CN112407717A - Automatic device of getting of material dish - Google Patents
Automatic device of getting of material dish Download PDFInfo
- Publication number
- CN112407717A CN112407717A CN202011185623.2A CN202011185623A CN112407717A CN 112407717 A CN112407717 A CN 112407717A CN 202011185623 A CN202011185623 A CN 202011185623A CN 112407717 A CN112407717 A CN 112407717A
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- tray
- lifting platform
- placing
- material tray
- placing bin
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- 239000000463 material Substances 0.000 title claims abstract description 125
- 230000005540 biological transmission Effects 0.000 claims description 12
- 239000013307 optical fiber Substances 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005476 soldering Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an automatic material tray taking and placing device which comprises a tray placing bin and a tray taking module, wherein a plurality of drawer grooves are arranged in the tray placing bin in an up-down sequence, and a material tray can be transversely moved into or out of the drawer grooves; the tray taking module comprises a vertical guide rail and a lifting platform, the lifting platform is guided by the vertical guide rail to vertically lift and move, and the lifting platform can be positioned and stopped at a position opposite to the height of the drawer groove; when the height of the lifting platform is opposite to a certain drawer groove, a translation device arranged on the lifting platform drives a push-pull device to move to the position below a material disc, the push-pull device hooks the material disc, the translation device drives the material disc to move out of a disc placing bin and reach the position above the lifting platform, the material disc is exposed outside at the moment, placed parts can be grabbed through equipment such as an external mechanical arm, and after the parts are taken out, the push-pull device hooks the material disc, and the material disc is driven by the translation device to reversely move into the disc placing bin again; the automatic material tray taking and placing device can achieve automatic material tray taking and placing operation and reduce manpower.
Description
Technical Field
The invention relates to the technical field of material supply, in particular to an automatic material tray taking and placing device.
Background
Surface Mount Technology (SMT) is a new generation of electronic assembly technology developed from hybrid integrated circuit technology, and adopts component surface Mount technology and reflow soldering technology, and the SMT production line mainly includes: printing machine, chip mounter (upper surface electronic component), reflow soldering, plug-in components, wave crest furnace, test package. The wide application of SMT promotes the miniaturization and the multifunctionalization of electronic products, and provides conditions for mass production and low defect rate production.
SMT production scene part comes to expect the mode that most part was expected for the Tray dish, places corresponding part on every Tray dish, and traditional material loading mode needs artifical transportation and classification, snatchs by manipulator goods gripper jaw again, need be with the help of a large amount of manual operation, and the amount of labour is big and easily make mistakes.
For those skilled in the art, how to automatically realize the pick-and-place of the Tray is a technical problem to be solved at present.
Disclosure of Invention
The invention provides an automatic material tray taking and placing device, which can automatically take and place a material tray, realize automatic feeding and reduce manpower use, and has the following specific scheme:
an automatic material tray taking and placing device comprises a tray placing bin and a tray taking module, wherein a plurality of drawer grooves are arranged in the tray placing bin in an up-down sequence, are transversely arranged and are used for supporting and guiding a material tray;
the tray taking module comprises a vertical guide rail and a lifting platform, the lifting platform is guided by the vertical guide rail to vertically lift and move, and the lifting platform can be positioned and stopped at a position opposite to the height of the drawer groove;
the lifting platform is provided with a translation device and a push-pull device, the translation device drives the push-pull device to translate transversely, and the push-pull device can hook or release a material tray;
when the push-pull device hooks the material tray, the translation device drives the material tray to move out of or into the tray placing bin.
Optionally, the lifting platform further comprises a screw rod arranged in parallel with the vertical guide rail, and the lifting platform is driven to move up and down through the screw rod.
Optionally, the translation device is a rodless cylinder disposed on the lifting platform;
the upper surface of the lifting platform is convexly provided with a supporting frame for supporting the material tray.
Optionally, the push-pull device comprises a translation support, an air cylinder is installed on the translation support, a rotating seat is installed on the translation support in a rotating mode, the rotating seat is driven to rotate through the stretching of the air cylinder, a pull rod is arranged on the rotating seat, and the pull rod can be clamped into a groove formed in the lower portion of the material tray.
Optionally, the tray placing bin is close to two vertical edges of the side surface of the tray taking module, two limiting front stop levers are vertically arranged, the upper surface and the lower surface of the tray placing bin are respectively provided with a transmission rod in a rotating mode, one end of the transmission rod is connected with the limiting front stop levers, the other end of the transmission rod is driven by a telescopic cylinder to rotate, and the limiting front stop levers are enabled to be opposite to the materials in the tray placing bin and stop limiting or unblocking.
Optionally, two vertical edges of the side surface of the tray placing bin far away from the tray taking module are provided with limiting rear stop levers, the limiting rear stop levers are rotatably installed on the support fixedly arranged on the upper surface and the lower surface of the tray placing bin, and the limiting rear stop levers can rotate to limit the material tray within the range of the tray placing bin.
Optionally, optical fiber detectors are installed on two inner side walls of the tray placing bin and used for detecting whether material trays are placed in the drawer grooves corresponding to the layers.
Optionally, a camera sensor is arranged above the tray taking module and used for detecting whether a material tray on the lifting platform contains material.
Optionally, the tray placing bin and the tray taking module are installed in a frame assembly, and casters are arranged at the bottom of the frame assembly.
The invention provides an automatic material tray taking and placing device, which comprises a tray placing bin and a tray taking module, wherein a plurality of drawer grooves are arranged in the tray placing bin in an up-down sequence, the drawer grooves are transversely arranged and used for supporting and guiding a material tray, and the material tray can be transversely moved into or out of the drawer grooves; the tray taking module comprises a vertical guide rail and a lifting platform, the lifting platform is guided by the vertical guide rail to vertically lift and move, and the lifting platform can be positioned and stopped at a position opposite to the height of the drawer groove; when the height of the lifting platform is opposite to a certain drawer groove, a translation device arranged on the lifting platform drives a push-pull device to move to the position below a material disc, the push-pull device hooks the material disc, the translation device drives the material disc to move out of a disc placing bin and reach the position above the lifting platform, the material disc is exposed outside at the moment, placed parts can be grabbed through equipment such as an external mechanical arm, and after the parts are taken out, the push-pull device hooks the material disc, and the material disc is driven by the translation device to reversely move into the disc placing bin again; by adopting the automatic material tray taking and placing device provided by the invention, the automatic material tray taking and placing operation can be realized, and the manpower use is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1A and fig. 1B are isometric views of two different viewing angles of the automatic material tray taking and placing device provided by the invention respectively;
FIG. 1C is an enlarged view of a portion A of FIG. 1A;
FIG. 1D is an enlarged view of a portion B of FIG. 1B;
FIG. 2A is a schematic structural view of a material tray placed in the tray placing bin;
FIG. 2B is a schematic structural view of the tray placing bin;
FIG. 2C is an enlarged view of a portion C of FIG. 2A;
FIGS. 3A and 3B are schematic axial views of the pick-up module at two different viewing angles, respectively;
FIG. 3C is a schematic view of the lifting platform and the components mounted thereon;
FIG. 4A is an isometric view of the push-pull device;
figures 4B and 4C are top and side views, respectively, of the push-pull device.
The figure includes:
the tray placing device comprises a tray placing bin 1, a drawer groove 11, a limiting front stop lever 12, a transmission rod 13, a telescopic cylinder 14, a limiting rear stop lever 15, a tray taking module 2, a vertical guide rail 21, a lifting platform 22, a translation device 23, a push-pull device 24, a cylinder 241, a rotating seat 242, a pull rod 243, a translation support 244, a screw rod 25 and a support frame 26.
Detailed Description
The core of the invention is to provide an automatic material tray taking and placing device, which can automatically take and place a material tray, realize automatic feeding and reduce the manpower use.
In order to make those skilled in the art better understand the technical solution of the present invention, the automatic material tray taking and placing device of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1A and fig. 1B, the two views are respectively isometric views of the automatic material tray taking and placing device provided by the invention; the automatic material Tray taking and placing device comprises a Tray placing bin 1 and a Tray taking module 2, as shown in fig. 2A, the automatic material Tray taking and placing device is a schematic structural diagram for placing material trays in the Tray placing bin 1, and X in the diagram shows the material Tray inserted in the automatic material Tray taking and placing device, namely a Tray; fig. 2B is a schematic structural view of the tray placing bin 1; put and arrange a plurality of drawer grooves 11 according to upper and lower order in the storehouse 1, drawer groove 11 is horizontal setting for bearing and direction material dish, every layer of drawer groove 11 all sets up along transversely, and the material dish can slide along the length direction in drawer groove 11, and immigration or shift out put storehouse 1, can place multilayer material dish in putting storehouse 1 wholly, all can place corresponding material on every layer of material dish.
As shown in fig. 3A and 3B, two axial views of the disk-taking module 2 are shown respectively; the tray taking module 2 comprises a vertical guide rail 21 and a lifting platform 22, the vertical guide rail 21 plays a guiding role, the lifting platform 22 is guided by the vertical guide rail 21 to vertically lift and move, and the lifting platform 22 can be positioned and stopped at a position corresponding to the height of the drawer groove 11; the lifting platform 22 is driven by the corresponding driving device to move up and down, and the operation of taking and placing the material tray can be completed when the material tray stays at a specific position.
Specifically, a translation device 23 and a push-pull device 24 are arranged on the lifting platform 22, the translation device 23 drives the push-pull device 24 to transversely translate, the driving direction of the translation device 23 is parallel to the surface of the lifting platform 22, and the push-pull device 24 can move close to or far away from the disc storage bin 1 in a translation mode.
The push-pull device 24 can hook or release the material tray, and the translation device 23 drives the material tray to move out of or into the tray placing bin 1. When the material tray needs to be pulled out, the translation device 23 drives the push-pull device 24 to move towards the tray placing bin 1, the push-pull device 24 hooks the material tray, when the push-pull device 24 hooks the material tray, the push-pull device 24 and the material tray synchronously move, the translation device 23 drives the push-pull device 24 to be far away from the tray placing bin 1, the material tray can be pulled out to reach the upper part of the lifting platform 22, the upper part of the pulled material tray is exposed outside at the moment, and materials such as parts and the like placed on the material tray can be grabbed through equipment such as an external mechanical arm and the like; when the material is grabbed, the lifting platform 22 drives the material tray to move upwards to the highest position so as to be grabbed by the mechanical arm; when the parts on the material tray are grabbed completely or other material trays need to be replaced, the push-pull device 24 reversely pushes the material tray into the tray bin 1.
When the tray is used, corresponding parts are placed on each layer of material trays in the tray placing bin 1, the lifting platform 22 moves up and down and stops after reaching a proper height, the push-pull device 24 is driven by the translation device 23 to move towards the tray placing bin 1 at the moment, the push-pull device 24 reaches the position below the required material tray, the material tray is hooked by the push-pull device 24 at the moment, the translation device 23 drives the push-pull device 24 to move reversely, the material tray is moved out of the tray placing bin 1 to be exposed outside, the material tray is driven by the lifting platform 22 to move to the upper position, and the parts placed on the material tray can be grabbed; after the gripping is completed, the material tray is pushed into the tray placing bin 1 again in the reverse order.
By adopting the automatic material tray taking and placing device, the required parts are placed in the corresponding material trays in advance, and the subsequent material tray taking and placing processes are automatically completed by the mechanical device without human participation, so that the automation degree is improved, and the manpower use is reduced.
On the basis of the scheme, the lifting platform further comprises a screw rod 25 which is arranged in parallel with the vertical guide rail 21, the lifting platform 22 is driven to move up and down through the screw rod 25, one end of the screw rod 25 is driven to rotate through a motor, the screw rod 25 is in threaded fit with the lifting platform 22, the lifting platform 22 can be kept at a specific height position through accurately controlling the reaching height of the lifting platform 25, and meanwhile, the screw rod 25 can be kept self-locked when stopping rotating.
Specifically, as shown in fig. 3C, which is a schematic structural view of the lifting platform 22 and the mounting components thereon, the push-pull device 24 is shown in two different positions; the translation device 23 in the invention is a rodless cylinder arranged on the lifting platform 22, and the rodless cylinder is adopted to reduce the space occupation. The upper surface protrusion of lift platform 22 sets up the support frame 26 that is used for bearing the material dish, and support frame 26 is fixed at lift platform 22's upper surface, and the length direction of support frame 26 is parallel with the length direction of translation device 23, provides the support to the material dish of taking out from both sides respectively, makes the material dish remain stable.
On the basis of any of the above technical solutions and their combinations, as shown in fig. 4A, it is an axonometric view of the push-pull device 24, and fig. 4B and 4C are a top view and a side view of the push-pull device 24, respectively; the push-pull device 24 comprises a translation support 244, wherein an air cylinder 241 is arranged on the translation support 244 and supports the air cylinder 241; the rotating seat 242 is rotatably mounted on the translation support 244, the middle part of the rotating seat 242 is connected with the translation support 244 through a rotating shaft, and the rotating seat 242 rotates around the rotating shaft relative to the translation support 244; the telescopic rod of the cylinder 241 is connected to one end of the rotary seat 242, and the rotary seat 242 is driven to rotate by the telescopic rod of the cylinder 241. The rotating seat 242 is provided with a pull rod 243, the connection points of the pull rod 243 and the air cylinder 241 are respectively positioned at two sides of the rotating shaft of the rotating seat 242, when the air cylinder 241 pushes and pulls one end of the rotating seat 242, the pull rod 243 positioned at the other end of the rotating seat 242 rotates relatively, and the pull rod 243 can be clamped into a groove arranged at the lower part of the material tray; as shown in fig. 4C, the pull rod 243 is driven by the cylinder 241 to rotate clockwise or counterclockwise along the arrow direction, and the pull rod 243 can be clamped into a groove formed at the lower part of the material tray in the illustrated state; as shown in fig. 2C, which is a partial enlarged view of a portion C in fig. 2A, wherein X represents each tray, Y represents a groove at the lower portion of the tray, into which the pull rod 243 can be snapped in the state shown in fig. 4C, and when unlocking is required, the pull rod 243 is rotated 90 degrees counterclockwise, and the pull rod 243 is no longer snapped into the groove.
Limiting front stop levers 12 are arranged at two vertical edges of the side surface of the tray placing bin 1 close to the tray taking module 2, as shown in fig. 1C, which is a partial enlarged view of a part a in fig. 1A, wherein the limiting front stop levers 12 and a driving structure thereof are shown; the two limiting front stop levers 12 are vertically arranged, and the limiting front stop levers 12 are respectively arranged at two sides of the side surface of the tray placing bin 1 facing the tray taking module 2, close to the edges, and can be close to the side surface so as to block a material tray in the tray placing bin 1; the upper surface and the lower surface of the tray placing bin 1 are respectively and rotatably provided with a transmission rod 13, the middle part of the transmission rod 13 is rotatably connected with the tray placing bin 1, and the rotating shaft is vertically arranged; one end of the transmission rod 13 is connected with the stop lever 12 before limiting, the other end of the transmission rod is driven to rotate by the telescopic rod of the telescopic cylinder 14, the transmission rod 13 rotates to drive the stop lever 12 before limiting to do circular arc motion, the stop lever 12 before limiting stops limiting or unblocks materials in the plate placing bin 1, the material plate is prevented from moving out when the stop lever 12 before limiting rotates to the side face close to the plate placing bin 1, and the material plate is prevented from moving out when the stop lever 12 before limiting rotates out of the range of the plate placing bin 1.
During operation, when the tray taking module 2 takes out the material tray, the front limit stop lever 12 is opened to release the block, and after the tray taking is completed, the front limit stop lever 12 limits the block again to prevent other material trays from sliding out due to inclination and the like.
Two vertical edges of the side surface of the plate placing bin 1 far away from the plate taking module 2 are provided with a limiting rear stop lever 15, as shown in fig. 1D, which is a partial enlarged view of the part B in fig. 1B, the rear limit stop lever 15 is rotatably mounted on the support fixedly disposed on the upper surface and the lower surface of the material placing bin 1, the rear limit stop lever 15 can rotate to limit the material tray within the range of the material placing bin 1, the whole rear limit stop lever 15 is shaped like Contraband, the main body is a vertical straight lever, the two ends of the vertical straight lever are respectively and vertically disposed with a horizontal cross bar, the horizontal cross bar is rotatably connected with the support, the function of the rear limit stop lever 15 is similar to that of the front limit stop lever 12, and both the rear limit stop lever 15 and the front limit stop lever are used, but the limit stop lever 15 is located on the side facing the worker, and thus may take the form of a manual operation, when manual feeding is needed, the limiting rear stop lever 15 is opened, and the limiting rear stop lever 15 is closed after the manual feeding is completed.
Preferably, the optical fiber detectors are installed on two inner side walls of the tray placing bin 1, at least one group of optical fiber detectors are correspondingly arranged in each layer of drawer grooves 11, whether the material trays are placed in the drawer grooves 11 corresponding to each layer is detected through the optical fiber detectors, and the control system judges whether the material trays are stored in the corresponding drawer grooves 11 according to detection signals of the optical fiber detectors and displays the material trays to an operator.
Preferably, the camera sensor is arranged above the tray taking module 2, and is used for detecting whether a material tray on the lifting platform 22 has material or not, and sending a signal when all parts in the material tray are taken out, so that the material tray is placed back in the drawer groove 11 of the tray bin 1, wherein the material tray is not placed.
Furthermore, the tray placing bin 1 and the tray taking module 2 are arranged in the frame assembly, the bottom of the frame assembly is provided with the trundles, and the tray placing bin 1 and the tray taking module 2 can be integrally moved, so that the flexibility is improved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The automatic material tray taking and placing device is characterized by comprising a tray placing bin (1) and a tray taking module (2), wherein a plurality of drawer grooves (11) are arranged in the tray placing bin (1) in an up-down sequence, and the drawer grooves (11) are transversely arranged and used for supporting and guiding a material tray;
the tray taking module (2) comprises a vertical guide rail (21) and a lifting platform (22), the lifting platform (22) is guided by the vertical guide rail (21) to vertically lift and move, and the lifting platform (22) can be positioned and stopped at a position opposite to the height of the drawer groove (11);
the lifting platform (22) is provided with a translation device (23) and a push-pull device (24), the translation device (23) drives the push-pull device (24) to translate transversely, and the push-pull device (24) can hook or release a material tray;
when the push-pull device (24) hooks the material tray, the translation device (23) drives the material tray to move out or into the tray placing bin (1).
2. The automatic material tray taking and placing device according to claim 1, further comprising a screw rod (25) arranged in parallel with the vertical guide rail (21), wherein the lifting platform (22) is driven to move up and down through the screw rod (25).
3. The automatic material tray taking and placing device according to claim 2, characterized in that the translation device (23) is a rodless cylinder arranged on the lifting platform (22);
and a support frame (26) for supporting the material tray is arranged on the upper surface of the lifting platform (22) in a protruding mode.
4. The automatic material tray taking and placing device according to any one of claims 1 to 3, wherein the pushing and pulling device (24) comprises a translation support (244), an air cylinder (241) is mounted on the translation support (244), a rotating seat (242) is rotatably mounted on the translation support (244), the rotating seat (242) is driven to rotate by the extension and contraction of the air cylinder (241), a pull rod (243) is arranged on the rotating seat (242), and the pull rod (243) can be clamped into a groove arranged at the lower part of the material tray.
5. The automatic material tray taking and placing device according to claim 4, wherein two limiting front stop rods (12) are arranged at two vertical edges of the side face of the tray placing bin (1) close to the tray taking module (2), the two limiting front stop rods (12) are vertically arranged, transmission rods (13) are respectively and rotatably arranged on the upper surface and the lower surface of the tray placing bin (1), one end of each transmission rod (13) is connected with the corresponding limiting front stop rod (12), and the other end of each transmission rod is driven to rotate by a telescopic cylinder (14), so that the limiting front stop rods (12) block materials in the tray placing bin (1) in a limiting or unblocking mode.
6. The automatic material tray taking and placing device according to claim 4, wherein two vertical edges of the side face, far away from the tray taking module (2), of the tray placing bin (1) are provided with limiting rear stop levers (15), the limiting rear stop levers (15) are rotatably mounted on supports fixedly arranged on the upper surface and the lower surface of the tray placing bin (1), and the limiting rear stop levers (15) can rotate to limit the material tray within the range of the tray placing bin (1).
7. The automatic material tray taking and placing device according to claim 4, wherein optical fiber detectors are mounted on two inner side walls of the tray placing bin (1) and used for detecting whether material trays are placed in the drawer grooves (11) of corresponding layers.
8. The automatic material tray taking and placing device according to claim 4, wherein a camera sensor is arranged above the tray taking module (2) and used for detecting whether the material tray on the lifting platform (22) is filled with materials or not.
9. The automatic material tray taking and placing device according to claim 4, wherein the tray placing bin (1) and the tray taking module (2) are installed in a frame assembly, and casters are arranged at the bottom of the frame assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011185623.2A CN112407717B (en) | 2020-10-29 | 2020-10-29 | Automatic device of getting of material dish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011185623.2A CN112407717B (en) | 2020-10-29 | 2020-10-29 | Automatic device of getting of material dish |
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| Publication Number | Publication Date |
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| CN112407717A true CN112407717A (en) | 2021-02-26 |
| CN112407717B CN112407717B (en) | 2022-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011185623.2A Active CN112407717B (en) | 2020-10-29 | 2020-10-29 | Automatic device of getting of material dish |
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| CN113625163A (en) * | 2021-07-12 | 2021-11-09 | 杭州沃镭智能科技股份有限公司 | Booster test equipment |
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| CN114333152A (en) * | 2021-11-22 | 2022-04-12 | 清华大学 | Production method of customized building blocks and vending machine |
| CN114644233A (en) * | 2022-03-23 | 2022-06-21 | 东莞市锐翔测控技术有限公司 | Intelligent batching equipment |
| CN117208452A (en) * | 2023-10-25 | 2023-12-12 | 盛吉盛智能装备(江苏)有限公司 | Multi-class layered material storage device and multi-class layered material storage method |
| CN117208452B (en) * | 2023-10-25 | 2024-06-07 | 盛吉盛智能装备(江苏)有限公司 | Multi-class layered material storage device and multi-class layered material storage method |
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