CN105438990A - Self-detection and safety system and method of hydraulic grab - Google Patents
Self-detection and safety system and method of hydraulic grab Download PDFInfo
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- CN105438990A CN105438990A CN201511021786.6A CN201511021786A CN105438990A CN 105438990 A CN105438990 A CN 105438990A CN 201511021786 A CN201511021786 A CN 201511021786A CN 105438990 A CN105438990 A CN 105438990A
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- grab
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/14—Grabs opened or closed by driving motors thereon
- B66C3/16—Grabs opened or closed by driving motors thereon by fluid motors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
The invention provides a self-detection and safety system of a hydraulic grab. The self-detection and safety system of the hydraulic grab is characterized by comprising a sensor assembly arranged on the grab, a data acquisition and monitoring system connected with the sensor assembly, and a field display terminal system connected with the data acquisition and monitoring system; the data acquisition and monitoring system is used for controlling the hydraulic grab to stop; the field display terminal system is used for displaying relevant working parameters and control states and carrying out remote communication and storage of data. The invention also provides a control method of the self-detection and safety system of the hydraulic grab. The self-detection and safety system of the hydraulic grab is capable of well solving the problems of self-detection and safety monitoring of the hydraulic grab and capable of immediately and quickly finding out problems, thereby guaranteeing the safety of a grab work site.
Description
Technical field
The present invention relates to a kind of hydraulic grab, specifically relate to hydraulic grab Autonomous test and safety system and method
Background technology
Hydraulic grab be a kind of can the crawl class suspender of remote control, under some working environment, grab bucket distance operating personal has tens of rice even distance of tens meters.Therefore during conventional hydraulic grab bucket work, cannot monitor grab bucket mode of operation.When grabbing bucket et out of order, its trouble diagnosing is still confined to the manual operation at detection.Therefore there is Measuring error inefficiency; Cannot in grab bucket fault early detection problem.
Once as et out of order in grab bucket working process, easily cause hydraulic grab to capture unable, grasp speed and decline to even grabbing bucket and surprisingly under closed configuration unclamp or due to overload burning motor, cause major accident.
Summary of the invention
Technical matters to be solved by this invention is, overcomes problems of the prior art, provides a kind of hydraulic grab Autonomous test and safety system, and the control method utilizing this system to carry out.
In order to solve the problem, technical scheme of the present invention is such:
Hydraulic grab Autonomous test and safety system, comprise the sensor module be arranged in grab bucket, the data acquisition be connected with sensor module and monitored control system, the on-the-spot display terminal system be connected with data acquisition and monitored control system; Described data acquisition and monitored control system are used for stopping using of hydraulic control grab bucket; Described on-the-spot display terminal system for showing relevant operating parameter and state of a control, and by data long distance communication and storage.
Described sensor module comprises hydraulic pressure class sensor, electric information sensor, environmental classes sensor; Hydraulic pressure class sensor operationally carries out data acquisition by the operating oil pressure of critical component assembly in hydraulic grab hydraulic efficiency pressure system; Electric information sensor carries out data acquisition by the electric system key component of hydraulic grab; Environmental classes sensor will gather environmental classes parameter; All the sensors assembly is connected with data acquisition and monitored control system by data line.
Described data acquisition and monitored control system comprise data acquisition module, control module and communication module; Wherein, data acquisition module operationally gathers each sensor parameters by data line; The main function of control module is carry out when analyzing to the data gathered and each sensor numerical value allowable be recorded in register, be in the abnormal condition such as to transfinite when there being sensor parameters under, abnormal data is uploaded to on-the-spot display terminal by communication module by this module; When working parameter exception appears in important process parts or accept halt instruction that on-the-spot display terminal uploads, this system will initiatively cut off the control circuit of hydraulic valve block, thus realizes system band Out of order; Until completion system keeps in repair and removes diagnostic code; The main function of communication module is be connected with on-the-spot display terminal by Wireless/wired communication system.
Described on-the-spot display terminal system comprises communication module, display module, GPS/GPRS module, data unofficial biography interface module; Wherein, communication module is connected with data acquisition and monitored control system by Wireless/wired communication; Display module is mainly used in display system state, each sensor parameters, system whether failure message, when system jam, is reported to the police by display system; The main function of GPRS module is for be uploaded to remote terminal by long range data chain by system parameter and failure condition; Data unofficial biography interface reaches appointing system mainly through wired data transfer pattern by outside data.
The self-sensing method of hydraulic grab Autonomous test and safety system, comprises the following steps:
A) hydraulic grab power supply is connected;
B) Hydraulic Pump enters mode of operation, now, and hydraulic valve closes; Hydraulic Pump pump oil is made to return as hydraulic reservoir by means of only by pass valve; The pressure installed by Hydraulic Pump front end, flow sensor are monitored Hydraulic Pump pump oil pressure, pump oil flow; Calculate Hydraulic Pump Volumetric efficiency and operating oil pressure; Meanwhile, monitoring motor lines electric current, line voltage and temperature rise situation;
C) Hydraulic Pump quits work, hydraulic valve closes; Pipeline between Hydraulic Pump and hydraulic valve is made to form pressurize; The sealing property of hydraulic oil pump and hydraulic valve block is judged by the hydraulic fluid pressure slippage in the unit of account time;
D) hydraulic oil pump enters mode of operation, and hydraulic valve forward is opened, and connects the loop of oil cylinder to Hydraulic Pump, until oil cylinder is opened to range; Close hydraulic valve, make pipeline between hydraulic valve to hydraulic actuating cylinder form pressurize; The sealing property of hydraulic valve to hydraulic actuating cylinder is judged by the hydraulic fluid pressure slippage in the unit of account time;
E) interval allowable is exceeded when system malfunctions causes having part non-principal work system physical quantity to monitor numerical value; Data acquisition and monitored control system carry out record by according to the fault verification algorithm write in advance to the system of et out of order, and failure code are uploaded to on-the-spot display terminal system; On-the-spot display terminal system is by sound and light alarm alert; And by GPRS module, other information of failure code, epoch and fault are uploaded to remote terminal.
The method for safety monitoring of hydraulic grab Autonomous test and safety system, comprises the following steps:
A) sensor module by each detection data upload to data acquisition and monitored control system;
B) data acquisition and monitored control system record the numerical value of each data acquisition channel chronologically respectively, by I/O conversion, analog signals are converted to digital signal, and contrast with each physical quantity interval allowable be stored in monitored control system; When system components physical quantity is in tolerance zone, monitored control system stays out of grab bucket and controls; Each sensor acquisition parameter transfers to on-the-spot display terminal system by communication module and is shown and record;
C) interval allowable is exceeded when system malfunctions causes having part non-principal work system physical quantity to monitor numerical value; Data acquisition and monitored control system carry out record by according to the fault verification algorithm write in advance to the system of et out of order, and failure code are uploaded to on-the-spot display terminal system; On-the-spot display terminal system is by sound and light alarm alert; And by GPRS module, other information of failure code, epoch and fault are uploaded to remote terminal;
D) when important process system malfunctions, data acquisition and monitored control system while uploading failure message by the control end of automatic stop valve group; And enter fault protection scheme; In such a mode, locking is grabbed bucket thus is prevented from operating with failure and causes larger destruction by control system after completing expansion action of grabbing bucket; Keep in repair until grabbed bucket and remove failure code.
Beneficial effect, the present invention can in grab bucket working process, each system health of complete detection hydraulic grab, and data are reached on-the-spot display terminal and remote terminal by wire/wireless Data-Link.Thus can when hydraulic grab works in real time hydraulic efficiency pressure system each several part data be gathered and be shown; When system occurs extremely causing monitoring project to transfinite, this system can give warning reminding operating personal automatically; Meanwhile, this system only needs to arrange several support for sensor installation and site monitoring system, therefore this system is changed little to hydraulic grab original structure, is conducive to mass upgrading.
Accompanying drawing explanation
The present invention is described in detail below in conjunction with the drawings and specific embodiments;
Fig. 1 is hydraulic grab of the present invention each sensor position schematic diagram.
Fig. 2 is the mode of operation diagram of circuit of hydraulic grab Autonomous test of the present invention and safety system.
Detailed description of the invention
The technological means realized to make the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the present invention further.
Hydraulic grab Autonomous test and safety system, comprise the sensor module be arranged in grab bucket, the data acquisition be connected with sensor module and monitored control system, the on-the-spot display terminal system be connected with data acquisition and monitored control system; Described data acquisition and monitored control system are used for stopping using of hydraulic control grab bucket, and described on-the-spot display terminal system is for showing relevant operating parameter and state of a control and reaching appointing system by outside data.
Described sensor module: sensor module is primarily of hydraulic pressure class sensor, electric information sensor, environmental classes sensor composition; Hydraulic pressure class sensor operationally carries out data acquisition by the operating oil pressure of critical component in hydraulic grab hydraulic efficiency pressure system (as Hydraulic Pump, conversion valve block, hydraulic actuating cylinder etc.) assembly; Electric system key component (as machine operation parameter, valve block working parameter etc.) to hydraulic grab is carried out data acquisition by electric information sensor; Environmental classes sensor will gather environmental classes parameter (as external temperature, ambient humidity etc.) parameter; All the sensors assembly is connected with data acquisition and monitored control system by data line.
Referring to Fig. 1, wherein A is parameter of electric machine monitoring point, is provided with electric sensor; B is oil pump parameter monitoring point, is provided with hydraulic pressure transducer; C is cylinder efficient oil pressure monitoring point, is provided with hydraulic pressure transducer; D is solenoid directional control valve monitoring point, is provided with electric sensor; E is main working oil path oil pressure control point, is provided with hydraulic pressure transducer; F is hydraulic oil liquid level control point, is provided with hydraulic pressure transducer; G is oil contamination control point, is provided with hydraulic pressure transducer; H is oil cylinder stroke monitoring point, is provided with hydraulic pressure transducer.
Data acquisition and monitored control system: this system forms primarily of data acquisition module, control module and communication module; Wherein, data acquisition module operationally gathers each sensor parameters by data line.The main function of control module is carry out when analyzing to the data gathered and each sensor numerical value allowable be recorded in register, be in the abnormal condition such as to transfinite when there being sensor parameters under, abnormal data is uploaded to on-the-spot display terminal by communication module by this module; Important process parts (as hydraulic actuating cylinder, Hydraulic Pump etc.) there is working parameter exception or accept on-the-spot display terminal uploaded halt instruction time, this system will initiatively cut off the control circuit of hydraulic valve block, thus realizes system band Out of order; Until completion system keeps in repair and removes diagnostic code; The main function of communication module is be connected with on-the-spot display terminal by Wireless/wired communication system.
On-the-spot display terminal system: this system comprises communication module, display module, GPS/GPRS module, and data unofficial biography interface module etc., realize data long distance communication and storage, display relevant operating parameter and state of a control; Wherein, communication module is connected with data acquisition and monitored control system by Wireless/wired communication; Display module is mainly used in display system state, each sensor parameters, the system whether information such as fault, when system jam, is reported to the police by display system.The main function of GPRS module is for be uploaded to remote terminal by long range data chain by system parameter and failure condition.Data unofficial biography interface reaches appointing system mainly through wired data transfer pattern (as: CAN interface, RS485 interface etc.) by outside data.
Referring to Fig. 2, the self-sensing method of hydraulic grab Autonomous test and safety system, comprises the following steps:
A) hydraulic grab power supply is connected;
B) Hydraulic Pump enters mode of operation, now, and hydraulic valve closes; Hydraulic Pump pump oil is made to return as hydraulic reservoir by means of only by pass valve; The pressure installed by Hydraulic Pump front end, flow sensor are monitored Hydraulic Pump pump oil pressure, pump oil flow; Calculate Hydraulic Pump Volumetric efficiency and operating oil pressure; Meanwhile, monitoring motor lines electric current, line voltage and temperature rise situation;
C) Hydraulic Pump quits work, hydraulic valve closes; Pipeline between Hydraulic Pump and hydraulic valve is made to form pressurize; The sealing property of hydraulic oil pump and hydraulic valve block is judged by the hydraulic fluid pressure slippage in the unit of account time;
D) hydraulic oil pump enters mode of operation, and hydraulic valve forward is opened, and connects the loop of oil cylinder to Hydraulic Pump, until oil cylinder is opened to range; Close hydraulic valve, make pipeline between hydraulic valve to hydraulic actuating cylinder form pressurize; The sealing property of hydraulic valve to hydraulic actuating cylinder is judged by the hydraulic fluid pressure slippage in the unit of account time;
E) interval allowable is exceeded when system malfunctions causes having part non-principal work system physical quantity to monitor numerical value; Data acquisition and monitored control system carry out record by according to the fault verification algorithm write in advance to the system of et out of order, and failure code are uploaded to on-the-spot display terminal system; On-the-spot display terminal system is by sound and light alarm alert; And by GPRS module, other information of failure code, epoch and fault are uploaded to remote terminal.
Autonomous test state refer to grab bucket complete maintenance and do not use for a long time again enter using state time, according to the trace routine of writing in advance, self-inspection is carried out to grab bucket hydraulic efficiency pressure system, and automatically judges whether the important assembly of hydraulic efficiency pressure system is in faulty condition.
The method for safety monitoring of hydraulic grab Autonomous test and safety system, comprises the following steps:
A) sensor module by each detection data upload to data acquisition and monitored control system;
B) data acquisition and monitored control system record the numerical value of each data acquisition channel chronologically respectively, by I/O conversion, analog signals are converted to digital signal, and contrast with each physical quantity interval allowable be stored in monitored control system; When system components physical quantity is in tolerance zone, monitored control system stays out of grab bucket and controls; Each sensor acquisition parameter transfers to on-the-spot display terminal system by communication module and is shown and record;
C) interval allowable is exceeded when system malfunctions causes having part non-principal work system physical quantity to monitor numerical value; Data acquisition and monitored control system carry out record by according to the fault verification algorithm write in advance to the system of et out of order, and failure code are uploaded to on-the-spot display terminal system; On-the-spot display terminal system is by sound and light alarm alert; And by GPRS module, other information of failure code, epoch and fault are uploaded to remote terminal;
D) when important process system malfunctions, data acquisition and monitored control system while uploading failure message by the control end of automatic stop valve group; And enter fault protection scheme; In such a mode, locking is grabbed bucket thus is prevented from operating with failure and causes larger destruction by control system after completing expansion action of grabbing bucket; Keep in repair until grabbed bucket and remove failure code.
Native system originally can in grab bucket working process, each system health of complete detection hydraulic grab, and data are reached on-the-spot display terminal and remote terminal by wire/wireless Data-Link.Thus can when hydraulic grab works in real time hydraulic efficiency pressure system each several part data be gathered and be shown; When system occurs extremely causing monitoring project to transfinite, this system can give warning reminding operating personal automatically; Meanwhile, this system only needs to arrange several support for sensor installation and site monitoring system, therefore this system is changed little to hydraulic grab original structure, is conducive to mass upgrading.
More than show and describe groundwork of the present invention, principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and specification sheets just illustrates principle of the present invention; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these changes and improvements all fall in the claimed scope of the invention.The scope of patent requirements protection of the present invention is defined by appending claims and equivalent thereof.
Claims (6)
1. hydraulic grab Autonomous test and safety system, is characterized in that, comprises the sensor module be arranged in grab bucket, the data acquisition be connected with sensor module and monitored control system, the on-the-spot display terminal system be connected with data acquisition and monitored control system; Described data acquisition and monitored control system are used for stopping using of hydraulic control grab bucket; Described on-the-spot display terminal system for showing relevant operating parameter and state of a control, and by data long distance communication and storage.
2. hydraulic grab Autonomous test according to claim 1 and safety system, is characterized in that, described sensor module comprises hydraulic pressure class sensor, electric information sensor, environmental classes sensor; Hydraulic pressure class sensor operationally carries out data acquisition by the operating oil pressure of critical component assembly in hydraulic grab hydraulic efficiency pressure system; Electric information sensor carries out data acquisition by the electric system key component of hydraulic grab; Environmental classes sensor will gather environmental classes parameter; All the sensors assembly is connected with data acquisition and monitored control system by data line.
3. hydraulic grab Autonomous test according to claim 1 and safety system, is characterized in that, described data acquisition and monitored control system comprise data acquisition module, control module and communication module; Wherein, data acquisition module operationally gathers each sensor parameters by data line; The main function of control module is carry out when analyzing to the data gathered and each sensor numerical value allowable be recorded in register, be in the abnormal condition such as to transfinite when there being sensor parameters under, abnormal data is uploaded to on-the-spot display terminal by communication module by this module; When working parameter exception appears in important process parts or accept halt instruction that on-the-spot display terminal uploads, this system will initiatively cut off the control circuit of hydraulic valve block, thus realizes system band Out of order; Until completion system keeps in repair and removes diagnostic code; The main function of communication module is be connected with on-the-spot display terminal by Wireless/wired communication system.
4. hydraulic grab Autonomous test according to claim 1 and safety system, is characterized in that, described on-the-spot display terminal system comprises communication module, display module, GPS/GPRS module, data unofficial biography interface module; Wherein, communication module is connected with data acquisition and monitored control system by Wireless/wired communication; Display module is mainly used in display system state, each sensor parameters, system whether failure message, when system jam, is reported to the police by display system; The main function of GPRS module is for be uploaded to remote terminal by long range data chain by system parameter and failure condition; Data unofficial biography interface reaches appointing system mainly through wired data transfer pattern by outside data.
5. the self-sensing method of hydraulic grab Autonomous test and safety system, is characterized in that, comprises the following steps:
A) hydraulic grab power supply is connected;
B) Hydraulic Pump enters mode of operation, now, and hydraulic valve closes; Hydraulic Pump pump oil is made to return as hydraulic reservoir by means of only by pass valve; The pressure installed by Hydraulic Pump front end, flow sensor are monitored Hydraulic Pump pump oil pressure, pump oil flow; Calculate Hydraulic Pump Volumetric efficiency and operating oil pressure; Meanwhile, monitoring motor lines electric current, line voltage and temperature rise situation;
C) Hydraulic Pump quits work, hydraulic valve closes; Pipeline between Hydraulic Pump and hydraulic valve is made to form pressurize; The sealing property of hydraulic oil pump and hydraulic valve block is judged by the hydraulic fluid pressure slippage in the unit of account time;
D) hydraulic oil pump enters mode of operation, and hydraulic valve forward is opened, and connects the loop of oil cylinder to Hydraulic Pump, until oil cylinder is opened to range; Close hydraulic valve, make pipeline between hydraulic valve to hydraulic actuating cylinder form pressurize; The sealing property of hydraulic valve to hydraulic actuating cylinder is judged by the hydraulic fluid pressure slippage in the unit of account time;
E) interval allowable is exceeded when system malfunctions causes having part non-principal work system physical quantity to monitor numerical value; Data acquisition and monitored control system carry out record by according to the fault verification algorithm write in advance to the system of et out of order, and failure code are uploaded to on-the-spot display terminal system; On-the-spot display terminal system is by sound and light alarm alert; And by GPRS module, other information of failure code, epoch and fault are uploaded to remote terminal.
6. the method for safety monitoring of hydraulic grab Autonomous test and safety system, is characterized in that, comprises the following steps:
A) sensor module by each detection data upload to data acquisition and monitored control system;
B) data acquisition and monitored control system record the numerical value of each data acquisition channel chronologically respectively, by I/O conversion, analog signals are converted to digital signal, and contrast with each physical quantity interval allowable be stored in monitored control system; When system components physical quantity is in tolerance zone, monitored control system stays out of grab bucket and controls; Each sensor acquisition parameter transfers to on-the-spot display terminal system by communication module and is shown and record;
C) interval allowable is exceeded when system malfunctions causes having part non-principal work system physical quantity to monitor numerical value; Data acquisition and monitored control system carry out record by according to the fault verification algorithm write in advance to the system of et out of order, and failure code are uploaded to on-the-spot display terminal system; On-the-spot display terminal system is by sound and light alarm alert; And by GPRS module, other information of failure code, epoch and fault are uploaded to remote terminal;
D) when important process system malfunctions, data acquisition and monitored control system while uploading failure message by the control end of automatic stop valve group; And enter fault protection scheme; In such a mode, locking is grabbed bucket thus is prevented from operating with failure and causes larger destruction by control system after completing expansion action of grabbing bucket; Keep in repair until grabbed bucket and remove failure code.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511021786.6A CN105438990B (en) | 2015-12-30 | 2015-12-30 | Hydraulic grab Autonomous test and security system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511021786.6A CN105438990B (en) | 2015-12-30 | 2015-12-30 | Hydraulic grab Autonomous test and security system and method |
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| CN105438990A true CN105438990A (en) | 2016-03-30 |
| CN105438990B CN105438990B (en) | 2017-07-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108002053A (en) * | 2017-12-25 | 2018-05-08 | 上海昂丰装备科技有限公司 | A kind of large span is carried and Stacking Robots and its method of work |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104495617A (en) * | 2014-12-18 | 2015-04-08 | 合肥工业大学 | Stability-regulating operating system and stability-regulating method for crane grab |
| CN104790457A (en) * | 2015-02-11 | 2015-07-22 | 徐州徐工基础工程机械有限公司 | Electric and hydraulic control method for positive flow system and application of electric and hydraulic control method to hydraulic grab |
| CN205442424U (en) * | 2015-12-30 | 2016-08-10 | 上海佩纳沙士吉打机械有限公司 | Hydraulic grab self test and safety coefficient |
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2015
- 2015-12-30 CN CN201511021786.6A patent/CN105438990B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104495617A (en) * | 2014-12-18 | 2015-04-08 | 合肥工业大学 | Stability-regulating operating system and stability-regulating method for crane grab |
| CN104790457A (en) * | 2015-02-11 | 2015-07-22 | 徐州徐工基础工程机械有限公司 | Electric and hydraulic control method for positive flow system and application of electric and hydraulic control method to hydraulic grab |
| CN205442424U (en) * | 2015-12-30 | 2016-08-10 | 上海佩纳沙士吉打机械有限公司 | Hydraulic grab self test and safety coefficient |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108002053A (en) * | 2017-12-25 | 2018-05-08 | 上海昂丰装备科技有限公司 | A kind of large span is carried and Stacking Robots and its method of work |
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