CN110077861B - Bagged material distributing and stacking system - Google Patents
Bagged material distributing and stacking system Download PDFInfo
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- CN110077861B CN110077861B CN201910459502.3A CN201910459502A CN110077861B CN 110077861 B CN110077861 B CN 110077861B CN 201910459502 A CN201910459502 A CN 201910459502A CN 110077861 B CN110077861 B CN 110077861B
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- 239000000463 material Substances 0.000 title claims abstract description 180
- 238000003756 stirring Methods 0.000 claims description 113
- 238000001514 detection method Methods 0.000 claims description 37
- 230000002457 bidirectional effect Effects 0.000 claims description 26
- 230000009471 action Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 230000005484 gravity Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 14
- 238000013461 design Methods 0.000 abstract description 4
- 239000000428 dust Substances 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/11—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/32—Stacking of articles characterised by stacking during transit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses a bagged material distributing and stacking system, and aims to solve the problem that the existing automatic stacking and loading equipment can only realize transverse stacking or longitudinal stacking. The utility model provides a loading demand that different specification bagging-off, different specification loading carriages can be satisfied, the space utilization in carriage is improved. Meanwhile, based on improvement of a carriage stacking mode, the stability of transportation is increased, and safe operation of transportation is guaranteed. By adopting the method and the device, the optimal stacking mode corresponding to different vehicles can be realized, the adaptability and the loading flexibility are improved, and the method and the device have extremely high application value. Further, the servo system is adopted as a driving unit, a pneumatic actuating mechanism is not used, the equipment operation impact is small, the flexibility is good, and the device can adapt to a lower temperature environment and a harsher dust environment. The stacking device has the advantages of ingenious conception, reasonable design, simple structure, high stacking efficiency, higher application value and better application prospect.
Description
Technical Field
The invention relates to the field of automatic loading equipment, in particular to the field of automatic palletizing and loading of bagged materials, and specifically relates to a bagged material distributing and palletizing system. In the automatic loading process of the bagging materials, the quick loading and stacking of the bagging materials can be realized by adopting the automatic loading and stacking device, and the automatic stacking and loading requirements in the fields of cement, chemical industry, feed and the like can be met. Meanwhile, according to different vehicles, the optimal stacking mode can be adopted, so that various vehicles can be scientifically loaded and stably transported. The stacking device is ingenious in conception, reasonable in design, high in stacking efficiency and high in application value.
Background
In most cases, the bagged materials are usually stacked and loaded manually, namely: the bagging material bags are conveyed to the position above the carriage with the open structure through a conveying system, and then are manually conveyed to carry out stacking and loading. By adopting the mode, the labor intensity of workers is high, the efficiency is low, and the loading cost is high. For this purpose, corresponding automatic loading palletizing devices have been studied.
The prior application CN108557513A of Sichuan Fund robot Co., ltd.s.A flexible material-distributing and stacking execution system (application number: CN201810650144, publication date: 2018.09.21) can adapt to the width change of different kinds of material-transporting vehicles, effectively expands the application range of equipment, has better adaptability, and can also meet the requirements of factory material-distributing and stacking.
In the palletizing of the bagged materials, the bagged materials may have different specifications, and the palletizing carriages may have different specifications, and the current equipment can only transversely palletize or longitudinally palletize in the process of realizing automatic palletizing and loading, so that the palletizing and loading in an optimal mode cannot be realized for part of the bagged materials and carriages, the space utilization rate of the carriages is insufficient, and the transportation stability is poor.
For this reason, a new apparatus is urgently needed to solve the above-mentioned problems.
Disclosure of Invention
The invention aims at: aiming at the problems that the existing automatic stacking and loading equipment can only realize transverse stacking or longitudinal stacking, the bagged material distributing and stacking system is provided. The automatic loading device can effectively solve the problem that the existing automatic loading device cannot be compatible with transverse and longitudinal combined stacking, meets the loading requirements of different-specification bagging materials and different-specification loading carriages, and improves the space utilization rate of the carriages. Meanwhile, based on improvement of a carriage stacking mode, the stability of transportation is increased, and safe operation of transportation is guaranteed. By adopting the method and the device, the optimal stacking mode corresponding to different vehicles can be realized, the adaptability and the loading flexibility are improved, and the method and the device have extremely high application value. Further, the servo system is adopted as a driving unit, a pneumatic actuating mechanism is not used, the equipment operation impact is small, the flexibility is good, and the device can adapt to a lower temperature environment and a harsher dust environment. The stacking device has the advantages of ingenious conception, reasonable design, simple structure, high stacking efficiency, higher application value and better application prospect.
The technical scheme adopted by the invention is as follows:
a bagged material distributing and stacking system comprises a supporting unit, a conveying unit, an R-axis rotary stirring unit, an upper layer switch door unit, a longitudinal supporting plate, an upper layer Y-axis horizontal stirring unit, a lower layer switch door unit and a control system;
the supporting unit comprises an upper supporting frame and a lower supporting frame, wherein the upper supporting frame is connected with the lower supporting frame and is positioned above the lower supporting frame;
the conveying unit, the R-axis rotary stirring unit, the upper layer switch door unit, the longitudinal support plate and the upper layer Y-axis horizontal stirring unit are respectively arranged on the upper layer support frame, and the upper layer support frame can provide support for the conveying unit, the R-axis rotary stirring unit, the upper layer switch door unit, the longitudinal support plate and the upper layer Y-axis horizontal stirring unit;
the conveying unit comprises a conveying belt and a conveying driving device connected with the conveying belt, wherein the conveying driving device is connected with the conveying belt and can drive the conveying belt to move so as to realize conveying of materials;
the R-axis rotary stirring unit comprises a rotary mounting plate, a rotary driving device, a rotary connecting plate and a stirring plate matched with the conveying belt, wherein the stirring plate is in a sector shape, the rotary mounting plate is fixedly connected with an upper layer supporting frame, the upper layer supporting frame can provide support for the rotary mounting plate, the rotary driving device is arranged on the rotary mounting plate, the rotary mounting plate can provide support for the rotary driving device, the rotary driving device is connected with the stirring plate through the rotary connecting plate and drives the stirring plate to rotate through the rotary driving device so as to stir bagged materials on the conveying belt to an upper layer door opening and closing unit, and the center line of the upper layer door opening and closing unit is perpendicular to the movement direction of the conveying belt, and the bagged materials conveyed by the conveying belt can be changed into a transverse direction from the longitudinal direction under stirring of the R-axis rotary stirring unit and are arranged on the upper layer door opening and closing unit;
The upper layer switch door unit is connected with the longitudinal support plate, the rotary mounting plate is positioned above the longitudinal support plate, a longitudinal material temporary storage space is formed between the rotary mounting plate and the longitudinal support plate, the upper layer Y-axis horizontal stirring unit is connected with the longitudinal support plate, and the upper layer Y-axis horizontal stirring unit can push the bagged materials on the longitudinal support plate to the upper layer switch door unit;
the lower-layer switch door unit and the lower-layer Y-axis horizontal stirring unit are respectively arranged on the lower-layer support frame, the lower-layer support frame can provide support for the lower-layer switch door unit and the lower-layer Y-axis horizontal stirring unit, the lower-layer switch door unit is positioned below the upper-layer switch door unit, bag materials falling through the upper-layer switch door unit can enter the lower-layer switch door unit, the lower-layer Y-axis horizontal stirring unit is matched with the lower-layer switch door unit, and the lower-layer Y-axis horizontal stirring unit can push the bag materials on the lower-layer switch door unit to a set position on the lower-layer switch door unit, so that the bag materials can be stacked through opening of the lower-layer switch door unit;
The conveying driving device, the rotary driving device, the upper layer switch door unit, the upper layer Y-axis horizontal material stirring unit, the lower layer switch door unit and the lower layer Y-axis horizontal material stirring unit are respectively connected with the control system.
The conveying driving device and the rotary driving device are servo motors respectively.
The two upper layer switch door units are symmetrically arranged on two sides of the longitudinal supporting plate and bag materials conveyed by the conveying belt can be changed into transverse directions from the longitudinal directions under the stirring of the R-axis rotary stirring unit and are respectively arranged on the two upper layer switch door units.
The automatic conveying device is characterized by further comprising a first position detection sensor matched with the conveying belt, wherein the first position detection sensor is connected with the control system and can detect bagged materials at the connecting position of the conveying belt and the R-axis rotary stirring unit and transmit the measurement result to the control system.
The device also comprises a second position detection sensor, wherein the second position detection sensor is positioned above the longitudinal support plate and can detect whether the longitudinal support plate is provided with the bagged materials or not, the second position detection sensor is connected with the control system and can transmit the detection result of whether the longitudinal support plate is provided with the bagged materials or not to the control system.
The control system includes:
the conveying module is connected with the conveying driving device and used for controlling the feeding speed of the conveying unit;
the first detection module is connected with the first position detection sensor and is used for detecting whether a bag material exists at one end of the conveying belt connected with the R-axis rotary material shifting unit;
the R-axis material stirring module is connected with the R-axis material stirring unit, and when the bagged materials are required to be changed from the longitudinal direction to the transverse direction, the first position detection sensor detects that the bagged materials reach one end connected with the R-axis material stirring unit, and then the first position detection sensor controls the rotation driving device of the R-axis material stirring unit to rotate and conveys the bagged materials to the upper layer switch door unit in a rotating manner;
the second detection module is connected with the second position detection sensor and is used for detecting whether the longitudinal support plate is provided with the bagging materials or not;
the upper Y-axis horizontal stirring module is connected with the upper Y-axis horizontal stirring unit, and when the bagged materials need to be longitudinally piled up, the upper Y-axis horizontal stirring module controls the upper Y-axis horizontal stirring unit to work and rotationally conveys the bagged materials to the upper switch door unit after detecting that the bagged materials reach the longitudinal support plate by the second position detection sensor;
the upper layer door opening and closing module is connected with the upper layer door opening and closing unit, and controls the upper layer door opening and closing unit to open when the bag material reaches the upper layer door opening and closing unit so that the bag material falls onto the lower layer door opening and closing unit under the action of gravity;
The lower Y-axis horizontal stirring module is connected with the lower Y-axis horizontal stirring unit, and controls the lower Y-axis horizontal stirring unit to move after the bagged materials enter the lower switch door unit so as to convey the bagged materials to a set position on the lower switch door unit;
the lower layer switch door module is connected with the lower layer switch door unit, and when the bagged materials are conveyed to a set position through the lower layer Y-axis horizontal material stirring unit, the lower layer switch door module is controlled to be opened so as to realize stacking of the bagged materials.
One or more of the upper layer door opening and closing unit and the lower layer door opening and closing unit adopts a synchronous door opening and closing structure;
the synchronous switch door structure comprises a first supporting plate, a second supporting plate, a switch driving device connected with a control system, a rotating disc and an opening and closing assembly used for driving a door to open and close, wherein the first supporting plate and the second supporting plate are arranged in parallel, the first supporting plate and the second supporting plate form a switch supporting frame, the switch driving device is connected with the rotating disc, the switch driving device can drive the rotating disc to rotate relatively, the opening and closing assemblies are in a group, the opening and closing assemblies are symmetrically arranged relative to the rotating disc, and the rotating disc is connected with the opening and closing assembly and can realize the opening and closing of the door through the opening and closing assembly;
The opening and closing assembly comprises a first connecting rod, a belleville spring assembly, a first joint bearing, a second bidirectional connecting rod, a rotating piece, a second joint bearing, a first rotating shaft, a third connecting rod, a fourth rocker arm, a second rotating shaft, a fifth connecting rod, a sixth connecting rod, a third rotating shaft and a fixed connecting piece for fixing the door, wherein the two ends of the first rotating shaft and the two ends of the second rotating shaft are respectively connected with a switch supporting frame, and the switch supporting frame can respectively provide support for the first rotating shaft and the second rotating shaft;
the first connecting rod is connected with the second bidirectional connecting rod through a first joint bearing, the belleville spring is arranged on the first connecting rod, the belleville spring is positioned between the rotating disc and the first joint bearing, and the belleville spring can ensure the tension between the second bidirectional connecting rod and the rotating disc;
the rotating piece is respectively provided with a first connecting point, a second connecting point and a third connecting point, the first connecting point, the second connecting point and the third connecting point are distributed on the rotating piece in a triangle shape, the first connecting point is positioned above the second connecting point, the second connecting point is positioned at one side close to the rotating disc, and the third connecting point is positioned at one side close to the third connecting rod;
The first rotating shaft passes through the first connecting point, the rotating piece can rotate relative to the switch support frame through the first rotating shaft, the second connecting point is connected with the second bidirectional connecting rod through the second joint bearing, the second bidirectional connecting rod can drive the rotating piece to rotate relative to the switch support frame through the second joint bearing, and the axis of the first joint bearing is perpendicular to the axis of the second joint bearing; the third connecting point is hinged with one end of the third connecting rod, and the rotating piece can drive the third connecting rod to move relative to the rotating piece;
the third connecting rod and the fourth rocker arm are respectively hinged with one end of the fifth connecting rod, and the third connecting rod can drive the fifth connecting rod to rotate relative to the fourth rocker arm; the third rotating shaft is connected with the first supporting plate, the first supporting plate can provide support for the third rotating shaft, the sixth connecting rod is arranged on the third rotating shaft, the sixth connecting rod can rotate relative to the first supporting plate, the sixth connecting rod is hinged with the other end of the fifth connecting rod, and the fifth connecting rod can rotate relative to the sixth connecting rod;
the fixed connecting piece is connected with the sixth connecting rod, the sixth connecting rod is kept relatively static with the door through the fixed connecting piece, and the door is driven by the opening and closing assembly to open and close relative to the third rotating shaft.
Still including being used for providing the drive base that supports for switch drive arrangement, drive base links to each other and switch support frame can provide the support for the drive base with the switch support frame, switch drive arrangement sets up on the drive base and drive base can provide the support for switch drive arrangement.
The switch driving device is connected with the rotating disc through the speed reduction output mechanism.
The switch driving device is a servo motor.
The rotating disc is circular.
The first joint bearing comprises a first inner ring and a first outer ring matched with the first inner ring, the first inner ring is connected with the first connecting rod, the rotating disc can drive the first joint bearing to move relative to the rotating disc through the first connecting rod, the first outer ring is connected with one end of the second bidirectional connecting rod, and the first connecting rod can drive the second bidirectional connecting rod to move through the first joint bearing.
The second knuckle bearing comprises a second inner ring and a second outer ring matched with the second inner ring, the inner ring of the second knuckle bearing is connected with a second connecting point through a connecting rod, the second outer ring is connected with the other end of the second bidirectional connecting rod, and the second bidirectional connecting rod can drive the rotating piece to rotate relative to the switch supporting frame through the second knuckle bearing.
And a plurality of overhaul holes are also formed in the switch support frame.
The bearing is matched with the first rotating shaft and the third rotating shaft respectively, and the first rotating shaft and the third rotating shaft can rotate around the bearing respectively.
The opening and closing assembly further comprises a door which is in clamping connection with the fixed connecting piece.
The rotary support piece is arranged at the other end of the third rotary shaft, and the third rotary shaft can rotate relatively around the rotary support piece.
The rotary support is a bearing.
To sum up, the application discloses an automatic feed pile up neatly system that divides suitable for bagging-off loading pile up neatly, the system includes supporting element, conveying element, the rotatory material unit of dialling of R axle, upper strata switch door unit, vertical backup pad, upper Y axle level material unit of dialling, lower floor switch door unit, control system several parts, through the collaborative work between the subassembly, can realize horizontal, vertical and violently indulge the combination pile up neatly, effectively satisfy the loading demand of different specification bagging-off, different specification loading carriages, improve the space utilization in carriage. Further, by combining a vehicle information scanning system, a planner system and the like, the efficiency of automatic palletizing and loading of the bag loading can be further improved, and the requirements of automatic palletizing and loading of factories are met.
Drawings
Fig. 1 is a schematic view showing the overall structure of the system for palletizing the bag charges in example 1.
Fig. 2 is a front view of the system for palletizing the charges of bags of example 1.
Fig. 3 is a side view of the bag-fill, distribution and palletizing system of example 1.
Fig. 4 is a top view of the system for palletizing the charges of bags of example 1.
Fig. 5 is a schematic diagram of the structure of the conveying unit in embodiment 1.
Fig. 6 is a schematic diagram of a partial structure of an R-axis rotary kick-out unit in embodiment 1.
Fig. 7 is a schematic structural diagram of a lower layer Y-axis horizontal kick-out unit in embodiment 1.
Fig. 8 is a schematic diagram of an open state of the synchronous door opening and closing structure.
Fig. 9 is a schematic diagram of the closed state of the synchronous door opening and closing structure.
Fig. 10 is a schematic diagram of the overall structure of the synchronous door opening and closing mechanism in embodiment 1.
Fig. 11 is a schematic view of the bottom structure of fig. 10.
Fig. 12 is a schematic structural view of a synchronous door opening and closing mechanism.
Fig. 13 is a schematic diagram of a synchronous door opening and closing mechanism with a shutter.
Fig. 14 is a schematic structural view of the rotary member in embodiment 1.
Fig. 15 is a schematic view showing the closing of the apparatus in example 1.
Fig. 16 is an open schematic of the device of example 1.
Fig. 17-25 are schematic diagrams of the transverse palletizing flow in embodiment 1.
Fig. 26-34 are schematic views of the longitudinal palletizing flow in embodiment 1.
Fig. 35 is a schematic view of lateral palletizing.
Fig. 36 is a schematic view of a longitudinal palletizing.
Fig. 37 is a schematic view of a combined stacking of horizontal and vertical directions.
The marks in the figure: 1. the device comprises a first supporting plate, 2, a second supporting plate, 3, a switch driving device, 4, a rotating disc, 5, a belleville spring assembly, 6, a first joint bearing, 7, a second bidirectional connecting rod, 8, a rotating piece, 9, a second joint bearing, 10, a first rotating shaft, 11, a third connecting rod, 12, a fourth rocker arm, 13, a second rotating shaft, 14, a fifth connecting rod, 15, a sixth connecting rod, 16, a third rotating shaft, 20, a first connecting point, 21, a second connecting point, 22, a third connecting point, 30, a rotating supporting piece, 51, a conveying unit, 52, an R-axis rotating stirring unit, 53, an upper Y-axis horizontal stirring unit, 54, an upper opening and closing door unit, 55, a lower Y-axis horizontal stirring unit, 56, a lower opening and closing door unit, 57, an upper supporting frame, 58, a lower supporting frame, 59, a rotating connecting plate, 60 and a stirring plate.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in the figure, the bagging material separating and stacking system of the embodiment comprises a supporting unit, a conveying unit, an R-axis rotary material stirring unit, an upper layer switch door unit, a longitudinal supporting plate, an upper layer Y-axis horizontal material stirring unit, a lower layer switch door unit and a control system. The support unit is divided into two layers and comprises an upper support frame and a lower support frame, wherein the upper support frame is connected with the lower support frame into a whole, and the upper support frame is positioned above the lower support frame.
In the embodiment, the conveying unit, the R-axis rotary stirring unit, the upper layer switch door unit, the longitudinal support plate and the upper layer Y-axis horizontal stirring unit are respectively arranged on the upper layer support frame; wherein, upper strata switch door unit is two, and upper strata switch door unit symmetry sets up in the both sides of vertical backup pad. As shown in fig. 5, the conveying unit comprises a conveying belt and a conveying driving device connected with the conveying belt, wherein the conveying driving device is connected with the conveying belt; in this embodiment, the conveyance driving device employs a servo motor.
In this embodiment, the rotatory stirring unit of R axle includes the rotatory mounting panel of upper supporting frame fixed connection, sets up rotatory drive arrangement, rotatory connecting plate on the rotatory mounting panel, with conveyer belt matched with stirring board, rotatory drive arrangement passes through rotatory connecting plate and stirring board links to each other, stirring board is fan-shaped (as shown in fig. 6). In this embodiment, the rotation driving device adopts a servo motor. In the structure, when the bag material is conveyed on the conveying belt, the material stirring plate rotates around the rotating shaft under the drive of the rotary driving device, so that the material is pushed along the circumferential direction; because the material shifting plate is fan-shaped, the material shifting plate can shift the bagged materials to the upper layer door opening and closing units on the left side and the right side respectively in the process of swinging left and right relative to the conveying belt; the process of rotary feeding realizes the conversion of the bagged materials from longitudinal to transverse. Preferably, the middle line of the upper door opening and closing unit is perpendicular to the moving direction of the conveyor belt.
In this embodiment, the longitudinal support plate is located on the axis of the movement direction of the conveyor belt, the rotary mounting plate is located above the longitudinal support plate, and a longitudinal material temporary storage space is formed between the rotary mounting plate and the longitudinal support plate. Meanwhile, the upper Y-axis horizontal stirring unit is used for horizontally pushing the bagged materials on the longitudinal supporting plate, and the upper Y-axis horizontal stirring unit is connected with the longitudinal supporting plate, so that the upper Y-axis horizontal stirring unit can push the bagged materials on the longitudinal supporting plate to the upper switch door unit. In the structure, when the stirring plate of the R-axis rotary stirring unit is positioned at the outer side of the conveying belt and is not used for stirring action, the bag material can be directly conveyed into the longitudinal material temporary storage space through the conveying unit; then, the upper Y-axis horizontal material stirring unit works to push the bagged materials on the longitudinal supporting plate to horizontally move to the upper door opening and closing unit.
In this embodiment, the lower-layer door opening and closing unit and the lower-layer Y-axis horizontal material stirring unit are respectively disposed on the lower-layer supporting frame. The lower layer switch door unit is positioned below the upper layer switch door unit, and the lower layer Y-axis horizontal material stirring unit is matched with the lower layer switch door unit; the lower layer door opening and closing unit can be provided with one or a plurality of door opening and closing units according to the requirement. In this application, lower floor's Y axle level dials material unit and mainly used carries out horizontal pushing to the bagging-off material on the lower floor's switch door unit. After the bagging materials falling from the upper layer switch door unit enter the lower layer switch door unit, the lower layer Y-axis horizontal material shifting unit pushes the bagging materials on the lower layer switch door unit to a set position on the lower layer switch door unit, and then the lower layer switch door unit is opened, so that stacking of the bagging materials is realized.
In this application, carry drive arrangement, rotary drive device, upper strata switch door unit, upper strata Y axle level material unit of dialling, lower floor switch door unit, lower floor Y axle level material unit of dialling respectively with control system link to each other.
Further, the embodiment further comprises a first position detection sensor and a second position detection sensor, wherein the first position detection sensor and the second position detection sensor are respectively connected with the control system. The first position detection sensor is used for detecting the bagged materials at the joint of the conveying belt and the R-axis rotary stirring unit; the second position detection sensor is located above the longitudinal supporting plate and is used for detecting whether the longitudinal supporting plate is provided with the bag materials or not.
Further, the control system of the present embodiment includes:
the conveying module is connected with the conveying driving device and used for controlling the feeding speed of the conveying unit;
the first detection module is connected with the first position detection sensor and is used for detecting whether a bag material exists at one end of the conveying belt connected with the R-axis rotary material shifting unit;
the R-axis material stirring module is connected with the R-axis material stirring unit, and when the bagged materials are required to be changed from the longitudinal direction to the transverse direction, the first position detection sensor detects that the bagged materials reach one end connected with the R-axis material stirring unit, and then the first position detection sensor controls the rotation driving device of the R-axis material stirring unit to rotate and conveys the bagged materials to the upper layer switch door unit in a rotating manner;
The second detection module is connected with the second position detection sensor and is used for detecting whether the longitudinal support plate is provided with the bagging materials or not;
the upper Y-axis horizontal stirring module is connected with the upper Y-axis horizontal stirring unit, and when the bagged materials need to be longitudinally piled up, the upper Y-axis horizontal stirring module controls the upper Y-axis horizontal stirring unit to work and rotationally conveys the bagged materials to the upper switch door unit after detecting that the bagged materials reach the longitudinal support plate by the second position detection sensor;
the upper layer door opening and closing module is connected with the upper layer door opening and closing unit, and controls the upper layer door opening and closing unit to open when the bag material reaches the upper layer door opening and closing unit so that the bag material falls onto the lower layer door opening and closing unit under the action of gravity;
the lower Y-axis horizontal stirring module is connected with the lower Y-axis horizontal stirring unit, and controls the lower Y-axis horizontal stirring unit to move after the bagged materials enter the lower switch door unit so as to convey the bagged materials to a set position on the lower switch door unit;
the lower layer switch door module is connected with the lower layer switch door unit, and when the bagged materials are conveyed to a set position through the lower layer Y-axis horizontal material stirring unit, the lower layer switch door module is controlled to be opened so as to realize stacking of the bagged materials.
Further, in this embodiment, a synchronous door opening and closing structure is provided, and one or both of the upper layer door opening and closing unit and the lower layer door opening and closing unit adopts the synchronous door opening and closing structure. More specifically, the synchronous switch door structure of this embodiment includes first backup pad, second backup pad, the switch drive who links to each other with control system, rolling disc, is used for driving the door and carries out the switching subassembly of switching, and switching subassembly is a set of and relative rolling disc symmetry setting. In this embodiment, the first support plate and the second support plate are disposed in parallel, and the first support plate and the second support plate form a switch support frame. Further, the embodiment further comprises a driving base for providing support for the switch driving device, and the driving base is connected with the switch supporting frame. The switch driving device is arranged on the driving base, the driving base is used for providing support for the switch driving device, and the switch supporting frame is used for providing support for the opening and closing mechanism.
In this embodiment, the switching subassembly includes first connecting rod, belleville spring assembly, first knuckle bearing, second bidirectional connecting rod, rotating member, second knuckle bearing, first pivot, third connecting rod, fourth rocking arm, second pivot, fifth connecting rod, sixth connecting rod, third pivot, be used for carrying out fixed connection spare to the door, the both ends of first pivot, the both ends of second pivot are connected with the switch support frame respectively and the switch support frame can provide the support for first pivot, second pivot respectively.
The switch driving device is connected with the rotating disc and drives the rotating disc to rotate relatively; one end of the first connecting rod is connected with the rotating disc, the other end of the first connecting rod is connected with the second bidirectional connecting rod through the first joint bearing, the belleville spring is arranged on the first connecting rod, and the belleville spring is positioned between the rotating disc and the first joint bearing.
As shown in the figure, the rotating member is respectively provided with a first connecting point, a second connecting point and a third connecting point, the first connecting point, the second connecting point and the third connecting point are distributed on the rotating member in a triangular shape, the first connecting point is located above the second connecting point, the second connecting point is located on one side close to the rotating disc, and the third connecting point is located on one side close to the third connecting rod. Simultaneously, the first rotating shaft passes through the first connecting point, the rotating piece can rotate relative to the switch support frame through the first rotating shaft, the second connecting point is connected with the second bidirectional connecting rod through the second joint bearing, the second bidirectional connecting rod can drive the rotating piece to rotate relative to the switch support frame through the second joint bearing, and the axis of the first joint bearing is perpendicular to the axis of the second joint bearing; the third connecting point is hinged with one end of the third connecting rod, and the rotating piece can drive the third connecting rod to move relative to the rotating piece.
The third connecting rod and the fourth rocker arm are respectively hinged with one end of the fifth connecting rod, and the third connecting rod can drive the fifth connecting rod to rotate relative to the fourth rocker arm; the third rotating shaft is connected with the first supporting plate, the first supporting plate can provide support for the third rotating shaft, the sixth connecting rod is arranged on the third rotating shaft and can rotate relative to the switch supporting frame, the sixth connecting rod is hinged with the other end of the fifth connecting rod, and the fifth connecting rod can rotate relative to the sixth connecting rod. Meanwhile, the fixed connecting piece is connected with the sixth connecting rod, and the sixth connecting rod is kept relatively static with the door through the fixed connecting piece and driven by the opening and closing assembly to realize opening and closing of the door relative to the third rotating shaft.
In this embodiment, the switch driving device adopts a servo motor, and the rotating disc may be circular; the first joint bearing comprises a first inner ring and a first outer ring which is matched with the first inner ring, the first inner ring is connected with the first connecting rod, the rotating disc can drive the first joint bearing to move relative to the rotating disc through the first connecting rod, the first outer ring is connected with one end of the second bidirectional connecting rod, and the first connecting rod can drive the second bidirectional connecting rod to move through the first joint bearing. The second knuckle bearing comprises a second inner ring and a second outer ring matched with the second inner ring, the inner ring of the second knuckle bearing is connected with a second connecting point through a connecting rod, the second outer ring is connected with the other end of the second bidirectional connecting rod, and the second bidirectional connecting rod can drive the rotating piece to rotate relative to the switch supporting frame through the second knuckle bearing.
Further, a plurality of access holes are further formed in the switch support frame, and the access holes can be formed in the first support plate. The implementation further comprises a bearing, the bearing is matched with the first rotating shaft and the third rotating shaft respectively, and the first rotating shaft and the third rotating shaft can rotate around the bearing respectively. Further, the opening and closing assembly further comprises a door which is in clamping connection with the fixed connecting piece; and one end of the third rotating shaft is also provided with a rotating support piece, and two ends of the third rotating shaft rotate around the first supporting plate and the rotating support piece respectively, and more specifically, the rotating support piece can be a bearing.
When the opening and closing mechanism works, the two first connecting rods are symmetrically connected with rotation, the switch driving device drives the rotating disc to rotate, and then the two first connecting rods are driven to synchronously move, and the first connecting rods sequentially drive the second connecting points to rotate around the first connecting points through the first joint bearings, the second bidirectional connecting rods and the second joint bearings; when the rotating piece rotates, the connecting part of the third connecting rod and the fourth rocker arm forms a first rotating point and enables the first rotating point to move along the track under the restriction of the fourth rocker arm. The first rotating point is hinged with the sixth connecting rod through the fifth connecting rod, and the sixth connecting rod is arranged on the third rotating shaft, so that the first rotating point drives the sixth connecting rod to rotate around the third rotating shaft through the fifth connecting rod. The sixth connecting rod is connected with the door through the fixed connecting piece, and the door is opened and closed in the rotating process. Meanwhile, the maximum angle allowed by the first joint bearing and the second joint bearing is limited, so that the corresponding door is ensured to be opened and closed in a specific range. Simultaneously, the door is tightly linked to each other with fixed connection spare clamp, and its installation angle that can be convenient for adjust the door guarantees final switch mechanism's normal switch work.
The synchronous door opening and closing mechanism of the embodiment takes a servo motor as a power source, takes a precise harmonic speed reducer as a power transmission mechanism, and combines a space hinge mechanism to realize quick and stable door opening and closing actions. As shown in fig. 12, when the door is closed, the space hinge mechanism is just at the dead point position, so that impact load of falling of the bagging material can not act on the speed reducer and the servo motor, damage of harmful load to precise parts of the system is avoided by ingenious design, stability of the system is enhanced, service life of the equipment is greatly prolonged, and use and maintenance cost of the equipment is reduced.
Further, this embodiment will be described with reference to a schematic diagram, a layout diagram, and a flow chart (for convenience of explanation, the following sections will be described with reference to the schematic diagrams).
Transverse stacking process
1) After the first bagging material is conveyed to the intersection of the conveying unit and the R-axis rotary stirring unit through the conveying unit, the first position detection sensor is correspondingly positioned, as shown in fig. 17.
2) When the first bag is in place, the R-axis rotating material stirring unit rotates leftwards to drive the first bag to move to the upper left layer door opening and closing unit, as shown in fig. 18 and 19.
When the first bagging material reaches the upper layer door opening and closing unit on the left side, the system waits for the second bagging material to be conveyed in place, and when the second bagging material is conveyed in place, the R-axis rotating stirring unit rotates rightwards to drive the second bagging material to move to the upper layer door opening and closing unit on the right side, as shown in fig. 20.
At this time, the upper left door opening and closing unit is opened, the first bag thereon falls to the lower door opening and closing unit under the action of gravity, and then the upper left door opening and closing unit is closed as shown in fig. 22 and 23 (the above processes occur sequentially, i.e., the first left bag falls earlier than the second right bag, but for convenience of explanation, the flowcharts are drawn in different order, as shown in fig. 22 and 23).
3) When the second bagging material reaches the caching position, the system waits for the third bagging material to be conveyed in place, then the R-axis rotating material stirring unit rotates leftwards to drive the third bagging material to move to the left upper layer door opening and closing unit, and then the third bagging material enters into the circulating motion, the R-axis rotating material stirring unit continuously swings left and right, and the left upper layer door opening and closing unit and the right upper layer door opening and closing unit are not opened and closed, as shown in fig. 21.
At this time, the upper right door opening/closing unit is opened, the second bag thereon falls to the lower door opening/closing unit under the action of gravity, and then the upper right door opening/closing unit is closed, as shown in fig. 22 and 23 (the above processes occur sequentially, i.e., the first left bag falls earlier than the second right bag, but for convenience of explanation, the flowcharts are drawn in different order, as shown in fig. 22 and 23).
4) When the bagged materials fall to the lower layer door opening and closing unit, the lower layer Y-axis horizontal material stirring unit drives the bagged materials to move to the designated position, as shown in fig. 24.
5) When the bagged materials run to the designated position, the lower layer switch door unit is opened, the bagged materials fall into a carriage to be loaded under the action of gravity, then the lower layer switch door unit is closed, the next bagged materials fall off, and then the circulating action is carried out, as shown in fig. 24 and 25.
(II) longitudinal palletizing flow
1) The first pack is transferred onto the longitudinal support plate through the transfer unit, and is positioned by hitting the second position detecting sensor supported by the pressure sensor, as shown in fig. 26.
2) When the first bag is in place, the upper Y-axis horizontal material shifting unit translates leftwards, so that the first bag is driven to move to the upper left door opening and closing unit, as shown in fig. 27 and 28.
3) When the first bag material reaches the upper left layer door opening and closing unit, the system waits for the second bag material to be conveyed in place, and after the second bag material is conveyed in place, the upper Y-axis horizontal shifting unit translates rightwards to drive the second bag material to move to the upper right layer door opening and closing unit, as shown in fig. 29.
At this time, the upper left door opening and closing unit is opened, the first bag thereon falls to the lower door opening and closing unit under the action of gravity, and then the upper left door opening and closing unit is closed, as shown in fig. 31 and 32 (the above processes occur sequentially, i.e., the first left bag falls earlier than the second right bag, but for convenience of explanation, the flowcharts are drawn in no order).
4) When the second bagging material reaches the upper layer door opening and closing unit on the right side, the system waits for the third bagging material to be conveyed in place, then the upper layer Y-axis horizontal material stirring unit translates leftwards to drive the third bagging material to move to the upper layer door opening and closing unit on the left side, and then the third bagging material enters into circulation movement, the upper layer Y-axis horizontal material stirring unit translates leftwards and rightwards continuously, and the upper layer door opening and closing unit is not opened and closed.
At this time, the upper right layer door opening and closing unit is opened, the second bag charge thereon falls to the lower layer door opening and closing unit under the action of gravity, and then the upper right layer door opening and closing unit is closed (the above processes sequentially occur, that is, the first bag charge on the left side falls earlier than the second bag charge on the right side, but for convenience of explanation, the flow chart is drawn in no order).
When the first (second) bag material falls to the lower layer door opening and closing unit, the lower layer Y-axis horizontal material shifting unit drives the first (second) bag material to move to a specified position, as shown in fig. 33.
5) When the first (second) bag material moves to the designated position, the lower layer switch door unit is opened, the first (second) bag material falls into a compartment to be loaded under the action of gravity, then the lower layer switch door unit is closed, the third (fourth) bag material is waited for falling, and then the circulation action is entered, as shown in fig. 34.
For a better illustration of the transverse palletization and the longitudinal palletization, fig. 35, 36, 37 are given. Fig. 35, 36 and 37 are respectively a transverse stacking, a longitudinal stacking and a transverse-longitudinal combined stacking (any combination).
Therefore, the stacking equipment can meet the requirements of transverse, longitudinal and transverse and longitudinal combined stacking, can realize the optimal stacking modes corresponding to different vehicles, improves the adaptability and the loading flexibility, and has extremely high application value. In addition, the servo system is adopted as the only power source, a pneumatic actuating mechanism is not arranged, the equipment operation impact is small, and the flexibility is better.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The bagged material distributing and stacking system is characterized by comprising a supporting unit, a conveying unit, an R-axis rotating stirring unit, an upper layer switch door unit, a longitudinal supporting plate, an upper layer Y-axis horizontal stirring unit, a lower layer switch door unit and a control system;
The supporting unit comprises an upper supporting frame and a lower supporting frame, wherein the upper supporting frame is connected with the lower supporting frame and is positioned above the lower supporting frame;
the conveying unit, the R-axis rotary stirring unit, the upper layer switch door unit, the longitudinal support plate and the upper layer Y-axis horizontal stirring unit are respectively arranged on the upper layer support frame, and the upper layer support frame can provide support for the conveying unit, the R-axis rotary stirring unit, the upper layer switch door unit, the longitudinal support plate and the upper layer Y-axis horizontal stirring unit;
the conveying unit comprises a conveying belt and a conveying driving device connected with the conveying belt, wherein the conveying driving device is connected with the conveying belt and can drive the conveying belt to move so as to realize conveying of materials;
the R-axis rotary stirring unit comprises a rotary mounting plate, a rotary driving device, a rotary connecting plate and a stirring plate matched with the conveying belt, wherein the stirring plate is in a sector shape, the rotary mounting plate is fixedly connected with an upper layer supporting frame, the rotary driving device is arranged on the rotary mounting plate, the rotary driving device is connected with the stirring plate through the rotary connecting plate and drives the stirring plate to rotate through the rotary driving device so as to stir the bagged materials on the conveying belt to an upper layer door opening and closing unit, the central line of the upper layer door opening and closing unit is perpendicular to the movement direction of the conveying belt, and the bagged materials conveyed by the conveying belt can be changed into transverse bags from the longitudinal direction to be arranged on the upper layer door opening and closing unit under stirring of the R-axis rotary stirring unit;
The upper Y-axis horizontal material shifting unit is connected with the longitudinal support plate and can push the bagged materials on the longitudinal support plate to the upper switch door unit;
the lower layer switch door unit and the lower layer Y-axis horizontal material stirring unit are respectively arranged on the lower layer support frame, the lower layer switch door unit is positioned below the upper layer switch door unit, bag materials falling through the upper layer switch door unit can enter the lower layer switch door unit, and the lower layer Y-axis horizontal material stirring unit is matched with the lower layer switch door unit;
the conveying driving device, the rotary driving device, the upper layer switch door unit, the upper layer Y-axis horizontal material stirring unit, the lower layer switch door unit and the lower layer Y-axis horizontal material stirring unit are respectively connected with the control system.
2. The bagged material distributing and stacking system as claimed in claim 1, wherein the conveying driving device and the rotary driving device are servo motors respectively.
3. The bagged material distributing and stacking system according to claim 1, wherein the number of the upper layer switch door units is two, the upper layer switch door units are symmetrically arranged on two sides of the longitudinal supporting plate, and the bagged materials conveyed by the conveying belt can be changed into transverse directions from the longitudinal directions under the stirring of the R-axis rotary stirring unit and are respectively arranged on the two upper layer switch door units.
4. The bagged material distributing and stacking system of claim 1, further comprising a first position detection sensor matched with the conveying belt, wherein the first position detection sensor is connected with the control system, and can detect the bagged material at the position where the conveying belt is connected with the R-axis rotary stirring unit and transmit the measurement result to the control system.
5. The bagged material distributing and stacking system of claim 4, further comprising a second position detecting sensor, wherein the second position detecting sensor is located above the longitudinal supporting plate and can detect whether the longitudinal supporting plate has bagged materials, the second position detecting sensor is connected with the control system, and the second position detecting sensor can transmit the detection result of whether the longitudinal supporting plate has bagged materials to the control system.
6. The bagged material dispensing palletizing system of claim 5, wherein the control system comprises:
the conveying module is connected with the conveying driving device and used for controlling the feeding speed of the conveying unit;
the first detection module is connected with the first position detection sensor and is used for detecting whether a bag material exists at one end of the conveying belt connected with the R-axis rotary material shifting unit;
the R-axis material stirring module is connected with the R-axis material stirring unit, and when the bagged materials are required to be changed from the longitudinal direction to the transverse direction, the first position detection sensor detects that the bagged materials reach one end connected with the R-axis material stirring unit, and then the first position detection sensor controls the rotation driving device of the R-axis material stirring unit to rotate and conveys the bagged materials to the upper layer switch door unit in a rotating manner;
the second detection module is connected with the second position detection sensor and is used for detecting whether the longitudinal support plate is provided with the bagging materials or not;
the upper Y-axis horizontal stirring module is connected with the upper Y-axis horizontal stirring unit, and when the bagged materials need to be longitudinally piled up, the upper Y-axis horizontal stirring module controls the upper Y-axis horizontal stirring unit to work and rotationally conveys the bagged materials to the upper switch door unit after detecting that the bagged materials reach the longitudinal support plate by the second position detection sensor;
The upper layer door opening and closing module is connected with the upper layer door opening and closing unit, and controls the upper layer door opening and closing unit to open when the bag material reaches the upper layer door opening and closing unit so that the bag material falls onto the lower layer door opening and closing unit under the action of gravity;
the lower Y-axis horizontal stirring module is connected with the lower Y-axis horizontal stirring unit, and controls the lower Y-axis horizontal stirring unit to move after the bagged materials enter the lower switch door unit so as to convey the bagged materials to a set position on the lower switch door unit;
the lower layer switch door module is connected with the lower layer switch door unit, and when the bagged materials are conveyed to a set position through the lower layer Y-axis horizontal material stirring unit, the lower layer switch door module is controlled to be opened so as to realize stacking of the bagged materials.
7. The bagged material distributing and stacking system according to any one of claims 1 to 6, wherein one or more of the upper layer door opening and closing unit and the lower layer door opening and closing unit adopts a synchronous door opening and closing structure;
the synchronous switch door structure comprises a first supporting plate, a second supporting plate, a switch driving device connected with a control system, a rotating disc and an opening and closing assembly used for driving a door to open and close, wherein the first supporting plate and the second supporting plate are arranged in parallel, the first supporting plate and the second supporting plate form a switch supporting frame, the switch driving device is connected with the rotating disc, the switch driving device can drive the rotating disc to rotate relatively, the opening and closing assemblies are in a group, the opening and closing assemblies are symmetrically arranged relative to the rotating disc, and the rotating disc is connected with the opening and closing assembly and can realize the opening and closing of the door through the opening and closing assembly;
The opening and closing assembly comprises a first connecting rod, a belleville spring assembly, a first joint bearing, a second bidirectional connecting rod, a rotating piece, a second joint bearing, a first rotating shaft, a third connecting rod, a fourth rocker arm, a second rotating shaft, a fifth connecting rod, a sixth connecting rod, a third rotating shaft and a fixed connecting piece for fixing the door, wherein the two ends of the first rotating shaft and the two ends of the second rotating shaft are respectively connected with a switch supporting frame, and the switch supporting frame can respectively provide support for the first rotating shaft and the second rotating shaft;
the first connecting rod is connected with the second bidirectional connecting rod through a first joint bearing, the belleville spring assembly is arranged on the first connecting rod, the belleville spring assembly is positioned between the rotating disc and the first joint bearing, and the belleville spring assembly can ensure the tension between the second bidirectional connecting rod and the rotating disc;
the rotating piece is respectively provided with a first connecting point, a second connecting point and a third connecting point, the first connecting point, the second connecting point and the third connecting point are distributed on the rotating piece in a triangle shape, the first connecting point is positioned above the second connecting point, the second connecting point is positioned at one side close to the rotating disc, and the third connecting point is positioned at one side close to the third connecting rod;
The first rotating shaft passes through the first connecting point, the rotating piece can rotate relative to the switch support frame through the first rotating shaft, the second connecting point is connected with the second bidirectional connecting rod through the second joint bearing, the second bidirectional connecting rod can drive the rotating piece to rotate relative to the switch support frame through the second joint bearing, and the axis of the first joint bearing is perpendicular to the axis of the second joint bearing; the third connecting point is hinged with one end of the third connecting rod, and the rotating piece can drive the third connecting rod to move relative to the rotating piece;
the third connecting rod and the fourth rocker arm are respectively hinged with one end of the fifth connecting rod, and the third connecting rod can drive the fifth connecting rod to rotate relative to the fourth rocker arm; the third rotating shaft is connected with the first supporting plate, the first supporting plate can provide support for the third rotating shaft, the sixth connecting rod is arranged on the third rotating shaft, the sixth connecting rod can rotate relative to the first supporting plate, the sixth connecting rod is hinged with the other end of the fifth connecting rod, and the fifth connecting rod can rotate relative to the sixth connecting rod;
the fixed connecting piece is connected with the sixth connecting rod, the sixth connecting rod is kept relatively static with the door through the fixed connecting piece, and the door is driven by the opening and closing assembly to open and close relative to the third rotating shaft.
8. The bagged material dispensing palletizing system of claim 7, wherein the opening and closing assembly further comprises a door and the door is clampingly connected with the fixed connection.
9. The bagged material distributing and stacking system of claim 7, wherein the switch driving device is a servo motor.
10. The bagged material distributing and stacking system of claim 7, wherein the first joint bearing comprises a first inner ring and a first outer ring matched with the first inner ring, the first inner ring is connected with the first connecting rod, the rotating disc can drive the first joint bearing to move relative to the rotating disc through the first connecting rod, the first outer ring is connected with one end of the second bidirectional connecting rod, and the first connecting rod can drive the second bidirectional connecting rod to move through the first joint bearing.
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| CN201910459502.3A CN110077861B (en) | 2019-05-29 | 2019-05-29 | Bagged material distributing and stacking system |
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| CN107572271A (en) * | 2017-09-09 | 2018-01-12 | 广东科捷龙机器人有限公司 | Bag of cement intelligence loading system and method |
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Address after: 621000 No. 10, south section of Huoju West Street, high tech Zone, Mianyang City, Sichuan Province Patentee after: Sichuan Tianlian Robotics Co.,Ltd. Country or region after: China Address before: 621000 no.386, middle section of Feiyun Avenue, Mianyang City, Sichuan Province Patentee before: SICHUAN FUDE ROBOT Co.,Ltd. Country or region before: China |