CN113697360B - Sheet carrying device with flexible traction winding advancing mode - Google Patents

Sheet carrying device with flexible traction winding advancing mode Download PDF

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Publication number
CN113697360B
CN113697360B CN202111260177.1A CN202111260177A CN113697360B CN 113697360 B CN113697360 B CN 113697360B CN 202111260177 A CN202111260177 A CN 202111260177A CN 113697360 B CN113697360 B CN 113697360B
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China
Prior art keywords
plate
elliptical
roller
thin plate
loading
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CN202111260177.1A
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CN113697360A (en
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班书昊
李晓艳
何云松
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Liyang Chang Technology Transfer Center Co ltd
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Liyang Chang Technology Transfer Center Co ltd
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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
    • B65G13/00—Roller-ways
    • 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
    • B65G13/00—Roller-ways
    • B65G13/02—Roller-ways having driven rollers
    • B65G13/06—Roller driving means
    • 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
    • B65G13/00—Roller-ways
    • B65G13/11—Roller frames
    • 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
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/02—Adaptations of individual rollers and supports therefor
    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/007—Means for moving conveyor frames and control arrangements therefor
    • B65G41/008—Means for moving conveyor frames and control arrangements therefor frames mounted on wheels or caterpillar
    • 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
    • B65G2201/0214—Articles of special size, shape or weigh
    • B65G2201/022—Flat

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

The invention discloses a thin plate conveying device with a flexible traction winding advancing mode, and belongs to the technical field of thin plate conveying devices. The device comprises a moving trolley, a lifting support frame, a thin plate loading mechanism, a thin plate unloading mechanism, a thin plate pressure distribution mechanism and a traction driving power source, wherein the thin plate loading mechanism is used for wavedly drawing a thin plate to the lifting support frame; the thin plate pressure distribution mechanism is used for adjusting the pressure values of the thin plate loading mechanism and the thin plate unloading mechanism to the thin plate, so that different contact positions of the thin plate in the moving direction have different contact pressures. The invention is a thin plate conveying device which has reasonable structure, utilizes the elliptical rollers to generate wave height for the thin plate, then flexibly pulls the thin plate to move forwards in a winding way, can reduce the bending deformation and the bending internal force of the thin plate, and can quickly load and unload the thin plate.

Description

Sheet carrying device with flexible traction winding advancing mode
Technical Field
The invention mainly relates to the technical field of thin plate conveying devices, in particular to a thin plate conveying device with a flexible traction winding advancing mode.
Background
The transportation of aluminum alloy plates, particularly thin plates, is an essential process in the working procedures of thin plate stamping, cutting, punching and the like. The prior art sheet handling mostly relies on manual handling by multiple workers to effect sheet transport between two locations. The manual carrying thin plate in the prior art realizes the carrying function, but still has the following defects: first, a plurality of workers are required to convey one sheet, resulting in a large amount of labor and low work efficiency in conveying the sheet; secondly, the sheet is easy to bend and deform during the sheet conveying process, and particularly the bending deformation is more obvious during the sheet conveying starting and stopping actions, and the bending deformation causes certain risks for a conveyor. Therefore, there is a need to design an automatic thin plate conveying device capable of reducing the complete deformation of the thin plate and quickly conveying the thin plate.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides the thin plate conveying device which is reasonable in structure, utilizes the elliptical rollers to enable the thin plate to generate wave-shaped height, then flexibly pulls the thin plate to move forwards in a winding manner, can reduce bending deformation and bending internal force of the thin plate, and can quickly load and unload the thin plate.
In order to solve the problems, the solution proposed by the invention is as follows: a sheet carrying device with a flexible traction winding advancing mode comprises a moving trolley and a lifting support frame arranged on the moving trolley.
Lifting support frame includes along the vertical direction slide and installs lifting slide on the travelling car, with lifting slide is fixed continuous bears the frame, and the fixed U type lower roll frame of bearing on the frame adopts the jib to rotate and installs bear the U type upper roll frame on the frame, the drive lifting slide up-and-down motion's lift power supply, drive U type upper roll frame is for U type lower roll frame pivoted rotation power supply, four upper shoe, four lower sliders, two lower slide bars, two upper rotating frames, two lower rotating frames, and two rotating frame motors.
Two upper sliding blocks are arranged on an arm rod on one side of the U-shaped upper roller frame in a sliding mode, and the other two upper sliding blocks are arranged on an arm rod on the other side of the U-shaped upper roller frame in a sliding mode; two lower sliding blocks are arranged on an arm rod on one side of the U-shaped lower roller frame in a sliding mode, and the other two lower sliding blocks are arranged on an arm rod on the other side of the U-shaped lower roller frame in a sliding mode; the four upper sliding blocks are respectively positioned right above the four lower sliding blocks; the two lower sliding rods are respectively installed on the two side arm rods of the U-shaped lower roller frame in a sliding mode, and the two upper sliding rods are respectively installed on the two side arm rods of the U-shaped upper roller frame in a sliding mode; two go up the rotating turret and rotate respectively and install two the right-hand member of upper sliding rod, two the lower rotating turret rotates respectively and installs two the right-hand member of lower sliding rod, two the rotating turret motor drives two lower rotating turrets respectively and rotates for two lower sliding rods.
The device also comprises a thin plate loading mechanism, a thin plate unloading mechanism, a thin plate pressure distribution mechanism and a traction driving power source which are arranged between the U-shaped upper roller frame and the U-shaped lower roller frame.
The thin plate loading mechanism is arranged between the upper sliding block and the lower sliding block and is used for drawing a thin plate to the lifting support frame in a wave mode; the thin plate unloading mechanism is arranged between the upper rotating frame and the lower rotating frame and used for unloading the thin plate from the lifting support frame to a target platform in a wave-type traction manner; the thin plate pressure distribution mechanism is used for adjusting the pressure values of the thin plate loading mechanism and the thin plate unloading mechanism to the thin plate so that different contact positions of the thin plate along the movement direction have different contact pressures; and the traction driving power source is used for driving the thin plate loading mechanism and the thin plate unloading mechanism to move forwards or backwards along the moving direction of the thin plate.
Further, the thin plate pressure distribution mechanism consists of four plate loading pressure locking mechanisms with completely same structures and two plate unloading pressure locking mechanisms with completely same structures; the four plate loading pressure locking mechanisms are respectively arranged between the four upper sliding blocks and the four lower sliding blocks, and the two plate unloading pressure locking mechanisms are respectively arranged between the two lower rotating frames and the two upper rotating frames; the plate mounting pressure locking mechanism comprises a fixed sleeve rod A fixedly arranged on the lower sliding block along the vertical direction, a lifting sliding rod A arranged on the fixed sleeve rod A in a sliding manner along the vertical direction, a pressure locking spring A sleeved on the lifting sliding rod A and a lifting shaft plate A arranged on the lifting sliding rod A in a sliding manner; the upper end of the lifting sliding rod A is hinged with the upper sliding block right above, and two ends of the pressure locking spring A are respectively connected with the upper sliding block right above and the lifting shaft plate A right below; the plate unloading pressure locking mechanism comprises a fixed sleeve rod B fixedly arranged on the lower rotating frame along the vertical direction, a lifting sliding rod B arranged on the fixed sleeve rod B in a sliding manner along the vertical direction, a pressure locking spring B sleeved on the lifting sliding rod B, and a lifting shaft plate B arranged on the lifting sliding rod B in a sliding manner; the upper end of the lifting sliding rod B is hinged with the upper rotating frame right above, and two ends of the pressure locking spring B are respectively connected with the upper rotating frame right above and the lifting shaft plate B right below; the upper end of the thin plate loading mechanism is connected with the lifting shaft plate A, and the lower end of the thin plate loading mechanism is connected with the lower sliding block; the upper end of the thin plate unloading mechanism is connected with the lifting shaft plate B, and the lower end of the thin plate unloading mechanism is connected with the lower rotating frame.
The thin plate loading mechanism comprises a plate loading elliptical roller assembly A and a plate loading elliptical roller assembly B, the plate loading elliptical roller assembly A and the plate loading elliptical roller assembly B are completely identical in structure and respectively comprise a plate loading lower roller rotating shaft arranged in parallel to a middle arm rod of the U-shaped lower roller frame along the horizontal direction, a plate loading upper roller rotating shaft arranged in parallel to the plate loading lower roller rotating shaft, five plate loading elliptical rollers with completely identical structures, a cylindrical gear A fixedly arranged on the plate loading lower roller rotating shaft, a cylindrical gear B fixedly arranged on the plate loading upper roller rotating shaft and meshed with the cylindrical gear A, and a plate loading roller driving motor with an output shaft connected with one end of the plate loading lower roller rotating shaft; the lower roll shaft of the plate loading in the plate loading elliptical roller assembly A is rotatably arranged between two lower slide blocks, and the lower roll shaft of the plate loading in the plate loading elliptical roller assembly B is rotatably arranged between the other two lower slide blocks; and two ends of a plate loading upper roller rotating shaft in the plate loading elliptical roller assembly A are rotatably arranged between two lifting shaft plates A, and the plate loading upper roller rotating shaft in the plate loading elliptical roller assembly A is positioned right above a plate loading lower roller rotating shaft in the plate loading elliptical roller assembly A.
Two ends of a plate loading upper roller rotating shaft in the plate loading elliptical roller assembly B are rotatably arranged between the other two lifting shaft plates A, and the plate loading upper roller rotating shaft in the plate loading elliptical roller assembly B is positioned right above a plate loading lower roller rotating shaft in the plate loading elliptical roller assembly B; the three plate loading elliptical rollers are fixedly arranged on the plate loading lower roller rotating shaft at equal intervals, and the other two plate loading elliptical rollers are fixedly arranged on the plate loading upper roller rotating shaft and are respectively positioned right above the two plate loading elliptical rollers farthest below; the upper four plate-loading elliptical rollers are respectively matched with the right lower four plate-loading elliptical rollers to extrude the thin plate, and the elliptical long axis of the upper plate-loading elliptical roller is vertical to the elliptical long axis of the lower plate-loading elliptical roller.
Furthermore, the thin plate unloading mechanism consists of two plate unloading elliptical roller assemblies with the same structure, and the two plate unloading elliptical roller assemblies are respectively arranged between the two lower rotating frames and the two lifting shaft plates B; the plate unloading elliptical roller assembly comprises a plate unloading lower roller rotating shaft, a plate unloading elliptical lower roller and a cylindrical gear D, wherein one end of the plate unloading lower roller rotating shaft is rotatably arranged on the lower rotating frame; the plate unloading upper roller rotating shaft is positioned right above the plate unloading lower roller rotating shaft, the plate unloading elliptic upper roller and the plate unloading elliptic lower roller are matched to extrude a thin plate, and the cylindrical gear C and the cylindrical gear D are in external meshing transmission.
Furthermore, the traction driving power source comprises a double-rod piston cylinder and two single-rod piston cylinders, a piston rod A and a piston rod B of the double-rod piston cylinder are respectively connected with the two lower sliding blocks in the advancing direction of the thin plate, and piston rods of the two single-rod piston cylinders are respectively fixedly connected with the two lower sliding rods; the double-rod piston cylinder and the two single-rod piston cylinders are fixedly arranged on the U-shaped lower roll frame.
Further, when the U-shaped upper roller frame is parallel to the U-shaped lower roller frame, the spring pressure in the pressure locking spring A is equal to the spring pressure in the pressure locking spring B.
Further, when the plate loading elliptical rollers on the plate loading lower roller shafts in the plate loading elliptical roller assembly A have elliptical short axes in the vertical direction, the plate loading elliptical rollers on the plate loading lower roller shafts in the plate loading elliptical roller assembly B have elliptical long axes in the vertical direction, and the plate unloading elliptical lower rollers have elliptical long axes in the vertical direction.
Furthermore, the lifting power source and the rotating power source are hydraulic cylinders.
Furthermore, in the movement process of loading the thin plate by the lifting support frame, the spring pressure of the pressure locking spring A in the plate loading elliptical roller assembly B is greater than that of the pressure locking spring A in the plate loading elliptical roller assembly A; in the movement process of unloading the thin plate by the lifting support frame, the spring pressure of the pressure locking spring A in the plate loading elliptical roller assembly B is smaller than that of the pressure locking spring A in the plate loading elliptical roller assembly A.
Compared with the prior art, the invention has the following advantages and beneficial effects: the invention relates to a flexible traction meandering advancing mode thin plate carrying device which is provided with a thin plate loading mechanism, wherein a plate loading elliptical roller assembly A and a plate loading elliptical roller assembly B in the thin plate device mechanism enable elliptical long shafts of two adjacent plate loading elliptical rollers in the same horizontal plane along the advancing direction to be mutually vertical, a plate unloading elliptical lower roller is mutually vertical to the elliptical long shafts of the adjacent plate loading elliptical rollers in the same horizontal plane, so that the thin plate generates wave height along the vertical direction in the processes of loading, unloading and unloading, a traction driving power source firstly enables the plate loading elliptical roller assembly A to pull the thin plate to the middle part of a supporting frame, and then enables the plate loading elliptical roller assembly B to continuously pull the thin plate until the thin plate is completely placed on a lifting supporting frame, and the wave type traction can utilize wave deformation in the width direction of the thin plate to increase the bending rigidity in the length direction of the thin plate, on the other hand, the traction force is far greater than the frictional resistance when the thin wall moves forwards along the width direction, so that the loading speed of the thin plate is increased; the thin plate pressure distribution mechanism can adjust the pressure in the width direction of the thin plate according to different purposes of loading and unloading the thin plate, so that different contact positions of the thin wall in the width direction have different pressures, the motion stress mode of the thin plate is optimized, and the pressure in the thin plate is reduced. Therefore, the invention provides a thin plate conveying device which has reasonable structure, generates wave height by using the oval rollers, then flexibly draws the thin plate to move in a winding way, can reduce the bending deformation and the bending internal force of the thin plate, and can quickly load and unload the thin plate.
Drawings
FIG. 1 is a schematic diagram of the construction of a flexible tractor snaking pattern sheet handling apparatus of the present invention.
Fig. 2 is a plan view of the U-shaped upper roll housing of fig. 1.
Fig. 3 is a top view of the U-shaped lower roll stand of fig. 1.
FIG. 4 is a left side view of the mounting plate elliptical roller assembly A of FIG. 1.
FIG. 5 is a schematic view showing the connection relationship between the plate loading pressure locking mechanism and the upper and lower sliders according to the present invention.
FIG. 6 is a right side view of the deck unloading elliptical roller assembly of FIG. 1.
FIG. 7 is a schematic view showing the connection relationship between the plate unloading pressure locking mechanism and the upper and lower rotating frames according to the present invention.
FIG. 8 is a schematic representation of the wavy progression of the sheet during loading or unloading of the sheet in accordance with the present invention.
Fig. 9 is a schematic view of the connection of the double-rod piston cylinder and the two lower sliders in the invention.
FIG. 10 is a schematic diagram showing the relative positions of the U-shaped upper roller frame and the U-shaped lower roller frame in the plate unloading process.
FIG. 11 is a schematic diagram of the relative positions of the lower rotating frame and the U-shaped lower roller frame after the plate unloading.
In the figure, 1 — moving the trolley; 10-thin plate; 21-lifting slide block; 22-a carrier; 23-U-shaped lower roll frame; 24-U-shaped upper roll frame; 25-a source of rotational power; 26-a boom; 27-a lower sliding rod; 28 — an upper sliding rod; 29-upper rotating frame; 210-upper slide block; 211-lower slider; 212 — a lower turret; 3-loading the plate elliptical roller assembly A; 4-loading the elliptical roller assembly B; 5-unloading the plate elliptical roller assembly; 31-lifting slide bar a; 32-fixing sleeve rod A; 33-lifting shaft plate A; 34-loading an upper roller rotating shaft; 35-loading the lower roller to rotate the shaft; 36-loading elliptical rollers; 37-cylindrical gear a; 38-cylindrical gear B; 39-drive motor of plate loading roller; 310-pressure locking spring A; 51-unloading an upper roller rotating shaft; 52-unloading the lower roller shaft; 53-cylindrical gear C; 54-cylindrical gear D; 55-a plate unloading roller driving motor; 56-unloading the elliptic roller; 57-unloading the elliptical lower roller; 58-fixing sleeve rod B; 59-lifting slide bar B; 510-pressure locking spring B; 511-lifting shaft plate B; 6-a double-rod piston cylinder; 61-piston rod a; 62-piston rod B.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. For the convenience of description, the present invention provides that the direction of the thin plate 10 moving toward the moving trolley 1 is the front, and the direction of the thin plate retreating away from the moving trolley 1 is the rear, i.e. the left side in fig. 1 is the front, and the right side is the rear.
Referring to fig. 1, 2 and 3, the invention relates to a flexible traction sheet handling device with a winding advancing mode, which comprises a moving trolley 1, a lifting support frame arranged on the moving trolley 1, wherein the lifting support frame comprises a lifting slide block 21 arranged on the moving trolley 1 in a sliding manner along the vertical direction, the lifting device comprises a bearing frame 22 fixedly connected with a lifting slider 21, wherein the bearing frame 22 is Z-shaped, a U-shaped lower roller frame 23 fixedly arranged on the bearing frame 22, a U-shaped upper roller frame 24 arranged on the bearing frame 22 in a rotating mode through a suspender 26, a lifting power source for driving the lifting slider 21 to move up and down, a rotating power source 25 for driving the U-shaped upper roller frame 24 to rotate relative to the U-shaped lower roller frame 23, four upper sliders 210, four lower sliders 211, two lower sliders 27, two upper sliders 28, two upper rotating frames 29, two lower rotating frames 212 and two rotating frame motors. The lifting power source can drive the lifting support frame to move up and down, so that the height of the U-shaped lower roller frame 23 meets the height requirement of the thin plate 10 on the lifting support frame; when the thin plate 10 needs to be loaded to the lifting support frame from the outside, the rotary power source 25 works to enable the U-shaped upper roller frame 24 which is originally parallel to the U-shaped lower roller frame 23 to rotate around the hinge point of the suspension rod 26 in the anticlockwise direction, so that the distance between the U-shaped upper roller frame 24 and the U-shaped lower roller frame 23 in the vertical direction is gradually increased from left to right; when the thin plate 10 needs to be unloaded from the lifting support frame to an external working platform, the rotary power source 25 works to enable the U-shaped upper roller frame 24 to rotate clockwise around the hinged point of the suspension rod 26, and the distance between the U-shaped upper roller frame 24 and the U-shaped lower roller frame 23 in the vertical direction is gradually reduced from left to right.
Referring to fig. 1, two upper sliders 210 are slidably mounted on one side arm of the U-shaped upper roller frame 24, and the other two upper sliders 210 are slidably mounted on the other side arm of the U-shaped upper roller frame 24; two lower sliding blocks 211 are arranged on one side arm rod of the U-shaped lower roller frame 23 in a sliding mode, and the other two lower sliding blocks 211 are arranged on the other side arm rod of the U-shaped lower roller frame 23 in a sliding mode; the four upper sliders 210 are respectively positioned right above the four lower sliders 211; two lower sliding rods 27 are respectively arranged on the two side arm rods of the U-shaped lower roller frame 23 in a sliding manner, and two upper sliding rods 28 are respectively arranged on the two side arm rods of the U-shaped upper roller frame 24 in a sliding manner; two upper rotating frames 29 are rotatably mounted at the right ends of the two upper sliding rods 28, respectively, two lower rotating frames 212 are rotatably mounted at the right ends of the two lower sliding rods 27, respectively, and two rotating frame motors drive the two lower rotating frames 212 to rotate relative to the two lower sliding rods 27, respectively. When the two rotating frame motors rotate forward just before the unloading of the thin plate 10 is finished, the two lower rotating frames 212 are respectively driven to rotate outwards around the corresponding hinge points so as to completely release the thin plate 10 to an external working platform; after the unloading of the sheet 10 is completed, when the two turret motors rotate in opposite directions, the two lower turrets 212 are respectively driven to rotate inwards around the corresponding hinge points, and the original position state is restored.
Referring to fig. 1, the present invention further includes a thin plate loading mechanism, a thin plate unloading mechanism, a thin plate pressure distribution mechanism and a traction driving power source installed between the U-shaped upper roller frame 24 and the U-shaped lower roller frame 23; the thin plate loading mechanism is arranged between the upper sliding block 210 and the lower sliding block 211 and is used for drawing the thin plate 10 to the lifting support frame in a wave mode; the thin plate unloading mechanism is arranged between the upper rotating frame 29 and the lower rotating frame 212 and is used for wavedly pulling the thin plate 10 to be unloaded from the lifting support frame to a target platform; the thin plate pressure distribution mechanism is used for adjusting the pressure values of the thin plate loading mechanism and the thin plate unloading mechanism to the thin plate 10, so that different contact positions of the thin plate 10 in the moving direction have different contact pressures; and the traction driving power source is used for driving the thin plate loading mechanism and the thin plate unloading mechanism to move forwards or backwards along the moving direction of the thin plate 10.
Referring to fig. 5 and 7, preferably, the thin plate pressure distribution mechanism is composed of four plate loading pressure locking mechanisms with identical structures and two plate unloading pressure locking mechanisms with identical structures; the four plate loading pressure locking mechanisms are respectively arranged between the four upper sliding blocks 210 and the four lower sliding blocks 211, and the two plate unloading pressure locking mechanisms are respectively arranged between the two lower rotating frames 212 and the two upper rotating frames 29; the plate-mounting pressure locking mechanism comprises a fixed sleeve rod A32 fixedly arranged on the lower sliding block 211 along the vertical direction, a lifting sliding rod A31 arranged on the fixed sleeve rod A32 in a sliding manner along the vertical direction, a pressure locking spring A310 sleeved on the lifting sliding rod A31 and a lifting shaft plate A33 arranged on the lifting sliding rod A31 in a sliding manner; the upper end of the lifting sliding rod A31 is hinged with the upper sliding block 210 right above, and the two ends of the pressure locking spring A310 are respectively connected with the upper sliding block 210 right above and the lifting shaft plate A33 right below; the plate unloading pressure locking mechanism comprises a fixed sleeve rod B58 fixedly arranged on the lower rotating frame 212 along the vertical direction, a lifting sliding rod B59 arranged on the fixed sleeve rod B58 in a sliding manner along the vertical direction, a pressure locking spring B510 sleeved on the lifting sliding rod B59 and a lifting shaft plate B511 arranged on the lifting sliding rod B59 in a sliding manner; the upper end of the lifting sliding rod B59 is hinged with the upper rotating frame 29 right above, and the two ends of the pressure locking spring B510 are respectively connected with the upper rotating frame 29 right above and the lifting shaft plate B511 right below; the upper end of the thin plate loading mechanism is connected with the lifting shaft plate A33, and the lower end of the thin plate loading mechanism is connected with the lower sliding block 211; the upper end of the thin plate unloading mechanism is connected with the lifting shaft plate B511, and the lower end is connected with the lower rotating frame 212.
Referring to fig. 1, 4 and 6, preferably, the sheet loading mechanism includes a sheet loading elliptical roller assembly A3 and a sheet loading elliptical roller assembly B4, the sheet loading elliptical roller assembly A3 and the sheet loading elliptical roller assembly B4 are identical in structure, and each include a sheet loading lower roller rotating shaft 35 installed parallel to the middle arm of the U-shaped lower roller frame 23 in the horizontal direction, a sheet loading upper roller rotating shaft 34 installed parallel to the sheet loading lower roller rotating shaft 35, five sheet loading elliptical rollers 36 identical in structure, a cylindrical gear a37 fixedly installed on the sheet loading lower roller rotating shaft 35, a cylindrical gear B38 fixedly installed on the sheet loading upper roller rotating shaft 34 and externally engaged with the cylindrical gear a37, and a sheet loading roller driving motor 39 with an output shaft connected to one end of the sheet loading lower roller rotating shaft 35; the lower roll shaft 35 of the plate loading elliptical roller assembly A3 is rotatably arranged between two lower slide blocks 211, and the lower roll shaft 35 of the plate loading elliptical roller assembly B4 is rotatably arranged between the other two lower slide blocks 211; two ends of a plate loading upper roller rotating shaft 34 in the plate loading elliptical roller assembly A3 are rotatably arranged between two lifting shaft plates A33, and the plate loading upper roller rotating shaft 34 in the plate loading elliptical roller assembly A3 is positioned right above a plate loading lower roller rotating shaft 35 in the plate loading elliptical roller assembly A3;
two ends of the plate loading upper roller rotating shaft 34 in the plate loading elliptical roller assembly B4 are rotatably arranged between the other two lifting shaft plates A33, and the plate loading upper roller rotating shaft 34 in the plate loading elliptical roller assembly B4 is positioned right above the plate loading lower roller rotating shaft 35 in the plate loading elliptical roller assembly B4; three of the plate loading elliptical rollers 36 are fixedly arranged on the plate loading lower roller rotating shaft 35 at equal intervals, and the other two plate loading elliptical rollers 36 are fixedly arranged on the plate loading upper roller rotating shaft 34 and are respectively positioned right above the two plate loading elliptical rollers 36 farthest below; the upper four elliptical rollers 36 for loading plate are respectively matched with the four elliptical rollers 36 for loading plate right below to extrude the thin plate 10, and the elliptical long axis of the upper elliptical roller 36 for loading plate is vertical to the elliptical long axis of the lower elliptical roller 36 for loading plate.
Referring to fig. 1 and 7, the thin plate unloading mechanism preferably consists of two identical plate unloading elliptical roller assemblies 5, the two plate unloading elliptical roller assemblies 5 being respectively installed between the two lower rotating frames 212 and the two lifting shaft plates B511; the plate unloading elliptical roller assembly 5 comprises a plate unloading lower roller rotating shaft 52, a plate unloading elliptical lower roller 57 and a cylindrical gear D54, wherein one end of the plate unloading lower roller rotating shaft 52 is rotatably arranged on the lower rotating frame 212, one end of the plate unloading upper roller rotating shaft 51 is rotatably arranged on the lifting shaft plate B511, a plate unloading elliptical upper roller 56 and a cylindrical gear C53 are fixedly arranged on the plate unloading upper roller rotating shaft 51, and a plate unloading roller driving motor 55 is arranged on the lower rotating frame 212, and an output shaft of the plate unloading roller driving motor is connected with the plate unloading lower roller rotating shaft 52; the plate unloading upper roller rotating shaft 51 is positioned right above the plate unloading lower roller rotating shaft 52, the plate unloading elliptic upper roller 56 is matched with the plate unloading elliptic lower roller 57 to extrude the thin plate 10, and the cylindrical gear C53 is in external meshing transmission with the cylindrical gear D54.
Referring to fig. 1 and 9, preferably, the traction drive power source comprises a double-rod piston cylinder 6 and two single-rod piston cylinders, wherein a piston rod a61 and a piston rod B62 of the double-rod piston cylinder 6 are respectively connected with the two lower sliders 211 in the advancing direction of the thin plate 10, and piston rods of the two single-rod piston cylinders are respectively fixedly connected with the two lower sliders 27; the double-rod piston cylinder 6 and the two single-rod piston cylinders are fixedly arranged on the U-shaped lower roll frame 23.
Preferably, when the U-shaped upper roller frame 24 is parallel to the U-shaped lower roller frame 23, the spring pressure in the pressure locking spring a310 is equal to the spring pressure in the pressure locking spring B510.
Referring to fig. 1 and 8, preferably, when the plate loading elliptical rollers 36 on the plate lower rotating shaft 35 in the plate loading elliptical roller assembly a3 have vertically elliptical minor axes, the plate loading elliptical rollers 36 on the plate lower rotating shaft 35 in the plate loading elliptical roller assembly B4 have vertically elliptical major axes, and the plate unloading elliptical lower rollers 57 have vertically elliptical major axes.
Preferably, the elevating power source and the turning power source 25 are hydraulic cylinders.
Referring to fig. 1 and 10, preferably, during the movement of the lift cage to load a sheet 10, the spring pressure of the pressure locking spring a310 in the loading elliptical roller assembly B4 is greater than the spring pressure of the pressure locking spring a310 in the loading elliptical roller assembly A3; during movement of the elevator support frame to unload a sheet 10, the spring pressure of the pressure locking spring A310 in the loading elliptical roller assembly B4 is less than the spring pressure of the pressure locking spring A310 in the loading elliptical roller assembly A3.
The working process of the invention is as follows:
first, the traveling carriage 1 is moved to the vicinity of the sheet 10 to be conveyed, and the longitudinal direction of the sheet 10 is made parallel to the axial direction of the loading lower roller shaft 35, that is, parallel to the intermediate arm of the U-shaped lower roller frame 23. The lifting power source drives the lifting slide block 21 to move up and down, so that the thin plate 10 to be conveyed is positioned between the plate unloading elliptical upper roller 56 and the plate unloading elliptical lower roller 57 in the height direction; the rotary power source 25 is operated to rotate the upper U-shaped roller frame 24 counterclockwise and at an elevation angle to the horizontal, and the distance between the two adjacent upper and lower elliptical plate-loading rollers 36 in the elliptical plate-loading roller assembly B4 is slightly smaller than the thickness of the thin plate 10, typically half of the thickness of the thin plate 10.
The plate unloading roller driving motor 55 rotates positively, so that the plate unloading elliptical roller 56 and the plate unloading elliptical roller 57 rotate positively to squeeze and push the thin plate 10 to advance, and the distance between the plate loading elliptical roller assembly A3 and the plate unloading elliptical roller assembly 5 is small initially, so that the thin plate 10 moves to a position between two plate loading elliptical rollers 36 which are adjacent up and down in the plate loading elliptical roller assembly A3 quickly; the right plate loading roller driving motor 39 rotates positively to drive the corresponding lower roller 35 of the plate loading to rotate anticlockwise, and further drives the upper roller rotating shaft 34 of the plate loading to rotate clockwise through the meshing transmission of the cylindrical gear A37 and the cylindrical gear B38, so that the thin plate 10 is extruded and pushed to advance; at the same time of forward rotation of the panel loading roller driving motor 39, the piston rod B62 of the double-rod piston rod 6 begins to contract, and pulls the lower slide block 211 connected with the panel loading elliptical roller assembly A3 to the left, and then pulls the upper slide block 210 right above the panel loading elliptical roller assembly A3 to move to the left through the panel loading pressure locking mechanism, that is, pulls the panel 10 to advance by pulling the panel loading elliptical roller assembly A3 until the panel 10 enters between two panel loading elliptical rollers 36 which are adjacent up and down in the panel loading elliptical roller assembly B4. The upper plate loading roller shaft 34 and the lower plate loading roller shaft 35 in the elliptical plate loading roller assembly A3 perform translation and rotation in the whole process, so that the loading and conveying speed of the thin plate 10 is increased.
The piston rod B62 of the double-rod piston rod 6 stops moving, the piston rod A61 extends leftwards, the lower sliding block 211 below the plate loading elliptical roller assembly B4 is pushed to move leftwards, and the plate loading roller driving motor 39 in the plate loading elliptical roller assembly B4 is started simultaneously, so that the plate loading lower rotating shaft 35 and the plate loading upper rotating shaft 34 in the plate loading elliptical roller assembly B4 rotate anticlockwise and clockwise respectively, namely the plate loading elliptical roller assembly B4 is dragged to drag the thin plate 10 to move forwards until the thin plate 10 is completely loaded and carried onto the lifting support frame. The two plate-loading roller drive motors 39 are turned off and the piston rod a61 in the double-rod piston cylinder 6 is stopped. Since the U-shaped upper roller frame 24 is at an angle of elevation with respect to the horizontal plane, and the thickness of the sheet 10 is constant, the pressure and friction between the elliptical plate-loading rollers 36 and the sheet 10 are gradually increased as the sheet 10 moves, i.e., the traction force for pulling the sheet 10 is gradually increased.
Pushing the moving trolley 1 or using a power device to pull the moving trolley 1 to move to the vicinity of a target platform for placing the thin plate 10. The rotating power source 25 is started reversely, so that the U-shaped upper roller frame 24 rotates clockwise around the hinge point to a depression angle state with the horizontal plane, at this time, the plate unloading elliptical lower roller 57 and the plate unloading elliptical upper roller 56 are pressed on the thin plate 10, and the pressure and the friction force of the plate loading elliptical roller 36 to the thin plate 10 become remarkably small, and the thin plate 10 is ready to be unloaded.
Two single-rod piston cylinders in the traction driving power source start to work, respectively push the two lower sliding rods 27 to move in the direction away from the movable trolley 1, and meanwhile, the plate unloading roller driving motor 55 is started, so that the plate unloading elliptical lower roller 57 rotates clockwise, the plate unloading elliptical upper roller 56 rotates counterclockwise, the thin plate 10 is extruded and dragged to retreat, and the thin plate gradually leaves the lifting movable frame. The two plate loading roller driving motors 39 rotate reversely, so that the lower plate loading elliptical roller 36 rotates clockwise, and the upper plate loading elliptical roller 36 rotates anticlockwise, so that the plate loading elliptical roller 36 generates backward thrust on the thin plate 10; the corresponding double rod piston rod 6 is operated in reverse, i.e., piston rod B62 is extended to the right, i.e., pushing the bagging elliptical roller assembly A3 to the right until the sheet 10 is fully moved onto the target platform, i.e., the sheet 10 is clear of all of the bagging elliptical rollers 36, i.e., the unloading of the sheet 10 is about to end. The plate-loading roller drive motor 39 is switched off and the double-rod piston rod 6 and the two single-rod piston cylinders are deactivated.
When the unloading of the thin plate 10 is about to be finished, the two rotating frame motors are started to drive the two lower rotating frames 212 to rotate outwards around the corresponding hinge points respectively when the two rotating frame motors rotate forwards, so that the two plate unloading elliptical lower rollers 57 rotate out from the lower part of the thin plate 10, and the thin plate 10 is completely released to an external working platform, and the unloading of the thin plate 10 is finished.
After the plate unloading is completed, when the two rotating frame motors rotate reversely, the two lower rotating frames 212 are respectively driven to rotate inwards around the corresponding hinge points, and the two upper rotating frames 29 are driven to synchronously rotate inwards through the corresponding plate unloading pressure locking mechanisms until the initial state is reached.
The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through creative efforts should fall within the scope of the present invention.

Claims (9)

1. The utility model provides a flexible thin plate handling device who draws winding mode of advancing, includes travelling car (1), installs the lift support frame on travelling car (1), its characterized in that:
the lifting support frame comprises a lifting slide block (21) which is arranged on the movable trolley (1) in a sliding mode along the vertical direction, a bearing frame (22) which is fixedly connected with the lifting slide block (21), a U-shaped lower roller frame (23) which is fixedly arranged on the bearing frame (22), a U-shaped upper roller frame (24) which is arranged on the bearing frame (22) in a rotating mode through a suspender (26), a lifting power source which drives the lifting slide block (21) to move up and down, a rotating power source (25) which drives the U-shaped upper roller frame (24) to rotate relative to the U-shaped lower roller frame (23), four upper slide blocks (210), four lower slide blocks (211), two lower slide rods (27), two upper slide rods (28), two upper rotating frames (29), two lower rotating frames (212) and two rotating frame motors;
two upper sliding blocks (210) are arranged on an arm rod on one side of the U-shaped upper roller frame (24) in a sliding mode, and the other two upper sliding blocks (210) are arranged on an arm rod on the other side of the U-shaped upper roller frame (24) in a sliding mode; two lower sliding blocks (211) are arranged on an arm rod on one side of the U-shaped lower roller frame (23) in a sliding mode, and the other two lower sliding blocks (211) are arranged on an arm rod on the other side of the U-shaped lower roller frame (23) in a sliding mode; the four upper sliding blocks (210) are respectively positioned right above the four lower sliding blocks (211); the two lower sliding rods (27) are respectively installed on the arm rods on the two sides of the U-shaped lower roller frame (23) in a sliding mode, and the two upper sliding rods (28) are respectively installed on the arm rods on the two sides of the U-shaped upper roller frame (24) in a sliding mode; the two upper rotating frames (29) are respectively rotatably arranged at the right ends of the two upper sliding rods (28), the two lower rotating frames (212) are respectively rotatably arranged at the right ends of the two lower sliding rods (27), and the two rotating frame motors respectively drive the two lower rotating frames (212) to rotate relative to the two lower sliding rods (27);
the device also comprises a thin plate loading mechanism, a thin plate unloading mechanism, a thin plate pressure distribution mechanism and a traction driving power source which are arranged between the U-shaped upper roller frame (24) and the U-shaped lower roller frame (23);
the thin plate loading mechanism is arranged between the upper sliding block (210) and the lower sliding block (211) and is used for drawing a thin plate (10) to the lifting support frame in a wave mode;
the thin plate unloading mechanism is arranged between the upper rotating frame (29) and the lower rotating frame (212) and is used for unloading the thin plate (10) from the lifting support frame to a target platform in a wave-type manner;
the thin plate pressure distribution mechanism is used for adjusting the pressure values of the thin plate loading mechanism and the thin plate unloading mechanism to the thin plate (10) so that different contact positions of the thin plate (10) along the movement direction have different contact pressures;
and the traction driving power source is used for driving the thin plate loading mechanism and the thin plate unloading mechanism to move forwards or backwards along the moving direction of the thin plate (10).
2. A flexible-towed serpentine-advancement pattern sheet handling device, as claimed in claim 1, wherein: the thin plate pressure distribution mechanism consists of four plate loading pressure locking mechanisms with completely same structures and two plate unloading pressure locking mechanisms with completely same structures; the four plate loading pressure locking mechanisms are respectively arranged between the four upper sliding blocks (210) and the four lower sliding blocks (211), and the two plate unloading pressure locking mechanisms are respectively arranged between the two lower rotating frames (212) and the two upper rotating frames (29); the plate mounting pressure locking mechanism comprises a fixed sleeve rod A (32) fixedly arranged on the lower sliding block (211) along the vertical direction, a lifting sliding rod A (31) arranged on the fixed sleeve rod A (32) in a sliding manner along the vertical direction, a pressure locking spring A (310) sleeved on the lifting sliding rod A (31) and a lifting shaft plate A (33) arranged on the lifting sliding rod A (31) in a sliding manner; the upper end of the lifting sliding rod A (31) is hinged with the upper sliding block (210) right above, and two ends of the pressure locking spring A (310) are respectively connected with the upper sliding block (210) right above and the lifting shaft plate A (33) right below; the plate unloading pressure locking mechanism comprises a fixed sleeve rod B (58) fixedly arranged on the lower rotating frame (212) along the vertical direction, a lifting sliding rod B (59) arranged on the fixed sleeve rod B (58) in a sliding manner along the vertical direction, a pressure locking spring B (510) sleeved on the lifting sliding rod B (59), and a lifting shaft plate B (511) arranged on the lifting sliding rod B (59) in a sliding manner; the upper end of the lifting sliding rod B (59) is hinged with the upper rotating frame (29) right above, and two ends of the pressure locking spring B (510) are respectively connected with the upper rotating frame (29) right above and the lifting shaft plate B (511) right below;
the upper end of the thin plate loading mechanism is connected with the lifting shaft plate A (33), and the lower end of the thin plate loading mechanism is connected with the lower sliding block (211);
the upper end of the thin plate unloading mechanism is connected with the lifting shaft plate B (511), and the lower end of the thin plate unloading mechanism is connected with the lower rotating frame (212).
3. A flexible-towed serpentine-advancement pattern sheet handling apparatus as claimed in claim 2, wherein: the thin plate loading mechanism comprises a plate loading elliptical roller assembly A (3) and a plate loading elliptical roller assembly B (4), the plate loading elliptical roller assembly A (3) and the plate loading elliptical roller assembly B (4) are identical in structure and respectively comprise a plate loading lower roller rotating shaft (35) which is parallel to a middle arm rod of the U-shaped lower roller frame (23) along the horizontal direction, a plate loading upper roller rotating shaft (34) which is parallel to the plate loading lower roller rotating shaft (35), five plate loading elliptical rollers (36) which are identical in structure, a cylindrical gear A (37) which is fixedly arranged on the plate loading lower roller rotating shaft (35), a cylindrical gear B (38) which is fixedly arranged on the plate loading upper roller rotating shaft (34) and is externally engaged with the cylindrical gear A (37), and a plate loading roller driving motor (39) of which has an output shaft connected with one end of the plate loading lower roller rotating shaft (35); a lower roll shaft (35) of the plate loading lower roll in the plate loading elliptical roll component A (3) is rotatably arranged between two lower slide blocks (211), and a lower roll shaft (35) of the plate loading lower roll in the plate loading elliptical roll component B (4) is rotatably arranged between the other two lower slide blocks (211); two ends of a plate loading upper roller rotating shaft (34) in the plate loading elliptical roller assembly A (3) are rotatably arranged between two lifting shaft plates A (33), and the plate loading upper roller rotating shaft (34) in the plate loading elliptical roller assembly A (3) is positioned right above a plate loading lower roller rotating shaft (35) in the plate loading elliptical roller assembly A (3);
two ends of a plate loading upper roller rotating shaft (34) in the plate loading elliptical roller assembly B (4) are rotatably arranged between the other two lifting shaft plates A (33), and the plate loading upper roller rotating shaft (34) in the plate loading elliptical roller assembly B (4) is positioned right above a plate loading lower roller rotating shaft (35) in the plate loading elliptical roller assembly B (4); the three plate loading elliptical rollers (36) are fixedly arranged on the plate loading lower roller rotating shaft (35) at equal intervals, and the other two plate loading elliptical rollers (36) are fixedly arranged on the plate loading upper roller rotating shaft (34) and are respectively positioned right above the two plate loading elliptical rollers (36) farthest below; the upper four plate loading elliptical rollers (36) are respectively matched with the right lower four plate loading elliptical rollers (36) to extrude the thin plate (10), and the elliptical long axis of the upper plate loading elliptical roller (36) is vertical to the elliptical long axis of the lower plate loading elliptical roller (36).
4. A flexible-towed serpentine-advancement pattern sheet handling apparatus as claimed in claim 2, wherein: the thin plate unloading mechanism consists of two plate unloading elliptical roller assemblies (5) with the same structure, and the two plate unloading elliptical roller assemblies (5) are respectively arranged between two lower rotating frames (212) and two lifting shaft plates B (511); the plate unloading elliptic roller component (5) comprises a plate unloading lower roller rotating shaft (52) with one end rotatably arranged on the lower rotating frame (212), a plate unloading elliptic lower roller (57) and a cylindrical gear D (54) fixedly arranged on the plate unloading lower roller rotating shaft (52), a plate unloading upper roller rotating shaft (51) with one end rotatably arranged on the lifting shaft plate B (511), a plate unloading elliptic upper roller (56) and a cylindrical gear C (53) fixedly arranged on the plate unloading upper roller rotating shaft (51), and a plate unloading roller driving motor (55) which is arranged on the lower rotating frame (212) and has an output shaft connected with the plate unloading lower roller rotating shaft (52); the plate unloading upper roller rotating shaft (51) is positioned right above the plate unloading lower roller rotating shaft (52), the plate unloading elliptic upper roller (56) and the plate unloading elliptic lower roller (57) are matched to extrude a thin plate (10), and the cylindrical gear C (53) and the cylindrical gear D (54) are in external meshing transmission.
5. A flexible-towed serpentine-advancement pattern sheet handling device, as claimed in claim 1, wherein: the traction driving power source comprises a double-rod piston cylinder (6) and two single-rod piston cylinders, a piston rod A (61) and a piston rod B (62) of the double-rod piston cylinder (6) are respectively connected with the two lower sliding blocks (211) in the advancing direction of the thin plate (10), and piston rods of the two single-rod piston cylinders are respectively fixedly connected with the two lower sliding rods (27); the double-rod piston cylinder (6) and the two single-rod piston cylinders are fixedly arranged on the U-shaped lower roller frame (23).
6. A flexible-towed serpentine-advancement pattern sheet handling apparatus as claimed in claim 2, wherein: when the U-shaped upper roller frame (24) is parallel to the U-shaped lower roller frame (23), the spring pressure in the pressure locking spring A (310) is equal to the spring pressure in the pressure locking spring B (510).
7. A flexible-towed serpentine-advancement pattern sheet handling apparatus as claimed in claim 3, wherein: when the plate loading elliptical rollers (36) on the plate loading lower roller rotating shaft (35) in the plate loading elliptical roller assembly A (3) have elliptical short axes in the vertical direction, the plate loading elliptical rollers (36) on the plate loading lower roller rotating shaft (35) in the plate loading elliptical roller assembly B (4) have elliptical long axes in the vertical direction, and the plate unloading elliptical lower rollers (57) have elliptical long axes in the vertical direction.
8. A flexible-towed serpentine-advancement pattern sheet handling device, as claimed in claim 1, wherein: the lifting power source and the rotating power source (25) are hydraulic cylinders.
9. A flexible-towed serpentine-advancement pattern sheet handling apparatus as claimed in claim 3, wherein: in the movement process of loading the thin plate (10) by the lifting support frame, the spring pressure of a pressure locking spring A (310) in the plate loading elliptical roller assembly B (4) is greater than the spring pressure of the pressure locking spring A (310) in the plate loading elliptical roller assembly A (3); in the movement process of unloading the thin plate (10) by the lifting support frame, the spring pressure of the pressure locking spring A (310) in the plate loading elliptical roller assembly B (4) is smaller than that of the pressure locking spring A (310) in the plate loading elliptical roller assembly A (3).
CN202111260177.1A 2021-10-28 2021-10-28 Sheet carrying device with flexible traction winding advancing mode Active CN113697360B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111260177.1A CN113697360B (en) 2021-10-28 2021-10-28 Sheet carrying device with flexible traction winding advancing mode

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Application Number Priority Date Filing Date Title
CN202111260177.1A CN113697360B (en) 2021-10-28 2021-10-28 Sheet carrying device with flexible traction winding advancing mode

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CN114147520B (en) * 2021-11-29 2024-02-09 江苏来拾科技有限公司 Transmission adjusting mechanism for composite board processing and cutting device
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EP1138403A1 (en) * 2000-03-31 2001-10-04 Corus Bausysteme GmbH Method and apparatus for curving longitudinal sheets having two opposite flanges
CN201190048Y (en) * 2008-04-08 2009-02-04 扬博科技股份有限公司 Thin board conveyer device
CN108382810A (en) * 2017-02-02 2018-08-10 陈颜开 A kind of dedicated floor tile transport device of construction and decoration
CN110155697B (en) * 2019-06-28 2024-04-26 杭州富阳康华制药机械有限公司 Automatic charging line
CN111038918A (en) * 2019-12-13 2020-04-21 深圳市吴越物流有限公司广州分公司 Sheet metal handling device

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