CN112110212B - Automatic stacking system and method for aluminum wheels - Google Patents
Automatic stacking system and method for aluminum wheels Download PDFInfo
- Publication number
- CN112110212B CN112110212B CN201910539114.6A CN201910539114A CN112110212B CN 112110212 B CN112110212 B CN 112110212B CN 201910539114 A CN201910539114 A CN 201910539114A CN 112110212 B CN112110212 B CN 112110212B
- Authority
- CN
- China
- Prior art keywords
- conveying
- chain
- stacking
- finished product
- plate
- 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.)
- Active
Links
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
- 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
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/06—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface having a load-carrying surface formed by a series of interconnected, e.g. longitudinal, links, plates, or platforms
- B65G17/065—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface having a load-carrying surface formed by a series of interconnected, e.g. longitudinal, links, plates, or platforms the load carrying surface being formed by plates or platforms attached to a single traction element
-
- 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
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G57/00—Stacking of articles
- B65G57/005—Stacking of articles by using insertions or spacers between the stacked layers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention provides an automatic stacking system and method for aluminum wheels, which comprises a packing material feeding mechanism, a packing material conveying chain, an aluminum wheel conveying chain, a stacking robot, a composite clamp, a finished product stacking conveying chain, a finished product conveying AGV, a finished product butt joint conveying chain and an automatic stacking control unit, wherein the packing material feeding mechanism is arranged on the packing material conveying chain; the automatic stacking control unit controls and dispatches the automatic stacking and conveying among the packaging material feeding mechanism, the packaging material conveying chain, the aluminum wheel conveying chain, the stacking robot, the composite clamp, the finished product stacking conveying chain, the finished product conveying AGV and the finished product butt-joint conveying chain in a matched mode. The invention realizes the full automation and unmanned stacking, conveying and warehousing by using robots, AGV and automatic three-dimensional warehousing technologies and the like; the stacking speed, precision, repeatability and storage speed are improved, and meanwhile the aesthetic feeling of the product and the safety of the process are improved.
Description
Technical Field
The invention relates to the field of mechanical transportation, in particular to an automatic aluminum wheel stacking system and method.
Background
In conventional production logistics, palletizing is mostly done manually. For example, in the palletizing of trays, the trays are usually manually placed on the ground, then products are placed on the trays in a certain sequence, and then various packing materials are placed to complete the palletizing. The method is simple and easy to implement, has no initial equipment investment and is relatively flexible; however, the production line has great limitations, such as high production capacity, heavy weight of products (30kg), difficult manual stacking and high labor intensity. Meanwhile, the manual stacking is low in quality, and the phenomenon of stack falling is easy to occur in the conveying process, so that the damage probability of products is increased, and the application of the traditional stacking mode is less and less.
In modern production logistics, stacking conveying automation is widely applied, automatic conveying of material products is achieved after the material products are stacked by a robot, and then automatic storage of goods is achieved through an automatic storage system. Therefore, labor force is liberated from heavy and monotonous manual labor, the stacking precision and repeatability are greatly improved while the stacking speed is improved, the storage speed and effect are greatly improved, and meanwhile the aesthetic feeling and process safety of products are improved.
Aluminium wheel hub workshop pile up neatly operation current situation has two main production lines to be end powder line and bright powder line respectively at present, and every production line has 2 unloading branches, 4 unloading branches in total. Each blanking branch is provided with a stacking station, the wheel hubs on the production line are manually conveyed and stacked on the wooden bracket, packing materials are laid after each layer is stacked, and the packing materials are transferred to the automatic packaging station by a manual forklift after one stack is stacked. The weight of a single hub is between 15 and 30kg, and the weight of an individual product is even 50 kg. The product attributes and the storage mode bring great challenges to the labor intensity of workers, are not beneficial to the management and the conveying of products, also seriously affect the production efficiency and improve the production cost. And the aluminum wheels are added, so that the aluminum wheels have various models and specifications, various packing materials and difficulty in automatic stacking. Therefore, it is very necessary to develop an automatic aluminum wheel stacking system for an aluminum wheel hub production workshop.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic aluminum wheel stacking system and method.
According to one aspect of the invention, an automatic aluminum wheel stacking system is provided, which comprises a packing material feeding mechanism, a packing material conveying chain, an aluminum wheel conveying chain, a stacking robot, a composite clamp, a finished product stacking conveying chain, a finished product conveying AGV, a finished product butt-joint conveying chain and an automatic stacking control unit; the automatic stacking control unit controls and dispatches the automatic stacking and conveying among the packaging material feeding mechanism, the packaging material conveying chain, the aluminum wheel conveying chain, the stacking robot, the composite clamp, the finished product stacking conveying chain, the finished product conveying AGV and the finished product butt-joint conveying chain in a matched mode.
Preferably, the packaging material feeding mechanism comprises a wood tray feeding mechanism, a wood cover plate feeding mechanism, a paper-plastic partition plate feeding mechanism and a pearl film feeding mechanism;
the wood pallet feeding mechanism comprises a wood pallet bin, a fork jacking mechanism and a first plate link chain transplanting mechanism for the wood pallet; the pallet fork jacking mechanism forks and jacks the upper-layer wood pallet in the wood pallet bin, and the lower-layer wood pallet is transplanted to the packing material conveying chain through the first plate chain transplanting mechanism of the wood pallet;
the wood cover plate feeding mechanism comprises a wood cover plate bin, an air cylinder suction mechanism and a wood cover plate transplanting mechanism; a wood cover plate of the wood cover plate bin is sucked by the air cylinder sucking mechanism and then transplanted to the packing material conveying chain by the wood cover plate transplanting mechanism;
the paper-plastic partition plate feeding mechanism comprises a paper-plastic partition plate first plate chain conveyor and a paper-plastic partition plate chain transplanting mechanism; the paper-plastic partition plate chain transplanting mechanism is used for transplanting the paper-plastic partition plate placed on the first plate chain conveyor of the paper-plastic partition plate onto the packing material conveying chain;
the pearl film feeding mechanism comprises a first pearl film plate chain conveyor and a pearl film plate chain transplanting mechanism; the pearl membrane plate chain transplanting mechanism is used for transplanting the pearl membranes placed on the first plate chain conveyor of the pearl membrane plates onto the packing material conveying chain.
Preferably, the packing material conveying chain comprises a wood tray conveying chain, a wood cover plate conveying chain, a paper-plastic partition plate conveying chain and a pearl film conveying chain;
the wood pallet conveying chain comprises a wood pallet plate chain conveyor and a wood pallet second plate chain transplanting mechanism, and the wood pallet second plate chain transplanting mechanism and the wood pallet plate chain conveyor convey wood pallets to a wood pallet stacking waiting position;
the wood cover plate conveying chain comprises a wood cover plate roller conveying mechanism, and the wood cover plate roller conveying mechanism conveys the wood cover plate to a wood cover plate stacking waiting position;
the paper-plastic partition plate conveying chain comprises a paper-plastic partition plate second plate chain conveyor, and the paper-plastic partition plate second plate chain conveyor conveys the paper-plastic partition plate to a paper-plastic partition plate stacking waiting position;
the pearl film conveying chain comprises a pearl film second plate chain conveyor, and the pearl film second plate chain conveyor conveys pearl films to a pearl film stacking waiting position.
Preferably, the aluminum wheel conveying chain comprises an aluminum wheel roller conveying mechanism, a cylinder blocking mechanism and an aluminum wheel positioning mechanism; the aluminum wheels are fed through the aluminum wheel roller conveying mechanism, when the aluminum wheels are conveyed to the aluminum wheel stacking waiting position, the air cylinder blocking mechanism blocks the aluminum wheels conveyed at the back, and the aluminum wheel positioning mechanism positions the current aluminum wheels.
Preferably, the robot palletizer and the compound clamp comprise a robot and a robot compound clamp; the robot composite clamp comprises an aluminum wheel grabbing part and a packing material grabbing part;
when the aluminum wheel is grabbed, the packing material grabbing part is controlled by the air cylinder to be lifted upwards, the aluminum wheel grabbing part moves to the position of the center hole of the aluminum wheel hub, and the center of the aluminum wheel grabbing part clamp tightly expands the hub in an expanding mode to complete grabbing action of the aluminum wheel;
when the packing material is grabbed, the packing material grabbing component is controlled to descend through the air cylinder, the packing material grabbing component moves to a packing material grabbing position, and the vacuum adsorption device is used for adsorbing the packing material through conversion between positive pressure and negative pressure to finish the packing material grabbing action.
Preferably, the palletized finished product transport chain comprises a finished product plate chain conveyor line; and after the stacking is finished, conveying the stacked finished products to an AGV (automatic guided vehicle) connecting position by using a finished product plate chain conveying line.
Preferably, the finished product conveying AGV comprises a magnetic guidance AGV trolley, a magnetic strip track and a finished product transplanting plate chain conveying line; the magnetic guidance AGV trolley located at the waiting position moves to an AGV connection position of a finished product conveying chain through magnetic guidance of a magnetic strip track, finished product conveying butt joint is carried out through a finished product transplanting plate chain conveying line, and after butt joint is completed, the magnetic guidance AGV trolley conveys stacked finished products to the connection position of the finished product butt joint conveying chain.
Preferably, the finished product butt joint conveying chain comprises a jacking mechanism and a finished product butt joint chain plate conveying line; and (3) carrying out finished product conveying butt joint on the finished product butt joint conveying chain at the butt joint position by using the jacking mechanism and the finished product butt joint chain plate conveying line and the magnetic guidance AGV trolley of the finished product conveying AGV, and after the butt joint is completed, returning the magnetic guidance AGV trolley of the finished product conveying AGV to the waiting position.
Preferably, the automatic stacking control unit comprises a robot control unit, a transport chain control unit and an AGV control unit;
the robot control unit controls the operation of the stacking robot and the composite clamp;
the conveying chain control unit controls the operation of the packing material feeding mechanism, the packing material conveying chain, the aluminum wheel conveying chain, the stacking finished product conveying chain and the finished product butt-joint conveying chain;
and the AGV control unit controls the dispatching of finished product conveying AGV.
According to another aspect of the invention, there is provided an automatic aluminium wheel palletizing method, comprising the steps of:
step 1: the automatic stacking control unit sends a packaging material loading instruction, the packaging material loading mechanism and the packaging material conveying chain convey packaging materials to a stacking waiting position, and the aluminum wheel conveying chain conveys aluminum wheels to a corresponding stacking waiting position; wherein the packaging material comprises a wood tray, a wood cover plate, a paper-plastic partition plate and a pearl film;
step 2: the automatic stacking control unit issues a stacking instruction, and the robot composite clamp respectively grabs the aluminum wheels and the packing materials to stack by using the aluminum wheel grabbing component and the packing material grabbing component;
step 2.1: the robot composite clamp moves to a paper-plastic partition plate stacking waiting position, after the wrapping material grabbing component grabs the paper-plastic partition plate, the robot composite clamp moves to a stacking designated position on the wood tray, and the paper-plastic partition plate is placed on the wood tray;
step 2.2: the robot composite clamp moves to an aluminum wheel stacking waiting position, after the aluminum wheel grabbing component grabs the aluminum wheel, the robot composite clamp moves to a position, corresponding to an aluminum wheel cavity, on the paper-plastic partition plate, and the aluminum wheel is placed to the position corresponding to the aluminum wheel cavity;
step 2.3: the steps are executed circularly until the positions of the cavities of the aluminum wheels on the whole paper-plastic partition plate are fully placed;
step 2.4: the robot composite clamp moves to a pearl film stacking waiting position, after the wrapping material grabbing component grabs the pearl film, the robot composite clamp moves to a stacking position above the aluminum wheel, and the pearl film is placed on the aluminum wheel;
step 2.5: circularly executing the steps till the step, one time or multiple times;
step 2.6: the robot composite clamp moves to a wood cover plate stacking waiting position, after the packing material grabbing component grabs the wood cover plate, the robot composite clamp moves to a specified position above stacking, the wood cover plate is placed on the stacking, and stacking is completed;
and step 3: after the stacking is finished, conveying the stacked finished products to an AGV (automatic guided vehicle) connecting position by a finished product conveying chain;
and 4, step 4: the automatic stacking control unit sends an AGV calling instruction, the magnetically guided AGV trolley runs to an AGV docking position of a finished product conveying chain, meanwhile, a positioning synchronous signal is sent to the automatic stacking control unit for positioning confirmation, the automatic stacking control unit sends an instruction to the stacked finished product conveying chain and the finished product conveying AGV after completing the positioning confirmation, finished product conveying docking is carried out, and after the docking is completed, the magnetically guided AGV trolley conveys the stacked finished products to the docking position of the finished product docking conveying chain;
and 5: and the magnetic guiding AGV trolley sends a positioning synchronous signal to the automatic stacking control unit again to perform positioning confirmation, the automatic stacking control unit sends an instruction to the finished product conveying AGV and the finished product butt joint conveying chain after completing the positioning confirmation, the finished product conveying butt joint is performed, and after the butt joint is completed, the magnetic guiding AGV trolley for conveying the AGV by the finished product returns to the waiting position.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes the full automation and unmanned stacking, conveying and warehousing by using robots, AGV and automatic three-dimensional warehousing technologies and the like; the stacking speed, precision, repeatability and storage speed are improved, and meanwhile the aesthetic feeling of the product and the safety of the process are improved.
2. The automatic stacking machine improves the working efficiency and the working precision through automatic stacking, and reduces the labor intensity of workers.
3. The invention is a minimum-granularity working unit, has cohesive functions and is relatively independent, and can be copied and popularized correspondingly when a production line of a production workshop is prolonged or the layout is changed, thereby having good universality and expansibility.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of a wooden pallet feeding mechanism of the present invention.
Fig. 2 is a schematic view of a feeding mechanism of the wood cover plate of the present invention.
FIG. 3 is a schematic view of a first plate link conveyor of a paper-plastic partition plate in the feeding mechanism of the paper-plastic partition plate of the invention.
Fig. 4 is a schematic diagram of a pearl film first plate chain conveyor in the pearl film feeding mechanism.
Fig. 5 is a schematic view of a wooden pallet transport chain of the present invention.
Fig. 6 is a schematic view of a wood decking conveyor chain of the present invention.
FIG. 7 is a schematic diagram of the second plate chain conveyor of the paper-plastic partition plate and the plate chain transplanting mechanism of the paper-plastic partition plate of the invention.
Fig. 8 is a schematic diagram of the pearl film second plate chain conveyor and the pearl film plate chain transplanting mechanism.
Fig. 9 is a schematic view of an aluminum wheel chain of the present invention.
Fig. 10 is a schematic view of the palletizing robot and the compound clamp according to the present invention.
Fig. 11 is a schematic view of the robotic composite gripper of the present invention.
Fig. 12 is a schematic view of a palletized finished product transport chain according to the present invention.
FIG. 13 is a schematic view of a product transport AGV according to the present invention.
Fig. 14 is a schematic view of the finished butt-joint conveyor chain of the present invention.
Fig. 15 is a schematic view of an automatic palletizing control unit according to the present invention.
FIG. 16 is a schematic view of a packaging material of the present invention, including a paper-plastic partition, a wood tray, a wood cover plate, and a pearl film.
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention uses robot, AGV (automated Guided vehicle), automatic three-dimensional storage technology and the like to realize the full automation and no humanization of stacking, conveying and storage; the stacking speed, precision, repeatability and storage speed are improved, meanwhile, the aesthetic feeling of products and the safety of the process are improved, and the problems that the aluminum wheels are large in model and specification, various in packing materials and difficult to stack automatically can be effectively solved. The packing material comprises a wood tray 33, a wood cover plate 34, a paper-plastic partition plate 32, a pearl film 35 and the like used in the aluminum wheel stacking process shown in fig. 16. One or more corresponding aluminum wheel cavity positions are arranged on the paper-plastic partition plate according to the type of the aluminum wheel so as to adapt to the aluminum wheels with different types and specifications.
According to one aspect of the invention, an automatic aluminum wheel stacking system is provided, which comprises a packing material feeding mechanism, a packing material conveying chain, an aluminum wheel conveying chain, a stacking robot, a composite clamp, a finished product stacking conveying chain, a finished product conveying AGV, a finished product butt-joint conveying chain and an automatic stacking control unit; the automatic stacking control unit controls and dispatches the automatic stacking and conveying among the packaging material feeding mechanism, the packaging material conveying chain, the aluminum wheel conveying chain, the stacking robot, the composite clamp, the finished product stacking conveying chain, the finished product conveying AGV and the finished product butt-joint conveying chain in a matched mode.
The wrapping material feeding mechanism comprises a wood tray feeding mechanism, a wood cover plate feeding mechanism, a paper-plastic partition plate feeding mechanism and a pearl film feeding mechanism;
as shown in fig. 1, the wood pallet feeding mechanism comprises a wood pallet bin 1, a fork jacking mechanism 2 and a wood pallet plate first chain transplanting mechanism 3; the pallet fork jacking mechanism 2 forks and jacks the upper layer of wood pallet 33 in the wood pallet bin 1, and the lower layer of wood pallet 33 is transplanted to the packing material conveying chain through the first plate chain transplanting mechanism 3 of the wood pallet; preferably, a manual forklift stacks a stack of wooden pallets 33 into the wooden pallet silo 1, after receiving an operation instruction issued by the automatic stacking control unit, the fork jacking mechanism 2 forks and jacks the upper layer of wooden pallets 33, and a piece of wooden pallet 33 on the lower layer is transplanted and placed on the wooden pallet conveying chain through the wooden pallet first plate chain transplanting mechanism 3;
as shown in fig. 2, the wood cover plate feeding mechanism comprises a wood cover plate bin 4, a cylinder suction mechanism 5 and a wood cover plate transplanting mechanism 6; the wood cover plate 34 of the wood cover plate bin 4 is sucked by the air cylinder sucking mechanism 5 and then transplanted to the packing material conveying chain by the wood cover plate transplanting mechanism 6; preferably, the manual forklift supplements a pile of wood cover plates 34 into the wood cover plate bin 4, after receiving an operation instruction issued by the automatic stacking control unit, the cylinder suction mechanism 5 operates to suck one piece of wood cover plate 34, and the wood cover plate transplanting mechanism 6 operates to transplant the sucked wood cover plate 34 and place the same on the wood cover plate conveying chain;
as shown in fig. 3, the paper-plastic partition feeding mechanism comprises a paper-plastic partition first plate chain conveyor 7 and a paper-plastic partition plate chain transplanting mechanism 13; the paper-plastic partition plate chain transplanting mechanism 13 transplants the paper-plastic partition plates 32 placed on the first paper-plastic partition plate chain conveyor 7 onto the packing material conveying chain; preferably, the manual forklift puts a pile of paper-plastic partition plates 32 on the first plate chain conveyor 7 of the paper-plastic partition plates, and after receiving an operation instruction issued by the automatic stacking control unit, the paper-plastic partition plate chain transplanting mechanism 13 transplants the paper-plastic partition plates 32 and places the same on the paper-plastic partition plate conveying chain;
as shown in fig. 4, the pearl film feeding mechanism comprises a first pearl film plate chain conveyor 8 and a pearl film plate chain transplanting mechanism 15; the pearl membrane chain transplanting mechanism 15 transplants the pearl membranes 35 placed on the first plate chain conveyor 8 of the pearl membrane plates onto the packing material conveying chain; preferably, the artificial forklift puts a stack of pearl films 35 on the first pearl film plate chain conveyor 8, and after receiving an operation instruction issued by the automatic stacking control unit, the pearl film plate chain transplanting mechanism 15 transplants and places the pearl films 35 on the pearl film conveying chain.
The packing material conveying chain comprises a wood tray conveying chain, a wood cover plate conveying chain, a paper-plastic partition plate conveying chain and a pearl film conveying chain;
the wood pallet conveying chain comprises a wood pallet plate chain conveyor 9 and a wood pallet second plate chain transplanting mechanism 10, wherein the wood pallet second plate chain transplanting mechanism 10 and the wood pallet plate chain conveyor 9 convey wood pallets 33 to a wood pallet stacking waiting position; preferably, as shown in fig. 5, the wood pallet 33 is butt-transplanted onto the wood pallet second plate link transplanting mechanism 10 through the wood pallet first plate link transplanting mechanism 3, the wood pallet second plate link transplanting mechanism 10 descends or ascends the butt-joint wood pallet plate link conveyor 9, the wood pallet 33 is transplanted onto the wood pallet plate link conveyor 9, and the wood pallet plate link conveyor 9 conveys the wood pallet 33 to the wood pallet stacking waiting position; the wood cover plate conveying chain comprises a wood cover plate roller conveying mechanism 11, and the wood cover plate roller conveying mechanism 11 conveys the wood cover plate 34 to a wood cover plate stacking waiting position; preferably, as shown in fig. 6, the wooden cover 34 is placed on the wooden cover roller conveying mechanism 11 by the wooden cover transplanting mechanism 6, and the wooden cover roller conveying mechanism 11 conveys the wooden cover 34 to the wooden cover palletizing waiting position;
the paper-plastic partition plate conveying chain comprises a paper-plastic partition plate second plate chain conveyor 12, and the paper-plastic partition plate second plate chain conveyor 12 conveys the paper-plastic partition plates 32 to a paper-plastic partition plate stacking waiting position; preferably, as shown in fig. 7, the paper-plastic partition plate 32 is butt-transplanted to the paper-plastic partition plate chain transplanting mechanism 13 through the paper-plastic partition plate first chain conveyor 7, the paper-plastic partition plate chain transplanting mechanism 13 descends or ascends to butt-joint the paper-plastic partition plate second chain conveyor 12, the paper-plastic partition plate 32 is transplanted to the plastic partition plate second chain conveyor 12, and the paper-plastic partition plate second chain conveyor 12 conveys the paper-plastic partition plate 32 to a paper-plastic partition plate 32 stacking waiting position; the pearl film conveying chain comprises a pearl film second plate chain conveyor 14, and the pearl film second plate chain conveyor 14 conveys the pearl films 35 to a pearl film stacking waiting position; preferably, as shown in fig. 8, the pearl film 35 is butt-transplanted onto the pearl film plate chain transplanting mechanism 15 through the pearl film first plate chain conveyor 8, the pearl film plate chain transplanting mechanism 15 descends or ascends to butt-joint the pearl film second plate chain conveyor 14, the pearl film 35 is transplanted onto the pearl film second plate chain conveyor 14, and the pearl film second plate chain conveyor 14 conveys the pearl film 35 to the pearl film palletizing waiting position.
As shown in fig. 9, the aluminum wheel conveying chain comprises an aluminum wheel roller conveying mechanism 16, a cylinder blocking mechanism 17 and an aluminum wheel positioning mechanism 18; the aluminum wheels are fed through the aluminum wheel roller conveying mechanism 16, when the aluminum wheels are conveyed to the aluminum wheel stacking waiting position, the air cylinder blocking mechanism 17 blocks the aluminum wheels conveyed behind, and the aluminum wheel positioning mechanism 18 positions the current aluminum wheels to prepare for grabbing of the robot composite clamp (20).
As shown in fig. 10, the palletizing robot and the compound clamp comprise a robot 19 and a robot compound clamp 20; as shown in fig. 11, the robot composite jig 20 includes an aluminum wheel gripping part 21, a packing material gripping part 22; preferably, the brand of the robot is German Cuka, the model is KR120R3200PA, the maximum load is 120kg, and the maximum working range is 3195 mm;
when the aluminum wheel is grabbed, the packing material grabbing part 22 is controlled by the air cylinder to be lifted upwards, the aluminum wheel grabbing part 21 moves to the position of the center hole of the aluminum wheel hub, and the center of the clamp of the aluminum wheel grabbing part 21 is expanded to tightly grab the hub in an expanding mode to complete grabbing action of the aluminum wheel;
when the packing material is grabbed, the packing material grabbing part 22 descends under the control of the air cylinder, the packing material grabbing part 22 moves to a packing material grabbing position, and the vacuum adsorption device is used for adsorbing the packing material through conversion between positive pressure and negative pressure to complete the packing material grabbing action.
As shown in fig. 12, the palletized finished product transport chain comprises a finished plate chain conveyor line 23; after the stacking is finished, the finished stacked products are conveyed to an AGV connection position by a finished product plate chain conveying line 23. Preferably, after the stacking is completed, the automatic stacking control unit sends an AGV call instruction while the finished product plate chain conveying line 23 is used for conveying the stacked finished products to the AGV docking position, and the finished product plate chain conveying line 23 can cache 3 whole stacked finished products.
The finished product conveying AGV comprises a magnetic guidance AGV trolley 24, a magnetic strip track 26 and a finished product transplanting plate chain conveying line 25; the magnetic guide AGV trolley 24 located at the waiting position is guided to move to the AGV connection position of the finished product conveying chain through the magnetic guide of the magnetic strip rail 26, the finished product is conveyed and connected through the finished product transplanting plate chain conveying line 25, and after the connection is completed, the magnetic guide AGV trolley 24 conveys the stacked finished products to the connection position of the finished product butt-joint conveying chain. Preferably, as shown in fig. 13, after receiving the call command sent by the automatic stacking control unit, the magnetically guided AGV 24 automatically moves to a position of connection with the stacked finished product transport chain through magnetic guidance, and simultaneously sends an in-place synchronization signal to the automatic stacking control unit for in-place confirmation, after completing the in-place confirmation, the automatic stacking control unit sends a command to the stacked finished product transport chain and the finished product transport AGV for finished product transport and docking, and after completing docking, the AGV automatically transports the stacked finished products to the finished product docking transport chain.
The finished product butt joint conveying chain comprises a jacking mechanism 28 and a finished product butt joint chain plate conveying line 27; and (3) carrying out finished product conveying butt joint on the finished product butt joint transport chain at the butt joint position and the magnetic guide AGV trolley 24 of the finished product conveying AGV by using the jacking mechanism 28 and the finished product butt joint chain plate transport chain line 27, and after the butt joint is completed, the magnetic guide AGV trolley 24 of the finished product conveying AGV returns to the waiting position. Preferably, as shown in fig. 14, the magnetically guided AGV 24 automatically moves to a docking position with the finished product docking conveyor by magnetic guidance, and sends an in-place synchronization signal to the automatic palletizing control unit to confirm in-place, after the automatic palletizing control unit completes the in-place confirmation, the automatic palletizing control unit sends a command to the finished product conveying AGV and the finished product docking conveyor to perform finished product conveying docking, and after the docking is completed, the AGV automatically returns to the waiting position.
As shown in fig. 15, the automatic palletizing control unit includes a robot control unit 29, a conveyor chain control unit 30, and an AGV control unit 31; the robot control unit 29 controls the operation of the palletizing robot and the composite clamp; the conveying chain control unit 30 controls the operation of the dispatching packing material feeding mechanism, the packing material conveying chain, the aluminum wheel conveying chain, the stacking finished product conveying chain and the finished product butt-joint conveying chain; the AGV control unit 31 controls the operation of the scheduling finished product transport AGV.
According to another aspect of the invention, there is provided an automatic aluminium wheel palletizing method, comprising the steps of:
step 1: the automatic stacking control unit sends a packaging material loading instruction, the packaging material loading mechanism and the packaging material conveying chain convey packaging materials to a stacking waiting position, and the aluminum wheel conveying chain conveys aluminum wheels to a corresponding stacking waiting position; wherein the packaging material comprises a wood tray 33, a wood cover plate 34, a paper-plastic partition plate 32 and a pearl film 35; preferably, the wood pallet feeding mechanism and the wood cover plate feeding mechanism respectively and automatically separate the wood pallet and the wood cover plate, and the separated wood pallet and the separated wood cover plate are conveyed to corresponding stacking waiting positions corresponding to the conveying chain; the paper-plastic partition plate feeding mechanism and the pearl film feeding mechanism respectively convey the paper-plastic partition plates and the pearl films to corresponding stacking waiting positions; conveying the aluminum wheels to corresponding stacking waiting positions through an aluminum wheel conveying chain;
step 2: the automatic stacking control unit sends a stacking instruction, and the robot composite clamp 20 respectively grabs the aluminum wheels and the packing materials for stacking by utilizing the aluminum wheel grabbing component 21 and the packing material grabbing component 22;
step 2.1: the robot composite clamp 20 moves to a paper-plastic partition stacking waiting position, after the wrapping material grabbing component 22 grabs the paper-plastic partition 32, the robot composite clamp 20 moves to a stacking designated position on the wood tray 33, and the paper-plastic partition is placed on the wood tray 33;
step 2.2: the robot composite clamp 20 moves to an aluminum wheel stacking waiting position, after the aluminum wheel grabbing component 21 grabs the aluminum wheel, the robot composite clamp 20 moves to a position on the paper-plastic partition plate 32 corresponding to an aluminum wheel cavity, and the aluminum wheel is placed at the position corresponding to the aluminum wheel cavity;
step 2.3: circularly executing the step 2.2 until the whole paper-plastic partition plate 32 corresponding to the aluminum wheel cavity is fully placed;
step 2.4: the robot composite clamp 20 moves to a pearl film stacking waiting position, after the wrapping material grabbing component 22 grabs the pearl films 35, the robot composite clamp 20 moves to a stacking position above the aluminum wheels, and the pearl films 35 are placed on the aluminum wheels;
step 2.5: step 2.1 to step 2.4 are executed one or more times in a circulating way; preferably four times;
step 2.6: the robot composite clamp 20 moves to a wood cover plate stacking waiting position, after the packing material grabbing component 22 grabs the wood cover plate 34, the robot composite clamp 20 moves to a specified position above stacking, the wood cover plate 34 is placed on the stacking, and stacking is completed;
and step 3: after the stacking is finished, conveying the stacked finished products to an AGV (automatic guided vehicle) connecting position by a finished product conveying chain;
and 4, step 4: the automatic stacking control unit sends an AGV calling instruction, the magnetically guided AGV trolley 24 runs to an AGV docking position of a finished product conveying chain, meanwhile, a positioning synchronous signal is sent to the automatic stacking control unit to confirm positioning, after the automatic stacking control unit finishes the positioning confirmation, an instruction is sent to the stacked finished product conveying chain and the finished product conveying AGV to carry out finished product conveying docking, and after the docking is finished, the magnetically guided AGV trolley 24 conveys the stacked finished products to the docking position of the finished product docking conveying chain;
and 5: and the magnetic guiding AGV trolley 24 sends a positioning synchronous signal again to the automatic stacking control unit for in-position confirmation, the automatic stacking control unit sends an instruction to the finished product conveying AGV and the finished product butt joint conveying chain after completing the in-position confirmation, the finished product conveying butt joint is carried out, and after the butt joint is completed, the magnetic guiding AGV trolley 24 of the finished product conveying AGV returns to the waiting position.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. An automatic aluminum wheel stacking method is characterized by comprising the following steps:
step 1: the automatic stacking control unit sends a packaging material loading instruction, the packaging material loading mechanism and the packaging material conveying chain convey packaging materials to a stacking waiting position, and the aluminum wheel conveying chain conveys aluminum wheels to a corresponding stacking waiting position; wherein the packing material comprises a wood tray (33), a wood cover plate (34), a paper-plastic partition plate (32) and a pearl film (35);
step 2: the automatic stacking control unit sends a stacking instruction, and the robot composite clamp (20) respectively grabs an aluminum wheel and a packing material by using an aluminum wheel grabbing component (21) and a packing material grabbing component (22) to stack;
step 2.1: the robot composite clamp (20) moves to a paper-plastic partition plate stacking waiting position, after the wrapping material grabbing component (22) grabs the paper-plastic partition plate (32), the robot composite clamp (20) moves to a stacking designated position on a wood tray (33), and the paper-plastic partition plate is placed on the wood tray (33);
step 2.2: the robot composite clamp (20) moves to an aluminum wheel stacking waiting position, after the aluminum wheel grabbing component (21) grabs the aluminum wheel, the robot composite clamp (20) moves to a position, corresponding to an aluminum wheel cavity, on the paper-plastic partition plate (32), and the aluminum wheel is placed to the position corresponding to the aluminum wheel cavity;
step 2.3: circularly executing the step 2.2 until the position of the corresponding aluminum wheel cavity on the whole paper-plastic partition plate (32) is filled;
step 2.4: the robot composite clamp (20) moves to a pearl film stacking waiting position, after the wrapping material grabbing component (22) grabs the pearl film (35), the robot composite clamp (20) moves to a stacking position above the aluminum wheel, and the pearl film (35) is placed on the aluminum wheel;
step 2.5: step 2.1 to step 2.4 are executed one or more times in a circulating way;
step 2.6: the robot composite clamp (20) moves to a wooden cover plate stacking waiting position, after the packing material grabbing component (22) grabs the wooden cover plate (34), the robot composite clamp (20) moves to a designated position above stacking, the wooden cover plate (34) is placed on the stacking, and stacking is completed;
and step 3: after the stacking is finished, conveying the stacked finished products to an AGV (automatic guided vehicle) connecting position by a finished product conveying chain;
and 4, step 4: the automatic stacking control unit sends an AGV calling instruction, the magnetic guide AGV trolley (24) runs to an AGV docking position of a finished product conveying chain, meanwhile, a positioning synchronous signal is sent to the automatic stacking control unit to confirm positioning, the automatic stacking control unit sends an instruction to the finished product stacking conveying chain and a finished product conveying AGV after completing positioning confirmation, finished product conveying docking is carried out, and after the docking is completed, the magnetic guide AGV trolley (24) conveys the stacked finished products to the docking position of the finished product docking conveying chain;
and 5: and the magnetic guiding AGV trolley (24) sends a positioning synchronous signal again to the automatic stacking control unit for in-position confirmation, the automatic stacking control unit sends an instruction to the finished product conveying AGV and the finished product butt joint conveying chain after completing the in-position confirmation, the finished product conveying butt joint is carried out, and the magnetic guiding AGV trolley (24) of the finished product conveying AGV returns to the waiting position after completing the butt joint.
2. An automatic aluminum wheel palletizing system, which is realized according to the method of claim 1 and comprises a packing material feeding mechanism, a packing material conveying chain, an aluminum wheel conveying chain, a palletizing robot, a compound clamp, a palletizing finished product conveying chain, a finished product conveying AGV, a finished product butt-joint conveying chain and an automatic palletizing control unit; the automatic stacking control unit controls and dispatches the automatic stacking and conveying among the packaging material feeding mechanism, the packaging material conveying chain, the aluminum wheel conveying chain, the stacking robot, the composite clamp, the finished product stacking conveying chain, the finished product conveying AGV and the finished product butt-joint conveying chain in a matched mode.
3. The automatic stacking system for aluminum wheels as claimed in claim 2, wherein the packing material feeding mechanism comprises a wooden tray feeding mechanism, a wooden cover plate feeding mechanism, a paper-plastic partition plate feeding mechanism and a pearl film feeding mechanism;
the wood pallet feeding mechanism comprises a wood pallet bin (1), a fork jacking mechanism (2) and a first plate link chain transplanting mechanism (3) for the wood pallet; the pallet fork jacking mechanism (2) forks and jacks the upper layer of wood pallet (33) in the wood pallet bin (1), and the lower layer of wood pallet (33) is transplanted onto the packing material conveying chain through the wood pallet first plate chain transplanting mechanism (3);
the wood cover plate feeding mechanism comprises a wood cover plate bin (4), a cylinder suction mechanism (5) and a wood cover plate transplanting mechanism (6); a wood cover plate (34) of the wood cover plate bin (4) is sucked by the air cylinder sucking mechanism (5) and then transplanted to the packing material conveying chain by the wood cover plate transplanting mechanism (6);
the paper-plastic partition plate feeding mechanism comprises a paper-plastic partition plate first plate chain conveyor (7) and a paper-plastic partition plate chain transplanting mechanism (13); the paper-plastic partition plate chain transplanting mechanism (13) is used for transplanting a paper-plastic partition plate (32) placed on a first plate chain conveyor (7) of the paper-plastic partition plate onto a packing material conveying chain;
the pearl film feeding mechanism comprises a pearl film first plate chain conveyor (8) and a pearl film plate chain transplanting mechanism (15); the pearl membrane plate chain transplanting mechanism (15) transplants the pearl membranes (35) placed on the first plate chain conveyor (8) of the pearl membrane plates onto the packing material conveying chain.
4. The automatic aluminum wheel palletizing system according to claim 2, wherein the packing material conveying chain comprises a wood pallet conveying chain, a wood cover plate conveying chain, a paper-plastic partition plate conveying chain and a pearl film conveying chain;
the wood pallet conveying chain comprises a wood pallet plate chain conveyor (9) and a wood pallet second plate chain transplanting mechanism (10), wherein the wood pallet second plate chain transplanting mechanism (10) and the wood pallet plate chain conveyor (9) convey wood pallets (33) to a wood pallet stacking waiting position;
the wood cover plate conveying chain comprises a wood cover plate roller conveying mechanism (11), and the wood cover plate roller conveying mechanism (11) conveys the wood cover plate (34) to a wood cover plate stacking waiting position;
the paper-plastic partition plate conveying chain comprises a paper-plastic partition plate second plate chain conveyor (12), and the paper-plastic partition plate second plate chain conveyor (12) conveys the paper-plastic partition plates (32) to a paper-plastic partition plate stacking waiting position;
the pearl film conveying chain comprises a pearl film second plate chain conveyor (14), and the pearl film second plate chain conveyor (14) conveys pearl films (35) to a pearl film stacking waiting position.
5. The automatic aluminum wheel palletizing system according to claim 2, wherein the aluminum wheel transport chain comprises an aluminum wheel roller conveying mechanism (16), a cylinder blocking mechanism (17), an aluminum wheel positioning mechanism (18); the aluminum wheels are fed through an aluminum wheel roller conveying mechanism (16), when the aluminum wheels are conveyed to an aluminum wheel stacking waiting position, an air cylinder blocking mechanism (17) blocks the aluminum wheels conveyed behind, and an aluminum wheel positioning mechanism (18) positions the current aluminum wheels.
6. Automatic palletization system for aluminium wheels according to claim 2, characterized in that said palletization robots and compound grippers comprise a robot (19), a robotic compound gripper (20); the robot composite clamp (20) comprises an aluminum wheel grabbing part (21) and a packing material grabbing part (22);
when an aluminum wheel is grabbed, the packing material grabbing part (22) is controlled by the air cylinder to be lifted upwards, the aluminum wheel grabbing part (21) moves to the position of the center hole of the aluminum wheel hub, and the center of a clamp of the aluminum wheel grabbing part (21) is expanded to tightly tighten the hub in an expanding mode to complete grabbing action of the aluminum wheel;
when the packing material is grabbed, the packing material grabbing part (22) is controlled to descend through the air cylinder, the packing material grabbing part (22) moves to a packing material grabbing position, and the vacuum adsorption device is used for adsorbing the packing material through conversion between positive pressure and negative pressure to finish the packing material grabbing action.
7. Automatic aluminium wheel palletization system according to claim 2, characterized in that said palletized finished product transport chain comprises a finished plate chain conveyor line (23); after the stacking is finished, a finished product plate chain conveying line (23) is used for conveying stacked finished products to an AGV connecting position.
8. The automatic aluminum wheel palletizing system according to claim 2, wherein the finished product conveying AGV comprises a magnetic guidance AGV trolley (24), a magnetic strip track (26), a finished product transplanting plate chain conveying line (25); the magnetic guidance AGV trolley (24) located at the waiting position is magnetically guided to move to the AGV connection position of the finished product conveying chain through the magnetic strip track (26), finished product conveying butt joint is carried out through the finished product transplanting plate chain conveying line (25), and after butt joint is completed, the magnetic guidance AGV trolley (24) conveys the stacked finished products to the connection position of the finished product butt joint conveying chain.
9. The automatic aluminum wheel palletizing system according to claim 2, wherein the finished product butt-joint conveying chain comprises a jacking mechanism (28) and a finished product butt-joint chain plate conveying line (27); and (3) carrying out finished product conveying butt joint on the magnetic guidance AGV trolley (24) of the finished product conveying AGV and the docking position of the finished product docking conveying chain by using a jacking mechanism (28) and a finished product docking chain plate conveying line (27), and after the butt joint is completed, returning the magnetic guidance AGV trolley (24) of the finished product conveying AGV to a waiting position.
10. Automatic aluminium wheel palletization system according to claim 2, characterized in that said automatic palletization control unit comprises a robot control unit (29), a conveyor chain control unit (30), an AGV control unit (31);
the robot control unit (29) controls the operation of the palletizing robot and the composite clamp;
the conveying chain control unit (30) controls the operation of the dispatching packing material feeding mechanism, the packing material conveying chain, the aluminum wheel conveying chain, the stacking finished product conveying chain and the finished product butt-joint conveying chain;
the AGV control unit (31) controls the operation of dispatching the finished product to convey the AGV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910539114.6A CN112110212B (en) | 2019-06-20 | 2019-06-20 | Automatic stacking system and method for aluminum wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910539114.6A CN112110212B (en) | 2019-06-20 | 2019-06-20 | Automatic stacking system and method for aluminum wheels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112110212A CN112110212A (en) | 2020-12-22 |
| CN112110212B true CN112110212B (en) | 2021-12-31 |
Family
ID=73796105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910539114.6A Active CN112110212B (en) | 2019-06-20 | 2019-06-20 | Automatic stacking system and method for aluminum wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112110212B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112678492A (en) * | 2020-12-24 | 2021-04-20 | 吉凯恩车轮(连云港)有限公司 | Method for mounting tray on automatic wheel downward suspension chain belt |
| CN113601056B (en) * | 2021-08-20 | 2022-11-01 | 山推工程机械股份有限公司 | Automatic welding production line for guide wheel and method for machining guide wheel |
| CN114132761A (en) * | 2021-12-08 | 2022-03-04 | 珠海格力智能装备有限公司 | Bedplate recovery stacking device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5096369A (en) * | 1987-10-14 | 1992-03-17 | Ouellette Machinery Systems, Inc. | Pallet inspection and stacking apparatus |
| CN1295015A (en) * | 1999-11-05 | 2001-05-16 | 东洋实业株式会社 | Bike parts packaging element |
| JP2013043730A (en) * | 2011-08-23 | 2013-03-04 | Nissan Motor Co Ltd | Propping up device and propping up method of article including soft deformation object |
| CN104355112A (en) * | 2014-11-25 | 2015-02-18 | 青岛恒基泰机电科技有限公司 | Air-conditioner heat exchanger transfer machine |
| CN206202870U (en) * | 2016-11-04 | 2017-05-31 | 中包精力供应链管理江阴有限公司 | Wheel hub has enough to meet the need packaging pallet component |
| CN208135488U (en) * | 2018-03-29 | 2018-11-23 | 江苏新美星包装机械股份有限公司 | The palletizing apparatus of bottled water |
| CN109455529A (en) * | 2018-12-20 | 2019-03-12 | 青岛宝佳自动化设备有限公司 | A kind of high-precision Palletised carry system |
-
2019
- 2019-06-20 CN CN201910539114.6A patent/CN112110212B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5096369A (en) * | 1987-10-14 | 1992-03-17 | Ouellette Machinery Systems, Inc. | Pallet inspection and stacking apparatus |
| CN1295015A (en) * | 1999-11-05 | 2001-05-16 | 东洋实业株式会社 | Bike parts packaging element |
| JP2013043730A (en) * | 2011-08-23 | 2013-03-04 | Nissan Motor Co Ltd | Propping up device and propping up method of article including soft deformation object |
| CN104355112A (en) * | 2014-11-25 | 2015-02-18 | 青岛恒基泰机电科技有限公司 | Air-conditioner heat exchanger transfer machine |
| CN206202870U (en) * | 2016-11-04 | 2017-05-31 | 中包精力供应链管理江阴有限公司 | Wheel hub has enough to meet the need packaging pallet component |
| CN208135488U (en) * | 2018-03-29 | 2018-11-23 | 江苏新美星包装机械股份有限公司 | The palletizing apparatus of bottled water |
| CN109455529A (en) * | 2018-12-20 | 2019-03-12 | 青岛宝佳自动化设备有限公司 | A kind of high-precision Palletised carry system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112110212A (en) | 2020-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112110212B (en) | Automatic stacking system and method for aluminum wheels | |
| CN210682547U (en) | Cargo unstacking, conveying and loading system | |
| CN109747879B (en) | Fire extinguisher finished product vanning pile up neatly system | |
| CA2793834C (en) | Robotic automated storage and retrieval system mixed pallet build system | |
| JP7127830B2 (en) | Palletizer hand, palletizer system, and depalletizing/palletizing method | |
| JPH0611618B2 (en) | Article palletizing device | |
| CA2630133A1 (en) | Order picking system | |
| CN112758577B (en) | Multi-station storage, picking and stacking conveyor and stacking method | |
| CN111086811B (en) | Material box storage, sorting and warehouse-in and warehouse-out system | |
| CN110606307A (en) | Intelligent board bin board matching system and board matching method thereof | |
| CN110104428A (en) | A kind of film automatic sorting palletizing apparatus and method | |
| CN114313505B (en) | Film roll suspension packaging system | |
| CN110421542B (en) | Intelligent robot for loading and unloading box packages | |
| CN206395026U (en) | Movable type concentrates stacking pipeline | |
| CN113479609B (en) | Production line for assembling practical training equipment of conveyor | |
| CN210526962U (en) | Boxing and boxing production line | |
| CN210651606U (en) | Rear-view mirror shell letter sorting vanning transport line | |
| CN112623701A (en) | Lane marshalling stacking system and stacking method | |
| CN116253030A (en) | Automatic change package system | |
| CN103009675A (en) | Full-automatic carton double-side tape sticking machine | |
| CN214494748U (en) | Lane marshalling pile up neatly system | |
| CN112722657A (en) | Automatic loading and unloading method for goods of van truck | |
| CN212221317U (en) | Stereoscopic warehouse with article sorting device at top | |
| CN209988763U (en) | Loading system for batch box type goods | |
| CN219447559U (en) | Automatic change package system |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |