CN116692523B - Full-automatic container loading machine and loading method thereof - Google Patents
Full-automatic container loading machine and loading method thereofInfo
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- CN116692523B CN116692523B CN202310021581.6A CN202310021581A CN116692523B CN 116692523 B CN116692523 B CN 116692523B CN 202310021581 A CN202310021581 A CN 202310021581A CN 116692523 B CN116692523 B CN 116692523B
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/10—Loading land vehicles using conveyors covering the whole length of vehicle trains
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
本发明涉及一种集装箱全自动装车机及其装车方法，属于一种物流装车设备。本发明采用的技术方案包括：集装箱全自动装车机后端的双层伸缩输送机、中间的弹性缓冲输送机和前端的码垛小车。双层伸缩输送机包括上层固定输送机和下层的伸缩输送机，上层输送机的机架固定于输送机机架上，下层输送机的机架两侧设有滑轨机构，滑轨结构的滑道部分固定于输送机机架上，下层输送机可沿滑轨机构前后滑动，下层向前滑动与上层输送机形成上下交错衔接；码垛小车的底盘的底部设有移动轮组，上方设置升降架和升降台，升降台设置在升降架上实现上下升降，升降台上方安装卸料机械臂和弹簧缓冲输送机。
This invention relates to a fully automated container loading machine and its loading method, belonging to the category of logistics loading equipment. The technical solution adopted by this invention includes: a double-layer telescopic conveyor at the rear end of the fully automated container loading machine, a middle elastic buffer conveyor, and a front-end palletizing trolley. The double-layer telescopic conveyor includes an upper fixed conveyor and a lower telescopic conveyor. The frame of the upper conveyor is fixed to the conveyor frame, and the frame of the lower conveyor is equipped with slide rail mechanisms on both sides. The slide rail section is fixed to the conveyor frame, and the lower conveyor can slide back and forth along the slide rail mechanism, forming an alternating connection with the upper conveyor. The bottom of the palletizing trolley chassis is equipped with a set of movable wheels, and a lifting frame and a lifting platform are installed above it. The lifting platform is mounted on the lifting frame to achieve vertical lifting, and an unloading robotic arm and a spring-loaded buffer conveyor are installed above the lifting platform.
Description
Technical Field
The invention relates to a full-automatic container loading machine and a loading method thereof, belonging to logistics loading equipment.
Background
At present, the box type truck has a structure which can only move to the interior of a carriage through a conveyor and then be placed manually or by using a manipulator, or by using a forklift to move to the interior of the carriage and then be placed by forking a tray.
The conveyor cooperates the manipulator, and the inefficiency of manipulator, current joint manipulator need space in the height, and box freight train is not suitable for. And finally, the goods are not suitable for loading with a large quantity of goods.
The pallet is suitable for forklift fork picking, the placing density is low, and for some bagged cargoes, the transportation efficiency is poor due to the low density.
Disclosure of Invention
The invention provides a full-automatic container loader, which solves the problem of high-efficiency automatic loading in a small space of a truck.
In order to achieve the above purpose, the technical scheme adopted by the invention comprises the following steps:
The device comprises a double-layer telescopic conveyor at the rear end of a full-automatic container loader, an elastic buffer conveyor in the middle and a stacking trolley at the front end.
The double-layer telescopic conveyor comprises an upper layer fixed conveyor and a lower layer telescopic conveyor, wherein a rack of the upper layer conveyor is fixed on a conveyor rack, slide rail mechanisms are arranged on two sides of the rack of the lower layer conveyor, a slide rail part of the slide rail structure is fixed on the conveyor rack, the lower layer conveyor can slide back and forth along the slide rail mechanism, and the lower layer slides forward to form up-down staggered connection with the upper layer conveyor;
The unloading mechanical arm is arranged on a lifting platform of the stacking trolley and comprises a parallel mechanical arm and a steering unloading plate, a fixed platform of the parallel mechanical arm is arranged on the lifting platform, the steering unloading plate is arranged at a movable platform end of the parallel mechanical arm, unloading rollers which are transversely and longitudinally arranged are arranged on the steering unloading plate, and the unloading rollers are provided with unloading motors for driving the unloading rollers to rotate;
The front end of the elastic buffer conveyor is connected with the stripper plate, the rear end of the elastic buffer conveyor is connected with the lower layer conveyor of the double-layer conveyor, the elastic buffer conveyor comprises cross brackets at two sides and side-by-side conveying rollers at the top, the roller shafts of the conveying rollers are arranged at the top of the cross brackets, the cross brackets at the lower parts of each group of conveying rollers are connected front and back, and the distance between adjacent conveying rollers is prolonged when the cross brackets are reduced in height.
According to the full-automatic container loader, slide ways are arranged on two sides of a conveyor frame in the double-layer telescopic conveyor, sliding blocks are arranged on two sides of the conveyor frame of the lower-layer conveyor, the sliding blocks move the lower-layer conveyor in the slide ways to realize forward or sequential telescopic movement, the lower-layer conveyor is connected with a stacking trolley, and the lower-layer conveyor is pulled to stretch forward or backward when the stacking trolley moves.
According to the full-automatic container loader, the lifting frame is arranged on the chassis of the pallet truck, the lifting frame is a cross lifting mechanism and comprises scissors and lifting hydraulic cylinders for driving the scissors and the fork, which are symmetrically arranged, the top of the scissors and the fork is connected with the lifting table, and the bottom of the scissors and the fork is a lifting driving hydraulic cylinder.
According to the full-automatic container loader, the unloading mechanical arm is a three-degree-of-freedom parallel robot and comprises three groups of electric push rods and a group of telescopic guide rods, two groups of the three groups of electric push rods are located above, one group of electric push rods are located below, the front ends of the three groups of electric push rods are connected with a movable platform, the rear ends of the three groups of electric push rods are connected with a fixed platform through Hooke hinges, the fixed platform is fixed on a lifting table, and the movable platform is provided with the steering stripper plate.
According to the full-automatic container loader, the movable platform is divided into a hinged frame and a fixed bottom plate, the hinged frame is hinged to the fixed bottom plate, three groups of electric push rods are respectively hinged to the top and the bottom of the hinged frame, an angle adjusting hydraulic telescopic cylinder is arranged between the upper part of the hinged frame and the fixed bottom plate, and the angle between the hinged frame and the fixed bottom plate is adjusted by the angle adjusting hydraulic telescopic cylinder.
According to the full-automatic container loader, the fixed bottom plate is connected with the stripper plate through a rotating bearing, the rotating bearing is provided with a rotating motor for driving the stripper plate to horizontally swing around the fixed bottom plate, and the stripper plate is provided with a transverse and a longitudinal discharging rollers which are respectively driven.
According to the full-automatic container loader, a conveying connecting plate is arranged at the top of the fixed bottom plate and used for fixing the front end of the elastic buffer conveyor, the fixed platform is a rectangular frame, the rear ends of three groups of electric push rods of the three-degree-of-freedom parallel robot are connected to Hooke hinges in the rectangular frame, and the rear end of the elastic buffer conveyor is fixed to the top of the fixed platform.
According to the full-automatic container loader, a connecting conveyor is arranged between the top of the fixed platform and the lower layer conveyor of the telescopic conveyor, the front end of the connecting conveyor is hinged to the fixed platform, and the rear end of the connecting conveyor is hinged to the lower layer conveyor frame of the telescopic conveyor.
The loading method of the full-automatic container loader comprises the following steps,
1) The pallet truck moves to a loading position, and the lower layer conveyor of the telescopic conveyor is driven by the pallet truck to extend forwards to the loading position;
2) The lifting frame of the stacking trolley drives the three-degree-of-freedom parallel robot to lift to the stacking height;
2) The material falls to the lower layer conveyor through the upper layer conveyor of the telescopic conveyor and then falls to the elastic buffer conveyor, and the elastic buffer conveyor is conveyed to the stripper plate of the pallet truck;
3) The three-degree-of-freedom parallel robot on the stacking trolley drives the stripper plate to swing leftwards or rightwards to a stacking position, and the stripper plate rotates to a material swinging direction;
4) The discharging roller on the discharging plate rotates to drive the materials on the discharging plate to fall to the stacking and placing position;
5) And (3) repeating the steps 1-4 to realize automatic repeated palletizing and loading.
The device has the advantages that the parallel mechanical arm is driven to load by the movable stacking trolley, and compared with the joint mechanical arm, the device has high carrying stacking efficiency;
the parallel mechanical arm can swing left and right and lift, the loading space requirement is small, the rollers which are transversely and longitudinally arranged are arranged on the stripper plate at the front end and can be horizontally placed, the placing angle of goods can be adjusted, the parallel mechanical arm is suitable for various loading requirements in a truck, and the high-density loading requirement is met.
Drawings
Figure 1 is a loading diagram of the present invention,
Figure 2 is a loading diagram of the present invention,
Figure 3 is a block diagram of the pallet truck of the invention in one,
Figure 4 is a second block diagram of the pallet truck of the invention,
Figure 5 is a structural view of the diverter stripper of the present invention,
Figure 6 is a partial construction view of the diverter stripper of the present invention,
Reference numerals:
1. The pallet truck, 11, chassis, 12, moving wheel sets, 13, lifting frames, 14, lifting tables, 15, lifting driving hydraulic cylinders, 2, a discharging mechanical arm, 21, a movable platform end, 22, a fixed platform, 23, a parallel mechanical arm, 24, a steering stripper plate, 25, a telescopic guide rod, 26, a hinged frame, 27, a fixed bottom plate, 28 and a hook hinge, 29, a discharging roller, 3 elastic buffer conveyors, 31 cross supports, 32, conveying rollers, 33, roller shafts, 34, a height guide rod, 35, cross connecting rods, 4, a double-layer telescopic conveyor, 41, an upper-layer conveyor, 42, a lower-layer conveyor, 43, a slideway, 44, a sliding block and 45 conveyor frames, 5 and a connecting conveyor 6, and a truck 7 fix the goods on the platform 8.
Detailed Description
The specific structure of the present invention will be further described below:
the invention relates to a full-automatic loading machine for a container, which comprises a discharging mechanical arm at the front end, a stacking trolley, a spring buffer conveyor and a double-layer telescopic conveyor.
The following describes the components of the present invention in detail:
the double-layer telescopic conveyor 4 comprises a fixed upper-layer conveyor 41 and a telescopic lower-layer conveyor 42, a frame of the upper-layer conveyor 41 is fixed on a conveyor frame, slide rail mechanisms are arranged on two sides of the frame of the lower-layer conveyor 42, a slide rail part of the slide rail structure is fixed on the conveyor frame, the lower-layer conveyor 42 can slide back and forth along the slide rail mechanisms, and the lower-layer conveyor 42 slides forward to form up-down staggered connection with the upper-layer conveyor 41. The conveyor frame is arranged on a fixed platform, and the height of the fixed platform is consistent with the height of a carriage of a truck.
The bottom of the chassis 11 of the pallet truck 1 is provided with a movable wheel set 12, a lifting frame 13 and a lifting table 14 are arranged above the movable wheel set, the lifting table 14 is arranged on the lifting frame 13 to realize up-and-down lifting, and a discharging mechanical arm 2 and a spring buffer conveyor are arranged above the lifting table 14. The movable wheel group can drive the pallet truck to move forwards or backwards so as to reach the pallet loading and stacking position. The pallet truck 1 moves between the fixed platform and the truck. When no truck is available, the truck is retracted onto the fixed platform, and when the truck is available, the truck is advanced into the truck carriage.
The unloading mechanical arm 2 is arranged on the lifting platform 14 of the pallet truck 1 and comprises a parallel mechanical arm 23 and a steering unloading plate 24, a fixed platform 22 of the parallel mechanical arm 23 is arranged on the lifting platform 14, the steering unloading plate 24 is arranged at the movable platform end 21 of the parallel mechanical arm 23, the steering unloading plate 24 is provided with unloading rollers which are transversely and longitudinally arranged, and the unloading rollers are provided with unloading motors for driving rotation. The unloading mechanical arm 2 receives cargoes, and then unloads after adjusting the angle, so that the stacking and placing process is realized.
The front end of the elastic buffer conveyor 3 is connected with a stripper plate, the rear end is connected with a lower layer conveyor 42 of the double-layer conveyor, the lower layer conveyor comprises cross brackets 31 at two sides and side-by-side conveying rollers 32 at the top, roller shafts 33 of the conveying rollers 32 are arranged at the top of the cross brackets 31, the cross brackets 31 at the lower part of each group of conveying rollers 32 are connected front and back, and the distance between adjacent conveying rollers 32 is prolonged when the cross brackets 31 are lowered.
Specifically, slide ways are arranged on two sides of a conveyor frame in the double-layer telescopic conveyor 4, sliding blocks are arranged on two sides of a frame of the lower-layer conveyor 42, the sliding blocks move the lower-layer conveyor 42 in the slide ways to realize forward or sequential telescopic movement, the lower-layer conveyor 42 is connected with the pallet truck 1, and the lower-layer conveyor 42 is pulled to stretch forward or backward when the pallet truck 1 moves.
Furthermore, the lifting frame 13 is arranged on the chassis 11 of the pallet truck 1, the lifting frame 13 is a scissor fork lifting mechanism, and comprises a scissor fork and a lifting driving hydraulic cylinder for driving the scissor fork, which are symmetrically arranged, the top of the scissor fork is connected with the lifting table 14, and the bottom of the scissor fork is provided with the lifting driving hydraulic cylinder 15.
In the invention, the unloading mechanical arm is a three-degree-of-freedom parallel robot, 3UPS-UPU represents a Hooke hinge and has two rotational degrees of freedom, P represents a moving pair and has one rotational degree of freedom, and S represents a spherical hinge and has a three rotational degree of freedom structure. With two rotational and one translational degrees of freedom, rotational about X and Y, and translational degrees of freedom in the Z direction. The three-degree-of-freedom parallel robot is specifically configured as three groups of parallel mechanical arms 23 and a group of telescopic guide rods 25, two groups of three groups of electric push rods are located above, one group of three groups of electric push rods are located below, the front ends of the three groups of electric push rods are connected with a movable platform end, the rear ends of the three groups of electric push rods are connected with a fixed platform 22 through a hook hinge 28, the fixed platform 22 is fixed on the lifting platform 14, and the movable platform end is provided with the steering stripper plate 24.
The movable platform end is divided into a hinged frame 26 and a fixed bottom plate 27, the hinged frame 26 is hinged to the fixed bottom plate 27, three groups of electric push rods are respectively hinged to the top and the bottom of the hinged frame 26, an angle adjusting hydraulic telescopic cylinder is arranged between the upper portion of the hinged frame 26 and the fixed bottom plate 27, and the angle between the hinged frame 26 and the fixed bottom plate 27 is adjusted by telescopic of the angle adjusting hydraulic telescopic cylinder.
The fixed bottom plate 27 is connected with the stripper plate through a rotary bearing, the rotary bearing is provided with a rotary motor for driving the stripper plate to horizontally swing around the fixed bottom plate 27, and the stripper plate is provided with a transverse and a longitudinal discharging rollers which are respectively driven between the transverse discharging rollers and the longitudinal discharging rollers.
The top of the fixed bottom plate 27 is provided with a conveying joint plate, the conveying joint plate is used for fixing the front end of the elastic buffer conveyor 3, the fixed platform 22 is a rectangular frame, the rear ends of three groups of electric push rods of the three-degree-of-freedom parallel robot are connected with Hooke hinges 28 in the rectangular frame, and the rear end of the elastic buffer conveyor 3 is fixed at the top of the fixed platform 22.
A connecting conveyor 5 is arranged between the top of a fixed platform 22 and a lower layer conveyor 42 of a telescopic conveyor, the front end of the connecting conveyor 5 is hinged to the fixed platform 22, and the rear end of the connecting conveyor 5 is hinged to a frame of the lower layer conveyor 42 of the telescopic conveyor. The connecting conveyor 5 moves along with the pallet truck to drive the rear lower layer conveyor to move forward. Simultaneously, the front end of the connecting conveyor 5 ascends and descends synchronously with the lifting platform so as to form material conveying connection with the front elastic buffer conveyor.
Describing the operation of the present invention in detail, the loading method of the full-automatic container loader of the present invention comprises the following steps,
1) The pallet truck 1 moves to a loading position in the truck, and a lower layer conveyor 42 of the telescopic conveyor extends forwards to the loading position under the drive of the pallet truck 1;
2) The lifting frame 13 of the stacking trolley 1 drives the three-degree-of-freedom parallel robot to lift to the stacking height;
2) The materials fall to the lower layer conveyor 42 through the upper layer conveyor 41 of the telescopic conveyor and then fall to the elastic buffer conveyor 3, and the elastic buffer conveyor 3 is conveyed to the stripper plate of the stacking trolley 1;
3) The three-degree-of-freedom parallel robot on the stacking trolley 1 drives the stripper plate to swing leftwards or rightwards to a stacking position, and the stripper plate rotates to a material swinging direction;
4) The discharging roller on the discharging plate rotates to drive the materials on the discharging plate to fall to the stacking and placing position;
5) And (3) repeating the steps 1-4 to realize automatic repeated palletizing and loading.
The device drives the parallel mechanical arm to load by moving the stacking trolley, has high carrying stacking efficiency compared with the joint mechanical arm, realizes deep transport into a wagon box from high to low through the telescopic conveyor, can reduce equipment space required by lifting goods, can swing left and right and lift the parallel mechanical arm, has small loading space requirement, is provided with the rollers which are transversely and longitudinally arranged on the stripper plate at the front end and can be horizontally placed, can adjust the placing angle of the goods, is suitable for various loading requirements in the wagon, and meets the high-density loading requirement.
Claims (5)
1. A full-automatic loading machine for containers is characterized by comprising,
The double-layer telescopic conveyor (4) comprises a fixed upper-layer conveyor (41) and a telescopic lower-layer conveyor (42), wherein a frame of the upper-layer conveyor (41) is fixed on a frame of the conveyor, slide rail mechanisms are arranged on two sides of the frame of the lower-layer conveyor (42), slide rail parts of the slide rail structures are fixed on the frame of the conveyor, the lower-layer conveyor (42) can slide back and forth along the slide rail mechanisms, and the lower-layer conveyor (41) slides forwards to form up-down staggered connection with the upper-layer conveyor;
The pallet truck (1), the bottom of the chassis (11) is provided with a movable wheel set (12), a lifting frame (13) and a lifting table (14) are arranged above the movable wheel set, the lifting table (14) is arranged on the lifting frame (13) to realize up-and-down lifting, and a discharging mechanical arm (2) and a spring buffer conveyor are arranged above the lifting table (14);
The unloading mechanical arm (2) is arranged on the lifting platform (14) of the stacking trolley (1) and comprises a parallel mechanical arm (23) and a steering unloading plate (24), a fixed platform (22) of the parallel mechanical arm (23) is arranged on the lifting platform (14), the steering unloading plate (24) is arranged at the movable platform end (21) of the parallel mechanical arm (23), unloading rollers which are transversely and longitudinally arranged are arranged on the steering unloading plate (24), and the unloading rollers are provided with unloading motors for driving the unloading motors to rotate;
the elastic buffer conveyor (3) is characterized in that the front end of the elastic buffer conveyor is connected with a steering stripper plate (24), the rear end of the elastic buffer conveyor is connected with a lower layer conveyor (42) of the double-layer telescopic conveyor, the elastic buffer conveyor comprises cross brackets (31) at two sides and side-by-side conveying rollers (32) at the top, roller shafts (33) of the conveying rollers (32) are arranged at the top of the cross brackets (31), the cross brackets (31) at the lower part of each group of conveying rollers (32) are connected front and back, and the distance between adjacent conveying rollers (32) is prolonged when the cross brackets (31) are lowered;
The discharging mechanical arm (2) is a three-degree-of-freedom parallel robot and comprises three groups of parallel mechanical arms (23) and a group of telescopic guide rods (25), two groups of three groups of electric push rods are arranged above, one group of three groups of electric push rods are arranged below, the front ends of the three groups of electric push rods are connected with a movable platform, the rear ends of the three groups of electric push rods are connected with a fixed platform (22) through Hooke hinges (28), the fixed platform (22) is fixed on a lifting table (14), and the movable platform is provided with a steering discharging plate (24);
The movable platform is divided into a hinged frame (26) and a fixed bottom plate, the hinged frame (26) is hinged to the fixed bottom plate, three groups of electric push rods are respectively hinged to the top and the bottom of the hinged frame (26), an angle-adjusting hydraulic telescopic cylinder is arranged between the upper part of the hinged frame (26) and the fixed bottom plate, and the angle between the hinged frame (26) and the fixed bottom plate is adjusted by the angle-adjusting hydraulic telescopic cylinder;
The fixed bottom plate is connected with the steering stripper plate (24) through a rotary bearing, the rotary bearing is provided with a rotary motor to drive the steering stripper plate (24) to horizontally swing around the fixed bottom plate, the steering stripper plate (24) is provided with a transverse and a longitudinal discharging rollers, and the transverse discharging rollers and the longitudinal discharging rollers are respectively driven;
the top of the fixed bottom plate is provided with a conveying joint plate, the conveying joint plate is used for fixing the front end of the elastic buffer conveyor (3), the fixed platform (22) is a rectangular frame, the rear ends of three groups of electric push rods of the three-degree-of-freedom parallel robot are connected with Hooke hinges (28) in the rectangular frame, and the rear end of the elastic buffer conveyor (3) is fixed at the top of the fixed platform (22).
2. The full-automatic container loader according to claim 1, wherein slide ways are arranged on two sides of a conveyor frame in the double-layer telescopic conveyor (4), sliding blocks are arranged on two sides of a frame of the lower-layer conveyor (42), the sliding blocks move the lower-layer conveyor (42) in the slide ways to realize forward or backward telescopic movement, the lower-layer conveyor (42) is connected with the pallet truck (1), and the pallet truck (1) pulls the lower-layer conveyor (42) to stretch forward or backward when moving.
3. The full-automatic container loader according to claim 1, wherein the lifting frame (13) is arranged on the chassis (11) of the pallet truck (1), the lifting frame (13) is a scissor fork lifting mechanism, the full-automatic container loader comprises a scissor fork and a lifting driving hydraulic cylinder for driving the scissor fork, which are symmetrically arranged, the top of the scissor fork is connected with the lifting table (14), and the bottom of the scissor fork is provided with the lifting driving hydraulic cylinder (15).
4. The full-automatic container loader according to claim 1, wherein a connecting conveyor (5) is arranged between the top of the fixed platform (22) and the lower layer conveyor (42) of the double-layer telescopic conveyor, the front end of the connecting conveyor (5) is hinged to the fixed platform (22), and the rear end of the connecting conveyor is hinged to the frame of the lower layer conveyor (42) of the double-layer telescopic conveyor.
5. A loading method of a full-automatic container loader according to claim 1, comprising the steps of,
1) The pallet truck (1) moves to a loading position, and a lower layer conveyor (42) of the double-layer telescopic conveyor is driven by the pallet truck (1) to extend forwards to the loading position;
2) The lifting frame (13) of the stacking trolley (1) drives the three-degree-of-freedom parallel robot to lift to the stacking height;
3) The materials fall onto a lower layer conveyor (42) through an upper layer conveyor (41) of the double-layer telescopic conveyor and then fall onto an elastic buffer conveyor (3), and the elastic buffer conveyor (3) is conveyed onto a steering stripper plate of the stacking trolley (1);
4) The three-degree-of-freedom parallel robot on the stacking trolley (1) drives the steering stripper plate to swing leftwards or rightwards to a stacking position, and the steering stripper plate rotates to a material swinging direction;
5) The discharging roller on the steering discharging plate rotates to drive the materials on the steering discharging plate to fall to the stacking position;
6) Repeating the steps 1) -5), and realizing automatic repeated palletizing and loading.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310021581.6A CN116692523B (en) | 2023-01-07 | 2023-01-07 | Full-automatic container loading machine and loading method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310021581.6A CN116692523B (en) | 2023-01-07 | 2023-01-07 | Full-automatic container loading machine and loading method thereof |
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| CN117550377B (en) * | 2023-12-30 | 2025-11-07 | 浙江坤阳智能设备制造有限公司 | Stacking device and stacking method |
| CN118618818B (en) * | 2024-08-15 | 2025-06-24 | 农业农村部南京农业机械化研究所 | A post-harvest transmission device and system for muskmelon and a control method thereof |
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| CN116692523A (en) | 2023-09-05 |
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