parts of the two ends of the transmission shaft 5; the middle part of the transmission shaft 5 is sleeved with a second transmission gear 24, a transmission chain is sleeved on the first transmission gear and the second transmission gear 24, and the transmission chain penetrates through the mounting hole 6 of the plate body 1.
Specifically, the driven wheels 4 are arranged at four corners of the bottom of the plate body 1.
In the working process, when the movable workbench needs to be moved, the motor 2 is controlled to be started through the control device, the motor 2 drives the second transmission gear 24 to rotate, the transmission shaft 5 is further driven to rotate, the driving wheel 3 is driven to act, and the driven wheel 4 can follow the action of the driving wheel 3 to cooperate with the action of the driving wheel 3 when the driving wheel 3 acts.
As an alternative embodiment, the two sides of the plate body 1 are respectively provided with a guide wheel 8 and a telescopic guide wheel 9, and the width between the outer edge of the guide wheel 8 and the outer edge of the telescopic guide wheel 9 is adapted to the width of the inner side of the container 23.
Specifically, the guide wheel 8 is four first rollers arranged on one side of the plate body 1, and the number of the first rollers is not limited; of course, other numbers may be provided; the telescopic guide wheel 9 comprises four second idler wheels arranged on the other side of the plate body 1 and a spring 25 arranged on the second idler wheels, and the other end of the spring 25 is connected to the plate body 1 through a connecting plate.
In the using process, the movable workbench needs to enter the container 23 for stacking the goods 22, so that the width between the outer edge of the guide wheel 8 and the outer edge of the telescopic guide wheel 9 is designed to be adapted to the width of the inner side of the container 23, and the guide wheel 8 and the telescopic guide wheel 9 both lean against the inner side of the container 23 to enter the container 23 when entering the container 23, so that the movable workbench can stably enter the container 23; the telescopic guide wheels 9 can also be adjusted adaptively according to the width of the inner side of the container 23.
As an optional embodiment, the bottom of the plate body 1 is connected with a lifting mechanism 12, the other end of the lifting mechanism 12 is connected with a universal wheel 13, the lifting mechanism 12 is arranged at one end of the plate body 1 close to the container 23, that is, the lifting mechanism 12 is arranged at one end of the plate body 1 far away from the goods conveying line body 11, and the lifting mechanism 12 is electrically connected with a control device; in the using process, when the plate body 1 is not directly opposite to the entrance of the container 23, the control device is required to control the lifting mechanism 12 to lower the universal wheels 13, and the movable workbench and the cargo conveyor line body 11 are manually pulled to the position directly opposite to the doorway of the container 23, so that the movable workbench can enter the container 23; then the lifting mechanism 12 is controlled by the control device to retract the universal wheel 13; the movable table is finally brought into the container 23 by means of its drive.
In an alternative embodiment, the lifting mechanism 12 is a cylinder, but other lifting mechanisms 12 may be used.
As an optional embodiment, the multi-axis robot further comprises a goods taking device, wherein the goods taking device is connected to the free end of the multi-axis robot 10, and the goods taking device is electrically connected with the control device.
As an alternative embodiment, the pickup device includes a transverse cargo carrying floor 15 and a telescoping mechanism mounting plate 20 disposed perpendicular to the cargo carrying floor 15; the telescopic mechanism mounting plate 20 is provided with a telescopic sucker mechanism.
As an alternative embodiment, the telescopic sucker mechanism includes a telescopic mechanism 17 and a sucker 18 connected to the telescopic mechanism 17, and the telescopic mechanism 17 and the sucker 18 are electrically connected to the control device respectively.
As an alternative embodiment, the telescopic mechanism 17 is a cylinder (preferably an air cylinder) or an electric cylinder; the suction cup 18 is an electric suction cup 18 (preferably an electric suction cup 18) or a pneumatic suction cup 18.
Specifically, three telescopic sucker mechanisms are arranged along the telescopic mechanism mounting plate 20 in sequence from top to bottom; certainly, the number and the arrangement positions of the telescopic sucker mechanisms are not limited by the number and the positions disclosed in the embodiment, and can be arranged according to the requirement; the mounting holes of the telescopic sucker mechanisms can be formed in the telescopic mechanism mounting plate 20, and the telescopic sucker mechanisms can be mounted as required according to the shape of the goods 22.
As an alternative embodiment, the goods taking device is connected to the free end of the multi-axis robot 10 through a connecting device, the connecting device includes a connecting shaft, and a mounting plate 20 and a connecting flange 21 respectively disposed at two ends of the connecting shaft 19, the mounting plate 20 is connected to the telescopic mechanism mounting plate 20, and the connecting flange 21 is connected to the free end of the multi-axis robot 10.
In the using process, when goods are taken: the telescopic sucker mechanism firstly extends the sucker 18 through the telescopic mechanism 17, the sucker 18 sucks the goods 22 (as shown in figure 7), then the telescopic mechanism 17 retracts the sucker 18, and the goods 22 are dragged to the goods bearing plate 15 (as shown in figure 8) through the sucker 18; then the goods 22 are moved to the stacking position through the multi-axis robot 10, in the moving process, the weight of the products is borne by the goods bearing plate 15, and the suction cups 18 are adsorbed on the goods 22, so that the goods 22 can be prevented from falling; during stacking: when the multi-axis robot 10 moves to the placement position of the goods 22, the palletizing of the goods 22 is started, the suction cups 18 blow air, and the telescopic mechanisms 17 extend to place the goods 22. The use of the goods taking device can exert the stacking range of the multi-axis robot 10 as much as possible, goods 22 which are inconvenient to take by the multi-axis robot 10 can be taken and stacked by the goods taking device, so that the goods 22 can be conveniently stacked, and the stacking range of the goods 22 is wider.
As an alternative embodiment, the goods conveyor line body 11 is a roller conveyor (preferably a telescopic roller conveyor, so as to reduce the load dragging the goods conveyor line body 11).
As an alternative embodiment, the control device is a PLC control system.
As an optional embodiment, the bottom of the cargo conveying line body 11 is provided with a moving roller; one end of the goods conveying line body 11 is hinged on the movable workbench; when the movable workbench moves, the movable workbench drags the cargo conveying line body 11 to move, and when one end of the cargo conveying line body 11 is hinged to the movable workbench, the problem that the movable idler wheels cannot land due to uneven ground can be solved when the road surface is uneven.
The device for automatically loading goods into the container can be applied to loading of the container 23, stored products are often stacked and stored, and when the device is used, the stored products can be transported to the goods conveying line body 11 by a robot or a worker and then automatically loaded into the container 23.
In use, the stacking parameters can be automatically changed on the multi-axis robot 10 according to different sizes of different cargos 22, so that the stacking position of each cargo 22 can be calculated.
If the robot is applied to an environment with higher stacking precision requirement, a laser ranging sensor can be additionally arranged, the robot is sent to the multi-axis robot 10 through ranging deviation to realize automatic position correction, and the stacking precision of the goods 22 is further improved.
Example 2:
the present embodiment 2 is different from embodiment 1 in that: still including setting up the goods positioner at 11 shipment ends of goods conveying line body.
As an optional embodiment, the cargo positioning device comprises a cargo blocking plate 26 arranged at the cargo discharging end of the cargo conveying line body 11 and a cargo pushing cylinder 27 arranged at one side of the cargo conveying line body 11, the cargo pushing cylinder 27 is connected with the cargo pushing plate 28, and the positions of the cargo pushing plate 28 and the cargo blocking plate 26 correspond to each other; the goods pushing cylinder 27 is electrically connected with the control device.
In use, when goods 22 reach the delivery end of the goods conveying line body 11, the goods 22 can be pushed to one side of the goods conveying line body 11 by the goods blocking plate 26, the goods pushing cylinder 27 is controlled by the control device, the goods 22 are pushed to one side of the goods conveying line body 11 through the goods pushing plate 28, the position of the goods 22 is located, the position consistency of grabbing of each goods 22 is guaranteed, the stacking precision is further improved, and the multi-axis robot 10 is convenient to take.
As an optional implementation manner, the device further comprises a cargo rotating mechanism arranged on the cargo conveying line body 11, wherein the cargo rotating mechanism is electrically connected with the control device; the arrangement of the cargo rotating mechanism is also used for ensuring the consistency of the grabbing position of each cargo 22, so that the stacking precision is further improved; the cargo rotating mechanism is a mechanism in the prior art, and the specific structure and arrangement thereof are not described in detail here.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (11)
1. An automatic loading device in a container is characterized in that: comprises a multi-axis robot (10), a movable workbench, a goods conveying line body (11) and a control device; wherein,
the multi-axis robot (10) is mounted on a movable table;
the goods outlet end of the goods conveying line body (11) corresponds to the goods taking position of the multi-axis robot (10);
the multi-axis robot (10), the movable workbench and the goods conveying line body (11) are respectively electrically connected with the control device.
2. The apparatus for automatically loading cargo into a container as recited in claim 1, wherein: the movable workbench comprises a plate body (1), a driving device is arranged at the bottom of the plate body (1), and the multi-axis robot (10) is installed at the top of the plate body (1).
3. An apparatus for automatically loading cargo into a container as defined in claim 2, wherein: the driving device comprises a motor (2), a driving wheel (3) and a driven wheel (4); wherein,
the driving wheel (3) is connected with the output end of the motor (2);
the driving wheel (3) and the driven wheel (4) are both arranged at the bottom of the plate body (1).
4. An apparatus for automatically loading cargo into a container as defined in claim 3, wherein: the width between the outer edge of the guide wheel (8) and the outer edge of the telescopic guide wheel (9) is adapted to the width of the inner side of the container (23).
5. An apparatus for automatically loading cargo into a container as defined in any one of claims 1 to 4, wherein: the multi-axis robot is characterized by further comprising a goods taking device, wherein the goods taking device is connected to the free end of the multi-axis robot (10), and is electrically connected with the control device.
6. An apparatus for automatically loading cargo into a container as defined in claim 5, wherein: the goods taking device comprises a goods bearing plate (15) and a telescopic mechanism mounting plate (16) which is perpendicular to the goods bearing plate (15); and a telescopic sucker mechanism is arranged on the telescopic mechanism mounting plate (16).
7. An apparatus for automatically loading cargo into a container as defined in claim 6, wherein: the bottom of the plate body (1) is connected with a lifting mechanism (12), the other end of the lifting mechanism (12) is connected with a universal wheel (13), and the lifting mechanism (12) is arranged at one end, far away from the goods conveying line body (11), of the plate body (1).
8. The apparatus for automatically loading cargo into a container as recited in claim 7, further comprising: the goods positioning device is arranged at the goods outlet end of the goods conveying line body (11).
9. The apparatus for automatically loading cargo into a container as recited in claim 8, further comprising: the cargo positioning device comprises a cargo blocking plate (26) arranged at the cargo outlet end of the cargo conveying line body (11) and a cargo pushing cylinder (27) arranged on one side of the cargo conveying line body (11), wherein the cargo pushing cylinder (27) is connected with a cargo pushing plate (28), and the positions of the cargo pushing plate (28) and the cargo blocking plate (26) correspond to each other; the goods pushing cylinder (27) is electrically connected with the control device.
10. The apparatus for automatically loading cargo into a container as recited in claim 9, wherein: the device is characterized by further comprising a cargo rotating mechanism arranged on the cargo conveying line body (11), wherein the cargo rotating mechanism is electrically connected with the control device.
11. The apparatus for automatically loading cargo into a container as recited in claim 10, wherein: the goods conveying line body (11) is a roller conveyor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910030460.1A CN109704086A (en) | 2019-01-11 | 2019-01-11 | Device for automatically loading goods into container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910030460.1A CN109704086A (en) | 2019-01-11 | 2019-01-11 | Device for automatically loading goods into container |
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| CN109704086A true CN109704086A (en) | 2019-05-03 |
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| CN201910030460.1A Pending CN109704086A (en) | 2019-01-11 | 2019-01-11 | Device for automatically loading goods into container |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113484502A (en) * | 2021-07-16 | 2021-10-08 | 泰州市纤维检验院 | Cotton detection device |
| CN113860007A (en) * | 2021-09-14 | 2021-12-31 | 唐山海容机器人应用技术研究院 | Van truck bagged goods loading robot |
| CN115123970A (en) * | 2022-06-22 | 2022-09-30 | 山东西部智能科技有限公司 | Container box type packaging unloading sterilizing and killing equipment |
| CN115504274A (en) * | 2022-09-15 | 2022-12-23 | 大连海事大学 | Rake type container unloading and transferring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113484502A (en) * | 2021-07-16 | 2021-10-08 | 泰州市纤维检验院 | Cotton detection device |
| CN113860007A (en) * | 2021-09-14 | 2021-12-31 | 唐山海容机器人应用技术研究院 | Van truck bagged goods loading robot |
| CN113860007B (en) * | 2021-09-14 | 2024-06-07 | 唐山海容机器人应用技术研究院 | Van bagging cargo loading robot |
| CN115123970A (en) * | 2022-06-22 | 2022-09-30 | 山东西部智能科技有限公司 | Container box type packaging unloading sterilizing and killing equipment |
| CN115123970B (en) * | 2022-06-22 | 2024-05-03 | 山东西部智能科技有限公司 | Container box type packaging unloading and sterilizing equipment |
| CN115504274A (en) * | 2022-09-15 | 2022-12-23 | 大连海事大学 | Rake type container unloading and transferring device |
| CN115504274B (en) * | 2022-09-15 | 2024-09-20 | 大连海事大学 | Rake type container unloading and transferring device |
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