CN110271713A - A kind of automatic stacking system with pallet jacking redoiming conveyor - Google Patents

A kind of automatic stacking system with pallet jacking redoiming conveyor Download PDF

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Publication number
CN110271713A
CN110271713A CN201910559869.2A CN201910559869A CN110271713A CN 110271713 A CN110271713 A CN 110271713A CN 201910559869 A CN201910559869 A CN 201910559869A CN 110271713 A CN110271713 A CN 110271713A
Authority
CN
China
Prior art keywords
pallet
stacking
return
empty pallets
conveyer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910559869.2A
Other languages
Chinese (zh)
Inventor
李康
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xuzhou Qian Dun Intelligent Technology Co Ltd
Original Assignee
Xuzhou Qian Dun Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN201811498732 priority Critical
Priority to CN2018114987322 priority
Application filed by Xuzhou Qian Dun Intelligent Technology Co Ltd filed Critical Xuzhou Qian Dun Intelligent Technology Co Ltd
Publication of CN110271713A publication Critical patent/CN110271713A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10Feeding, e.g. conveying, single articles
    • B65B35/16Feeding, e.g. conveying, single articles by grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers

Abstract

The invention discloses a kind of automatic stacking systems with pallet jacking redoiming conveyor, including return of empty pallets distribution portion, stacking part and stacking electric control part;Stacking part includes palletizing apparatus and stacking pallet conveyer;Palletizing apparatus includes palletizing mechanical arm and the palletizing mechanical arm that is mounted in palletizing mechanical arm minor details;Return of empty pallets distribution portion includes return of empty pallets conveying device and return of empty pallets storehouse, and the front of stacking pallet conveyer is arranged in return of empty pallets conveying device, the return of empty pallets conveyer including being mounted on return of empty pallets conveying chassis and pallet jacking redoiming conveyor;Stacking electric control part includes stacking control loop, return of empty pallets dispensing loop.There is the automatic stacking system of pallet jacking redoiming conveyor can realize that pallet is able to achieve automatic supply on multiple stations under the premise of limited space for this, especially suitable for carrying out concentration stacking to bulk article.

Description

A kind of automatic stacking system with pallet jacking redoiming conveyor
Technical field
The present invention relates to a kind of palletizing system, it is specifically a kind of be suitable for workpiece carry out automatic stacking, have pallet The automatic stacking system for jacking redoiming conveyor, belongs to automatic producing technology field.
Background technique
The core of automated production is ordered into production, currently, well known robot palletizing system is mostly to realize function list One stacking function, with the continuous development of social productive forces, the need of various novel and multifunctional automation stacking transportation systems Ask and be continuously increased, integrate shaping, detection, weighing, screening, stacking automatic machinery people palletizing system exactly should actually give birth to Produce need and generate.
Tray mode industrial at present common are the possible also some irregular tray forms of positive tetragonal body, In, tray mode is the stacking form of pallet, which determines how object is put in pallet.But due to industrial practical Application scenarios are complicated and changeable, therefore user may require that the tray form that can adapt to itself practical application scene.
Pallet is distributed to be normally located at automatically and be piled up near mechanical arm in the prior art, and in order to improve efficiency, is led to Frequently with the mode of multiple stations, how under the premise of limited space to realize that pallet is able to achieve automatic benefit on multiple stations It gives, and then realizing makes the process of stacking can adapt to itself practical application scene, is the skill that those skilled in the art need to solve Art problem.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of with the automatic of pallet jacking redoiming conveyor Palletizing system can realize that pallet is able to achieve automatic supply on multiple stations under the premise of limited space, particularly suitable In carrying out concentration stacking to bulk article.
To achieve the goals above, it includes return of empty pallets point that this, which has the automatic stacking system of pallet jacking redoiming conveyor, With part, stacking part and stacking electric control part;
Stacking part includes palletizing apparatus and stacking pallet conveyer;Palletizing apparatus includes palletizing mechanical arm and is mounted on code Palletizing mechanical arm in pile mechanical arm minor details, palletizing mechanical arm include at least X-coordinate driving mechanism, Y-coordinate driving mechanism and Z and sit Driving mechanism is marked, palletizing mechanical is equipped with multiple negative pressure sucker structures on hand, and negative pressure sucker structure passes through pipeline and negative pressure control valve Group is connect with negative pressure source;Stacking pallet conveyer is arranged close to palletizing apparatus and stacking pallet conveyer conveys setting forwards, Stacking pallet conveyer includes that be mounted on stacking pallet conveyer chassis multiple have roll drive mechanism, front-rear direction The rolling support for rolling setting carries component, and the rear end of stacking pallet conveyer is equipped with pallet limiting component;
Return of empty pallets distribution portion includes return of empty pallets conveying device and return of empty pallets storehouse;The setting of return of empty pallets conveying device In the front of stacking pallet conveyer, including the return of empty pallets conveyer being mounted on return of empty pallets conveying chassis and pallet jacking Redoiming conveyor, return of empty pallets conveyer convey setting in left-right direction, and return of empty pallets conveyer includes that front and back is symmetrically arranged Two groups have the return of empty pallets transfer unit for being driven driving mechanism, height of the conveyor surface of return of empty pallets transfer unit apart from ground Size carries height dimension of the support section of roller-way apart from ground no more than the support of stacking pallet conveyer, return of empty pallets conveyer Output end position also is provided with pallet limiting component, pallet jacking redoiming conveyor be arranged in stacking pallet conveyer front, And be located between two groups of return of empty pallets transfer units, pallet jacking redoiming conveyor includes pallet carrier and carrier elevating mechanism, Pallet carrier is mounted on return of empty pallets by carrier elevating mechanism and conveys on chassis, and carrier elevating mechanism is electric screw bar knot Structure, pallet carrier are equipped with multiple rolling supports having roll drive mechanism, rolling setting along the longitudinal direction and carry component;It is unloaded Pallet magazine erection is mounted on the input end position of return of empty pallets conveyer, and return of empty pallets storehouse includes being mounted on pallet magazine chassis Pallet lift clamp assemblies, pallet lift clamp assemblies include vertical plane towards going up and down vertical plate and bilateral symmetry in the front-back direction The pallet clamping limb being mounted on lifting vertical plate, lifting vertical plate are mounted on pallet magazine chassis by vertical plate elevating mechanism, pallet Clamping limb is mounted on lifting vertical plate by clamping limb distance regulating mechanism;
The stacking electric control part includes stacking controller, stacking control loop, return of empty pallets dispensing loop, stacking control Device processed respectively with the coordinate driving mechanism of palletizing mechanical arm, the vacuum cavitations valve group of palletizing mechanical arm, stacking pallet conveyer It rolls support and carries member driving mechanism, the transmission driving mechanism of return of empty pallets conveyer, the load component driving of the rolling support of pallet carrier Mechanism, pallet jacking the carrier elevating mechanism of redoiming conveyor, the vertical plate elevating mechanism in return of empty pallets storehouse, return of empty pallets storehouse folder The electrical connection of gripping arm distance regulating mechanism.
As a further improvement of the present invention, stacking pallet conveyer is symmetrical set as two pieces, palletizing apparatus It is arranged between two pieces stacking pallet conveyer.
As a further improvement of the present invention, palletizing mechanical arm is mounted on palletizing mechanical by C coordinate rotation assembly In arm minor details, C coordinate rotation assembly is electrically connected with stacking controller.
As one embodiment of the present invention, rolling support and carrying component is that support carries roller, and multiple supports carry roller and put down along the longitudinal direction Row, which is laid with, forms support load roller-way.
As one embodiment of the present invention, rolling support and carrying component is the conveyer belt with roller station.
As one embodiment of the present invention, return of empty pallets transfer unit is driving chain structure.
As one embodiment of the present invention, return of empty pallets transfer unit is live roller structure.
Compared with prior art, this has the automatic stacking system of pallet jacking redoiming conveyor due to being equipped with return of empty pallets Distribution portion, therefore automatic supply of the pallet on station may be implemented, stacking condition is provided to pile up;It include machine due to being equipped with The stacking part of tool arm, therefore automatic stacking may be implemented;Due to the return of empty pallets conveying device packet of return of empty pallets distribution portion Return of empty pallets transfer unit and pallet jacking redoiming conveyor of the height dimension no more than stacking pallet conveyer support section is included, because This return of empty pallets conveying device does not influence to complete the transport forward of the pallet after stacking, can realize under the premise of limited space Pallet is able to achieve automatic supply on multiple stations, especially suitable for carrying out concentration stacking to bulk article.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of palletizing apparatus of the present invention;
Fig. 2 is the three dimensional structure diagram at left back visual angle of the present invention;
Fig. 3 is the three dimensional structure diagram at left front visual angle of the present invention.
In figure: 11, palletizing mechanical arm, 12, palletizing mechanical arm, 2, stacking pallet conveyer, 3, return of empty pallets conveying device, 31, return of empty pallets conveyer, 32, pallet jacking redoiming conveyor, 33, pallet carrier, 4, return of empty pallets storehouse, 41, lifting vertical plate, 42, pallet clamping limb.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
This have pallet jacking redoiming conveyor automatic stacking system include return of empty pallets distribution portion, stacking part and Stacking electric control part;
Stacking part includes palletizing apparatus and stacking pallet conveyer 2;As shown in Figure 1, palletizing apparatus includes palletizing mechanical Arm 11 and the palletizing mechanical arm 12 being mounted in 11 minor details of palletizing mechanical arm, palletizing mechanical arm 11 include at least X-coordinate driving machine Structure, Y-coordinate driving mechanism and Z coordinate driving mechanism, palletizing mechanical arm 12 are equipped with multiple absorption and grab structure negative pressure sucker knot Structure, negative pressure sucker structure are connect by pipeline and vacuum cavitations valve group with negative pressure source;Stacking pallet conveyer 2 is close to palletizing apparatus Setting and stacking pallet conveyer 2 convey setting forwards, and stacking pallet conveyer 2 includes being mounted on stacking pallet conveyer Multiple supports having roll drive mechanism, that front-rear direction rolling is arranged on chassis carry roller, and roll drive mechanism can be drive The chain drive structure for moving motor-driven gear transmission structure, being also possible to driving motor drive, multiple supports carry roller along front and back Support is formed to parallel laid and carries roller-way, and the rear end that support carries roller-way is equipped with pallet limiting component, and pallet limiting component can be limit Hardened structure is also possible to limited block structure;
As shown in Figure 2 and Figure 3, return of empty pallets distribution portion includes return of empty pallets conveying device 3 and return of empty pallets storehouse 4;It is unloaded The front of stacking pallet conveyer 2 is arranged in tray conveying device 3, including the unloaded support being mounted on return of empty pallets conveying chassis Disk conveyer 31 and pallet jack redoiming conveyor 32, and return of empty pallets conveyer 31 conveys setting, return of empty pallets in left-right direction Conveyer 31 includes the return of empty pallets transfer unit that symmetrically arranged two groups of front and back has transmission driving mechanism, return of empty pallets conveying Component can be driving chain structure, is also possible to drive belt configuration or is live roller structure, return of empty pallets transfer unit Height dimension of the conveyor surface apart from ground carry height of the support section of roller-way apart from ground no more than the support of stacking pallet conveyer 2 Size is spent, the output end position of return of empty pallets conveyer 31 also is provided with pallet limiting component, and pallet jacking redoiming conveyor 32 is set It sets the front in stacking pallet conveyer 2 and is located between two groups of return of empty pallets transfer units, pallet jacks redoiming conveyor 32 include pallet carrier 33 and carrier elevating mechanism, and pallet carrier 33 is mounted on return of empty pallets by carrier elevating mechanism and conveys bottom On frame, carrier elevating mechanism can use hydraulic cylinder or air cylinder structure or use the other structures such as electric screw rod structure, It also is provided with multiple supports having roll drive mechanism, rolling setting along the longitudinal direction on pallet carrier 33 and carries roller, multiple supports carry Parallel laid forms support load roller-way to roller along the longitudinal direction;Return of empty pallets storehouse 4 sets up the input for being mounted on return of empty pallets conveyer 31 On end position, return of empty pallets storehouse 4 includes the pallet lift clamp assemblies being mounted on pallet magazine chassis, pallet lift clamp assemblies Including vertical plane towards in the front-back direction lifting vertical plate 41 and be left and right symmetrically arranged lifting vertical plate 41 on pallet clamping limb 42, Lifting vertical plate 41 be mounted on pallet magazine chassis by vertical plate elevating mechanism, vertical plate elevating mechanism can use chain drive structure, It can also pass through using hydraulic cylinder or air cylinder structure or using other structures, pallet clamping limbs 42 such as electric screw rod structures Clamping limb distance regulating mechanism is mounted on lifting vertical plate 41, and clamping limb distance regulating mechanism can use hydraulic cylinder or cylinder knot Structure can also use the other structures such as electric screw rod structure;
Stacking electric control part includes stacking controller, stacking control loop, return of empty pallets dispensing loop, stacking controller point Not with the coordinate driving mechanism of palletizing mechanical arm 11, the vacuum cavitations valve group of palletizing mechanical arm 12, the support of stacking pallet conveyer 2 Zai Gun roll drive mechanism, the transmission driving mechanism of return of empty pallets conveyer 31, the support of pallet carrier 33 carry roller roll drive machine Structure, the pallet jacking carrier elevating mechanism of redoiming conveyor 32, the vertical plate elevating mechanism in return of empty pallets storehouse 4, return of empty pallets storehouse 4 The electrical connection of clamping limb distance regulating mechanism.
The specific working principle is as follows: when original state, carrier elevating mechanism is in retraction state, the support of pallet carrier 33 carries Face is lower than the support section of stacking pallet conveyer 2;
This has the automatic stacking system starts of pallet jacking redoiming conveyor, and stacking controller controls pallet first Clamping limb 42 carries out firm clamping to second pallet of bottom from bottom to top, and then the rise of control lifting vertical plate 41 makes bottom the The baseplane of two pallets is detached from the top plane of first pallet of bottom, then controls return of empty pallets conveyer 31 and starts, and first Part pallet is moved to the left or right under the drive of return of empty pallets transfer unit to the output end of return of empty pallets conveyer 31, so The movement of pallet jacking redoiming conveyor 32 rises pallet carrier 33 by first pallet picking-up afterwards, then controls pallet carrier 33 The equidirectional back rotation of roller is carried with the support on stacking pallet conveyer 2, first pallet is moved rearwardly into stacking pallet conveying It is positioned on machine 2 and by pallet limiting component, completes return of empty pallets after going up and down vertical plate 41 and the reset of pallet clamping limb 42 Distribution;Then stacking controller, which issues instruction, acts palletizing apparatus, and palletizing mechanical arm 12 is under the drive of palletizing mechanical arm 11 Coordinate is moved to the position of workpiece to be piled up and to workpiece to be piled up close to vacuum cavitations are opened in then stacking controller control Valve group, palletizing mechanical arm 12, which is treated, piles up the whole absorption crawl of workpiece progress, and then stacking controller control palletizing apparatus moves Work makes palletizing mechanical arm 12 grab the setting position that workpiece coordinate is moved on first pallet, and the control of stacking controller is closed Vacuum cavitations valve group piles up palletizing mechanical arm 12, and palletizing apparatus is reset to the code that original state completes first workpiece Pile, and so on, this has the automatic stacking systems stay work of pallet jacking redoiming conveyor, until the workpiece of setting quantity Whole block pattern row patterns complete the stacking of first pallet on first pallet;Then stacking controller issues instruction control stacking Support on conveyor pallet 2, which carries roller and rotates forward, has first pallet of workpiece to convey stacking.
In order to improve stacking efficiency, as a further improvement of the present invention, 2 bilateral symmetry of stacking pallet conveyer is set It is set to two pieces, palletizing apparatus is arranged between two pieces stacking pallet conveyer 2.Two stacking pipelines are worked at the same time and can be mentioned significantly Height piles up efficiency.
In order to realize the flexibility of palletizing mechanical arm 12, as a further improvement of the present invention, palletizing mechanical arm 12 It is mounted in 11 minor details of palletizing mechanical arm by C coordinate rotation assembly, C coordinate rotation assembly is electrically connected with stacking controller.
As one embodiment of the present invention, rolling support and carrying component is that support carries roller, and multiple supports carry roller and put down along the longitudinal direction Row, which is laid with, forms support load roller-way.
As one embodiment of the present invention, rolling support and carrying component is the conveyer belt with roller station.
As one embodiment of the present invention, return of empty pallets transfer unit is driving chain structure.
As one embodiment of the present invention, return of empty pallets transfer unit is live roller structure.
It is Digitizing And Control Unit that this, which has the automatic stacking system of pallet jacking redoiming conveyor, can be with the number of factory The seamless connection of word bus, which is realized, concentrates digital management, is not limited to above-mentioned specific control mode.

Claims (7)

1. a kind of automatic stacking system with pallet jacking redoiming conveyor, which is characterized in that including return of empty pallets dispenser Point, stacking part and stacking electric control part;
Stacking part includes palletizing apparatus and stacking pallet conveyer (2);Palletizing apparatus includes palletizing mechanical arm (11) and installation Palletizing mechanical arm (12) in palletizing mechanical arm (11) minor details, palletizing mechanical arm (11) include at least X-coordinate driving mechanism, Y Coordinate driving mechanism and Z coordinate driving mechanism, palletizing mechanical arm (12) are equipped with multiple negative pressure sucker structures, negative pressure sucker structure It is connect by pipeline and vacuum cavitations valve group with negative pressure source;Stacking pallet conveyer (2) is arranged close to palletizing apparatus and stacking support Disk conveyer (2) conveys setting forwards, stacking pallet conveyer (2) include be mounted on it is more on stacking pallet conveyer chassis A to have roll drive mechanism, front-rear direction rolling setting rolling support load component, the rear end of stacking pallet conveyer (2) is set There is pallet limiting component;
Return of empty pallets distribution portion includes return of empty pallets conveying device (3) and return of empty pallets storehouse (4);Return of empty pallets conveying device (3) setting is in the front of stacking pallet conveyer (2), including the return of empty pallets conveyer being mounted on return of empty pallets conveying chassis (31) and pallet jacking redoiming conveyor (32), return of empty pallets conveyer (31) convey setting in left-right direction, and return of empty pallets is defeated Sending machine (31) includes the return of empty pallets transfer unit that symmetrically arranged two groups of front and back has transmission driving mechanism, return of empty pallets conveying Height dimension of the conveyor surface of component apart from ground is not more than height gauge of the support section of stacking pallet conveyer (2) apart from ground Very little, the output end position of return of empty pallets conveyer (31) also is provided with pallet limiting component, and pallet jacking redoiming conveyor (32) is set It sets the front in stacking pallet conveyer (2) and is located between two groups of return of empty pallets transfer units, conveying is reprinted in pallet jacking Machine (32) includes pallet carrier (33) and carrier elevating mechanism, and pallet carrier (33) is mounted on unloaded support by carrier elevating mechanism Disk convey chassis on, carrier elevating mechanism is electric screw rod structure, also be provided on pallet carrier (33) it is multiple have rolling drive Motivation structure, the rolling support that rolls setting along the longitudinal direction carry component;Return of empty pallets storehouse (4), which is set up, is mounted on return of empty pallets conveying On the input end position of machine (31), return of empty pallets storehouse (4) include the pallet lift clamp assemblies being mounted on pallet magazine chassis, support Disk lifting clamp assemblies include vertical plane towards lifting vertical plate (41) in the front-back direction and are left and right symmetrically arranged in lifting vertical plate (41) the pallet clamping limb (42) on, lifting vertical plate (41) are mounted on pallet magazine chassis by vertical plate elevating mechanism, tray clamps Gripping arm (42) is mounted in lifting vertical plate (41) by clamping limb distance regulating mechanism;
The stacking electric control part includes stacking controller, stacking control loop, return of empty pallets dispensing loop, stacking controller It is conveyed respectively with the coordinate driving mechanism of palletizing mechanical arm (11), the vacuum cavitations valve group of palletizing mechanical arm (12), stacking pallet The rolling support of machine (2) carries the rolling of member driving mechanism, the transmission driving mechanism of return of empty pallets conveyer (31), pallet carrier (33) Dynamic support carries member driving mechanism, pallet jacks the vertical plate liter of the carrier elevating mechanism of redoiming conveyor (32), return of empty pallets storehouse (4) The clamping limb distance regulating mechanism electrical connection of descending mechanism, return of empty pallets storehouse (4).
2. the automatic stacking system according to claim 1 with pallet jacking redoiming conveyor, which is characterized in that stacking Conveyor pallet (2) is symmetrical set as two pieces, and palletizing apparatus is arranged between two pieces stacking pallet conveyer (2).
3. the automatic stacking system according to claim 1 with pallet jacking redoiming conveyor, which is characterized in that stacking Manipulator (12) is mounted in palletizing mechanical arm (11) minor details by C coordinate rotation assembly, and C coordinate rotation assembly and stacking control Device electrical connection.
4. the automatic stacking system according to claim 1 or 2 or 3 with pallet jacking redoiming conveyor, feature exist In rolling support and carrying component is to hold in the palm to carry roller, and multiple supports carry roller, and parallel laid forms support load roller-way along the longitudinal direction.
5. the automatic stacking system according to claim 1 or 2 or 3 with pallet jacking redoiming conveyor, feature exist In rolling support and carrying component is the conveyer belt with roller station.
6. the automatic stacking system according to claim 1 or 2 or 3 with pallet jacking redoiming conveyor, feature exist In return of empty pallets transfer unit is driving chain structure.
7. the automatic stacking system according to claim 1 or 2 or 3 with pallet jacking redoiming conveyor, feature exist In return of empty pallets transfer unit is live roller structure.
CN201910559869.2A 2018-12-08 2019-06-26 A kind of automatic stacking system with pallet jacking redoiming conveyor Pending CN110271713A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201811498732 2018-12-08
CN2018114987322 2018-12-08

Publications (1)

Publication Number Publication Date
CN110271713A true CN110271713A (en) 2019-09-24

Family

ID=67963238

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910559869.2A Pending CN110271713A (en) 2018-12-08 2019-06-26 A kind of automatic stacking system with pallet jacking redoiming conveyor

Country Status (1)

Country Link
CN (1) CN110271713A (en)

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