CN110104426B - Efficient stacker crane based on double-gripper truss robot - Google Patents
Efficient stacker crane based on double-gripper truss robot Download PDFInfo
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- CN110104426B CN110104426B CN201910465603.1A CN201910465603A CN110104426B CN 110104426 B CN110104426 B CN 110104426B CN 201910465603 A CN201910465603 A CN 201910465603A CN 110104426 B CN110104426 B CN 110104426B
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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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
- B65G57/03—Stacking of articles by adding to the top of the stack from above
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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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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an efficient stacker crane based on a double-gripper truss robot, which mainly comprises a truss handling system, a material conveying system, a control system and a safety protection system; the material conveying system consists of five conveying lines and is divided into two roller conveying lines, two right-angle turning conveying lines and one straight conveying line; the truss carrying system adopts a single double-gripper truss robot, eight moving shafts are arranged on the double-gripper truss robot, and the single double-gripper truss robot is arranged on two sides of the two roller conveying lines through two X linear moving shafts; each Y linear motion shaft, each Z linear motion shaft and each R rotating shaft form a group of motion shaft assemblies, each group of motion shaft assemblies is provided with a robot gripper, a material blocking device is arranged in front of each robot gripper, and each material blocking device is arranged on the truss beam. The stacking machine has high stacking efficiency and lower implementation cost.
Description
Technical Field
The invention relates to the technical field of logistics assembly equipment, in particular to an efficient stacker crane based on a double-gripper truss robot.
Background
The stacker crane is used for stacking the cartons loaded into containers on trays and pallets (wood and plastic) according to a certain arrangement, automatically stacking the cartons, stacking the cartons into multiple layers, then pushing the cartons out, and facilitating the transportation of a forklift to a warehouse for storage, thereby greatly reducing labor force and labor intensity. The stacker crane is a modern device which automatically stacks bags, cartons or other packaging materials conveyed by a conveyor into stacks according to the working mode of the client process requirement and conveys the stacked materials.
And in the operation of pile up neatly at current hacking machine, we have met some problems, if adopt under the condition of transfer robot: to meet the 4 s/bag beat, the robot is required to take the seventh axis. Under the condition of adopting the pneumatic gripper, the single-cycle beat of the robot is more than 4s, and two or more (8s) of bags need to be gripped simultaneously to meet the beat requirement. The robot requires an arm spread larger than 3m and a load larger than 150 KG. Considering the vehicle width factor, a single robot needs to be inverted or laterally installed to meet the requirement (the requirement of ground installation is larger in arm span), the comprehensive cost is high, the arm span and the load required by two robots are reduced, but the cost is higher and is not considered; if a single mechanical arm works in another standby working mode, the single-cycle beat of the truss is 8s, and if the circulation is completed in the specified beat, the requirement on the power of the driving mechanism is overlarge, the requirement on the structural strength is increased, the requirement on the electrical control is strict, and the increased cost is high.
These problems can be solved by adopting truss transport, but current truss can not accomplish the circulation under current conditions in 4s, and current robot tongs snatchs efficiency simultaneously and can not satisfy our demand, consequently, needs a neotype hacking machine now to solve above-mentioned these problems, improves the pile up neatly efficiency and the cost of hacking machine.
Disclosure of Invention
In order to solve the technical problem, the invention provides an efficient stacker crane based on a double-gripper truss robot.
The technical scheme of the invention is that the efficient stacker crane based on the double-gripper truss robot mainly comprises a truss handling system, a material conveying system, a control system and a safety protection system;
the material conveying system consists of five conveying lines and is divided into two roller conveying lines, two right-angle turning conveying lines and one straight conveying line; the two roller conveying lines are arranged on the left side and the right side of the truck in parallel, the rear end of the first roller conveying line is connected with the straight conveying line, the straight conveying line is provided with a material separating table, the rear end of the second roller conveying line is connected with the first right-angle turning conveying line, and the second right-angle turning conveying line is spliced with the first right-angle turning conveying line and connected with the material separating table;
the truss carrying system adopts a single double-gripper truss robot, eight moving shafts are arranged on the double-gripper truss robot, and the double-gripper truss robot is divided into two X linear moving shafts, two Y linear moving shafts, two Z linear moving shafts and two R rotating shafts; the single double-gripper truss robot is arranged on two sides of the two roller conveying lines through two X linear motion shafts, and the X linear motion shafts are fixed with the ground through a plurality of supports; each Y linear motion shaft, each Z linear motion shaft and each R rotating shaft form a group of motion shaft assemblies, the Y linear motion shafts are arranged on the truss cross beam, the Z linear motion shafts are arranged on the Y linear motion shafts, the lower ends of the Z linear motion shafts are connected with a robot gripper through the R rotating shafts, a material blocking device is arranged in front of each robot gripper, and the material blocking devices are arranged on the truss cross beam;
the stacker crane is also provided with a series of detection devices and system feedback devices, and the detection devices and the system feedback devices are connected with the control system and the safety protection system through data lines, remote transmission and the like; the control system is used for controlling the truss carrying system to carry out stacking work, and the safety protection system is used for monitoring the working condition and emergency treatment of the stacker crane.
Further, the motion axis direction of the double-gripper truss robot is defined as follows:
x linear motion axis: the vehicle length direction;
axis of linear motion Y: a vehicle width direction;
z linear motion axis: the direction of the vehicle height;
r rotation axis: horizontal rotation in the X/Y plane.
Furthermore, the safety protection system can be connected with external equipment in a communication mode, a sensor is arranged among programs to detect action signals, the action sequences of the programs are interlocked, and an alarm can be given and the machine can be automatically stopped when a condition occurs by matching the detection device and the system feedback device. The stacking safety of the device can be improved by arranging the safety protection system, and meanwhile, the conditions of collision and the like of the device can be effectively prevented by interlocking the program action sequences, so that the work operation is safer.
Furthermore, the robot gripper comprises a gripper connecting block, a carrier plate, a first gripping mechanism and a second gripping mechanism; the first grabbing mechanism comprises a main transmission mechanism, a main clamping plate, an auxiliary clamping plate and a claw plate;
the main transmission mechanism comprises a movable guide rod, a fixed plate, a rotating piece, a ball screw, a first bevel gear, a second bevel gear, a main bevel gear and a driving motor; the driving motor has a motor braking function, two moving guide rods are arranged and are respectively positioned at the left side and the right side of the fixed plate and are in sliding connection with the fixed plate, the main bevel gear is connected with the middle part of the fixed plate through a driving shaft, the first bevel gear and the second bevel gear are respectively arranged at the left side and the right side of the main bevel gear and are meshed with the main bevel gear, the first bevel gear and the second bevel gear are respectively connected with the fixed plate through a right-angle fixed shaft, the two groups of ball screws are respectively positioned in front of and behind the main bevel gear, the two groups of ball screws are respectively rotationally fixed with the lower bottom surface of the support plate through nut pairs, the two groups of ball screws are respectively in meshing transmission with the first bevel gear and the second bevel gear through the nut pairs, the two groups of ball screws are respectively rotationally connected with one end of the rotating part through the far end of the screw pair, and the other end of the rotating part is connected with the upper end of the movable guide rod; the main transmission mechanism is connected with the support plate through fixing blocks arranged on the front side and the rear side of the fixing plate, the upper end of the driving shaft penetrates through the support plate and is connected with an output shaft of the driving motor, and the driving motor is fixed on the upper surface of the support plate;
the two main clamping plates are respectively connected with the lower end of a movable guide rod, the two auxiliary clamping plates are respectively arranged on the inner side surface of one main clamping plate, the inner side surface of each auxiliary clamping plate is connected with the main clamping plate through a plurality of groups of transverse cylinders, the lower end of the main clamping plate is provided with the claw plate, the middle part of the claw plate is rotatably connected with the main clamping plate through a rotating shaft, the upper part of the claw plate is connected with the main clamping plate through a plurality of groups of longitudinal cylinders, and the longitudinal cylinders are arranged on the main clamping plates;
the left end and the right end of the outer side surface of the auxiliary clamping plate are respectively provided with a transmission pressure rod, the transmission pressure rods penetrate through the auxiliary clamping plate through a plurality of transmission rods and are connected with the tail part of the auxiliary side claw, a reset spring is sleeved on each transmission rod, and the auxiliary side claw is rotatably connected with the auxiliary clamping plate through a rotating shaft;
the first grabbing mechanism and the second grabbing mechanism are identical in structure and are arranged on the lower bottom surface of the support plate side by side through a fixing plate, box pressing plates are further arranged at the lower ends of the fixing plates of the first grabbing mechanism and the second grabbing mechanism respectively, and the box pressing plates are connected with the fixing plates through box pressing plate cylinders; the gripper connecting block is arranged in the center of the top surface of the support plate and is used for being connected with the moving shaft assembly. By adopting the robot gripper provided by the invention, the robot gripper can grip 2 bags at a time through the arrangement of the first gripping mechanism and the second gripping mechanism, the clamping driving of the main clamping plate can be met only by a single driving motor through the arranged main transmission mechanism, and meanwhile, the driving motor is arranged on the upper surface of the support plate, so that the maintenance is easy and rapid, the overhaul efficiency of the device is improved, the clamping adjusting precision can be improved through the transmission of a ball screw, the clamping working efficiency can be improved through the arrangement of the auxiliary clamping plate, and when the auxiliary clamping plates at two sides clamp and clamp stacked materials, the auxiliary side claws are folded by extruding the transmission compression rod by utilizing the matching of the transmission compression rod, the transmission rod and the auxiliary side claws, so that the clamping stability is improved; the cooperation is got to the gradient clamp through main splint, assistance splint simultaneously, can improve the work efficiency of reply same pile up neatly, gets when pressing from both sides the clamp and get the mounting, once adjusts the main splint interval, gets through the clamp of assistance splint and gets the quick clamp that carries out the short stroke and get, improves work efficiency.
Further, the material separation table comprises a discharge partition plate, a first air chamber, a second air chamber and an air bag group; the material separating table is characterized in that a feed inlet is formed in the front end of the material separating table, the rear portion of the interior of the material separating table is equally divided into a first discharge outlet and a second discharge outlet by the discharge partition plate, the airbag group is provided with a plurality of groups of airbag columns, the airbag columns sequentially grow from outside to inside, the airbag groups are two and are respectively arranged on the inner walls of the left side and the right side of the front portion of the material separating table, the first air chamber and the second air chamber are respectively arranged on the outer side walls of the positions, corresponding to the airbag columns, of the material separating table and the airbag groups, the first air chamber and the second air chamber are respectively communicated with the corresponding airbag columns and are mutually communicated through two groups of communicating pipes arranged on the upper surface of the material separating table; and the front ends of the air bag column and the discharge partition plate are provided with rolling shafts. Through the cooperation of first air chamber, second air chamber and gasbag group, utilize first air guide pump, second air guide pump to make a round trip the pump gas and switch the state of aerifing of both sides gasbag group, utilize the gasbag post of gradient to shunt the pile up neatly material, adopt such design difficult damage pile up neatly material, avoid damaging the pile up neatly material and cause material damage and appearance to change, cause follow-up clamp to get the unsafe condition of appearance, influence pile up neatly efficiency.
Further, the material blocking device comprises a connecting plate, a material blocking buffer plate and a six-claw buffer rod; the material blocking buffer plate is connected with the connecting plate through a plurality of groups of six-claw buffer rods;
the six-claw buffer rod comprises a buffer main rod, buffer branch rods and a sliding block, the buffer main rod is connected with the connecting plate through a main spring, 6 buffer branch rods are circumferentially arranged at the left end of the buffer main rod, one end of each buffer branch rod is rotatably connected with the buffer main rod through a rotating shaft, the other end of each buffer branch rod corresponds to 6 sliding grooves which are formed in the connecting plate in a matched mode, and the sliding block is connected with the sliding grooves through auxiliary springs;
the material blocking buffer plate is internally provided with a buffer cavity, and a plurality of buffer balls are filled in the buffer cavity. The stop device provided by the invention can effectively play a role in stopping materials, avoids damaging stacked materials, adopts the design of the six-claw buffer rod, utilizes the matching effect of the buffer main rod and the buffer branch rod to perform efficient buffering, enables the buffering effect to be more stable and effective, and meanwhile, the buffer cavity filled with the buffer ball is arranged in the stop buffer plate, so that the damage of the stop buffer plate to the stacked materials can be reduced.
Further, the buffer ball is prepared by mixing 8-12 parts of EVA foam, 3-7 parts of polyester fiber, 4-5 parts of nano titanium dioxide, 1-2 parts of superfine bentonite and 9-15 parts of epoxy resin according to parts by weight. The buffering ball prepared by adopting the components in the proportion has excellent buffering performance, and can effectively improve the buffering effect on stacked materials by matching with the six-claw buffering rod.
Furthermore, an emergency stop switch and a fault alarm indicator lamp are arranged on the stacker crane, and the fault alarm indicator lamp is provided with red, yellow and green fault alarm indications.
Further, the working steps of the stacker crane are as follows:
s1: the vehicle is in place, and positioning points are taught manually;
s2: all the mobile devices move to the starting point calculated by the control system, and the carriage is close to the head part;
s3: when the materials reach the material blocking position, the robot gripper grabs the materials on the roller conveying line and blocked by the material blocking device, grabs the materials and starts to stack when the materials reach the stacking position;
s4: the stacking stage is completed, the X axis starts to move while the robot gripper returns, the moving starting time point is that the second robot gripper completes stacking, and at the moment, the first robot gripper reaches the position above the gripping position;
s5: and the X-axis pushing truss and the material blocking device move together to reach a new designated point, and the operation of the whole vehicle is completed repeatedly.
The working method of the device comprises the following steps:
vehicle positioning is achieved: the vehicle enters the identification area, and the identification area can limit the position of the vehicle and prevent the vehicle from colliding with the manipulator;
the stacking function is realized: manually teaching positioning points, automatically planning a path by a system, and moving a material blocking device along with a gripper; the loading direction is from the head to the tail, and if the loading direction starts from the tail, a slit at the head can be caused due to system faults or error accumulation, so that the driving safety is influenced or reworking is caused;
and (3) fault removal: the production line has a fast beat, all faults cannot be eliminated within 1min, so that all equipment including the packaging machine is stopped due to the equipment faults, and if the packaging machine cannot be stopped, the materials slide out of the artificial flow channel and do not pass through a shunting conveying line;
the robot gripper: when the robot gripper moves to a material to be gripped, the driving motor drives the main bevel gear to rotate clockwise through the driving shaft, the first bevel gear and the second bevel gear are respectively driven to rotate clockwise and anticlockwise through the respective transmission of the first bevel gear and the second bevel gear, the left direction and the right direction are respectively taken as positive directions, the nut pair of the ball screw at the rear side is correspondingly driven to rotate anticlockwise and the nut pair of the ball screw at the front side is driven to rotate clockwise through bevel gear transmission, the screw pair at the rear side is driven to move leftwards and the screw pair at the front side moves rightwards, the rotating force is counteracted through the rotating piece, and the inward gathering of the two side moving guide rods is realized; otherwise, the guide rods are moved at the two sides to diffuse outwards; meanwhile, the auxiliary clamping plate is pushed to clamp the stacked materials under the action of the transverse cylinder, when the materials are clamped, the tail part of the auxiliary side claw is pushed through the transmission rod by the extrusion of the transmission pressure rod, the front end of the auxiliary side claw clamps two sides of the stacked materials under the action of the rotating shaft, and meanwhile, the claw plate is enabled to support the bottom of the stacked materials by the operation of the longitudinal cylinder;
material separation platform: setting the working interval time of a first air guide pump and a second air guide pump, wherein the first air guide pump is used for pumping air to a first air chamber, the second air guide pump is used for pumping air to a second air chamber, and through the alternating action of the first air guide pump and the second air guide pump, the air bag groups corresponding to the first air chamber and the second air chamber respectively act alternately, so that stacked materials flow out from a first discharge port and a second discharge port alternately;
the material blocking device comprises: when the pile up neatly material reachs dam device department, the pile up neatly material extrudees the fender material buffer board, and the buffering mobile jib of six claw buffer poles inwards extrudees the main spring, and the buffering branch that sets up through six sides simultaneously slides to corresponding sliding tray to extrude the auxiliary spring, thereby cushion the impact force of pile up neatly material fast.
The invention has the beneficial effects that:
(1) the stacker crane provided by the invention carries by adopting the truss, so that the problem that the truss can not complete circulation within 4s under the existing conditions is solved, double claws are needed, each claw grabs 2 bags each time, the grabbing beat of the truss each time is more than or equal to 16s, the time is more abundant, and the implementation cost is lower.
(2) According to the robot gripper, 2 bags can be gripped by the robot gripper at one time through the arrangement of the first gripping mechanism and the second gripping mechanism, the main clamping plate can be adjusted through the arranged main transmission mechanism, the clamping driving of the main clamping plate can be met only through a single driving motor, the working efficiency of dealing with the same stacking can be improved through the gradient clamping matching of the main clamping plate and the auxiliary clamping plate, when a fixing part is clamped, the distance between the main clamping plate is adjusted at one time, and the short-stroke quick clamping is carried out through the clamping of the auxiliary clamping plate, so that the working efficiency is improved.
(3) According to the material separation table, stacked materials are shunted by utilizing the gradient air bag columns, and the stacked materials are not easily damaged by adopting the design, so that the problems that the materials are damaged due to damage to the stacked materials, the appearance is changed, the subsequent clamping is inaccurate and the stacking efficiency is influenced are avoided.
(4) The material blocking device can effectively block materials, avoids damaging stacked materials, adopts the design of the six-claw buffer rod, and utilizes the matching effect of the buffer main rod and the buffer branch rod to perform efficient buffering, so that the buffering effect is more stable and effective.
Drawings
FIG. 1 is an external view of the overall structure of the stacker crane of the present invention.
FIG. 2 is a schematic top view of the overall structure of the stacker crane of the present invention.
Fig. 3 is a schematic structural diagram of the double-gripper truss robot.
Fig. 4 is a schematic view of the overall structure of the robot gripper.
Fig. 5 is a side view of the overall structure of the robot gripper of the present invention.
Fig. 6 is a cross-sectional view taken at a-a of fig. 5 in accordance with the present invention.
FIG. 7 is a top view of the material separating table of the present invention.
FIG. 8 is a schematic diagram of the internal structure of the material separating table of the present invention.
Fig. 9 is a schematic structural view of the material blocking device of the invention.
Fig. 10 is a partial cross-sectional view taken at B-B of fig. 8 in accordance with the present invention.
Wherein, the device comprises a 1-conveying line, an 11-roller conveying line, a 12-quarter turn conveying line, a 13-straight conveying line, a 2-material separating table, a 21-discharging clapboard, a 22-first air chamber, a 23-second air chamber, a 24-air bag group, a 241-air bag column, a 25-feeding port, a 26-first discharging port, a 27-second discharging port, a 28-communicating pipe, a 281-first air guide pump, a 282-second air guide pump, a 29-rolling shaft, a 3-double-gripper truss robot, a 31-X linear motion shaft, a 32-Y linear motion shaft, a 33-Z linear motion shaft, a 34-R rotating shaft, a 4-motion shaft component, a 5-robot gripper, a 51-gripper connecting block, a 52-carrier plate, a 53-first gripping mechanism, 54-a second gripper mechanism, 55-a main transmission mechanism, 551-a movement guide rod, 552-a fixed plate, 5521-a fixed block, 553-a rotating member, 554-a ball screw, 5541-a nut pair, 5542-a screw pair, 555-a first bevel gear, 556-a second bevel gear, 557-a main bevel gear, 5571-a drive shaft, 558-a drive motor, 559-a right-angle fixed shaft, 56-a main clamp, 57-an auxiliary clamp, 571-a transmission pressure rod, 572-a transmission rod, 573-an auxiliary side claw, 574-a return spring, 575-a transverse cylinder, 58-a claw plate, 581-a longitudinal cylinder, 59-a box pressing plate, 591-a box pressing plate cylinder, 6-a material stop device, 61-a connecting plate, 611-a sliding groove, 612-an auxiliary spring, 62-material blocking buffer plate, 621-buffer cavity, 622-buffer ball, 63-six-claw buffer rod, 631-buffer main rod, 632-buffer support rod, 633-sliding block and 634-main spring.
Detailed Description
A high-efficiency stacker crane based on a double-gripper truss robot is characterized by mainly comprising a truss handling system, a material conveying system, a control system and a safety protection system;
as shown in fig. 1 and 2, the material conveying system is composed of five conveying lines 1, and is divided into two roller conveying lines 11, two quarter turn conveying lines 12 and one straight conveying line 13; the two roller conveying lines 11 are arranged on the left side and the right side of the truck in parallel, the rear end of the first roller conveying line 11 is connected with the straight conveying line 13, the straight conveying line 13 is provided with a material separating table 2, the rear end of the second roller conveying line 11 is connected with the first quarter-turn conveying line 12, and the second quarter-turn conveying line 12 is spliced with the first quarter-turn conveying line 12 and connected with the material separating table 2;
as shown in fig. 7 and 8, the material separating table 2 comprises a discharge partition plate 21, a first air chamber 22, a second air chamber 23 and an air bag group 24; the front end of the material separating table 2 is provided with a feed inlet 25, the rear part in the material separating table 2 is equally divided into a first discharge outlet 26 and a second discharge outlet 27 by a discharge partition plate 21, an air bag group 24 is provided with a plurality of groups of air bag columns 241, the air bag columns 241 grow from outside to inside in sequence, the air bag groups 24 are provided with two air bag groups 24 and are respectively arranged on the inner walls of the left side and the right side of the front part of the material separating table 2, a first air chamber 22 and a second air chamber 23 are respectively arranged on the outer side walls of the positions of the material separating table 2 and the air bag groups 24, the first air chamber 22 and the second air chamber 23 are respectively communicated with the corresponding air bag columns 241 and are mutually communicated through two groups of communicating pipes 28 arranged on the upper surface of the material separating table 2; the front ends of the air bag column 241 and the discharge clapboard 21 are provided with rolling shafts 29. Through the cooperation of first air chamber 22, second air chamber 23 and gasbag group 24, utilize first air guide pump 281, second air guide pump 282 to make a round trip the pump gas and switch the gas filled state of both sides gasbag group 24, utilize the gasbag post 241 of gradient to shunt the pile up neatly material, adopt such design difficult damage pile up neatly material, avoid damaging the pile up neatly material and cause material damage and appearance to change, cause follow-up clamp to get the unsafe condition that appears, influence pile up neatly efficiency.
As shown in fig. 3, the truss handling system adopts a single double-gripper truss robot 3, and eight motion axes are arranged on the double-gripper truss robot 3 and are divided into two X linear motion axes 31, two Y linear motion axes 32, two Z linear motion axes 33 and two R rotation axes 34; the single double-gripper truss robot 3 is arranged on two sides of the two roller conveying lines 11 through two X linear movement shafts 31, and the X linear movement shafts 31 are fixed with the ground through a plurality of supports; each Y linear motion shaft 32, each Z linear motion shaft 33 and each R rotating shaft 34 form a group of motion shaft assemblies 4, the Y linear motion shafts 32 are arranged on the truss cross beam, the Z linear motion shafts 33 are arranged on the Y linear motion shafts 32, the lower ends of the Z linear motion shafts 33 are connected with a robot gripper 5 through the R rotating shafts 34, a material blocking device 6 is arranged in front of each robot gripper 5, and the material blocking devices 6 are arranged on the truss cross beam;
the movement axis direction of the double-gripper truss robot 3 is defined as follows: x-linear motion axis 31: the vehicle length direction; y linear movement axis 32: a vehicle width direction; z-linear movement axis 33: the direction of the vehicle height; r rotation axis 34: horizontal rotation in the X/Y plane.
As shown in fig. 4, 5 and 6, the robot gripper 5 includes a gripper connecting block 51, a carrier plate 52, a first gripping mechanism 53 and a second gripping mechanism 54; the first gripping mechanism 53 comprises a main transmission mechanism 55, a main clamping plate 56, an auxiliary clamping plate 57 and a claw plate 58;
the main transmission mechanism 55 includes a movement guide bar 551, a fixed plate 552, a rotary member 553, a ball screw 554, a first bevel gear 555, a second bevel gear 556, a main bevel gear 557, and a driving motor 558; the driving motor 558 has a motor braking function, two moving guide rods 551 are provided, which are respectively located at the left and right sides of the fixing plate 552 and slidably connected thereto, the main bevel gear 557 is connected to the middle of the fixing plate 552 through the driving shaft 5571, the first bevel gear 555 and the second bevel gear 556 are respectively located at the left and right sides of the main bevel gear 557 and engaged therewith, the first bevel gear 555, the second bevel gears 556 are respectively connected with the fixing plate 552 through a right-angle fixing shaft 559, two groups of ball screws 554 are respectively positioned in front of and behind the main bevel gears 557, the two groups of ball screws 554 are respectively rotatably fixed with the lower bottom surface of the carrier plate 52 through nut pairs 5541, the two groups of ball screws 554 are respectively in bevel gear meshing transmission with the first bevel gears 555 and the second bevel gears 556 through the nut pairs 5541, the two groups of ball screws 554 are respectively in rotary connection with one end of the rotating piece 553 through the far ends of the screw pairs 5542, and the other end of the rotating piece 553 is connected with the upper ends of the movable guide rods 551; the main transmission mechanism 55 is connected with the carrier plate 52 through fixing blocks 5521 arranged on the front and rear side surfaces of the fixing plate 552, the upper end of a driving shaft 5571 penetrates through the carrier plate 52 and is connected with an output shaft of a driving motor 558, and the driving motor 558 is fixed on the upper surface of the carrier plate 52;
the two main clamping plates 56 are respectively connected with the lower end of a movable guide rod 551, the two auxiliary clamping plates 57 are respectively arranged on the inner side surface of one main clamping plate 56, the inner side surface of the auxiliary clamping plate 57 is connected with the main clamping plate 56 through a plurality of groups of transverse cylinders 575, the lower end of the main clamping plate 56 is provided with a claw plate 58, the middle part of the claw plate 58 is rotatably connected with the main clamping plate 56 through a rotating shaft, the upper part of the claw plate 58 is connected with the main clamping plate 56 through a plurality of groups of longitudinal cylinders 581, and the longitudinal cylinders 581 are arranged on the main;
the left end and the right end of the outer side surface of the auxiliary clamping plate 57 are respectively provided with a transmission pressure rod 571, the transmission pressure rods 571 penetrate through the auxiliary clamping plate 57 through a plurality of transmission rods 572 and are connected with the tail parts of auxiliary side claws 573, the transmission rods 572 are sleeved with return springs 574, and the auxiliary side claws 573 are rotatably connected with the auxiliary clamping plate 57 through rotating shafts;
the first grabbing mechanism 53 and the second grabbing mechanism 54 have the same structure, and are arranged on the lower bottom surface of the carrier plate 52 side by side through the fixing plate 552, the first grabbing mechanism 53 and the second grabbing mechanism 54 are respectively provided with a box pressing plate 59 at the lower end of the fixing plate 552, and the box pressing plate 59 is connected with the fixing plate 552 through a box pressing plate cylinder 591; the handle connecting block 51 is provided at the center of the top surface of the carrier plate 52 for connecting with the moving axis assembly 4. By adopting the robot gripper 5 provided by the invention, the robot gripper 5 can grip 2 bags at a time through the arrangement of the first gripping mechanism 53 and the second gripping mechanism 54, the clamping driving of the main clamping plate 56 can be met only by a single driving motor 558 through the arranged main transmission mechanism 55, meanwhile, the driving motor 558 is arranged on the upper surface of the support plate 52, the maintenance is easy and fast, the overhauling efficiency of the device is improved, the clamping adjusting precision can be improved through the transmission of a ball screw 554, the clamping working efficiency can be improved through the arrangement of the auxiliary clamping plate 57, and by the matching of the transmission pressure rod 571, the transmission pressure rod 572 and the auxiliary side claws 573, when the auxiliary clamping plates 57 on two sides clamp the palletized materials, the auxiliary side claws 573 are folded by extruding the transmission pressure rod 571, so that the clamping stability is improved; simultaneously, the gradient clamping cooperation of the main clamping plate 56 and the auxiliary clamping plate 57 can improve the work efficiency of dealing with the same stacking of the workpieces, when the clamping fixing part is clamped, the distance between the main clamping plate 56 is adjusted once, and the clamping quick clamping of a short stroke is carried out through the clamping of the auxiliary clamping plate 57, so that the work efficiency is improved.
As shown in fig. 9 and 10, the striker device 6 comprises a connecting plate 61, a striker buffer plate 62 and a six-jaw buffer rod 63; the material blocking buffer plate 62 is connected with the connecting plate 61 through a plurality of groups of six-claw buffer rods 63;
the six-claw buffer rod 63 comprises a buffer main rod 631, buffer branch rods 632 and a sliding block 633, the buffer main rod 631 is connected with the connecting plate 61 through a main spring 634, 6 buffer branch rods 632 are circumferentially arranged at the left end of the buffer main rod 631, one end of each buffer branch rod 632 is rotatably connected with the buffer main rod 631 through a rotating shaft, the other end of each buffer branch rod 632 corresponds to 6 sliding grooves 611 formed in the connecting plate 61 in a matched mode, and the sliding block 633 is connected with the sliding grooves 611 through an auxiliary spring 612;
a buffer cavity 621 is arranged in the material blocking buffer plate 62, a plurality of buffer balls 622 are filled in the buffer cavity 621, and the buffer balls are prepared by mixing 10 parts by weight of EVA foam cotton, 6 parts by weight of polyester fiber, 5 parts by weight of nano titanium dioxide, 1 part by weight of ultrafine bentonite and 13 parts by weight of epoxy resin. The buffering ball prepared by adopting the components in the proportion has excellent buffering performance, and can effectively improve the buffering effect on stacked materials by matching with the six-claw buffering rod 63. The material blocking device 6 can effectively play a role in blocking materials and simultaneously avoid damaging stacked materials, the design of the six-claw buffer rod 63 is adopted, efficient buffering is performed by utilizing the matching effect of the buffer main rod 631 and the buffer supporting rod 632, the buffering effect is more stable and effective, and meanwhile, the buffer cavity 621 filled with the buffer balls 622 is arranged in the material blocking buffer plate 62, so that the damage of the material blocking buffer plate 62 to the stacked materials can be reduced.
The stacker crane is also provided with a series of detection devices and system feedback devices, and the detection devices and the system feedback devices are connected with the control system and the safety protection system through data lines, remote transmission and the like; the control system is used for controlling the truss carrying system to carry out stacking work, and the safety protection system is used for monitoring the working condition and emergency treatment of the stacker crane. An emergency stop switch and a fault alarm indicator lamp are arranged on the stacker crane, and the fault alarm indicator lamp is provided with three fault alarm indications of red, yellow and green. The safety protection system can be connected with external equipment in a communication mode, a sensor is arranged between programs to detect action signals, the program action sequences are interlocked, and an alarm can be given and the automatic shutdown can be realized when a condition occurs by matching a detection device and a system feedback device. The stacking safety of the device can be improved by arranging the safety protection system, and meanwhile, the conditions of collision and the like of the device can be effectively prevented by interlocking the program action sequences, so that the work operation is safer.
The working steps of the stacker crane are as follows:
s1: the vehicle is in place, and positioning points are taught manually;
s2: all the mobile devices move to the starting point calculated by the control system, and the carriage is close to the head part;
s3: when the materials reach the material blocking position, the robot gripper grabs the materials blocked by the material blocking device on the roller conveying line, (material detection is completed by the correlation switch matched with the material blocking device), and the grabbed materials reach the stacking position to start stacking;
s4: the stacking stage is completed, the X axis starts to move while the robot gripper returns, the moving starting time point is that the second robot gripper completes stacking, and at the moment, the first robot gripper reaches the position above the gripping position;
s5: and the X-axis pushing truss and the material blocking device move together to reach a new designated point, and the operation of the whole vehicle is completed repeatedly.
The working method of the device comprises the following steps:
vehicle positioning is achieved: the vehicle enters the identification area, and the identification area can limit the position of the vehicle and prevent the vehicle from colliding with the manipulator;
the stacking function is realized: manually teaching positioning points, automatically planning a path by a system, and moving a material blocking device along with a gripper; the loading direction is from the head to the tail, and if the loading direction starts from the tail, a slit at the head can be caused due to system faults or error accumulation, so that the driving safety is influenced or reworking is caused;
and (3) fault removal: the production line has a fast beat, all faults cannot be eliminated within 1min, so that all equipment including the packaging machine is stopped due to the equipment faults, and if the packaging machine cannot be stopped, the materials slide out of the artificial flow channel and do not pass through a shunting conveying line;
robot gripper 5: when the robot gripper 5 moves to a material to be gripped, the driving motor 558 drives the main bevel gear 557 to rotate clockwise through the driving shaft 5571, the first bevel gear 555 and the second bevel gear 556 respectively transmit the signals, the first bevel gear 555 rotates clockwise and the second bevel gear 556 rotates anticlockwise, the nut pair 5541 of the ball screw 554 at the rear side rotates anticlockwise and the nut pair 5541 of the ball screw 554 at the front side rotates clockwise through bevel gear transmission, the screw pair 5542 at the rear side moves leftwards and the screw pair 5542 at the front side moves rightwards, the rotating force is counteracted through the rotating piece 553, and the guide rods 551 at the two sides are gathered inwards; on the contrary, the two side moving guide rods 551 diffuse outwards; meanwhile, the auxiliary clamping plate 57 is pushed to clamp the stacked materials through the action of the transverse cylinder 575, when the stacked materials are clamped, the transmission pressure rod 571 is extruded to push the tail part of the auxiliary side claw 573 through the transmission rod 572, the front end of the auxiliary side claw 573 clamps two sides of the stacked materials through the action of a rotating shaft, and meanwhile, the claw plate 58 supports the bottom of the stacked materials through the work of the longitudinal cylinder 581;
material separation platform 2: setting the working intermittent time of the first air guide pump 281 and the second air guide pump 282, wherein the first air guide pump 281 is used for pumping air to the first air chamber 22, the second air guide pump 282 is used for pumping air to the second air chamber 23, and the first air chamber 22 and the second air chamber 23 respectively correspond to the air bag groups 24 to alternately act through the alternating action of the first air guide pump 281 and the second air guide pump 282, so that the stacked materials alternately flow out from the first discharge hole 26 and the second discharge hole 27;
the material blocking device 6: when the stacked materials reach the material blocking device 6, the stacked materials extrude the material blocking buffer plate 62, the buffer main rod 631 of the six-claw buffer rod 63 extrudes the main spring 634 inwards, and meanwhile, the buffer main rod 632 arranged on the six sides slides towards the corresponding sliding groove 611 and extrudes the auxiliary spring 612, so that the impact force of the stacked materials is buffered quickly;
the roller conveying line 11 is longer than the longest vehicle length so as to prevent the material from being pushed out of the conveying line by X-axis transverse movement, and meanwhile, the roller conveying line is powered in a subsection mode and is closed in a non-working area so as to achieve the purpose of energy conservation; the control system comprises a main control cabinet, an operation box, a distribution box and the like; important elements of the invention, such as relays, switch buttons and the like, adopt well-known brands such as Siemens, ABB, Schneider and the like, and other components adopt imported or domestic famous plant brands.
Double-gripper truss robot configuration parameters
Double-grab truss robot motion range
Stacker crane stacking work efficiency analysis
The single cycle efficiency of the double-gripper truss robot is checked according to the following data:
stacking height: 2m, stack width: 3 m;
the single cycle time of the robot gripper is 1.5 × 2 (the gripping time of the Z axis) +2 × 2 (the discharging time of the Z axis) +2.5 (the movement time of the Y axis) × 2+1 (the action time of the claw plate) × 2 ═ 14 s;
the cycle requirement is satisfied when 14s is less than 16s, (the motion time of the X axis is coincident with the motion time of other axes, so the cycle does not consider the motion time of the X axis).
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A high-efficiency stacker crane based on a double-gripper truss robot is characterized by mainly comprising a truss handling system, a material conveying system, a control system and a safety protection system;
the material conveying system consists of five conveying lines (1) and is divided into two roller conveying lines (11), two right-angle turning conveying lines (12) and a straight conveying line (13); the two roller conveying lines (11) are arranged on the left side and the right side of the truck in parallel, the rear end of the first roller conveying line (11) is connected with the straight conveying line (13), the material separating table (2) is arranged on the straight conveying line (13), the rear end of the second roller conveying line (11) is connected with the first quarter-turn conveying line (12), and the second quarter-turn conveying line (12) is spliced with the first quarter-turn conveying line (12) and connected with the material separating table (2);
the material separation table (2) comprises a discharge partition plate (21), a first air chamber (22), a second air chamber (23) and an air bag group (24); material separating table (2) front end is equipped with feed inlet (25), and rear portion quilt in material separating table (2) ejection of compact baffle (21) etc. are first discharge gate (26), second discharge gate (27), gasbag group (24) are equipped with multiunit gasbag post (241), gasbag post (241) are by outer to interior increase in proper order, and gasbag group (24) are equipped with two, and set up respectively at the anterior both sides inner wall of controlling of material separating table (2), establish respectively in material separating table (2) and gasbag group (24) position respectively and correspond a lateral wall, and first air chamber (22), second air chamber (23) communicate rather than gasbag post (241) that correspond, and communicate each other through two sets of communicating pipes (28) that material separating table (2) upper surface was equipped with, two sets of communicating pipes (28) are equipped with first air guide pump (281) respectively, A second air guide pump (282); the front ends of the air bag column (241) and the discharge clapboard (21) are provided with rolling shafts (29);
the truss carrying system adopts a single double-gripper truss robot (3), eight moving shafts are arranged on the double-gripper truss robot (3), and the double-gripper truss robot is divided into two X linear moving shafts (31), two Y linear moving shafts (32), two Z linear moving shafts (33) and two R rotating shafts (34); the single double-gripper truss robot (3) is arranged on two sides of the two roller conveying lines (11) through two X linear movement shafts (31), and the X linear movement shafts (31) are fixed with the ground through a plurality of supports; each Y linear motion shaft (32), each Z linear motion shaft (33) and each R rotating shaft (34) form a group of motion shaft assemblies (4), the Y linear motion shafts (32) are arranged on the truss beam, the Z linear motion shafts (33) are arranged on the Y linear motion shafts (32), the lower ends of the Z linear motion shafts (33) are connected with a robot gripper (5) through the R rotating shafts (34), a material blocking device (6) is arranged in front of each robot gripper (5), and the material blocking devices (6) are arranged on the truss beam;
the control system is used for controlling the truss carrying system to carry out stacking work, and the safety protection system is used for monitoring the working condition and emergency treatment of the stacker crane.
2. A high efficiency palletizer based on a double-gripper truss robot as claimed in claim 1, characterized in that the direction of the motion axis of said double-gripper truss robot (3) is defined as follows:
x linear motion axis (31): the vehicle length direction;
y linear motion axis (32): a vehicle width direction;
z-linear motion axis (33): the direction of the vehicle height;
r-axis of rotation (34): horizontal rotation in the X/Y plane.
3. The efficient stacker crane based on the double-gripper truss robot is characterized in that the safety protection system can be connected with external equipment in a communication mode, a sensor is arranged between programs to detect action signals and interlock the action sequence of the programs, and an alarm can be given and the stacker crane can be automatically stopped when a condition occurs by matching with a detection device and a system feedback device.
4. A high efficiency stacker crane based on a double-gripper truss robot according to claim 1, wherein the robot gripper (5) comprises a gripper connecting block (51), a carrier plate (52), a first gripping mechanism (53), a second gripping mechanism (54); the first grabbing mechanism (53) comprises a main transmission mechanism (55), a main clamping plate (56), an auxiliary clamping plate (57) and a claw plate (58);
the main transmission mechanism (55) comprises a movable guide rod (551), a fixed plate (552), a rotating piece (553), a ball screw (554), a first bevel gear (555), a second bevel gear (556), a main bevel gear (557) and a driving motor (558); the two moving guide rods (551) are respectively positioned at the left side and the right side of the fixed plate (552) and are in sliding connection with the fixed plate, the main bevel gears (557) are connected with the middle part of the fixed plate (552) through driving shafts (5571), the first bevel gears (555) and the second bevel gears (556) are respectively arranged at the left side and the right side of the main bevel gears (557) and are meshed with the main bevel gears, the first bevel gears (555) and the second bevel gears (556) are respectively connected with the fixed plate (552) through right-angle fixed shafts (559), the two groups of ball screws (554) are respectively positioned at the front part and the rear part of the main bevel gears (557), the two groups of ball screws (554) are respectively rotatably fixed with the lower bottom surface of the carrier plate (52) through nut pairs (5541), and the two groups of ball screws (554) are respectively in meshing transmission with the bevel teeth of the first bevel gears (555), two groups of ball screws (554) are respectively and rotatably connected with one end of a rotating piece (553) through the far end of a screw pair (5542), and the other end of the rotating piece (553) is connected with the upper end of the movable guide rod (551); the main transmission mechanism (55) is connected with the carrier plate (52) through fixing blocks (5521) arranged on the front side surface and the rear side surface of the fixing plate (552), the upper end of the driving shaft (5571) penetrates through the carrier plate (52) and is connected with an output shaft of the driving motor (558), and the driving motor (558) is fixed on the upper surface of the carrier plate (52);
the two main clamping plates (56) are respectively connected with the lower end of a movable guide rod (551), the two auxiliary clamping plates (57) are respectively arranged on the inner side surface of one main clamping plate (56), the inner side surface of the auxiliary clamping plate (57) is connected with the main clamping plate (56) through a plurality of groups of transverse cylinders (575), the lower end of the main clamping plate (56) is provided with the claw plate (58), the middle part of the claw plate (58) is rotatably connected with the main clamping plate (56) through a rotating shaft, the upper part of the claw plate (58) is connected with the main clamping plate (56) through a plurality of groups of longitudinal cylinders (581), and the longitudinal cylinders (581) are arranged on the main clamping plate (56);
the left end and the right end of the outer side face of the auxiliary clamping plate (57) are respectively provided with a transmission compression rod (571), the transmission compression rods (571) penetrate through the auxiliary clamping plate (57) through a plurality of transmission rods (572) and are connected with the tail parts of auxiliary side claws (573), return springs (574) are sleeved on the transmission rods (572), and the auxiliary side claws (573) are rotatably connected with the auxiliary clamping plate (57) through rotating shafts;
the first grabbing mechanism (53) and the second grabbing mechanism (54) are identical in structure and are arranged on the lower bottom surface of the carrier plate (52) side by side through a fixing plate (552), box pressing plates (59) are further arranged at the lower ends of the fixing plate (552) of the first grabbing mechanism (53) and the second grabbing mechanism (54) respectively, and the box pressing plates (59) are connected with the fixing plate (552) through box pressing plate cylinders (591); the gripper connecting block (51) is arranged in the center of the upper top surface of the carrier plate (52) and is used for being connected with the moving shaft assembly (4).
5. The efficient stacker crane based on the double-gripper truss robot is characterized in that the safety protection system can give an alarm and automatically stop in case of occurrence of a situation by matching with a detection device and a system feedback device.
6. The efficient stacker crane based on the double-gripper truss robot is characterized in that the material blocking device (6) comprises a connecting plate (61), a material blocking buffer plate (62) and a six-claw buffer rod (63); the material blocking buffer plate (62) is connected with the connecting plate (61) through a plurality of groups of six-claw buffer rods (63);
the six-claw buffer rod (63) comprises a buffer main rod (631), buffer branch rods (632) and a sliding block (633), the buffer main rod (631) is connected with the connecting plate (61) through a main spring (634), the buffer branch rods (632) are circumferentially arranged at the left end of the buffer main rod (631), one end of each buffer branch rod (632) is rotatably connected with the buffer main rod (631) through a rotating shaft, the other end of each buffer branch rod (632) corresponds to 6 sliding grooves (611) which are formed in a matching manner on the plate of the connecting plate (61), and the sliding block (633) is connected with the sliding grooves (611) through an auxiliary spring (612);
the material blocking buffer plate (62) is internally provided with a buffer cavity (621), and the buffer cavity (621) is filled with a plurality of buffer balls (622).
7. The efficient stacker crane based on the double-gripper truss robot is characterized in that an emergency stop switch and a fault alarm indicator lamp are arranged on the stacker crane, and the fault alarm indicator lamp is provided with three fault alarm indicators of red, yellow and green.
8. The efficient stacker crane based on the double-grab truss robot is characterized in that the working steps of the stacker crane are as follows:
s1: the vehicle is in place, and positioning points are taught manually;
s2: all the mobile devices move to the starting point calculated by the control system, and the carriage is close to the head part;
s3: when the materials reach the material blocking position, the robot gripper grabs the materials on the roller conveying line and blocked by the material blocking device, grabs the materials and starts to stack when the materials reach the stacking position;
s4: the stacking stage is completed, the X axis starts to move while the robot gripper returns, the moving starting time point is that the second robot gripper completes stacking, and at the moment, the first robot gripper reaches the position above the gripping position;
s5: and the X-axis pushing truss and the material blocking device move together to reach a new designated point, and the operation of the whole vehicle is completed repeatedly.
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| CN110666826A (en) * | 2019-11-06 | 2020-01-10 | 上海缆玥智能科技有限公司 | Gripper device and truss robot |
| CN112141651A (en) * | 2020-09-23 | 2020-12-29 | 苏州新佰利智能科技有限公司 | Raw tobacco hemp bag unloading and storing device based on machine vision |
| CN112173712B (en) * | 2020-09-28 | 2022-04-19 | 安徽工业大学 | Automatic detection, stacking and stacking integrated production line for machine tool discharge drill bits and production method |
| WO2022094878A1 (en) * | 2020-11-05 | 2022-05-12 | 唐山圣因海洋科技有限公司 | Buffer device for logistics handling platform and method therefor |
| CN114131615B (en) * | 2021-12-27 | 2024-08-02 | 长三角哈特机器人产业技术研究院 | Visual guidance-based robot unstacking system and unstacking and stacking method thereof |
| CN114701864A (en) * | 2022-03-14 | 2022-07-05 | 杨帅 | A hacking machine for building material is carried |
| CN115158752B (en) * | 2022-06-16 | 2024-02-27 | 科捷智能科技股份有限公司 | Cable stacking and bundling equipment and method thereof |
| CN115465512A (en) * | 2022-08-11 | 2022-12-13 | 江苏群昌智能科技有限公司 | Automatic binary channels transfer chain that pile up neatly used of pail pack |
| CN116620854B (en) * | 2023-07-24 | 2023-10-13 | 烟台佳美包装有限公司 | Stacker for material conveying |
| CN117208579B (en) * | 2023-11-07 | 2024-02-02 | 广东金马领科智能科技有限公司 | Loading and unloading kiln clamp for intelligent closestool transfer and loading and unloading method |
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