CN109911657B - Intelligent loading system and loading method for boxed goods - Google Patents
Intelligent loading system and loading method for boxed goods Download PDFInfo
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Abstract
本发明提供了一种箱式货物智能化装车系统及装车方法，能够有效实现箱式货物出仓至装车的全程自动化管理，提高装车效率，包括输送线机构、轨道机构、行走机构、吊装机构及控制系统；所述输送线机构设于轨道机构一端，行走机构设于轨道机构上，能够沿轨道机构移动，所述吊装机构与行走机构连接，用于吊装输送线机构上的货箱；所述控制系统包括上位机、地面PLC和吊装PLC，所述地面PLC用于控制输送线机构，吊装PLC用于控制轨道机构、行走机构和吊装机构，地面PLC分别连接吊装PLC和上位机。
The invention provides an intelligent loading system and loading method for box-type goods, which can effectively realize the full-process automated management of box-type goods from leaving the warehouse to loading, and improve the loading efficiency. It includes a conveyor line mechanism, a track mechanism, a traveling mechanism, Hoisting mechanism and control system; the conveyor line mechanism is located at one end of the track mechanism, the traveling mechanism is located on the track mechanism and can move along the track mechanism, the hoisting mechanism is connected to the traveling mechanism and is used to hoist the cargo box on the conveyor line mechanism ; The control system includes a host computer, a ground PLC and a hoisting PLC. The ground PLC is used to control the conveyor line mechanism. The hoisting PLC is used to control the track mechanism, traveling mechanism and hoisting mechanism. The ground PLC is connected to the hoisting PLC and the host computer respectively.
Description
Technical Field
The invention relates to the technical field of cargo loading, in particular to an intelligent cargo loading system and method for box type cargoes.
Background
With the improvement of modern mechanical degree and the popularization of unmanned factories and intelligent factories, more and more enterprises adopt automatic production lines to store, manage and turn over goods, so that the space utilization rate and management efficiency of the production lines can be improved, and the labor cost is reduced.
However, when the transferring cargo link is performed, the conventional transferring manner is still used, for example, when the cargo is loaded and transported, the manner of manually unstacking, transporting and loading is still adopted. The mode has low working efficiency and poor safety, and is high in cost for enterprises and difficult to complete butt joint with an automatic production line.
In view of this, it is important to develop a loading system and loading method that can solve the above problems.
Disclosure of Invention
The invention provides a box-type cargo intelligent loading system and a box-type cargo intelligent loading method, which can effectively realize the whole-course automatic management from the delivery of box-type cargoes to loading and improve the loading efficiency.
The intelligent loading system for the box-type cargoes has the following technical scheme:
comprises a conveying line mechanism, a track mechanism, a travelling mechanism, a hoisting mechanism and a control system;
the conveying line mechanism is arranged at one end of the track mechanism, the travelling mechanism is arranged on the track mechanism and can move along the track mechanism, and the hoisting mechanism is connected with the travelling mechanism and is used for hoisting a container on the conveying line mechanism;
the conveying line mechanism comprises a first conveying line, a second conveying line and a third conveying line, and two ends of the second conveying line are respectively and vertically connected with the first conveying line and the third conveying line;
the track mechanism comprises two parallel tracks, the lower parts of the tracks are supported by a plurality of upright posts, a truck parking area is arranged in an area between the two tracks, the two tracks are perpendicular to the conveying direction of a third conveying line and are arranged above the third conveying line, the travelling mechanism comprises a group of travelling trolleys which are matched with the two tracks, and the lower parts of the travelling trolleys are connected with the hoisting mechanism;
the control system comprises an upper computer, a ground PLC and a hoisting PLC, wherein the ground PLC is used for controlling the conveying line mechanism, the hoisting PLC is used for controlling the track mechanism, the travelling mechanism and the hoisting mechanism, and the ground PLC is respectively connected with the hoisting PLC and the upper computer.
As the preference of above-mentioned scheme, first, second, three transfer chain are drum-type transfer chain structure, and first transfer chain and second transfer chain are differential transfer chain, and the third transfer chain is the accumulation formula transfer chain, first transfer chain output port is relative with the side of second transfer chain input, and second transfer chain output port is relative with third transfer chain input side, and the third transfer chain output is located rail mechanism below.
As the preference of above-mentioned scheme, first transfer chain and second transfer chain all include two section at least drum-type transfer chain monomer that can independently move, mark in proper order as transfer chain monomer one along the transfer chain direction, transfer chain monomer two, transfer chain monomer three and transfer chain monomer four, transfer chain monomer two and transfer chain monomer three butt joint, wherein transfer chain monomer one transport speed is less than transfer chain monomer two, transfer chain monomer three transport speed is less than transfer chain monomer four, be equipped with photoelectric sensor between transfer chain monomer two and transfer chain monomer three and between transfer chain monomer three and transfer chain monomer four, transfer chain monomer four one side is equipped with CCD camera and bar code scanning rifle, be used for gathering the outward appearance image and the bar code information of packing box respectively, be equipped with an opening area on the transfer chain monomer four, the opening area is equipped with a set of jacking rotary mechanism, jacking rotary mechanism includes "well" word layer board, jacking cylinder, gear train and driving motor, the driving wheel of gear train is connected to "well" word layer board below, and the driving motor passes through the gear train and drives "well" word layer board rotation, the terminal surface connection jacking cylinder under the gear train, through the jacking cylinder can control the jacking cylinder, the jacking motor of lifting to four, CCD camera, all is connected with the driving motor.
Preferably, a group of fourth conveying lines are arranged on one side of the third conveying line, the fourth conveying line is an output conveying line, and one side of the third conveying line is located on the downstream side relative to the second conveying line and is used for outputting containers which do not meet the order requirements.
As the preference of above-mentioned scheme, third transfer chain department is equipped with the horizontal formula baling press of encircling that is connected with ground PLC, and horizontal formula baling press of encircling includes main part and travelling frame, and main part locates third transfer chain output port one side, and the travelling frame extends to rail set's below by output one side of third transfer chain upper reaches, a breach has respectively been seted up to the both sides support on the third transfer chain, and two breachs are just opposite, the travelling frame can pass the clearance between this breach and the adjacent two cylinders, makes the travelling frame can be moved to the cylinder below by the cylinder top of third transfer chain.
As the preference of above-mentioned scheme, be equipped with driving motor on the running gear for driving running gear along the track removal, hoist mechanism includes vertical telescopic machanism and snatchs the mechanism, and vertical telescopic machanism passes through the rotating member and is connected with running gear, snatchs the mechanism and connects in vertical telescopic machanism below, driving motor is connected with hoist and mount PLC.
As the preference of above-mentioned scheme, the gyration part includes driving motor and intermeshing's action wheel and follow driving wheel, and driving motor is fixed in on the running gear, is connected with hoist and mount PLC, and driving motor output shaft is the action wheel, vertical telescopic machanism is for cutting fork lift, and its top is equipped with a roof, and the bottom is equipped with a bottom plate, and roof center passes through the gyration axle to be connected with running gear, makes vertical telescopic machanism can revolve around the gyration axle, roof and action wheel fixed connection simultaneously, action wheel and gyration axle coaxial setting.
As the preference of above-mentioned scheme, snatch the mechanism and include base plate and locate a plurality of sucking discs of base plate lower surface, a plurality of sucking discs pass through solenoid valve connection vacuum pump and air compressor machine, the hoist and mount PLC is connected simultaneously to the solenoid valve, base plate and longitudinal stretching mechanism's bottom plate fixed connection.
As the preference of above-mentioned scheme, stand height is greater than truck height, is equipped with a laser sensor on the stand that is close to the both sides of truck locomotive and the stand of the both sides of tail respectively, be equipped with laser sensor between truck parking area and the third transfer chain, be connected with hoist and mount PLC respectively.
The method for loading by adopting the loading system comprises the following steps:
s1, a container is delivered out of a warehouse in a single-layer matrix arrangement mode and enters a differential conveying line;
s2, dividing the containers arranged in a matrix manner into a single-column arrangement mode by adopting two groups of differential conveying lines with mutually perpendicular conveying directions, wherein the containers in each column are mutually spaced;
s3, enabling the single container to sequentially pass through the differential conveying line and the accumulation type conveying line and stop at the output end of the accumulation type conveying line, and arranging a plurality of containers at the output end of the accumulation type conveying line according to a single row along the conveying line direction;
s4, when the containers arranged at the output end of the accumulation conveyor line reach the preset quantity, the conveyor line stops conveying, the output end of the accumulation conveyor line is provided with a horizontal encircling type packer, and the packer integrally packs the containers reaching the output end of the conveyor line.
S5, the travelling trolley moves to the position above the packed container along the track, the packed container is grabbed and lifted by the lifting mechanism, and then the travelling trolley drives the lifting mechanism to move to the position above the boxcar and drops the goods to the boxcar.
In step S2, the two differential conveyor lines are divided into a first conveyor line and a second conveyor line, the input end of the first conveyor line is butt-jointed with the warehouse, the output end is butt-jointed with the side surface of the input end of the second conveyor line, and the conveying directions of the first conveyor line and the second conveyor line are mutually perpendicular.
In the step S3, a camera, a bar code scanning gun and a jacking rotating mechanism are arranged on the second conveying line, the container appearance image acquisition and bar code scanning are carried out on a single container on the second conveying line, container appearance image information and bar code information are sent to a ground PLC, the ground PLC compares the positions of the long side and the short side of the container through the container appearance image information, and if the current positions of the long side and the short side of the container meet the packing requirement in a horizontal encircling packing machine, the second conveying line drives the container to continue to convey forwards; if the current directions of the long side and the short side of the container do not meet the packing requirements in the horizontal encircling type packer, the jacking rotating mechanism jacks up the container, then rotates by 90 degrees, and then descends to a conveying line and moves forwards along with the conveying line; and one side of the accumulation type conveying line is also provided with an output conveying line which is vertically butted with the accumulation type conveying line, the ground PLC judges the goods through bar code information, if the goods do not meet the order requirement, the goods are judged to be not in line with the items, and the corresponding goods boxes are output by the output conveying line after entering the accumulation type conveying line through the second conveying line.
In step S5, after the truck enters the truck parking area, 5 laser sensors at the truck head and the truck tail detect the position of the truck; the information that laser sensor gathered is sent to ground PLC, and ground PLC sends information to hoist and mount PLC again, and ground PLC feeds back information to the host computer simultaneously, and the host computer judges whether the freight train parks perpendicularly with the direction of delivery of accumulation formula transfer chain according to the distance information that 5 laser sensors gathered, if take place the slope, then snatch the mechanism with the packing box after, hoist and mount PLC control rotation parts's driving motor work, make hoist and mount mechanism in the certain angle of horizontal direction gyration to make the length direction of snatching the mechanism and freight train length direction perpendicular.
The beneficial effects of the technical scheme are that:
1. realizing the absolute guarantee of safe production. Replaces the traditional manual loading and stacking, avoids high-altitude operation and radically eliminates potential safety hazards.
2. And (3) accurately tracking and monitoring the delivered goods. The automatic goods sorting machine can effectively prevent goods information from being asymmetrically lost, automatically reject goods which do not meet the order requirements from the conveying line, improve the order accuracy, and orderly recover the goods which do not meet the order requirements.
3. And (5) full-process automatic management. The management of the container after discharging the container comprises the steps of code scanning, photographing, steering, packaging, hoisting and stacking, so that the loading efficiency and accuracy of the container can be effectively improved, and the labor cost is reduced.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
FIG. 2 is a schematic structural view of the delivery wire mechanism of the present invention.
Fig. 3 and 4 are schematic structural diagrams of a monomer four of the second conveying line in the present invention.
Fig. 5 and 6 are schematic structural diagrams of a jacking and rotating mechanism in the fourth monomer.
Fig. 7 and 8 are schematic views of an assembly mechanism of the travelling trolley and the hoisting mechanism.
FIG. 9 is a schematic diagram of a control system according to the present invention.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Intelligent loading system for box-type goods
Comprises a conveying line mechanism, a track mechanism, a travelling mechanism, a hoisting mechanism and a control system;
the conveying line mechanism is arranged at one end of the track mechanism, the travelling mechanism is arranged on the track mechanism and can move along the track mechanism, and the hoisting mechanism is connected with the travelling mechanism and is used for hoisting a container on the conveying line mechanism;
the conveying line mechanism comprises a first conveying line 1, a second conveying line 2 and a third conveying line 3, wherein two ends of the second conveying line 2 are respectively and vertically connected with the first conveying line 1 and the third conveying line 3;
the track mechanism comprises two tracks 7 which are arranged in parallel, the lower parts of the tracks are supported by a plurality of upright posts, a truck parking area is arranged in an area between the two tracks, the two tracks are perpendicular to the conveying direction of the third conveying line 3 and are arranged above the third conveying line 3, the travelling mechanism comprises a group of travelling trolleys 8 which are matched with the two tracks, and the lower parts of the travelling trolleys 8 are connected with a hoisting mechanism 9;
the control system comprises an upper computer, a ground PLC and a hoisting PLC, wherein the ground PLC is used for controlling the conveying line mechanism, the hoisting PLC is used for controlling the track mechanism, the travelling mechanism and the hoisting mechanism, and the ground PLC is respectively connected with the hoisting PLC and the upper computer.
In this embodiment, the first, second and third conveying lines are drum-type conveying line structures, the first conveying line 1 and the second conveying line 2 are differential conveying lines, the third conveying line 3 is a power and free conveying line, the output end port of the first conveying line 1 is opposite to the side face of the input end of the second conveying line 2, the output end port of the second conveying line 2 is opposite to the side face of the input end of the third conveying line 3, and the output end of the third conveying line 3 is located below the track mechanism.
In this embodiment, the first conveying line 1 and the second conveying line 2 each include at least two sections of drum-type conveying line monomers capable of independently running, the conveying line monomers are sequentially recorded as conveying line monomers one 101, conveying line monomers two 102, conveying line monomers three 201 and conveying line monomers four 202 along the conveying line direction, the conveying line monomers two 102 are in butt joint with the conveying line monomers three 201, the conveying speed of the conveying line monomers one 101 is smaller than that of the conveying line monomers two 102, the conveying speed of the conveying line monomers three 201 is smaller than that of the conveying line monomers four 202, photoelectric sensors are arranged between the conveying line monomers two 102 and the conveying line monomers three 201 and between the conveying line monomers three 201 and the conveying line monomers four 202, one side of the conveying line monomers four 202 is provided with a CCD camera 203 and a bar code scanning gun 204, appearance images and bar code information which are respectively used for collecting are used for acquiring are respectively arranged on the conveying line monomers four 202, an opening area 205 is provided with a group of jacking rotating mechanism 206, the jacking cylinder, a group of jacking cylinder and a driving motor are arranged below the jacking cylinder 206, the jacking cylinder is connected with a driving motor, the driving wheel of the lifting cylinder, the driving motor is connected with the driving cylinder through the driving cylinder of the lifting cylinder, the lifting cylinder is connected with the lifting cylinder, and the lifting cylinder of the lifting cylinder and the lifting cylinder, and the bar code scanning gun 204 are connected with the lifting motor, and the lifting cylinder, and the lifting camera 203.
In this embodiment, a group of fourth conveyor lines 4 is disposed on one side of the third conveyor line 3, and the fourth conveyor line 4 is an output conveyor line, and is located on the downstream side of the third conveyor line 3 with respect to the second conveyor line 2, and is used for outputting containers that do not meet the order requirements.
In this embodiment, the third conveyor line 3 is provided with a horizontal encircling type packer (2015121470. X) connected with the ground PLC, the horizontal encircling type packer includes a main body 5 and a deck 6, the main body 5 is disposed on one side of an output port of the third conveyor line 3, the deck 6 extends from one side of an output end of the third conveyor line 3 to a lower side of the track mechanism, two side brackets on the third conveyor line 3 are respectively provided with a notch 301, the two notches 301 are opposite, and the deck 6 can pass through the notch 301 and a gap between two adjacent rollers, so that the deck 6 can move from the upper side of the roller of the third conveyor line 3 to the lower side of the roller.
In this embodiment, a driving motor is arranged on the travelling mechanism and used for driving the travelling mechanism to move along the track, the hoisting mechanism 9 comprises a longitudinal telescopic mechanism 901 and a grabbing mechanism 902, the longitudinal telescopic mechanism 901 is connected with the travelling mechanism through a rotating component, the grabbing mechanism 902 is connected below the longitudinal telescopic mechanism 901, and the driving motor is connected with the hoisting PLC.
In this embodiment, the rotating component includes a driving motor, a driving wheel and a driven wheel 907, the driving motor is fixed on the travelling mechanism and connected with the hoisting PLC, the driving motor is connected with the driving wheel, the longitudinal telescopic mechanism 901 is a scissor type lifter, a top plate 906 is arranged at the top of the longitudinal telescopic mechanism, a bottom plate 905 is arranged at the bottom of the longitudinal telescopic mechanism, the center of the top plate 906 is connected with the travelling mechanism through a rotating shaft, the longitudinal telescopic mechanism 901 can rotate around the rotating shaft, the top plate 906 is fixedly connected with the driving wheel, and the driving wheel and the rotating shaft are coaxially arranged.
In this embodiment, the grabbing mechanism 902 includes a base plate 904 and a plurality of suction cups 903 disposed on the lower surface of the base plate, where the suction cups 903 are connected to a vacuum pump and an air compressor through electromagnetic valves (before grabbing a container with suction cups, positive pressure is generated by the air compressor to jet air to the upper surface of the container, dust and impurities on the upper surface of the container are taken out, negative pressure is generated by the vacuum pump, and the container is grabbed), the electromagnetic valves are simultaneously connected to a hoisting PLC, and the base plate 904 is fixedly connected to a bottom plate 905 of the longitudinal telescopic mechanism 901.
In this embodiment, the upright height is greater than the truck height, and the upright that is close to the both sides of truck locomotive and the upright of the both sides of tail respectively are equipped with a laser sensor 12, also be equipped with laser sensor between truck parking area and the third transfer chain 3, 5 laser sensors are connected with hoist and mount PLC respectively.
In the above-described structure, the jacking transfer machines are provided at the positions of the second conveyor line 2 and the third conveyor line 3, respectively, opposite to the first conveyor line 1 and the second conveyor line 2 and the fourth conveyor line 4, respectively, so that the cargo box can smoothly enter the next conveyor line, and the manner of smoothly entering and exiting the two conveyor lines by the jacking transfer machines is the prior art in the field of production line.
One side of the butt joint part of the first conveying line 1 and the second conveying line 2, one side of the butt joint part of the second conveying line 2 and the third conveying line 3, and one side of the butt joint part of the monomer III 201 and the monomer IV 202 of the second conveying line 2 are respectively provided with a photoelectric sensor for detecting whether a container passes through or not, and the technology for detecting whether the container passes through or not by the photoelectric sensor is set on one side of the conveying line and is the prior art in the field of production line.
In the above structure, the scissor lift and the travelling trolley can be all adopted in the prior art.
Intelligent box-type cargo loading method
The whole thought of the loading method is as follows: first transfer chain 1 and warehouse butt joint, the goods are taken out of the warehouse and get into first transfer chain 1 according to the mode of individual layer matrix arrangement, and it is to hoist mechanism's below to move to through second transfer chain 2 and third transfer chain 3 in proper order, and the baling press packs the goods earlier, snatchs mechanism 902 and snatchs, and elevating system promotes, and the walking dolly drives the goods walking until place the goods in the carriage.
In this process, there are the following problems to be solved:
1. before hoisting and grabbing, the containers packed are arranged in a single row, and the containers are arranged in a single matrix when being taken out of the warehouse and are in close contact with each other, so that the containers arranged in the matrix are required to be broken into single containers in the conveying process.
2. The placement orientation of the container when the container is taken out of the warehouse is different from the placement orientation required by the packing of the container (the "placement orientation" refers to that the long side and the short side of a single container are parallel or perpendicular relative to the direction of a conveying line, so that the containers can be orderly arranged to be conveniently packed, the containers need to be rotated in advance, so that the containers can be orderly arranged), and then the containers need to be photographed, identified and turned in advance.
3. The packing box needs to sweep the code before packing, and whether the packing box accords with the order is judged.
In combination with the problems, the loading method adopts the following steps:
1. the packing box is delivered out of the warehouse in a single-layer matrix arrangement mode and enters a first conveying line 1 (differential conveying line), the first conveying line 1 is divided into two sections, a first monomer 101 and a second monomer 102 are sequentially arranged along the conveying line direction, the speed of the first monomer 101 is smaller than that of the second monomer 102, and when the packing box in matrix arrangement enters the second monomer 102 from the first monomer 101, the row (vertical to the direction of the first conveying line 1) distance of the matrix can be increased.
2. The second conveying line 2 is also designed into two sections, a third monomer 201 and a fourth monomer 202 are sequentially arranged along the conveying line direction, the speed of the third monomer 201 is smaller than that of the fourth monomer 202, the second monomer 102 and the third monomer 201 form a right-angle structure, when a row of containers enter the third monomer 201 from the second monomer 102, the first conveying line 1 stops running, and when the row of containers are conveyed to the fourth monomer 202 from the third monomer 201, the distance between the row of containers is increased due to the differential speed;
and when a container enters the area where the jacking rotating mechanism 206 is located, the CCD camera 203 and the bar code scanning gun 204 respectively shoot and sweep the code for the container, judge the placement position of the container through the photo, compare the placement position of the container with the placement position of the container required by the system when the system is preset and packed, if the container is the same, the container does not need to be rotated, and directly pass through, if the container is not the same, the jacking rotating mechanism 206 works, the container is jacked up, and then rotated by 90 degrees, and the placement position of the container is changed.
3. The containers enter the third conveying line 3 (accumulation type conveying line) from the second conveying line 2, the containers matched with the orders are directly conveyed to the tail end of the third conveying line 3, and the containers not matched with the orders are output from the output conveying line (i.e. leave the third conveying line).
4. When the containers arranged at the output end of the accumulation type conveying line reach the preset number, the conveying line stops conveying, and the horizontal encircling type packing machine at the output end of the accumulation type conveying line packs the containers 13 stopped at the output end integrally.
5. The travelling trolley moves to the position above the packed container along the track, the packed container is grabbed and lifted by the lifting mechanism, and then the travelling trolley drives the lifting mechanism to move to the position above the boxcar and places the goods in the boxcar.
In step 5, after the truck enters the truck parking area, the laser sensors on the two sides of the truck head and the truck tail detect the position of the truck, and the distance meter detects the length of the truck carriage; the information that photoelectric sensor and distancer gathered is sent to hoist and mount PLC, hoist and mount PLC sends information to ground PLC again, ground PLC feeds back information to the host computer, the host computer judges whether the freight train parks perpendicularly with the direction of delivery of accumulation formula transfer chain according to the distance information that four photoelectric sensor gathered, if take place the slope, then snatch the back with the packing box at grabbing mechanism 902, hoist and mount PLC control rotary part's driving motor work, make hoist and mount mechanism in the certain angle of horizontal direction gyration, so that the length direction of grabbing mechanism 902 is perpendicular with freight train length direction.
It should be noted that: the output conveying line is arranged in the embodiment, so that real-time statistics and prior output can be performed on containers which are taken out of the warehouse but do not meet the order requirements, the non-compliant items are prevented from entering the packing area, and real-time management on the containers which do not meet the order requirements is facilitated.
CCD camera model: CV-H500C, model of code scanning gun: SR-610, solenoid valve model: XMD-63DL-M9, type of photoelectric sensor: GTE-N1211, laser sensor model: SW-LDS50A, range finder model: SW-LDS50A, ground PLC model: s7-1200, hoisting PLC model: s7-1200, model of an upper computer: IPC-610.
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| CN110525983B (en) * | 2019-08-30 | 2021-03-16 | 嘉兴锦鸿包装有限公司 | Self-adaptive stacking method for packing boxes |
| CN112027696B (en) * | 2020-08-20 | 2024-11-26 | 江苏方艾机器人有限公司 | A loading system and a loading method thereof |
| CN113651095A (en) * | 2021-09-03 | 2021-11-16 | 四川长虹智能科技有限公司 | Loading system |
| CN115009805A (en) * | 2022-06-21 | 2022-09-06 | 武汉思创智能装备有限公司 | Conveying line system for transferring goods to carriage and transferring method thereof |
| CN120207810B (en) * | 2025-05-29 | 2025-10-21 | 山东鲁丽家居有限公司 | Warehousing system for fixed-point storage of batch wood panels in workshops |
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| CN106429483A (en) * | 2016-12-09 | 2017-02-22 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic stacking and truck-loading system and truck-loading method thereof |
| CN107879135A (en) * | 2017-12-14 | 2018-04-06 | 雅化集团三台化工有限公司 | A kind of feeding in continuous material type automatic loading system |
| CN209668339U (en) * | 2019-03-19 | 2019-11-22 | 武汉大润科技有限公司 | Container type cargo intelligence loading system |
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