CN110395516A - A kind of steel cylinder automated three-dimensional access system and its access method - Google Patents
A kind of steel cylinder automated three-dimensional access system and its access method Download PDFInfo
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- CN110395516A CN110395516A CN201910699467.2A CN201910699467A CN110395516A CN 110395516 A CN110395516 A CN 110395516A CN 201910699467 A CN201910699467 A CN 201910699467A CN 110395516 A CN110395516 A CN 110395516A
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- steel cylinder
- manipulator
- shelf
- storage
- outbound
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0478—Storage devices mechanical for matrix-arrangements
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention discloses a kind of steel cylinder automated three-dimensionals to access system, including control module, execution module and warehouse shelf module, control module includes industrial control host and controller, execution module includes barcode scanner and manipulator, warehouse shelf module includes shelf and shelf sliding rail, shelf are made of multiple subregion shelf arrangements, each subregion shelf are movably installed on shelf sliding rail, manipulator is set in a manipulator mobile mechanism, manipulator mobile mechanism is movably installed on a manipulator shifting sledge, manipulator can move again along manipulator mobile mechanism；Manipulator steel cylinder can be deposited in the storage location of shelf according to steel cylinder information or manipulator according to the information of steel cylinder storage location takes out the steel cylinder to be taken out from shelf.The access system is able to achieve the automatic management to steel cylinder access, improves storage density, space utilization rate and operating efficiency, reduces personnel activity, improve the accuracy rate and safety of access.
Description
Technical field
The invention belongs to stereo warehouse technical fields, specifically relate to a kind of steel cylinder automated three-dimensional access system and its access side
Method.
Background technique
In the production process of Semiconductor Microstructure Materials, the used source MO container filling is steel cylinder.A large amount of steel cylinder
It needs rationally to be stored, is convenient for follow-up management and use.
In existing storage mode, the storage occupied space of steel cylinder is big, and the sending and receiving to steel cylinder, inspection, dries, washes, taking out and waited
Journey not can be carried out systematization control, and the storage out of steel cylinder can not also carry out 100% retrospect.Existing storing process places one's entire reliance upon
One non-automated, mode based on paper document record, it is backward in management, to the utilization rate of storage facility resource
Less than 40%；This mode is the note with people when being managed to steel cylinder, such as when tracking the steel cylinder of each state and type
Recall to implement.This mode, due to the uncertainty of human factor, causes labor efficiency low for entire steel cylinder memory block
Under, while with steel cylinder quantity, the increase of state and the increase of storage frequency out, it can also seriously affect normal operation work
Make efficiency；The labor management time is longer, then is more easy to cause the steel cylinder state in storage indefinite, thus causes very big safety
Hidden danger, steel cylinder factory tracking it is not in place, also result in steel cylinder input cost increase, and will cause it is unnecessary waste and can not
Determine root.
Automatic stereowarehouse is a kind of novel storage mode occurred in modern storage technique field, in process of production
The effect to become more and more important is played to miscellaneous steel cylinder storage；The optimizing and scheduling task of storage out of automatic stereowarehouse,
Steel cylinder distribution optimization and the optimization of steel cylinder access path are the key that raising department operating efficiencies.Automatic stereowarehouse is to steel cylinder reality
Row modern management, improve tradition storage goes out storage operating efficiency, saves time and the space occupied of task schedule.Cause
This, needs to develop a kind of steel cylinder automated three-dimensional access system, to realize the efficient management to steel cylinder.
Summary of the invention
In order to solve the above technical problems, the purpose of the present invention is to provide a kind of steel cylinder automated three-dimensional access system and its
Access method, the access system and method are able to achieve the automatic management to steel cylinder access, improve storage density, space utilization rate
And operating efficiency, personnel activity is reduced, the accuracy rate and safety of access are improved.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme: Yi Zhonggang
Bottle automated three-dimensional accesses system, including control module, execution module and warehouse shelf module, the control module include industry control
Host and controller, the execution module include barcode scanner and manipulator, and the warehouse shelf module includes for storing
The shelf and shelf sliding rail of steel cylinder, the shelf are made of multiple subregion shelf arrangements, and each subregion shelf are movably pacified
Loaded on the shelf sliding rail, each subregion shelf have evenly distributed multiple goods lattices, and each goods lattice is equipped with for storing
The pallet of steel cylinder, the manipulator are set in a manipulator mobile mechanism, which is movably installed on
On one manipulator shifting sledge, which, which can be across on shelf, is moved, and manipulator again can be along institute
It states manipulator mobile mechanism up and down and moves left and right, the controller is connect with the industrial control host with barcode scanner, institute
State the movement of controller control manipulator and shelf；Manipulator can manipulate barcode scanner and sweep to the two dimensional code on steel cylinder
It retouches, and steel cylinder is deposited in shelf according to the steel cylinder information scanned storage location or manipulator are according in industrial control host
The information of the steel cylinder storage location stored takes out the steel cylinder to be taken out from shelf.
Wherein, the shelf include the subregion shelf of three kinds of specifications, and every kind of subregion shelf can store some diameter dimension
All steel cylinders of section.
Wherein, the shelf and manipulator mobile mechanism pass through screw rod slide block mechanism and the cooperation of motor is moved.
The present invention also provides a kind of steel cylinder automated three-dimensional access system steel cylinder access method,
Wherein, storage steel bottle step are as follows:
S1 steel cylinder waits, and steel cylinder is placed into waiting interval, waits manipulator crawl barcode scanning storage；
S2 two-dimensional code scanning, controller control manipulator behavior, and manipulator is using barcode scanner to the two dimension on steel cylinder
Code is scanned；
S3 distributes storage location, and industrial control host is believed according to the shelf information stored, and according to the steel cylinder of two dimensional code record
Breath distributes storage location, while the information of record storage position and steel cylinder information for steel cylinder；
S4 vacates manipulator operation space, and the subregion shelf corresponding to the storage location distributed are under the control of the controller
It is moved, vacates operating space for manipulator；
S5 steel cylinder storage, manipulator grab the steel cylinder of waiting interval, and it is empty that manipulator mobile mechanism is moved to the operation vacated
Between, the manipulator in manipulator mobile mechanism is moved at the storage location corresponding to steel cylinder, and steel cylinder is stored in and is distributed
Subregion shelf storage location on, industrial control host record steel cylinder entry time；
S6 shelf and manipulator playback, after completing steel cylinder storage, subregion shelf are moved to initial position, and manipulator is moved to
Position of readiness；
Take out steel cylinder step are as follows:
A. it takes bottle to apply, outbound management is operated in industrial control host, the information of outbound steel cylinder is inputted, to mention to industrial control host
Friendship takes bottle to apply；
B. the storage location of outbound steel cylinder is searched for, industrial control host needs according to outbound steel cylinder information and entry time search
The storage location information of the steel cylinder in library；
C. manipulator operation space is vacated, the control of the subregion shelf of the storage location corresponding to outbound steel cylinder in controller
Under moved, vacate operating space for manipulator；
D. manipulator enters warehouse compartment, and manipulator mobile mechanism is moved at the operating space vacated, manipulator mobile mechanism
On manipulator be moved at the storage location corresponding to outbound steel cylinder, wait crawl steel cylinder outbound；
E. two-dimensional code scanning, controller control manipulator behavior, and manipulator scans found steel using barcode scanner
The two dimensional code of bottle, industrial control host judge whether the steel cylinder that manipulator is found is required outbound steel cylinder；
F. steel cylinder outbound, if the steel cylinder that manipulator is found in step e is required outbound steel cylinder, manipulator if, is grabbed
The outbound steel cylinder is transported to designated position by the outbound steel cylinder；
G. shelf and manipulator playback, after completing steel cylinder outbound, subregion shelf are moved to initial position, and manipulator is moved to
Position of readiness.
Wherein, the information of two dimensional code record includes the state of the weight of steel cylinder, diameter, height and steel cylinder.
Further, in storage steel bottle step, steel cylinder storage after, industrial control host according to the storage steel cylinder information be its into
Row number.
Further, in storage steel bottle step, the distribution of storage location is to carry out subregion storage according to steel cylinder diameter.
Further, in the step e for taking out steel cylinder step, if the steel cylinder that manipulator is found is not after judgement
Required outbound steel cylinder, then system reports an error, and is manually intervened.
The beneficial effects of the present invention are: the present invention realizes steel by the cooperation of industrial control host, controller, manipulator and shelf
The mechanization and automation of bottle access can be effectively utilized space, be reduced using moveable shelf and three-dimensional storing mode
Occupied area, and goods yard is concentrated, and convenient for control and management, is improved storage density, space utilization rate and operating efficiency, is reduced personnel
Activity improves the accuracy rate and safety of access；The present invention uses industrial control host and controller, is not only able to realize operation process
Automatic control, and be able to carry out information processing, have preferable system function and the customized setting of basic data, be conducive to
The secrecy and management of information；Access system of the invention support more clients, multiple types, multimode, more warehouse compartments, polymorphic type steel cylinder
Fining intelligent management, have state automatic identification function, may be implemented to different conditions and various sizes of steel cylinder into
Row partitioned storage realizes the efficiently functions such as storage, sorting, outbound management；Staff can inquire the storage letter of steel cylinder at any time
Breath is dispatched convenient for the steel cylinder in later period, realizes the efficient management and use of steel cylinder.
Detailed description of the invention
Fig. 1 is the partial structure diagram that steel cylinder automated three-dimensional of the present invention accesses system.
Fig. 2 is the control schematic diagram that steel cylinder automated three-dimensional of the present invention accesses system.
Fig. 3 is the flow chart of the storage steel bottle step in steel cylinder automated three-dimensional access system of the present invention.
Fig. 4 is the flow chart of the taking-up steel cylinder step in steel cylinder automated three-dimensional access system of the present invention.
Specific embodiment
A specific embodiment of the invention is described in detail with reference to the accompanying drawing, so that advantages and features of the invention
It can be easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Embodiment
In this embodiment, the steel cylinder for carrying out access management is needed there are 11 kinds.
A kind of steel cylinder automated three-dimensional provided in an embodiment of the present invention accesses system, including control module, execution module and
Warehouse shelf module, the control module include industrial control host 1 and controller 2, and the execution module includes 3 He of barcode scanner
Manipulator 4.As shown in Figure 1, the warehouse shelf module includes the shelf 5 and shelf sliding rail for storage steel bottle, which is
It is rearranged by multiple subregion shelf 51, each subregion shelf 51 are movably installed on the shelf sliding rail, Mei Gefen
Area's shelf 51 have evenly distributed multiple goods lattices, and each goods lattice is equipped with the pallet for storing steel cylinder 8, the manipulator 4
It is set in a manipulator mobile mechanism 6, which is movably installed on a manipulator shifting sledge 7,
The manipulator mobile mechanism 6 can be across on shelf 5 and be moved, and manipulator 4 again can be along the manipulator mobile mechanism 6
Up and down and move left and right；As shown in Fig. 2, the controller 2 is connect with the industrial control host 1 with barcode scanner 3, the control
Device 2 processed controls the movement of manipulator 4 and shelf 5；Manipulator 4 can manipulate barcode scanner 3 and carry out to the two dimensional code on steel cylinder 8
It scans, and steel cylinder 8 is deposited in the storage of shelf 5 according to the steel cylinder information (including weight, diameter, height and state) scanned
On position or manipulator 4 is according to the information steel cylinder 8 that will be taken out of the steel cylinder storage location stored in industrial control host 1
It is taken out from shelf 5.
Wherein, the shelf 5 include the subregion shelf 51 of three kinds of specifications, and every kind of subregion shelf 51, which can be compatible with, stores some
All steel cylinders 8 of diameter dimension section.
Wherein, the shelf 5 and manipulator mobile mechanism 6 are moved by the cooperation of screw rod slide block mechanism and motor
It is dynamic.Specifically, motor drives screw rod slide block mechanism to run under the control of the controller, to drive shelf 5 and manipulator moving machine
Structure 6 is moved.Likewise, upper and lower in manipulator mobile mechanism of manipulator 4 and to move left and right be also by screw rod sliding block
The cooperation of mechanism and motor.
For 11 kinds of steel cylinders in the embodiment, it is divided into 3 classes according to size, subregion shelf are according to this 3 class steel cylinder
Size is divided into 3 kinds of specifications, and the pallet of corresponding size is arranged in the goods lattice of the subregion shelf of every kind of specification, corresponding with compatible storage
All steel cylinders in size section.Specifically, the specific classification that 11 kinds of steel cylinder subregions in the embodiment are stored is arranged such as the following table 1 institute
Show:
The classification of 1 steel cylinder subregion of table storage
The steel cylinder access method of above-mentioned steel cylinder automated three-dimensional access system, specifically:
Wherein, as shown in figure 3, storage steel bottle step are as follows:
S1 steel cylinder waits, and steel cylinder 8 is placed into waiting interval, waits manipulator crawl barcode scanning storage；
S2 two-dimensional code scanning, controller 2 control manipulator 4 and act, and manipulator 4 is using barcode scanner 3 on steel cylinder 8
Two dimensional code is scanned；The information of two dimensional code record includes the state of the weight of steel cylinder, diameter, height and steel cylinder (such as wait tie up
Repair, wait hunt leak, hunted leak, to be cleaned, cleaning is available, to slightly wash, it is to be checked etc.)；
S3 distributes storage location, industrial control host 1 according to the shelf information (the storage size classes of subregion shelf) stored,
And the steel cylinder diameter dimension recorded according to two dimensional code, the storage size classes of corresponding subregion shelf distribute storage location for steel cylinder,
The information and steel cylinder information of record storage position simultaneously；
S4 vacates manipulator operation space, and the subregion shelf corresponding to the storage location distributed are under the control of the controller
It is moved along shelf sliding rail, vacates operating space for manipulator；
S5 steel cylinder storage, manipulator grab the steel cylinder of waiting interval, manipulator mobile mechanism edge under the control of the controller
Manipulator shifting sledge is moved at the operating space vacated, and the manipulator in manipulator mobile mechanism is also in the control of controller
It is moved at the storage location corresponding to distributed steel cylinder, steel cylinder is stored in the storage location of distributed subregion shelf
On, industrial control host records steel cylinder entry time；After steel cylinder storage, industrial control host is that the storage steel cylinder is carried out according to its specifying information
Number, convenient for the quantity in stock of the steel cylinder of every kind of specification of understanding；
S6 shelf and manipulator playback, after completing steel cylinder storage, subregion shelf are moved to initial position, and manipulator is moved to
Position of readiness；
As shown in figure 4, taking out steel cylinder step are as follows:
A. it takes bottle to apply, outbound management is operated in industrial control host, the information of outbound steel cylinder is inputted, to mention to industrial control host
Friendship takes bottle to apply；
B. the storage location of outbound steel cylinder is searched for, industrial control host searches out accordingly according to outbound steel cylinder information and entry time
It is put in storage the storage location information of earliest steel cylinder under state, as needs the storage location information of the steel cylinder of outbound；
C. manipulator operation space is vacated, the control of the subregion shelf of the storage location corresponding to outbound steel cylinder in controller
Under moved, vacate operating space for manipulator；
D. manipulator enters warehouse compartment, and manipulator mobile mechanism is moved at the operating space vacated, manipulator mobile mechanism
On manipulator be moved at the storage location corresponding to outbound steel cylinder, wait crawl steel cylinder outbound；
E. two-dimensional code scanning, controller control manipulator behavior, and manipulator scans found steel using barcode scanner
The two dimensional code of bottle, industrial control host are compared by the steel cylinder information that will be scanned with the steel cylinder information of required outbound, with
Judge whether the steel cylinder that manipulator is found is required outbound steel cylinder；
F. steel cylinder outbound, if the steel cylinder that manipulator is found in step e is required outbound steel cylinder, manipulator if, is grabbed
The outbound steel cylinder is transported to designated position by the outbound steel cylinder；If judgement of the steel cylinder that manipulator is found Jing Guo industrial control host
It afterwards, is not required outbound steel cylinder, then system reports an error, and is manually intervened；.
G. shelf and manipulator playback, after completing steel cylinder outbound, subregion shelf are moved to initial position, and manipulator is moved to
Position of readiness.
The steel cylinder automated three-dimensional accesses the cooperation that system passes through industrial control host, controller, manipulator and shelf, makes shelf
Movement with manipulator precisely in place, realizes the mechanization and automation of steel cylinder access comprehensively, using moveable shelf and
Three-dimensional storing mode can effectively utilize space, reduce occupied area, and goods yard is concentrated, and convenient for control and management, improve storage
Density, space utilization rate and operating efficiency reduce personnel activity, greatly improve the accuracy rate and safety of access.
The present invention uses industrial control host and controller, is not only able to realize the automatic control of operation process, and can be into
Row information processing, has preferable system function and the customized setting of basic data, is conducive to the secrecy and management of information.
Access system of the invention support more clients, multiple types, multimode, more warehouse compartments, polymorphic type steel cylinder fining
Intelligent management has state automatic identification function, may be implemented to deposit different conditions and various sizes of steel cylinder progress subregion
Storage is, it can be achieved that infiltrate the steel cylinder access effect, and can realize the functions such as efficient storage, sorting, outbound management；Staff
The storage information of steel cylinder can be inquired at any time, is dispatched convenient for the steel cylinder in later period, realize the efficient management and use of steel cylinder.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of steel cylinder automated three-dimensional accesses system, which is characterized in that including control module, execution module and warehouse shelf mould
Block, the control module include industrial control host and controller, and the execution module includes barcode scanner and manipulator, the storehouse
Library shelf module includes the shelf and shelf sliding rail for storage steel bottle, which is made of multiple subregion shelf arrangements, often
A subregion shelf are movably installed on the shelf sliding rail, and each subregion shelf have evenly distributed multiple goods lattices,
Each goods lattice is equipped with the pallet for storing steel cylinder, and the manipulator is set in a manipulator mobile mechanism, the manipulator
Mobile mechanism is movably installed on a manipulator shifting sledge, which can be across the enterprising of shelf
Row movement, manipulator above and below the manipulator mobile mechanism and can move left and right again, and the controller and barcode scanner are equal
It is connect with the industrial control host, the movement of controller the control manipulator and shelf；Manipulator can manipulate barcode scanner
Two dimensional code on steel cylinder is scanned, and steel cylinder is deposited in the storage location of shelf according to the steel cylinder information scanned, or
Person's manipulator takes out the steel cylinder to be taken out according to the information of the steel cylinder storage location stored in industrial control host from shelf.
2. a kind of steel cylinder automated three-dimensional according to claim 1 accesses system, which is characterized in that the shelf include three
The subregion shelf of kind specification, every kind of subregion shelf can store all steel cylinders of some diameter dimension section.
3. a kind of steel cylinder automated three-dimensional according to claim 1 accesses system, which is characterized in that the shelf and machinery
Hand mobile mechanism passes through screw rod slide block mechanism and the cooperation of motor is moved.
4. a kind of steel cylinder access method of steel cylinder automated three-dimensional access system as described in any one of claims 1 to 3, special
Sign is,
Storage steel bottle step:
S1 steel cylinder waits, and steel cylinder is placed into waiting interval, waits manipulator crawl barcode scanning storage；
S2 two-dimensional code scanning, controller control manipulator behavior, manipulator using barcode scanner to the two dimensional code on steel cylinder into
Row scanning；
S3 distributes storage location, and industrial control host is according to the shelf information stored, and the steel cylinder information recorded according to two dimensional code, is
Steel cylinder distributes storage location, while the information of record storage position and steel cylinder information；
S4 vacates manipulator operation space, and the subregion shelf corresponding to the storage location distributed carry out under the control of the controller
It is mobile, operating space is vacated for manipulator；
S5 steel cylinder storage, manipulator grab the steel cylinder of waiting interval, and manipulator mobile mechanism is moved at the operating space vacated,
Manipulator in manipulator mobile mechanism is moved at the storage location corresponding to steel cylinder, and steel cylinder is stored in distributed subregion
In the storage location of shelf, industrial control host records steel cylinder entry time；
S6 shelf and manipulator playback, after completing steel cylinder storage, subregion shelf are moved to initial position, and manipulator is moved to standby
Position；
Take out steel cylinder step:
A. it takes bottle to apply, outbound management is operated in industrial control host, input the information of outbound steel cylinder, to be taken to industrial control host submission
Bottle application；
B. the storage location of outbound steel cylinder is searched for, industrial control host needs outbound according to outbound steel cylinder information and entry time search
The storage location information of steel cylinder；
C. vacate manipulator operation space, the subregion shelf of the storage location corresponding to outbound steel cylinder under the control of the controller into
Row movement vacates operating space for manipulator；
D. manipulator enters warehouse compartment, and manipulator mobile mechanism is moved at the operating space vacated, in manipulator mobile mechanism
Manipulator is moved at the storage location corresponding to outbound steel cylinder, waits crawl steel cylinder outbound；
E. two-dimensional code scanning, controller control manipulator behavior, and manipulator scans found steel cylinder using barcode scanner
Two dimensional code, industrial control host judge whether the steel cylinder that manipulator is found is required outbound steel cylinder；
F. steel cylinder outbound, if the steel cylinder that manipulator is found in step e is required outbound steel cylinder, crawl should go out if manipulator
The outbound steel cylinder is transported to designated position by library steel cylinder；
G. shelf and manipulator playback, after completing steel cylinder outbound, subregion shelf are moved to initial position, and manipulator is moved to standby
Position.
5. the steel cylinder access method of steel cylinder automated three-dimensional access system according to claim 4, it is characterised in that: described
The information of two dimensional code record includes the state of the weight of steel cylinder, diameter, height and steel cylinder.
6. the steel cylinder access method of steel cylinder automated three-dimensional access system according to claim 4, it is characterised in that: storage
In steel cylinder step, after steel cylinder storage, industrial control host is numbered according to the information of the storage steel cylinder for it.
7. the steel cylinder access method of steel cylinder automated three-dimensional access system according to claim 4, it is characterised in that: storage
In steel cylinder step, the distribution of storage location is to carry out subregion storage according to steel cylinder diameter.
8. the steel cylinder access method of steel cylinder automated three-dimensional access system according to claim 4, it is characterised in that: take out
It is not required outbound steel cylinder if the steel cylinder that finds of manipulator is after judgement in the step e of steel cylinder step, then system
It reports an error, is manually intervened.
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| CN111038905A (en) * | 2019-12-31 | 2020-04-21 | 东莞市沃德精密机械有限公司 | Standing curing system and material storing and taking method thereof |
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| CN114229310A (en) * | 2021-12-06 | 2022-03-25 | 河南省日立信股份有限公司 | Sulfur hexafluoride gas steel cylinder three-dimensional warehouse system based on Internet of things |
| CN114383042A (en) * | 2021-12-03 | 2022-04-22 | 河南省日立信股份有限公司 | Automatic storage and taking method for intelligent storage square cabin of steel cylinder |
| CN116750489A (en) * | 2023-08-17 | 2023-09-15 | 奕瑞影像科技（太仓）有限公司 | Automatic steel mesh transmission system |
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