CN204528686U - A kind of brick stacking machine automatically - Google Patents

A kind of brick stacking machine automatically Download PDF

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Publication number
CN204528686U
CN204528686U CN201420855930.0U CN201420855930U CN204528686U CN 204528686 U CN204528686 U CN 204528686U CN 201420855930 U CN201420855930 U CN 201420855930U CN 204528686 U CN204528686 U CN 204528686U
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CN
China
Prior art keywords
adobe
mechanical arm
gripper
support frame
stacking machine
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Expired - Fee Related
Application number
CN201420855930.0U
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Chinese (zh)
Inventor
彭进业
彭进云
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Permanent Large Mechanical Science And Technology Ltd In Xinyi City
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Permanent Large Mechanical Science And Technology Ltd In Xinyi City
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Priority to CN201420855930.0U priority Critical patent/CN204528686U/en
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Abstract

The purpose of this utility model proposes a kind of brick stacking machine automatically, the multiple row piled bricks close-packed arrays that its code becomes, thus realize multiple row piled bricks and can transport simultaneously, increases work efficiency.Automatic brick stacking machine of the present utility model comprises adobe transfer unit, load-transfer device and the unit that stacks bricks, described adobe transfer unit and the unit that stacks bricks lay respectively at the two ends of load-transfer device, the described unit that stacks bricks comprises vertical support frame, and described vertical support frame is provided with the mechanical arm that can do vertical movement and parallel motion under mechanical arm driving mechanism effect relative to vertical support frame; Described mechanical arm is parallel to belt direction, and is provided with multiple gripper for clamping adobe; Key is that described gripper is made up of the propelling movement pawl be oppositely arranged and gripper jaw, the length of described propelling movement pawl is greater than the length of gripper jaw, the diff-H pushing the bottom of pawl and the bottom of gripper jaw is less than adobe height to be held, and the propelling movement pawl of all grippers is all positioned at the same side of mechanical arm.

Description

A kind of brick stacking machine automatically
Technical field
The utility model belongs to machinery manufacturing technology field, is related specifically to automatic brick stacking machine and control method thereof.
Background technology
The patent No. be 201210545062.1 utility model patent disclose a kind of brick stacking machine and control method thereof automatically, comprise adobe transfer unit, load-transfer device and the unit that stacks bricks, described adobe transfer unit comprises one and to be provided with adobe clamping device in working end and can around the pivot arm of the vertical shaft rotating of its place mount pad, described pivot arm is the composite rotating arm that can rotate around its extended line, and described vertical shaft is arranged on liftable pedestal; Described load-transfer device is intermittent delivery band, distance and the adobe spacing that it is piled up of its each interval displacement adapt key be described in the unit that stacks bricks comprise vertical support frame, described vertical support frame is provided with the mechanical arm that can do vertical movement and parallel motion under mechanical arm driving mechanism effect relative to vertical support frame; Described mechanical arm is parallel to belt direction, and is provided with multiple gripper for clamping adobe.Adobe Automatic Code can be become piled bricks by this brick stacking machine, significantly reduces hand labor intensity, and improves work efficiency.
When piled bricks is transported, be generally that head and the tail two row piled bricks are clamped to centre, thus ordered series of numbers piled bricks is integrally mentioned simultaneously.But there is a problem in the piled bricks that above-mentioned brick stacking machine institute code becomes, must there is a gap and pass for gripper, otherwise just cannot stack bricks between adjacent exactly piled bricks.Gap between above-mentioned adjacent piled bricks can cause head and the tail two row piled bricks to be toppled over to centre when transporting, therefore cannot realize ordered series of numbers piled bricks and transport simultaneously, reduce the efficiency of transhipment.
Summary of the invention
The purpose of this utility model proposes a kind of brick stacking machine automatically, the multiple row piled bricks close-packed arrays that its code becomes, thus realize multiple row piled bricks and can transport simultaneously, increases work efficiency.
Automatic brick stacking machine of the present utility model comprises adobe transfer unit, load-transfer device and the unit that stacks bricks, described adobe transfer unit and the unit that stacks bricks lay respectively at the two ends of load-transfer device, the described unit that stacks bricks comprises vertical support frame, and described vertical support frame is provided with the mechanical arm that can do vertical movement and parallel motion under mechanical arm driving mechanism effect relative to vertical support frame; Described mechanical arm is parallel to belt direction, and is provided with multiple gripper for clamping adobe; Key is that described gripper is made up of the propelling movement pawl be oppositely arranged and gripper jaw, the length of described propelling movement pawl is greater than the length of gripper jaw, the diff-H pushing the bottom of pawl and the bottom of gripper jaw is less than adobe height to be held, and the propelling movement pawl of all grippers is all positioned at the same side of mechanical arm.
The control method of above-mentioned automatic brick stacking machine comprises the steps:
A: adobe transfer unit is positioned over disk-rotating brick press brickmaking station brick outlet place, utilizes pivot arm the adobe at brick outlet place to be clamped, then by pivot arm around its extended line 90-degree rotation, and to rotate and lifting vertical shaft, thus adobe be positioned on load-transfer device;
B: repeat step A, to be conveyed bring the adobe being arranged with predetermined number after, controlling machine mechanical arm moves to above load-transfer device, gripper is utilized the adobe of this predetermined number to be clamped, then horizontal moving mechanical arm, and the height of adjusting mechanical arm, position is piled up in the adobe that gripper and clamped adobe thereof move to load-transfer device side, then release mechanism pawl;
C: gripper is promoted predetermined altitude, make the bottom of gripper jaw higher than the end face of clamped adobe, the bottom pushing pawl lower than clamped adobe end face and higher than the bottom surface of clamped adobe, controlling machine mechanical arm is to the direction parallel motion of gripper jaw, utilize and push the adobe of pawl parallel motion, thus the position of adjustment permutation adobe, adjacent column adobe is close to; Finally rise mechanical arm;
D: repeat A, B, step C, until the columns of adobe meets the requirements.
Adjusted by the adobe position of step C, adjacent column adobe can be made to be close to, like this when by the transhipment of ordered series of numbers adobe entirety, the problem that adobe is toppled over would not be occurred.In addition, if adopt a gripper to clamp multiple adobe, when adobe size slightly deviation time, gripper will miss the less adobe of certain or multiple size, the utility model adopts multiple gripper to clamp multiple adobe, even if the size of adobe slightly deviation time, gripper also can adapt to the change of this size, can not miss adobe.
Described each gripper all utilizes an independently clamp drive mechanism driving, described clamp drive mechanism is connected with propelling movement pawl or gripper jaw, utilize clamp drive mechanism just can change the spacing pushing pawl and gripper jaw like this, thus clamp adobe or unclamp adobe.
Described clamp drive mechanism is cylinder, and cylinder not only controls conveniently, but also can adjust the stroke of its piston flexibly, guarantees to clamp tight adobe.
Apply above-mentioned control method and can become the piled bricks of rectangular shape by code, although efficiency is higher, piled bricks is easily toppled over, and for this problem, the utility model proposes following two kinds of improvement for the step B in above-mentioned control method:
The first step B improved is as follows: repeat step A, after the middle position of band to be conveyed is arranged with the adobe of predetermined number, controlling machine mechanical arm moves to above load-transfer device, the adobe of this predetermined number clamps by gripper corresponding in controlling machine mechanical arm, then horizontal moving mechanical arm, and the height of adjusting mechanical arm, position is piled up in the adobe that gripper and clamped adobe thereof move to load-transfer device side, then release mechanism pawl; Repeat above-mentioned steps, and successively reduce load-transfer device middle position arrange the quantity of adobe, thus every row adobe code is become up-small and down-big triangle or trapezoidal.
The first step B improved is as follows: repeat step A, after band to be conveyed is arranged with the adobe of predetermined number along its throughput direction, controlling machine mechanical arm moves to above load-transfer device, the adobe of this predetermined number clamps by gripper corresponding in controlling machine mechanical arm, then horizontal moving mechanical arm, and the height of adjusting mechanical arm, position is piled up in the adobe that gripper and clamped adobe thereof move to load-transfer device side, then the position by regulating the position of auxiliary stand to regulate gripper, the gripper being clamped with adobe is positioned at stack bricks the middle position of buttress, then release mechanism pawl, clamped adobe is fallen, repeat above-mentioned steps, and successively reduce load-transfer device along its throughput direction arrange the quantity of adobe, thus every row adobe code is become up-small and down-big triangle or trapezoidal.
In the second improves, mechanical arm used is provided with the horizontal guide rail being parallel to mechanical arm axis, described gripper is installed on an auxiliary stand, described auxiliary stand tressel is located on described horizontal guide rail, and can move along horizontal guide rail under the driving of horizontal drive mechanism.
Above-mentioned two kinds of automatic brick stacking machines improved and control method thereof can become pyramidal piled bricks by code, and piled bricks stability is strong, not easily topples over, improves safety.
Specifically, described adobe transfer unit comprises one and to be provided with adobe clamping device in working end and can around the pivot arm of the vertical shaft rotating of its place mount pad, described pivot arm is the composite rotating arm that can rotate around its extended line, and described vertical shaft is arranged on liftable pedestal; Described load-transfer device is intermittent delivery band, and the distance of its each interval displacement and the adobe spacing that it is piled up adapt, to ensure that adobe position conforms to the position of gripper.
Described mechanical arm driving mechanism comprises lifting motor and translation motor; Described vertical support frame is provided with vertical slide rail, the end of described mechanical arm is located at one by roller tressel and is had on the horizontal stand of horizontal slide rail, described horizontal stand is located in described vertical slide rail by roller tressel, the top of described vertical support frame is provided with the runner utilizing lifting motor to drive, described horizontal stand is connected with a rope, and the other end of described rope is walked around runner and is connected with counterweight; Described horizontal stand is provided with the screw rod utilizing translation motor to drive, and described mechanical arm is provided with the nut coordinated with described screw rod.Under the cooperation of nut, by translation motor rotating screw bolt, the rotation of screw rod can be converted into the parallel motion of mechanical arm along screw axial; And by lifting motor rotating wheel, the height of horizontal stand can be regulated, thus achieve level and the vertically movement of mechanical arm.Above-mentioned counterweight contributes to alleviating the load of lifting motor and keeping the balance of vertical support frame, makes lifting motor winding level support when smaller power.
For ensureing the balance of horizontal stand, the side of described horizontal stand is provided with triangular framing, and described triangular framing is provided with the roller of four rectangular arrangements, and described turning rolls is located in two vertical slide rail that vertical support frame sidepiece is provided with.
Automatic brick stacking machine of the present utility model can stack bricks automatically, and the multiple row piled bricks close-packed arrays that its code becomes, thus realize multiple row piled bricks and can transport simultaneously, improve work efficiency.
Accompanying drawing explanation
Fig. 1 is the integral structure birds-eye view of the automatic brick stacking machine of embodiment 1.
Fig. 2 is the lateral plan of the unit that stacks bricks in embodiment 1.
Fig. 3 is the structure for amplifying schematic diagram at screw rod place in Fig. 2.
Fig. 4 is the front elevation of the unit that stacks bricks in embodiment 1.
Fig. 5 is load-transfer device repeatedly adobe display case schematic diagram in the first control method in embodiment 1.
Fig. 6 is load-transfer device repeatedly adobe display case schematic diagram in the first control method in embodiment 2.
Fig. 7 is the lateral plan of the unit that stacks bricks in embodiment 2.
Fig. 8 is load-transfer device repeatedly adobe display case schematic diagram in the control method of embodiment 2.
Fig. 9,10 be the code of embodiment 1,2 turn over gripper and adobe in journey coordinate schematic diagram.
Wherein: 1, adobe transfer unit; 11, vertical shaft; 12, pivot arm; 13, mount pad; 2, load-transfer device; 3, stack bricks unit; 31, vertical support frame; 311, vertical slide rail; 312, runner; 32, mechanical arm; 321, gripper; 3211, pawl is pushed; 3212, gripper jaw; 3213, clamp drive mechanism; 322, roller; 323, horizontal guide rail; 324, auxiliary stand; 325, nut; 33, lifting motor; 34, translation motor; 35, horizontal stand; 351, horizontal slide rail; 352, roller; 353, screw rod; 354, triangular framing; 355, support; 36, rope; 37, counterweight; 4, position is piled up in adobe; 5, adobe.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the effect and principle of work etc. of detailed description of the invention of the present utility model as the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part are described in further detail.
Embodiment 1:
As shown in figures 1-4, the automatic brick stacking machine of the present embodiment comprises adobe transfer unit 1, load-transfer device 2 and the unit 3 that stacks bricks, and adobe transfer unit 1 and the unit 3 that stacks bricks lay respectively at the two ends of load-transfer device 2, wherein:
Described adobe transfer unit 1 comprises one and is provided with adobe clamping device and the pivot arm 12 that can rotate around the vertical shaft 11 of its place mount pad 13 in working end, described pivot arm 12 is the composite rotating arm that can rotate around its extended line, and described vertical shaft 11 is arranged on (adobe clamping device and pedestal do not draw) on liftable pedestal;
Described load-transfer device 2 is intermittent delivery band, and the distance of its each interval displacement and the adobe spacing that it is piled up adapt;
The described unit 3 that stacks bricks comprises vertical support frame 31, and described vertical support frame 31 is provided with the mechanical arm 32 that can do vertical movement and parallel motion under mechanical arm driving mechanism effect relative to vertical support frame; Described mechanical arm 32 is parallel to the direction of load-transfer device 2, and is provided with multiple gripper 321 for clamping adobe.
Described gripper 321 is made up of the propelling movement pawl 3211 be oppositely arranged and gripper jaw 3212, the length of described propelling movement pawl 3211 is greater than the length of gripper jaw 3212, the diff-H pushing the bottom of pawl 3211 and the bottom of gripper jaw 3212 is less than the height of adobe 5 to be held, and the propelling movement pawl 3211 of all grippers is all positioned at the same side of mechanical arm; Each gripper 321 all utilize one independently clamp drive mechanism 3213 drive, this clamp drive mechanism 3213 adopts cylinder, cylinder block and push pawl 3211 be all fixedly connected with mechanical arm 321, the piston rod of cylinder is fixedly connected with gripper jaw 3212.
Specifically, described mechanical arm driving mechanism comprises lifting motor 33 and translation motor 34; Described vertical support frame 31 is provided with vertical slide rail 311, the end of described mechanical arm 32 is located at one by roller 322 tressel and is had on the horizontal stand 35 of horizontal slide rail 351, described horizontal stand 35 is located in described vertical slide rail 311 by roller 352 tressel, the top of described vertical support frame 311 is provided with the runner 312 utilizing lifting motor 33 to drive, described horizontal stand 35 is connected with a rope 36, and the other end of described rope 36 is walked around runner 312 and is connected with counterweight 37;
Described horizontal stand 35 is provided with the screw rod 353 utilizing translation motor 34 to drive, and this screw rod 353 utilizes support 355 to support, and freely can rotate in support 355; Described mechanical arm 32 is fixed with the nut 325 coordinated with described screw rod 353.Under the cooperation of nut 325, by translation motor 34 rotating screw bolt 353, the rotation of screw rod 353 can be converted into the parallel motion of mechanical arm 32 along screw rod 353 axis; And by lifting motor 33 rotating wheel 312, the height of horizontal stand 35 can be regulated, thus achieve level and the vertically movement of mechanical arm 32.Above-mentioned counterweight 37 contributes to alleviating the load of lifting motor 33 and keeping the balance of vertical support frame 31, makes lifting motor 33 winding level support 35 when smaller power.
For ensureing the balance of horizontal stand 35, the side of described horizontal stand 35 is provided with triangular framing 354, described triangular framing 354 is provided with the roller 352 of four rectangular arrangements, and described roller 352 is set up in two vertical slide rail 311 that vertical support frame 31 sidepiece is provided with.
The control method of above-mentioned automatic brick stacking machine has two kinds, specific as follows:
The first control method of automatic brick stacking machine comprises the steps:
A: adobe transfer unit 1 is positioned over disk-rotating brick press brickmaking station brick outlet place, pivot arm 12 is utilized the adobe at brick outlet place to be clamped, then by pivot arm 12 around its extended line 90-degree rotation, and to rotate and lifting vertical shaft 11, thus adobe to be positioned on load-transfer device 2;
B: repeat step A, after band 2 to be conveyed is arranged with the adobe of predetermined number, controlling machine mechanical arm 32 moves to the top of load-transfer device 2, gripper 321 is utilized the adobe 5 of this predetermined number to be clamped (as shown in Figure 9), then horizontal moving mechanical arm 32, and the height of adjusting mechanical arm 32, position 4 is piled up in the adobe that gripper 321 and clamped adobe thereof move to load-transfer device 2 side, then release mechanism pawl 321, makes clamped adobe fall, and forms piled bricks; Load-transfer device repeatedly adobe display case as shown in Figure 5, wherein solid black rectangle is the adobe of putting, hollow rectangle is the predetermined putting position of adobe on load-transfer device, and arrow represents the throughput direction of load-transfer device, and 001 ~ 004 represents successively step.
C: gripper 321 is promoted predetermined altitude, make the bottom of gripper jaw 3212 higher than the end face of clamped adobe 5, the bottom pushing pawl 3211 lower than clamped adobe 5 end face and higher than the bottom surface (as shown in Figure 10) of clamped adobe 5, controlling machine mechanical arm 321 is to the direction parallel motion of gripper jaw 3212, utilize and push pawl 3211 parallel motion adobe 5, thus the position of adjustment permutation adobe, adjacent column adobe is close to; Finally rise mechanical arm 321;
D: repeat A, B, step C, until the adobe quantity in piled bricks meets the requirements.
Certainly, when piling up first row piled bricks, without the need to performing step C, only needing adobe to be positioned over desired location, when piling up follow-up brick row, just performing step C, being close to make adjacent column adobe.
Apply this kind of control method and can become the piled bricks of rectangular shape by code, although efficiency is higher, piled bricks is easily toppled over, and for this problem, the present embodiment also proposes improvement for above-mentioned step B:
Step B after improvement is as follows: repeat step A, after the middle position of band 2 to be conveyed is arranged with the adobe of predetermined number, controlling machine mechanical arm 32 moves to above load-transfer device 2, the adobe 5 of this predetermined number clamps (as shown in Figure 9) by gripper 321 corresponding in controlling machine mechanical arm 32, then horizontal moving mechanical arm 32, and the height of adjusting mechanical arm 32, position 4 is piled up in the adobe that gripper 321 and clamped adobe 5 thereof move to load-transfer device 2 side, then release mechanism pawl 321, makes clamped adobe 5 fall; Repeat above-mentioned steps, and successively reduce load-transfer device 2 middle position arrange the quantity of adobe, until the adobe code fallen becomes the satisfactory pyramidal piled bricks of quantity.Load-transfer device repeatedly adobe display case as shown in Figure 6, wherein solid black rectangle is the adobe of putting, hollow rectangle is the predetermined putting position of adobe on load-transfer device, and arrow represents the throughput direction of load-transfer device, and 001 ~ 004 represents successively step.
This control method can become pyramidal piled bricks by code, and piled bricks stability is strong, not easily topples over, improves safety.
Embodiment 2:
As shown in Figure 7, as different from Example 1, mechanical arm 32 in the present embodiment is provided with the horizontal guide rail 323 being parallel to mechanical arm 32 axis, described gripper 321 is installed on an auxiliary stand 324, described auxiliary stand 324 tressel is located on described horizontal guide rail 323, and can move along horizontal guide rail 323 under the driving of horizontal drive mechanism (can adopt the mode that the mode of driven by motor belt or bolt and nut coordinate, this horizontal drive mechanism does not draw in the drawings).
The A of the control method of this kind of automatic brick stacking machine, C, D step is identical with embodiment 1, the step B of the present embodiment is as follows: repeat step A, band 2 to be conveyed is arranged with the adobe of predetermined number along its throughput direction after, controlling machine mechanical arm 32 moves to the top of load-transfer device 2, the adobe of this predetermined number clamps (as shown in Figure 9) by gripper 321 corresponding in controlling machine mechanical arm 32, then horizontal moving mechanical arm 32, and the height of adjusting mechanical arm 32, position 4 is piled up in the adobe that gripper 321 and clamped adobe thereof move to load-transfer device 2 side, then the position by regulating the position of auxiliary stand 324 to regulate gripper 321, the gripper 321 being clamped with adobe is positioned at stack bricks the middle position of buttress, then release mechanism pawl 321, clamped adobe is fallen, repeat above-mentioned steps, and successively reduce load-transfer device 2 along its throughput direction arrange the quantity of adobe, until the adobe code fallen becomes the satisfactory pyramidal piled bricks of quantity.Load-transfer device repeatedly adobe display case as shown in Figure 8, wherein solid black rectangle is the adobe of putting, hollow rectangle is the predetermined putting position of adobe on load-transfer device, and arrow represents the throughput direction of load-transfer device, and 001 ~ 004 represents successively step.
The automatic brick stacking machine of the present embodiment controls more flexible, and can become pyramidal piled bricks by code, piled bricks stability is strong, not easily topples over, improves safety.

Claims (7)

1. an automatic brick stacking machine, comprise adobe transfer unit, load-transfer device and the unit that stacks bricks, described adobe transfer unit and the unit that stacks bricks lay respectively at the two ends of load-transfer device, the described unit that stacks bricks comprises vertical support frame, and described vertical support frame is provided with the mechanical arm that can do vertical movement and parallel motion under mechanical arm driving mechanism effect relative to vertical support frame; Described mechanical arm is parallel to belt direction, and is provided with multiple gripper for clamping adobe; It is characterized in that described gripper is made up of the propelling movement pawl be oppositely arranged and gripper jaw, the length of described propelling movement pawl is greater than the length of gripper jaw, and the diff-H pushing the bottom of pawl and the bottom of gripper jaw is less than adobe height to be held; And the propelling movement pawl of all grippers is all positioned at the same side of mechanical arm.
2. automatic brick stacking machine according to claim 1, it is characterized in that described each gripper all utilizes an independently clamp drive mechanism driving, described clamp drive mechanism is connected with propelling movement pawl or gripper jaw.
3. automatic brick stacking machine according to claim 2, is characterized in that described clamp drive mechanism is cylinder.
4. automatic brick stacking machine according to claim 1, it is characterized in that described mechanical arm is provided with the horizontal guide rail being parallel to mechanical arm axis, described gripper is installed on an auxiliary stand, described auxiliary stand tressel is located on described horizontal guide rail, and can move along horizontal guide rail under the driving of horizontal drive mechanism.
5. the automatic brick stacking machine according to claim 1 or 2 or 3 or 4, it is characterized in that described adobe transfer unit comprises one and to be provided with adobe clamping device in working end and can around the pivot arm of the vertical shaft rotating of its place mount pad, described pivot arm is the composite rotating arm that can rotate around its extended line, and described vertical shaft is arranged on liftable pedestal; Described load-transfer device is intermittent delivery band, and the distance of its each interval displacement and the adobe spacing that it is piled up adapt.
6. automatic brick stacking machine according to claim 5, is characterized in that described mechanical arm driving mechanism comprises lifting motor and translation motor; Described vertical support frame is provided with vertical slide rail, the end of described mechanical arm is located at one by roller tressel and is had on the horizontal stand of horizontal slide rail, described horizontal stand is located in described vertical slide rail by roller tressel, the top of described vertical support frame is provided with the runner utilizing lifting motor to drive, described horizontal stand is connected with a rope, and the other end of described rope is walked around runner and is connected with counterweight; Described horizontal stand is provided with the screw rod utilizing translation motor to drive, and described mechanical arm is provided with the nut coordinated with described screw rod.
7. automatic brick stacking machine according to claim 6, it is characterized in that the side of described horizontal stand is provided with triangular framing, described triangular framing is provided with the roller of four rectangular arrangements, and described turning rolls is located in two vertical slide rail that vertical support frame sidepiece is provided with.
CN201420855930.0U 2014-12-30 2014-12-30 A kind of brick stacking machine automatically Expired - Fee Related CN204528686U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104495400A (en) * 2014-12-30 2015-04-08 信宜市恒大机械科技有限公司 Automatic brick stacking machine and control method thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104495400A (en) * 2014-12-30 2015-04-08 信宜市恒大机械科技有限公司 Automatic brick stacking machine and control method thereof

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