CN111498406A - Automatic stacking machine and stacking method thereof - Google Patents
Automatic stacking machine and stacking method thereof Download PDFInfo
- Publication number
- CN111498406A CN111498406A CN202010339758.3A CN202010339758A CN111498406A CN 111498406 A CN111498406 A CN 111498406A CN 202010339758 A CN202010339758 A CN 202010339758A CN 111498406 A CN111498406 A CN 111498406A
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- guide rails
- platform
- automatic
- storage position
- lifting appliance
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides an automatic stacking machine and a stacking method thereof, wherein the automatic stacking machine comprises a rack, a moving trolley, a lifting appliance, a platform scale, an overturning platform, a storage position, a partition storage position and a main control system; the lifting appliance is mounted on the movable trolley, the movable trolley is movably mounted on the rack, and the platform scale, the overturning platform, the partition plate storage position and the material storage position are mounted in the rack and located below the movable trolley. The movable trolley, the lifting appliance, the platform scale and the overturning platform are all in communication connection with the master control system. The automatic stacking machine and the stacking method thereof can effectively reduce the labor workload, improve the production efficiency and improve the product yield and the operation safety factor.
Description
Technical Field
The invention relates to the technical field of automatic pipe production equipment, in particular to an automatic stacking machine and a stacking method thereof.
Background
In the prior art, the precision copper pipe rolling processing is mainly operated manually, a pipe head of a copper pipe is inserted into a winding drum clamping position of a winding machine for winding, the copper pipe is divided into required finished material discs, and a copper strip is manually beaten; then, conveying the finished material to the overturning platform through the discharging trolley, manually transferring the finished material tray from the overturning platform to the weighing platform by an auxiliary operator by using cantilever crane equipment for weighing, recording the weight and then hoisting; and placing the material on a designated position according to the quality of the material, and manually placing the clapboard pad.
However, the above operation modes are basically performed manually, and the whole operation process is repeated once in about 6 minutes, so that about 230 times of repeated work is required after one shift, and the work labor is large. In addition, because the hoist is through artifical manual control in the operation process, the easy misoperation such as skid, fall the material that appears causes the product to scrap, has very big potential safety hazard moreover. Importantly, the production efficiency is low because the whole production process needs manual operation.
Disclosure of Invention
The invention provides an automatic stacking machine and a stacking method thereof, which can effectively reduce the labor workload, improve the production efficiency and improve the product yield and the operation safety coefficient.
The technical scheme adopted by the invention is as follows: an automatic palletizing machine comprising: the device comprises a rack, a movable trolley, a lifting appliance, a platform scale, a turnover table, a material storage position, a partition plate storage position and a master control system; the lifting appliance is arranged on the movable trolley, the movable trolley is movably arranged on the rack, and the platform scale, the overturning platform, the partition plate storage position and the storage position are arranged in the rack and are positioned below the movable trolley; the movable trolley, the lifting appliance, the platform scale and the overturning platform are all in communication connection with the master control system.
Furthermore, a photoelectric automatic induction detector is arranged at the overturning platform and is in communication connection with the master control system.
Furthermore, the top of the rack is provided with two first guide rails arranged in parallel and two racks, and each rack is positioned on the inner side of each first guide rail.
Further, the moving trolley comprises a moving platform and a first servo motor; the first servo motor is arranged on the moving platform, a plurality of gears and a plurality of first sliding blocks are respectively arranged on the moving platform corresponding to the two racks and the two first guide rails, each gear is meshed with each rack, and the plurality of first sliding blocks are slidably arranged on the two first guide rails; and the first servo motor is mechanically connected with one of the gears.
Furthermore, a moving seat is movably mounted on the moving platform, two parallel second guide rails are arranged on the moving platform, and the two second guide rails are both vertical to the two first guide rails; second sliding blocks are arranged at the bottom of the moving seat corresponding to the positions of the two second guide rails, and each second sliding block is slidably mounted on each second guide rail; the second servo motor is installed on the moving seat and is mechanically connected with the moving seat, and the lifting appliance is movably installed on the moving seat.
Further, the lifting appliance comprises a vertical support, a screw rod and a gripper; the vertical support comprises a top plate, a bottom plate and two third guide rails; the two third guide rails are respectively connected to two ends of the top plate and the bottom plate and are arranged in parallel; the two third guide rails are perpendicular to the two second guide rails and are spatially perpendicular to the two first guide rails; the upper end of the screw rod is arranged on the top plate, the lower end of the screw rod is arranged on the bottom plate, and the screw rod is positioned between the two third guide rails and is arranged in parallel with the two third guide rails; the hand grip is installed on the bottom plate and provided with a plurality of suckers.
Furthermore, a third servo motor is installed on the movable seat and is mechanically connected with the screw rod; and third sliding blocks are arranged at the positions of the movable seat corresponding to the two third guide rails, and each third sliding block is correspondingly and slidably arranged on each third guide rail.
Further, automatic group piles machine is provided with six and deposits the material level and sets up side by side, and is three deposit the material level and be a set of, the baffle is deposited the position and is set up two sets of deposit between the material level, and have two it is unqualified material level to deposit the material level, and all the other four are qualified material levels of depositing.
Furthermore, the automatic stacking machine is provided with two overturning tables, and the platform scale is positioned between the two overturning tables.
The invention also provides the following technical scheme:
an automatic stacking method is characterized in that the automatic stacking machine is adopted, and the automatic stacking method comprises the following steps:
an operator overturns the finished material tray after the inspection to the overturning platform, and when the photoelectric automatic sensing detector detects the finished material tray on the overturning platform, a signal is sent to the master control system, and the mobile trolley and the lifting appliance start to work;
after the moving trolley receives the instruction, the first servo motor and the second servo motor drive the lifting appliance to move to the overturning platform, the third drive motor drives the gripper to clamp a finished material disc, and then the finished material disc is conveyed to the platform scale and weighed by the platform scale;
after weighing is finished, judging the material plates through a main control system and a preset value, grabbing the material plates through a gripper, conveying qualified finished material plates to a qualified material storage position, conveying unqualified finished material plates to an unqualified material storage position, and automatically stacking the finished material plates;
and finally, the master control system controls the gripper to move to the partition storage position to grab the partition, then the partition is placed above the qualified finished product tray, and the original position is restored after the grabbing is finished to wait for repeating the next action.
Compared with the prior art, the automatic stacking machine and the stacking method thereof are in communication connection with the main control system through the arrangement of the movable trolley, the lifting appliance, the platform scale and the overturning platform, and the whole stacking process is controlled by the main control system, so that the precision is effectively ensured, and the operation safety is high. In addition, the intelligent production of the system is effectively improved, manual intervention is reduced, human resources are saved, and the production efficiency and the product yield are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings, there is shown in the drawings,
FIG. 1: the invention discloses a three-dimensional view of an automatic stacking machine;
FIG. 2: the invention discloses a partial enlarged view of an automatic stacking machine;
FIG. 3: the invention relates to a three-dimensional view of a mobile trolley and a lifting appliance.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1 and 2, the automatic stacking machine of the present invention comprises a frame 1, a moving trolley 2, a lifting appliance 3, a platform scale 4, a turning table 5, a storage position 6, a partition storage position 7 and a main control system; the lifting appliance 3 is mounted on the movable trolley 2, the movable trolley 2 is movably mounted on the rack 1, and the platform scale 4, the overturning platform 5, the partition storage position 7 and the storage position 6 are mounted in the rack 1 and located below the movable trolley 2. The movable trolley 2, the lifting appliance 3, the platform scale 4 and the overturning platform 5 are all in communication connection with the master control system.
Specifically, the material storage position 6 is used for storing a finished material tray A, the partition storage position 7 is used for storing a partition B, the platform scale 4 is used for weighing the finished material tray A, and the main control system is used for judging whether the finished material tray A is qualified. Further, a photoelectric automatic induction detector is arranged at the overturning platform 5 and is in communication connection with the master control system.
As shown in fig. 1 to 3, the top of the frame 1 is provided with two first guide rails 8 arranged in parallel and two racks 9, wherein each rack 9 is located inside each first guide rail 8. The movable trolley 2 comprises a movable platform 10 and a first servo motor 11; wherein, the first servo motor 11 is installed on the moving platform 10. Furthermore, a plurality of gears 12 and a plurality of first sliding blocks 13 are respectively arranged on the mobile platform 10 corresponding to the two racks 9 and the two first guide rails 8, each gear 12 is engaged with each rack 9, and the plurality of first sliding blocks 13 are slidably arranged on the two first guide rails 8; and the first servomotor is mechanically connected to one of the gears 12.
In addition, a moving seat 14 is movably mounted on the moving platform 10, specifically: two parallel second guide rails 15 are arranged on the moving platform 10, and the two second guide rails 15 are both vertical to the two first guide rails 8; the bottom of the movable base 14 is provided with second sliding blocks 16 at positions corresponding to the two second guide rails 15, and each second sliding block 16 is slidably mounted on each second guide rail 15. The second servo motor 17 is installed on the movable seat 14, the second servo motor 17 is mechanically connected with the movable seat 14, and the lifting appliance 3 is movably installed on the movable seat 14.
The first servo motor 11 drives the moving platform 10 to move back and forth along the two first guide rails 8, so that the lifting appliance 3 is driven to move back and forth along the two first guide rails 8, and the front and back movement of the lifting appliance 3 is realized; and then the second servo motor 17 drives the moving seat 14 to move back and forth along the two second guide rails 15, so as to drive the lifting appliance 3 to move back and forth along the two second guide rails 15, thereby realizing the left and right movement of the lifting appliance 3, enabling the lifting appliance 3 to move back and forth among the material storage position 6, the overturning platform 5, the partition plate storage position 7 and the platform scale 4, and transporting the finished material disc A.
The lifting appliance 3 comprises a vertical bracket 18, a screw rod 19 and a gripper 20; wherein, the vertical support 18 comprises a top plate 21, a bottom plate 22 and two third guide rails 23; wherein, the two third guide rails 23 are respectively connected to two ends of the top plate 21 and the bottom plate 22, and the two third guide rails 23 are arranged in parallel; the two third guide rails 23 are perpendicular to the two second guide rails 15 and spatially perpendicular to the two first guide rails 8. The upper end of the screw rod 19 is mounted on the top plate 21, the lower end is mounted on the bottom plate 22, and the screw rod 19 is located between the two third guide rails 23 and is arranged in parallel with the two third guide rails 23. The hand grip 20 is mounted to the base plate 22 and the hand grip 20 is provided with a plurality of suction cups 24.
Further, a third servo motor 25 is further installed on the moving seat 14, and the third servo motor 25 is mechanically connected with the screw rod 19. In addition, the third sliding blocks 26 are installed on the movable base 14 at positions corresponding to the two third guide rails 23, and each third sliding block 26 is installed on each third guide rail 23 in a sliding manner.
The third motor drives the screw rod 19 to rotate, so as to drive the whole vertical support 18 to ascend or descend relative to the movable seat 14, and further drive the gripper 20 to ascend or descend so as to grip the finished material tray A.
The first servo motor 11, the second servo motor 17 and the third servo motor 25 are all in communication connection with the master control system, and the master control system controls the first servo motor 11, the second servo motor 17 and the third servo motor 25 to operate.
In this embodiment, automatic machine of piling up is provided with six and deposits material level 6 and sets up side by side, and three material level 6 of depositing is a set of, and position 7 setting is deposited between two sets of material level 6 of depositing to the baffle, and has two material level 6 of depositing to be unqualified material level 60 for deposit unqualified product, and all the other four material levels 61 of depositing for being qualified are for depositing qualified product. It is understood that, in other embodiments, less than five or more than seven storage positions 6 may be provided, and at least one unqualified storage position 60 and the rest qualified storage positions 61 may be provided, which is not limited to this.
In the embodiment, the automatic stacking machine is provided with two overturning platforms 5, and the platform scale 4 is positioned between the two overturning platforms 5; it is understood that one or more than three turning tables 5 may be provided in other embodiments, and the invention is not limited thereto.
The working process of the automatic stacking machine is as follows:
an operator overturns the finished material tray A after the inspection to the overturning platform 5, and when the photoelectric automatic sensing detector detects the finished material tray A on the overturning platform 5, a signal is sent to the main control system, and the mobile trolley 2 and the lifting appliance 3 start to work;
after the moving trolley 2 receives the instruction, the first servo motor 11 and the second servo motor 17 drive the lifting appliance 3 to move to the overturning platform 5, the third drive motor drives the gripper 20 to clamp a finished material disc A, then the finished material disc A is conveyed to the platform scale 4, and the finished material disc A is weighed by the platform scale 4;
after weighing is finished, judging the material by a main control system and a preset value, grabbing the material by a grab 20, conveying the qualified finished material disc A to a qualified material storage position 61, conveying the unqualified finished material disc A to an unqualified material storage position 60, and automatically stacking the finished material discs A;
and finally, the master control system controls the gripper 20 to move to the partition storage position 7 to grab the partition B, then places the partition B above the qualified finished product tray A, and restores to the initial position after the completion of the grabbing and placing of the partition B, so that the next action is waited to be repeated.
The whole process is controlled by a master control system, and the precision and the safety are ensured.
In summary, the automatic stacking machine and the stacking method thereof are in communication connection with the main control system through the arrangement of the movable trolley 2, the lifting appliance 3, the platform scale 4 and the overturning platform 5, and the whole stacking process is controlled by the main control system, so that the precision is effectively guaranteed, and the operation safety is high. In addition, the intelligent production of the system is effectively improved, manual intervention is reduced, human resources are saved, and the production efficiency and the product yield are improved.
Any combination of the various embodiments of the present invention should be considered as disclosed in the present invention, unless the inventive concept is contrary to the present invention; within the scope of the technical idea of the invention, any combination of various simple modifications and different embodiments of the technical solution without departing from the inventive idea of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. An automatic palletizing machine, comprising: the device comprises a rack, a movable trolley, a lifting appliance, a platform scale, a turnover table, a material storage position, a partition plate storage position and a master control system; the lifting appliance is arranged on the movable trolley, the movable trolley is movably arranged on the rack, and the platform scale, the overturning platform, the partition plate storage position and the storage position are arranged in the rack and are positioned below the movable trolley; the movable trolley, the lifting appliance, the platform scale and the overturning platform are all in communication connection with the master control system.
2. The automatic palletizer as in claim 1, wherein: and a photoelectric automatic induction detector is arranged at the overturning platform and is in communication connection with the master control system.
3. The automatic palletizer as in claim 2, wherein: the top of the rack is provided with two first guide rails and two racks which are arranged in parallel, and each rack is positioned on the inner side of each first guide rail.
4. The automatic palletizer as in claim 3, wherein: the moving trolley comprises a moving platform and a first servo motor; the first servo motor is arranged on the moving platform, a plurality of gears and a plurality of first sliding blocks are respectively arranged on the moving platform corresponding to the two racks and the two first guide rails, each gear is meshed with each rack, and the plurality of first sliding blocks are slidably arranged on the two first guide rails; and the first servo motor is mechanically connected with one of the gears.
5. The automatic palletizer as in claim 4, wherein: the movable platform is movably provided with a movable seat, the movable platform is provided with two parallel second guide rails, and the two second guide rails are both vertical to the two first guide rails; second sliding blocks are arranged at the bottom of the moving seat corresponding to the positions of the two second guide rails, and each second sliding block is slidably mounted on each second guide rail; the second servo motor is installed on the moving seat and is mechanically connected with the moving seat, and the lifting appliance is movably installed on the moving seat.
6. The automatic palletizer as in claim 5, wherein: the lifting appliance comprises a vertical support, a screw rod and a gripper; the vertical support comprises a top plate, a bottom plate and two third guide rails; the two third guide rails are respectively connected to two ends of the top plate and the bottom plate and are arranged in parallel; the two third guide rails are perpendicular to the two second guide rails and are spatially perpendicular to the two first guide rails; the upper end of the screw rod is arranged on the top plate, the lower end of the screw rod is arranged on the bottom plate, and the screw rod is positioned between the two third guide rails and is arranged in parallel with the two third guide rails; the hand grip is installed on the bottom plate and provided with a plurality of suckers.
7. The automatic palletizer as in claim 6, wherein: a third servo motor is arranged on the movable seat and is mechanically connected with the screw rod; and third sliding blocks are arranged at the positions of the movable seat corresponding to the two third guide rails, and each third sliding block is correspondingly and slidably arranged on each third guide rail.
8. The automatic palletizer as in claim 7, wherein: automatic pile machine of group is provided with six and deposits the material level and sets up side by side, and is three deposit the material level and be a set of, the baffle is deposited the position and is set up two sets of deposit between the material level, and have two deposit the material level and deposit the material level for nonconforming, all the other four are qualified material levels of depositing.
9. The automatic palletizer as in claim 7, wherein: the automatic stacking machine is provided with two overturning tables, and the platform scale is located between the two overturning tables.
10. An automatic palletizing method characterized by using the automatic palletizing machine according to claim 8 or 9, comprising the steps of:
an operator overturns the finished material tray after the inspection to the overturning platform, and when the photoelectric automatic sensing detector detects the finished material tray on the overturning platform, a signal is sent to the master control system, and the mobile trolley and the lifting appliance start to work;
after the moving trolley receives the instruction, the first servo motor and the second servo motor drive the lifting appliance to move to the overturning platform, the third drive motor drives the gripper to clamp a finished material disc, and then the finished material disc is conveyed to the platform scale and weighed by the platform scale;
after weighing is finished, judging the material plates through a main control system and a preset value, grabbing the material plates through a gripper, conveying qualified finished material plates to a qualified material storage position, conveying unqualified finished material plates to an unqualified material storage position, and automatically stacking the finished material plates;
and finally, the master control system controls the gripper to move to the partition storage position to grab the partition, then the partition is placed above the qualified finished product tray, and the original position is restored after the grabbing is finished to wait for repeating the next action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010339758.3A CN111498406A (en) | 2020-04-26 | 2020-04-26 | Automatic stacking machine and stacking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010339758.3A CN111498406A (en) | 2020-04-26 | 2020-04-26 | Automatic stacking machine and stacking method thereof |
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| CN111498406A true CN111498406A (en) | 2020-08-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202010339758.3A Pending CN111498406A (en) | 2020-04-26 | 2020-04-26 | Automatic stacking machine and stacking method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115649800A (en) * | 2022-12-28 | 2023-01-31 | 广州普华灵动机器人技术有限公司 | Automatic intelligent storage system |
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| CN108545488A (en) * | 2018-04-30 | 2018-09-18 | 广东捷瞬机器人有限公司 | A kind of babinet stacking machine |
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| CN110759112A (en) * | 2019-10-25 | 2020-02-07 | 广东仕诚塑料机械有限公司 | Film roll classifying and stacking device |
| CN111496012A (en) * | 2020-04-23 | 2020-08-07 | 广东龙丰精密铜管有限公司 | Pipe continuous winding and automatic stacking system and method |
| CN212100685U (en) * | 2020-04-26 | 2020-12-08 | 广东龙丰精密铜管有限公司 | Automatic assembling and stacking machine |
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|---|---|---|---|---|
| US4610592A (en) * | 1985-01-07 | 1986-09-09 | Automatic Handling & Fabrication, Inc. | Robotic downender apparatus |
| CN108545488A (en) * | 2018-04-30 | 2018-09-18 | 广东捷瞬机器人有限公司 | A kind of babinet stacking machine |
| CN108750690A (en) * | 2018-07-23 | 2018-11-06 | 合肥泰禾光电科技股份有限公司 | Suction means, de-stacking device and de-stacking method |
| CN108820906A (en) * | 2018-08-23 | 2018-11-16 | 重庆朗正科技有限公司 | A kind of more product rule stack of supplies devices |
| CN110759112A (en) * | 2019-10-25 | 2020-02-07 | 广东仕诚塑料机械有限公司 | Film roll classifying and stacking device |
| CN111496012A (en) * | 2020-04-23 | 2020-08-07 | 广东龙丰精密铜管有限公司 | Pipe continuous winding and automatic stacking system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115649800A (en) * | 2022-12-28 | 2023-01-31 | 广州普华灵动机器人技术有限公司 | Automatic intelligent storage system |
| CN115649800B (en) * | 2022-12-28 | 2023-12-19 | 广州普华灵动机器人技术有限公司 | Automatic intelligent storage system |
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Application publication date: 20200807 |
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