CN206901139U - A kind of automatic shipment device in warehouse - Google Patents
A kind of automatic shipment device in warehouse Download PDFInfo
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- CN206901139U CN206901139U CN201720649451.7U CN201720649451U CN206901139U CN 206901139 U CN206901139 U CN 206901139U CN 201720649451 U CN201720649451 U CN 201720649451U CN 206901139 U CN206901139 U CN 206901139U
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Abstract
A kind of automatic shipment device in warehouse, including goods taking device；The goods taking device includes track and manipulator；The track includes being arranged on the rotating shaft of junction, and described rotating shaft one end is fixedly connected with the track, and the other end is the rotary shaft with indentation；The manipulator includes three-axis body, casing, grabbing device and identification device, and the casing is fixedly connected with the three-axis body, and the grabbing device and the identification device are arranged on the casing；The grabbing device includes clamp device and suction means, and the grabbing device can be according to crawl target item selection Grasp Modes.Quantity and the position that article is placed are recorded by identification device, the article of needs is delivered to by specified outlet by goods taking device, the quantity of each article is not only counted, acceptable automatic shipment, automatic sale, it can also be connected simultaneously with intelligent terminal, solve the problems, such as that storehouse personnel are constrained by the work hours, operating efficiency is low, error rate is high, human cost is high.
Description
Technical field
Article storage is the utility model is related to, includes the pipe of the place article such as bookstore, warehouse, automatic vending equipment
Reason, statistics and shipment, more particularly to a kind of automatic shipment device in warehouse.
Background technology
Existing article storage, including the place such as bookstore, warehouse, automatic vending equipment, quantity statistics mainly according to
Manually statistics make an inventory, shipment, cause statistics it is low with shipment efficiency, error rate is high, cost is high the problems such as.
The content of the invention
（One）Goal of the invention：To solve above-mentioned problems of the prior art, the purpose of this utility model is to provide one
The kind automatic shipment device in warehouse, can be by the way that identical items be placed with stack manner, according to the thickness and statistic device of article
Distance, or calculate according to the profile of the top object or according to height the quantity of article, and result of calculation is passed through into clothes
Business device is sent to intelligent terminal, and then required goods is sent into specified location automatically by automatic goods taking device, so as to accomplish not
Artificial on duty, raising statistical efficiency is needed, picking efficiency is improved, reduces error rate, reduces cost.
（Two）Technical scheme：In order to solve the above-mentioned technical problem, the technical program provides a kind of automatic shipment device in warehouse,
Including goods taking device；
The goods taking device includes track and manipulator；
The track includes being arranged on the rotating shaft of junction, and described rotating shaft one end is fixedly connected with the track, the other end
For the rotary shaft with indentation；
The manipulator includes three-axis body, casing, grabbing device and identification device, the casing and the three-axis body
It is fixedly connected, the grabbing device and the identification device are arranged on the casing；
The grabbing device includes clamp device and suction means, and the grabbing device can be according to crawl target item choosing
Select Grasp Modes.
Preferably, the goods taking device bottom is provided with the turn trough corresponding with rotary shaft indentation.
Preferably, the goods taking device also includes road wheel, walking turbin generator and supporting mechanism；
The road wheel and the road wheel motor connection, the road wheel are fixed on the bottom of the supporting mechanism；
The supporting mechanism includes upper supporting mechanism and lower supporting mechanism, the upper supporting mechanism and the lower supporting mechanism
Connected by lowering or hoisting gear.
Preferably, the goods taking device also includes armed lever；
The armed lever includes the first axle body, the second axle body and fixed expansion link；
The first axle body is fixedly connected with the upper supporting mechanism, and the second axle body is fixedly connected with armed lever and underarm
Lower arm rod is fixedly connected by bar, the fixed expansion link with the first axle body.
Preferably, the identification device includes image collecting device, range unit.
Preferably, the clamp device includes clamping plate and trip shaft, and the clamping plate is fixedly connected on by the trip shaft
The top of the casing both sides.
Preferably, the suction means includes sucker and support bar, one end of the support bar with the casing top
Wall is fixedly connected, and the other end is fixedly connected with the sucker.
Preferably, the side bottom of casing two is provided with trip shaft, and the trip shaft is fixedly connected with baffle plate.
Preferably, the suction means is Pneumatic suction cup or electromagnetism suction means.
Wherein, a kind of automatic shipment device in warehouse also includes intelligent terminal, and the intelligent terminal is preferably PC ends
End or smart mobile phone.
Wherein, the track interior is provided with power-on circuit, and electric energy is provided for whole device.
（Three）Beneficial effect：The utility model provides a kind of automatic shipment device in warehouse, and article is recorded by identification device
The quantity of placement and position, the article of needs is delivered to by specified outlet by goods taking device, has not only counted the quantity of each article,
Can also automatic shipment, automatic sale, while can also be connected with intelligent terminal, solve storehouse personnel by the work hours about
The problem of beam, operating efficiency are low, error rate is high, human cost is high.
Brief description of the drawings
Fig. 1 is the utility model mechanical arm structural representation；
Fig. 2 is the utility model robot manipulator structure schematic diagram；
Fig. 3 is layout scheme of installation of the present utility model；
Fig. 4 is a kind of automatic shipment device connection relationship diagram in warehouse of the utility model；
Fig. 5 is another preferred embodiment of the utility model；
11- tracks；12- rotating shafts；21- identification devices；22- clamping plates；23- manipulators；24- trip shafts；Machine is supported on 25-
Structure；26- lowering or hoisting gears；Supporting mechanism under 27-；28- walking turbin generators；29- road wheels；30- turn troughs；31- the first axle bodies；32-
The second axle body；33- three-axis bodies；34- suckers；35- support bars；36- baffle plates；37- casings；The upper armed levers of 38-；39- lower arm rods；
40- fixed blocks；
It is the part of each digitized representation of another preferred embodiment of Fig. 5 the utility model below：
111- tracks；121- identification devices；122- clamping plates；124- trip shafts；126- lowering or hoisting gears；134- suckers；135-
Support bar；136- baffle plates；137- casings.
Embodiment
The utility model is described in further details with reference to preferred embodiment, elaborated in the following description
More details are in order to fully understand the utility model, and still, the utility model obviously can be different from this description with a variety of
Other modes implement, those skilled in the art can be in the case of without prejudice to the utility model connotation according to practical application
Situation is made similar popularization, deduced, therefore should not limit the scope of protection of the utility model with the content of this specific embodiment.
Schematic diagram is the schematic diagram of embodiment of the present utility model, it should be noted that this accompanying drawing is only as an example, not
It is to be drawn according to the condition of equal proportion, and should not be formed in this, as to actual requirement protection domain of the present utility model
Limitation.
Fig. 1 is a kind of mechanical arm structural representation of the automatic shipment device in warehouse of the utility model, and the mechanical arm is fixed
On supporting mechanism, the supporting mechanism includes upper supporting mechanism 25 and lower supporting mechanism 27.The upper supporting mechanism 25 and institute
State lower supporting mechanism 27 to connect by lowering or hoisting gear 26, the lowering or hoisting gear 26 can be the expansion link of two synchronizations, either
Telescope support, it is not limited here, for supporting the upper vertical direction of supporting mechanism 25 to move, makes the mechanical arm positioned at suitable
Position.
The bottom of lower supporting mechanism 27 is provided with road wheel 29, and the road wheel 29 passes through rotating bar and the lower support machine
The walking turbin generator 28 set in structure 27 connects.The lower section of lower supporting mechanism 27 is provided with turn trough 30, and the turn trough 30 is provided with tooth
Groove.
The mechanical arm is fixed on the upper supporting mechanism 25 by the first axle body 31, and the first axle body 31 is preferable
To be spherical.The first axle body 31 is fixedly connected by the rotary shaft of its bottom with the upper supporting mechanism 25.The rotary shaft
The rotation driven in the horizontal direction of the first axle body 31 is rotated, so that the mechanical arm rotates.The first axle body 31 pushes up
End is provided with fixed block 40, and there are prominent expansion link, the expansion link other end and the mechanical arm in described one end of fixed block 40
Lower arm rod 39 connects, and the expansion link elongation or shortening, controls moving up and down for the mechanical arm arc.The lower arm rod 39
It is connected by the second axle body 32 with upper armed lever 38, the second axle body 32 can make the mechanical brachiocylloosis.The upper armed lever 38
The other end be fixed with three-axis body 33, the three-axis body 33 is connected with manipulator, the three-axis body 33 rotate make it is described
Manipulator rotates, so as to select to capture machine work or identification device work.The manipulator is provided with the He of identification device 21
Grabbing device.
Fig. 2 is a kind of mechanical arm structural representation of the automatic shipment device in warehouse of the utility model, and the manipulator is fixed
On the three-axis body 33.The grabbing device of the manipulator includes support bar 35, sucker 34, baffle plate 36, trip shaft 24, folder
Plate 22 and casing 37.The clamping plate 22 is connected to the casing 37 by the trip shaft 24, by controlling the trip shaft 24
Rotation control the clamping plate 22 to grip article.
The sucker 34 is fixed on one end of the support bar 35, and the other end of the support bar 35 is fixed on the casing
On upper wall inside 37.The support bar 35 is used for the withdrawal and stretching for controlling the sucker 34, when the support bar 35 controls
When the sucker 34 is withdrawn, the sucker 34 can be made to be retracted to inside the casing 37；When the support bar 35 controls the suction
When disk 34 stretches out, the sucker 34 can be made to extend out to the casing 37.The outer wall of the bottom of casing 37 open to be controllable and
The baffle plate 36 of closing, the baffle plate 36 are connected by trip shaft 24 with the casing 37.Article is drawn when selecting the sucker 34
When, the support bar 35 promotes the sucker 34 to the casing 37, while the trip shaft 24 for connecting the baffle plate 36 rotates, and makes
The baffle plate 36 is opened.When the sucker 34, which works, to be completed, the support bar 35 is withdrawn, and is retracted to the sucker 34 described
In casing 37, the trip shaft 24 for connecting the baffle plate 36 rotates, and closes the baffle plate 36.
Fig. 3 is layout scheme of installation of the present utility model, and the ground in article storage place is equipped with track 11, the rail
Road 11 divides to be interconnected for X-direction track and Y-direction track, the X-direction track and the Y-direction track.In the X-direction
Track and the Y-direction track junction, provided with the rotating shaft 12 for changing the mechanical arm moving direction, the rotating shaft 12 is
Rotary shaft with indentation, need to change and move when the mechanical arm is moved to the X-direction track and the Y-direction track junction
During dynamic direction, the rotating shaft 12 extend out to the turn trough 30, when the rotating shaft 12 fully contacts with the turn trough 30, and described in general
Mechanical arm is micro- to be raised when the mechanical arm is separated with track, and the rotating shaft 12 rotates according to moving direction, described so as to change
The moving direction of mechanical arm.
Fig. 4 is a kind of automatic shipment device connection relationship diagram in warehouse of the utility model, and the goods taking device includes control
Coremaking piece, the control chip include the first communication unit.The control chip controls the walking turbin generator 28, rotating shaft respectively
12nd, lowering or hoisting gear 26, the first axle body 31, the second axle body 32, three-axis body 33, distance-sensor, height sensors, identification device
21st, support bar 35, clamping plate 22, trip shaft 24, sucker 34 and baffle plate 36.The goods taking device by first communication unit with
The server connection.The server includes analytic unit, computing unit, memory cell and the second communication unit.The clothes
Business device is connected with the goods taking device, intelligent terminal respectively by second communication unit.
Wherein, the track interior is provided with power-on circuit, and electric energy is provided for whole device.
A kind of warehouse one preferred embodiment of automatic shipment device is provided with reference to the utility model to carry out specifically
It is bright.
Keeper starts the automatic picking of goods taking device to outlet by the intelligent terminal.The intelligent terminal with
The server connection, the keeper send goods taking device to the server by the intelligent terminal and start order.
The memory cell of the server can will capture the route walked required for each article by the intelligent terminal
Storage, while memory cell is additionally operable to store number corresponding to the quantity, size and each article outline data of each article of storehouse storage
The height of magnitude relation or each article.
When the server receives the goods taking device startup order that the intelligent terminal is sent, the server is as needed
The title of article is captured, transfers the route information of the memory cell storage, and route information and goods taking device are started into order
Sent by the second communication unit to the control chip of the goods taking device.
The control chip starts walking turbin generator 28 according to the route information, road wheel 29 is moved along track.Root
When travelling according to road wheel described in route information 29 to 11 intersection point of track for needing to turn, control chip controls the intersection point to set
Rotating shaft 12 extend out to the turn trough 30, make the mechanical arm is micro- to raise pico- when leaving track 11, the rotating shaft 12 is according to need
After the direction to be moved turns to target direction, the rotating shaft 12 is withdrawn, the control chip control walking turbin generator 28
Work, until the mechanical arm reaches the position of crawl article.
When the mechanical arm reaches crawl object position, the first communication unit of the control chip will reach
Information is sent to the server.The server calculates the mechanical arm according to the stored number and size of the article to be needed to rise
The height of drop and the displacement of horizontal direction, result of calculation are sent to the control chip by second communication unit.
The control chip controls the lowering or hoisting gear 26 to move up and down according to result of calculation, while control chip control described the
One axis body 31 and the second axle body 32 rotate respectively, and the manipulator is positioned at the optimum position of crawl article.
When the mechanical arm reaches theoretical crawl optimum position, the control chip controls the height sense of the mechanical arm
Device and distance-sensor is answered to start working, the height and distance for sensing the mechanical arm and being crawled between article, and by result
Sent by first communication unit to the server.The analytic unit of the server is according to the size for being crawled article
And quantity, whether the mechanical arm is analyzed positioned at crawl optimum position；If the mechanical arm is not in capturing optimum position, described
Computing unit recalculates the height and horizontal direction that the mechanical arm needs to lift according to the analysis result of the analytic unit
Displacement；If the mechanical arm is in crawl optimum position, the server will be opened by second communication unit
The order for moving the identification device 21 is sent to the control chip.The control chip starts the three-axis body 33 and rotated,
Make the identification device 21 vertical with being crawled article.The identification device 21 includes camera device and range unit, described to take the photograph
As the image information of device intake manipulator objects underneath, the range unit is measured under the identification device and the manipulator
The distance of square object product, while the height sensors of the manipulator sense the distance on the inductor and ground, the control core
Piece is by first communication unit by the image information of article, the distance of the identification device and the manipulator objects underneath
Sent with the distance of the inductor and ground to the server.The analytic unit of the server analyze the article whether be
Target captures article, while computing unit calculates the quantity of the article, and is carried out with the quantity of the article of memory cell storage
Contrast, the quantity information of memory cell, if quantity is consistent, the analysis list of the server are changed if quantity is inconsistent
Member analyzes Grasp Modes according to article is crawled.Second communication unit will capture quantity and Grasp Modes are sent to the control
Coremaking piece.
The control chip controls the three-axis body 33 to rotate, and the crawl position of the manipulator is hung down with being crawled thing
Directly.
If Grasp Modes are gripping, the control chip controls the lowering or hoisting gear 26 to decline, and makes the manipulator
Clipped object product are contacted, the trip shaft 24 that then the control chip control clamping plate 22 connects rotates, and clamping plate 22 will be crawled thing
Product are firmly grasped, and after the clamping plate 22 will be crawled article promptly, the master control borad control lowering or hoisting gear 26 raises, and makes to be crawled article
Picked up.
If Grasp Modes is draw, the control chip controls the lowering or hoisting gear 26 to decline, and makes the manipulator
Distance with clipped object product is the distance specified, and the trip shaft 24 that then the control chip controlling baffle plate 36 connects rotates, machine
Tool hand casing 37 is opened, while control chip control support bar 35 stretches out, and makes the sucker 34 and quilt on the support bar 35
Crawl article will be crawled article and hold when fully contacting, and the sucker 34 will be crawled after article sucks, the master control borad control
Lowering or hoisting gear 26 processed raises, and makes to be crawled article and is picked up.
The sucker 34 can also be directly anchored to the cabinet exterior, when needing to start the sucker 34, the control
Lowering or hoisting gear 26 declines described in chip controls processed, and the distance for making the manipulator and clipped object product is the distance specified, Ran Housuo
The trip shaft 24 for stating the connection of control chip controlling baffle plate 36 rotates, and makes the clamping plate 22 parallel with the casing 37, the control
Lowering or hoisting gear 26 declines described in chip controls, the sucker 34 will be crawled article and sucks, and then master control borad control rises
Falling unit 26 raises, and makes to be crawled article and is picked up.
After being crawled article and being crawled, the control chip is back to outlet according to starting route.
The settable article statistical function for periodically starting automatic shipment system of the intelligent terminal, the article that storehouse is deposited
Again count.
Keeper can change the information such as data, the position of storehouse store things by the intelligent terminal.
A kind of automatic another preferred embodiment of shipment device in warehouse is provided with reference to the utility model to carry out in detail
Explanation.
Goods taking device can also be arranged on the top of store things, be set as shown in figure 5, the identification device 121 is circular
Put on track 111, lowering or hoisting gear 126 is fixedly connected on the identification device 121 by fix bar, the lowering or hoisting gear
126 other end is fixedly connected with the casing 137 of the manipulator.Upper wall is fixed with support bar 135, institute in the casing 137
State the other end of support bar 135 and be fixedly connected with sucker 134, the bottom of casing 137 is provided with retractable baffle plate 136, the gear
Plate 136 is connected by trip shaft 124 with the casing 137.The top on the top of casing 137 is connected with by trip shaft 124
Clamping plate 122.
Keeper starts the automatic picking of goods taking device to outlet by the intelligent terminal.The intelligent terminal with
The server connection, the keeper send goods taking device to the server by the intelligent terminal and start order.
The memory cell of the server can will capture the route walked required for each article by the intelligent terminal
Storage, while memory cell is additionally operable to store number corresponding to the quantity, size and each article outline data of each article of storehouse storage
The height of magnitude relation or each article.
When the server receives the goods taking device startup order that the intelligent terminal is sent, the server is as needed
The title of article is captured, transfers the route information of the memory cell storage, and route information and goods taking device are started into order
Sent by the second communication unit to the control chip of the goods taking device.
The control chip moves the driving mechanical arm of identification device 121 according to the route information, makes the knowledge
Other device 121 and mechanical arm, which are moved to, to be crawled above article.
When the mechanical arm and the identification device 121 reach crawl object position top, the control core
First communication unit of piece is sent information is reached to the server.The control chip controls the identification device simultaneously
121 work.The identification device 121 includes camera device and range unit, and the camera device absorbs manipulator objects underneath
Image information, the range unit measures the identification device and the distance of the manipulator objects underneath, while the machine
The height sensors of tool hand sense the distance on the inductor and ground.The control chip will by first communication unit
The image information of article, the identification device and the distance and the distance on the inductor and ground of the manipulator objects underneath
Send to the server.
The analytic unit of the server analyzes whether the article is target crawl article, while computing unit calculates the thing
The quantity of product, and contrasted with the quantity of the article of memory cell storage, change memory cell if quantity is inconsistent
Quantity information, if quantity is consistent, the analytic unit of the server is according to being crawled article analysis Grasp Modes.It is described
Second communication unit will capture quantity and Grasp Modes are sent to the control chip.
The control chip controls the identification device 121 to move, and makes the crawl position of the manipulator and is crawled thing
Vertically.
If Grasp Modes are gripping, the control chip controls the lowering or hoisting gear 126 to decline, and makes the manipulator
Clipped object product are contacted, the trip shaft 124 that then the control chip control clamping plate 122 connects rotates, and clamping plate 122 will be crawled
Article is firmly grasped, and after the clamping plate 122 will be crawled article promptly, the master control borad control lowering or hoisting gear 126 raises, and makes to be crawled
Article is picked up.
If Grasp Modes is draw, the control chip controls the lowering or hoisting gear 126 to decline, and makes the manipulator
Distance with clipped object product is the distance specified, and the trip shaft 124 that then the control chip controlling baffle plate 136 connects rotates,
Manipulator casing 137 is opened, while control chip control support bar 135 stretches out, and makes the sucker on the support bar 135
134 with being crawled article when fully being contacted, and will be crawled article and holds, and the sucker 134 will be crawled after article sucks, described
Master control borad control lowering or hoisting gear 126 raises, and makes to be crawled article and is picked up.
After being crawled article and being crawled, the control chip is back to outlet according to starting route.
Above content is the explanation to the preferred embodiment of the invention, those skilled in the art can be helped more to fill
Ground is divided to understand the technical scheme that the utility model is created.But these embodiments are merely illustrative, it is impossible to assert the present invention
The embodiment of creation is only limitted to the explanation of these embodiments.To the ordinary skill people of the invention art
For member, without departing from the concept of the premise of the invention, some simple deductions and conversion can also be made, should be all considered as
Belong to the protection domain of the invention.
Claims (8)
1. a kind of automatic shipment device in warehouse, including goods taking device；
The goods taking device includes track and manipulator；
The track includes being arranged on the rotating shaft of junction, and described rotating shaft one end is fixedly connected with the track, and the other end is band
There is the rotary shaft of indentation；
The manipulator includes three-axis body, casing, grabbing device and identification device, and the casing is fixed with the three-axis body
Connection, the grabbing device and the identification device are arranged on the casing；
The grabbing device includes clamp device and suction means, and the grabbing device can grab according to crawl target item selection
Take mode.
2. the automatic shipment device in a kind of warehouse according to claim 1, wherein, the goods taking device bottom is provided with and rotary shaft
The corresponding turn trough of indentation.
3. the automatic shipment device in a kind of warehouse according to claim 1, wherein, the goods taking device also includes road wheel, OK
Walk turbin generator and supporting mechanism；
The road wheel and the road wheel motor connection, the road wheel are fixed on the bottom of the supporting mechanism；
The supporting mechanism includes upper supporting mechanism and lower supporting mechanism, and the upper supporting mechanism and the lower supporting mechanism pass through
Lowering or hoisting gear connects.
4. the automatic shipment device in a kind of warehouse according to claim 3, wherein, the goods taking device also includes armed lever；
The armed lever includes the first axle body, the second axle body and fixed expansion link；
The first axle body is fixedly connected with the upper supporting mechanism, and the second axle body is fixedly connected with armed lever and lower arm rod,
Lower arm rod is fixedly connected by the fixed expansion link with the first axle body.
5. the automatic shipment device in a kind of warehouse according to claim 1, wherein, the identification device includes image collector
Put, range unit.
6. the automatic shipment device in a kind of warehouse according to claim 1, wherein, the clamp device includes clamping plate and upset
Axle, the clamping plate are fixedly connected on the top of the casing both sides by the trip shaft.
7. the automatic shipment device in a kind of warehouse according to claim 1, wherein, the suction means includes sucker and support
Bar, one end of the support bar are fixedly connected with casing top inwall, and the other end is fixedly connected with the sucker.
8. the automatic shipment device in a kind of warehouse according to claim 7, wherein, the side bottom of casing two is provided with trip shaft,
The trip shaft is fixedly connected with baffle plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720649451.7U CN206901139U (en) | 2017-06-06 | 2017-06-06 | A kind of automatic shipment device in warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720649451.7U CN206901139U (en) | 2017-06-06 | 2017-06-06 | A kind of automatic shipment device in warehouse |
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| Publication Number | Publication Date |
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| CN206901139U true CN206901139U (en) | 2018-01-19 |
Family
ID=61286002
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720649451.7U Active CN206901139U (en) | 2017-06-06 | 2017-06-06 | A kind of automatic shipment device in warehouse |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108305389A (en) * | 2018-01-30 | 2018-07-20 | 荆门宁杰机电技术服务有限公司 | A kind of self-service sale apparatus of commerce and trade flowerpot |
| CN109191688A (en) * | 2018-11-22 | 2019-01-11 | 上海电子信息职业技术学院 | A kind of article Vending Machine |
| CN110884813A (en) * | 2018-09-10 | 2020-03-17 | 迅得机械股份有限公司 | Wafer box storage system |
-
2017
- 2017-06-06 CN CN201720649451.7U patent/CN206901139U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108305389A (en) * | 2018-01-30 | 2018-07-20 | 荆门宁杰机电技术服务有限公司 | A kind of self-service sale apparatus of commerce and trade flowerpot |
| CN108305389B (en) * | 2018-01-30 | 2020-07-10 | 乐清市天美贸易有限公司 | Self-service selling device of flowerpot for commerce and trade |
| CN110884813A (en) * | 2018-09-10 | 2020-03-17 | 迅得机械股份有限公司 | Wafer box storage system |
| CN110884813B (en) * | 2018-09-10 | 2022-06-07 | 迅得机械股份有限公司 | Wafer box storage system |
| CN109191688A (en) * | 2018-11-22 | 2019-01-11 | 上海电子信息职业技术学院 | A kind of article Vending Machine |
| CN109191688B (en) * | 2018-11-22 | 2023-10-10 | 上海电子信息职业技术学院 | Automatic article vending machine |
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