CN108438694A - A kind of goods sorting system and method for sorting - Google Patents
A kind of goods sorting system and method for sorting Download PDFInfo
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- CN108438694A CN108438694A CN201810327034.XA CN201810327034A CN108438694A CN 108438694 A CN108438694 A CN 108438694A CN 201810327034 A CN201810327034 A CN 201810327034A CN 108438694 A CN108438694 A CN 108438694A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
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Abstract
The invention discloses a kind of goods sorting system and method for sorting, are related to logistic storage technical field；A kind of goods sorting system, including storage wire body, several groups sorting line, catching device, cargo identification module and control module；The catching device includes delivery vehicles and drive component, and the cargo identification module is RFID tag reader, and the control module includes controller and driver；The delivery vehicles include pedestal and turntable, and the driving component includes the first drive component and the second drive component；A kind of goods sorting method realizes that cargo automatically sorts using above mentioned goods sorting system.The goods sorting system automation and intelligence degree are high, can substantially reduce intensity of workers, and goods sorting efficiency and sorting accuracy is greatly improved, and have responded the trend of modern logistics development, have helped to improve the market competitiveness of loglstics enterprise.
Description
Technical field
The present invention relates to logistic storage technical fields, specifically, it is related to a kind of goods sorting system and method for sorting.
Background technology
Sorting be by article by kind, go out to be put in storage the operation that sequencing disaggregatedly stacked, it is to improve to send
Goods, the preparation sex work for supporting delivery, be different distribution enterprises be at war with and improve itself economic benefit in delivery must
So extend；It can be said that sorting is the inevitable requirement that delivery develops to advanced form.
Currently, cargo, when being transported to warehouse, the sorting of cargo needs staff artificial still based on manual sorting
Classify to cargo, and it is transported to corresponding shelf by cart and is kept in.There are apparent works for this sorting mode
Make the disadvantage that intensity is big, sorting efficiency is low, does not meet the requirement of modern logistics, it would be highly desirable to improve.
Invention content
The first technical purpose of the present invention is to provide a kind of goods sorting system, realizes the full-automatic sorting of cargo, significantly
Labor intensity is reduced, and goods sorting efficiency is greatly improved.
The present invention above-mentioned first technical purpose technical scheme is that：A kind of goods sorting system
System, including storage wire body and several groups sorting line, each sorting line correspond to a kind of cargo type, the goods sorting system respectively
System further includes catching device, cargo identification module and control module；The catching device includes delivery vehicles and drive component, institute
It states drive component and putaway stock is delivered to corresponding sorting line by delivery vehicles；The cargo identification module is read for RFID tag
Device is write, the outer packing of cargo is corresponded in storage is pasted with RFID electronic label；The control module includes controller and driving
Device, the RFID tag reader and driver are electrically connect with controller, and the catching device and driver are electrical
Connection.
By using above-mentioned technical proposal, when cargo is delivered to catching device by storage wire body, RFID tag read-write
Device reads the RFID electronic label in cargo outer packing and complementary goods information is transferred to controller, and controller is in turn by the goods
Object information is compared with preset parameter, and is the specified corresponding sorting line of cargo after identifying cargo type；Meanwhile it controlling
Device can be started by driver control drive component, and cargo can be delivered to corresponding sorting line by drive component along delivery vehicles,
Realize the automatic sorting of cargo.In this way, a large amount of manpower is saved, the labor intensity of staff is substantially reduced；Together
When, goods sorting work flow is also greatlied simplify, realizes full-automatic goods sorting, goods sorting efficiency is greatly improved.
The present invention is further arranged to：The delivery vehicles include pedestal and the turntable that is rotatably dispose on pedestal, described
Wire body and each sorting line circumferentially-spaced are put in storage in the side of turntable；The driving component includes the first drive component and second
Drive component, first drive component are used for driving disc uniform rotation, and second drive component is used for putaway stock
Corresponding sorting line is pushed to by turntable.
By using above-mentioned technical proposal, after cargo enters turntable, the first drive component can driving disc at the uniform velocity turn
Dynamic, cargo will gradually be circled with turntable, until cargo is moved to just at corresponding sorting line；At this point, the second driving group
Putaway stock can be pushed to corresponding sorting line by part by turntable, to realize the automatic sorting of cargo.
The present invention is further arranged to：Second drive component includes pushing away goods cylinder, rotates and sets at the center of turntable
It is equipped with the mounting disc that goods cylinder is pushed away for fixed erection；The driving component further includes for driving that mounting disc rotates synchronously
Three drive components, the third drive component are electrically connected with driver.
By using above-mentioned technical proposal, after the completion of cargo type identification, controller sends out electric signal to driver, drives
Dynamic device will start third drive component；Third drive component will drive mounting disc to rotate synchronously, until pushing away the piston rod of goods cylinder
It is narrowly focused towards corresponding sorting line；In this way, when cargo is at dial movement to corresponding sorting line, cargo can be pushed away by pushing away goods cylinder
Enter corresponding sorting line, realizes automatic sorting.
The present invention is further arranged to：Second drive component further includes infrared inductor, and the infrared inductor is solid
Surely it is set in mounting disc, and the infrared inductor is arranged with the piston rod for pushing away goods cylinder in the same direction.
By using above-mentioned technical proposal, infrared inductor can be moved synchronously with mounting disc；When cargo is with dial movement
When to corresponding sorting line, infrared inductor will send electric signal after sensing cargo to controller, and controller will pass through drive
Dynamic device control pushes away the startup of goods cylinder so that pushes away goods cylinder and cargo is pushed into corresponding sorting line automatically.
The present invention is further arranged to：The end for pushing away goods cylinder piston rod, which is vertically fixed, pushes away goods plate, described to push away goods
Backboard is fixed with cushion pad from goods cylinder side is pushed away.
By using above-mentioned technical proposal, goods cylinder is pushed away by pushing away goods plate and pushes cargo, help to improve cargo push
Stationarity；Meanwhile by the way that cushion pad is arranged on pushing away goods plate, cushion pad can avoid pushing away goods plate severe impact cargo and to cargo
It damages.
The present invention is further arranged to：The edge of the disk upper surface is around the limited position flange of molding.
By using above-mentioned technical proposal, the basis of corresponding sorting line can be entered by defining flange in guarantee cargo
On, defining flange can prevent cargo with the favorite outer sorting line for sliding into mistake of disk peripheral motion process, cause to sort out
It is wrong.
The present invention is further arranged to：The side of the turntable is additionally provided with exhaust line；In the turntable rotation direction, institute
Exhaust line is stated to be located between last position sorting line and storage wire body.
By using above-mentioned technical proposal, when the type None- identified or type error of putaway stock, cargo will be with
Disk peripheral moves, until sliding into exhaust line, realizes that automatic waste discharge, the labour that can not only further decrease staff are strong
Degree, moreover it is possible to improve the accuracy of sorting operation.
The second technical purpose of the present invention is to provide a kind of goods sorting method, realizes automation, intelligent goods sorting,
Goods sorting efficiency is greatly improved.
The present invention above-mentioned second technical purpose technical scheme is that：A kind of goods sorting side
Method includes the following steps：
S1. according to the rotation direction of turntable, each sorting line is numbered by 1 to n successively；
S2. cargo is delivered at turntable by storage wire body, and RFID tag reader scans the RFID electronics marks in cargo outer packing
Label, and by relevant information by electric signal transmission to controller；
S3. controller into row decoding and after comparing, is being that will enter turntable to the electric signal from RFID tag reader
The specified corresponding sorting line of cargo；
S4. controller sends out instruction to driver, and is started by driver control third drive component；Third drive component drives
Dynamic mounting disc rotation, until the piston rod for pushing away goods cylinder is directed toward specified sorting line；
S5. cargo is circled with turntable, and when infrared inductor senses cargo, infrared inductor sends out electricity to controller
Signal；Controller pushes away goods cylinder by driver driving, pushes away goods cylinder and cargo is pushed into specified sorting line, complete cargo and divide automatically
It picks.
By using above-mentioned technical proposal, each sorting line corresponds to a kind of cargo type respectively, when controller identifies cargo
After type, controller can send out electric signal according to the number of the preset sorting line of the cargo type to driver, and pass through drive
Dynamic device control third drive component starts so that mounting disc moves in place in advance；Then, it was circled with turntable in cargo
Cheng Zhong, when infrared inductor senses that cargo is, controller can be started by driver pushes away goods cylinder, and pushing away goods cylinder can be by goods
Object is pushed into corresponding sorting line automatically, realizes automatic sorting, goods sorting efficiency is greatly improved.
In conclusion the invention has the advantages that：
1, catching device, cargo identification module and control module are comprehensively utilized, realizes that cargo automatically sorts, is reducing work people
While member's labor intensity, goods sorting efficiency is greatly improved, meets the more intelligentized development trend of modern logistics；
2, by the exhaust line for being set to turntable side, coordinate cargo identification module, can realize automatic waste discharge to putaway stock,
The probability for reducing goods sorting mistake, greatly improves the accuracy of goods sorting, while ensureing sorting efficiency indirectly, helps
It is experienced in improving customer service.
Description of the drawings
Fig. 1 is primarily used for embodying the integrally-built axonometric schematic diagram of the present embodiment；
Fig. 2 is primarily used for embodying the principle schematic of the present embodiment control mode；
Fig. 3 is that the present embodiment is mainly used for embodying the exploded perspective view of drive component；
Fig. 4 is that the present embodiment is mainly used for embodying the exploded perspective view of the first drive component.
Reference numeral：1, it is put in storage wire body；2, sorting line；3, catching device；31, delivery vehicles；311, pedestal；312, turn
Disk；3121, defining flange；32, drive component；4, RFID tag reader；5, control module；51, controller；52, driver；
6, the first drive component；61, pivoting support bearing；611, inside race；612, outer race；6121, gear hobbing；613, rolling element；62、
Fixed seat；63, worm screw；64, turning motor；7, the second drive component；71, goods cylinder is pushed away；711, goods plate is pushed away；712, cushion pad；
72, infrared inductor；8, third drive component；81, connecting shaft；82, driving motor；9, mounting disc；10, exhaust line.
Specific implementation mode
Below in conjunction with attached drawing, invention is further described in detail.
Embodiment 1：
Referring to attached drawing 1-2, a kind of goods sorting system is mainly used for the automatic sorting of cargo, it is including storage wire body 1 and at least
Two groups of sorting lines 2 for accepting different cargos are put in storage wire body 1 and conveyer belt can be used for sorting lines 2 and other similar fashions are defeated
Delivery object.It is put in storage between wire body 1 and sorting line 2 and is equipped with catching device 3；Wherein, storage wire body 1 is set with 3 junction of catching device
There is cargo identification module.Also, the goods sorting system further includes the control module 5 for playing comprehensive control action, controls mould
Block 5 includes controller 51 and driver 52；Cargo identification module is electrically connected with controller 51, and catching device 3 and driver
52 are electrical connected.
In actual operation, controller 51 can control catching device 3 by driver 52 and start；Catching device 3 can
Cargo from storage wire body 1 is delivered to sorting line 2 by storage wire body 1, and cargo can be prepared to transport by each sorting line 2
To corresponding cargo storage position.
Referring to attached drawing 2, above mentioned goods identification module is RFID tag reader 4, RFID tag reader 4 and above-mentioned control
Device 51 is electrically connected；In goods warehousing, it is pasted with RFID electronic label in advance in the outer packing of cargo.When cargo is through being put in storage line
When body 1 is moved at catching device 3, RFID tag reader 4 can scan the RFID electronic label in cargo outer packing, and will
For complementary goods information by electric signal transmission to controller 51, controller 51, will after completing decoding to goods information and comparing
It is the specified sorting line 2 of cargo distribution according to cargo type.
Referring to attached drawing 2-3, above-mentioned catching device 3 includes delivery vehicles 31 and drive component 32；Drive component 32 is by defeated
Send carrier 31 that putaway stock is delivered to corresponding sorting line 2.Wherein, delivery vehicles 31 include pedestal 311 and turntable 312, turntable
312 are rotatably dispose on pedestal 311；Above-mentioned 2 uniform intervals of each sorting line are set to the side of turntable 312.Meanwhile to avoid goods
Object surprisingly slides into wrong sorting line 2, and the edge protrusion of 312 upper surface of turntable is molded limited position flange 3121.
Drive component 32 includes the first drive component 6 and the second drive component 7；First drive component 6 being capable of driving disc
312 uniform rotation on pedestal 311, and cargo is made to make circumference transport with turntable 312；When cargo moves to pair with turntable 312
When answering at sorting line 2, cargo can be pushed into corresponding sorting line 2 by the second drive component 7 by turntable 312, and then complete cargo certainly
Dynamic sorting.
In conjunction with attached drawing 4, the first drive component 6 includes slewing bearing, and pivoting support bearing 61 is installed under turntable 312
Side, it includes inside race 611 and outer race 612, and inside race 611 is embedded in outer race 612, and with outer race 612 in concentric
Setting；Also, the inside circumference of outer race 612 is embedded with the rolling element 613 for being rotatablely connected inside race 611, so that
Inside race 611 can in outer race 612 flexible rotating.Inside race 611 and outer race 612 pass through bolt and turntable 312 respectively
It is fixedly connected with pedestal 311, so that turntable 312 can be rotated synchronously with inside race 611 on outer race 612.Outer race
612 side forms gear hobbing 6121, and outer race 612 is engaged with worm screw 63 by gear hobbing 6121；To install worm screw 63, pedestal
Fixed seat 62 is also bolted in 311, worm screw 63 is set to by bearing rotating turret in fixed seat 62.In fixed seat 62 also
It is fixed with turning motor 64, output shaft and 63 one end of worm screw of turning motor 64 are fixedly and coaxially connected, 64 energy of fixed turning motor
612 synchronous revolving of outer race is enough driven by worm screw 63.
Above-mentioned turning motor 64 is electrically connected with driver 52；In actual operation, after cargo type determines, controller
51 can control turning motor 64 by driver 52 starts, and is rotated by 6 driving disc 312 of the first drive component so that
Cargo is circled with turntable 312.
Referring to attached drawing 3, mounting disc 9 is equipped at the center of turntable 312, the lower section of mounting disc 9 is equipped with third drive component 8,
Third drive component 8 is mainly used for that mounting disc 9 is driven to rotate.Third drive component 8 includes being fixed on 9 bottom of mounting disc vertically
Connecting shaft 81, the one end of connecting shaft 81 far from mounting disc 9 have been fixedly and coaxially connected driving motor 82, driving motor by shaft coupling
82 are fixedly connected by bolt with pedestal 311, and driving motor 82 is electrically connect with above-mentioned driver 52.
Second drive component 7 is mounted as a whole in mounting disc 9, it includes pushing away goods cylinder 71, and it is in water that it is whole, which to push away goods cylinder 71,
Flat setting, and be fixedly connected with mounting disc 9 by bolt；The end for pushing away 71 piston rod of goods cylinder is vertically fixed and pushes away goods plate 711,
It pushes away goods plate 711 and is fixed with cushion pad 712 away from the side hot pressing for pushing away goods cylinder 71, which can be selected rubber, cystosepiment
Etc. materials.Second drive component 7 further includes infrared inductor 72, and infrared inductor 72 is fixedly installed in mounting disc 9.
The above-mentioned goods cylinder 71 that pushes away is electrically connected with driver 52, and infrared inductor 72 connects with 51 telecommunications of above controller
It connects；In actual operation, when infrared inductor 72 senses cargo, controller 51 can be controlled by driver 52 and push away goods gas
Cylinder 71 starts, and pushes away goods cylinder 71 with cargo is pushed to corresponding sorting line 2 by turntable 312.
Referring to attached drawing 1, it is contemplated that cargo the case where there are None- identifieds, the week of turntable 312 during practical sorting operation
Side is additionally provided with exhaust line 10；In 312 rotation direction of turntable, if each sorting line 2 is numbered from 1 to n successively, waste discharge
Line 10 is located between last position sorting line 2 and storage wire body 1.Also, the extending direction of exhaust line 10 is preferably tangent with turntable 312；
Therefore, when cargo is moved with turntable 312 at exhaust line 10, exhaust line 10 can be slid into automatically under the influence of centrifugal force, it is real
Existing automatic waste discharge, greatly improves the accuracy of goods sorting.
The operation principle of the present embodiment is：In actual operation, when cargo is through being put in storage at 1 sport rotary-plate 312 of wire body,
RFID tag reader 4 will scan the RFID electronic label in cargo outer packing, and complementary goods information is passed by electric signal
It is defeated by controller 51；Controller 51 into row decoding and after comparing, will be that cargo is specified pre- according to cargo type to goods information
The sorting line 2 first set, and third drive component 8 is controlled by driver 52 and is started；Third drive component 8 installs driving
Disk 9 rotates, until pushing away goods cylinder 71 and infrared inductor 72 just towards corresponding sorting line 2.In the process, controller 51 is gone back
The first drive component 6 can be controlled by driver 52 to start, the first drive component 6 is by 312 uniform rotation of driving disc.
After cargo enters turntable 312, cargo will be circled with cargo；At cargo movement to corresponding sorting line 2
When, infrared inductor 72 senses cargo, will send out electric signal to controller 51；Controller 51 will be controlled by driver 52 and be pushed away
Goods cylinder 71 starts, and pushing away goods cylinder 71 can be pushed into cargo automatically corresponding sorting line 2, realize the automatic sorting of cargo, until under
One cargo enters turntable 312.
Embodiment 2：
Referring to attached drawing 2-3, the present invention also provides a kind of goods sorting methods, include the following steps：
S1. according to the rotation direction of turntable 312, each sorting line 2 is numbered by 1 to n successively.
S2. cargo is delivered at turntable 312 by storage wire body 1, and RFID tag reader 4 scans in cargo outer packing
RFID electronic label, and by relevant information by electric signal transmission to controller 51.
S3. controller 51 is being that will enter into row decoding and after comparing to the electric signal from RFID tag reader 4
The cargo of turntable 312 is specified to correspond to sorting line 2.
In real work, each sorting line 2 corresponds to a kind of cargo type respectively；Then, divide according to each sorting line 2 is predetermined
The cargo type picked is arranged in the side of turntable 312, is used in combination 1 to n it is numbered, this means that each cargo
Type corresponds to a number respectively；When cargo type determines, controller 51 can be that putaway stock distribution is specified by comparing
Sorting line 2.
S4. controller 51 sends out instruction to driver 52, and controls third drive component 8 by driver 52 and start；The
Three drive components 8 drive mounting disc 9 to rotate, until the piston rod for pushing away goods cylinder 71 is directed toward specified sorting line 2.
By the mounting disc 9 being rotatably dispose on pedestal 311, cooperation third drive component 8 and control module 5 are available
One group of second drive component 7 is completed the push to all cargo types and is acted, and helps to reduce cost.
S5. cargo is circled with turntable 312, when infrared inductor 72 senses cargo, infrared inductor 72 to
Controller 51 sends out electric signal；Controller 51 pushes away goods cylinder 71 by the driving of driver 52, pushes away goods cylinder 71 and refers to cargo push-in
Determine sorting line 2, completes cargo automatic sorting.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, people in the art
Member can as needed make the present embodiment the modification of not creative contribution after reading this specification, but as long as at this
It is all protected by Patent Law in the right of invention.
Claims (8)
1. a kind of goods sorting system, including storage wire body（1）And several groups sorting line（2）, each sorting line（2）It is right respectively
Answer a kind of cargo type, which is characterized in that the goods sorting system further includes catching device（3）, cargo identification module and control
Molding block（5）；
The catching device（3）Including delivery vehicles（31）And drive component（32）, the driving component（32）It is carried by conveying
Body（31）Putaway stock is delivered to corresponding sorting line（2）；
The cargo identification module is RFID tag reader（4）, the outer packing of cargo is corresponded in storage is pasted with RFID electricity
Subtab；
The control module（5）Including controller（51）And driver（52）, the RFID tag reader（4）And driver
（52）And controller（51）It electrically connects, and the catching device（3）With driver（52）It is electrically connected.
2. a kind of goods sorting system according to claim 1, which is characterized in that
The delivery vehicles（31）Including pedestal（311）And it is rotatably dispose in pedestal（311）On turntable（312）, the storage
Wire body（1）And each sorting line（2）Circumferentially-spaced is in turntable（312）Side；
The driving component（32）Including the first drive component（6）With the second drive component（7）, first drive component（6）
For driving disc（312）Uniform rotation, second drive component（7）For by putaway stock by turntable（312）It pushes to
Corresponding sorting line（2）.
3. a kind of goods sorting system according to claim 2, which is characterized in that second drive component（7）Including
Push away goods cylinder（71）, the turntable（312）Rotation is provided at center pushes away goods cylinder for fixed erection（71）Mounting disc
（9）；The driving component（32）Further include for driving mounting disc（9）The third drive component of synchronous rotation（8）, the third
Drive component（8）With driver（52）It is electrically connected.
4. a kind of goods sorting system according to claim 3, which is characterized in that second drive component（7）Also wrap
Include infrared inductor（72）, the infrared inductor（72）It is fixedly installed on mounting disc（9）On, and the infrared inductor（72）
With push away goods cylinder（71）Piston rod in the same direction setting.
5. a kind of goods sorting system according to claim 3, which is characterized in that described to push away goods cylinder（71）Piston rod
End, which is vertically fixed, pushes away goods plate（711）, described to push away goods plate（711）Away from pushing away goods cylinder（71）Side is fixed with cushion pad
（712）.
6. a kind of goods sorting system according to any one of claim 2-5, which is characterized in that the turntable（312）
The edge of upper surface is around the limited position flange of molding（3121）.
7. a kind of goods sorting system according to any one of claim 2-5, which is characterized in that the turntable（312）
Side be additionally provided with exhaust line（10）；In the turntable（312）In rotation direction, the exhaust line（10）Positioned at last position sorting line
（2）With storage wire body（1）Between.
8. a kind of goods sorting method, which is characterized in that include the following steps：
S1. according to turntable（312）Rotation direction, successively by each sorting line（2）It is numbered by 1 to n；
S2. it is put in storage wire body（1）Cargo is delivered to turntable（312）Place, RFID tag reader（4）It scans in cargo outer packing
RFID electronic label, and by relevant information by electric signal transmission to controller（51）；
S3. controller（51）To coming from RFID tag reader（4）Electric signal into row decoding and relatively after, will to enter
Turntable（312）The specified corresponding sorting line of cargo（2）；
S4. controller（51）To driver（52）Instruction is sent out, and passes through driver（52）Control third drive component（8）It opens
It is dynamic；Third drive component（8）Drive mounting disc（9）Rotation, until pushing away goods cylinder（71）Piston rod be directed toward specified sorting line
（2）；
S5. cargo is with turntable（312）It circles, works as infrared inductor（72）When sensing cargo, infrared inductor（72）
To controller（51）Send out electric signal；Controller（51）Pass through driver（52）Driving pushes away goods cylinder（71）, push away goods cylinder（71）
Cargo is pushed into and specifies sorting line（2）, complete cargo automatic sorting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810327034.XA CN108438694A (en) | 2018-04-12 | 2018-04-12 | A kind of goods sorting system and method for sorting |
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| CN201810327034.XA CN108438694A (en) | 2018-04-12 | 2018-04-12 | A kind of goods sorting system and method for sorting |
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| CN111921881A (en) * | 2020-09-07 | 2020-11-13 | 溆浦县远宏速递有限责任公司 | Express delivery automatic sorting equipment |
| CN111921881B (en) * | 2020-09-07 | 2022-02-11 | 溆浦县远宏速递有限责任公司 | Express delivery automatic sorting equipment |
| CN112297033A (en) * | 2020-11-03 | 2021-02-02 | 泰州市华仕达机械制造有限公司 | Automatic change robotic arm actuating system |
| CN112508148A (en) * | 2020-12-28 | 2021-03-16 | 周俊彦 | Dish selling terminal based on RFID technology and control method thereof |
| CN114261678B (en) * | 2022-02-16 | 2024-05-03 | 广东途兴供应链管理有限公司 | Stereoscopic warehouse with intelligent article sorting function |
| CN114261678A (en) * | 2022-02-16 | 2022-04-01 | 唐孝勇 | Stereoscopic warehouse with intelligent article sorting function |
| CN114955341A (en) * | 2022-06-01 | 2022-08-30 | 武汉生物工程学院 | A rail change device for billet storage based on machine vision |
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Application publication date: 20180824 |