CN205555585U - Article automatic loading system - Google Patents
Article automatic loading system Download PDFInfo
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- CN205555585U CN205555585U CN201620201243.6U CN201620201243U CN205555585U CN 205555585 U CN205555585 U CN 205555585U CN 201620201243 U CN201620201243 U CN 201620201243U CN 205555585 U CN205555585 U CN 205555585U
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Abstract
The utility model belongs to the technical field of logistics equipment, in particular to article automatic loading system, including breaking a jam the device, the device of breaking a jam includes for first conveyer belt and the second conveyer belt that conveys article in proper order, still includes the first arm that snatchs whole layer article and place whole layer article with specific angle first conveyer belt, the speed of first conveyer belt is less than the speed of second conveyer belt, the top of a telescopic conveyor is connected to the device of breaking a jam output article part, pile up neatly machine people, pile up neatly machine people include the end -to -end connection of automobile body, automobile body and telescopic conveyor, the second arm is installed to the automobile body, and anchor clamps are installed to the work end of second arm, visual system, visual system include the operation subassembly that is used for measuring the vision sensor of the position of pile up neatly machine people in the carriage and is used for assay position data, vision sensor electricity concatenation operation subassembly, always control the device, the device is always controlled in the equal electric connection of the device of breaking a jam, pile up neatly machine people and visual system.
Description
Technical field
This utility model belongs to logistics equipment technical field, particularly to article automatic loading system.
Background technology
Along with the progress of society, the development of enterprise, using lorry to transport article and get more and more with situation about having enough to meet the need, this also makes during transport with turnover, and the work of handling goods gets more and more.Traditional handling goods is to use manually to load and unload goods, and article are moved to lorry in the compartment of lorry, stack is neat in warehouse by workman one by one.But the problems such as employment cost is high now, recruitment is difficult, management is difficult are the most serious, additionally atmosphere draught-free in boxcar, internal medium is sultry, workman needs neat piling article in compartment, this makes, and the working strength of workman is big, inefficiency, therefore, lorry is carried out load and unload goods the most efficiently and become the problem that enterprise is seeking to solve.
In terms of the carrying of article, in order to reduce the labor intensity of workman, it is to use fork truck to transport near lorry by the article becoming buttress now mostly in warehouse, then workman brings up to car piling article again, but use fork truck safety coefficient low, when more people and more fork truck are walked about, be susceptible to collision simultaneously, cause security incident
In terms of the piling of article, having used robot that the article in warehouse are carried out the example of piling, robot, by neat for article piling in warehouse, the most reasonably make use of space while reducing the labor intensity of workman.But this kind of robot is fixed on the specific place in workshop mostly, in order to mechanical hand is accurately positioned.And the car position of lorry is random, existing robot is difficult to be accurately positioned in the compartment of lorry, it is also not possible to robot is permanently affixed in the compartment of lorry, and therefore the handling goods in the compartment of present lorry needs for dependence and is accomplished manually.
Utility model content
The purpose of this utility model is to provide a kind of article automatic loading system that article can carry out between warehouse and lorry de-stacking, conveying and piling entrucking.
In order to solve above-mentioned technical problem, this utility model is achieved through the following technical solutions:
Article automatic loading system, including de-stacking device, de-stacking device includes the first conveyer belt and the second conveyer belt being sequentially transmitted article, and the end of the first conveyer belt connects the top of the second conveyer belt, and the speed of the first conveyer belt is less than the speed of the second conveyer belt；Also include capturing flood article and flood article being kept flat to the first mechanical arm of the first conveyer belt, it is with the boundary line of the first conveyer belt and the second conveyer belt coordinates, so that the center of gravity not having any two article crosses boundary line simultaneously that first mechanical arm keeps flat the angle of flood article；
Robot palletizer, robot palletizer includes that car body, car body are provided with the second mechanical arm in order to piling article；It is connected between de-stacking device with described robot palletizer and has telescopic conveyor；Visual system, the vision sensor of the position that described visual system includes measuring described robot palletizer in compartment and the operational components in order to analysis position data, described vision sensor transmits data to described operational components；Master control device, described de-stacking device, robot palletizer and visual system all electrically connect master control device.
Wherein, de-stacking device also includes that the 3rd conveyer belt, the 3rd conveyer belt are arranged on the end of the second conveyer belt, and the 3rd conveyer belt is provided with direction adjusting mechanism, in order to adjust the placing direction of article.
Wherein, direction adjusting mechanism includes two guide posts, and the direction advanced along article, the distance between these two guide posts is gradually reduced.
Wherein, direction adjusting mechanism also includes turning to roller, and the direction advanced along article, this turns to roller to be arranged on the front of two guide posts, turns to roller be arranged on the side of article progress path and can touch article so that article turn to trend towards laterally putting；The end of the 3rd conveyer belt connects the 4th conveyer belt, and the junction of the 3rd conveyer belt and the 4th conveyer belt is set to step allows the article laterally put can climb the 4th conveyer belt.
Wherein, the both sides of vehicle bottom are mounted on driving crawler belt or driving wheel, each driving crawler belt or each driving wheel to be driven by separate motors respectively, and each motor is electrically connected master control device.
Wherein, the second mechanical arm working end is provided with fixture, and fixture includes backing and is arranged at the fixed plate of backing, and the holding face of backing is provided with push pedal, is provided with fold mechanism between push pedal and fixed plate；Fold mechanism stretches the direction driving push pedal to face away from fixed plate along holding and moves；Push pedal is provided with vacuum cup with the one side of article contacts.
Wherein, car body is provided with and article is sent to the connecting gear in place of the second mechanical arm captures article from telescopic conveyor；Connecting gear is transmitting, from telescopic conveyor, the article arrangement of coming, and after article arrangement, the second mechanical arm captures article from connecting gear.
Wherein, connecting gear includes being arranged at the 5th conveyer belt of car body and being slidably connected to the cylinder frame of car body, and cylinder sets up the lower section being placed in the 5th conveyer belt, and article are sent to the external part of cylinder frame from the 5th conveyer belt；Cylinder rack-mounted loading product skid off toward the direction away from the 5th conveyer belt, and the second mechanical arm captures article from the external part of cylinder frame.
Wherein, being provided with screw body between cylinder frame and car body, screw body drives the motion of cylinder frame；Cylinder frame one end away from the 5th transmission band in himself direction of motion is provided with the barrier structure preventing article from falling down.
Wherein, visual system includes two vision sensors, and operational components is that PID controls program, and these two vision sensors are mounted on the same side of car body in order to measure the car body position relative to compartment wall.
Compared with prior art, the beneficial effects of the utility model are:
Article automatic loading system of the present utility model, by the first mechanical arm, flood article are placed on the first conveyer belt at a particular angle, the center of gravity making each article can enter into the second conveyer belt from the first conveyer belt one by one, and the travelling speed of the second conveyer belt is very fast, article are seen off the most rapidly after entering the second conveyer belt, and said mechanism achieves the fractionation of flood article.After fractionation, article enter telescopic conveyor, and telescopic conveyor is connected with robot palletizer, and robot palletizer motion drives telescopic conveyor to stretch simultaneously, makes this system adapt to different operation distances.Telescopic conveyor is sent to article to be positioned at the robot palletizer in compartment from warehouse, and robot palletizer carries out piling to article in compartment.In order to can guarantee that the quality of piling, robot palletizer is provided with visual system, visual system moment robot measurement position in compartment, and is controlled the co-ordination of whole article automatic loading system by master control device.This kind of article automatic loading system being used for warehouse logistics field, can realize the article efficient entrucking in narrow car body railway carriage or compartment, and realize full-automatic operation, efficiency is high and is easy to management, saves entreprise cost.
Accompanying drawing explanation
Accompanying drawing is used for providing being further appreciated by of the present utility model, is used for explaining this utility model, is not intended that restriction of the present utility model together with embodiment of the present utility model.
Fig. 1 is the overall structure schematic diagram of article automatic loading system of the present utility model.
Fig. 2 is the structural representation of de-stacking device.
Fig. 3 is the fundamental diagram of de-stacking device.
Fig. 4 is the structural representation of direction adjusting mechanism.
Fig. 5 is robot palletizer schematic diagram in compartment during operation.
Fig. 6 is the structural representation of robot palletizer.
Fig. 7 is driving crawler belt and the structural representation of servomotor of robot palletizer.
Fig. 8 is the structural representation of fixture.
Fig. 9 is the 3rd conveyer belt and the structural representation of the 4th conveyer belt junction.
Figure 10 is second mechanical arm structural representation when being just loaded on car body.
Reference includes:
1 de-stacking device, 11 first conveyer belts, 111 demarcation line, 12 second conveyer belts, 13 first mechanical arms, 14 the 3rd conveyer belts, 141 guide posts, 142 turn to roller, 15 the 4th conveyer belts；
2 telescopic conveyors；
3 robot palletizers, 31 car bodies, 311 driving crawler belt, 312 servomotors, 32 second mechanical arms, 321 fixtures, 3211 backings, 3212 fixed plates, 3213 push pedals, 3214 fold mechanisms, 3215 extensible members, 331 the 5th conveyer belts, 332 cylinder framves, 3321 baffle plates, 3,322 first stations, 3,323 second stations；
4 compartments；
5 article.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is illustrated, it will be appreciated that preferred embodiment described herein is merely to illustrate and explains this utility model, be not used to limit this utility model.
Article automatic loading system of the present utility model is as shown in Figure 1.De-stacking device therein is as shown in Figure 2, including the first mechanical arm the 13, first conveyer belt 11 and the second conveyer belt 12, the junction of the first conveyer belt 11 and the second conveyer belt 12 is boundary line 111, and set the transfer rate transfer rate less than the second conveyer belt 12 of the first conveyer belt 11, the speed that specifically can arrange the first conveyer belt 11 is 0.5m/s, and the speed of the second conveyer belt 12 is 1m/s.Being picked up by 13 flood article of the first mechanical arm, in the present embodiment, the first mechanical arm 13 specifically includes mechanical hand and the vacuum cup of the working end being installed on mechanical hand, and vacuum cup directly picks up flood article from the top of flood article.nullFirst mechanical arm 13 flood article rotate certain angle，This angle matches with boundary line 111，So that flood article are during transmitting，The center of gravity of each article 5 can enter the second conveyer belt 12 after the first conveyer belt 11 is one by one by boundary line 111，The principle that concrete flood article split is as shown in Figure 3，In the present embodiment，Demarcation line 111 is perpendicular to the direction of transfer of initial conveyer belt 2，Can be seen that under the transmission of the first conveyer belt 11，The center of gravity of each article 5 will be one by one through boundary line 111，And enter the second conveyer belt 12 one by one according to the sequence number as shown in article 5 surface in Fig. 2，And the center of gravity not havinging two article 5 enters the possibility of the second conveyer belt 12 from the first conveyer belt 11 simultaneously，After article 5 enter the second conveyer belt 12，Owing to the transfer rate of the second conveyer belt 12 is very fast，Article 5 are quickly left，And widen the distance between each article 5，Thus realize the fractionation to flood article.As shown in Figure 1, article 5 enter telescopic conveyor 2 subsequently, 2 de-stacking devices 1 of telescopic conveyor are connected with the robot palletizer 3 of an operation in compartment 4, drive telescopic conveyor 2 to stretch simultaneously, make this system adapt to different operation distances when robot palletizer 3 moves.As shown in figures 1 to 6, robot palletizer 3 includes that car body 31, car body 31 are connected with the end of telescopic conveyor 2；Article 5 transport robot palletizer 3 from telescopic conveyor 2, and robot palletizer 3 carries out piling to article 5 in compartment 4.In order to can guarantee that the quality of piling, robot palletizer 3 is provided with visual system, the visual system moment measures the robot palletizer 3 position in compartment 4, the vision sensor of the position that visual system includes measuring robot palletizer 3 in compartment 4 and the operational components in order to analysis position data.For coordinating whole system work, it is additionally provided with master control device, de-stacking device 1, robot palletizer 3 and visual system all electrically connect this master control device, this master control device is preferably PLC, a PLC can be used to control whole system, it is possible to use multiple PLC control each module respectively.This kind of article automatic loading system for warehouse logistics field, can realize the article efficient entrucking in narrow car body railway carriage or compartment, and realize full-automatic operation, efficiency is high and is easy to management, save entreprise cost, this article loading system also can be connected with the management system of factory simultaneously, facilitates integrated management.
In the present embodiment, as shown in Figure 4, de-stacking device 1 also includes the 3rd conveyer belt 14 being provided with direction adjusting mechanism, and the 3rd conveyer belt 14 is arranged on the end of the second conveyer belt 12.Specifically, direction adjusting mechanism includes the two articles of guide posts 141 being arranged on the feed surface of the 3rd conveyer belt 14, the direction advanced along article 5, and the distance between these two guide posts 141 is gradually reduced, certainly, not less than the width of article 5 at distance minimum.Direction regulating method is as follows: the article 5 such as needing entrucking are rectangular chest, by these two guide posts 141, chest can be made all to become and vertically put.And sometimes for chest is laterally put, at this moment can by be arranged on the feed surface of the 3rd conveyer belt 14 turn to roller 142 to add the 4th conveyer belt 15 to realize, the direction advanced along chest (i.e. article 5), this turns to roller 142 to be arranged on the front of two guide posts 141, turns to roller 142 be arranged on the side of chest progress path and can touch chest.As it is shown in figure 1, the end of the 3rd conveyer belt 14 connects one article of the 4th conveyer belt 15.The junction of the 3rd conveyer belt 14 and the 4th conveyer belt 15 is set to step, is specially as shown in Figure 9 so that the level height of the end of the 3rd conveyer belt 14 is less than the level height at the top of the 4th conveyer belt 15.So, after chest is adjusted to vertical array by two guide posts 141, during continuing motion, above-mentioned for collision is turned to roller 142, collision rift chest run-off the straight and close to laterally disposed, when chest is transported at the step of the 3rd conveyer belt 14 and the 4th conveyer belt 15, chest needs climbing this step upper could continue to be transmitted.And when chest is still in heeling condition, the way of contact of chest and the 4th conveyer belt 15 is point cantact, now the 4th conveyer belt 15 is less to the frictional force of chest, and chest can not climb the 4th conveyer belt 15；But along with the continuous operating of the 3rd conveyer belt 14, the direction of chest will change, when chest is converted to (chest is the most entirely laterally placed) when the way of contact with the 4th conveyer belt 15 is linear contact lay, 4th conveyer belt 15 is bigger to the frictional force of chest, chest just can climb the 4th conveyer belt 15, and then continues to be transmitted.After this step, chest is the most all changed into transversely arranged.Said structure realizes the direction to the article 5 after de-stacking and corrects, it is simple to the carrying out of follow-up work.It addition, during the first transmission band 11 and the second transmission 12 band de-stackings, the first mechanical arm 13, without work, therefore so can make full use of the first mechanical arm 13 as it is shown in figure 1, arrange the corresponding two de-stacking lines of the first mechanical arm 13.
Robot palletizer 3 is as shown in Fig. 5, Fig. 6 and Fig. 7, and the both sides bottom car body 31 are mounted on driving crawler belt 311, each driving crawler belt 311 to be driven by different servomotors 312 respectively, and each servomotor 312 is electrically connected master control device.The each self-driven different driving crawler belt 311 of different servomotors 312, the advance of car body 31, retrogressing or adjustment direction can be realized, use drive crawler belt 311 be in order to make car body 31 when travelling in compartment 4 more steady, prevent the normal work of the concavo-convex obstruction robot palletizer of the ground in compartment 43, certainly, it is possible to use in-wheel driving.In fig. 5 and fig., the second mechanical arm 32 uses the mode of upside-down mounting to be installed on car body 31, and the mount point that so can make the second mechanical arm 32 is higher, and the range of activity correspondingly making the second mechanical arm 32 is bigger.Certainly, except the mode of upside-down mounting, as shown in Figure 10, it is possible to use the mode of formal dress that the second mechanical arm 32 is installed on car body 31, the method for employing formal dress can make the stability of the second mechanical arm 32 higher so that robot palletizer 3 degree of accuracy when operation is higher.
Robot palletizer 3 is provided with the fixture 321 for pick-and-place article, as shown in Figure 8, fixture 321 includes backing 3211 and is arranged at the fixed plate 3212 of backing 3211, the mode using backing 3211 holding captures article 5, fixture 321 can be made can to pick up shown in article 5(Fig. 8 that quality is bigger and be pushed out backing 3211 for article).Being provided with push pedal 3213 on the holding face of backing 3211, push pedal 3213 is provided with vacuum cup with the one side of article contacts, article can be sucked in push pedal 3213 by vacuum cup；Fold mechanism 3214 it is provided with between push pedal 3213 and fixed plate 3212；Fold mechanism 3214 is by extensible member 3215(concretely cylinder) drive and stretch, the flexible Foldable mechanism simultaneously 3214 of extensible member 3215 stretches.Fold mechanism 3214 shrinks, and push pedal 3213 sorption article 5 move along backing 3211 towards the direction near fixed plate 3212, i.e. captures article 5；Fold mechanism 3214 stretches, and 3213 article 5 of push pedal move release along backing towards away from the direction of fixed plate 3212, i.e. put down article 5.This kind of fixture 321 simple in construction, and reliable.
In the present embodiment, as shown in Figure 6, car body 31 is provided with for article are sent to the connecting gear in place of the second mechanical arm 32 captures article from telescopic conveyor 2, and article arrange in a row on the transfer mechanism, waits that the second mechanical arm 32 captures.Connecting gear specifically includes the 5th conveyer belt 331 being arranged at car body 31 and the cylinder frame 332 being slidably connected to car body 31, and cylinder frame 332 is arranged at the lower section of the 5th conveyer belt 331；5th conveyer belt 331 connects the end of telescopic conveyor 2, and article 5 are sent to the 5th conveyer belt 331 from telescopic conveyor 2, after be sent on cylinder frame 332 through the 5th conveyer belt 331.It is provided with screw body between cylinder frame 332 and car body 31, screw body drives cylinder frame 332 to move between the first station 3322 and the second station 3323, i.e. cylinder frame 332 can slide in and out under the 5th conveyer belt 331, but always reserves one section of external part in order to carry and to arrange article 5.When the second mechanical arm 32 moves to the position preparing to capture article 5, cylinder frame 332 reaches the second station 3323, and the second mechanical arm 32 article 5 are picked up from cylinder frame 332；After second mechanical arm 32 article 5 are picked up, in order to not hinder the proper motion of the second mechanical arm 32, cylinder frame 332 slides back into the first station 3322, and order is stretched out in article 5 wait that carrying new biography is sent here next time.Cylinder frame 332 one end away from the 5th conveyer belt 331 in himself direction of motion is provided with the barrier structure preventing article 5 from falling down, the most specially baffle plate 3321；Additionally the cylinder on cylinder frame 332 uses unilateral bearing to be connected to cylinder frame 332, makes article 5 can only unidirectional travel forward after entering cylinder frame 332.
In the present embodiment, visual system includes two vision sensors, and these two vision sensors are mounted on the same side of car body, and operational components is the PID program in PLC.The one side of car body 31 and the relative position of compartment 4 wall is measured by being installed in two distance measuring sensors of the same side of car body 31, and in real time position data is sent to PLC, PLC, by position adjustment order and position adjustment data being delivered to servo controller after PID arithmetic, is controlled servomotor 312 by servo controller and adjusts position.The actuating signal of servomotor 312 also Real-time Feedback is to PLC, actuating signal and the signal of distance measuring sensor of servomotor 312 is collected by PLC, PLC constantly does the circulation work of " measuring-calculate-motion ", during until the distance of lateral extent compartment 4, one side wall of car body 31 that records respectively of two vision sensors of the same side of car body 31 is consistent, i.e. show that car body 31 has been parallel to compartment wall.After car body 31 position is correct, will move before and after carrying out car body 31, at this moment according to the concrete needs of operation, PLC controls car body 31 and moves, and when car body 31 arrives operating position, PLC controls the second mechanical arm 32 and carries out piling work.And in car body 31 moving process, PID arithmetic is persistently carried out, it is ensured that car body 31 in the right direction.Additionally, it is possible to increase vision sensor in the front side of car body 31, for measuring the car body 31 distance relative to front portion, compartment 4.Additionally, two vision sensors also can be respectively provided with in the left and right sides of car body 31, after car body 31 enters different size of compartment 4, by being distributed in four vision sensors of car body about 31, the developed width in compartment can be measured, and this width data is passed to PLC, PLC calculates the piling mode of article 5 according to the width in this compartment.
Last it is noted that these are only preferred embodiment of the present utility model; it is not limited to this utility model; although this utility model being described in detail with reference to embodiment; for a person skilled in the art; technical scheme described in foregoing embodiments still can be modified by it; or wherein portion of techniques feature is carried out equivalent; but it is all within spirit of the present utility model and principle; the any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (10)
1. article automatic loading system, it is characterised in that: include
De-stacking device, described de-stacking device includes the first conveyer belt and the second conveyer belt being sequentially transmitted article, and the end of the first conveyer belt connects the top of the second conveyer belt, and the speed of the first conveyer belt is less than the speed of the second conveyer belt；Also include capturing flood article and flood article being kept flat to the first mechanical arm of the first conveyer belt, it is with the boundary line of the first conveyer belt and the second conveyer belt coordinates, so that the center of gravity not having any two article crosses described boundary line simultaneously that first mechanical arm keeps flat the angle of flood article；
Robot palletizer, described robot palletizer includes that car body, described car body are provided with the second mechanical arm in order to piling article；
It is connected between described de-stacking device and described robot palletizer and has telescopic conveyor；
Visual system, the vision sensor of the position that described visual system includes measuring described robot palletizer in compartment and the operational components in order to analysis position data, described vision sensor transmits data to described operational components；
Master control device, described de-stacking device, robot palletizer and visual system all electrically connect described master control device.
Article automatic loading system the most according to claim 1, it is characterized in that: described de-stacking device also includes the 3rd conveyer belt, 3rd conveyer belt connects the end of the second conveyer belt, and the 3rd conveyer belt is provided with direction adjusting mechanism, in order to adjust the placing direction of article.
Article automatic loading system the most according to claim 2, it is characterised in that: described direction adjusting mechanism includes two guide posts, and the direction advanced along article, the distance between these two guide posts is gradually reduced.
Article automatic loading system the most according to claim 3, it is characterized in that: described direction adjusting mechanism also includes turning to roller, the direction advanced along article, this turns to roller to be arranged on the front of two described guide posts, described in turn to roller be arranged on the side of article progress path and article can be touched so that article turn to trend towards laterally putting；The end of the 3rd conveyer belt connects the 4th conveyer belt, and the junction of the 3rd conveyer belt and the 4th conveyer belt is set to step allows the article laterally put can climb the 4th conveyer belt.
Article automatic loading system the most according to claim 1, it is characterized in that: the both sides of described vehicle bottom are mounted on driving crawler belt or driving wheel, each driving crawler belt or each driving wheel are driven by separate motors respectively, and each motor is electrically connected described master control device.
Article automatic loading system the most according to claim 1, it is characterized in that: the second mechanical arm working end is provided with fixture, described fixture includes backing and is arranged at the fixed plate of described backing, the holding face of described backing is provided with push pedal, is provided with fold mechanism between described push pedal and described fixed plate；Described fold mechanism stretches the direction driving described push pedal to face away from described fixed plate along described holding and moves；Described push pedal is provided with vacuum cup with the one side of article contacts.
Article automatic loading system the most according to claim 1, it is characterised in that: described car body is provided with and article is sent to the connecting gear in place of the second mechanical arm captures article from telescopic conveyor；Described connecting gear is transmitting, from described telescopic conveyor, the article arrangement of coming, and after article arrangement, the second mechanical arm captures article from described connecting gear.
Article automatic loading system the most according to claim 7, it is characterized in that: described connecting gear includes being arranged at the 5th conveyer belt of described car body and is slidably connected to the cylinder frame of described car body, described cylinder sets up the lower section being placed in the 5th conveyer belt, and article are sent to the external part of described cylinder frame from the 5th conveyer belt；Cylinder rack-mounted loading product skid off toward the direction away from the 5th conveyer belt, and the second mechanical arm captures article from the external part of described cylinder frame.
Article automatic loading system the most according to claim 8, it is characterised in that: being provided with screw body between described cylinder frame and described car body, screw body drives the motion of described cylinder frame；Described cylinder frame one end away from the 5th transmission band in himself direction of motion is provided with the barrier structure preventing article from falling down.
Article automatic loading system the most according to claim 1, it is characterized in that: described visual system includes two vision sensors, described operational components is that PID controls program, and these two vision sensors are mounted on the same side of car body in order to measure the car body position relative to compartment wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620201243.6U CN205555585U (en) | 2016-03-16 | 2016-03-16 | Article automatic loading system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620201243.6U CN205555585U (en) | 2016-03-16 | 2016-03-16 | Article automatic loading system |
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| CN205555585U true CN205555585U (en) | 2016-09-07 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105692251A (en) * | 2016-03-16 | 2016-06-22 | 广州圣益龙自动控制技术有限公司 | Automatic loading system for articles |
| CN106629138A (en) * | 2016-12-22 | 2017-05-10 | 杭州娃哈哈精密机械有限公司 | Synchronous and automatic loading system for whole stack of boxes and using method of synchronous and automatic loading system |
| CN108481300A (en) * | 2018-06-07 | 2018-09-04 | 苏州澳昆智能机器人技术有限公司 | Laser guidance Full automatic loading machine people's system |
| CN109335711A (en) * | 2018-11-23 | 2019-02-15 | 山东省科学院自动化研究所 | A kind of heavy load unstacking robot and de-stacking method |
-
2016
- 2016-03-16 CN CN201620201243.6U patent/CN205555585U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105692251A (en) * | 2016-03-16 | 2016-06-22 | 广州圣益龙自动控制技术有限公司 | Automatic loading system for articles |
| CN105692251B (en) * | 2016-03-16 | 2017-10-31 | 广州圣益龙自动控制技术有限公司 | Article automatic loading system |
| CN106629138A (en) * | 2016-12-22 | 2017-05-10 | 杭州娃哈哈精密机械有限公司 | Synchronous and automatic loading system for whole stack of boxes and using method of synchronous and automatic loading system |
| CN106629138B (en) * | 2016-12-22 | 2019-05-21 | 杭州娃哈哈精密机械有限公司 | The application method of the synchronous automatic loading system of whole pile cabinet |
| CN108481300A (en) * | 2018-06-07 | 2018-09-04 | 苏州澳昆智能机器人技术有限公司 | Laser guidance Full automatic loading machine people's system |
| CN108481300B (en) * | 2018-06-07 | 2024-04-05 | 苏州澳昆智能机器人技术有限公司 | Laser guidance full-automatic loading robot system |
| CN109335711A (en) * | 2018-11-23 | 2019-02-15 | 山东省科学院自动化研究所 | A kind of heavy load unstacking robot and de-stacking method |
| CN109335711B (en) * | 2018-11-23 | 2024-03-22 | 山东省科学院自动化研究所 | Large-load unstacking robot and unstacking method |
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Granted publication date: 20160907 Effective date of abandoning: 20171031 |