CN113264364A - Movable die transferring system and method for reverse extruder - Google Patents
Movable die transferring system and method for reverse extruder Download PDFInfo
- Publication number
- CN113264364A CN113264364A CN202110507661.3A CN202110507661A CN113264364A CN 113264364 A CN113264364 A CN 113264364A CN 202110507661 A CN202110507661 A CN 202110507661A CN 113264364 A CN113264364 A CN 113264364A
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C23/00—Extruding metal; Impact extrusion
- B21C23/02—Making uncoated products
- B21C23/20—Making uncoated products by backward extrusion
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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
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/04—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G25/06—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having carriers, e.g. belts
- B65G25/065—Reciprocating floor conveyors
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The invention provides a reverse extruder movable die transfer system and a reverse extruder movable die transfer method. The mold is circumferentially constrained within each device. According to the method, two functions of unloading, taking out and loading the die are realized by the manipulator, and the manipulator releases and grabs the die at the same position in the same posture all the time when taking and placing the die position, so that the position of the die before and after loading is unchanged when extruding the center, and the positioning is accurate. In addition, the mould self-alignment structure is arranged on the transfer device, so that the mould is prevented from rotating due to accidental stumbling in the connection process, and the accurate positioning of the mould is further ensured. The invention has the advantages of simple equipment composition, few transfer links, low cost, accurate and reliable die positioning and the like.
Description
Technical Field
The invention belongs to the technical field of automatic online transfer of molds, and particularly relates to a movable mold transfer system and a movable mold transfer method for a reverse extruder.
Background
Most of the reverse extruders adopt movable dies, and after extrusion is completed each time, the dies need to be taken out from a working position and then are installed and reused again after being treated by trimming, lubricating and the like. At present, the method for realizing the loading, unloading and transferring process of the mold is basically as follows: the mould is taken off from the working position through the mould taking device, and then the mould is put into the transfer device and is transferred to the machine for processing. After the treatment is finished, the mould is loaded to the working position by the mould loading device or the feeding mechanism independently or together with the billet.
According to the transferring method, unloading, taking out and loading of the mold are completed by different devices, the transferring process and the devices are connected in a large number of actions, and the mold is not circumferentially constrained in multiple links and is inevitably abnormally and irregularly rotated, so that the mold has randomness in the position of a mold hole after being loaded. For a porous die, particularly for a special-shaped hole die with position precision requirement, the positions of die holes of the die are inconsistent during each extrusion, which causes the problems of scrapping due to out-of-precision product, blockage of rear material receiving, material blockage, stuffy car and the like, and the equipment cannot be normally produced. Thus, with this transfer method, the molds must be aligned prior to loading.
In the current transfer systems, a die circumferential alignment device is usually specially provided, and the principle is to stop the transmission of signals until the detection element detects the marking holes and grooves by rotating the die. This alignment method has the following problems: 1. for the reliability of the signaling, the holes or slots for signaling on the die are usually large, which results in poor alignment precision of the die, and the positioning signaling is greatly influenced by the operating environment, so that the problem of no signaling or mistaken signaling often occurs; 2. the mould still needs twice transportation at least after the alignment can load the work position, takes place once more after the alignment and rotates inevitable, leads to the mould positioning deviation great. Moreover, the existing transfer method has the problems of more equipment forming devices and higher cost.
Disclosure of Invention
The present invention is directed to a moving die transfer system for a reverse extruder that overcomes the above-mentioned problems of the prior art.
Another object of the present invention is to provide a method for transferring a movable mold of a reverse extruder, which can satisfy the requirement that the circumferential position of the mold remains unchanged in the working position before and after loading.
Therefore, the technical scheme provided by the invention is as follows:
the utility model provides a reverse extruder movable mould system that passes on, includes manipulator and transfer device, transfer device locates manipulator one side, the manipulator opposite side is the extruder, the manipulator is used for taking out and loading the mould uninstallation at extruder extrusion center, transfer device is used for accepting the mould that the manipulator was taken out, supplies with the mould after handling and the outer transportation of mould to the manipulator.
The manipulator comprises a support, a movable trolley and a swing arm mechanism, the movable trolley is arranged on the support and can move on the support along the extrusion direction, the swing arm mechanism is arranged on the movable trolley, a jaw is arranged at the front end of the swing arm mechanism and used for clamping and loosening the die.
The transfer device comprises a base, a movable frame and a tray, wherein the base is fixedly arranged on the ground, the movable frame is arranged above the base, the tray is used for operating the mold, the tray is arranged on the movable frame, and the mold is placed on the tray.
The movable frame is provided with a guide rail, and the tray is connected with the guide rail in a sliding manner.
The die is provided with a positioning groove, the tray is provided with a positioning boss, and the positioning groove is matched with the positioning boss.
The base is provided with a vertical guide rod, the top of the vertical guide rod is connected with a movable frame, and the movable frame is connected with a driving element.
The manipulator is provided with a displacement sensor, and the displacement sensor and the driving element are in electric signal connection with the control system.
A reverse extruder movable die transfer method uses a reverse extruder movable die transfer system, comprising the following steps:
step 1) after extrusion is finished, swinging an arm swinging mechanism of a manipulator into an extrusion center and moving the manipulator along an extrusion direction, clamping and unloading a mold of the extrusion center, swinging the arm swinging mechanism out, moving the arm swinging mechanism to a mold picking and placing position, placing the mold into a tray of a transfer device, moving the manipulator along the extrusion direction to make a tray moving space, and sliding the mold along a guide rail along with the tray for a certain distance to a finishing position for finishing treatment;
and 2) after finishing the die, reversely sliding a certain distance along the guide rail along with the tray until the die taking and placing position, moving the manipulator along the extrusion direction to sleeve the die, then grabbing the die by the manipulator, moving the manipulator to the position where the swing arm mechanism swings out during die taking, swinging the swing arm mechanism into the extrusion center, sending the die into the working position, and finishing the transferring process.
When the manipulator puts the mold to the mold taking and placing position, the displacement sensor sends a signal to the control system, the control system sends a signal to the driving element to enable the movable frame to rise, the manipulator puts the mold into the tray and then moves away, and then the control system controls the movable frame to descend.
The invention has the beneficial effects that:
the movable die transfer system of the reverse extruder provided by the invention has the advantages that the mechanical arm and the transfer device are matched to reduce the process action, the equipment composition is simple, the transfer links are few, and the cost is low.
The manipulator realizes that the same device finishes two functions of unloading, taking out and loading the die, and the manipulator releases and grabs the die at the same position in the same posture all the time when placing the die position, and the die does not rotate due to circumferential constraint during transportation, so that the position of the die before and after loading is basically unchanged when extruding the center, and the positioning is accurate.
The mode of clamping the mold by the mechanical jaw and the self-alignment structure designed on the transfer device not only prevent the abnormal rotation of the mold in each device, but also correct the accidental rotation of the mold which may occur during the connection action, thereby ensuring the accurate and reliable positioning of the mold after loading.
The movable frame can be lifted to ensure that the movement of the manipulator is not interfered, and the mould placing and grabbing actions of the manipulator are accurately and smoothly realized.
The following will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic front view of an embodiment of the present invention;
FIG. 2 is a schematic structural view of one embodiment of a mold;
FIG. 3 is a schematic structural view of one embodiment of a tray;
figure 4 is a schematic view of the use of both the mold and the pallet.
In the figure: 1. a manipulator; 101. a support; 102. moving the trolley; 103. a swing arm mechanism; 2. a transfer device; 201. a base; 202. a movable frame; 203. a tray; 204. a guide rail; 3. a mold; 4. a positioning groove; 5. positioning the boss; 6. a working position; 7. taking and placing a mold position; 8. and (7) trimming the position.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Example 1:
this embodiment provides a reverse extruder movable mould transfer system, as shown in fig. 1, including manipulator 1 and transfer device 2, transfer device 2 locates manipulator 1 one side, manipulator 1 opposite side is the extruder, manipulator 1 is used for unloading the mould 3 of extruder extrusion center and takes out and load, transfer device 2 is used for accepting mould 3 that manipulator 1 took out, supplies the off-machine of mould 3 and mould 3 after the processing to manipulator 1 and transports.
According to the movable die transfer system of the reverse extruder, the manipulator 1 is adopted to realize two functions of unloading, taking out and loading the die 3, the transfer device 2 can realize reciprocating motion of the die 3 between the die taking and placing position 7 and the die 3 trimming position 8, so that the transfer process can be completed only by matching two parts without an independent die filling device and an alignment device, the equipment composition is simplified, and the process action is reduced.
Example 2:
on the basis of embodiment 1, the present embodiment provides a moving die transfer system for a reverse extruder, where the robot 1 includes a support 101, a moving cart 102 and a swing arm mechanism 103, the moving cart 102 is disposed on the support 101, the moving cart 102 is capable of moving on the support 101 along an extrusion direction, the swing arm mechanism 103 is mounted on the moving cart 102, and a jaw is disposed at a front end of the swing arm mechanism 103, and the jaw is used for clamping and releasing a die 3.
The manipulator 1 is used for unloading, taking out and loading the mould 3, the support 101 is arranged on a fixed frame or a fixed part of the equipment, and the movable trolley 102 is connected with the support 101 and can move on the support 101 along the extrusion direction. The swing arm mechanism 103 is mounted on the movable trolley 102 and can swing in and out of the extrusion center to unload, take out, feed and load the die 3, and the front end of the swing arm mechanism 103 is provided with a jaw capable of clamping and loosening the die 3.
The working principle and the process are as follows:
when the die 3 is required to be unloaded and taken down from the working position 6 after extrusion is completed, the swing arm mechanism 103 of the manipulator 1 is swung into the extrusion center, the swing arm mechanism 103 moves along the extrusion direction, the die 3 is unloaded and clamped by matching with the jaw action, then the swing arm mechanism 103 is swung out to the die taking and placing position 7, and the die 3 is put into the tray 203 of the transfer device 2. The die 3 is transported to a trimming position 8 outside the machine for trimming. After the processing is finished, the transferring device 2 conveys the die 3 back to the picking and placing die position 7 of the manipulator 1, then the manipulator 1 picks the die 3, the swing arm mechanism 103 swings into the extrusion center, the die 3 is conveyed into the working position 6, and the transferring process is finished.
Example 3:
on the basis of embodiment 1, this embodiment provides a reverse extruder movable mould system of transfering, transfer device 2 includes base 201, adjustable shelf 202 and tray 203, base 201 sets firmly on ground basis, adjustable shelf 202 locates the base 201 top, tray 203 is used for operation mould 3, tray 203 installs on adjustable shelf 202, mould 3 places on tray 203.
Relative to the extrusion center, the transfer device 2 is located on the same side of the manipulator 1 and is used for receiving the mold 3 taken out by the manipulator 1 and supplying the processed mold 3 and the mold 3 to the manipulator 1 for off-machine transfer. The transfer device 2 is composed of a base 201, a movable frame 202, a tray 203 and the like. The base 201 is installed on fixed parts or ground foundation, installs the adjustable shelf 202 on the base 201. The movable frame 202 is provided with a tray 203, and the tray 203 can carry the mold 3 to reciprocate between the mold taking and placing position 7 of the manipulator 1 and the mold 3 trimming position 8.
Example 4:
on the basis of embodiment 1, this embodiment provides a movable die transfer system for a reverse extruder, wherein the movable frame 202 is provided with a guide rail 204, and the tray 203 is slidably connected with the guide rail 204.
The movable frame 202 is a straight beam structure, a guide rail 204 is arranged on the movable frame, and the tray 203 is arranged on the guide rail 204 and can reciprocate linearly along the guide rail 204, so that the movement of the tray 203 between the two positions of the pick-and-place mould position 7 and the trimming position 8 is realized.
Example 5:
on the basis of embodiment 1, this embodiment provides a movable die transfer system for a reverse extruder, where a positioning groove 4 is provided on the die 3, a positioning boss 5 is provided on the tray 203, and the positioning groove 4 is matched with the positioning boss 5.
The mold 3 is provided with at least one positioning groove 4 (as shown in fig. 2), and the tray 203 of the transfer device 2 is provided with a corresponding positioning boss 5 (as shown in fig. 3). When the mold 3 is placed into the transfer device 2, the positioning groove 4 of the mold 3 and the positioning boss 5 of the tray 203 are automatically attached under the action of gravity of the mold 3, as shown in fig. 4, self-alignment is realized, the accidental stumbling rotation of the mold 3 in the connection process can be corrected, the mold 3 can also provide rotation restraint in the transfer device 2, and the mold hole position of the mold 3 is consistent when loading at each time.
According to the method, the manipulator 1 achieves two functions of unloading, taking out and loading the die 3 by the same device, the manipulator 1 releases and grabs the die 3 at the same position in the same posture all the time when taking and placing the die position 7, and the die 3 does not rotate due to circumferential constraint during transportation, so that the positions of the die 3 before and after loading are basically unchanged when extruding the center, and the positioning is accurate. In addition, for preventing that mould 3 from stumbling because of the accident and causing the rotation in linking process, set up mould 3 that relies on the action of gravity on transfer device and found the structure from seeking to the right, further ensured the accurate positioning of mould. The invention has the advantages of simple equipment composition, few transfer links, low cost, accurate and reliable positioning of the die 3 and the like.
Example 6:
on the basis of embodiment 1, the present embodiment provides a movable die transfer system for a reverse extruder, wherein a vertical guide rod is arranged on the base 201, the top of the vertical guide rod is connected with a movable frame 202, and a driving element is connected to the movable frame 202.
The vertical guide bar is used for providing guidance for the lifting of the movable frame 202. The driving element, the manipulator 1 and the transfer device 2 can be driven by one or more combinations of a motor, a motor reducer, a hydraulic cylinder, an electric cylinder, a hydraulic motor and the like.
Example 7:
on the basis of the embodiment 6, the embodiment provides a movable die transfer system of a reverse extruder, which further comprises a control system, wherein the manipulator 1 is provided with a displacement sensor, and the displacement sensor and a driving element are both in electric signal connection with the control system.
The displacement sensor is used for detecting displacement data of the moving trolley 102 moving along the extrusion direction in real time, and the driving element is used for driving the movable frame 202 to ascend and descend. The control system monitors the displacement data of the movable trolley 102 in real time, so that the movable trolley and the movable trolley are matched, and the movement of the manipulator 1 is not interfered.
Example 8:
the embodiment provides a method for transferring a movable die of a reverse extruder, which comprises the following steps:
step 1) after extrusion is finished, swinging a swinging arm mechanism 103 of a manipulator 1 into an extrusion center and moving along the extrusion direction, clamping and unloading a mold 3 at the extrusion center, swinging out the swinging arm mechanism 103, moving to a pick-and-place mold position 7, placing the mold 3 into a tray 203 of a transfer device 2, moving the manipulator 1 along the extrusion direction to make a tray 203 moving space, and sliding the mold 3 along a guide rail 204 along with the tray 203 for a certain distance to a trimming position 8 for trimming;
and 2) after finishing the die 3, reversely sliding a certain distance along the guide rail 204 along with the tray 203 to the mold taking and placing position 7, moving the manipulator 1 along the extrusion direction to sleeve the die 3, then grabbing the die 3 by the manipulator 1, moving the manipulator to the position where the swing arm mechanism 103 swings out during mold taking, swinging the swing arm mechanism 103 into the extrusion center, sending the die 3 into the working position 6, and finishing the transferring process.
In the method of the invention, unloading, taking out and loading of the mould 3 are both completed by the manipulator 1. The mould 3 can not produce the rotation in steady transportation on transfer device 2, is kept rotating relatively by keeping silent the centre gripping restriction in manipulator 1, and mould 3 does not have the rotation also to link up the action, and consequently mould 3 does not have abnormal rotation at whole in-process, and swing arm mechanism 103 swing angle is invariable in addition, and the circumferential position keeps unchangeable when the position of operation 6 for mould 3 before and after the event loads.
Example 9:
on the basis of the embodiment 8, the embodiment provides a moving die transferring method for a reverse extruder, when the manipulator 1 reaches the die picking and placing position 7 for die picking, the displacement sensor sends a signal to the control system, the control system sends a signal to the driving element to lift the moving frame 202, the manipulator 1 puts the die 3 into the tray 203 and then moves away, and then the control system controls the moving frame 202 to descend.
In order to facilitate the mechanical arm 1 to be sleeved into the mold 3 smoothly, before the mechanical arm 1 reaches the mold taking and placing position 7 for mold taking, the displacement sensor sends a signal to the control system, the control system sends a signal to the driving element to enable the movable frame 202 to rise in advance, the mechanical arm 1 sleeves and grabs the mold 3 and then moves along the extrusion direction, and finally the control system controls the movable frame 202 to descend.
The movable frame 202 is generally lower than the desired position for mold attachment. When the manipulator 1 releases the mold 3 or picks the mold 3 at the mold picking and placing position 7, the movable frame 202 is lifted and lowered in time to ensure accurate and smooth mold picking and placing actions and undisturbed movement of the manipulator 1.
The above examples are merely illustrative of the present invention and should not be construed as limiting the scope of the invention, which is intended to be covered by the claims and any design similar or equivalent to the scope of the invention.
Claims (9)
1. The utility model provides a reverse extruder movable mould system that forwards which characterized in that: including manipulator and transfer device, transfer device locates manipulator one side, the manipulator opposite side is the extruder, the manipulator is used for unloading the mould of extruder extrusion center and takes out and load, transfer device is used for accepting the mould that the manipulator was taken out, supplies with the mould after the processing and the outer transportation of mould to the manipulator.
2. A reverse extruder moving die transfer system as claimed in claim 1 wherein: the manipulator comprises a support, a movable trolley and a swing arm mechanism, the movable trolley is arranged on the support and can move on the support along the extrusion direction, the swing arm mechanism is arranged on the movable trolley, a jaw is arranged at the front end of the swing arm mechanism and used for clamping and loosening the die.
3. A reverse extruder moving die transfer system as claimed in claim 1 wherein: the transfer device comprises a base, a movable frame and a tray, wherein the base is fixedly arranged on the ground, the movable frame is arranged above the base, the tray is used for operating the mold, the tray is arranged on the movable frame, and the mold is placed on the tray.
4. A reverse extruder moving die transfer system as claimed in claim 3 wherein: the movable frame is provided with a guide rail, and the tray is connected with the guide rail in a sliding manner.
5. A reverse extruder moving die transfer system as claimed in claim 3 wherein: the die is provided with a positioning groove, the tray is provided with a positioning boss, and the positioning groove is matched with the positioning boss.
6. The inverted extruder moving die transfer system of claim 4, wherein: the base is provided with a vertical guide rod, the top of the vertical guide rod is connected with a movable frame, and the movable frame is connected with a driving element.
7. The inverted extruder moving die transfer system of claim 6, wherein: the manipulator is provided with a displacement sensor, and the displacement sensor and the driving element are in electric signal connection with the control system.
8. A reverse extruder moving die transfer method using a reverse extruder moving die transfer system according to claim 6, comprising the steps of:
step 1) after extrusion is finished, swinging an arm swinging mechanism of a manipulator into an extrusion center and moving the manipulator along an extrusion direction, clamping and unloading a mold of the extrusion center, swinging the arm swinging mechanism out, moving the arm swinging mechanism to a mold picking and placing position, placing the mold into a tray of a transfer device, moving the manipulator along the extrusion direction to make a tray moving space, and sliding the mold along a guide rail along with the tray for a certain distance to a finishing position for finishing treatment;
and 2) after finishing the die, reversely sliding a certain distance along the guide rail along with the tray until the die taking and placing position, moving the manipulator along the extrusion direction to sleeve the die, then grabbing the die by the manipulator, moving the manipulator to the position where the swing arm mechanism swings out during die taking, swinging the swing arm mechanism into the extrusion center, sending the die into the working position, and finishing the transferring process.
9. A method of moving die transfer for a reverse extruder as claimed in claim 8 wherein: when the manipulator puts the mold to the mold taking and placing position, the displacement sensor sends a signal to the control system, the control system sends a signal to the driving element to enable the movable frame to rise, the manipulator puts the mold into the tray and then moves away, and then the control system controls the movable frame to descend.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110507661.3A CN113264364B (en) | 2021-05-10 | 2021-05-10 | Movable die transferring system and method for reverse extruder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110507661.3A CN113264364B (en) | 2021-05-10 | 2021-05-10 | Movable die transferring system and method for reverse extruder |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010078237A (en) * | 2000-02-01 | 2001-08-20 | 추후제출 | Apparatus and method for automated warehousing and for filling orders from multi-item inventories |
| CN106081233A (en) * | 2016-08-11 | 2016-11-09 | 付淑珍 | Automatic deviation correction conveying mechanism is used in a kind of minaudiere processing |
| CN210735362U (en) * | 2019-10-15 | 2020-06-12 | 深圳市丰泰塑料制品有限公司 | Can improve feeding device of product surface smoothness |
| CN211747949U (en) * | 2019-12-12 | 2020-10-27 | 河北盛美智能科技有限公司 | Compact shelf with automatic storing and taking function |
| CN212173407U (en) * | 2020-03-27 | 2020-12-18 | 厦门控智电子科技有限公司 | Intelligent stereoscopic warehouse based on robot |
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2021
- 2021-05-10 CN CN202110507661.3A patent/CN113264364B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010078237A (en) * | 2000-02-01 | 2001-08-20 | 추후제출 | Apparatus and method for automated warehousing and for filling orders from multi-item inventories |
| CN106081233A (en) * | 2016-08-11 | 2016-11-09 | 付淑珍 | Automatic deviation correction conveying mechanism is used in a kind of minaudiere processing |
| CN210735362U (en) * | 2019-10-15 | 2020-06-12 | 深圳市丰泰塑料制品有限公司 | Can improve feeding device of product surface smoothness |
| CN211747949U (en) * | 2019-12-12 | 2020-10-27 | 河北盛美智能科技有限公司 | Compact shelf with automatic storing and taking function |
| CN212173407U (en) * | 2020-03-27 | 2020-12-18 | 厦门控智电子科技有限公司 | Intelligent stereoscopic warehouse based on robot |
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