CN110980098A - Automatic assembly offline boxing method - Google Patents
Automatic assembly offline boxing method Download PDFInfo
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- CN110980098A CN110980098A CN201911116008.3A CN201911116008A CN110980098A CN 110980098 A CN110980098 A CN 110980098A CN 201911116008 A CN201911116008 A CN 201911116008A CN 110980098 A CN110980098 A CN 110980098A
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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
- B65G1/137—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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
- G06K7/10861—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices sensing of data fields affixed to objects or articles, e.g. coded labels
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- Artificial Intelligence (AREA)
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- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention discloses an automatic method for assembly offline boxing, which specifically comprises the following steps: s1), establishing an assembly offline model, and reading tray codes and tray position codes on the trays by a manipulator; s2) the manipulator synchronizes the collected tray codes and the tray position codes to an MES system, the MES system distributes placement codes for the offline assemblies, and sends the assembly tray position relation to the manipulator; s3) placing the assembly at the correct position by the manipulator according to the position relation of the assembly tray, and synchronizing the information to the MES system after the placement is finished; s4) the MES system automatically boxes, submits to the bank and synchronizes the information to the ERP system, and the ERP system informs the WMS system to receive goods; s5) putting the tray again, repeating the steps S1) -S4). The invention can rapidly read, interact and respond, greatly improves the working efficiency, and achieves the purpose of rapid boxing through rapid reading and grabbing of the robot and rapid information interaction of the PLC.
Description
Technical Field
The invention particularly relates to an automatic assembly offline boxing method.
Background
In a traditional manufacturing enterprise, because the bar codes of the assemblies are scanned one by one manually after the assemblies are taken off line, the assemblies are placed into trays one by one through a crane, meanwhile, the trays are input by a person through a PC (personal computer) to be clicked to complete boxing, and then the boxed assemblies are transported to a warehouse through a forklift. The invention aims to replace a human to do monotonous, frequent and repeated long-time operation or competent work in dangerous and severe environments by the robot. Since the robot undertakes a lot of dangerous or boring work, many occupational diseases, industrial injuries and thus high costs to pay can be avoided; in addition, since the robot always performs its work in the same manner, the production efficiency is greatly improved.
At present, an enterprise uses an implementation manner for assembly offline packing, in which an assembly serial number is scanned in an mes (manufacturing Execution system) system, a tray number needs to be manually input after the scanning is completed to complete the packing, then a packing list needs to be manually scanned to report to erp (enterprise Resource planning), and then the packing list is manually collected to wms (wireless Resource management system), generally, the system is manually matched with an mes (manufacturing Execution system) production and manufacturing system, an erp (enterprise Resource planning) enterprise Resource management system, and a wms (wireless Resource management system) warehousing management system to operate, so that the operation flow is complex, the time span is large, and uncontrollable factors are increased. But these solutions do not solve the problem well in business and technology. Existing general packing schemes include:
1) after the assembly line assembly is taken off line, synchronizing information such as assembly bar codes to an MES (manufacturing execution System) production execution system;
2) an operator receives the offline assembly, scans the serial number of the assembly through a scanning gun, simultaneously places the scanned assembly into a tray through a crane, inputs the tray number in an MES system after the tray is full to finish boxing, and prints a boxing list and pastes the boxing list onto the tray;
3) after the boxing is finished, reporting the work to an ERP (Enterprise resource planning) system through manual scanning of a boxing single number;
4) after the completion of the work reporting, paying the database through an MES system and synchronizing the information to an ERP system;
5) the ERP notifies the WMS to receive the goods.
The drawbacks of these solutions are mainly concentrated on:
1) the cost is high. The labor cost in enterprises is higher and higher, meanwhile, staff movement and on-duty training waste a large amount of manpower and material resources of the companies.
2) Potential safety hazard. All operations are manually completed, and tools such as a crane and a forklift are operated manually, so that certain dangerousness exists.
3) The timeliness is poor. All operations have certain requirements on the operation proficiency of the staff, and meanwhile, the operation process is complex and has certain time delay.
4) Management is inefficient. Enterprises can hardly guarantee daily production accurately every day because some employees are lazy, and as a supervisor, the daily affairs are very much, and it is difficult to supervise every employee every moment.
5) The stability is poor. Repeated and boring work of personnel can generate boring emotion, the production can not be put into completely new and full-meaning production, the stability of natural production can not be guaranteed, meanwhile, the conditions that personnel are lost, on-duty training is recruited again and the like can be met, and the stability of production is influenced.
6) And (4) non-intelligentization. The current era of artificial intelligence is that the manual work will be slowly eliminated and replaced, and the current is still the traditional artificial mode, is unfavorable for promoting the enterprise image that the company is with the current progress.
Disclosure of Invention
In order to solve the technical problem, the invention provides an automatic method for offline packaging of assemblies.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the automatic assembly offline boxing method specifically comprises the following steps:
s1), establishing an assembly offline model, and reading tray codes and tray position codes on the trays by a manipulator;
if the reading of the mechanical arm fails, the mechanical arm stops working;
otherwise, go to step S2);
s2) the manipulator synchronizes the collected tray codes and the tray position codes to an MES system, the MES system distributes the placing codes for the offline assemblies, and sends the position relation of the assembly trays to the manipulator, and the manipulator is ready to grab;
s3) placing the assembly at the correct position by the manipulator according to the position relation of the assembly tray, and synchronizing the information to the MES system after the placement is finished;
if the tray capacity is not reached, the MES system continues to distribute the trays of the assemblies for placement;
if the tray capacity is reached, the MES system informs the WCS to call the AGV car to pull the tray to the warehouse;
s4) the MES system automatically boxes and submits to the payment library and synchronizes the information to the ERP system through an interface, and the ERP system informs the WMS system of receiving goods;
s5), re-placing the tray, and repeating the steps S1) -S4), thereby completing the automation of assembly offline.
The invention provides an assembly offline automation method which can be used for rapidly reading, rapidly interacting and rapidly responding, greatly improves the working efficiency, and achieves the purpose of rapidly boxing through rapid reading and grabbing of a robot and rapid information interaction of a PLC.
On the basis of the technical scheme, the following improvements can be made:
preferably, in step S1), if the robot fails to read, the robot stops working, and simultaneously emits an audible and visual alarm, and resumes working after the abnormal type is determined and the repair is completed, and repeats step S1).
Preferably, step S3) further includes confirming again whether the placement position is available before the robot places the assembly at the tray designated position according to the positional relationship of the assembly tray;
if the data is not available, sending an off-line abnormal alarm;
if it is normally usable, the manipulator snatchs and puts the assembly of inserting the production line.
Preferably, the tray includes:
the lower-layer tray body is fixedly provided with a rotating shaft;
the upper-layer disk body is arranged above the lower-layer disk body and is rotationally connected with the lower-layer disk body through a rotating shaft, a plurality of partition plates are arranged on the upper surface of the upper-layer disk body, and the placing areas of the upper-layer disk body are divided into a plurality of small sub-areas which are not communicated with each other;
and the positioning mechanism is arranged on the lower-layer disk body and the upper-layer disk body, when the manipulator applies external force to the upper-layer disk body, the upper-layer disk body rotates by a certain angle, and the positioning mechanism is used for positioning the upper-layer disk body which rotates by a certain angle.
Adopt above-mentioned preferred scheme, simple structure adopts rotatable tray, guarantees that the locating position is accurate, and the thing of putting of upper disk body distinguishes the subregion that separates to be a plurality of little each other incommunications, can put the spare part of multiple no.
Preferably, the positioning mechanism includes:
the upper end of the positioning column extends into the groove at the bottom of the upper-layer disc body and is elastically connected with the upper wall of the groove through an elastic piece;
positioning groove is equipped with the round spout at lower floor's dish top, and positioning groove sets up and in the spout, positioning groove's quantity is the same with the quantity of reference column, and the spout can be followed to the bottom of reference column, and the bottom of reference column can stretch into in the positioning groove.
By adopting the preferable scheme, the structure is more optimized.
As preferred scheme, the bottom of reference column is equipped with the elastic cushion, and the thickness of elastic cushion is the same with positioning groove's degree of depth.
By adopting the preferable scheme, the structure is more optimized.
As preferred scheme, be equipped with two at least push pedals at the upper surface of upper disk body, be equipped with the permanent magnet on the push pedal, the push pedal sets up directly over the reference column, and a push pedal corresponds with a reference column.
By adopting the preferable scheme, the control of the pushing force is more accurate.
As a preferred scheme, the lower surface of the lower-layer disc body is provided with a groove matched with the push plate;
when a plurality of trays are stacked and placed, the push plate of the upper tray body of the lower tray extends into the groove of the lower tray body of the upper tray.
With the preferred scheme, the stacked trays are more stable.
As preferred scheme, still be equipped with two at least tray rotation yards on the disk body of upper strata, the tray rotates the yard and sets up on the push pedal, and a tray position sign indicating number corresponds with a reference column.
By adopting the preferable scheme, the manipulator can know the rotating position of the upper-layer disc body in time.
As a preferable scheme, the step 3) specifically comprises the following steps:
step 3.1) the manipulator scans a tray rotating code of a push plate close to the manipulator according to the position relation of the assembly tray;
step 3.2) electrifying an electromagnet on the manipulator, wherein the electromagnet has polarity, the polarity of the electromagnet is opposite to that of the push plate on the tray, driving force is given to the upper-layer tray body, the positioning column on the upper-layer tray body slides along the sliding groove on the lower-layer tray body, and after the positioning column slides to the corresponding position, the bottom of the positioning column falls into the positioning groove for positioning;
and 3.3) the manipulator scans the tray rotating code on the other push plate again to confirm the position, and then the steps 3.1) -3.3) are repeated until all the trays are placed.
By adopting the preferable scheme, the placement can be accurately performed.
Drawings
Fig. 1 is a flowchart of an automated assembly offline boxing method according to an embodiment of the present invention.
Fig. 2 is a flowchart of a tray code collection exception handling process in step S1) according to an embodiment of the present invention.
Fig. 3 is a schematic block diagram of an offline binning automation model provided by an embodiment of the present invention.
Fig. 4 is a diagram of an automated assembly off-line packaging architecture according to an embodiment of the present invention.
Fig. 5 is a sectional view of a tray provided in an embodiment of the present invention.
Fig. 6 is a top view of a lower tray provided in accordance with an embodiment of the present invention.
Fig. 7 is a top view of an upper tray body according to an embodiment of the invention.
Wherein: 1-tray, 11-lower tray body, 111-sliding chute, 112-positioning groove, 113-groove, 12-upper tray body, 121-groove, 2-rotating shaft, 3-partition plate, 4-positioning column, 5-elastic piece, 6-elastic cushion block and 7-push plate.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
For the purposes of the present invention, in some embodiments of the automated method for offline assembly packaging, as shown in fig. 1-4, the automated method for offline assembly packaging specifically comprises the following steps:
s1), an assembly offline model is established, and a manipulator reads a tray code and a tray position code on the tray 1;
if the reading of the mechanical arm fails, the mechanical arm stops working;
otherwise, go to step S2);
s2) the manipulator synchronizes the collected tray codes and the tray position codes to an MES system, the MES system distributes the placing codes for the offline assemblies, and sends the position relation of the assembly tray 1 to the manipulator, and the manipulator is ready to grab;
s3) placing the assembly at the correct position by the manipulator according to the position relation of the assembly tray 1, and synchronizing the information to the MES system after the placement is finished;
if the capacity of the tray 1 is not reached, the MES system continues to distribute the tray 1 of the assembly for placement;
if the capacity of the tray 1 is reached, the MES system informs the WCS to call the AGV car to pull the tray 1 to the warehouse;
s4) the MES system automatically boxes and submits to the payment library and synchronizes the information to the ERP system through an interface, and the ERP system informs the WMS system of receiving goods;
s5), the tray 1 is replaced, and the steps S1) -S4) are repeated, thereby completing the automation of the assembly offline.
The invention provides an assembly offline automation method which can be used for rapidly reading, rapidly interacting and rapidly responding, greatly improves the working efficiency, and achieves the purpose of rapidly boxing through rapid reading and grabbing of a robot and rapid information interaction of a PLC.
In order to further optimize the implementation effect of the invention, in other embodiments, the rest features are the same, except that in step S1), if the robot fails to read, the robot stops working, and simultaneously emits an audible and visual alarm, and after the abnormal type is determined and the repair is completed, the robot is resumed to work, and step S1) is repeated.
The type of anomaly may be one or more of the following: the barcode pasting position is abnormal, the barcode is damaged (but the number can be identified), the barcode is damaged (the number cannot be identified), the barcode is lost, and the like.
In order to further optimize the implementation effect of the present invention, in other embodiments, the remaining features are the same, except that step S3) further includes the following steps, before the robot puts the assembly into the designated position of the tray 1 according to the positional relationship of the assembly tray 1, confirming again whether the placement position is available;
if the data is not available, sending an off-line abnormal alarm;
if it is normally usable, the manipulator snatchs and puts the assembly of inserting the production line.
In the embodiment of the invention, the grabbing assembly is quickly read by the manipulator, so that the process of manually scanning the bar code and then manually placing the assembly is omitted, the expenditure of human resources is saved, the potential safety hazard of manual operation is eliminated by the industrial robot, and unnecessary safety production accidents can be avoided. Strict standardization operation, high process stability and stable production rate.
In the embodiment of the invention, the PLC is used for quickly communicating the robot hand, the tray 1 and the MES system, the automation is realized in the whole process, the production efficiency is greatly improved, the industrial robot can continuously operate for 24 hours, the production can be organized with high strength and high efficiency, the influence of personnel factors is avoided, and the utilization rate of equipment is improved.
As shown in fig. 5 to 7, in order to further optimize the implementation of the present invention, in other embodiments, the remaining features are the same, except that the tray 1 includes:
the lower-layer tray body 11 is fixedly provided with a rotating shaft 2;
the upper-layer disc body 12 is arranged above the lower-layer disc body 11, the upper-layer disc body 12 is rotatably connected with the lower-layer disc body 11 through a rotating shaft 2, a plurality of partition plates 3 are arranged on the upper surface of the upper-layer disc body 12, and the placing areas of the upper-layer disc body 12 are divided into a plurality of small sub areas which are not communicated with each other;
the positioning mechanism is arranged on the lower tray body 11 and the upper tray body 12, when the manipulator applies external force to the upper tray body 12, the upper tray body 12 rotates by a certain angle, and the positioning mechanism is used for positioning the upper tray body 12 which rotates by a certain angle.
Adopt above-mentioned preferred scheme, simple structure adopts rotatable tray 1, guarantees that the locating position is accurate, and the thing of upper tray body 12 distinguishes the subregion that separates to be a plurality of little intercommunications, can put the spare part of multiple nothing.
In order to further optimize the implementation effect of the invention, the positioning mechanism comprises:
the upper ends of the positioning columns 4 extend into the groove 121 at the bottom of the upper tray body 12 and are elastically connected with the upper wall of the groove 121 through the elastic piece 5;
four positioning grooves 112, the top of lower-layer tray 11 is provided with a circle of sliding groove 111, positioning grooves 112 are arranged in sliding groove 111, the number of positioning grooves 112 is the same as that of positioning columns 4, the bottom ends of positioning columns 4 can slide along sliding groove 111, and the bottom ends of positioning columns 4 can extend into positioning grooves 112.
By adopting the preferable scheme, the structure is more optimized.
In order to further optimize the implementation effect of the present invention, the bottom end of the positioning column 4 is provided with an elastic cushion block 6, and the thickness of the elastic cushion block 6 is the same as the depth of the positioning groove 112.
By adopting the preferable scheme, the structure is more optimized.
In order to further optimize the implementation effect of the invention, four push plates 7 are arranged on the upper surface of the upper-layer disc body 12, permanent magnets are arranged on the push plates 7, the push plates 7 are arranged right above the positioning columns 4, and one push plate 7 corresponds to one positioning column 4.
By adopting the preferable scheme, the control of the pushing force is more accurate.
In order to further optimize the implementation effect of the invention, a groove 113 matched with the push plate 7 is arranged on the lower surface of the lower-layer disc body 11;
when a plurality of trays 1 are stacked, the push plate 7 of the upper tray body 12 of the lower tray 1 extends into the groove 113 of the lower tray body 11 of the upper tray 1.
With the preferred arrangement described above, the stacked tray 1 is more stable.
In order to further optimize the implementation effect of the invention, at least four tray 1 rotating codes are further arranged on the upper tray body 12, the tray 1 rotating codes are arranged on the push plate 7, and one tray position code corresponds to one positioning column 4.
By adopting the preferable scheme, the manipulator can know the rotating position of the upper-layer disc body 12 in time.
In order to further optimize the implementation effect of the present invention, step 3) specifically includes the following:
step 3.1) the manipulator scans a tray 1 rotation code of a push plate 7 close to the manipulator according to the position relation of the assembly tray 1;
step 3.2) electrifying an electromagnet on the manipulator, wherein the electromagnet has polarity, the polarity of the electromagnet is opposite to that of the push plate 7 on the tray 1, providing a driving force for the upper tray body 12, the positioning column 4 on the upper tray body 12 slides along the sliding groove 111 on the lower tray body 11, and after the positioning column 4 slides to a corresponding position, the bottom of the positioning column 4 falls into the positioning groove 112 for positioning;
and 3.3) the manipulator scans the rotating code of the tray 1 on the other push plate 7 again to confirm the position, and then the steps 3.1) -3.3) are repeated until all the trays are placed.
By adopting the preferable scheme, the placement can be accurately performed.
With respect to the preferred embodiments of the present invention, it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (10)
1. The automatic assembly offline boxing method is characterized by comprising the following steps:
s1), establishing an assembly offline model, and reading tray codes and tray position codes on the trays by a manipulator;
if the reading of the mechanical arm fails, the mechanical arm stops working;
otherwise, go to step S2);
s2) the manipulator synchronizes the collected tray codes and the tray position codes to an MES system, the MES system distributes the placing codes for the offline assemblies, and sends the position relation of the assembly trays to the manipulator, and the manipulator is ready to grab;
s3) placing the assembly at the correct position by the manipulator according to the position relation of the assembly tray, and synchronizing the information to the MES system after the placement is finished;
if the tray capacity is not reached, the MES system continues to distribute the trays of the assemblies for placement;
if the tray capacity is reached, the MES system informs the WCS to call the AGV car to pull the tray to the warehouse;
s4) the MES system automatically boxes and submits to the payment library and synchronizes the information to the ERP system through an interface, and the ERP system informs the WMS system of receiving goods;
s5), re-placing the tray, and repeating the steps S1) -S4), thereby completing the automation of assembly offline.
2. The automated method for offline packing of assemblies according to claim 1, wherein in step S1), if the robot fails to read, the robot stops working, and simultaneously emits an audible and visual alarm, and resumes working after the abnormality type is determined and the repair is completed, and the step S1) is repeated.
3. The automated method for offline boxing of an assembly according to claim 1, wherein the step S3) further comprises confirming again whether the placement position is available before the robot places the assembly at the specified position of the tray according to the positional relationship of the assembly tray;
if the data is not available, sending an off-line abnormal alarm;
if it is normally available, the manipulator snatchs and puts the assembly of inserting the production line.
4. An automated method of in-line binning according to any of claims 1-3, wherein the tray comprises:
the lower-layer tray body is fixedly provided with a rotating shaft;
the upper-layer disk body is arranged above the lower-layer disk body and is rotationally connected with the lower-layer disk body through a rotating shaft, a plurality of partition plates are arranged on the upper surface of the upper-layer disk body, and the placing area of the upper-layer disk body is divided into a plurality of small sub-areas which are not communicated with each other;
the positioning mechanism is arranged on the lower-layer disk body and the upper-layer disk body, when the mechanical arm gives external force to the upper-layer disk body, the upper-layer disk body rotates by a certain angle, and the positioning mechanism is used for positioning the upper-layer disk body after rotating by a certain angle.
5. An automated method of in-line encasement according to claim 4, wherein the positioning mechanism comprises:
the upper end of the positioning column extends into the groove at the bottom of the upper-layer disc body and is elastically connected with the upper wall of the groove through an elastic piece;
positioning groove lower floor's disk body top is equipped with the round spout, positioning groove set up with in the spout, positioning groove's quantity with the quantity of reference column is the same, the bottom of reference column can be followed the spout slides, just the bottom of reference column can stretch into in the positioning groove.
6. The automated assembly offline boxing method as claimed in claim 5, wherein the bottom end of the positioning column is provided with an elastic cushion block, and the thickness of the elastic cushion block is the same as the depth of the positioning groove.
7. An automated assembly offline boxing method as claimed in claim 6, wherein at least two push plates are arranged on the upper surface of the upper tray body, permanent magnets are arranged on the push plates, the push plates are arranged right above the positioning columns, and one push plate corresponds to one positioning column.
8. The automated method of assembly off-line boxing as claimed in claim 7, wherein a groove matched with the push plate is provided on the lower surface of the lower tray body;
when a plurality of trays are stacked and placed, the push plate of the upper tray body of the lower tray extends into the groove of the lower tray body of the upper tray.
9. The automated assembly offline boxing method as claimed in claim 8, wherein at least two tray rotating codes are further arranged on the upper tray body, the tray rotating codes are arranged on the push plate, and one tray position code corresponds to one positioning column.
10. The automated method for offline boxing of an assembly of claim 9, wherein the step 3) comprises the following steps:
step 3.1) the manipulator scans a tray rotating code close to a push plate of the manipulator according to the position relation of an assembly tray;
step 3.2) electrifying an electromagnet on the manipulator, wherein the electromagnet has polarity, the polarity of the electromagnet is opposite to that of the push plate on the tray, driving force is given to the upper-layer tray body, the positioning column on the upper-layer tray body slides along the sliding groove on the lower-layer tray body, and after the positioning column slides to the corresponding position, the bottom of the positioning column falls into the positioning groove for positioning;
and 3.3) the manipulator scans the tray rotating code on the other push plate again to confirm the position, and then the steps 3.1) -3.3) are repeated until all the placement is finished.
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| CN201911116008.3A CN110980098A (en) | 2019-11-14 | 2019-11-14 | Automatic assembly offline boxing method |
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| CN207208782U (en) * | 2017-07-10 | 2018-04-10 | 浙江舜宇光学有限公司 | Pallet |
| CN109911272A (en) * | 2019-03-19 | 2019-06-21 | 厦门大学嘉庚学院 | A kind of free code piling box method based on reference line criterion |
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2019
- 2019-11-14 CN CN201911116008.3A patent/CN110980098A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63143101A (en) * | 1986-12-05 | 1988-06-15 | Hitachi Ltd | Operating method for three-dimensional parking lot |
| CN202687510U (en) * | 2012-06-21 | 2013-01-23 | 北京爱创科技股份有限公司 | System used for establishing production line relationship |
| CN203164836U (en) * | 2013-03-26 | 2013-08-28 | 佛山市顺德区顺达电脑厂有限公司 | Hard disk drive support assembling jig |
| CN205854799U (en) * | 2016-06-29 | 2017-01-04 | 山东丰沃新农农牧科技有限公司 | Safely rotate stacking pallet |
| CN207208782U (en) * | 2017-07-10 | 2018-04-10 | 浙江舜宇光学有限公司 | Pallet |
| CN107701937A (en) * | 2017-10-27 | 2018-02-16 | 陈兴权 | A kind of driving structure and the LED using the driving structure |
| CN109911272A (en) * | 2019-03-19 | 2019-06-21 | 厦门大学嘉庚学院 | A kind of free code piling box method based on reference line criterion |
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