CN114044463A - Accurate big transfer device - Google Patents
Accurate big transfer device Download PDFInfo
- Publication number
- CN114044463A CN114044463A CN202111318697.3A CN202111318697A CN114044463A CN 114044463 A CN114044463 A CN 114044463A CN 202111318697 A CN202111318697 A CN 202111318697A CN 114044463 A CN114044463 A CN 114044463A
- Authority
- CN
- China
- Prior art keywords
- axis
- synchronous belt
- belt wheel
- bottom frame
- guide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
- B66F9/07577—Propulsion arrangements not supported by wheels, e.g. tracks or air cushions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Abstract
The invention relates to a precise large transfer device.A Z-axis portal frame is fixed on a bottom frame, an X-axis sliding block is arranged on the bottom surface of the bottom frame, the X-axis sliding block is matched on an X-axis guide rail, and a first synchronous belt clamping block arranged on the bottom frame is connected with a first synchronous belt of an X-axis synchronous belt moving unit; z-axis guide rails are arranged on the inner sides of two vertical frames of the Z-axis portal frame, Z-axis sliding blocks are arranged on the left side and the right side of the Y-axis bottom frame and are matched with the Z-axis guide rails, and a second synchronous belt clamping block mounted on the Y-axis bottom frame is connected with a second synchronous belt of the Z-axis synchronous belt moving unit; and a Y-axis guide rail is arranged on the Y-axis bottom frame, a Y-axis fork arm support is arranged on the Y-axis guide rail through a Y-axis sliding block, a synchronous belt clamping block III arranged on the Y-axis fork arm support is connected with a synchronous belt III of a Y-axis synchronous belt movement unit, and a carbon fiber fork arm is arranged on the Y-axis fork arm support. The full-automatic X, Y, Z triaxial direction accurate movement that realizes stops and reduces the flagging and the shake of yoke, moves and carries the precision.
Description
Technical Field
The invention relates to a precise large transfer device.
Background
When a production workshop conveys a panel, the X-axis, the Y-axis and the Z-axis are required to be moved and carried, manual operation is adopted at present, the moving accuracy cannot be guaranteed, errors are prone to occurring, the efficiency is low, and the stability is poor.
Therefore, it is necessary to design a transfer device that can automatically realize accurate movement of X, Y, Z in three axes.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a precise large transfer device.
The purpose of the invention is realized by the following technical scheme:
accurate big transfer device, characteristics are: the X-axis gantry crane comprises an X-axis guide rail, a Y-axis fork arm support and a Z-axis gantry frame, wherein the Z-axis gantry frame is vertically fixed on a bottom frame, an X-axis sliding block is arranged on the bottom surface of the bottom frame, the X-axis sliding block is matched on the X-axis guide rail, an X-axis synchronous belt moving unit is arranged beside the X-axis guide rail, and a synchronous belt clamping block I arranged on the bottom frame is connected with a synchronous belt I of the X-axis synchronous belt moving unit, so that the X-axis synchronous belt moving unit can drive the Z-axis gantry frame to move left and right along the X axis;
z-axis guide rails are arranged on the inner sides of two vertical frames of the Z-axis portal frame, a Z-axis synchronous belt moving unit is arranged beside the Z-axis guide rails, Z-axis sliding blocks are arranged on the left side and the right side of the Y-axis bottom frame, the Z-axis sliding blocks are matched on the Z-axis guide rails, and a second synchronous belt clamping block arranged on the Y-axis bottom frame is connected with a second synchronous belt of the Z-axis synchronous belt moving unit, so that the Z-axis synchronous belt moving unit can drive the Y-axis bottom frame to move up and down along the Z axis;
the Y-axis bottom frame is provided with a Y-axis guide rail, a Y-axis synchronous belt moving unit is arranged beside the Y-axis guide rail, the Y-axis fork arm support is arranged on the Y-axis guide rail through a Y-axis sliding block, and a synchronous belt clamping block III arranged on the Y-axis fork arm support is connected with a synchronous belt III of the Y-axis synchronous belt moving unit, so that the Y-axis synchronous belt moving unit can drive the Y-axis fork arm support to move back and forth along the Y axis, and a carbon fiber fork arm is arranged on the Y-axis fork arm support along the Y axis.
Further, in the above-mentioned accurate big transfer device, the carbon fiber yoke is a square hollow structure.
Furthermore, in the precise large transfer device, two X-axis guide rails are arranged in parallel; correspondingly, the bottom surface of the bottom frame is provided with two rows of X axial sliding blocks, and each row is provided with six sliding blocks.
Furthermore, the accurate big transfer device is provided, wherein the X-axis synchronous belt moving unit comprises a first driving pulley, a first driven pulley and a first stepping motor, the first stepping motor is in driving connection with the first driving pulley, and the first synchronous belt is tensioned on the first driving pulley and the first driven pulley.
Furthermore, the accurate big transfer device is provided, wherein the Y-axis synchronous belt movement unit comprises a driving pulley two, a driven pulley two and a stepping motor two, the stepping motor two is in driving connection with the driving pulley two, and the synchronous belt two is tensioned on the driving pulley two and the driven pulley two.
Furthermore, in the precise large transfer device, the Z-axis synchronous belt movement unit includes a third driving pulley, a third driven pulley and a third stepping motor, the third stepping motor is in driving connection with the third driving pulley, and the third synchronous belt is tensioned on the third driving pulley and the third driven pulley.
Compared with the prior art, the invention has obvious advantages and beneficial effects, and is embodied in the following aspects:
the panel conveying device is novel in design and simple in structure, the accurate movement in the direction of the three axes X, Y, Z is realized in a full-automatic mode, manual operation is avoided, and the droop and the jitter of the fork arm are avoided and reduced when the fork arm conveys a panel; move and carry the precision, the operation is stable, efficient.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1: the structure of the device is shown schematically;
FIG. 2: an axis measuring and indicating diagram of the Z-axis portal frame part;
FIG. 3: a front view schematic diagram of a Z-axis gantry part;
FIG. 4: the structure schematic diagram of the Y-axis bottom frame part;
FIG. 5: the structure of the arm support part of the Y-axis fork is schematically shown.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the directional terms and the sequence terms, etc. are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 5, the precise large transfer device comprises an X-axis guide rail 1, a Y-axis fork arm frame 2 and a Z-axis portal frame 3, wherein the Z-axis portal frame 3 is vertically fixed on a bottom frame 4, the two X-axis guide rails 1 are arranged in parallel, two rows of X-axis sliders 7 are arranged on the bottom surface of the bottom frame 4, six X-axis sliders are arranged in each row, the X-axis sliders 7 are matched on the X-axis guide rail 1, an X-axis synchronous belt moving unit is arranged beside the X-axis guide rail 1 and comprises a driving pulley one, a driven pulley one and a stepping motor one, the stepping motor one is in driving connection with the driving pulley one, and the synchronous belt one is tensioned on the driving pulley one and the driven pulley one; a first synchronous belt clamping block arranged on the bottom frame 4 is connected with a first synchronous belt of the X-axis synchronous belt moving unit, so that the X-axis synchronous belt moving unit can drive the Z-axis portal frame 3 to move left and right along the X axis;
a Z-axis guide rail 6 is arranged on the inner sides of two vertical frames of the Z-axis portal frame 3, a Z-axis synchronous belt moving unit 5 is arranged beside the Z-axis guide rail 6, the Z-axis synchronous belt moving unit 5 comprises a driving belt wheel III, a driven belt wheel III and a stepping motor III, the stepping motor III is in driving connection with the driving belt wheel III, and the synchronous belt III is tensioned on the driving belt wheel III and the driven belt wheel III; z-axis sliders 9 are arranged on the left side and the right side of the Y-axis bottom frame 8, the Z-axis sliders 9 are matched on the Z-axis guide rails 6, and a synchronous belt clamping block II 10 arranged on the Y-axis bottom frame 8 is connected with a synchronous belt II of the Z-axis synchronous belt moving unit 5, so that the Z-axis synchronous belt moving unit 5 can drive the Y-axis bottom frame 8 to move up and down along the Z axis;
a Y-axis guide rail is arranged on the Y-axis bottom frame 8, a Y-axis synchronous belt moving unit 11 is arranged beside the Y-axis guide rail, the Y-axis synchronous belt moving unit 11 comprises a driving belt wheel II, a driven belt wheel II and a stepping motor II, the stepping motor II is in driving connection with the driving belt wheel II, and the synchronous belt II is tensioned on the driving belt wheel II and the driven belt wheel II; the Y-axis fork arm support 2 is arranged on a Y-axis guide rail through a Y-axis sliding block 13, a synchronous belt clamping block III 12 installed on the Y-axis fork arm support 2 is connected with a synchronous belt III of a Y-axis synchronous belt movement unit 11, therefore, the Y-axis synchronous belt movement unit 11 can drive the Y-axis fork arm support 2 to move back and forth along the Y axis, a carbon fiber fork arm 14 is arranged on the Y-axis fork arm support 2 along the Y axis, and the carbon fiber fork arm 14 is of a square hollow structure.
When the X-axis gantry crane works, a stepping motor of an X-axis synchronous belt moving unit drives a synchronous belt to run, so that an X-axis sliding block 7 moves on an X-axis guide rail 1, a Z-axis gantry frame 3, a Y-axis bottom frame 8 and a Y-axis fork arm support 2 which are positioned on the Z-axis gantry frame are driven to move left and right in the X-axis direction, and the adjustment in the X-axis direction is realized;
a stepping motor III of the Z-axis synchronous belt moving unit 5 drives a synchronous belt III to run, so that a Z-axis sliding block 9 moves on a Z-axis guide rail 6, and the lifting motion of a Y-axis bottom frame 8 in the Z-axis direction is realized;
and a second stepping motor of the Y-axis synchronous belt moving unit 11 drives a second synchronous belt to run, so that the Y-axis sliding block 13 moves on the Y-axis guide rail, and the front and back movement of the Y-axis fork arm frame 2 in the Y-axis direction is realized.
The full-automatic accurate large-load moving in the direction of three axes of X, Y, Z is realized, the unstable factors of manual operation are avoided, and the unmanned operation of a factory is realized.
The carbon fiber fork arm 14 is of a square hollow structure, the weight of the carbon fiber is light, and the hollow structure is not easy to droop; through experiments, the sagging amount of aluminum reaches 19mm under the same load, and the sagging amount of carbon fiber is only 7-8 mm. If the fork arm is made of solid aluminum, the fork arm is heavy and is easy to shake and droop.
In conclusion, the full-automatic panel conveying device is novel in design and simple in structure, the accurate movement in the direction of the three axes X, Y, Z is automatically realized, the manual operation is avoided, and the droop and the shake of the fork arm are avoided and reduced when the fork arm conveys the panel; move and carry the precision, the operation is stable, efficient.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and shall be covered by the scope of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (6)
1. Accurate big transfer device, its characterized in that: the X-axis synchronous belt moving device comprises an X-axis guide rail (1), a Y-axis fork arm support (2) and a Z-axis portal frame (3), wherein the Z-axis portal frame (3) is vertically fixed on a bottom frame (4), an X-axis sliding block (7) is arranged on the bottom surface of the bottom frame (4), the X-axis sliding block (7) is matched on the X-axis guide rail (1), an X-axis synchronous belt moving unit is arranged beside the X-axis guide rail (1), and a synchronous belt clamping block I arranged on the bottom frame (4) is connected with a synchronous belt I of the X-axis synchronous belt moving unit, so that the X-axis synchronous belt moving unit can drive the Z-axis portal frame (3) to move left and right along the X-axis direction;
z-axis guide rails (6) are arranged on the inner sides of two vertical frames of the Z-axis portal frame (3), a Z-axis synchronous belt moving unit (5) is arranged beside the Z-axis guide rails (6), Z-axis sliding blocks (9) are arranged on the left side and the right side of a Y-axis bottom frame (8), the Z-axis sliding blocks (9) are matched on the Z-axis guide rails (6), and a synchronous belt clamping block II (10) installed on the Y-axis bottom frame (8) is connected with a synchronous belt II of the Z-axis synchronous belt moving unit (5), so that the Z-axis synchronous belt moving unit (5) can drive the Y-axis bottom frame (8) to move up and down along the Z axis;
be equipped with the Y axle guide rail on Y axle underframe (8), the other Y axial hold-in range motion unit (11) that is equipped with of Y axle guide rail, Y axle fork cantilever crane (2) are arranged in on the Y axle guide rail through Y axial slider (13), hold-in range clamp splice three (12) and the hold-in range three of Y axial hold-in range motion unit (11) of installation on the Y axle fork cantilever crane (2) are connected, thereby, Y axial hold-in range motion unit (11) can drive Y axle fork cantilever crane (2) along Y axial seesaw, carbon fiber yoke (14) have been arranged along the Y axial on Y axle fork cantilever crane (2).
2. The precision large transfer device according to claim 1, characterized in that: the carbon fiber fork arm (14) is of a square hollow structure.
3. The precision large transfer device according to claim 1, characterized in that: two X-axis guide rails (1) are arranged in parallel; correspondingly, the bottom surface of the bottom frame (4) is provided with two rows of X axial sliding blocks (7), and each row comprises six sliding blocks.
4. The precision large transfer device according to claim 1, characterized in that: the X-axis synchronous belt moving unit comprises a driving belt wheel I, a driven belt wheel I and a stepping motor I, wherein the stepping motor I is in driving connection with the driving belt wheel I, and the synchronous belt I is tensioned on the driving belt wheel I and the driven belt wheel I.
5. The precision large transfer device according to claim 1, characterized in that: the Y-axis synchronous belt movement unit comprises a driving belt wheel II, a driven belt wheel II and a stepping motor II, the stepping motor II is in driving connection with the driving belt wheel II, and the synchronous belt II is tensioned on the driving belt wheel II and the driven belt wheel II.
6. The precision large transfer device according to claim 1, characterized in that: the Z-axis synchronous belt movement unit comprises a driving belt wheel III, a driven belt wheel III and a stepping motor III, the stepping motor III is in driving connection with the driving belt wheel III, and the synchronous belt III is tensioned on the driving belt wheel III and the driven belt wheel III.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111318697.3A CN114044463A (en) | 2021-11-09 | 2021-11-09 | Accurate big transfer device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111318697.3A CN114044463A (en) | 2021-11-09 | 2021-11-09 | Accurate big transfer device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114044463A true CN114044463A (en) | 2022-02-15 |
Family
ID=80207775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111318697.3A Withdrawn CN114044463A (en) | 2021-11-09 | 2021-11-09 | Accurate big transfer device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114044463A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160194151A1 (en) * | 2013-08-09 | 2016-07-07 | Ocado Innovation Limited | Apparatus for retrieving units from a storage system |
| CN107667061A (en) * | 2015-04-22 | 2018-02-06 | Tgw机械有限公司 | For the method and warehouse system being stored in part goods in shelf |
| CN112478542A (en) * | 2019-09-11 | 2021-03-12 | 湖北九州通达科技开发有限公司 | Box shuttle stereoscopic warehouse of multilayer |
| CN113044539A (en) * | 2021-04-23 | 2021-06-29 | 上海匠实半导体科技中心 | Automatic feeding system |
| CN113060463A (en) * | 2021-04-14 | 2021-07-02 | 山东科技大学 | Automatic warehousing system with split type guide transport vehicle |
| CN213650788U (en) * | 2020-08-19 | 2021-07-09 | 旭东机械(昆山)有限公司 | Temporary storage device |
-
2021
- 2021-11-09 CN CN202111318697.3A patent/CN114044463A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160194151A1 (en) * | 2013-08-09 | 2016-07-07 | Ocado Innovation Limited | Apparatus for retrieving units from a storage system |
| CN107667061A (en) * | 2015-04-22 | 2018-02-06 | Tgw机械有限公司 | For the method and warehouse system being stored in part goods in shelf |
| CN112478542A (en) * | 2019-09-11 | 2021-03-12 | 湖北九州通达科技开发有限公司 | Box shuttle stereoscopic warehouse of multilayer |
| CN213650788U (en) * | 2020-08-19 | 2021-07-09 | 旭东机械(昆山)有限公司 | Temporary storage device |
| CN113060463A (en) * | 2021-04-14 | 2021-07-02 | 山东科技大学 | Automatic warehousing system with split type guide transport vehicle |
| CN113044539A (en) * | 2021-04-23 | 2021-06-29 | 上海匠实半导体科技中心 | Automatic feeding system |
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Application publication date: 20220215 |
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