CN113003139A - Automatic lifting drum formula assembly line - Google Patents
Automatic lifting drum formula assembly line Download PDFInfo
- Publication number
- CN113003139A CN113003139A CN202110178324.4A CN202110178324A CN113003139A CN 113003139 A CN113003139 A CN 113003139A CN 202110178324 A CN202110178324 A CN 202110178324A CN 113003139 A CN113003139 A CN 113003139A
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- Prior art keywords
- material turnover
- turnover box
- automatic
- conveying belt
- lifting
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- 239000000463 material Substances 0.000 claims abstract description 109
- 230000007306 turnover Effects 0.000 claims abstract description 64
- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000012546 transfer Methods 0.000 claims abstract description 15
- 238000003860 storage Methods 0.000 claims abstract description 14
- 230000000903 blocking effect Effects 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
- B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- 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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/16—Preventing pulverisation, deformation, breakage, or other mechanical damage to the goods or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an automatic lifting roller type assembly line, which belongs to the field of automatic lifting roller type assembly lines and adopts the technical scheme that the assembly line comprises a part processing area, a first transportation area, a second transportation area, a storage area and a lifting area; the part processing area comprises an automatic material channel, a transfer robot and a placing frame, the transfer robot is used for grabbing parts, the automatic material channel is used for transporting the parts, and the placing frame is used for temporarily storing a material turnover box; the first transport area comprises a first transport belt for conveying the material turnover boxes; the second transport area comprises a second transport belt for conveying the material turnover boxes; the storage area comprises a third conveyor belt for storing the material turnover box; the lifting area comprises a lifting frame, and an object stage which does lifting motion is arranged in the lifting frame.
Description
Technical Field
The invention relates to the field of automatic lifting roller type production lines, in particular to an automatic lifting roller type production line.
Background
At present, although a large amount of advanced processing equipment for automatic feeding and discharging is used in the manufacturing process of single large-batch parts, the material is still conveyed manually in the circulation process. The concrete form is as follows: the production line is separated according to the working procedures, the parts processed in the previous working procedure are temporarily stored in a workshop intermediate warehouse, the logistics personnel move the parts to a material trolley beside the processing equipment in the next working procedure by using a logistics trolley when the parts need to be processed, then the parts to be processed are manually placed on a material rail of the equipment by an operator, and finally the equipment automatically grabs/processes/puts back the parts. Logistics personnel and field operators play an indispensable role in the material circulation process.
However, with the increasingly strict requirements of product quality control and traceability of the host factory, the following disadvantages exist: the risks of overturning and falling of parts exist in the material flow process depending on logistics personnel and field operators; due to the fact that feeding is not timely caused by human factors, equipment has the risk of material shortage, and therefore abnormal downtime of the equipment is too long, comprehensive efficiency of the equipment is low, and part processing cost is increased; the conditions of misplacing, mistaken taking, part collision caused by human factors and the like are stored when the materials are manually received and taken at the automatic material tray of each device; the traceability of parts is poor, the first-in first-out management is difficult, and the abnormal parts cannot be accurately isolated and processed after appearing; the first inspection piece and the debugging piece have material mixing risks, and the position of the first inspection piece and the position of the first debugging piece cannot be accurately locked and tracked.
Disclosure of Invention
The invention aims to provide an automatic lifting roller type assembly line which has the advantages of solving various defects caused by manual part conveying, realizing real-time monitoring, realizing strict tracing management, avoiding the situation of wrong material mixing and recording, and realizing efficient and accurate material transfer.
The technical purpose of the invention is realized by the following technical scheme:
an automatic lifting roller type assembly line comprises a plurality of processing units, wherein each processing unit comprises a part processing area, a first transportation area, a second transportation area, a storage area and a lifting area;
the part processing area comprises an automatic material channel, a transfer robot and a placing frame, the transfer robot is used for grabbing parts, the automatic material channel is used for transporting the parts, and the placing frame is used for temporarily storing a material turnover box;
the first transport region comprises a first transport belt for transporting the material turnover box;
the second transport area comprises a second transport belt for transporting the material turnover boxes;
the storage area comprises a third conveyor belt for storing the material turnover box;
the lifting area comprises a lifting frame, and an object stage which does lifting motion is arranged in the lifting frame.
Furthermore, an unprocessed feeding position used for positioning the original parts and a processed discharging position used for positioning the parts are arranged on the automatic material channel.
Further, motor-driven electric rollers driven by a motor are arranged on the placing frame, the first conveying belt, the second conveying belt and the third conveying belt.
Further, install No. six sensors and No. seven sensors that are used for detecting material turnover case position on the rack, install No. two that are used for discerning material turnover case on the rack and sweep a yard rifle.
Furthermore, install No. two transverse orientation cylinders that are used for fixed material turnover case on the rack.
Further, a blocking rod and a first sensor are arranged at the feeding position of the first conveying belt.
Furthermore, a second sensor, a first stopper and a second stopper are sequentially arranged on the first conveyor belt according to the feeding direction.
Furthermore, a first number of scanning guns which are symmetrically arranged with the second number of sensors are arranged on the first conveyor belt.
Furthermore, a reversing pushing cylinder for reversing the material turnover box is arranged on the second conveyer belt, a trigger matched with the reversing pushing cylinder is arranged on the second conveyer belt, and a first transverse positioning cylinder for fixing the position of the material turnover box is arranged on the second conveyer belt.
Furthermore, a third sensor and a fourth sensor for detecting the material turnover box are arranged on the second conveyor belt, and a third stopper for stopping the material turnover box is arranged at the tail end of the second conveyor belt.
In conclusion, the invention has the following beneficial effects:
1. manual operation only needs to be carried to the feeding position of the assembly line by warehouse management personnel, material circulation among the rest processes is automatically completed by the assembly line, the risks of overturning and falling of the turnover box are effectively avoided, human errors are greatly avoided, and the material processing efficiency is improved;
2. in the processing process, the assembly line is matched with the transportation area through the storage area, so that the material consumption and the material preparation are matched in real time, and the condition of material shortage of equipment is effectively avoided;
3. the transfer robot of each equipment can act according to stable beat through presetting the procedure, and the possibility that the material collided and damaged and produced is effectually avoided.
4. Establish reliable process on the assembly line and traceed back entirely, sweep the two-dimensional code that the yard rifle can accurate discernment turnover case on, realize stringently tracing back the management, can trace back the single case part.
Drawings
FIG. 1 is a schematic diagram of the front end of an automatic elevator drum line;
FIG. 2 is a schematic diagram of the rear end of an automatic elevator drum line;
FIG. 3 is a top view of an automatic elevator drum line;
fig. 4 is a schematic side view of a dynamic elevator roller assembly line.
In the figure, 1, a transfer robot; 11. an automatic material channel; 12. raw material loading level; 13. a processed blanking position; 14. placing a rack; 141. a sensor number six; 142. a sensor number seven; 143. a second code scanning gun; 144. a second transverse positioning cylinder; 2. a first conveyor belt; 21. a blocking lever; 22. a first sensor; 23. a sensor number two; 24. a first stopper; 25. a second blocker; 26. a number scanning gun; 3. a second conveyor belt; 31. a reversing push cylinder; 32. a first transverse positioning cylinder; 33. a trigger; 34. a sensor number three; 35. a sensor number four; 36. a third stopper; 4. a third conveyor belt; 5. a lifting frame; 51. an object stage.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Example (b): an automatic lifting roller type assembly line, as shown in fig. 1, comprises a plurality of processing units, wherein the plurality of processing units are linearly arranged, the function of each processing unit is determined according to actual needs, each processing unit comprises a part processing area, a first transportation area, a second transportation area, a storage area and a lifting area, and the part processing area is mainly used for processing after taking parts from a material turnover box; the first transportation area and the second transportation area play a role in transporting the material turnover box; the storage area is used for placing the material turnover box; the lifting area is used for transferring the material turnover box among the part processing area, the second transportation area and the storage area.
Referring to fig. 1 and 3, the first transportation area includes a first transportation belt 2 for transporting the material turnover boxes, the first transportation belt 2 is located below the placing frame 14, and the first transportation belt 2 is provided with a plurality of electric rollers driven by motors. The feeding position of the first conveyor belt 2 is provided with a blocking bar 21 and a first sensor 22. When the assembly line starts, the staff detects the material turnover box from placing first transport area 2 with the material turnover box from the storage area, and a sensor 22 blocks that pole 21 lifts up, and first transport area 2 starts to transport the material turnover box.
Referring to fig. 1 and 3, a second sensor 23, a first stopper 24 and a second stopper 25 are sequentially arranged on the first conveyor belt 2 in the feeding direction, and a first number gun 26 is arranged on the first conveyor belt 2. When the material turnover box passes through the second sensor 23, the second sensor 23 transmits a signal to the first code scanning gun 26, the first code scanning gun 26 records the information of the material turnover box, and after the information is confirmed to be correct, the first stopper 24 and the second stopper 25 are put down, so that the material turnover box passes.
As shown in fig. 2 and 3, the second transport area includes a second transport belt 3 for transporting the material turnover boxes, the second transport belt 3 is perpendicular to the first transport belt 2 and is connected end to end, and the second transport belt 3 is also provided with motor-driven electric rollers. The second conveying belt 3 is provided with a reversing pushing cylinder 31 for reversing the material turnover box, the second conveying belt 3 is provided with a trigger 33 matched with the reversing pushing cylinder 31 for use, and the second conveying belt 3 is provided with a first transverse positioning cylinder 32 for fixing the position of the material turnover box. When the material turnover box moves to the position of the trigger 33, the trigger 33 is started, and simultaneously, the signal is transmitted to the reversing pushing cylinder 31, and the material turnover box is sent to the second conveying belt 3 by the reversing pushing cylinder 31.
Referring to fig. 2 and 3, a third sensor 34 and a fourth sensor 35 for detecting the material turnover box are arranged on the second conveyor belt 3, and a third stopper 36 for stopping the material turnover box is arranged at the tail end of the second conveyor belt 3. The third sensor 34 and the fourth sensor 35 detect the material turnover box, and the two-way signal linkage drives the third damper 36 to be put down.
As shown in fig. 2 and 3, the storage area includes a third conveyor belt 4 for storing the material turnover boxes, the third conveyor belt 4 is located below the second conveyor belt 3, and the third conveyor belt 4 is also provided with a motor-driven roller driven by a motor.
Referring to fig. 3 and 4, the lifting area includes a lifting frame 5, the lifting frame 5 is disposed at the tail end of the second conveyor belt 3, an object stage 51 performing lifting movement is disposed in the lifting frame 5, and an electric roller is mounted on the object stage 51. The object stage 51 is mainly used for transferring the material circulation box among the part processing area, the second transportation area and the storage area.
Referring to fig. 2 and 3, the parts processing area includes an automatic material passage 11, a transfer robot 1, and a placing rack 14. An electric roller driven by a motor is arranged on the placing frame 14, and the placing frame 14 is positioned above the second conveying belt 3. The part processing area, the storage area, the first transportation area and the second transportation area form a three-layer structure. The automatic material channel 11 is provided with a raw material loading position 12 for positioning original parts and a processed material unloading position 13 for positioning parts. The clamping jaw of the transfer robot 1 is made of copper, so that the situation that the clamping jaw damages zero is reduced.
As shown in fig. 2, a sixth sensor 141 and a seventh sensor 142 for detecting the position of the material turnover box are mounted on the placing frame 14, a second transverse positioning cylinder 144 for fixing the material turnover box is mounted on the placing frame 14, and a second number scanning gun 143 for identifying the material turnover box is mounted on the placing frame 14. During operation, when the material turnover box moves and triggers the six sensors 141 and the seven sensors 142, the second transverse positioning cylinder 144 starts the material turnover box to be fixed to a specified position, then the second code scanning gun 143 scans two-dimensional codes of the material turnover box and compares the two-dimensional codes with a production task list, after the two-dimensional codes are identified and confirmed to be correct, the transfer robot 1 starts to act according to preset logic, parts are taken out from the material turnover box and placed on an unprocessed material loading position 12, the parts move to a processed material unloading position 13 after being processed through equipment, and then the transfer robot 1 takes the parts down.
The specific implementation process comprises the following steps: the operator starts the pipeline program and the blocking lever 21 retracts the pipeline into an automatic mode. The operator carries the material turnover box with the parts to be processed from the third conveyor belt 4 to the first conveyor belt 2, the first sensor 22 detects the material turnover box, and the electric roller is started to convey the material turnover box forwards. The material turnover box moves to the next section of material rail, the second sensor 23 receives signals, the signals are transmitted to the first code scanning gun 26, the first code scanning gun 26 identifies corresponding two-dimensional codes on the material turnover box and compares the two-dimensional codes with the production task list, the signals are sent to the first stopper 24 after the first stopper 24 receives the signals and then descends, the material turnover box continues to move forwards to the reversing pushing cylinder 31, and the trigger 33 generates signals when the material turnover box collides to enable the reversing pushing cylinder 31 to push the material turnover box laterally. The magnetic ring switch trigger signal on the reversing pushing cylinder 31 starts the first transverse positioning cylinder 32 in a linkage mode, the first transverse positioning cylinder 32 fixes the material circulation box to a uniform position on one side of the assembly line, the magnetic ring switch trigger signal on the transverse positioning cylinder triggers the third sensor 34, the electric roller of the second conveying belt 3 rotates to convey the material circulation box forwards, the material circulation box moves to the side of the lifting area, the fourth sensor 35 and the fifth sensor are triggered, the two signals start the third stopper 36 in a linkage mode to put down, and the material circulation box continues to move forwards to the object carrying table 51. The objective table 51 rises to the side of the placing frame 14, the electric roller of the objective table 51 is started to convey the material circulation box to the placing frame 14, the material circulation box moves and triggers the six sensors 141, the second transverse positioning cylinder 144 is started to fix the material circulation box to a set position, the second code sweeping gun 143 is started again to recognize corresponding two-dimensional codes on the material circulation box again and compare the two-dimensional codes with a production task list, the transfer robot 1 starts to act according to preset logic after the situation that no errors exist is confirmed, parts are taken out from the material circulation box and are placed on an unprocessed material loading position 12, the automatic material channel 11 is started to convey the parts to equipment for processing, the parts are conveyed to a processed material unloading position 13, the transfer robot 1 conveys the parts to the material circulation box from the parts, and single part production circulation is completed.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. An automatic lifting roller formula assembly line which characterized in that: the device comprises a plurality of processing units, wherein each processing unit comprises a part processing area, a first transportation area, a second transportation area, a storage area and a lifting area;
the part processing area comprises an automatic material channel (11), a transfer robot (1) and a placing rack (14), the transfer robot (1) is used for grabbing parts, the automatic material channel (11) is used for transporting the parts, and the placing rack (14) is used for temporarily storing a material turnover box;
the first transport area comprises a first transport belt (2) for conveying material turnover boxes;
the second transport area comprises a second transport belt (3) for conveying the material turnaround boxes;
the storage area comprises a third conveyor belt (4) for storing the material turnover box;
the lifting area comprises a lifting frame (5), and an object stage (51) which does lifting motion is arranged in the lifting frame (5).
2. An automatic elevator drum line as defined in claim 1, wherein: and an unprocessed feeding position (12) for positioning original parts and a processed discharging position (13) for positioning the parts are arranged on the automatic material channel (11).
3. An automatic elevator drum line as defined in claim 1, wherein: and electric rollers driven by a motor are arranged on the placing rack (14), the first conveying belt (2), the second conveying belt (3) and the third conveying belt (4).
4. An automatic elevator drum line as defined in claim 1, wherein: install on rack (14) and be used for detecting No. six sensor (141) and No. seven sensor (142) of material turnover case position, install No. two on rack (14) and sweep yard rifle (143) for distinguishing material turnover case.
5. An automatic elevator drum line as defined in claim 4, wherein: and a second transverse positioning cylinder (144) for fixing the material turnover box is arranged on the placing frame (14).
6. An automatic elevator drum line as defined in claim 1, wherein: a blocking rod (21) and a first sensor (22) are arranged at the feeding position of the first conveying belt (2).
7. An automatic elevator drum line as defined in claim 1, wherein: a second sensor (23), a first stopper (24) and a second stopper (25) are sequentially arranged on the first conveying belt (2) in the feeding direction.
8. An automatic elevator drum line as defined in claim 7, wherein: a first yard scanning gun (26) which is symmetrically arranged with the second sensor (23) is arranged on the first conveying belt (2).
9. An automatic elevator drum line as defined in claim 1, wherein: the material turnover box is characterized in that a reversing pushing cylinder (31) used for reversing the material turnover box is arranged on the second conveying belt (3), a trigger (33) matched with the reversing pushing cylinder (31) for use is arranged on the second conveying belt (3), and a first transverse positioning cylinder (32) used for fixing the position of the material turnover box is arranged on the second conveying belt (3).
10. An automatic elevator drum assembly line as defined in claim 9, wherein: the material turnover box detection device is characterized in that a third sensor (34) and a fourth sensor (35) for detecting a material turnover box are arranged on the second conveying belt (3), and a third stopper (36) for stopping the material turnover box is arranged at the tail end of the second conveying belt (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110178324.4A CN113003139A (en) | 2021-02-09 | 2021-02-09 | Automatic lifting drum formula assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110178324.4A CN113003139A (en) | 2021-02-09 | 2021-02-09 | Automatic lifting drum formula assembly line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113003139A true CN113003139A (en) | 2021-06-22 |
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ID=76384483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110178324.4A Pending CN113003139A (en) | 2021-02-09 | 2021-02-09 | Automatic lifting drum formula assembly line |
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| Country | Link |
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| CN (1) | CN113003139A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040094385A1 (en) * | 2002-07-26 | 2004-05-20 | Bybee Thomas L. | Two-axis robot for specimen transfer |
| CN105197506A (en) * | 2015-09-25 | 2015-12-30 | 深圳市炫硕光电科技有限公司 | Feeding device |
| CN105922059A (en) * | 2016-07-07 | 2016-09-07 | 沈机集团（香港）有限公司 | Double-station material channel device for numerically-controlled machine tool |
| CN110356800A (en) * | 2018-04-11 | 2019-10-22 | 苏州麦克韦尔自动化设备有限公司 | A kind of spool automatic loading/unloading production line |
| CN110371633A (en) * | 2019-07-22 | 2019-10-25 | 深圳市航瑞物流自动化有限公司 | A kind of automatic Material Handling System |
| CN212424294U (en) * | 2020-04-30 | 2021-01-29 | 广东天机工业智能系统有限公司 | Carrying line body, taking and placing equipment and stereoscopic warehouse |
-
2021
- 2021-02-09 CN CN202110178324.4A patent/CN113003139A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040094385A1 (en) * | 2002-07-26 | 2004-05-20 | Bybee Thomas L. | Two-axis robot for specimen transfer |
| CN105197506A (en) * | 2015-09-25 | 2015-12-30 | 深圳市炫硕光电科技有限公司 | Feeding device |
| CN105922059A (en) * | 2016-07-07 | 2016-09-07 | 沈机集团（香港）有限公司 | Double-station material channel device for numerically-controlled machine tool |
| CN110356800A (en) * | 2018-04-11 | 2019-10-22 | 苏州麦克韦尔自动化设备有限公司 | A kind of spool automatic loading/unloading production line |
| CN110371633A (en) * | 2019-07-22 | 2019-10-25 | 深圳市航瑞物流自动化有限公司 | A kind of automatic Material Handling System |
| CN212424294U (en) * | 2020-04-30 | 2021-01-29 | 广东天机工业智能系统有限公司 | Carrying line body, taking and placing equipment and stereoscopic warehouse |
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Application publication date: 20210622 |
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| RJ01 | Rejection of invention patent application after publication |