CN111153237A - Automatic loading machine for cylindrical steel drums - Google Patents
Automatic loading machine for cylindrical steel drums Download PDFInfo
- Publication number
- CN111153237A CN111153237A CN202010064496.4A CN202010064496A CN111153237A CN 111153237 A CN111153237 A CN 111153237A CN 202010064496 A CN202010064496 A CN 202010064496A CN 111153237 A CN111153237 A CN 111153237A
- Authority
- CN
- China
- Prior art keywords
- lifting
- drive
- sensor
- elevating gear
- ground track
- 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
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 51
- 239000010959 steel Substances 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 230000003028 elevating effect Effects 0.000 claims abstract description 46
- 230000005540 biological transmission Effects 0.000 claims description 51
- 230000033001 locomotion Effects 0.000 claims description 27
- 230000009471 action Effects 0.000 claims description 16
- 230000000903 blocking effect Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 239000000126 substance Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 210000003781 tooth socket Anatomy 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0241—Barrels, drums
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention provides an automatic car loader for cylindrical steel drums, which comprises: the system comprises a ground track butted with a transport vehicle, a conveyor arranged at one end of the ground track, a car loader body arranged on the ground track and walking on the ground track, a sliding contact line arranged near the ground track, a ground limit switch block arranged on the ground track, a mechanical limit device arranged on the ground track, a laser ranging sensor arranged on the car loader body, and a laser ranging reflection plate arranged near the laser ranging sensor, wherein the laser ranging sensor and the laser ranging reflection plate are used for recording the position of the car loader body on the ground track; the invention has the advantages that: automatic loading is realized in the cooperation of ground track and carloader main part, has realized that four group's drive chains drive through a elevating gear actuating mechanism, when the synchronism is higher, has reduced the input of fund, has labour saving and time saving, efficient advantage simultaneously.
Description
Technical Field
The invention relates to the field of automatic loading and unloading of steel drums, in particular to an automatic loading machine for cylindrical steel drums.
Background
At present, the loading of 250kg cylindrical steel drums mainly depends on the mode of carrying by a manual forklift, and no automatic loading equipment exists in China. The manual forklift is high in labor cost, high in labor intensity of workers, low in efficiency and higher in experience requirement on the workers. Therefore, the equipment for automatically loading the steel drum is urgently needed.
Disclosure of Invention
In view of the above problems, the present invention provides an automatic loader for cylindrical steel drums, which is used for realizing the automatic loading and unloading of 250kg cylindrical steel drums, so as to overcome the defects of the prior art.
The invention provides an automatic cylindrical steel drum loader, which comprises: the system comprises a ground track butted with a transport vehicle, a conveyor arranged at one end of the ground track, a car loader main body arranged on the ground track and walking on the ground track, a sliding contact line arranged near the ground track, a ground limit switch block arranged on the ground track, a mechanical limit device arranged on the ground track, a laser ranging sensor arranged on the car loader main body and a laser ranging reflecting plate arranged near the laser ranging sensor; wherein the content of the first and second substances,
the two guide rails of the ground track are positioned at two sides of the transport vehicle;
the conveyor is used for conveying the steel barrels in the workshop to the butt joint of the car loader main body;
the car loader main body is used for transferring the steel drum on the conveyor to a transport vehicle;
the trolley line is used for supplying power to the car loader main body, and the trolley line is arranged in parallel with the ground track;
the ground limit switch gear is used for limiting the movement range of the car loader main body;
the mechanical limiting device is used for preventing the car loader main body from rushing out of the ground track, and the mechanical limiting device is a stop block or a stop column;
the laser ranging sensor and the laser ranging reflection plate are used for recording the position of the car loader body on the ground track.
Preferably, the car loader main body includes: the device comprises a main body frame, a translation device arranged on the main body frame, a driving walking device and a driven walking device which are arranged at the bottom of the main body frame and used for walking on a ground track, and a lifting bucket grabbing device arranged on the translation device, wherein the translation device is used for driving the lifting bucket grabbing device to move along the horizontal direction, and the movement direction of the translation device is vertical to the movement direction of the ground track; the lifting bucket grabbing device is used for grabbing a bucket.
Preferably, the walking drive device includes: drive running gear frame, action wheel, first from driving wheel, side wheel, spacing detector, action wheel driving motor, the action wheel with first from installing the both ends in drive running gear frame from the driving wheel, the action wheel with first drive from the driving wheel the drive running gear frame is walked on ground track, the side wheel is installed in drive running gear frame and is parallel with ground, the side wheel is in ground orbital side slides, the side wheel plays the direction, prevents the derailment effect, action wheel driving motor is used for the drive the action wheel, spacing detector with ground limit switch keeps off the cooperation and uses, restriction carloader main part motion range.
Preferably, the driven traveling apparatus includes: the device comprises a driven walking device frame, second driven wheels arranged at two ends of the driven walking device frame, and limit detectors arranged on the driven walking device frame, wherein the limit detectors are matched with ground limit switches in a blocking mode to limit the motion range of the car loader body.
Preferably, the translation means comprises: the automatic bucket-grabbing device comprises a translation device rack, a protective guard installed on the translation device rack, a translation device driving mechanism installed on the translation device rack, at least one group of translation device chains installed on the translation device rack and arranged along the length direction of the translation device rack, and a translation device transmission shaft installed on the translation device rack and used for connecting the translation device driving mechanism and the translation device chains, wherein an output shaft of the translation device driving mechanism drives the translation device transmission shaft, the translation device transmission shaft drives the translation device chains to move through a chain wheel, and the translation device chains drive the lifting bucket-grabbing device to move in a translation mode.
Preferably, the lifting bucket grabbing device comprises: the automatic detection device comprises a bucket grabbing device, a lifting device and a sensor lifting assembly, wherein the bucket grabbing device is used for grabbing and placing a bucket, the lifting device is used for driving the bucket grabbing device to lift, the sensor lifting assembly is used for automatically detecting the size and the position of the flat car, the bucket grabbing device is at least one group, and the sensor lifting assembly is arranged on the bucket grabbing device.
Preferably, the lifting device includes: elevating gear frame, elevating gear actuating mechanism, walking wheel, elevating gear drive assembly, the walking wheel is installed in the bottom of elevating gear frame for drive the elevating gear frame and walk on translation device, elevating gear drive assembly installs in the elevating gear frame, elevating gear drive assembly is used for driving and grabs the bucket device and follow vertical direction reciprocating motion, elevating gear actuating mechanism installs in the elevating gear frame for provide power for elevating gear drive assembly, elevating gear drive assembly is a set of at least, elevating gear drive assembly includes: lifting column, lift chain, elevating gear drive chain, elevating gear transmission shaft, chain spring, lifting column's bottom with grab the barreled and put and link firmly, the lift chain drives lifting column is along vertical direction reciprocating motion in the elevating gear frame, the elevating gear transmission shaft passes through sprocket drive lift chain motion, the elevating gear transmission shaft passes through elevating gear actuating mechanism drives, every group link through elevating gear drive chain between the elevating gear transmission shaft, chain spring installs in the elevating gear frame and the top is held on drive chain for play the effect of tensioning lift chain.
Preferably, the lifting device further comprises a fall protection mechanism, the fall protection mechanism comprising: the lifting device comprises teeth, spring retraction seats and a clamping plate, wherein the teeth are uniformly distributed on a lifting stand column along the horizontal direction, the spring retraction seats are mounted on a lifting device rack, the clamping plate is mounted on the spring retraction seats, one end of the clamping plate is movably clamped in tooth grooves of the teeth on the lifting stand column, a lifting chain is in a stretched state under normal operation, the clamping plate is supported on the lifting chain, at the moment, the spring retraction seats are in a retraction state, the lifting chain becomes flexible after being broken, and the spring retraction seats push the clamping plate to be clamped in the tooth grooves to prevent the lifting stand column from continuously falling.
Preferably, the bucket grabbing device comprises: the drum grabbing device comprises a drum grabbing device support, a drum grabbing device driving mechanism arranged on the drum grabbing device support, a positive screw rod, a negative screw rod, a screw nut, a gripper baffle and a drum blocking stop block, wherein the positive screw rod and the negative screw rod are arranged on the drum grabbing device support, the gripper is fixedly connected to the screw nut, the gripper baffle is fixedly connected to the drum grabbing device support and matched with the gripper, the drum blocking stop block is arranged between the gripper and the gripper baffle, the drum grabbing device driving mechanism drives the positive screw rod and the negative screw rod to rotate, the positive screw rod and the negative screw rod drive the gripper to open and close, the gripper performs steel drum grabbing action, the drum blocking stop block blocks a steel drum when the gripper opens so that the steel drum and the gripper can be reliably separated, and the drum.
Preferably, the sensor elevating assembly includes: sensor lift drive support, rack and pinion drive, sensor lift stand, sensor, rack and pinion drive's rack is installed along vertical direction on the sensor lift stand, sensor lift stand along vertical direction sliding connection be in on the sensor lift drive support, rack and pinion drive installs on sensor lift drive support, rack and pinion drive's gear is installed on rack and pinion drive's the output shaft, gear drive the rack motion, the rack drives sensor lift stand is along vertical direction reciprocating motion, the sensor is installed the bottom of sensor lift stand, the sensor is used for detecting the size and the position of flatbed.
The invention has the advantages and positive effects that:
1. the automatic loading device realizes automatic loading through the matching of the ground rail and the loader body, four 250kg cylindrical steel drums are conveyed (a conveyor of a factory building is provided with) to the rear part of the tail part of the flat car through the roller way, the four drums are grabbed by the lifting bucket grabbing device of the loader from the roller way, the four drums walk along the length direction of the car and are translated to the position where the drums are to be placed along the width direction of the car, and the process is repeated until the car is fully loaded. The layer can be arranged above the layer of barrel according to requirements, wherein the movement track of the car loader body is accurately controlled through a laser ranging sensor arranged on the car loader body and a laser ranging reflection plate arranged on a factory building wall.
2. The lifting bucket grabbing device adopts a four-bucket one-in-one grabbing mode, the lifting device of the lifting bucket grabbing device and the bucket grabbing device driving mechanism on the lifting device are in rectangular grabbing structures, so that the grabbing process is more stable, the lifting mechanism transmission assembly of the lifting bucket grabbing device realizes that four groups of driving chains are driven by one lifting device driving mechanism, and the synchronism is higher and the investment is reduced.
3. The lifting bucket grabbing device realizes automatic lifting bucket grabbing through the lifting device, but the lifting limit position of the lifting device only reaches the middle upper part of the steel bucket, and the lifting bucket grabbing device is additionally provided with the gear rack transmission mechanism to more accurately control the lifting upright post of the sensor, so that the sensor on the lifting upright post of the sensor can more accurately detect the size and the position of the flat car.
4. The lifting device driving mechanism of the lifting bucket grabbing device is also provided with an anti-falling protection mechanism, and the anti-falling protection mechanism is used for a heavy bucket of 250kg, so that a steel bucket cannot fall and be damaged after a lifting chain is broken, a clamping plate of the anti-falling protection mechanism is matched with teeth on a lifting upright post, the lifting chain is in a stretched state under normal operation, the clamping plate is supported on the lifting chain, at the moment, a spring retraction seat is in a retraction state, the lifting chain becomes flexible after the lifting chain is broken, and the spring retraction seat pushes the clamping plate to be clamped in tooth grooves to prevent the lifting upright post from continuously falling.
Drawings
Other objects and results of the present invention will become more apparent and more readily appreciated as the same becomes better understood by reference to the following description taken in conjunction with the accompanying drawings. In the drawings:
fig. 1 is a front view of the overall structure according to an embodiment of the present invention.
Fig. 2 is a top view of the overall structure according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a car loader body according to an embodiment of the invention.
Fig. 4 is a schematic structural view of a walking drive device according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a driven walking device according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a translation device according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a lifting bucket grabbing device according to an embodiment of the invention.
Fig. 8 is a front view of a lifting device according to an embodiment of the present invention.
Fig. 9 is a front view of the structure of the transmission mechanism of the lifting device according to the embodiment of the invention.
Fig. 10 is a front view of a bucket grabbing device structure according to an embodiment of the invention.
FIG. 11 is a front view of a sensor lift assembly configuration according to an embodiment of the present invention.
Wherein the reference numerals include: the device comprises a pedal 1, conveyors 2 and 3, a ground track 4, a sliding contact line 5, a ground limit switch block 6, a mechanical limiter 7, a flat car 8, a car loader body 9, a laser ranging sensor 10, a guardrail 11, a laser ranging reflecting plate 12, an operating platform 13, a ground control system 14, a steel barrel 15, a driving walking device 9-1, a first driven wheel 9-1-1, a side wheel 9-1-2, a limit detector 9-1-3, a driving walking device rack 9-1-4, a driving wheel 9-1-5, a driven walking device 9-2, a second driven wheel 9-2-1, a second driven wheel 9-2-4, a limit detector 9-2-2, a driven walking device rack 9-2-3 and a car loader control system 9-3, 9-4 parts of upright post, 9-5 parts of translation device, 9-5-1 parts of translation device rack, 9-5-2 parts of shield, 9-5-3 parts of translation device driving mechanism, 9-5-4 parts of translation device transmission shaft, 9-5-5 parts of translation device chain, 9-5-6 parts of translation device drag chain, 9-6 parts of lifting bucket grabbing device, 9-6 parts of lifting device, 9-6-1 parts of lifting device, 9-6-2 parts of bucket grabbing device, 9-6-3 parts of sensor lifting component, 9-6-1-1 parts of lifting device driving mechanism, 9-6-1-2 parts of anti-falling protection device, 9-6-1-3 parts of lifting device rack, 9-6-1-4 parts of traveling wheel, 9-6-1-5 parts of lifting device drag chain, 9-6-1-6 parts of lifting upright post, 9-6-1-7 parts of lifting device transmission chain, 9-6-1-8 parts of lifting device transmission shaft, 9-6-1-9 parts of chain spring, 9-6-1-10 parts of lifting chain, 9-6-2-1 parts of bucket grabbing device driving mechanism, 9-6-2-2 parts of positive and negative screw rod, 9-6-2-3 parts of grab handle, 9-6-2-4 parts of bucket blocking device, 9-6-2-5 parts of synchronous belt, 9-6-2-6 parts of bucket grabbing device bracket, 9-6-3-1 parts of sensor lifting driving component, 9-6-3-2 parts of gear rack transmission mechanism, 9-6-3-3 parts of sensor, A sensor drag chain 9-6-3-4 and a sensor lifting upright post 9-6-3-5.
Detailed Description
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.
Fig. 1-11 show an overall structural schematic according to an embodiment of the present invention.
The automatic cylindrical steel drum loader of the invention comprises: the device comprises a pedal 1, conveyors 2 and 3, a ground track 4, a sliding contact line 5, a ground limit switch block 6, a mechanical limiter 7, a flat car 8, a car loader body 9, a laser ranging sensor 10, a guardrail 11, a laser ranging reflecting plate 12, an operating platform 13 and a ground control system 14; the ground track 4 is in butt joint with the flat car 8, two guide rails of the ground track 4 are positioned on two sides of the flat car 8, the pedal 1 is positioned at the tail end of the ground track 4, an operator can walk onto the flat car 8 through the pedal 1, two conveyors 2 and 3 are in butt joint with the tail end of the ground track 4, the conveyors 2 and 3 are used for conveying steel barrels 15 inside a factory building to a grabbing area of a car loader main body 9, the car loader main body 9 is used for conveying the steel barrels 15 on the conveyors 3 and 4 onto the flat car 8, a sliding contact line 5 is installed near the ground track, the type of the sliding contact line 5 is JDC-H-160/250 and is arranged in parallel with the ground track 4, the sliding contact line 5 is used for supplying power to the car loader main body 9, the ground limit switch block 6 is installed near the ground track, the ground limit switch block 6 is used for limiting the movement range of the car loader main body 9, the model of a ground limit switch block (6) is SLM30B6QPMA, mechanical limiters 7 are arranged at two ends of a ground track, the mechanical limiters 7 are used for preventing a car loader body 9 from rushing out of the ground track 4, the mechanical limiters 7 are usually blocking columns, a laser ranging sensor 10 is installed on the car loader body 9, a laser ranging reflection plate 12 is installed on a factory building wall body near the laser ranging sensor 10, the laser ranging sensor 10 and the laser ranging reflection plate 12 are used for recording the position of the car loader body 9 on the ground track 4 so as to realize that the car loader body 9 accurately puts in a steel barrel 15, the model of the laser ranging sensor (10) is AMS348i40, guardrails 11 are installed at a pedal 1 and a conveyor 2 and a conveyor 3 and are used for preventing people from falling off the pedal 1, a ground control system 14 controls the system operation of the whole car loader, the ground control system 14 provides a human-machine interaction interface through an operation console 13, the ground control system is 6ES7215-1AG40-0XB 0.
Referring to fig. 3, the loader body 9 of the present invention includes: the car loader comprises a driving walking device 9-1, a driven walking device 9-2, a control system 9-3, upright posts 9-4, a translation device 9-5, a lifting bucket grabbing device 9-6 and a main body frame 9-7, wherein a support plate for bearing the translation device 9-5 and two upright posts 9-4 connected with the driving walking device 9-1 and the driven walking device 9-2 form the main body frame 9-7, the driving walking device 9-1 and the driven walking device 9-2 are respectively arranged at the bottoms of the two upright posts 9-4 and used for walking on a ground track 4, the driving walking device 9-1 is responsible for providing power for the car loader main body 9 to walk on the ground track 4 and plays a supporting role, the driven walking device 9-2 plays a supporting role and walks on the ground track 4 under the driving of the driving walking device 9-1, the translation device 9-5 is used for driving the lifting bucket grabbing device 9-6 to move along the horizontal direction, the moving direction of the translation device 9-5 is perpendicular to the moving direction of the ground track 4, the car loader control system 9-3 controls the car loader body 9 and is in signal connection with the ground control system 14, and the lifting bucket grabbing device 9-6 achieves lifting adjustment of the bucket grabbing device and the steel bucket 15.
Referring to fig. 4, the walking drive apparatus 9-1 of the present invention includes: a first driven wheel 9-1-1, a side wheel 9-1-2, a limit detector 9-1-3, a driving walking device frame 9-1-4, a driving wheel 9-1-5, a driving wheel driving motor 9-1-6, a limit detection component (9-1-3) with model number XCE-145, the driving wheel 9-1-5 and the first driven wheel 9-1-1 are arranged at two ends of the driving walking device frame 9-1-4, the driving wheel 9-1-5 and the first driven wheel 9-1-1 drive the driving walking device frame 9-1-4 to walk on a ground track 4, the side wheel 9-1-2 is arranged on the driving walking device frame 9-1-4 and is parallel to the ground, the side wheels 9-1-2 slide on the side face of the ground track 4, the side wheels 9-1-2 play a role in guiding and preventing derailment, the driving wheel driving motor 9-1-6 is used for driving the driving wheel 9-1-5, the limit detector 9-1-3 is matched with the ground limit switch block 6 for use, the movement range of the car loader main body 9 is limited, and the driving walking device frame 9-1-4 is connected with other components in a supporting mode. The driving wheel assemblies 9-1-5 travel on the ground track 4 and provide power.
Referring to fig. 5, the driven traveling apparatus 9-2 of the present invention includes: the device comprises a driven walking device frame 9-2-3, second driven wheels 9-2-1 and 9-2-4 arranged at two ends of the driven walking device frame 9-2-3, and a limit detector 9-2-2 arranged on the driven walking device frame 9-2-3, wherein the limit detector 9-2-2 is matched with a ground limit switch gear 6 for use to limit the movement range of the car loader main body 9.
Referring to fig. 6, the translation device 9-5 of the present invention comprises: a translational device frame 9-5-1, a shield 9-5-2, a translational device driving mechanism 9-5-3, a translational device transmission shaft 9-5-4, a translational device chain 9-5-5, a translational device drag chain 9-5-6, the translational device frame 9-5-1 is used for supporting and connecting other components, the shield 9-5-2 is arranged on the translational device frame 9-5-1 for protection and decoration, the translational device driving mechanism 9-5-3 is arranged on the translational device frame 9-5-1 at one end, the translational device driving mechanism 9-5-3 provides power for the translation of the lifting bucket-grabbing device 9-6, two translational device chains 9-5-5 are arranged on the translational device frame 9-5-1 and along the translational device frame 9-5-1 The rack 9-5-1 is arranged at the position close to the shield 9-5-2 at the two sides of the translation device rack 9-5-1 in the length direction, the translation device chain 9-5-5 performs the translation motion of pulling the lifting bucket grabbing device 9-6, the translation device transmission shaft 9-5-4 is arranged on the translation device rack 9-5-1 and is used for connecting the translation device driving mechanism 9-5-3 and the translation device chain 9-5-5, the output shaft of the translation device driving mechanism 9-5-3 drives the translation device transmission shaft 9-5-4, the translation device transmission shaft 9-5-4 drives the translation device chain 9-5-5 to move through a chain wheel, and the translation device chain 9-5-5 drives the lifting bucket grabbing device 9-6 to perform the translation motion, the power of the translation device driving assembly 9-5-3 is transmitted to the translation device chain 9-5-5 by the translation device transmission shaft 9-5-4, the translation device chain 9-5-5 performs translation motion of pulling the lifting bucket grabbing device 9-6, and the translation device drag chain 9-5-6 comprises a lifting bucket grabbing device 9-6 cable.
Referring to fig. 7, the lifting bucket-grabbing device 9-6 of the present invention comprises: the device comprises a barrel grabbing device 9-6-2 used for grabbing and placing barrels, a lifting device 9-6-1 used for driving the barrel grabbing device 9-6-2 to lift, and a sensor lifting component 9-6-3 used for automatically detecting the size and the position of a flat car 8, wherein the number of the barrel grabbing devices 9-6-2 is two groups and four in total, the four barrel grabbing devices are used for executing the actions of grabbing and placing barrels, the four barrel grabbing devices 9-6-2 are arranged in a rectangular mode, and the sensor lifting component 9-6-3 is installed on one barrel grabbing device 9-6-2.
Referring to fig. 8 and 9, the lifting device 9-6-1 of the present invention includes: a lifting device driving mechanism 9-6-1-1, an anti-falling protection device 9-6-1-2, a lifting device frame 9-6-1-3, a traveling wheel 9-6-1-4, a lifting device drag chain 9-6-1-5 and a lifting mechanism transmission component, wherein four traveling wheels 9-6-1-4 are arranged at the bottom of the lifting device frame 9-6-1-3 and are used for driving the lifting device frame 9-6-1-3 to travel on a translation device, the lifting device frame 9-6-1-3 plays a role in supporting and connecting other components, the lifting device drag chain 9-6-1-5 comprises a barrel grabbing device 9-6-2 and a cable of a sensor lifting component 9-6-3, the lifting mechanism transmission assembly is arranged on the lifting device rack 9-6-1-3, the lifting mechanism transmission assembly is used for driving the bucket grabbing device 9-6-2 to reciprocate along the vertical direction, the lifting device driving mechanism 9-6-1-1 is arranged on the lifting device rack 9-6-1-3 and is used for providing power for the lifting mechanism transmission assembly, and the lifting mechanism transmission assembly comprises: the lifting device comprises lifting upright columns 9-6-1-6, lifting device transmission chains 9-6-1-7, lifting device transmission shafts 9-6-1-8, chain springs 9-6-1-9 and lifting chains 9-6-1-10, wherein the number of the lifting upright columns 9-6-1-6 is four, the number of the lifting chains 9-6-1-10 is four, the lifting upright columns 9-6-1-6 move up and down under the pulling of the lifting chains 9-6-1-10, the bottoms of the lifting upright columns 9-6-1-6 are fixedly connected with the bucket grabbing device 9-6-2, and the lifting chains 9-6-1-10 drive the lifting upright columns 9-6-1-6 to move on the lifting device frame 9-6-1-3 along the vertical direction The four lifting device transmission shafts 9-6-1-8 are arranged up and down in a group, the lifting device transmission shafts 9-6-1-8 are linked through lifting chains 9-6-1-10, the two lifting chains 9-6-1-10 are respectively wound on chain wheels arranged at two ends of the lifting device transmission shafts 9-6-1-8, the lifting device transmission shafts 9-6-1-8 drive the lifting chains 9-6-1-10 to move through the chain wheels, the lifting device transmission shafts 9-6-1-8 are driven through a lifting device driving mechanism 9-6-1-1, one of the two lifting device transmission shafts 9-6-1-8 in the group is a driving shaft, the other is a driven shaft, the driving shafts in the two groups of lifting device transmission shafts 9-6-1-8 are linked through a lifting device transmission chain 9-6-1-7, the lifting device transmission chain 9-6-1-7 transmits power from one group of lifting device transmission shafts (driving) 9-6-1-8 to the other group of lifting device transmission shafts (driving) 9-6-1-8, and the chain spring 9-6-1-9 is installed on the lifting device frame 9-6-1-3 and supported on the transmission chain 9-6-1-7 and used for tensioning the lifting chain 9-6-1-7.
The fall protection mechanism 9-6-1-2 comprises: teeth arranged on a lifting upright post 9-6-1-6, a spring retraction seat arranged on a lifting device frame 9-6-1-3, a clamping plate arranged on the spring retraction seat, wherein one end of the clamping plate is movably clamped in tooth sockets of the teeth on the lifting upright post 9-6-1-6, the lifting chain 9-6-1-10 is in a stretched state under normal operation, the clamping plate is supported on the lifting chain 9-6-1-10, at the moment, the spring retraction seat is in a retraction state, after the lifting chain 9-6-1-10 is broken, the lifting chain 9-6-1-10 becomes flexible, and the spring retraction seat pushes the clamping plate to be clamped in the tooth sockets, the lifting upright post 9-6-1-6 is prevented from continuously falling.
Referring to fig. 10, the bucket grasping apparatus 9-6-2 of the present invention includes: a driving mechanism 9-6-2-1 of a bucket grabbing device, a positive and negative screw rod 9-6-2-2, a gripper 9-6-2-3, a bucket blocking device 9-6-2-4, a synchronous belt 9-6-2-5 and a bucket grabbing device bracket 9-6-2-6, wherein the driving mechanism 9-6-2-1 of the bucket grabbing device is arranged on the bucket grabbing device bracket, the positive and negative screw rods are provided with screw rod nuts, the gripper 9-6-2-3 is fixedly connected on the screw rod nuts, the bucket blocking device 9-6-2-4 is arranged between the gripper 9-6-2-3 and a gripper baffle plate, and a bucket grabbing device driving component 9-6-2-1 provides power, the positive and negative screw rods 9-6-2-2 drive the grippers 9-6-2-3 to open and close. The gripper 9-6-2-3 performs the action of gripping the steel barrel 15, and the barrel blocking device 9-6-2-4 blocks the steel barrel 15 when the gripper 9-6-2-3 is opened, so that the steel barrel 15 and the gripper 9-6-2-3 are reliably separated. The synchronous belt 9-6-2-5 transmits the power of the driving component 9-6-2-1 of the bucket grabbing device to the positive and negative lead screw 9-6-2-2.
Referring to fig. 10, the sensor lift assembly 9-6-3 of the present invention includes: a sensor lifting driving component 9-6-3-1, a gear rack transmission mechanism 9-6-3-2, a sensor 9-6-3-3, a sensor drag chain 9-6-3-4, a sensor lifting upright post 9-6-3-5 and a sensor lifting driving support, wherein the model of the sensor (9-6-3-3) is VDM28-15-L-IO/73C/110/122, a rack of the gear rack transmission mechanism 9-6-3-2 is arranged on the sensor lifting upright post 9-6-3-5 along the vertical direction, the sensor lifting upright post 9-6-3-5 is connected on the sensor lifting driving support in a sliding way along the vertical direction, the gear rack transmission mechanism 9-6-3-2 is arranged on the sensor lifting driving bracket, the gear of the gear rack transmission mechanism 9-6-3-2 is arranged on the output shaft of the gear rack transmission mechanism 9-6-3-2, the gear drives the rack to move, the rack drives the sensor lifting upright post 9-6-3-5 to reciprocate along the vertical direction, the sensor 9-6-3-3 is arranged at the bottom of the sensor lifting upright post 9-6-3-5, the sensor 9-6-3-3 is used for detecting the size and the position of the flat car, and the sensor tow chain 9-6-3-4 comprises a sensor 9-6-3-3 cable. The sensor lifting upright post 9-6-3-5 is driven by the gear rack transmission component 9-6-3-2 to move up and down.
The working principle is as follows: the initial state of the device is shown in fig. 1. The driver stops the flat car 8 to the position shown in the figure, and the driving wheel assembly 9-1-5 on the driving walking device 9-1 drives the car loader body 9 to walk to the tail part of the flat car 8 on the ground track 4. The sensor lifting driving component 9-6-3-1 on the sensor lifting component 9-6-3 drives the sensor lifting upright post 9-6-3-5 to descend, and then the lifting device driving component 9-6-1-1 on the lifting device 9-6-1 drives the lifting upright post 9-6-1-6 to descend to a position where the sensor 9-6-3-3 is a certain distance away from the upper part of the flat car 8, and then the operation is stopped. The car loader main body 9 continuously moves to the head position of the flat car 8 under the driving of the driving wheel assembly 9-1-5 on the driving and moving device 9-1, and the size and the position of the flat car 8 are measured by the sensor 9-6-3-3. After the measurement is finished, the car loader main body 9 returns to the initial position, and the sensor lifting driving assembly 9-6-3-1 on the sensor lifting assembly 9-6-3 drives the sensor lifting upright post 9-6-3-5 to ascend to the initial position in the returning process.
The steel barrel 15 is conveyed to the position right below the car loader main body 9 by the conveyors 2 and 3, the lifting device driving assembly 9-6-1-1 on the lifting device 9-6-1 drives the lifting upright post 9-6-1-6 to descend to a certain distance away from the position above the steel barrel 15 to stop, the barrel grabbing device driving assembly 9-6-2-1 on the barrel grabbing device 9-6-2 drives the grab handle 9-6-2-3 to grab the steel barrel 15, then the lifting device driving assembly 9-6-1-1 on the lifting device 9-6-1-6 drives the lifting upright post 9-6-1-6 to ascend to a position where the bottom surface of the steel barrel 15 is higher than the flat car 8 by a certain distance, and meanwhile, the translation device driving assembly 9-5-3 on the translation device 9-5 pulls the lifting barrel grabbing device through the translation device chain 9-5-5 9-6 to the central position in the width direction of the flat car 8. The driving wheel assembly 9-1-5 on the driving walking device 9-1 drives the car loader main body 9 to walk to the head of the flat car 8 on the ground track 4, and then the translation device driving assembly 9-5-3 on the translation device 9-5 pulls the lifting bucket grabbing device 9-6 to move in a translation mode to the position, in the width direction of the flat car 8, where a bucket needs to be placed through the translation device chain 9-5-5. The lifting device driving assembly 9-6-1-1 on the lifting device 9-6-1 drives the lifting upright post 9-6-1-6 to descend until the steel drum 15 contacts the flat car 8 and then stops, the bucket grabbing device driving assembly 9-6-2-1 on the bucket grabbing device 9-6-2 drives the grab handle 9-6-2-3 to open, then the lifting device driving assembly 9-6-1-1 on the lifting device 9-6-1 drives the lifting upright post 9-6-1-6 to ascend to a position which is higher than the steel drum 15 by a certain distance, and the car loader main body 9 returns to the initial position to complete a working cycle. And then sequentially finishing the first-layer loading and the second-layer loading until the loading is finished.
The specific working process is as follows: four 250kg cylindrical steel barrels are conveyed to the rear part of the tail part of the flat car 8 through a roller way, a gripper 9-6-2-3 of the car loader main body 9 is lifted up from the roller way to grip the four steel barrels 15, and the four steel barrels are moved along the length direction of the car and translated to the positions where the barrels are to be placed along the width direction of the car to load the barrels on the car. And so on until the vehicle is filled. A layer of buckets can be placed one above the other as desired.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a cylindrical steel drum automatic loading machine which characterized in that includes: the system comprises a ground track butted with a transport vehicle, a conveyor arranged at one end of the ground track, a car loader main body arranged on the ground track and walking on the ground track, a sliding contact line arranged near the ground track, a ground limit switch block arranged on the ground track, a mechanical limit device arranged on the ground track, a laser ranging sensor arranged on the car loader main body and a laser ranging reflecting plate arranged near the laser ranging sensor; wherein the content of the first and second substances,
the two guide rails of the ground track are positioned at two sides of the transport vehicle;
the conveyor is used for conveying the steel barrels in the workshop to the butt joint of the car loader main body;
the car loader main body is used for transferring the steel drum on the conveyor to a transport vehicle;
the trolley line is used for supplying power to the car loader main body, and the trolley line is arranged in parallel with the ground track;
the ground limit switch gear is used for limiting the movement range of the car loader main body;
the mechanical limiter is used for preventing the car loader body from rushing out of the ground track;
the laser ranging sensor and the laser ranging reflection plate are used for recording the position of the car loader body on the ground track.
2. The automatic cylindrical steel drum loader according to claim 1, wherein said loader body comprises: the device comprises a main body frame, a translation device arranged on the main body frame, a driving walking device and a driven walking device which are arranged at the bottom of the main body frame and used for walking on a ground track, and a lifting bucket grabbing device arranged on the translation device, wherein the translation device is used for driving the lifting bucket grabbing device to move along the horizontal direction, and the movement direction of the translation device is vertical to the movement direction of the ground track; the lifting bucket grabbing device is used for grabbing a bucket.
3. The automatic cylindrical steel drum loader according to claim 2, wherein said undercarriage drive comprises: drive running gear frame, action wheel, first from driving wheel, side wheel, spacing detector, action wheel driving motor, the action wheel with first from installing the both ends in drive running gear frame from the driving wheel, the action wheel with first drive from the driving wheel the drive running gear frame is walked on ground track, the side wheel is installed in drive running gear frame and is parallel with ground, the side wheel is in ground orbital side slides, the side wheel plays the direction, prevents the derailment effect, action wheel driving motor is used for the drive the action wheel, spacing detector with ground limit switch keeps off the cooperation and uses, restriction carloader main part motion range.
4. The automatic cylindrical steel drum loader according to claim 2, wherein said driven traveling means comprises: the device comprises a driven walking device frame, second driven wheels arranged at two ends of the driven walking device frame, and limit detectors arranged on the driven walking device frame, wherein the limit detectors are matched with ground limit switches in a blocking mode to limit the motion range of the car loader body.
5. The automatic cylindrical steel drum loader according to claim 2, wherein said translation means comprise: the automatic bucket-grabbing device comprises a translation device rack, a protective guard installed on the translation device rack, a translation device driving mechanism installed on the translation device rack, at least one group of translation device chains installed on the translation device rack and arranged along the length direction of the translation device rack, and a translation device transmission shaft installed on the translation device rack and used for connecting the translation device driving mechanism and the translation device chains, wherein an output shaft of the translation device driving mechanism drives the translation device transmission shaft, the translation device transmission shaft drives the translation device chains to move through a chain wheel, and the translation device chains drive the lifting bucket-grabbing device to move in a translation mode.
6. The automatic cylindrical steel drum loader according to claim 2, wherein said lifting and grabbing device comprises: the automatic detection device comprises a bucket grabbing device, a lifting device and a sensor lifting assembly, wherein the bucket grabbing device is used for grabbing and placing a bucket, the lifting device is used for driving the bucket grabbing device to lift, the sensor lifting assembly is used for automatically detecting the size and the position of the flat car, the bucket grabbing device is at least one group, and the sensor lifting assembly is arranged on the bucket grabbing device.
7. The automatic cylindrical steel drum loader according to claim 6, wherein said lifting device comprises: elevating gear frame, elevating gear actuating mechanism, walking wheel, elevating gear drive assembly, the walking wheel is installed in the bottom of elevating gear frame for drive the elevating gear frame and walk on translation device, elevating gear drive assembly installs in the elevating gear frame, elevating gear drive assembly is used for driving and grabs the bucket device and follow vertical direction reciprocating motion, elevating gear actuating mechanism installs in the elevating gear frame for provide power for elevating gear drive assembly, elevating gear drive assembly is a set of at least, elevating gear drive assembly includes: lifting column, lift chain, elevating gear drive chain, elevating gear transmission shaft, chain spring, lifting column's bottom with grab the barreled and put and link firmly, the lift chain drives lifting column is along vertical direction reciprocating motion in the elevating gear frame, the elevating gear transmission shaft passes through sprocket drive lift chain motion, the elevating gear transmission shaft passes through elevating gear actuating mechanism drives, every group link through elevating gear drive chain between the elevating gear transmission shaft, chain spring installs in the elevating gear frame and the top is held on drive chain for play the effect of tensioning lift chain.
8. The automatic cylindrical steel drum loader of claim 6, wherein said lifting device further comprises a fall protection mechanism, said fall protection mechanism comprising: the lifting device comprises teeth, spring retraction seats and a clamping plate, wherein the teeth are uniformly distributed on a lifting stand column along the horizontal direction, the spring retraction seats are mounted on a lifting device rack, the clamping plate is mounted on the spring retraction seats, one end of the clamping plate is movably clamped in tooth grooves of the teeth on the lifting stand column, a lifting chain is in a stretched state under normal operation, the clamping plate is supported on the lifting chain, at the moment, the spring retraction seats are in a retraction state, the lifting chain becomes flexible after being broken, and the spring retraction seats push the clamping plate to be clamped in the tooth grooves to prevent the lifting stand column from continuously falling.
9. The automatic cylindrical steel drum loader according to claim 6, wherein said drum grabbing device comprises: the drum grabbing device comprises a drum grabbing device support, a drum grabbing device driving mechanism arranged on the drum grabbing device support, a positive screw rod, a negative screw rod, a screw nut, a gripper baffle and a drum blocking stop block, wherein the positive screw rod and the negative screw rod are arranged on the drum grabbing device support, the gripper is fixedly connected to the screw nut, the gripper baffle is fixedly connected to the drum grabbing device support and matched with the gripper, the drum blocking stop block is arranged between the gripper and the gripper baffle, the drum grabbing device driving mechanism drives the positive screw rod and the negative screw rod to rotate, the positive screw rod and the negative screw rod drive the gripper to open and close, the gripper performs steel drum grabbing action, the drum blocking stop block blocks a steel drum when the gripper opens so that the steel drum and the gripper can be reliably separated, and the drum.
10. The automatic cylindrical steel drum loader of claim 6, wherein said sensor lifting assembly comprises: sensor lift drive support, rack and pinion drive, sensor lift stand, sensor, rack and pinion drive's rack is installed along vertical direction on the sensor lift stand, sensor lift stand along vertical direction sliding connection be in on the sensor lift drive support, rack and pinion drive installs on sensor lift drive support, rack and pinion drive's gear is installed on rack and pinion drive's the output shaft, gear drive the rack motion, the rack drives sensor lift stand is along vertical direction reciprocating motion, the sensor is installed the bottom of sensor lift stand, the sensor is used for detecting the size and the position of flatbed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064496.4A CN111153237A (en) | 2020-01-20 | 2020-01-20 | Automatic loading machine for cylindrical steel drums |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064496.4A CN111153237A (en) | 2020-01-20 | 2020-01-20 | Automatic loading machine for cylindrical steel drums |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111153237A true CN111153237A (en) | 2020-05-15 |
Family
ID=70564543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010064496.4A Pending CN111153237A (en) | 2020-01-20 | 2020-01-20 | Automatic loading machine for cylindrical steel drums |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111153237A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114644198A (en) * | 2022-03-01 | 2022-06-21 | 扬州市华光双瑞实业有限公司 | Supporting steel bar framework transfer cart that uses of radial extrusion tuber production line |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009108542A (en) * | 2007-10-29 | 2009-05-21 | Ishikawajima Transport Machinery Co Ltd | Object moving apparatus |
| CN102937812A (en) * | 2012-11-14 | 2013-02-20 | 中国水产科学研究院渔业机械仪器研究所 | Track trolley walking control system and method |
| CN104261141A (en) * | 2014-08-13 | 2015-01-07 | 长春北方化工灌装设备有限公司 | 4*200 L barrel two-set transfer type explosionproof stacker and stacking method thereof |
| CN107738930A (en) * | 2017-11-07 | 2018-02-27 | 烟台博特自动化设备有限公司 | A kind of planer-type liftable supply of material platform bagged material intelligence carloader |
| CN208326757U (en) * | 2018-05-25 | 2019-01-04 | 武汉人天包装自动化技术股份有限公司 | A kind of automatic loading system with laser ranging positioning function |
| CN109230577A (en) * | 2018-07-06 | 2019-01-18 | 江苏昱昌智能科技有限公司 | A kind of automatic loading system applied on sacked goods |
| CN109333570A (en) * | 2018-11-30 | 2019-02-15 | 深圳市拍档科技有限公司 | A kind of automatic catching robot |
| CN109484877A (en) * | 2018-12-20 | 2019-03-19 | 青岛宝佳自动化设备有限公司 | A kind of planer-type high position arrangement loading system |
| CN109650293A (en) * | 2019-02-20 | 2019-04-19 | 深圳市智佳能自动化有限公司 | A kind of locking disconnected safety device of mechanical chain |
| CN212245384U (en) * | 2020-01-20 | 2020-12-29 | 长春融成智能设备制造股份有限公司 | Automatic loading machine for cylindrical steel drums |
-
2020
- 2020-01-20 CN CN202010064496.4A patent/CN111153237A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009108542A (en) * | 2007-10-29 | 2009-05-21 | Ishikawajima Transport Machinery Co Ltd | Object moving apparatus |
| CN102937812A (en) * | 2012-11-14 | 2013-02-20 | 中国水产科学研究院渔业机械仪器研究所 | Track trolley walking control system and method |
| CN104261141A (en) * | 2014-08-13 | 2015-01-07 | 长春北方化工灌装设备有限公司 | 4*200 L barrel two-set transfer type explosionproof stacker and stacking method thereof |
| CN107738930A (en) * | 2017-11-07 | 2018-02-27 | 烟台博特自动化设备有限公司 | A kind of planer-type liftable supply of material platform bagged material intelligence carloader |
| CN208326757U (en) * | 2018-05-25 | 2019-01-04 | 武汉人天包装自动化技术股份有限公司 | A kind of automatic loading system with laser ranging positioning function |
| CN109230577A (en) * | 2018-07-06 | 2019-01-18 | 江苏昱昌智能科技有限公司 | A kind of automatic loading system applied on sacked goods |
| CN109333570A (en) * | 2018-11-30 | 2019-02-15 | 深圳市拍档科技有限公司 | A kind of automatic catching robot |
| CN109484877A (en) * | 2018-12-20 | 2019-03-19 | 青岛宝佳自动化设备有限公司 | A kind of planer-type high position arrangement loading system |
| CN109650293A (en) * | 2019-02-20 | 2019-04-19 | 深圳市智佳能自动化有限公司 | A kind of locking disconnected safety device of mechanical chain |
| CN212245384U (en) * | 2020-01-20 | 2020-12-29 | 长春融成智能设备制造股份有限公司 | Automatic loading machine for cylindrical steel drums |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114644198A (en) * | 2022-03-01 | 2022-06-21 | 扬州市华光双瑞实业有限公司 | Supporting steel bar framework transfer cart that uses of radial extrusion tuber production line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110683314B (en) | Automatic loading and unloading robot unit and method for automatic processing equipment | |
| CN108688875B (en) | Elevator guide rail packaging production line | |
| CN110040415B (en) | Integrated laser automatic feeding and discharging mechanism and method thereof | |
| CN214651938U (en) | Ceramic tile storage system | |
| CN115817957A (en) | Full-automatic raw material feeding system | |
| CN209871807U (en) | Two-degree-of-freedom railway open wagon material leveling device | |
| CN212245384U (en) | Automatic loading machine for cylindrical steel drums | |
| CN111941390A (en) | Two-dimensional moving gripping device | |
| CN111153237A (en) | Automatic loading machine for cylindrical steel drums | |
| CN214494458U (en) | Material loading and unloading conveying equipment | |
| CN212580734U (en) | Sliding table for assembling and preparing automobile instrument board beam | |
| CN213037209U (en) | High stroke coal sample bucket elevating gear | |
| CN113148635A (en) | Conveying mechanism for upper row of aluminum materials | |
| CN106081668B (en) | A kind of steel drum loading-unloading vehicle system and method | |
| CN209922141U (en) | Integrated laser automatic feeding and discharging mechanism | |
| CN112027482A (en) | Sliding table for assembling and preparing automobile instrument board beam | |
| CN112456057A (en) | Automatic tray loading device and method thereof | |
| CN214932975U (en) | Brake pad stacking device | |
| CN213230611U (en) | Big board pile up neatly machinery hand | |
| CN211812188U (en) | Material loading output subassembly | |
| CN110451294B (en) | Automatic cage vehicle overturning device and cage vehicle overturning method for intelligent logistics system | |
| CN209455994U (en) | Centralizer steel plate shearing hoisting machine | |
| CN210762503U (en) | Chain type lifting mechanism for automatic laser feeding and discharging equipment | |
| CN210100039U (en) | Diffuser plate snatchs and uses manipulator equipment | |
| CN114102549B (en) | Intelligent climbing, carrying and sorting device for steel structure construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |