CN113277324A - Three-shaft stacker crane - Google Patents
Three-shaft stacker crane Download PDFInfo
- Publication number
- CN113277324A CN113277324A CN202110678796.6A CN202110678796A CN113277324A CN 113277324 A CN113277324 A CN 113277324A CN 202110678796 A CN202110678796 A CN 202110678796A CN 113277324 A CN113277324 A CN 113277324A
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- Prior art keywords
- paper
- piece
- driving
- pick
- article
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- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 238000000926 separation method Methods 0.000 claims description 35
- 230000007306 turnover Effects 0.000 claims description 17
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 239000012634 fragment Substances 0.000 claims 2
- 230000008094 contradictory effect Effects 0.000 claims 1
- 238000005192 partition Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 5
- 238000003780 insertion Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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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
- B65G57/00—Stacking of articles
- B65G57/005—Stacking of articles by using insertions or spacers between the stacked layers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention relates to the technical field of stacking, in particular to a three-shaft stacker crane which comprises a three-shaft driving mechanism, a body, a pickup mechanism and a paper pickup mechanism, wherein the pickup mechanism and the paper pickup mechanism are arranged on the body, the three-shaft driving mechanism is used for driving the body to move, the pickup mechanism is used for clamping articles, and the paper pickup mechanism is used for picking up paper partitions. The invention is provided with a pick-up mechanism and a paper pick-up mechanism, after the pick-up mechanism picks up the article, the palletizing robot picks up the article firstly and stacks the article on the tray for a layer, in the process of material preparation of the feeding unit, the paper separating is transferred to the palletizing station, and then the palletizing robot puts the paper separating on the article, thereby improving the efficiency and the safety.
Description
Technical Field
The invention relates to the technical field of stacking, in particular to a three-shaft stacker crane.
Background
At present, domestic books and periodicals are still in the condition of manual handling, and this work is difficult to reach the steady personnel, so the market urgently needs a equipment that can pile up neatly automatically and be used for replacing the manual work.
After printed, the books and periodicals are typically stacked together and then bundled or wrapped into stacks for shipping. The stacked blocks (mainly the upper and lower blocks) are separated by paper to improve the stability of the stack for transportation. However, all the existing palletizing devices in the market can only achieve the function of clamping objects, that is, when the palletizing devices are used, paper needs to be put manually, so that not only is the efficiency low, but also potential safety hazards are brought.
Disclosure of Invention
The invention provides a three-axis stacker crane aiming at the problems in the prior art, which can pick up articles and paper separation, thereby automatically completing the whole stacking action.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a three-axis stacker crane which comprises a three-axis driving mechanism, a body, a pickup mechanism and a paper pickup mechanism, wherein the pickup mechanism and the paper pickup mechanism are arranged on the body, the three-axis driving mechanism is used for driving the body to move, the pickup mechanism is used for clamping articles, and the paper pickup mechanism is used for picking up paper partitions.
Further, pick up a mechanism and include holding in the palm a structure, pick up a driving piece and setting element, hold in the palm a structure set up in the body, it is used for driving to pick up a driving piece the setting element is close to or keeps away from hold in the palm a structure, hold in the palm a structure and be used for holding article, the setting element is used for fixing article extremely hold in the palm a structure.
Furthermore, the supporting piece structure further comprises a supporting plate and a supporting piece driving piece, the supporting piece driving piece is used for driving the supporting plate to move back and forth, and the supporting plate is used for protruding to the bottom of the article and supporting the article.
Preferably, an insertion inclined surface is arranged at one end of the supporting plate far away from the tray driving part, and the insertion inclined surface is used for inserting the bottom of the article and guiding the article to the supporting plate.
Further, pick up paper mechanism including picking up paper driving piece and a plurality of first piece of absorbing, a plurality of pieces of absorbing all set up in the bottom of body, it is used for driving a plurality of first pieces of absorbing to go up and down to pick up the paper driving piece, and a plurality of pieces of absorbing all are used for and separate paper conflict.
Furthermore, the first suction piece comprises a suction cup and a relay, the bottom of the body is provided with a abdicating groove, and the suction cup is positioned in the body and extends out of the bottom of the body through the abdicating groove; the sucking disc is used for being externally connected with a negative pressure source through a relay.
Furthermore, pick up a mechanism and be provided with a plurality of holes of stepping down, the hole of stepping down is used for when picking up an article pick up a mechanism and step down first absorption piece.
Furthermore, the paper picking mechanism further comprises two extension structures which are respectively arranged on two sides of the body, each extension structure comprises a turnover part, an extension driving part and a plurality of second suction parts, the turnover part is rotatably arranged on the body, the extension driving parts are used for driving the turnover part to turn over, and the second suction parts are all arranged on the turnover part; when the turnover piece is turned to be parallel to the bottom of the body, the second suction piece is abutted to the separation paper.
Preferably, the extension structure still includes the sideslip structure, and the sideslip structure includes sideslip driving piece, sideslip piece and guide, and the guide sets up in the upset piece, and the sideslip driving piece is used for driving the sideslip piece and removes along the guide, and a plurality of second are inhaled the piece and all are set up in the sideslip piece.
More preferably, the number of the traverse moving structures is two, and the plurality of second suction pieces are respectively arranged on the traverse moving pieces of the two traverse moving structures; the two traverse driving members respectively drive the two traverse members to move in opposite directions to each other.
Furthermore, the turnover part is also provided with a paper pressing structure, the paper pressing structure comprises a paper pressing elastic sheet arranged on the turnover part and a paper pressing wheel rotatably arranged on the paper pressing elastic sheet, and the paper pressing wheel is used for abutting against the separation paper to limit the separation paper.
The invention has the beneficial effects that: the invention is provided with the pickup mechanism and the paper pickup mechanism, after the palletizing robot picks up the articles and fully stacks a layer on the tray, the paper separating is transferred to the palletizing station in the process of preparing materials by the feeding unit, and then the palletizing robot puts the paper separating on the articles, thereby improving the efficiency and the safety.
Drawings
FIG. 1 is a schematic view of the present invention
FIG. 2 is a schematic view of the present invention with the three-axis drive mechanism hidden.
FIG. 3 is a schematic view of the structure of the tray of the present invention.
Fig. 4 is a schematic view of an extended structure of the present invention.
Reference numerals: 1-triaxial driving mechanism, 2-body, 3-picking mechanism, 4-picking mechanism, 5-horizontal rotating mechanism, 21-abdicating groove, 31-supporting member structure, 32-picking driving member, 33-positioning member, 34-supporting plate, 35-supporting member driving member, 36-insertion inclined surface, 37-abdicating hole, 41-picking driving member, 42-first suction member, 43-suction cup, 44-relay, 45-extension structure, 46-traverse structure, 47-pressing structure, 451-turning member, 452-extension driving member, 453-second suction member, 461-traverse driving member, 462-traverse member, 463-guide member, 471-pressing elastic piece, 472-pressing wheel.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention. The present invention is described in detail below with reference to the attached drawings.
As shown in fig. 1 to 4, the three-axis stacker crane provided by the invention comprises a three-axis driving mechanism 1, a body 2, a picking mechanism 3 and a paper picking mechanism 4, wherein the picking mechanism 3 and the paper picking mechanism 4 are both arranged on the body 2, the three-axis driving mechanism 1 is used for driving the body 2 to move, the picking mechanism 3 is used for clamping an article, and the paper picking mechanism 4 is used for picking up a piece of paper.
In practical use, the three-axis driving mechanism 1 is used for driving the body 2 to move in six directions, namely up, down, left, right, front and back, and belongs to actions which can be realized by a conventional structure, so that excessive limitation is not performed on the actions; when stacking is needed, the three-axis driving mechanism 1 drives the body 2 to move to an article (such as a bundled book) position, the picking mechanism 3 clamps and holds the article, then the three-axis driving mechanism 1 drives the body 2 to move to a paper separation placing position, the paper separation mechanism 4 picks up the paper separation, and at the moment, the paper separation is positioned below the article; the body 2 is driven by the three-axis driving mechanism 1 to move to a stacking position, the paper separating mechanism 4 puts down the paper separating, and the pick-up mechanism 3 acts to place the object on the paper separating, so that one-time stacking action is realized; and the subsequent action is to place the next paper partition on the object and then place the next object on the next paper partition, thereby realizing the effect of automatic stacking.
In this embodiment, the pick-up mechanism 3 includes a tray structure 31, a pick-up driving element 32, and a positioning element 33, the tray structure 31 is disposed on the body 2, the pick-up driving element 32 is used for driving the positioning element 33 to approach or depart from the tray structure 31, the tray structure 31 is used for holding an article, and the positioning element 33 is used for fixing the article to the tray structure 31. The picking drive 32 is an electric or pneumatic cylinder. That is, when the article needs to be picked up, the supporting structure 31 extends out and supports the bottom of the article, and then the picking-up driving element 32 drives the positioning element 33 to descend, so that the positioning element 33 can collide with the article, and the bottom and the top of the article can be clamped by matching the positioning element 33 with the supporting structure 31.
Specifically, the tray structure 31 further includes a supporting plate 34 and a tray driving member 35, the tray driving member 35 is used for driving the supporting plate 34 to move back and forth, and the supporting plate 34 is used for protruding to the bottom of the article and supporting the article. In actual use, the holder driving member 35 is an electric cylinder or an air cylinder, that is, the supporting plate 34 is located at the bottom of the body 2 in different states; when the body 2 moves to one side of the object, the supporting plate 34 is driven by the supporting piece driving piece 35 to extend out, so that the supporting plate 34 moves to the bottom of the object and supports the object, and the effect of supporting the object is achieved.
Preferably, an end of the pallet 34 remote from the tray driving member 35 is provided with an insertion slope 36, and the insertion slope 36 is used for inserting the bottom of the article and guiding the article to the pallet 34. The inclined surface is used to allow the pallet 34 to be better inserted into the bottom of the article and move to the bottom of the article as the pallet 34 is pushed out until the article is completely held, avoiding damage to the surface of the article.
In this embodiment, the paper pick-up mechanism 4 includes a pick-up driving member 41 and a plurality of first suction members 42, the suction members are disposed at the bottom of the body 2, the pick-up driving member 41 is used for driving the first suction members 42 to ascend and descend, and the suction members are used for abutting against the separating paper.
In actual use, the first suction element 42 comprises a suction cup 43 and a relay 44, the bottom of the body 2 is provided with the abdicating groove 21, and the suction cup 43 is located in the body 2 and protrudes out of the bottom of the body 2 through the abdicating groove 21; the suction cup 43 is used for external connection with a negative pressure source through a relay 44. That is, after the suction cup 43 contacts with the paper separation, the relay 44 opens the channel between the suction cup 43 and the negative pressure source, so that the suction cup 43 can be filled with negative pressure gas to suck the paper separation, and the stability of picking up the paper separation is ensured.
Specifically, pick up a mechanism 3 and be provided with a plurality of holes of stepping down 37, the hole of stepping down 37 is used for when picking up article picking up a mechanism 3 to first absorption 42 step down. The abdicating hole 37 is arranged on the supporting plate 34, namely, after the supporting plate 34 is driven by the supporting piece driving piece 35 to extend out and support an object, the sucking disc 43 can be aligned with the abdicating hole 37, so that the sucking disc 43 can only descend to be contacted with the separation paper when the supporting plate 34 supports the object, and the supporting plate 34 can reset to put down the separation paper when the separation paper is put down and retracted into the body 2, thereby ensuring the effect of alternately taking and placing the object and the separation paper.
Specifically, the paper pickup mechanism 4 further includes two extension structures 45 respectively disposed on two sides of the main body 2, each extension structure 45 includes a turning member 451, an extension driving member 452, and a plurality of second suction members 453, the turning member 451 is rotatably disposed on the main body 2, the extension driving member 452 is configured to drive the turning member 451 to turn, and the plurality of second suction members 453 are disposed on the turning member 451; when the turning member 451 is turned to be parallel to the bottom of the body 2, the second suction member 453 abuts against the partition paper.
That is, the width of the paper separation sheet may be relatively large, and at this time, the paper separation sheet is not floated in the moving process and is not folded when being put down. According to the invention, the extension structures 45 are respectively arranged on the two sides of the body 2, and the extension structures 45 are matched with the first suction piece 42 to suck the separation paper, so that the separation paper is guaranteed to be picked up and transferred as flatly as possible. The turning member 451 is turned over to abut against the body 2 when the paper separation is not required to be picked up, so as to avoid collision with other structures.
In actual use, the extension driving member 452 is an electric cylinder or an air cylinder, and the structure of the second suction member 453 is substantially the same as that of the first suction member 42. That is, the paper pickup mechanism 4 operates as follows: when the separation paper needs to be picked up, the extension driving piece 452 drives the overturning piece 451 to overturn to a horizontal state, so that the second sucking piece 453 is firstly contacted with and sucked by the separation paper, and the first positioning of the separation paper is realized; then the picking driving element 41 drives the first suction element 42 to descend, so that the first suction element 42 descends to be abutted against the paper separation, the middle position of the paper separation is sucked, and the effect of keeping the paper separation flat is achieved.
Preferably, the extending structure 45 further includes a traverse structure 46, the traverse structure 46 includes a traverse driving member 461, a traverse member 462 and a guide member 463, the guide member 463 is provided to the reversing member 451, the traverse driving member 461 is used for driving the traverse member 462 to move along the guide member 463, and a plurality of second suction members 453 are provided to the traverse member 462. When the reversing member 451 is reversed to be horizontal, the traverse driving member 461 needs to drive the traverse member 462 to move forward/backward so that the suction position of the second suction member 453 is staggered with the suction position of the first suction member 42, so that the present invention can pick up the partition having a larger area.
In actual use, the number of the traverse mechanisms 46 is two, and the plurality of second suction members 453 are provided to the traverse members 462 of the two traverse mechanisms 46, respectively; the two traverse driving members 461 drive the two traverse members 462 to move in opposite directions, respectively.
That is, one extension structure 45 has two traverse structures 46, the guide pieces 463 of the two traverse structures 46 are parallel to each other, and the two traverse members 462 are opposite to each other, so that the two traverse structures can pick up the separation paper to move forwards and backwards respectively when needed, and the distribution of the second suction member 453 is wider, so as to pick up the separation paper with larger area.
In this embodiment. Can be provided with horizontal slewing mechanism 5 between this body 2 and the triaxial actuating mechanism 1, this horizontal slewing mechanism 5 is used for driving body 2 to carry out the level and rotates to can adjust the position of body 2, make more accurate to article and the picking up of separating paper.
Specifically, the turning member 451 is further provided with a paper pressing structure 47, the pressing structure 47 includes a paper pressing elastic piece 471 and a paper pressing wheel 472 rotatably disposed on the paper pressing elastic piece 471, that is, before the second absorbing member 453 absorbs the partition paper, the paper pressing wheel 472 presses the partition paper to prevent the partition paper from deforming; after the second suction member 453 loosens the paper separation, the turnover member 451 needs to be reset, and a certain adhesive force still exists between the paper separation and the second suction member 453 at the moment, and the paper separation is limited and cannot move along with the turnover of the turnover member 451 due to the arrangement of the paper pressing wheel 472, so that the smoothness of the paper separation is ensured; in addition, the arrangement of the paper pressing spring 471 is mainly used for preventing the paper separation from being broken due to the buffer formation after the pressing wheel 472 contacts the paper separation.
Although the present invention has been described with reference to the above preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A three-shaft stacker crane is characterized in that: including triaxial actuating mechanism, body, all set up in pick up a mechanism and pick up paper mechanism of body, triaxial actuating mechanism is used for the drive the body removes, pick up a mechanism and be used for pressing from both sides article, it is used for picking up at a distance from paper to pick up paper mechanism.
2. The three-axle palletizer according to claim 1, wherein: pick up a mechanism including holding in the palm a structure, picking up a driving piece and setting element, hold in the palm a structure set up in the body, pick up a driving piece and be used for the drive the setting element is close to or keeps away from hold in the palm a structure, hold in the palm a structure and be used for holding article, the setting element is used for fixing article extremely hold in the palm a structure.
3. The three-axle palletizer according to claim 2, wherein: the supporting piece structure further comprises a supporting plate and a supporting piece driving piece, the supporting piece driving piece is used for driving the supporting plate to move back and forth, and the supporting plate is used for protruding to the bottom of the article and supporting the article.
4. The three-axle palletizer according to claim 1, wherein: pick up paper mechanism including picking up paper driving piece and a plurality of first piece of absorbing, a plurality of pieces of absorbing all set up in the bottom of body, it is used for driving a plurality of first pieces of absorbing to go up and down to pick up the paper driving piece, and a plurality of pieces of absorbing all are used for and separate paper conflict.
5. The three-axle palletizer according to claim 4, wherein: the first suction piece comprises a sucker and a relay, the bottom of the body is provided with a abdication groove, and the sucker is positioned in the body and extends out of the bottom of the body through the abdication groove; the sucking disc is used for being externally connected with a negative pressure source through a relay.
6. The three-axle palletizer according to claim 4, wherein: pick up a mechanism and be provided with a plurality of holes of stepping down, the hole of stepping down is used for pick up a mechanism and step down first absorption piece when picking up article.
7. The three-axle palletizer according to claim 4, wherein: the paper picking mechanism further comprises two extension structures which are respectively arranged on two sides of the body, each extension structure comprises a turnover part, an extension driving part and a plurality of second suction parts, the turnover parts are rotatably arranged on the body, the extension driving parts are used for driving the turnover parts to turn over, and the second suction parts are all arranged on the turnover parts; when the turnover piece is turned to be parallel to the bottom of the body, the second suction piece is abutted to the separation paper.
8. The three-axle palletizer according to claim 7, wherein: the extension structure further comprises a transverse moving structure, the transverse moving structure comprises a transverse moving driving piece, a transverse moving piece and a guide piece, the guide piece is arranged on the overturning piece, the transverse moving driving piece is used for driving the transverse moving piece to move along the guide piece, and the second sucking pieces are arranged on the transverse moving piece.
9. The three-axle palletizer according to claim 8, wherein: the number of the transverse moving structures is two, and the plurality of second suction pieces are respectively arranged on the transverse moving pieces of the two transverse moving structures; the two traverse driving members respectively drive the two traverse members to move in opposite directions to each other.
10. The three-axle palletizer according to claim 7, wherein: the upset piece still is provided with presses the paper structure, presses the paper structure including setting up in the pressure paper shell fragment of upset piece and rotate and set up in the pressure paper wheel of pressing the paper shell fragment, presses the paper wheel and is used for contradicting in order to realize spacing to separating paper with separating paper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110678796.6A CN113277324A (en) | 2021-06-18 | 2021-06-18 | Three-shaft stacker crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110678796.6A CN113277324A (en) | 2021-06-18 | 2021-06-18 | Three-shaft stacker crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113277324A true CN113277324A (en) | 2021-08-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110678796.6A Pending CN113277324A (en) | 2021-06-18 | 2021-06-18 | Three-shaft stacker crane |
Country Status (1)
| Country | Link |
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| CN (1) | CN113277324A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115465711A (en) * | 2022-08-31 | 2022-12-13 | 东莞市麦高科技有限公司 | Automatic stacking equipment |
| CN115535631A (en) * | 2022-08-31 | 2022-12-30 | 东莞市麦高科技有限公司 | Stacking robot and material taking and placing method thereof |
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|---|---|---|---|---|
| US4787810A (en) * | 1987-09-04 | 1988-11-29 | Cawley Wesley D | Method and apparatus for handling stacks of loose sheet material |
| JPH1025094A (en) * | 1996-07-09 | 1998-01-27 | Mitsubishi Heavy Ind Ltd | Clawler type fork lift with tuning function |
| WO2018105824A1 (en) * | 2016-12-06 | 2018-06-14 | 주식회사 오토파워 | Automatic fpcb sorting apparatus |
| CN207580905U (en) * | 2017-11-16 | 2018-07-06 | 刘涛宁 | A kind of books palletizing mechanical arm |
| CN111453439A (en) * | 2020-04-21 | 2020-07-28 | 深圳市安耐节科技有限公司 | Stacking machine |
| CN112938508A (en) * | 2021-03-06 | 2021-06-11 | 常熟控捷智能科技有限公司 | Stable and efficient stacker crane and using method thereof |
| CN214878547U (en) * | 2021-06-18 | 2021-11-26 | 东莞市迈高自动化机械有限公司 | Three-shaft stacker crane |
-
2021
- 2021-06-18 CN CN202110678796.6A patent/CN113277324A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4787810A (en) * | 1987-09-04 | 1988-11-29 | Cawley Wesley D | Method and apparatus for handling stacks of loose sheet material |
| JPH1025094A (en) * | 1996-07-09 | 1998-01-27 | Mitsubishi Heavy Ind Ltd | Clawler type fork lift with tuning function |
| WO2018105824A1 (en) * | 2016-12-06 | 2018-06-14 | 주식회사 오토파워 | Automatic fpcb sorting apparatus |
| CN207580905U (en) * | 2017-11-16 | 2018-07-06 | 刘涛宁 | A kind of books palletizing mechanical arm |
| CN111453439A (en) * | 2020-04-21 | 2020-07-28 | 深圳市安耐节科技有限公司 | Stacking machine |
| CN112938508A (en) * | 2021-03-06 | 2021-06-11 | 常熟控捷智能科技有限公司 | Stable and efficient stacker crane and using method thereof |
| CN214878547U (en) * | 2021-06-18 | 2021-11-26 | 东莞市迈高自动化机械有限公司 | Three-shaft stacker crane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115465711A (en) * | 2022-08-31 | 2022-12-13 | 东莞市麦高科技有限公司 | Automatic stacking equipment |
| CN115535631A (en) * | 2022-08-31 | 2022-12-30 | 东莞市麦高科技有限公司 | Stacking robot and material taking and placing method thereof |
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