CN114345761A - Material arranging equipment for plate parts - Google Patents
Material arranging equipment for plate parts Download PDFInfo
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- CN114345761A CN114345761A CN202210009210.1A CN202210009210A CN114345761A CN 114345761 A CN114345761 A CN 114345761A CN 202210009210 A CN202210009210 A CN 202210009210A CN 114345761 A CN114345761 A CN 114345761A
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- 239000013072 incoming material Substances 0.000 description 2
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- 238000007405 data analysis Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
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Abstract
The invention discloses a material arranging device for plate parts, which comprises: a guide rail; the gantry travelling mechanism is arranged on the guide rail and moves along a first direction; the sorting robot is arranged on the gantry travelling mechanism and moves along with the gantry travelling mechanism; the sorting robot comprises a first walking assembly and a second walking assembly, the first walking assembly can move along a second direction, the second walking assembly can move along with the first walking assembly and move along a third direction, and the three directions are perpendicular to each other; the flexible gripper is rotatably connected to the second walking assembly, rotates relative to the sorting robot and moves along with the sorting robot; the flexible gripper comprises a magnetic head array; the sensing device is arranged on the flexible gripper and used for acquiring the actual coordinate and angle of the workpiece to be measured; and the control device is a control core of the whole equipment. The invention can finish automatic material arrangement and realize the information management of parts so as to improve the material arrangement efficiency and reduce the error rate of the material arrangement.
Description
Technical Field
The invention relates to the field of machining, in particular to material arranging equipment for plate parts.
Background
The modernized ship building mode requires the optimization of the production process, reduces the resources consumed by parts in the processes of arrangement, transportation, storage and circulation, further improves the ship manufacturing efficiency, guarantees the ship manufacturing quality, and promotes the ship manufacturing to develop well and quickly.
At present, ship parts and assembled trays of domestic shipyards are widely distributed, material arranging information is manually recorded through paper tables, and a part material arranging information management system is lacked. On the other hand, the whole material arranging process is characterized in that the parts and the trays are coded and identified manually, the parts are transported through the half gantry crane, and the trays are coded and distributed through human eye recognition, so that the whole material arranging process is free of automation and electronization, and is low in efficiency, high in cost and high in error rate. Aiming at the problem, the method effectively realizes the correct classification of the parts, reduces or avoids the problems of production delay, part accumulation, deformation, rusting, loss and the like caused by material distribution errors, and has better application prospect.
Therefore, those skilled in the art are dedicated to develop a material arranging device for plate parts, which can complete automatic material arranging and realize information management of parts, so as to improve the material arranging efficiency and reduce the material arranging error rate.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved by the present invention is
In order to achieve the above object, the present invention provides a material arranging device for plate parts, comprising:
a guide rail;
a gantry traveling mechanism provided on the guide rail and configured to be movable in a first direction;
the sorting robot is arranged on the gantry travelling mechanism and can move along with the gantry travelling mechanism; the sorting robot comprises a first walking assembly and a second walking assembly, the first walking assembly is configured to move along a second direction, the second walking assembly is configured to move along with the first walking assembly and further configured to move along a third direction, the first direction is a length direction of the guide rail, the second direction is a direction vertical to the first direction, and the third direction is a direction vertical to a plane formed by the first direction and the second direction;
a flexible gripper rotatably coupled to the second walking assembly of the sorting robot and configured to be rotatable relative to and movable with the sorting robot; wherein the flexible gripper comprises a head array;
the sensing device is arranged on the flexible gripper and is configured to be capable of acquiring actual coordinates and angles of the workpiece to be measured;
and the control device is configured to calculate a grabbing path according to the actual coordinates and the actual angle, control the gantry walking mechanism, the sorting robot and the flexible grabbing hand to work simultaneously, and control the power-off of different magnetic heads in the magnetic head array.
Further, the guide rail comprises an upper guide rail and a lower guide rail, the upper guide rail is configured to be installed on a cross beam of a plant, and the lower guide rail is configured to be installed on the bottom surface of the plant.
Further, the portal running mechanism includes: the upper wheel train mounting beam, the high-rise frame beam, the middle-layer frame beam, the lower guide rail supporting column and the lower wheel train mounting beam; the upper wheel train mounting beam is arranged on the upper guide rail and moves along the upper guide rail through an upper wheel train, the lower wheel train mounting beam is arranged on the lower guide rail and moves along the lower guide rail through a lower wheel train, the high-rise frame beam protrudes outwards from the upper wheel train mounting beam, the lower guide rail support column protrudes outwards from the lower wheel train mounting beam, and the high-rise frame beam is fixedly connected with the end part of the lower guide rail support column; the middle-layer frame beam and the high-layer frame beam are arranged in parallel, and the sorting robot is arranged on the middle-layer frame beam.
Further, go up the train with lower train all includes drive wheel and at least one follow driving wheel, the drive wheel passes through motor drive.
Further, the sorting robot further comprises a main body frame, the first walking assembly comprises a first guide rail, a first rack, a first wheel train and a first gear, wherein the first guide rail and the first rack are arranged on the middle-layer frame beam in parallel, and the first wheel train and the first gear are arranged on the main body frame; the first wheel train is matched with the first guide rail, the first gear is meshed with the first rack, and the first gear and the first rack provide driving force for enabling the main body frame to move along the second direction through motor driving.
Further, the second walking assembly comprises an upright post, a second guide rail, a sliding block, a second gear and a second rack, the upright post is arranged on the main body frame, the second guide rail is arranged on the side surface of the upright post, the second rack is arranged on the side surface of the upright post, the second guide rail is matched with the sliding block, the second gear is meshed with the second rack, and the second gear and the second rack provide driving force for enabling the upright post to move along the third direction through the driving of a motor.
Further, the flexible gripper comprises a rotating frame and a supporting frame, the upper end of the rotating frame is connected with the upright column and is configured to be capable of rotating relative to the upright column, the supporting frame is connected with the rotating frame through a bearing, and the magnetic head array is arranged on the supporting frame.
Further, a mounting bracket is arranged on the supporting frame, and the sensing device is arranged at the end part of the mounting bracket.
Further, the sensing device is a vision device or a line laser scanner.
Furthermore, the control device comprises a PLC control cabinet, an industrial personal computer, a motion control system and a network conversion interface; the industrial personal computer is configured to calculate the grabbing path according to the actual coordinates and the angle of the workpiece to be detected, the PLC control cabinet receives instructions of the industrial personal computer and transmits the instructions to the motion control system, and the motion control system is configured to control the gantry travelling mechanism, the sorting robot, the flexible gripper and the sensing device to move.
The invention has the following beneficial technical effects: according to the invention, the control device controls the material arranging equipment to drive the flexible gripper to grab, carry and discharge any plate part, so that automation and intellectualization of sorting of the plate parts of the ship body are realized, and the problems of low efficiency and high error rate in the manual material arranging process are solved.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention without the guide rail;
FIG. 3 is a schematic perspective view of a sorting robot according to the present invention;
fig. 4 is a schematic perspective view of the sorting robot and the flexible gripper according to the present invention.
Wherein, 1-portal running gear; 2-a sorting robot; 3, flexible grippers; 4-a sensing device; 5-a control device; 101-mounting a beam on the upper wheel train; 102-high-rise frame beams; 103-middle layer frame beam; 104-lower rail support column; 105-lower train mounting beam; 106-vertical ladder; 107-maintenance of the walkways and guardrails; 111-upper train drive wheels; 112-lower train drive wheel; 113-a first electric block; 114-a second electric hoist; 115-upper guide rail; 116-a lower rail; a 201-Y direction guide rail; 202-Y direction rack; 203-Y direction crash posts; 211-a body frame; 212-Y direction wheel train; 213-Z direction slide block; 214-a fall protection linear motor; 215-Z gear; a 216-Y gear; 221-Z-direction column; a 222-Z guide rail; 223-Z direction rack; 224-tank chain; 301-a rotating frame; 302-a support frame; 303-a head array; 304-a security scanner; 305-rotating electrical machine and bearings; 401-mounting a bracket; 402-a vision device.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in figure 1, the invention provides a plate part arranging device which comprises a gantry travelling mechanism 1, a guide rail, a sorting robot 2, a flexible gripper 3, a sensing device 4 and a control device 5. The gantry traveling mechanism 1 may be a traveling structure and can move along the length direction (i.e., the X direction) of the guide rail. The sorting robot 2 is arranged on the gantry travelling mechanism 1 and can move along the X direction along with the gantry travelling mechanism 1. Meanwhile, the sorting robot 2 further includes a Y-direction traveling unit and a Z-direction traveling unit, where the Y-direction is a direction perpendicular to the X-direction, and the Z-direction is a direction perpendicular to the plane formed by the X, Y-direction. Wherein, Z is to walking the subassembly setting on Y is to walking the subassembly, can follow Y to walking the subassembly along the motion of Y direction. The flexible hand grip 3 is rotatably arranged on the Z-direction walking assembly, can move along the Z direction along with the Z-direction walking assembly and can rotate relative to the Z-direction walking assembly. Through the gantry walking mechanism 1 and the sorting robot 2, the flexible gripper 3 can finally move in the direction X, Y, Z, thereby realizing the movement of any angle and position. The flexible hand grip 3 is provided with the magnetic head array 303, and parts with different shapes, sizes and weights can be gripped by powering off different electromagnetic heads in the magnetic head array 303. The sensing device 4 is arranged on the side of the magnetic head array 303, is connected to the flexible hand grip 3 through a mounting bracket 401, and can move along with the flexible hand grip 3. The sensing device 4 can acquire actual coordinates of a detected part and a material box, the coordinate values are transmitted to the control device 5, the control device 5 calculates grabbing coordinates and angles of the flexible grippers 3 and working information of the magnetic head array 303, and therefore the gantry travelling mechanism 1, the sorting robot 2 and the flexible grippers 3 are controlled to work, and intelligent automatic grabbing and tray classification storage of any incoming materials are achieved.
In some embodiments, the rails include an upper rail 115 and a lower rail 116, and the gantry traveling mechanism 1 includes an upper train mounting beam 101, a high-rise frame beam 102, a middle-rise frame beam 103, a lower rail support column 104, and a lower train mounting beam 105. The upper guide rail 115 is arranged on an upper cross beam of the factory building, and the lower guide rail 116 is arranged on the bottom surface of the factory building. The upper train mounting beam 101 is arranged on an upper rail 115, and travels on the upper rail 115 by means of upper wheels, preferably comprising an upper train drive wheel 111 driven by a motor and at least one driven wheel. The lower train wheel mounting beam 105 is provided on the lower rail 116 to run on the lower rail 116 by lower wheels, preferably including a lower train wheel driving wheel 112 driven by a motor and at least one driven wheel. The lower rail support column 104 is provided on the lower train wheel mounting beam 105 so as to protrude in the Z direction, and one end thereof is fixed to the lower train wheel mounting beam 105 and the other end thereof is fixedly connected to the high-rise frame beam 102. The high-rise frame beam 102 is protrudingly arranged on the upper wheel train mounting beam 101 along the Y direction, one end of the high-rise frame beam is fixed on the upper wheel train mounting beam 101, and the other end of the high-rise frame beam is fixedly connected with the lower guide rail supporting column 104. The middle-layer frame beam 103 is arranged in parallel with the high-layer frame beam 102, and the height of the middle-layer frame beam is lower than that of the high-layer frame beam 102. The sorting robot 2 is disposed on the middle frame beam 103. In some embodiments, the gantry traveling mechanism 1 is a half-door traveling vehicle or a traveling vehicle capable of moving in the X direction along a guide rail provided on the ground, the gantry traveling mechanism 1 has an upper beam and a lower beam, and then the sorting robot 2 is mounted on the lower beam. It should be understood that other prior art bicycle configurations are also suitable for use in the present application.
In some embodiments, a coding ruler is disposed on the guide rail, and a code reader cooperating with the coding ruler is disposed on the gantry traveling mechanism 1, so that information of the corresponding coding ruler on the guide rail of the gantry traveling mechanism 1 can be read, and accurate position control of the gantry traveling mechanism 1 in the X direction is realized.
In some embodiments, an electric hoist is provided on the high-rise frame beam 102, enabling manual excess work. Preferably, two electric hoists, i.e., a first electric hoist 113 and a second electric hoist 114, may be installed, respectively on both sides of the sorting robot 2.
In some embodiments, the gantry traveling mechanism 1 is provided with a vertical ladder 106, a maintenance channel and a guardrail 107, the vertical ladder 106 can be arranged on the support column, and the maintenance channel and the guardrail 107 are arranged on the middle-layer frame beam 103, so that the sorting robot 2 and the flexible gripper 3 can be maintained conveniently.
In some embodiments, the Y-direction traveling assembly of the sorting robot 2 includes a Y-direction guide rail 201, a Y-direction rack 202, the Y-direction guide rail 201 and the Y-direction rack 202 are disposed on the middle frame beam 103 or the lower beam in a parallel manner, a Y-direction gear train 212 and a Y-direction gear 216 are disposed on the main body frame 211 of the sorting robot 2, and the Y-direction gear train 212 cooperates with the Y-direction guide rail 201 to restrict the movement of the sorting robot 2 in the Y-direction. The Y-directional gear 216 is engaged with the Y-directional rack 202, and provides a driving force for the sorting robot 2 to move in the Y direction by the driving of the driving motor. The Z-direction traveling assembly of the sorting robot 2 includes a Z-direction slider 213, a Z-direction rail 222, a fall prevention linear motor 214, a Z-direction gear 215, a Z-direction rack 223, and a Z-direction column 221. A Z-direction column 221 is provided on the main body frame 211 in the Z-direction, and a Z-direction rack 223 and a Z-direction rail 222 are provided on the Z-direction column 221 in the Z-direction; the Z-slide 213 cooperates with the Z-guide rail 222 to limit the movement of the sorting robot 2 in the Z-direction, i.e., to enable the Z-column 221 to move in the Z-slide 213; the Z-gear 215 is engaged with the Z-rack 223 to provide a driving force in the Z-direction by the driving motor. Preferably, Z-directional rails 222 are provided on three sides of the Z-directional column 221.
In some embodiments, a Y-direction collision post 203 is provided on the gantry traveling mechanism 1, and the Y-direction collision post 203 is provided at the end point of the movement stroke of the sorting robot 2 in the Y direction, so that the sorting robot 2 can be prevented from colliding with the gantry traveling mechanism 1.
In some embodiments, the sorting robot 2 further includes a tank chain 224 having one end connected to the main body frame 211 and the other end connected to the Z-column 221. Tank chain 224 forms an inverted U-shaped curved shape.
In some embodiments, the flexible grip 3 comprises a rotating frame 301 and a supporting frame 302. The upper end of the rotating frame 301 is connected to the Z-column 221 of the Z-walking assembly. The rotating frame 301 is provided with a rotating motor and a bearing 305, and is connected with the supporting frame 302, so that the flexible rotation of the flexible gripper 3 can be realized. Preferably, the bearing is a thrust bearing. The supporting frame 302 is provided with a magnetic head array 303 for realizing the grabbing, carrying and placing of parts. Preferably, the magnetic head array 303 is arranged in a matrix form, and different magnetic heads can be powered off through the control device 5, so as to grab parts with different shapes, sizes and qualities.
In some embodiments, a safety scanner 304 is further disposed on the flexible grip 3, so as to monitor the surrounding environment and ensure the safety of personnel and equipment.
In some embodiments, the sensing device 4 is connected to the support frame 302 by a mounting bracket 401. Specifically, the mounting brackets 401 are connected to both ends of the support bracket, respectively, and the sensing devices 4 are mounted on the ends of the corresponding mounting brackets 401, respectively. The sensing device 4 may be a vision device 402 or may be a line laser scanner. By adopting the vision equipment 402, the scanning picture of the part and the bin can be obtained, and then the control device 5 can calculate and obtain the coordinate values and the angle values of the actual center or the vertex of the part and the bin according to the actual coordinate values of the gantry travelling mechanism 1 and the sorting robot 2 so as to be used when the part is grabbed and the part is fed into the bin. The line laser scanner is adopted, so that the actual coordinate and angle of a measured object can be identified, and the actual coordinate and angle of the material box can be identified.
In some embodiments, the control device 5 includes a PLC control cabinet, an industrial personal computer, a motion control system, a network conversion interface, and the like, and can control the gantry traveling mechanism 1, the sorting robot 2, and the flexible gripper 3 to automatically grip various types of parts. The control device 5 can calculate the power-on strategy of the magnetic head array 303 of the flexible gripper 3 according to different part shapes, calculate the grabbing paths of a plurality of parts to achieve grabbing efficiency maximization, and calculate the placing positions of the parts to achieve workbin use efficiency maximization. The energy consumption information, the fault rate information, the operation efficiency and other information can be calculated for big data analysis, the shutdown rate of the factory is reduced in an all-round manner, and the operation efficiency of the factory is improved; software installed in an industrial personal computer transmits the grabbing coordinate and angle, the grabbing path and the bin emptying coordinate of each part to a PLC control cabinet according to a calculation result; the PLC control cabinet receives various information transmitted by software, receives various sensor and safety equipment information, transmits an execution instruction to the motion control system through PLC logical operation, and the motion control system realizes the overall motion of the equipment by controlling the parameters of the motor, and completes actions such as visual scanning, part grabbing, part carrying, part discharging and the like.
The working process of the application is as follows: gantry running gear 1 can drive sensing device 4 and realize the walking of X direction, and sorting robot 2 can drive sensing device 4 and realize the walking of Y direction and Z direction. The actual coordinates of the part to be detected and the material box are obtained through the sensing device 4, the coordinate values are transmitted to the control device 5, the grabbing coordinates and the angle of the flexible gripper 3 and the working information of the magnetic head array 303 are calculated through the control device 5, then the control device 5 guides the gantry travelling mechanism 1, the sorting robot 2 and the flexible gripper 3 to work simultaneously, and intelligent automatic grabbing of any incoming materials and tray classification storage are achieved.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A reason material of panel part is equipped, characterized by includes:
a guide rail;
a gantry traveling mechanism provided on the guide rail and configured to be movable in a first direction;
the sorting robot is arranged on the gantry travelling mechanism and moves along with the gantry travelling mechanism; the sorting robot comprises a first walking assembly and a second walking assembly, the first walking assembly is configured to move along a second direction, the second walking assembly is configured to move along with the first walking assembly and further configured to move along a third direction, the first direction is a length direction of the guide rail, the second direction is a direction vertical to the first direction, and the third direction is a direction vertical to a plane formed by the first direction and the second direction;
a flexible gripper rotatably coupled to the second walking assembly of the sorting robot and configured to be rotatable relative to and movable with the sorting robot; wherein the flexible gripper comprises a head array;
the sensing device is arranged on the flexible gripper and is configured to be capable of acquiring actual coordinates and angles of the workpiece to be measured;
and the control device is configured to calculate a grabbing path according to the actual coordinates and the actual angle, control the gantry walking mechanism, the sorting robot and the flexible grabbing hand to work simultaneously, and control the power-off of different magnetic heads in the magnetic head array.
2. The material arranging apparatus of claim 1, wherein the guide rail comprises an upper guide rail and a lower guide rail, the upper guide rail is configured to be mounted on a cross beam of a plant, and the lower guide rail is configured to be mounted on a bottom surface of the plant.
3. The material arranging apparatus of claim 2, wherein the gantry traveling mechanism comprises: the upper wheel train mounting beam, the high-rise frame beam, the middle-layer frame beam, the lower guide rail supporting column and the lower wheel train mounting beam; the upper wheel train mounting beam is arranged on the upper guide rail and moves along the upper guide rail through an upper wheel train, the lower wheel train mounting beam is arranged on the lower guide rail and moves along the lower guide rail through a lower wheel train, the high-rise frame beam protrudes outwards from the upper wheel train mounting beam, the lower guide rail support column protrudes outwards from the lower wheel train mounting beam, and the high-rise frame beam is fixedly connected with the end part of the lower guide rail support column; the middle-layer frame beam and the high-layer frame beam are arranged in parallel, and the sorting robot is arranged on the middle-layer frame beam.
4. The grooming apparatus of claim 3 wherein the upper and lower series of wheels each comprise a drive wheel and at least one driven wheel, the drive wheel being driven by a motor.
5. The material arranging apparatus of claim 3, wherein the sorting robot further comprises a main body frame, the first traveling assembly comprises a first guide rail, a first rack, a first train of wheels, and a first gear, wherein the first guide rail and the first rack are disposed in parallel on the middle frame beam, and the first train of wheels and the first gear are disposed on the main body frame; the first wheel train is matched with the first guide rail, the first gear is meshed with the first rack, and the first gear and the first rack provide driving force for enabling the main body frame to move along the second direction through motor driving.
6. The material arranging device of claim 5, wherein the second walking assembly comprises a column, a second rail, a sliding block, a second gear and a second rack, the column is arranged on the main body frame, the second rail is arranged on the side surface of the column, the second rack is arranged on the side surface of the column, the second rail is matched with the sliding block, the second gear is meshed with the second rack, and the second gear and the second rack are driven by a motor to provide a driving force for moving the column in the third direction.
7. The grooming apparatus of claim 6, wherein the flexible gripper comprises a rotating frame and a support frame, an upper end of the rotating frame is connected to the upright and configured to be rotatable with respect to the upright, the support frame is connected to the rotating frame via a bearing, and the array of magnetic heads is disposed on the support frame.
8. The organizing device of claim 7 wherein the support frame is provided with a mounting bracket, the sensing device being provided at an end of the mounting bracket.
9. The seasoning apparatus of claim 1 wherein the sensing device is a vision device or a line laser scanner.
10. The material arranging equipment of claim 1, wherein the control device comprises a PLC control cabinet, an industrial personal computer, a motion control system and a network conversion interface; the industrial personal computer is configured to calculate the grabbing path according to the actual coordinates and the angle of the workpiece to be detected, the PLC control cabinet receives instructions of the industrial personal computer and transmits the instructions to the motion control system, and the motion control system is configured to control the gantry travelling mechanism, the sorting robot, the flexible gripper and the sensing device to move.
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| CN202210009210.1A CN114345761B (en) | 2022-01-06 | 2022-01-06 | Reason material of panel part is equipped |
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| CN202210009210.1A CN114345761B (en) | 2022-01-06 | 2022-01-06 | Reason material of panel part is equipped |
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| CN115009807A (en) * | 2022-07-25 | 2022-09-06 | 上海交通大学 | Automatic sorting and carrying system |
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| CN109317877A (en) * | 2018-09-29 | 2019-02-12 | 海安苏州大学先进机器人研究院 | A kind of robot welding portal frame mobile device |
| CN210998706U (en) * | 2018-10-19 | 2020-07-14 | 斯图加特航空自动化（青岛）有限公司 | Gantry type industrial robot |
| CN209225936U (en) * | 2018-12-13 | 2019-08-09 | 法兰泰克重工股份有限公司 | A kind of materials conveying system and intelligent plant area |
| CN110681614A (en) * | 2019-08-08 | 2020-01-14 | 南通大学 | Robot palletizer sorting device based on computer vision |
| CN210854335U (en) * | 2019-11-07 | 2020-06-26 | 湖南视比特机器人有限公司 | Electromagnetic chuck with adaptive grabbing shape and size |
| CN212497754U (en) * | 2020-06-05 | 2021-02-09 | 广东新农人农业科技股份有限公司 | Operation device of agricultural robot |
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| CN114833485A (en) * | 2022-06-10 | 2022-08-02 | 上海交通大学 | Visual detection equipment and method for surface defects of welding seams of spliced ship boards |
| CN115009807A (en) * | 2022-07-25 | 2022-09-06 | 上海交通大学 | Automatic sorting and carrying system |
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