阅读说明：本技术 一种高栏板带隔断货车粉袋智能装卸车生产线 (High breast board area cuts off freight train powder bag intelligence loading and unloading car production line ) 是由 孙杨 苏琦 于 2021-07-01 设计创作，主要内容包括：本发明公开了一种高栏板带隔断货车粉袋智能装卸车生产线,地轨上滑动设置有卸车机械手,地轨的旁侧设置有卸车传送带,卸车传送带的旁侧连接有多个码垛传送带,每个码垛传送带背离卸车传送带的一端设置有抓包辊台,每个抓包辊台的旁侧设置有码垛机械手,抓包辊台的旁侧还设置有码垛辊台；还包括定位扫描系统以及卸车视觉控制系统,地轨的旁侧设置有定位扫描系统以及卸车视觉控制系统。达到的技术效果为：广泛适用于高栏、高栏带隔断、底栏、平板等各类货车软袋货物的卸车或装车工作；全系统以模块化的形式进行有机组合,可以按需进行取舍,或串联,或并联,产能可按需选取,实现标准化、规模化以及产业化。(The invention discloses an intelligent loading and unloading production line for a high-breast board with partition truck powder bags, wherein an unloading manipulator is arranged on a ground rail in a sliding manner, an unloading conveyor belt is arranged beside the ground rail, a plurality of stacking conveyor belts are connected beside the unloading conveyor belt, one end of each stacking conveyor belt, which is far away from the unloading conveyor belt, is provided with a bale grabbing roller table, a stacking manipulator is arranged beside each bale grabbing roller table, and the side of each bale grabbing roller table is also provided with a stacking roller table; the device also comprises a positioning scanning system and an unloading visual control system, wherein the positioning scanning system and the unloading visual control system are arranged beside the ground rail. The technical effects achieved are as follows: the device is widely suitable for unloading or loading soft bag goods of various trucks such as high railings, high-railing partition walls, bottom railings, flat plates and the like; the whole system is organically combined in a modular form, can be selected or rejected according to requirements, or connected in series or in parallel, and the capacity can be selected according to requirements, so that standardization, scale and industrialization are realized.)

1. An intelligent loading and unloading vehicle production line for powder bags of a high-breast board partition truck is characterized by comprising a ground rail (2), an unloading manipulator (3), an unloading conveyor belt (4), a stacking conveyor belt (5), a bale grabbing roller table (6), a stacking manipulator (7) and a stacking roller table (8), the unloading manipulator (3) is arranged on the ground rail (2) in a sliding way, the unloading conveyor belt (4) is arranged beside the ground rail (2), the side of the unloading conveyor belt (4) is connected with a plurality of stacking conveyor belts (5), one end of each stacking conveyor belt (5) departing from the unloading conveyor belt (4) is provided with the bale catching roller table (6), the side of each bale catching roller table (6) is provided with the stacking manipulator (7), the side of the bale grabbing roller table (6) is also provided with the stacking roller table (8); still include positioning and scanning system and visual control system that unloads, the side of ground rail (2) is provided with positioning and scanning system and visual control system that unloads.

2. The production line of intelligent truck loading and unloading of high-breast board area partition truck powder bags according to claim 1, characterized by further comprising a storage roller table (9), wherein the storage roller table (9) is arranged on one side of the output direction of the stacking roller table (8), and a connecting line of the storage roller table (9) and the stacking roller table (8) is parallel to a connecting line of the stacking manipulator (7) and the bale grabbing roller table (6).

3. The intelligent loading and unloading production line for the powder bags of the high-breast board with the partition truck as claimed in claim 1, further comprising a ground mark (1), wherein the ground mark (1) is arranged beside the inlet end of the ground rail (2).

4. The intelligent high-breast board area partition truck powder bag loading and unloading production line as claimed in claim 1, further comprising a counter, wherein the counter is arranged at the joint of the unloading conveyor belt (4) and the stacking conveyor belt (5).

5. The production line of intelligent loading and unloading vehicles for high-breast board area partition truck powder bags according to claim 1, characterized by further comprising a pallet roller table, wherein the pallet roller table is slidably arranged on the upper surface of the pallet roller table (8).

6. The production line of intelligent loading and unloading of powder bags of trucks with high sideboard partition according to claim 1, characterized in that the length direction of the unloading conveyor belt (4) and the length direction of the ground rail (2) are parallel to each other.

7. The production line of intelligent loading and unloading vehicle for powder bags of high-breast board with partition trucks according to claim 6, characterized in that the stacking conveyor belt (5) is vertically arranged at the side of the unloading conveyor belt (4).

8. The production line of intelligent loading and unloading truck for powder bags of high-breast board with partition trucks according to claim 7, characterized in that the stacking conveyor belt (5) is in arc transition connection with the unloading conveyor belt (4).

9. The intelligent loading and unloading truck production line for the high-breast board partition truck powder bags as claimed in claim 1, characterized in that the upper surface of the stacking conveyor belt (5) is obliquely arranged.

10. The intelligent loading and unloading vehicle production line for the powder bags of the high-breast board with the partition truck as claimed in claim 1, further comprising a master control system, a management system, a stacking program control system, a sensor system and an alarm warning system, wherein the positioning scanning system, the management system, the stacking program control system, the unloading visual control system, the sensor system and the alarm warning system are all in communication connection with the master control system.

Technical Field

The invention relates to the technical field of loading and unloading equipment, in particular to an intelligent loading and unloading vehicle production line for a high-breast board with partition truck powder bags.

Background

At present, the unloading machines at home and abroad are seen in a centralized way in a back-tipping type, a fork loading type, a manual conveying belt type and a small quantity of mechanical hand grasping type, and the soft bag high-column automatic unloading machine is basically absent. This is undoubtedly a development bottleneck to be broken for the high-speed development of the grain production industry, the feed industry, the grease industry, the logistics storage industry and the like today.

Therefore, the development and design of a high-tech, intelligent and multipurpose soft-package unloading machine suitable for high-grade plate with partition is a common expectation of related industries and enterprises.

Disclosure of Invention

Therefore, the invention provides an intelligent loading and unloading vehicle production line for a high-breast board with partition truck powder bags, which aims to solve the problems in the prior art.

In order to achieve the above purpose, the invention provides the following technical scheme:

according to the first aspect of the invention, the intelligent loading and unloading vehicle production line for the powder bags of the high-breast board area partition truck comprises a ground rail, an unloading manipulator, an unloading conveyor belt, stacking conveyor belts, a bale catching roller table, a stacking manipulator and a stacking roller table, wherein the unloading manipulator is arranged on the ground rail in a sliding manner, the unloading conveyor belt is arranged beside the ground rail, the plurality of stacking conveyor belts are connected beside the unloading conveyor belt, the bale catching roller table is arranged at one end, away from the unloading conveyor belt, of each stacking conveyor belt, the stacking manipulator is arranged beside each bale catching roller table, and the stacking roller table is also arranged beside each bale catching roller table; still include positioning and scanning system and the visual control system that unloads, the side of ground rail is provided with positioning and scanning system and the visual control system that unloads.

The stacking machine further comprises a storage roller table, wherein the storage roller table is arranged on one side of the output direction of the stacking roller table, and a connecting line of the storage roller table and the stacking roller table is parallel to a connecting line of the stacking manipulator and the bale grabbing roller table.

Further, the underground railway track further comprises a landmark, and the landmark is arranged beside the entrance end of the ground track.

Further, still include the counter, the conveyer belt of unloading with the junction of pile up neatly conveyer belt is provided with the counter.

Further, still include tray roller platform, tray roller platform slides and sets up the upper surface of pile up neatly roller platform.

Further, the length direction of the unloading conveyor belt is parallel to the length direction of the ground rail.

Further, the stacking conveyor belt is vertically arranged beside the unloading conveyor belt.

Further, the stacking conveyor belt is in arc-shaped transition connection with the unloading conveyor belt.

Further, the upper surface of the stacking conveyor belt is obliquely arranged.

Furthermore, the automatic control system further comprises a master control system, a management system, a stacking program control system, a sensor system and an alarm warning system, wherein the positioning scanning system, the management system, the stacking program control system, the unloading visual control system, the sensor system and the alarm warning system are all in communication connection with the master control system.

The invention has the following advantages: the intelligent loading and unloading production line for the powder bags of the freight cars with the partitions on the high breast boards is widely applicable to unloading or loading of soft bag goods of various freight cars such as the high breast boards, the partitions on the high breast boards, the bottom barriers, the flat plates and the like; the whole system is organically combined in a modular form, can be selected or rejected according to requirements, or connected in series or in parallel, and the capacity can be selected according to requirements, so that standardization, scale and industrialization are realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

Fig. 1 is a structural diagram of an intelligent loading and unloading vehicle production line of a high-barrier strip-partition truck powder bag according to some embodiments of the present invention.

Fig. 2 is a structural diagram of an intelligent loading and unloading vehicle production line of a high-barrier strip-partition truck powder bag according to some embodiments of the present invention.

Fig. 3 is a structural diagram of a powder bag intelligent secondary long vertical arm loading and unloading manipulator of an intelligent powder bag loading and unloading vehicle production line of a high-barrier-plate-area partition truck according to some embodiments of the present invention.

Fig. 4 is a structural diagram of a powder bag intelligent secondary long vertical arm loading and unloading manipulator of an intelligent powder bag loading and unloading vehicle production line of a high-barrier-plate-area partition truck according to some embodiments of the present invention.

Fig. 5 is a structural diagram of a powder bag intelligent secondary long vertical arm loading and unloading manipulator of an intelligent powder bag loading and unloading truck production line of a high-barrier-plate-area partition truck according to some embodiments of the present invention.

In the figure: 1. the device comprises a landmark, 2, a ground rail, 3, an unloading manipulator, 4, an unloading conveyor belt, 5, a stacking conveyor belt, 6, a bale grabbing roller table, 7, a stacking manipulator, 8, a stacking roller table, 9, a storage roller table, 11, a servo walking base, 12, a rotary upright post, 13, a servo lifting motor, 14, a high-pressure fan, 15, a small arm servo motor, 16, a rotary small arm, 17, a 3D camera, 18, a rotary large arm, 19, a vertical arm, 20, a powder belt sucker, 21, a servo slewing device, 22 and a sliding block.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 2, in an embodiment of a first aspect of the present invention, an intelligent loading and unloading vehicle production line for a high-barrier strip-partition truck powder bag includes a ground rail 2, an unloading manipulator 3, an unloading conveyor belt 4, a stacking conveyor belt 5, a bale-grabbing roller table 6, a stacking manipulator 7 and a stacking roller table 8, wherein the unloading manipulator 3 is slidably disposed on the ground rail 2, the unloading conveyor belt 4 is disposed beside the ground rail 2, a plurality of stacking conveyor belts 5 are connected beside the unloading conveyor belt 4, a bale-grabbing roller table 6 is disposed at one end of each stacking conveyor belt 5 away from the unloading conveyor belt 4, the stacking manipulator 7 is disposed beside each bale-grabbing roller table 6, and the stacking roller table 8 is further disposed beside each bale-grabbing roller table 6; the device also comprises a positioning scanning system and an unloading visual control system, wherein the positioning scanning system and the unloading visual control system are arranged beside the ground rail 2.

In the above embodiment, it should be noted that the cargo vehicle travels to the side of the ground rail 2 along the landmark 1, the vehicle position is scanned by the positioning and scanning system, the unloading operation is performed by the unloading visual control system, the unloading manipulator 3 is used for grabbing the cargo of the vehicle onto the unloading conveyor belt 4, the cargo is conveyed onto the stacking conveyor belt 5 through the transmission of the unloading conveyor belt 4, and then the cargo is grabbed onto the stacking roller table 8 one by the stacking manipulator 7 when the cargo moves onto the bale grabbing roller table 6.

The technical effects achieved by the above embodiment are as follows: the intelligent loading and unloading production line for the powder bags of the freight cars with the partitions on the high breast boards is widely applicable to unloading or loading of soft bag goods of various freight cars such as the high breast boards, the partitions on the high breast boards, the bottom barriers, the flat plates and the like; the whole system is organically combined in a modular form, can be selected or rejected according to requirements, or connected in series or in parallel, and the capacity can be selected according to requirements, so that standardization, scale and industrialization are realized.

Optionally, as shown in fig. 1 to 2, in some embodiments, a storage roller table 9 is further included, the storage roller table 9 is disposed on one side of the output direction of the stacking roller table 8, and a line connecting the storage roller table 9 and the stacking roller table 8 is parallel to a line connecting the stacking manipulator 7 and the bale catching roller table 6.

In the alternative embodiment described above, it should be noted that the storage roller table 9 is used to store the collected goods on the palletizing roller table 8.

The beneficial effects of the above alternative embodiment are: through setting up storage roller platform 9, realized the interim storage and the transfer of storage goods.

Optionally, as shown in fig. 1 to 2, in some embodiments, a landmark 1 is further included, and the landmark 1 is disposed beside the entrance end of the ground rail 2.

In the above alternative embodiment, it should be noted that the landmark 1 is used for guiding the traveling direction of the vehicle.

The beneficial effects of the above alternative embodiment are: by providing the landmark 1, guidance of the vehicle traveling direction is achieved.

Optionally, as shown in fig. 1 to 2, in some embodiments, a counter is further included, and a counter is provided at a junction of the unloading conveyor belt 4 and the palletizing conveyor belt 5.

In the above alternative embodiment, it should be noted that the counter is used to count the number of bags.

The beneficial effects of the above alternative embodiment are: through setting up the counter, realized the automatic count to the sack.

Optionally, as shown in fig. 1 to 2, in some embodiments, a pallet roller table is further included, and the pallet roller table is slidably disposed on the upper surface of the pallet roller table 8.

In the above alternative embodiment, it should be noted that the pallet roller table is used for storing the bags gripped by the palletizing robot 7.

The beneficial effects of the above alternative embodiment are: through setting up tray roller platform, realized snatching and saving the goods bag that pile up neatly machinery hand 7 snatched.

Alternatively, as shown in fig. 1-2, in some embodiments, the length of the unloading conveyor 4 is parallel to the length of the ground rail 2.

The beneficial effects of the above alternative embodiment are: through the arrangement, the whole production line is compact in structure.

Alternatively, as shown in figures 1 to 2, in some embodiments the pallet conveyor belt 5 is disposed vertically alongside the discharge conveyor belt 4.

In the above optional embodiment, it should be noted that, in addition, the length direction of the stacking conveyor belt 5 and the length direction of the unloading conveyor belt 4 may be set to other included angles according to actual requirements.

The beneficial effects of the above alternative embodiment are: by arranging the pallet conveyor belts 5 vertically beside the unloading conveyor belt 4, more pallet conveyor belts 5 can be arranged in a limited space.

Alternatively, as shown in fig. 1-2, in some embodiments, the pallet conveyor belt 5 is in arcuate transition with the discharge conveyor belt 4.

The beneficial effects of the above alternative embodiment are: adopt arc transitional coupling between 5 and the conveyer belt 4 of unloading through the pile up neatly conveyer belt, avoided the freight bag to transfer dropping of in-process, the transfer of freight bag is steady more and high-efficient.

Alternatively, as shown in figures 1 to 2, in some embodiments the upper surface of the palletising conveyor belt 5 is inclined.

In the above optional embodiment, it should be noted that the uppermost end of the stacking conveyor belt 5 is connected with the unloading conveyor belt 4, the lowermost end of the stacking conveyor belt 5 abuts against the bale catching roller table 6, and the inclination angle of the stacking conveyor belt 5 is set according to actual requirements.

The beneficial effects of the above alternative embodiment are: through the upper surface slope setting with pile up neatly conveyer belt 5, the effectual gravity that has utilized the goods bag carries out free landing.

Optionally, as shown in fig. 1 to fig. 2, in some embodiments, the system further includes a master control system, a management system, a palletizing program control system, a sensor system, and an alarm warning system, and the positioning scanning system, the management system, the palletizing program control system, the unloading vision control system, the sensor system, and the alarm warning system are all in communication connection with the master control system.

The beneficial effects of the above alternative embodiment are: through the arrangement of the control system, the automatic control of the intelligent loading and unloading vehicle production line of the high-breast board with the partition truck powder bags is realized.

According to the intelligent loading and unloading vehicle production line for the high-breast board with the partition truck powder bags, the control system of the intelligent loading and unloading vehicle production line comprehensively applies the modern electronic technology, and the structural size of a vehicle box body is measured by laser scanning; positioning by using an infrared technology; carrying out random region identification and disordered grabbing by using a visual identification technology; setting and controlling programs by adopting a single chip microcomputer or a PLC; recording the number of the license plate through a vehicle recognition system; the number of the discharged bags is recorded through a counter; the manifest is printed and the information is stored by the computer.

The basic working process of the intelligent truck loading and unloading production line with the high breast board and the partition truck powder bags of the embodiment mainly comprises the following four steps:

1. unloading process:

step S1, starting the system, then starting each part of the production line, executing system self-checking, checking whether the system displays normal or not, if normal, entering a working state, sending self-checking signals by each part, and if not, entering a maintenance state;

step S2, starting a vehicle to be unloaded, entering a position according to landmark driving, limiting according to two sides of infrared rays, scanning the size of the vehicle by laser, continuing to recognize the vehicle if the vehicle is correctly located, positioning the vehicle by a vehicle limiter, and adjusting if the vehicle is incorrectly located;

s3, the vehicle flameout driver gets off the vehicle, presses the unloading button, and the unloading system starts to work;

step S4, the unloading manipulator advances, enters a first working position from the original point, performs suction cup inspection and identifies the first working position, and sequentially picks the cargo bags in sequence by applying a visual identification system, and the cargo bags are placed on a conveyor belt (sequentially enter a second working position, a third working position and the like);

step S5, conveying goods bags by a conveyor belt, entering a bale grabbing roller table through a counter, triggering a stacking manipulator working switch, and stacking by a stacking manipulator according to a program;

step S6, the tray roller table pushes out the tray, the tray enters the stacking roller table, stacking is started, the stacking end roller table pushes out (wherein empty trays are stacked by a forklift), and the empty trays are temporarily stored and transported by the forklift;

step S7, ending unloading;

step S8, the system prints the vehicle information and the manifest;

step S9, the driver gets the ticket;

and step S10, transmitting the information into the switchboard.

2. Inventory loading process:

step S1, starting the system, then starting each part of the production line, executing system self-checking, checking whether the system displays normal or not, if normal, entering a working state, sending self-checking signals by each part, and if not, entering a maintenance state;

step S2, starting a vehicle to be unloaded, entering a position according to landmark driving, limiting according to two sides of infrared rays, scanning the size of the vehicle by laser, continuing to recognize the vehicle if the vehicle is correctly located, positioning the vehicle by a vehicle limiter, and adjusting if the vehicle is incorrectly located;

s3, the vehicle flameout driver gets off the vehicle, presses the unloading button, and the unloading system starts to work;

step S4, pressing an inventory loading button;

step S5, conveying the stock stack tray to a proper position by a forklift;

step S6, the unloading manipulator grabs the grain bag (guided by vision);

step S7, stacking the cars by the manipulator (guided by vision);

step S8, the manipulator automatically moves and replaces positions;

step S9, finishing loading;

step S10, the system prints the vehicle information and the manifest;

step S11, the driver gets the ticket;

and step S12, transmitting the information into the switchboard.

3. Unloading and cutting the bag:

step S1, starting the system, then starting each part of the production line, executing system self-checking, checking whether the system displays normal or not, if normal, entering a working state, sending self-checking signals by each part, and if not, entering a maintenance state;

step S2, starting a vehicle to be unloaded, entering a position according to landmark driving, limiting according to two sides of infrared rays, scanning the size of the vehicle by laser, continuing to recognize the vehicle if the vehicle is correctly located, positioning the vehicle by a vehicle limiter, and adjusting if the vehicle is incorrectly located;

s3, the vehicle flameout driver gets off the vehicle, presses the unloading button, and the unloading system starts to work;

step S4, pressing the unloading and bag cutting process button;

step S5, connecting the swing bridge conveyer belt with a bag cutting conveyer belt in a downward rotating mode;

step S6, the unloading manipulator grabs the bags and puts the bags on the conveyor;

step S7, the grain bags are conveyed to a bag cutting machine through an unloading conveyor belt, a swing bridge conveyor belt and a bag cutting conveyor belt;

step S8, cutting the bag by a bag cutting machine;

step S9, the grains fall into a trench conveyer belt;

step S10, recovering waste bags;

step S11, finishing bag cutting;

step S12, the system prints the vehicle information and the manifest;

step S13, the driver gets the ticket;

and step S14, transmitting the information into the switchboard.

4. And (3) stock bag cutting process:

step S1, starting the system, then starting each part of the production line, executing system self-checking, checking whether the system displays normal or not, if normal, entering a working state, sending self-checking signals by each part, and if not, entering a maintenance state;

step S2, starting a vehicle to be unloaded, entering a position according to landmark driving, limiting according to two sides of infrared rays, scanning the size of the vehicle by laser, continuing to recognize the vehicle if the vehicle is correctly located, positioning the vehicle by a vehicle limiter, and adjusting if the vehicle is incorrectly located;

s3, the vehicle flameout driver gets off the vehicle, presses the unloading button, and the unloading system starts to work;

step S4, pressing the unloading and bag cutting process button;

step S5, pressing a warehouse bag cutting process button;

step S6, connecting the swing bridge conveyer belt with a bag cutting conveyer belt in a downward rotating mode;

step S7, conveying the stock stack tray to a proper position by a forklift;

step S8, unstacking the grain bags by using the unloading manipulator, and placing the grain bags on the unloading conveyor belt;

step S9, the grain bags are conveyed to a bag cutting machine through an unloading conveyor belt, a swing bridge conveyor belt and a bag cutting conveyor belt;

step S10, cutting the bag by a bag cutting machine;

step S11, the grains fall into a trench conveyer belt;

step S12, recovering waste bags;

step S13, finishing bag cutting;

step S14, the system prints the vehicle information and the manifest;

step S15, the driver gets the ticket;

and step S16, transmitting the information into the switchboard.

In the above embodiment, it should be noted that the telescopic long-arm gripper of the unloading manipulator may adopt the following scheme: the scheme 1 adopts a high-quality linear sliding rail module, and is suitable for high space; scheme 2, adopt servo and rigid chain to do power, adopt multistage four-bar slide rail direction, be applicable to low space.

In the above embodiment, it should be noted that the robot form: scheme 1, all adopt joint manipulator, be applicable to and snatch single bag, unload/sign indicating number according to 2: 1, configuring; scheme 2, unload and adopt and go a mechanical hand, the tongs is many sucking discs, many fans, snatchs the one deck at every turn, shunts at the reposition of redundant personnel bench, unloads/sign indicating number according to 1: 2 configuration.

In the above embodiments, it should be noted that an automatic tray feeding process technology is adopted: empty trays are stacked on the tray roller table by a forklift, and are pushed into the stacking roller table after being shaped, so that the whole process is automatic.

In the above embodiments, it should be noted that the automated storage process technology is adopted: after the pallet bags are stacked, the pallet bags are automatically pushed into a storage roller table, and the minimum storage capacity is 2 trays.

In the above embodiments, it should be noted that the powder bag suction cup: a professional powder bag sucker is a special technology of a company and is suitable for grabbing powder bags with various air leaks.

In the above embodiments, it should be noted that the conveyor belt is required to be non-toxic and antistatic; the power of the servo motor is 0.75kw to 3 kw; the requirements of a common motor are as follows: explosion-proof, EX mark; explosion-proof speed reducer.

In the above embodiment, as shown in fig. 3 to 5, the intelligent two-stage long vertical arm loading and unloading manipulator for powder bags specifically includes a servo walking base 11, a rotary upright 12, a servo lifting motor 13, a high pressure fan 14, a small arm servo motor 15, a rotary small arm 16, a 3D camera 17, a rotary large arm 18, a vertical arm 19, a powder belt suction cup 20, a servo slewing device 21 and a slider 22, wherein the lower end of the rotary upright 12 is connected to the servo walking base 11 through the servo slewing device 21, the slider 22 is disposed at the bottom of the servo walking base 11, the servo lifting motor 13 is disposed at the upper end of the rotary upright 12, the rotary large arm 18 is transversely disposed on the side wall of the upper end of the rotary upright 12, the rotary small arm 16 is disposed at one end of the rotary large arm 18 away from the rotary upright 12, the high pressure fan 14 is disposed at one end of the rotary large arm 18 close to the rotary upright 12, the small arm servo motor 15 is disposed at the connection position of the rotary large arm 18 and the rotary small arm 16, the 3D camera 17 is provided on the upper side of the free end of the swing arm 16, a plurality of vertical arms 19 are provided on the lower side of the free end of the swing arm 16, the plurality of vertical arms 19 are vertically movable in a reciprocating manner, and a tape suction cup 20 is provided on the lower portion of the vertical arm 19 at the lowermost end.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.