TWI593613B - Conveyor system?and conveyor method thereof - Google Patents
Conveyor system?and conveyor method thereof Download PDFInfo
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本發明涉及輸送技術領域，尤其涉及一種不同輸送線之間物料銜接的輸送系統及其輸送方法。 The invention relates to the technical field of transportation, in particular to a conveying system for conveying materials between different conveying lines and a conveying method thereof.
在現代工業的生產過程中，為了實現不同輸送線之間的物料運輸，一種方法為利用人力搬運，這種方法效率低下且浪費人力；另一種方法是先將兩個輸送線的輸送速度調整相同，再用過渡機構進行銜接輸送，這種方法較為繁瑣。 In the production process of modern industry, in order to realize the material transportation between different conveyor lines, one method is to use manual handling, which is inefficient and wastes manpower; the other method is to adjust the conveying speed of the two conveying lines first. The use of transitional mechanisms for articulation is more cumbersome.
鑒於上述狀況，有必要提供一種自動化程度較高、效率較高的輸送系統及其輸送方法。 In view of the above, it is necessary to provide a highly automated and efficient delivery system and its delivery method.
一種輸送系統，包括鏈掛輸送線與皮帶輸送線，輸送系統還包括控制模組與機械手。皮帶輸送線包括第一皮帶輸送帶、第一定位組件與多個第一皮帶托盤、第二皮帶輸送帶、第二定位組件與多個第二皮帶托盤；鏈掛輸送線包括鏈掛輸送帶、鏈掛定位組件、多個第一鏈掛托盤與多個第二鏈掛托盤。第一皮帶輸送帶與鏈掛輸送帶分別用於輸送第一皮帶托盤與第二皮帶托盤，第一皮帶托盤、第二皮帶托盤用於運載物料，第一定位組件、第二定位組件分別用於感測該第一皮帶托盤、第二皮帶托盤到達一預定位置，該鏈掛定位組件用於感測該第一鏈掛托盤與該第二鏈掛托盤達到 一預定位置，該第一定位組件、該第二定位組件及該鏈掛定位組件還用於向控制模組發出來料信號。來料信號包括該第一皮帶托盤、該第二皮帶托盤、該第一鏈掛托盤與該第二鏈掛托盤的位置信號與類別信號，該控制模組用於接收來料信號並控制該機械手抓取與釋放物料。 A conveyor system includes a chain conveyor line and a belt conveyor line, and the conveyor system further includes a control module and a robot. The belt conveyor line includes a first belt conveyor belt, a first positioning assembly and a plurality of first belt trays, a second belt conveyor belt, a second positioning assembly and a plurality of second belt trays; the chain conveyor line includes a chain conveyor belt, The chain hanging positioning component, the plurality of first chain hanging trays and the plurality of second chain hanging trays. The first belt conveyor belt and the chain conveyor belt are respectively used for conveying the first belt tray and the second belt tray, the first belt tray and the second belt tray are used for carrying materials, and the first positioning component and the second positioning component are respectively used for Sensing the first belt tray and the second belt tray to reach a predetermined position, the chain positioning component is configured to sense that the first chain tray and the second chain tray reach The first positioning component, the second positioning component and the chain positioning component are further configured to send a incoming signal to the control module. The incoming signal includes a position signal and a category signal of the first belt tray, the second belt tray, the first chain tray and the second chain tray, the control module is configured to receive a incoming signal and control the machine Grab and release material.
一種輸送方法，包括上料方法，該上料方法包括以下步驟：機械手初始化並開始運行；第一皮帶輸送線中的第一定位組件感測第一皮帶托盤，並發出第一來料信號，該第一來料信號包括該第一皮帶托盤的位置信號與類別信號；控制模組接收第一來料信號並向該機械手發出控制信號；該機械手抓取第一皮帶托盤中的物料；鏈掛定位組件感測第一鏈掛托盤，並發出鏈掛線來料信號，該鏈掛線來料信號包括該第一鏈掛托盤的位置信號與類別信號；控制模組接收鏈掛線來料信號並向機械手發出控制信號；該機械手向第一鏈掛托盤釋放物料，完成上料。該輸送方法還包括下料方法，該下料方法包括以下步驟：機械手初始化並啟動；鏈掛線啟動；鏈掛定位組件感測第一鏈掛托盤或第二鏈掛托盤，並發出鏈掛線來料信號，鏈掛線來料信號包括托盤的類別信號；控制模組接收該來料信號並發出控制信號給機械手；機械手抓取物料，並識別該類別信號；機械手依據該類別信號將物料放入第一皮帶輸送線或第二皮帶輸送線；機械手復位，完成下料 A conveying method comprising a feeding method, the loading method comprising the steps of: initializing and starting operation of a robot; a first positioning component in the first belt conveying line senses the first belt tray and sends a first incoming signal, The first incoming signal includes a position signal and a category signal of the first belt tray; the control module receives the first incoming signal and sends a control signal to the robot; the robot grabs the material in the first belt tray; The chain hanging positioning component senses the first chain hanging tray and sends a chain hanging wire incoming signal, the chain hanging wire incoming signal includes a position signal and a category signal of the first chain hanging tray; the control module receives the chain hanging wire to The material signal sends a control signal to the robot; the robot releases the material to the first chain pallet to complete the loading. The conveying method further includes a blanking method, the cutting method comprising the steps of: initializing and starting the robot; the chain hanging line is started; the chain positioning component sensing the first chain hanging tray or the second chain hanging tray, and issuing the chain hanging The line incoming signal, the chain hanging line incoming signal includes a tray type signal; the control module receives the incoming signal and sends a control signal to the robot; the robot grabs the material and identifies the category signal; the robot according to the category The signal puts the material into the first belt conveying line or the second belt conveying line; the robot is reset and the cutting is completed.
上述輸送系統包括鏈掛輸送線、皮帶輸送線、控制模組與機械手，鏈掛輸送線與皮帶輸送線均包括定位組件，可精準感測來料，並利用機械手完成物料在鏈掛輸送線與皮帶輸送線之間的銜接運輸。上述輸送系統能自動完成物料的在兩個不同的輸送線之間的 銜接輸送，簡單高效，上述輸送方法實現了物料的自動化運輸。 The above conveying system comprises a chain conveying line, a belt conveying line, a control module and a manipulator, the chain hanging conveying line and the belt conveying line all comprise a positioning component, which can accurately sense the incoming material and use the robot to complete the material in the chain hanging conveying. Conveying transport between the line and the belt conveyor line. The above conveyor system can automatically complete the material between two different conveyor lines Conveying and conveying, simple and efficient, the above conveying method realizes the automatic transportation of materials.
100‧‧‧輸送系統 100‧‧‧Conveying system
10‧‧‧控制模組 10‧‧‧Control Module
20‧‧‧皮帶輸送線 20‧‧‧Belt conveyor line
30‧‧‧鏈掛輸送線 30‧‧‧Chain conveyor line
40‧‧‧機械手 40‧‧‧ Robot
21‧‧‧第一皮帶輸送線 21‧‧‧First belt conveyor line
22‧‧‧第二皮帶輸送線 22‧‧‧Second belt conveyor line
211‧‧‧第一輸送帶 211‧‧‧First conveyor belt
212‧‧‧第一皮帶托盤 212‧‧‧First belt tray
213‧‧‧第一定位組件 213‧‧‧First positioning assembly
221‧‧‧第二輸送帶 221‧‧‧Second conveyor belt
222‧‧‧第二皮帶托盤 222‧‧‧Second belt tray
223‧‧‧第二定位組件 223‧‧‧Second positioning assembly
31‧‧‧鏈掛輸送帶 31‧‧‧Chain conveyor belt
32‧‧‧第一鏈掛托盤 32‧‧‧First chain hanging tray
33‧‧‧第二鏈掛托盤 33‧‧‧Second chain hanging tray
34‧‧‧鏈掛定位組件 34‧‧‧Chain positioning components
41‧‧‧信號識別組件 41‧‧‧Signal recognition component
42‧‧‧抓取組件 42‧‧‧Capture components
圖1係本發明一種實施方式中輸送系統的方塊圖。 1 is a block diagram of a delivery system in accordance with an embodiment of the present invention.
圖2係本發明的輸送方法之上料方法的流程圖。 Figure 2 is a flow chart of the method of feeding the delivery method of the present invention.
圖3係本發明的輸送方法之下料方法的流程圖。 Figure 3 is a flow chart of the method of feeding the delivery method of the present invention.
下面結合附圖及實施方式對本發明提供的一種輸送系統及輸送方法作進一步詳細說明。 A delivery system and a delivery method provided by the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
本發明提供的一種輸送系統用於在兩個不同的輸送線之間傳輸物料。在本實施方式中，該輸送系統用於在鏈掛輸送線與皮帶輸送線之間，利用機械手自動輸送物料。輸送方法包括上料方法與下料方法，上料方法是從皮帶輸送線向鏈掛輸送線上輸送物料，下料方法是從鏈掛輸送線向皮帶輸送線上輸送物料。 The present invention provides a delivery system for transferring material between two different conveyor lines. In the present embodiment, the conveying system is configured to automatically convey materials between the chain conveyor line and the belt conveyor line by a robot. The conveying method comprises a feeding method and a feeding method, and the feeding method is conveying the material from the belt conveying line to the chain hanging conveying line, and the feeding method is conveying the material from the chain conveying line to the belt conveying line.
請參照圖1，輸送系統100包括控制模組10、皮帶輸送線20、鏈掛輸送線30及機械手40。 Referring to FIG. 1 , the transport system 100 includes a control module 10 , a belt conveyor line 20 , a chain conveyor line 30 , and a robot 40 .
控制模組10與皮帶輸送線20、鏈掛輸送線30及機械手40電連接，用於接收皮帶輸送線20、鏈掛輸送線30發出的來料信號，以及向機械手40發出控制信號以便向各輸送線運輸物料。 The control module 10 is electrically connected to the belt conveying line 20, the chain conveying line 30 and the robot 40 for receiving the incoming signal from the belt conveying line 20 and the chain conveying line 30, and issuing a control signal to the robot 40. Transport materials to each conveyor line.
皮帶輸送線20包括第一皮帶輸送線21與第二皮帶輸送線22，分別用於運輸不同類別的物料。 The belt conveyor line 20 includes a first belt conveyor line 21 and a second belt conveyor line 22 for transporting different types of materials, respectively.
第一皮帶輸送線21包括第一輸送帶211，多個第一皮帶托盤212與第一定位組件213。第一輸送帶211用於輸送多個第一皮帶托盤 212，第一皮帶托盤212用於裝載物料，第一定位組件213安裝於第一輸送帶211靠近機械手40的端部，用於感測第一皮帶托盤212到達一預定位置，並同時向控制模組10發出第一來料信號。 The first belt conveying line 21 includes a first conveyor belt 211, a plurality of first belt trays 212 and a first positioning assembly 213. The first conveyor belt 211 is used for conveying a plurality of first belt trays 212, the first belt tray 212 is used for loading materials, and the first positioning component 213 is mounted on the end of the first conveyor belt 211 near the robot 40 for sensing that the first belt tray 212 reaches a predetermined position and simultaneously controls The module 10 sends a first incoming signal.
第二皮帶輸送線22包括第二輸送帶221，多個第二皮帶托盤222與第二定位組件223。第二輸送帶221用於輸送多個第二皮帶托盤222，第二皮帶托盤222用於裝載物料，第二定位組件223安裝於第二輸送帶221靠近機械手40的端部，用於感測第二皮帶托盤222到達一預定位置，並同時向控制模組10發出第二來料信號。第一來料信號與第二來料信號均包括托盤的位置信號與類別信號。第一皮帶托盤212為類別一，第二皮帶托盤222為類別二。 The second belt conveying line 22 includes a second conveyor belt 221, a plurality of second belt trays 222 and a second positioning assembly 223. The second conveyor belt 221 is for conveying a plurality of second belt trays 222, the second belt tray 222 is for loading materials, and the second positioning assembly 223 is mounted on the end of the second conveyor belt 221 near the robot 40 for sensing. The second belt tray 222 reaches a predetermined position and simultaneously sends a second incoming signal to the control module 10. The first incoming signal and the second incoming signal both include a position signal and a class signal of the tray. The first belt tray 212 is of category one and the second belt tray 222 is of category two.
鏈掛輸送線30包括鏈掛輸送帶31、第一鏈掛托盤32、第二鏈掛托盤33與鏈掛定位組件34。鏈掛輸送帶31上用於運輸第一鏈掛托盤32與第二鏈掛托盤33，鏈掛定位組件34安裝於鏈掛輸送帶31靠近機械手40的端部，用於感測第一鏈掛托盤32與第二鏈掛托盤33到達一預定位置並同時向控制模組10發出鏈掛來料信號。第一鏈掛托盤32與第一皮帶托盤212的類別相同，第二鏈掛托盤33與第二皮帶托盤222的類別相同，類別相同的托盤可運載類別相同的物料。 The chain conveyor line 30 includes a chain conveyor belt 31, a first chain pallet 32, a second chain pallet 33, and a chain positioning assembly 34. The chain conveyor belt 31 is used for transporting the first chain tray 32 and the second chain tray 33. The chain positioning assembly 34 is mounted on the end of the chain conveyor 31 near the robot 40 for sensing the first chain. The hanging tray 32 and the second linking tray 33 reach a predetermined position and simultaneously send a chain incoming signal to the control module 10. The first chain tray 32 is of the same type as the first belt tray 212, and the second chain tray 33 is of the same type as the second belt tray 222, and trays of the same type can carry the same type of materials.
機械手40包括信號識別組件41與抓取組件42，信號識別組件41用於識別控制模組10發出的托盤類別信號，抓取組件42用於抓取與釋放托盤中的物料，以向各輸送線運輸物料。當控制模組10接收到一條輸送線上的來料信號時，機械手40將移動至來料位置，抓取物料；當控制模組10接收到另一條輸送線上的來料信號時，機械手40將移動至來料位置，釋放物料，即完成了物料的運輸。由 於機械手40還包括信號識別組件41，可依據不同的托盤類別，向不同的輸送線上料。 The robot 40 includes a signal recognition component 41 and a gripping component 42 for identifying the tray type signal sent by the control module 10, and the gripping component 42 is configured to grab and release the material in the tray for transport to each Line transport materials. When the control module 10 receives the incoming signal on a conveyor line, the robot 40 will move to the incoming position to grab the material; when the control module 10 receives the incoming signal on the other conveying line, the robot 40 The material will be moved to the incoming position and the material will be released. by The robot 40 also includes a signal recognition component 41 that can feed to different conveyor lines depending on the type of pallet.
請參照圖2，該上料方法包括以下步驟。 Referring to FIG. 2, the loading method includes the following steps.
S101：機械手40初始化並開始運行。 S101: The robot 40 is initialized and starts running.
S102：機械手40同時等待第一皮帶輸送線21與第二皮帶輸送線22的來料信號。當第一皮帶托盤212被第一定位組件213感應到時，第一定位組件213向控制模組10發出第一來料信號，或者，當第二皮帶托盤222被第二定位組件223感應到時，第二定位組件223向控制模組10發出第二來料信號。 S102: The robot 40 simultaneously waits for the incoming signal of the first belt conveying line 21 and the second belt conveying line 22. When the first belt tray 212 is sensed by the first positioning assembly 213, the first positioning assembly 213 sends a first incoming signal to the control module 10, or when the second belt tray 222 is sensed by the second positioning assembly 223 The second positioning component 223 sends a second incoming signal to the control module 10.
S103：當控制模組10接收第一來料信號時，機械手40抓取第一皮帶托盤212中的物料；或者，當控制模組10接收第二來料信號時，機械手40抓取第二皮帶托盤222中的物料。 S103: When the control module 10 receives the first incoming signal, the robot 40 grabs the material in the first belt tray 212; or, when the control module 10 receives the second incoming signal, the robot 40 grabs the first The material in the two belt trays 222.
S104：鏈掛輸送線30的第一鏈掛托盤32或第二鏈掛托盤33被鏈掛定位組件34感應到時，鏈掛定位組件34發出鏈掛來料信號。 S104: When the first chain tray 32 or the second chain tray 33 of the chain conveyor 30 is sensed by the chain positioning assembly 34, the chain positioning assembly 34 sends a chain signal.
S105：機械手向鏈掛托盤中放料。 S105: The robot releases the material into the chain tray.
S106：機械手完成放料，即已將物料從皮帶輸送線20輸送到了鏈掛輸送線30上，物料可在鏈掛輸送線30上繼續運輸與進行下一步作業。 S106: The robot completes the discharging, that is, the material has been transported from the belt conveying line 20 to the chain conveying line 30, and the material can be transported on the chain conveying line 30 and the next operation is performed.
此外，該上料方法還可包括異常狀況的處理步驟。 In addition, the loading method may also include processing steps of an abnormal condition.
S107：在鏈掛定位組件34發出鏈掛來料信號之前，控制模組10捕捉鏈掛輸送線的異常中斷信號。 S107: The control module 10 captures an abnormal interruption signal of the chain conveyor line before the chain positioning component 34 issues a chain incoming signal.
S108：若有異常中斷信號，則機械手回到待料位置，程式中斷； 若無異常中斷信號，則繼續捕捉異常中斷信號。 S108: If there is an abnormal interrupt signal, the robot returns to the waiting position, and the program is interrupted; If there is no abnormal interrupt signal, continue to capture the abnormal interrupt signal.
請參照圖3，該下料方法包括以下步驟。 Referring to FIG. 3, the blanking method includes the following steps.
S201：機械手初始化並啟動。 S201: The robot is initialized and started.
S202：鏈掛輸送線30啟動，開始運輸第一鏈掛托盤32與第二鏈掛托盤33。 S202: The chain conveyor line 30 is activated to start transporting the first chain pallet 32 and the second chain pallet 33.
S203：第一鏈掛托盤32或第二鏈掛托盤33到達預定位置而被鏈掛定位組件34感應到時，鏈掛定位組件34向控制模組10發出鏈掛來料信號，鏈掛來料信號包括來料托盤的類別信號。 S203: When the first chain tray 32 or the second chain tray 33 reaches the predetermined position and is sensed by the chain positioning component 34, the chain positioning component 34 sends a chain signal to the control module 10, and the chain is connected. The signal includes the category signal of the incoming tray.
S204：控制模組10依據鏈掛來料信號，向機械手40發出控制信號。 S204: The control module 10 sends a control signal to the robot 40 according to the link incoming signal.
S205：機械手40根據控制組件發出的信號抓取該第一鏈掛托盤32或第二鏈掛托盤33中的物料；此時，機械手40識別第一鏈掛托盤32或第二鏈掛托盤33的類別信號。 S205: The robot 40 grasps the material in the first chain tray 32 or the second chain tray 33 according to the signal sent by the control component; at this time, the robot 40 identifies the first chain tray 32 or the second chain tray. 33 category signal.
S206：若為第二鏈掛托盤33，則將抓取的物料放到第二皮帶輸送線22。 S206: If it is the second chain hanging tray 33, the grasped material is placed on the second belt conveying line 22.
S207：若為第一鏈掛托盤32，則將抓取的物料放到第一皮帶輸送線21上。 S207: If it is the first chain hanging tray 32, the grasped material is placed on the first belt conveying line 21.
S208：機械手40釋放物料後復位，準備下一次的抓取動作。 S208: After the robot 40 releases the material, it is reset to prepare for the next grabbing action.
此外，該下料方法還可包括異常狀況的處理步驟。 In addition, the blanking method may also include a processing step of an abnormal condition.
S210：控制模組10捕捉鏈掛輸送線30的異常中斷信號。 S210: The control module 10 captures an abnormal interruption signal of the chain conveyor line 30.
S211：若有異常中斷信號，則控制機械手回到待料位置，程式中 斷；若無異常中斷信號，則繼續捕捉異常中斷信號。 S211: If there is an abnormal interrupt signal, the control robot returns to the waiting position, in the program Break; if there is no abnormal interrupt signal, continue to capture the abnormal interrupt signal.
在其他實施方式中，機械手40的數量可以為兩個，或者多個。若機械手40的數量為兩個，則輸送系統100的效率可得到進一步提高。 In other embodiments, the number of robots 40 may be two or more. If the number of robots 40 is two, the efficiency of the delivery system 100 can be further improved.
在其他實施方式中，皮帶輸送線20也可以僅包括第一皮帶輸送線21，控制模組10依據第一定位組件213發出的來料信號，控制機械手40在第一皮帶輸送線21與鏈掛輸送線30之間運輸物料。 In other embodiments, the belt conveyor line 20 may also include only the first belt conveyor line 21, and the control module 10 controls the robot 40 on the first belt conveyor line 21 and the chain according to the incoming signal from the first positioning assembly 213. The materials are transported between the hanging conveyor lines 30.
本發明提供的輸送系統包括控制模組、皮帶輸送線、鏈掛輸送線與機械手，皮帶輸送線與鏈掛輸送線中均設置有定位組件與托盤，定位組件可感測托盤的來料，再利用機械手在皮帶輸送線與鏈掛輸送線之間運輸物料。該輸送系統取代了人工搬運的方式，實現了不同輸送線之間物料的自動銜接搬運。並且，利用定位組件可以準確識別托盤的位置，再用機械手的柔性、嫁動率高的特性抓取托盤及準確釋放托盤到輸送線。 The conveying system provided by the invention comprises a control module, a belt conveying line, a chain conveying line and a manipulator, wherein the belt conveying line and the chain conveying line are provided with a positioning component and a tray, and the positioning component can sense the incoming material of the tray. The robot is then used to transport material between the belt conveyor and the chain conveyor. The conveying system replaces the manual handling method, and realizes the automatic connection and transportation of materials between different conveying lines. Moreover, the positioning component can accurately identify the position of the tray, and then grasp the tray and accurately release the tray to the conveying line with the characteristics of the flexibility of the robot and the high rate of grafting.
本領域的普通技術人員應當理解，其依然可對前述實施例所記載的技術方案進行修改，或者對其中部分技術特徵進行等同替換；而該等修改或者替換，並不使相應技術方案的本質脫離本發明實施例技術方案的精神及範圍。 It should be understood by those skilled in the art that the technical solutions described in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced; and the modifications or replacements do not deviate from the essence of the corresponding technical solutions. The spirit and scope of the technical solutions of the embodiments of the present invention.
100‧‧‧輸送系統 100‧‧‧Conveying system
10‧‧‧控制模組 10‧‧‧Control Module
20‧‧‧皮帶輸送線 20‧‧‧Belt conveyor line
30‧‧‧鏈掛輸送線 30‧‧‧Chain conveyor line
40‧‧‧機械手 40‧‧‧ Robot
21‧‧‧第一皮帶輸送線 21‧‧‧First belt conveyor line
22‧‧‧第二皮帶輸送線 22‧‧‧Second belt conveyor line
211‧‧‧第一輸送帶 211‧‧‧First conveyor belt
212‧‧‧第一皮帶托盤 212‧‧‧First belt tray
213‧‧‧第一定位組件 213‧‧‧First positioning assembly
221‧‧‧第二輸送帶 221‧‧‧Second conveyor belt
222‧‧‧第二皮帶托盤 222‧‧‧Second belt tray
223‧‧‧第二定位組件 223‧‧‧Second positioning assembly
31‧‧‧鏈掛輸送帶 31‧‧‧Chain conveyor belt
32‧‧‧第一鏈掛托盤 32‧‧‧First chain hanging tray
33‧‧‧第二鏈掛托盤 33‧‧‧Second chain hanging tray
34‧‧‧鏈掛定位組件 34‧‧‧Chain positioning components
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| CN201410565558.4A CN105584823B (en) | 2014-10-22 | 2014-10-22 | Induction system and its carrying method |
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| TW201615525A TW201615525A (en) | 2016-05-01 |
| TWI593613B true TWI593613B (en) | 2017-08-01 |
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| CN112010002B (en) * | 2020-08-19 | 2022-06-28 | 一汽解放汽车有限公司 | ECU processing system |
| CN113291735B (en) * | 2021-06-08 | 2023-04-21 | 重庆市农业科学院 | Unmanned vegetable seeding, conveying and seedling raising equipment and use method |
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| DE4101402A1 (en) * | 1991-01-18 | 1992-07-23 | Harmony Holdings Ltd | DEVICE AND METHOD FOR THE PRODUCTION OF UPRIGHT WALL PANELS FROM WALL STONES |
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| NL2002441C2 (en) * | 2009-01-22 | 2010-07-26 | Stork Pmt | TRANSPORT SYSTEM. |
| CN203497745U (en) * | 2013-09-24 | 2014-03-26 | 上海通彩自动化设备有限公司 | Conveying device for piling up paint barrel |
| CN103707059B (en) * | 2013-12-19 | 2016-04-06 | 周俊雄 | Electricity heating clamp kludge |
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| CN102092576A (en) * | 2010-12-30 | 2011-06-15 | 济南裕兴化工有限责任公司 | Titanium dioxide automatic packaging process and dedicated system thereof |
| CN201914472U (en) * | 2010-12-30 | 2011-08-03 | 济南裕兴化工有限责任公司 | Special automatic packaging system for titanium |
| CN202138860U (en) * | 2011-06-23 | 2012-02-08 | 杭州古思科技有限公司 | Substrate conveying apparatus for chip resistor position detection system |
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| TW201615525A (en) | 2016-05-01 |
| CN105584823B (en) | 2017-12-22 |
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