CN113979121B - Automatic feeding device for pcb production line - Google Patents
Automatic feeding device for pcb production line Download PDFInfo
- Publication number
- CN113979121B CN113979121B CN202111461799.0A CN202111461799A CN113979121B CN 113979121 B CN113979121 B CN 113979121B CN 202111461799 A CN202111461799 A CN 202111461799A CN 113979121 B CN113979121 B CN 113979121B
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- frame
- fixedly connected
- rotating
- material carrying
- production line
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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
- 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
- B65G29/00—Rotary conveyors, e.g. rotating discs, arms, star-wheels or cones
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an automatic feeding device of a pcb production line, and belongs to the technical field of automatic equipment. The invention comprises a frame, a material carrying mechanism and a feeding mechanism, wherein a station area is arranged on one side of the frame; the feeding mechanism is fixedly connected in the frame; the material carrying mechanism is used for carrying the pcb on the feeding mechanism to the station area and is fixedly connected above the frame; the feeding mechanism comprises a pair of fixed discs which are fixedly connected in the frame through a support frame, and a plurality of material carrying frames are connected between the two fixed discs; the surface of the fixed disk is connected with a rotating mechanism, and the material carrying frame is fixedly connected with the rotating mechanism; the rotating mechanism is used for keeping the material carrying frame in a horizontal state when rotating. According to the invention, the turntable type feeding mechanism is connected to the rack, and is matched with the carrying mechanism, so that pcb boards with different carrying frames are carried to the next station in sequence, and the problem of low feeding efficiency of pcb boards with small size is solved.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to an automatic feeding device of a pcb production line.
Background
pcb boards, also known as printed circuit boards, are responsible for providing wiring circuits for the electrical connection of electronic components. The manufacturing process of the pcb board comprises a plurality of processes, and the situation that the pcb board needs to be transported is involved between the two processes.
Although some equipment can feed pcb boards at present, only to pcb boards with larger size, still adopt manual feeding to pcb boards with smaller size in the charging tray, on the production line of pcb boards, pcb boards need to be subjected to a plurality of processing procedures, smaller pcb boards can be loaded into the charging tray after being processed in the previous procedure, after the charging tray is carried to the next procedure, pcb boards in the charging tray still need to be manually fed one by one, and after the whole charging tray feeding is completed, empty charging trays need to be stacked and carried, so that the charging procedure of pcb boards is very complicated, a great deal of time is wasted, the production cost of enterprises is higher, and the efficiency is lower.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide an automatic feeding device for pcb production lines, which is provided with a rotary table type feeding mechanism, wherein the feeding mechanism is matched with a carrying mechanism, so that the purpose of automatic feeding is achieved, and the problem of low efficiency of manual feeding of pcb boards with small sizes is solved.
In order to solve the technical problems, the invention adopts the following technical scheme: the invention provides an automatic feeding device of a pcb production line, which comprises a frame, wherein a station area is arranged on one side of the frame; the feeding mechanism is fixedly connected in the frame; the material carrying mechanism is used for carrying the pcb on the material loading mechanism to the station area and is fixedly connected above the frame; the feeding mechanism comprises a pair of fixed discs which are fixedly connected in the frame through a support frame, and a plurality of material carrying frames are connected between the two fixed discs; the surface of the fixed disc is connected with a rotating mechanism, and the material carrying frame is fixedly connected with the rotating mechanism; the rotating mechanism is used for keeping the material carrying frame in a horizontal state when rotating.
As a preferable technical scheme of the invention, the rotating mechanism comprises a rotary table, and the rotary table is rotationally connected with the fixed table through a rotating shaft; the circumference of the turntable is uniformly and fixedly connected with supporting rods which are in one-to-one correspondence with the material carrying frames along the radial direction of the turntable; the fixed disk is provided with an annular track, the annular track and the rotary disk are positioned in different circle centers, a sliding block is connected in the annular track in a sliding mode, a connecting rod is connected to the sliding block in a rotating mode, and one end of the connecting rod is connected with the supporting rod in a rotating mode.
As a preferable technical scheme of the invention, the connecting rod is fixedly connected with a shaft lever which is rotationally connected with the supporting rod, the end part of the shaft lever is fixedly connected with a connecting plate, and the connecting plate is fixedly connected with the material carrying frame.
As a preferable technical scheme of the invention, one end of the rotating shaft is fixedly connected with a driving motor, and the driving motor is arranged on the supporting frame.
As a preferable technical scheme of the invention, the material carrier is provided with a connecting groove, a material tray is connected in the connecting groove, and a plurality of material grooves are arranged on the material tray.
As a preferable technical scheme of the invention, the material carrying mechanism comprises a sliding rail horizontally arranged, a ball screw arranged in the sliding rail, a sliding module sliding along the sliding rail and a servo motor driving the sliding module to slide; the sliding module is provided with a rotating motor, and a rotating arm which is horizontally arranged is fixedly connected to the rotating shaft of the rotating motor; the vertical slide rail of rotor arm one end fixedly connected with, sliding connection has the slide on the slide rail, fixedly connected with is used for the grabbing mechanism of pcb board on the slide, just slide rail upper end fixedly connected with lift cylinder, the lift cylinder with slide fixed connection.
As a preferable technical scheme of the invention, the grabbing mechanism comprises a sucker frame, and a suction nozzle is fixedly connected to the sucker frame.
As a preferable technical scheme of the invention, a clamping mechanism for keeping the material carrying frame stable is arranged in the frame; the clamping mechanism comprises a U-shaped frame, the U-shaped frame is fixedly connected with the frame through a supporting column, telescopic cylinders are fixedly connected to two ends of the U-shaped frame, and clamping plates in L shapes are fixedly connected to the telescopic cylinders.
As a preferable technical scheme of the invention, the inner surface of the U-shaped frame is fixedly connected with a sensor for sensing the material carrying frame.
The invention has the beneficial effects that:
1. according to the invention, the turntable type feeding mechanism is connected to the frame, the plurality of material carrying frames are connected to the feeding mechanism, the feeding mechanism is matched with the material carrying mechanism, and pcb boards of different material carrying frames are sequentially carried to the next station, so that the problem of low feeding efficiency of pcb boards with small sizes is solved.
2. According to the invention, the rotating mechanism is connected with the fixed disc, and comprises the annular track with different circle centers from the turntable, so that the material carrying frame always keeps a horizontal or nearly horizontal state when rotating, the pcb is prevented from falling off when rotating, and the pcb is conveniently carried by the material carrying mechanism.
3. According to the pcb conveying device, the clamping mechanism is fixedly connected to the frame and clamps and fixes the carrying frame which is being conveyed, so that shaking is prevented during conveying, and the pcb conveying device is convenient for conveying the pcb.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic front view of the present invention.
Fig. 2 is a schematic diagram of the overall structure of the present invention.
Fig. 3 is a schematic top view of the present invention.
Fig. 4 is a schematic structural view of the feeding mechanism.
Fig. 5 is a schematic structural view of the rotating mechanism.
Fig. 6 is another angular schematic view of fig. 5.
Fig. 7 is a schematic structural view of the carrier.
Fig. 8 is a schematic structural view of the material handling mechanism.
Fig. 9 is a schematic structural view of the clamping mechanism.
Reference numerals illustrate:
100-frames;
200-feeding mechanism, 201-fixed disc, 202-supporting frame, 203-turntable, 204-rotating shaft, 205-supporting rod, 206-annular track, 207-sliding block, 208-connecting rod, 209-shaft lever, 210-connecting plate, 211-driving motor, 212-material carrying frame, 213-connecting groove, 214-material disc and 215-material groove;
300-material carrying mechanism, 301-sliding track, 302-servo motor, 303-sliding module, 304-rotating motor, 305-rotating arm, 306-sliding rail, 307-sliding seat, 308-lifting cylinder, 309-sucker rack and 310-suction nozzle;
400-station area;
500-clamping mechanism, 501-U-shaped frame, 502-telescopic cylinder, 503-splint, 504-sensor, 505-support column.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples: as shown in fig. 1-3, the invention provides an automatic feeding device of a pcb board production line, which is suitable for feeding pcb boards with smaller sizes, and comprises a frame 100, a feeding mechanism 200 and a carrying mechanism 300, wherein the bottom of the frame 100 is fixedly connected with supporting legs, the frame 100 comprises a bottom plate and vertical plates at two sides, one side of the frame 100 is provided with a station area 400, and the feeding mechanism 200 is fixedly connected in the frame 100; the carrying mechanism 300 is used for carrying the pcb board on the feeding mechanism 200 to a station area 400, wherein the station area 400 is an assembly area or a transmission area; the material handling mechanism 300 is fixedly connected above the frame 100.
As shown in fig. 4, the feeding mechanism 200 includes a pair of fixed trays 201, the fixed trays 201 are fixedly connected in the frame 100 through a supporting frame 202, the supporting frame 202 includes a U-shaped structure frame, the U-shaped structure frame is fixedly connected with the fixed trays 201 through bolts, a plurality of material carrying frames 212 are connected between the two fixed trays 201, the number of the material carrying frames 212 is 4-6, and in this embodiment, the number of the material carrying frames 212 is 4; the surface of the fixed disc 201 is connected with a rotating mechanism, and the material carrying frame 212 is fixedly connected with the rotating mechanism; the rotating mechanism is used for keeping the material carrying frame 212 in a horizontal or nearly horizontal state at any time when rotating, so as to prevent the material carrying frame 212 from rotating the pcb board to fall and facilitate the carrying of the pcb board by the carrying mechanism.
As shown in fig. 5-6, the rotating mechanism comprises a turntable 203, the turntable 203 is rotationally connected with a fixed disk 201 through a rotating shaft 204, the turntable 203 is fixedly connected with the rotating shaft 204, a bearing seat which is rotationally connected with the rotating shaft 204 is fixedly connected with the fixed disk 201, one end of the rotating shaft 204 is fixedly connected with a driving motor 211, and the driving motor 211 is arranged on a supporting frame 202; the circumference of the turntable 203 is uniformly and fixedly connected with supporting rods 205 which are in one-to-one correspondence with the material carrying frames 212 along the radial direction; the fixed disk 201 is provided with an annular track 206, the annular track 206 and the turntable 203 are positioned at different circle centers, a sliding block 207 is connected in a sliding manner in the annular track 206, a connecting rod 208 is connected to the sliding block 207 in a rotating manner, one end of the connecting rod 208 is connected with a supporting rod 205 in a rotating manner, a shaft lever 209 is fixedly connected to the connecting rod 208 in a rotating manner, the end part of the supporting rod 205 is provided with a connecting hole in a rotating manner, the shaft lever 209 penetrates through the connecting hole, the end part of the shaft lever 209 is fixedly connected with a connecting plate 210, the connecting plate 210 is fixedly connected with a material carrying frame 212 through bolts, and the annular track 206 and the turntable 203 are positioned at different circle centers.
As shown in fig. 7, in order to facilitate the material exchange of pcb boards, the material carrying frame 212 is provided with a connecting slot 213, a material tray 214 is connected in the connecting slot 213, the material tray 214 can be directly taken out, a plurality of material slots 215 are arranged on the material tray 214, pcb boards are uniformly and orderly placed in different material slots 215, when pcb boards on the material tray 214 are carried, the empty material tray 214 is taken out, and then the material tray 214 fully loaded with pcb boards is placed on the material carrying frame 212.
As shown in fig. 8, the material handling mechanism 300 includes a horizontally arranged sliding rail 301, a ball screw installed inside the sliding rail 301, a sliding module 303 sliding along the sliding rail 301, and a servo motor 302 driving the sliding module 303 to slide, wherein the sliding module 303 is in threaded connection with the ball screw, and the servo motor 302 drives the ball screw to rotate, so that the electric sliding module 303 slides along the sliding rail 301, and the sliding rail 301 is fixed above the frame 100 through a bracket; a rotating motor 304 is arranged on the sliding module 303, and a rotating arm 305 which is horizontally arranged is fixedly connected to the rotating shaft of the rotating motor 304; the vertical slide rail 306 of rotation arm 305 one end fixedly connected with, sliding connection has slide 307 on the slide rail 306, fixedly connected with is used for the grabbing mechanism of pcb board to snatch the mechanism and includes sucking disc frame 309 on the slide 307, fixedly connected with suction nozzle 310 on the sucking disc frame 309, and slide rail 306 upper end fixedly connected with lift cylinder 308, lift cylinder 308 is fixed on the mounting bracket, lift cylinder 308 and slide 307 fixed connection, lift cylinder 308 drives to snatch the mechanism and descends, rise after snatching the pcb, rotating electrical machines 304 drive snatch the mechanism and rotate to station district 400 top, then place the pcb board in station district 400, simultaneously remove material mechanism 300 still including the inductor that is used for responding to the pcb board, when the inductor is unable to respond to the pcb on the material frame 214, driving motor 211 starts, drive carousel 203 rotates. Meanwhile, the material handling mechanism 300 of the present invention is not limited to this structure, and a rotary type material handling mechanism of a mechanical arm type may be employed.
As shown in fig. 9, in order to ensure that the carrier 212 remains stable when the carrying mechanism 300 carries the material, a clamping mechanism 500 for keeping the carrier 212 stable is provided in the frame 100; the clamping mechanism 500 comprises a U-shaped frame 501, the U-shaped frame 501 is horizontally arranged, the U-shaped frame 501 is fixedly connected with the rack 100 through a supporting column 505, two ends of the U-shaped frame 501 are fixedly connected with telescopic cylinders 502, clamping plates 503 which are fixedly connected with the L-shaped body are fixedly connected to the telescopic cylinders 502, a sensor 504 used for sensing the material carrying frame 212 is fixedly connected to the inner surface of the U-shaped frame 501, when the sensor 504 senses that the material carrying frame 212 rotates into the U-shaped frame 501, the driving motor 211 stops running, and the telescopic cylinders 502 at two ends of the U-shaped frame 501 drive the clamping plates 503 to clamp and fix the material carrying frame 212, so that the material carrying frame 212 is prevented from shaking.
During the use, the material frame 214 that will carry the pcb board is placed on each material carrying frame manually, driving motor 211 drives carousel 203 and rotates, stop rotating when material carrying frame 212 rotates to U type frame 501 position, clamping mechanism 500 is fixed to material carrying frame 212, material carrying mechanism 300 carries pcb on material frame 214 to station district 400 in proper order, when the pcb board on material frame 214 has carried, driving motor 211 drives next material carrying frame 212 to rotate to in the U type frame 501, accomplish the pcb transport on each material frame 214 in proper order, the material loading efficiency to the pcb board of small-size has been improved.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. Automatic feeding device of pcb board production line, its characterized in that includes
A machine frame (100) and a station area (400) are arranged on one side of the machine frame (100);
the feeding mechanism (200) is fixedly connected in the frame (100);
the conveying mechanism (300) is used for conveying the pcb on the feeding mechanism (200) to the station area (400), and the conveying mechanism (300) is fixedly connected above the frame (100);
the feeding mechanism (200) comprises
A pair of fixed discs (201), wherein the fixed discs (201) are fixedly connected in the frame (100) through a supporting frame (202), and a plurality of material carrying frames (212) are connected between the two fixed discs (201);
the surface of the fixed disc (201) is connected with a rotating mechanism, and the material carrying frame (212) is fixedly connected with the rotating mechanism; the rotating mechanism is used for keeping the material carrying frame (212) in a horizontal state when rotating;
the rotating mechanism comprises a rotating disc (203), and the rotating disc (203) is rotationally connected with the fixed disc (201) through a rotating shaft (204); the circumference of the turntable (203) is uniformly and fixedly connected with supporting rods (205) which are in one-to-one correspondence with the material carrying frames (212) along the radial direction; be equipped with annular rail (206) on fixed disk (201), annular rail (206) with carousel (203) are in different centre of a circle, sliding connection has slider (207) in annular rail (206), it is connected with connecting rod (208) to rotate on slider (207), the one end of connecting rod (208) with branch (205) rotate and be connected.
2. The automatic pcb board production line feeding device according to claim 1, wherein a shaft lever (209) rotationally connected with the supporting rod (205) is fixedly connected to the connecting rod (208), a connecting plate (210) is fixedly connected to an end portion of the shaft lever (209), and the connecting plate (210) is fixedly connected to the material carrying frame (212).
3. An automatic pcb board production line feeding device according to claim 2, wherein one end of the rotating shaft (204) is fixedly connected with a driving motor (211), and the driving motor (211) is mounted on the supporting frame (202).
4. A pcb board production line automatic feeding device according to claim 1 or 3, characterized in that the material carrying frame (212) is provided with a connecting groove (213), a material tray (214) is connected in the connecting groove (213), and a plurality of material grooves (215) are arranged on the material tray (214).
5. An automatic pcb production line feeding apparatus according to claim 4, wherein the handling mechanism (300) comprises
A sliding rail (301) horizontally arranged, a ball screw installed inside the sliding rail (301), a sliding module (303) sliding along the sliding rail (301), and a servo motor (302) driving the sliding module (303) to slide;
a rotating motor (304) is arranged on the sliding module (303), and a rotating arm (305) which is horizontally arranged is fixedly connected to the rotating shaft of the rotating motor (304);
the vertical slide rail (306) of rotor arm (305) one end fixedly connected with, sliding connection has slide (307) on slide rail (306), fixedly connected with is used for the grabbing mechanism of pcb board on slide (307), just slide rail (306) upper end fixedly connected with lift cylinder (308), lift cylinder (308) with slide (307) fixed connection.
6. An automatic pcb production line feeding apparatus according to claim 5, wherein the gripping mechanism comprises a suction cup holder (309), and a suction nozzle (310) is fixedly connected to the suction cup holder (309).
7. An automatic pcb production line feeding apparatus according to claim 1 or 6, wherein a clamping mechanism (500) for keeping the material carrier (212) stable is provided in the frame (100);
the clamping mechanism (500) comprises a U-shaped frame (501), the U-shaped frame (501) is fixedly connected with the frame (100) through a supporting column (505), two ends of the U-shaped frame (501) are fixedly connected with telescopic cylinders (502), and clamping plates (503) in an L shape are fixedly connected to the telescopic cylinders (502).
8. An automatic pcb board production line feeding apparatus as claimed in claim 7, wherein a sensor (504) for sensing the carrier (212) is fixedly connected to the inner surface of the U-shaped frame (501).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111461799.0A CN113979121B (en) | 2021-12-02 | 2021-12-02 | Automatic feeding device for pcb production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111461799.0A CN113979121B (en) | 2021-12-02 | 2021-12-02 | Automatic feeding device for pcb production line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113979121A CN113979121A (en) | 2022-01-28 |
| CN113979121B true CN113979121B (en) | 2023-12-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111461799.0A Active CN113979121B (en) | 2021-12-02 | 2021-12-02 | Automatic feeding device for pcb production line |
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| Country | Link |
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| CN (1) | CN113979121B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212448B (en) * | 2022-02-21 | 2022-07-26 | 徐州云致途电子科技有限公司 | Auxiliary device with protective structure for manufacturing electronic components |
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| DE102013008872A1 (en) * | 2013-05-27 | 2014-11-27 | Edmund Buscher | Device and method for unpacking and feeding articles |
| CN208249084U (en) * | 2018-05-08 | 2018-12-18 | 天津市威龙塑胶制品有限公司 | It is a kind of for holding the pallet of computer parts |
| CN209554082U (en) * | 2019-01-30 | 2019-10-29 | 孙晓兰 | A kind of gynecological nursing instrument storing unit |
| CN110786933A (en) * | 2019-11-15 | 2020-02-14 | 开化含硕医疗器械有限公司 | Storage device of surgical tool special for surgery |
| CN213264079U (en) * | 2020-09-22 | 2021-05-25 | 奇瑞汽车河南有限公司 | High-efficient logistics storage system |
| CN113003085A (en) * | 2021-02-19 | 2021-06-22 | 王子洋 | Three-dimensional automatic circulation goods storage and supply device |
| CN113428545A (en) * | 2021-07-20 | 2021-09-24 | 北京市永康药业有限公司 | Classified storage device for pharmaceuticals |
-
2021
- 2021-12-02 CN CN202111461799.0A patent/CN113979121B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013008872A1 (en) * | 2013-05-27 | 2014-11-27 | Edmund Buscher | Device and method for unpacking and feeding articles |
| CN208249084U (en) * | 2018-05-08 | 2018-12-18 | 天津市威龙塑胶制品有限公司 | It is a kind of for holding the pallet of computer parts |
| CN209554082U (en) * | 2019-01-30 | 2019-10-29 | 孙晓兰 | A kind of gynecological nursing instrument storing unit |
| CN110786933A (en) * | 2019-11-15 | 2020-02-14 | 开化含硕医疗器械有限公司 | Storage device of surgical tool special for surgery |
| CN213264079U (en) * | 2020-09-22 | 2021-05-25 | 奇瑞汽车河南有限公司 | High-efficient logistics storage system |
| CN113003085A (en) * | 2021-02-19 | 2021-06-22 | 王子洋 | Three-dimensional automatic circulation goods storage and supply device |
| CN113428545A (en) * | 2021-07-20 | 2021-09-24 | 北京市永康药业有限公司 | Classified storage device for pharmaceuticals |
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| Publication number | Publication date |
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| CN113979121A (en) | 2022-01-28 |
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