CN104692114B - A kind of full-automatic charging and discharging mechanism - Google Patents

A kind of full-automatic charging and discharging mechanism Download PDF

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Publication number
CN104692114B
CN104692114B CN201510091288.2A CN201510091288A CN104692114B CN 104692114 B CN104692114 B CN 104692114B CN 201510091288 A CN201510091288 A CN 201510091288A CN 104692114 B CN104692114 B CN 104692114B
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magazine
arm
seat
discharging
full
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CN104692114A (en
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李军
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Wuhan Lian Jun Science And Technology Ltd
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Abstract

The present invention relates to a kind of full-automatic charging and discharging mechanism, including base, base is fixed with the left mechanical hand of horizontal movement, vertically movable upper left magazine lowering or hoisting gear, jig platform, vertically movable bottom right magazine lowering or hoisting gear, the right mechanical hand of horizontal movement the most successively.Mechanical hand include arm, arm fix seat, be fixed on the slide block of arm lower end, slide block coordinates the guide rail slided, guide rail to fix seat, drive arm to fix Timing Belt and the motor of seat horizontal movement, arm is provided with the finger for gripping workpiece and controls the minitype cylinder of finger motion.Feeding box lifting device includes magazine, magazine mounting table and ball screw, and ball screw is connected with magazine mounting table by feed screw nut's seat and is controlled the up and down motion of magazine.The present invention uses motor whole-process automatic control, and precision is high, and a feeding just can complete the processing of multiple fixture semiconductor-on-insulator, and operative is simple, can improve production efficiency, reduces error rate.

Description

A kind of full-automatic charging and discharging mechanism
Technical field
The present invention relates to a kind of fully automatic working platform, particularly relate to a kind of raw for semiconductor device high-volume The full-automatic loading and unloading workbench produced.
Background technology
The speed updated along with semiconductor product is accelerated, and process technology is upgraded the most therewith, so, half The supporting industry of conductor manufactures the key that equipment, test instrunment and raw material are industrial upgradings, Qi Zhongshe The key of standby industry especially and throat, the innovation ability having grasped the equipment of manufacture just calculates the system reaching industry High point.In China, most of producer that semiconductor device produces still uses raw material → fixture → equipment The purely manual loading and unloading pattern of workbench, production efficiency is low, and production cost is high, it is impossible to automation equipment Efficiency match, cause the wasting of resources.To this end, need a kind of device badly to solve the problems referred to above.
Summary of the invention
The technical problem to be solved is to provide the full-automatic loading and unloading work that a kind of production efficiency is high Station.
The technical scheme is that a kind of full-automatic charging and discharging mechanism includes Base, is fixed with the left mechanical hand of horizontal movement, vertically movable on described base the most successively Upper left magazine lowering or hoisting gear, jig platform, vertically movable bottom right magazine lowering or hoisting gear, horizontal movement Right mechanical hand.
Described left mechanical hand include left arm, for fix the left arm of described left arm one end fix seat, The left slider being fixed on described left arm lower end coordinates the left rail slided, for propping up with described left slider Support the left rail of described left rail to fix seat and fix the first from left Timing Belt and the left side that seat is connected with described left arm One motor, described the first from left motor drives described left arm to fix seat by described the first from left Timing Belt With described left arm horizontal movement, described left arm is provided with and refers to for the left hand gripping workpiece and control institute State the left minitype cylinder of left finger motion.
Described right mechanical hand include right arm, for fix the right arm of described right arm one end fix seat, The right slide block being fixed on described right arm lower end coordinates the right guide rail slided, for propping up with described right slide block Support the right guide rail of described right guide rail to fix seat and fix the right side one Timing Belt and the right side that seat is connected with described right arm One motor, a described right motor drives described right arm to fix seat by a described right Timing Belt With described right arm horizontal movement, described right arm is provided with and refers to for the right hand gripping workpiece and control institute State the right minitype cylinder of right finger motion.
Described upper left magazine lowering or hoisting gear includes left magazine, for fixing the left magazine placement of described left magazine Platform, the ballscrew that rolls left, the second from left Timing Belt and the second from left motor, described the second from left motor is by described The second from left Timing Belt drive described in the ballscrew that rolls left rotate, described in roll left ballscrew by feed screw nut's seat and institute State left magazine mounting table to connect, described in roll left when ballscrew rotates and drive described left magazine mounting table and described Left magazine moves up and down.
Described bottom right magazine lowering or hoisting gear includes right magazine, for fixing the right magazine placement of described right magazine Platform, right ball screw, right two Timing Belts and right two stepping motor, described right two stepping motor is by described Right two Timing Belts drive described right ball screw to rotate, and described right ball screw passes through feed screw nut's seat and institute Stating right magazine mounting table to connect, described right ball screw drives described right magazine mounting table and described when rotating Right magazine moves up and down.
The left and right sides of described jig platform lifts with described upper left magazine lowering or hoisting gear and bottom right magazine respectively Device connect, described jig platform be provided with for fixture level slide shallow slot, the width of described shallow slot with The width of fixture matches.
Preferably, described left arm refers to be connected by double-rod with described left hand, the gas of described left minitype cylinder Before and after cylinder shaft, the described left hand of mobile driving refers to rotate and clamping device;Described right arm refers to the described right hand Being connected by double-rod, before and after the cylinder axis of described right minitype cylinder, the described right hand of mobile driving refers to rotate also Clamping or relieving fixture.Its middle left and right minitype cylinder is controlled the inflation of cylinder by computer by electromagnetic valve And venting, thus realize the action whether left and right finger clamps.
Preferably, described left hand refers to that the face matched with left arm is inclined-plane;The right hand refers to and right arm The face matched is inclined-plane.Wherein the gradient on inclined-plane is preferably 30 degree, tight with folded fixture energy to ensure Close fit.
Preferably, described left arm fixes connection on seat left sensor fixation plate, and described left sensor is solid Determining plate and be provided with multiple left photoswitch sensor along the distribution of left arm motion track, described left arm is solid The left stainless steel substrates for left photoswitch sensor sensing it is also associated with in reservation;Described right arm is fixed On seat, connection has right sensor fixation plate, described right sensor fixation plate to be provided with multiple to move along right arm The right photoswitch sensor of track distribution, described right arm is fixed and is also associated with on seat for right photoswitch The right stainless steel substrates of sensor sensing.Outside the signal of its middle left and right photoswitch sensor all feeds back to If computer, and left and right motor is by computer program control.
Preferably, described left sensor fixation plate and multiple described left photoswitch sensors are solid by bolt Fixed connection, described bolt hole is U-shaped hole, to ensure the horizontal displacement of described left photoswitch sensor The most adjustable;Described right sensor fixation plate is bolted with multiple described right photoswitch sensors Connecting, described bolt hole is U-shaped hole, to ensure the horizontal displacement hands of described right photoswitch sensor Dynamic adjustable.
Preferably, described left arm is fixed seat and is fixed with described the first from left Timing Belt by synchronous clamping, to protect Demonstrate,prove described the first from left motor and drive described left arm precise motion;Described right arm fixes seat by synchronizing Band folder is fixed with a described right Timing Belt, to ensure that a described right motor drives described right arm accurate Motion.
Preferably, described left magazine is provided with the left magazine photoelectric sensor for detecting left magazine position, The most equidistant in described left magazine it is provided with the many groups of laterally steering grooves for stationary fixture, described Left magazine is provided with opening chamfering near the side of described jig platform, and the opposite side of described left magazine is provided with anti- The vertically oriented axle that only fixture skids off, described left magazine outer surface is provided with the anti-slip veins being easy to take;Described Right magazine is provided with the right magazine photoelectric sensor for detecting right magazine position, along hanging down in described right magazine Nogata is provided with the many groups of laterally steering grooves for stationary fixture to equidistant, and described right magazine is near described folder The side of tool platform is provided with opening chamfering, and the opposite side of described right magazine is provided with prevent fixture from skidding off vertical Locating shaft, described right magazine outer surface is provided with the anti-slip veins being easy to take.
Preferably, described left magazine mounting table be provided be easy to that described left magazine accurately puts into oblique angle Left slide-in type baffle plate, described right magazine mounting table be provided be easy to that described right magazine accurately puts into oblique angle Right slide-in type baffle plate.
Preferably, between described jig platform and described base, it is provided with the heat insulating strip preventing conduction of heat, described The material of heat insulating strip is preferably politef.
Preferably, the center of described jig platform is provided with the vacuum absorption device of stationary fixture, prevents from trembling Dynamic.
Based on technique scheme, the invention has the beneficial effects as follows: the present invention uses motor omnidistance certainly Dynamic control, control accuracy is high, and a feeding just can complete the processing of several fixture semiconductor-on-insulators, makes half The efficiency of conductor device processing is greatly improved, and operative is simple, omnidistance computer program Control, reduce error rate.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention;
Fig. 2 is the top view of the left mechanical hand of the present invention;
Fig. 3 be the present invention Fig. 2 in along A-A to sectional view;
Fig. 4 is the front view of the upper left magazine lowering or hoisting gear of the present invention;
Fig. 5 is the schematic diagram of the jig platform of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows:
1, left mechanical hand, 2, upper left magazine lowering or hoisting gear, 3, jig platform, 4, the lifting of bottom right magazine Device, 5, right mechanical hand, 6, base, 101, left arm, 102, left arm fix seat, 103, Left slider, 104, left rail, 105, left rail fix seat, 106, the first from left Timing Belt, 107, the first from left Motor, 108, left hand refer to, 109, left minitype cylinder, 110, left photoswitch sensor, 111, Left sensor fixation plate, 112, left stainless steel substrates, 201, left magazine, 202, left magazine mounting table, 203, roll left ballscrew, and 204, the second from left Timing Belt, 205, the second from left motor, 206, left magazine light Electric transducer, 301, shallow slot.
Detailed description of the invention
Being described principle and the feature of the present invention below in conjunction with accompanying drawing, example is served only for explaining this Invention, is not intended to limit the scope of the present invention.
As it is shown in figure 1, a kind of full-automatic charging and discharging mechanism, including base 6, from left on described base Be fixed with the most successively the left mechanical hand 1 of horizontal movement, vertically movable upper left magazine lowering or hoisting gear 2, Jig platform 3, vertically movable bottom right magazine lowering or hoisting gear 4, the right mechanical hand 5 of horizontal movement.This The structure of the loading and unloading part of bright both sides can be identical, it is also possible to differs, present embodiment be preferably on Blanking device left and right is identical and about the symmetrical situation of middle jig platform.
As shown in Figure 2 and Figure 3, described left mechanical hand 1 includes left arm 101, for fixing a described left side The left arm of arm 101 one end fix seat 102, the left slider 103 being fixed on described left arm 101 lower end, Coordinate the left rail 104 slided with described left slider 103, lead for the left side supporting described left rail 104 Rail is fixed seat 105 and is fixed the first from left Timing Belt 106 and the first from left stepping that seat 105 is connected with described left arm Motor 107, described the first from left motor 107 drives described left arm by described the first from left Timing Belt 106 Fixing seat 102 and described left arm 101 horizontal movement, described left arm 101 is provided with for gripping work The left hand of part refers to that 108 refer to the left minitype cylinder 109 of 108 motions with the described left hand of control.
Described right mechanical hand 5 is identical with the structure of described left mechanical hand 1 and about middle jig platform 3 Symmetrical.Described right mechanical hand 5 includes right arm, fixes for fixing the right arm of described right arm one end Seat, it is fixed on the right slide block of described right arm lower end and coordinates the right guide rail of slip, use with described right slide block Fix seat in the right guide rail supporting described right guide rail and fix the right side one Timing Belt that seat is connected with described right arm With a right motor, a described right motor drives described right arm solid by a described right Timing Belt Reservation and described right arm horizontal movement, described right arm is provided with and refers to for the right hand gripping workpiece and control Make the right minitype cylinder of described right finger motion.
As shown in Figure 4, described upper left magazine lowering or hoisting gear 2 includes left magazine 201, for fixing described The left magazine mounting table 202 of left magazine 201, the ballscrew 203 that rolls left, the second from left Timing Belt 204 and the second from left Motor 205, described the second from left motor 205 drives a described left side by described the second from left Timing Belt 204 Ball screw 203 rotates, described in roll left ballscrew 203 placed with described left magazine by feed screw nut's seat Platform 202 connects, described in roll left and when ballscrew 203 rotates, drive described left magazine mounting table 202 and described Left magazine 201 moves up and down.
Described bottom right magazine lowering or hoisting gear 4 identical with the structure of described upper left magazine lowering or hoisting gear 2 and about Middle jig platform 3 is symmetrical.Described bottom right magazine lowering or hoisting gear 4 includes right magazine, for fixing State the right magazine mounting table of right magazine, right ball screw, right two Timing Belts and right two stepping motor, described Right two stepping motor drives described right ball screw to rotate by described right two Timing Belts, described right ball wire Bar is connected with described right magazine mounting table by feed screw nut's seat, drives institute when described right ball screw rotates State right magazine mounting table and described right magazine moves up and down.
The left and right sides of described jig platform 3 respectively with described upper left magazine lowering or hoisting gear 2 and bottom right magazine Lowering or hoisting gear 4 connects, as it is shown in figure 5, described jig platform 3 is provided with supplies the shallow of fixture level slip Groove 301, the described width of shallow slot 301 matches with the width of fixture.
Preferably, with described left hand, described left arm 101 refers to that 108 are connected by double-rod, a described left side is miniature Before and after the cylinder axis of cylinder 109, the described left hand of mobile driving refers to 108 rotations clamping device;The described right side Arm refers to be connected by double-rod with the described right hand, mobile driving before and after the cylinder axis of described right minitype cylinder The described right hand refers to rotate and clamp or decontrol fixture.Its middle left and right minitype cylinder is passed through electromagnetism by computer Valve controls the inflatable and deflatable of cylinder, thus realizes the action whether left and right finger clamps.
Preferably, described left hand refers to that 108 is inclined-plane with the face matched of left arm 101;The right hand refer to The face matched of right arm is inclined-plane.Wherein the gradient on inclined-plane is preferably 30 degree, to ensure with folded Fixture can closely cooperate.
Preferably, described left arm fixes to connect on seat 102 left sensor fixation plate 111, a described left side Sensor fixation plate 111 is provided with multiple left photoswitch sensing along the distribution of left arm 101 motion track Device 110, described left arm is fixed and is also associated with on seat 102 sensing for left photoswitch sensor 110 Left stainless steel substrates 112;Described right arm fixes connection on seat right sensor fixation plate, described right biography Sensor fixed plate is provided with multiple right photoswitch sensor along the distribution of right arm motion track, the described right side Arm fixes the right stainless steel substrates being also associated with on seat for right photoswitch sensor sensing.Wherein left, The signal of right photoswitch sensor all feeds back to peripheral hardware computer, and left and right motor is by computer journey Sequence controls.
Preferably, described left sensor fixation plate 111 leads to multiple described left photoswitch sensors 110 Crossing the fixing connection of bolt, described bolt hole is U-shaped hole, to ensure described left photoswitch sensor 110 Horizontal displacement the most adjustable;Described right sensor fixation plate leads to multiple described right photoswitch sensors Crossing the fixing connection of bolt, described bolt hole is U-shaped hole, to ensure described right photoswitch sensor Horizontal displacement is the most adjustable.
Preferably, described left arm fixes seat 102 by synchronous clamping with described the first from left Timing Belt 106 admittedly Fixed, to ensure that described the first from left motor 107 drives described left arm 101 precise motion;The described right hand Arm is fixed seat and is fixed with a described right Timing Belt by synchronous clamping, to ensure a described right motor band Dynamic described right arm precise motion.
Preferably, described left magazine 201 is provided with the left magazine photoelectricity for detecting left magazine 201 position Sensor 206, the most equidistant in described left magazine 201 is provided with many groups for stationary fixture Laterally steering groove, described left magazine 201 is provided with opening chamfering, institute near the side of described jig platform 3 The opposite side stating left magazine 201 is provided with the vertically oriented axle preventing fixture from skidding off, outside described left magazine 201 Surface is provided with the anti-slip veins being easy to take;Described right magazine is provided with the right material for detecting right magazine position Box photoelectric sensor, the most equidistant in described right magazine is provided with the many groups of horizontal strokes for stationary fixture To gathering sill, described right magazine is provided with opening chamfering, described right magazine near the side of described jig platform Opposite side be provided with the vertically oriented axle preventing fixture from skidding off, described right magazine outer surface is provided with to be easy to take Anti-slip veins.
Preferably, described left magazine mounting table 202 is provided with and is easy to the band that described left magazine 201 is accurately put into There are the left slide-in type baffle plate at oblique angle, described right magazine mounting table 202 to be provided with and are easy to described right magazine 201 standard The right slide-in type baffle plate with oblique angle really put into.
Preferably, it is provided with, between described jig platform 3 and described base 6, the heat insulating strip preventing conduction of heat, The material of described heat insulating strip is preferably politef.
Preferably, the center of described jig platform 3 is provided with the vacuum absorption device of stationary fixture, prevents Shake.
During work, left magazine 201 and right magazine is first made to be in lowermost end, left arm 101 and right arm Resetting to the initial state of both sides, original position is determined by the photoswitch induction apparatus of opposite position.Give After a fixed commencing signal, mechanism starts working, by computer program manipulate left magazine 201 and right magazine to One section of distance specified of upper motion, it is ensured that the lower surface of institute's clamps keeps with the upper surface of jig platform 3 Same level.Then computer program control left arm 101 moves right, in arriving left magazine 201 During chucking position corresponding photoswitch sensor, feedback to the computer signal controls left hand and refers to that 108 clamp folder Tool is pushed ahead, when arriving the operating position of the jig platform 3 determined by photoswitch sensing station, Vacuum absorption device starts to process semiconductor workpiece after fixing for fixture absorption.Left hand refers to 108 relievings subsequently Fixture, left arm 101 returns in situ, send corresponding signal, connecting computer after mechanism completes work pieces process Controlling right magazine after the collection of letters number and move upward to distance to a declared goal, right arm moves to jig platform to the left simultaneously After fixture on 3, the right hand refers to that clamping fixture is entrained back in right magazine again, completes the upper of a fixture with this Blanking process.Repeated several times above-mentioned steps, until completing the full-automatic loading and unloading process of all fixtures.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all in the present invention Spirit and principle within, any modification, equivalent substitution and improvement etc. made, should be included in this Within bright protection domain.

Claims (10)

1. a full-automatic charging and discharging mechanism, it is characterised in that: include base, on described base certainly From left to right is fixed with the left mechanical hand of horizontal movement, vertically movable upper left magazine lowering or hoisting gear, folder successively Tool platform, vertically movable bottom right magazine lowering or hoisting gear, the right mechanical hand of horizontal movement;
Described left mechanical hand include left arm, for fix the left arm of described left arm one end fix seat, The left slider being fixed on described left arm lower end coordinates the left rail slided, for propping up with described left slider Support the left rail of described left rail to fix seat and fix the first from left Timing Belt and the left side that seat is connected with described left arm One motor, described the first from left motor drives described left arm to fix seat by described the first from left Timing Belt With described left arm horizontal movement, described left arm is provided with and refers to for the left hand gripping workpiece and control institute State the left minitype cylinder of left finger motion;
Described right mechanical hand include right arm, for fix the right arm of described right arm one end fix seat, The right slide block being fixed on described right arm lower end coordinates the right guide rail slided, for propping up with described right slide block Support the right guide rail of described right guide rail to fix seat and fix the right side one Timing Belt and the right side that seat is connected with described right arm One motor, a described right motor drives described right arm to fix seat by a described right Timing Belt With described right arm horizontal movement, described right arm is provided with and refers to for the right hand gripping workpiece and control institute State the right minitype cylinder of right finger motion;
Described upper left magazine lowering or hoisting gear includes left magazine, for fixing the left magazine placement of described left magazine Platform, the ballscrew that rolls left, the second from left Timing Belt and the second from left motor, described the second from left motor is by described The second from left Timing Belt drive described in the ballscrew that rolls left rotate, described in roll left ballscrew by feed screw nut's seat and institute State left magazine mounting table to connect, described in roll left when ballscrew rotates and drive described left magazine mounting table and described Left magazine moves up and down;
Described bottom right magazine lowering or hoisting gear includes right magazine, for fixing the right magazine placement of described right magazine Platform, right ball screw, right two Timing Belts and right two stepping motor, described right two stepping motor is by described Right two Timing Belts drive described right ball screw to rotate, and described right ball screw passes through feed screw nut's seat and institute Stating right magazine mounting table to connect, described right ball screw drives described right magazine mounting table and described when rotating Right magazine moves up and down;
The left and right sides of described jig platform lifts with described upper left magazine lowering or hoisting gear and bottom right magazine respectively Device connect, described jig platform be provided with for fixture level slide shallow slot, the width of described shallow slot with The width of fixture matches.
The full-automatic charging and discharging mechanism of one the most according to claim 1, it is characterised in that described Left arm refers to be connected by double-rod with described left hand, moves and drive before and after the cylinder axis of described left minitype cylinder Dynamic described left hand refers to rotate and clamping device;Described right arm refers to be connected by double-rod with the described right hand, institute Before and after stating the cylinder axis of right minitype cylinder, the described right hand of mobile driving refers to rotate and clamp or decontrol fixture.
The full-automatic charging and discharging mechanism of one the most according to claim 2, it is characterised in that described Left hand refers to that the face matched with left arm is inclined-plane;The right hand refers to that the face matched with right arm is oblique Face.
The full-automatic charging and discharging mechanism of one the most according to claim 1, it is characterised in that described Left arm fixes connection on seat has left sensor fixation plate, described left sensor fixation plate to be provided with multiple edge The left photoswitch sensor of left arm motion track distribution, described left arm is fixed and is also associated with on seat supplying The left stainless steel substrates of left photoswitch sensor sensing;Described right arm fixes connection on seat right sensing Device fixed plate, described right sensor fixation plate is provided with multiple right photoelectricity along the distribution of right arm motion track Switch sensor, described right arm fixes the right side being also associated with on seat for right photoswitch sensor sensing Stainless steel substrates.
The full-automatic charging and discharging mechanism of one the most according to claim 4, it is characterised in that described Left sensor fixation plate is bolted to connection with multiple described left photoswitch sensors, described bolt Hole is U-shaped hole;Described right sensor fixation plate and multiple described right photoswitch sensors pass through bolt Fixing connection, described bolt hole is U-shaped hole.
The full-automatic charging and discharging mechanism of one the most according to claim 1, it is characterised in that described Left arm is fixed seat and is fixed with described the first from left Timing Belt by synchronous clamping, and described right arm is fixed seat and passed through Synchronous clamping is fixed with a described right Timing Belt.
The full-automatic charging and discharging mechanism of one the most according to claim 1, it is characterised in that described Left magazine is provided with the left magazine photoelectric sensor for detecting left magazine position, along hanging down in described left magazine Nogata is provided with the many groups of laterally steering grooves for stationary fixture to equidistant, and described left magazine is near described folder The side of tool platform is provided with opening chamfering, and the opposite side of described left magazine is provided with prevent fixture from skidding off vertical Locating shaft, described left magazine outer surface is provided with the anti-slip veins being easy to take;Described right magazine be provided with for Detect the right magazine photoelectric sensor of right magazine position, the most equidistant in described right magazine be provided with Many groups are for the laterally steering groove of stationary fixture, and described right magazine is provided with near the side of described jig platform Opening chamfering, the opposite side of described right magazine is provided with the vertically oriented axle preventing fixture from skidding off, described right material Box outer surfac is provided with the anti-slip veins being easy to take.
The full-automatic charging and discharging mechanism of one the most according to claim 1, it is characterised in that described Left magazine mounting table is provided with is easy to the left slide-in type baffle plate with oblique angle that described left magazine is accurately put into, institute State right magazine mounting table to be provided with and be easy to the right slide-in type baffle plate with oblique angle that described right magazine is accurately put into.
The full-automatic charging and discharging mechanism of one the most according to claim 1, it is characterised in that described The heat insulating strip preventing conduction of heat it is provided with between jig platform and described base.
10. according to described a kind of full-automatic charging and discharging mechanism arbitrary in claim 1 to 9, its feature Being, the center of described jig platform is provided with the vacuum absorption device of stationary fixture.
CN201510091288.2A 2015-02-28 2015-02-28 A kind of full-automatic charging and discharging mechanism Active CN104692114B (en)

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CN106270993B (en) * 2016-08-31 2018-12-04 李军 A kind of full-automatic sealing device of high-precision metal shell
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CN204453804U (en) * 2015-02-28 2015-07-08 武汉联钧科技有限公司 A kind of full automaticity charging and discharging mechanism

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Publication number Priority date Publication date Assignee Title
CN111716325A (en) * 2020-06-28 2020-09-29 常州市瑾瑜精密科技有限公司 Feeding and discharging mechanical arm in three-dimensional transmission

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