CN104889981B - Net grabbing robot for building wallboard forming system and control method thereof - Google Patents
Net grabbing robot for building wallboard forming system and control method thereof Download PDFInfo
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- CN104889981B CN104889981B CN201510273347.8A CN201510273347A CN104889981B CN 104889981 B CN104889981 B CN 104889981B CN 201510273347 A CN201510273347 A CN 201510273347A CN 104889981 B CN104889981 B CN 104889981B
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Abstract
The invention discloses a robot used for grabbing and placing net-shaped materials of a building wallboard forming system and a control method thereof. The robot comprises a base, a rotating device, a telescopic device and a net grabbing device. The robot is used for grabbing the net-shaped materials conveyed by a net shearing machine in the building wallboard forming process and putting the net-shaped materials into a die frame. By means of the robot and the control method, the non-magnetic net-shaped material grabbing problem is solved, and the defects that an iron net is too thin, the electromagnet absorption force is insufficient after surface chroming is conducted, the absorption face of the iron net is too small due to net bending, deformation and distortion in the conveying process, and it is difficult to clamp are overcome.
Description
Technical field
The present invention relates to the automatic Sheetmaking systems of building wall board, and in particular to a kind of to grab net for building wall board formation system
Robot and its control method.
Background technology
Partition plate for building refers to the prefabricated batten of body of wall for interior of building partition wall, is general industry building, lives
Building, the main material of the non-load bearing inner partition wall of public works.Partition plate mainly include glass fiber reinforced cement batten,
Iron wire strengthens cement batten, lightweight concrete batten, compound sandwich light lath etc..Partition plate for building requires that wallboard has unit weight
Gently, body of wall is thin, easy construction the features such as, in addition to it need to possess above-mentioned material feature, also require low cost, and with good mechanics
Performance and physical property.
With the development of mechanical automation, building wall board is substantially using the Sheetmaking systems of automatization.When wallboard is produced,
In order to strengthen the mechanical property of wallboard, often Web materials will be placed inside wallboard, in Sheetmaking systems, often adopt and grab net
Robot is completing the crawl of above-mentioned Web materials.
In prior art, grab Web robot and be mainly by current control electric magnet come what is captured, aforesaid way is past
It is past to there is problems with：1. what is be usually used in Sheetmaking systems is that chromium plating is welded iron net, and iron-holder is relatively low, and absorption affinity is very little.
In the case where electric magnet is increased, absorption affinity increase, but can cause in network process a certain degree of bending of iron net, drawing due to sending
Stretch and distort, so as to cause electric magnet to diminish with iron net contact area, absorption affinity is still not enough.2. wall board forming reinforcement material,
Iron net is not limited to, the crawl of non-ferric net materials is not suitable for using the method for electric magnet.
The content of the invention
An object of the present invention be to provide it is a kind of grab Web robot for building wall board formation system, it is existing to solve
Using electric magnet carry out capture absorption affinity it is little, the problem of iron net can only be captured.
This programme grabs Web robot for building wall board formation system, and including base, the side of base is provided with first
Seat, the first holder top are provided with rotary cylinder, and the top of rotary cylinder is connected with rotary shaft, is fixed with support body in rotary shaft,
The second bearing is provided with the outside of support body, and the second holder top is provided with the first telescopic cylinder, and the piston rod of the first telescopic cylinder passes through
First connector is connected with the cylinder bottom of the second telescopic cylinder being vertically arranged, and the piston rod of the second telescopic cylinder is by the second connection
Part is connected with horizontally disposed bracket, is symmetrically arranged with least two two-way cylinders, the bottom of two-way cylinder on the bracket
It is provided with two-way cylinder and drives the shears handss for opening or closing.
Beneficial effects of the present invention：Using the shears handss of similar shears as grabbing device, during work, first shears handss are inserted
Enter in the mesh of Web materials, then the drive lower scissors handss in two-way cylinder open and block mesh, in the second telescopic cylinder
Drive under above carry by complete the crawl of Web materials.This programme grabs the netted material that Web robot can capture any material
Material, it is practical.And solve as iron net iron-holder is low, caused by iron net bending, deformation, electric magnet absorption affinity not enough, is grabbed
Take the problem of shakiness.
Further, rotate outer shaft sleeve and be provided with sleeve, be additionally provided with gripper shoe in the side of base, the end face of gripper shoe with
Excircle of sleeve curvature identical curved surface, the end face of gripper shoe are offseted with the cylindrical of sleeve.Sleeve is set outside rotary shaft, to rotary shaft
Play every dirty protective effect.Gripper shoe is set outside sleeve, as the end face of gripper shoe is offseted with the cylindrical of sleeve, gripper shoe pair
Sleeve is played a supporting role, and prevents rotary shaft when rotated, sleeve Radial Perturbation.
Further, present invention additionally comprises being arranged on the linear bearing of the second rest base, linear bearing end is stretched with first
The piston rod of contracting cylinder is fixed.By being additionally arranged at the bottom of linear bearing in the second bearing, when the first telescopic cylinder runs, straight line
Bearing can be shunk with the first telescopic cylinder, played a part of motion guide to the first telescopic cylinder and reinforced, it is to avoid first stretches
Cylinder long-time lateral force and damage.
Further, present invention additionally comprises guider, guider includes being fixed on the first of the second telescopic cylinder cylinder head
Terminal pad and the second terminal pad being fixed on the bracket, are provided with pilot hole in the first terminal pad, are equipped with pilot hole
Guide post, the lower end of guide post are fixed in second terminal pad.Guider prevents the piston rod of the second telescopic cylinder from existing
Rotate in telescopic process, cause the deviation of crawl position, and make shears handss can not accurately insert mesh.
Further, " ten " word reinforcement is provided with the middle part of bracket, and reinforcement effect is played to bracket.
Further, it is present invention additionally comprises the installing plate being arranged on bracket, is provided with vertical bar hole on installing plate, two-way
Cylinder is threadedly attached in the screw of bar hole and installs on a mounting board.As screw thread is connected in bar hole, therefore,
The upper-lower position of two-way cylinder can be adjusted by the position of upper and lower adjusting screw.
Further, the end of shears handss is flexible coupling with the piston rod of two-way cylinder.When avoiding work, shears handss are blocked, and
Make the piston rod of two-way cylinder stuck, damage two-way cylinder.
It is a further object of the present invention to provide a kind of control method for grabbing Web robot for building wall board formation system,
Comprise the following steps：
1st step, is connected to after pickup starts trigger, detects rotary cylinder home position sensing, whether judge rotary cylinder
In " original position " state, if current rotary cylinder is not at original position, rotary cylinder is waited to return to original position, if already at
Original position, then into the 2nd step；
2nd step, detects the first telescopic cylinder home position sensing, whether judges the first telescopic cylinder in " original position " state,
If not in the original location if wait telescopic cylinder return to home state, if in original position, open electromagnetic valve, the first telescopic cylinder
Forward extend out, when the first telescopic cylinder stretches out in place, into the 3rd step；
3rd step, detects the second telescopic cylinder home position sensing, whether judges the second telescopic cylinder in " original position " state,
If state in the original location, does not wait the second telescopic cylinder to return to original position, electromagnetic valve is opened if in original position, second stretches
Cylinder is extended downwardly from, and when cylinder stretches out in place, shears handss are extend in the mesh of Web materials, into the 4th step；
4th step, detects two-way cylinder home position sensing, whether judges two-way cylinder in " original position " state, if do not existed
It is in situ then wait two-way cylinder to return to original position, electromagnetic valve is opened if in original position, two-way cylinder piston rod is stretched out to both sides,
Shears handss are opened, Web materials is captured, into the 5th step；
5th step, closes the second telescopic cylinder electromagnetic valve, and the second telescopic cylinder shrinks upwards, when the second telescopic cylinder shrinks
During to original position, into the 6th step；
6th step, closes the first telescopic cylinder electromagnetic valve, and the first telescopic cylinder contracts to recovery, when the first cylinder stretches out contraction
During to original position, into the 7th step；
7th step, pickup are finished, and wait send part signal to trigger；
8th step, is connected to after sending part to start trigger, and detection pickup completes buffer status, if pickup is not completed,
Pickup is waited to complete, if having completed pickup, into the 9th step；
9th step, detects rotary cylinder home position sensing, whether judges rotary cylinder in " original position " state, if currently
Rotary cylinder is not at original position, waits rotary cylinder to return to original position, if already at original position, opening electromagnetic valve, makes rotation
Cylinder rotates, and enters the 10th step in place afterwards；
10th step, detects the first telescopic cylinder home position sensing, whether judges the first telescopic cylinder in " original position " state,
If not in the original location if wait the first telescopic cylinder to return to home state, if in original position, opening electromagnetic valve, first stretches
Cylinder is forward extended out, when the first telescopic cylinder stretches out in place, into the 11st step；
11st step, detects the second telescopic cylinder home position sensing, whether judges telescopic cylinder in " original position " state, if
State in the original location, then do not wait the second telescopic cylinder to return to original position, if in original position opens electromagnetic valve, the second telescopic cylinder
Extend downwardly from, when stretching out in place, into the 12nd step；
12nd step, detects two-way cylinder home position sensing, whether judges two-way cylinder in " original position " state, if do not existed
Original position, then wait two-way cylinder to return to original position, if in original position closes electromagnetic valve, and two-way cylinder piston steps up to centre,
Shears handss are closed up, Web materials is unclamped, into the 13rd step；
13rd step, closes the second telescopic cylinder electromagnetic valve, and the second telescopic cylinder shrinks upwards, when original position is retracted to, enters
Enter the 14th step；
14th step, closes the first telescopic cylinder electromagnetic valve, and the first telescopic cylinder shrinks upwards, when original position is retracted to, enters
Enter the 15th step；
15th step, send part to finish, and waits pickup part trigger.
By the above-mentioned control method for grabbing Web robot, the crawl of the Web materials of any material is capable of achieving, and is adopted
Shears handss are captured more stable firm as grabbing device.
Description of the drawings
Structural representations of the Fig. 1 for the embodiment of the present invention；
Schematic diagram when Fig. 2 is opened under the drive of two-way cylinder for shears handss in Fig. 1；
Fig. 3 is the shears handss pickup control flow for grabbing Web robot in Fig. 1 embodiments for building wall board formation system
Figure；
Fig. 4 is that the shears handss for grabbing Web robot in Fig. 1 embodiments for building wall board formation system send part control flow
Figure.
Specific embodiment
Below by specific embodiment, the present invention is further detailed explanation：
Reference in Figure of description includes：Base 1, the first bearing 2, support body 3, gripper shoe 4, rotary cylinder 5, set
The 6, second bearing 7 of cylinder, the first telescopic cylinder 8, linear bearing 9, the second telescopic cylinder 10, guide post 11, the first terminal pad 12, the
Two terminal pads 13, bracket 14, two-way cylinder 15, shears handss 16.
The Web robot that grabs for building wall board formation system as shown in Figure 1, during use, base is used for being fixed on pressure
In shaped device processed on the column of briquetting machine.The side of base is welded with the first bearing, and the first holder top is provided with rotation
Cylinder, the top of rotary cylinder are connected with rotary shaft, and rotary cylinder is used for grabbing the rotation of Web robot's horizontal level.Outside rotary shaft
Be arranged with sleeve, be additionally provided with gripper shoe in the side of base, the end face of gripper shoe with excircle of sleeve curvature identical curved surface,
The end face of gripper shoe is offseted with the cylindrical of sleeve.
Support body is fixed with rotary shaft, the second bearing is welded with the outside of support body, and the second holder top is provided with first and stretches
Cylinder, the first telescopic cylinder are used for the movable of robot.Linear bearing is fixed on the bottom of support base by two pieces of fixed iron rings
Portion, the piston rod of the end of linear bearing and the first telescopic cylinder are fixed, and can just stretch with piston, play reinforcement piston rod intensity
Effect, prevent the piston rod side of the first telescopic cylinder to long-term stress, cause cylinder to damage.
The piston rod of the first telescopic cylinder is connected with the cylinder bottom of the second telescopic cylinder being vertically arranged by the first connector,
The piston rod of the second telescopic cylinder is connected with horizontally disposed bracket by the second connector, is provided with " ten " word and adds in the middle part of bracket
Strong muscle.In the present embodiment, also including guider, guider includes the first terminal pad for being fixed on the second telescopic cylinder cylinder head
The second terminal pad with being fixed on " ten " word reinforcement, is provided with pilot hole in the first terminal pad, is equipped with and leads in pilot hole
To bar, the lower end of guide post is fixed in the second terminal pad.
Corner on bracket is symmetrically arranged with four two-way cylinders, and installing plate is used for installing two-way cylinder, on installing plate
Vertical bar hole is provided with, two-way cylinder is threadedly attached in the screw in bar hole and installs on a mounting board.Two-way cylinder
Bottom be provided with two-way cylinder and drive the shears handss for opening or closing.
Two-way cylinder has two pistons, and air compressor machine is passed through after gas from different air inlets, two pistons can from both sides to
Intermediary movements and moved from centre to both sides.Two pistons in the two ends of shears handss and two-way cylinder are flexible coupling, open when piston or
During closing motion, shears handss can be acted as with piston one and be opened and closing motion.
The structural representation being illustrated in figure 2 when shears handss are opened under the drive of the piston rod of two-way cylinder.
In the present embodiment, position is equipped with rotary cylinder, the first telescopic cylinder, the second telescopic cylinder and two-way cylinder
Sensor, to detect whether each cylinder is in " original position " or whether each cylinder operationally runs " in place ".The present embodiment
Grab Web robot using PLC control.
As shown in Figure 3 and Figure 4, the control method for grabbing Web robot of the present embodiment building wall board formation system, including with
Lower step：
1st step, is connected to after pickup starts trigger, and PLC detection rotary cylinder home position sensings judge that rotary cylinder is
It is no in " original position " state, if current rotary cylinder is not at original position, wait rotary cylinder to return to original position, if located
In original position, then into the 2nd step；
2nd step, detects the first telescopic cylinder home position sensing, whether judges the first telescopic cylinder in " original position " state,
If not in the original location if wait telescopic cylinder return to home state, if in original position, open electromagnetic valve, the first telescopic cylinder
Forward extend out, when the first telescopic cylinder stretches out in place, into the 3rd step；
3rd step, detects the second telescopic cylinder home position sensing, whether judges the second telescopic cylinder in " original position " state,
If state in the original location, does not wait the second telescopic cylinder to return to original position, electromagnetic valve is opened if in original position, second stretches
Cylinder is extended downwardly from, and when cylinder stretches out in place, shears handss are extend in the mesh of Web materials, into the 4th step；
4th step, detects two-way cylinder home position sensing, whether judges two-way cylinder in " original position " state, if do not existed
It is in situ then wait two-way cylinder to return to original position, electromagnetic valve is opened if in original position, two-way cylinder piston rod is stretched out to both sides,
Shears handss are opened, Web materials is captured, into the 5th step；
5th step, closes the second telescopic cylinder electromagnetic valve, and the second telescopic cylinder shrinks upwards, when the second telescopic cylinder shrinks
During to original position, into the 6th step；
6th step, closes the first telescopic cylinder electromagnetic valve, and the first telescopic cylinder contracts to recovery, when the first cylinder stretches out contraction
During to original position, into the 7th step；
7th step, pickup are finished, and pickup completes depositor and puts 1, and wait send part signal to trigger；
8th step, is connected to after sending part to start trigger, and detection pickup completes buffer status, if pickup is not completed,
Pickup is waited to complete, if having completed pickup, into the 9th step；
9th step, detects rotary cylinder home position sensing, whether judges rotary cylinder in " original position " state, if currently
Rotary cylinder is not at original position, waits rotary cylinder to return to original position, if already at original position, opening electromagnetic valve, makes rotation
Cylinder rotates, and enters the 10th step in place afterwards；
10th step, detects the first telescopic cylinder home position sensing, whether judges the first telescopic cylinder in " original position " state,
If not in the original location if wait the first telescopic cylinder to return to home state, if in original position, opening electromagnetic valve, first stretches
Cylinder is forward extended out, when the first telescopic cylinder stretches out in place, into the 11st step；
11st step, detects the second telescopic cylinder home position sensing, whether judges telescopic cylinder in " original position " state, if
State in the original location, then do not wait the second telescopic cylinder to return to original position, if in original position opens electromagnetic valve, the second telescopic cylinder
Extend downwardly from, when stretching out in place, into the 12nd step；
12nd step, detects two-way cylinder home position sensing, whether judges two-way cylinder in " original position " state, if do not existed
Original position, then wait two-way cylinder to return to original position, if in original position closes electromagnetic valve, and two-way cylinder piston steps up to centre,
Shears handss are closed up, Web materials is unclamped, into the 13rd step；
13rd step, closes the second telescopic cylinder electromagnetic valve, and the second telescopic cylinder shrinks upwards, when original position is retracted to, enters
Enter the 14th step；
14th step, closes the first telescopic cylinder electromagnetic valve, and the first telescopic cylinder shrinks upwards, when original position is retracted to, enters
Enter the 15th step；
15th step, send part to finish, and waits pickup part trigger.
Above-described is only embodiments of the invention, and in scheme, the known general knowledge here such as concrete structure and characteristic is not made
It is excessive to describe.It should be pointed out that for a person skilled in the art, on the premise of without departing from present configuration, can be with
Some deformations and improvement is made, these should also be considered as protection scope of the present invention, these are implemented all without the impact present invention
Effect and practical applicability.
Claims (8)
1. be used for building wall board formation system grabs Web robot, it is characterised in that including base, the side of base is provided with first
Bearing, the first holder top are provided with rotary cylinder, and the top of rotary cylinder is connected with rotary shaft, is fixed with frame in rotary shaft
Body, is provided with the second bearing on the outside of support body, the second holder top is provided with the first telescopic cylinder, and the piston rod of the first telescopic cylinder leads to
Cross the first connector and be connected with the cylinder bottom of the second telescopic cylinder being vertically arranged, the piston rod of the second telescopic cylinder connects by second
Fitting is connected with horizontally disposed bracket, is symmetrically arranged with least two two-way cylinders, under two-way cylinder on the bracket
Portion is provided with two-way cylinder and drives the shears handss for opening or closing, in rotary cylinder, the first telescopic cylinder, the second flexible gas
Position sensor is all provided with cylinder and two-way cylinder.
2. it is according to claim 1 to grab Web robot for building wall board formation system, it is characterised in that the rotation
Outer shaft sleeve is provided with sleeve, is additionally provided with gripper shoe in the side of the base, the end face of the gripper shoe with the sleeve outside
Circle curvature identical curved surface, the end face of the gripper shoe are offseted with the cylindrical of the sleeve.
3. it is according to claim 1 to grab Web robot for building wall board formation system, it is characterised in that also including setting
Put the linear bearing in the second rest base, the piston rod of linear bearing end and the first telescopic cylinder is fixed.
4. it is according to claim 1 to grab Web robot for building wall board formation system, it is characterised in that also including leading
To device, described guider includes being fixed on the first terminal pad of the second telescopic cylinder cylinder head and is fixed on the bracket
The second terminal pad, be provided with pilot hole in the first terminal pad, in pilot hole, be equipped with guide post, the lower end of guide post is fixed on
In second terminal pad.
5. it is according to claim 1 to grab Web robot for building wall board formation system, it is characterised in that the bracket
Middle part be provided with " ten " word reinforcement.
6. it is according to claim 1 to grab Web robot for building wall board formation system, it is characterised in that also including setting
The installing plate on bracket is put, vertical bar hole on installing plate, is provided with, screw thread is connected in bar hole, two-way cylinder leads to
Cross screw to install on a mounting board.
7. it is according to claim 1 to grab Web robot for building wall board formation system, it is characterised in that the shears
The end of handss is flexible coupling with the piston rod of the two-way cylinder.
8. the control method for grabbing Web robot of the building wall board formation system as any one of claim 1-7, which is special
Levy and be, comprise the following steps：
1st step, is connected to after pickup starts trigger, detects rotary cylinder home position sensing, judge whether rotary cylinder is in
" original position " state, if current rotary cylinder is not at original position, waits rotary cylinder to return to original position, if already at original
Position, then into the 2nd step；
2nd step, detects the first telescopic cylinder home position sensing, whether judges the first telescopic cylinder in " original position " state, if
Telescopic cylinder is not then waited to return to home state in the original location, if in original position, opening electromagnetic valve, the first telescopic cylinder is forward
Stretch out, when the first telescopic cylinder stretches out in place, into the 3rd step；
3rd step, detects the second telescopic cylinder home position sensing, whether judges the second telescopic cylinder in " original position " state, if
State in the original location, then do not wait the second telescopic cylinder to return to original position, if in original position opens electromagnetic valve, the second telescopic cylinder
Extend downwardly from, when cylinder stretches out in place, shears handss are extend in the mesh of Web materials, into the 4th step；
4th step, detects two-way cylinder home position sensing, whether judges two-way cylinder in " original position " state, if not in the original location
Then waiting two-way cylinder to return to original position, electromagnetic valve being opened if in original position, two-way cylinder piston rod is stretched out to both sides, will be cut
Knife handss open, and capture Web materials, into the 5th step；
5th step, closes the second telescopic cylinder electromagnetic valve, and the second telescopic cylinder shrinks upwards, when the second telescopic cylinder is retracted to original
During position, into the 6th step；
6th step, closes the first telescopic cylinder electromagnetic valve, and the first telescopic cylinder is retracted to original to contracting is reclaimed when the first cylinder stretches out
During position, into the 7th step；
7th step, pickup are finished, and wait send part signal to trigger；
8th step, is connected to after sending part to start trigger, and detection pickup completes buffer status, if pickup is not completed, waits
Pickup is completed, if having completed pickup, into the 9th step；
9th step, detects rotary cylinder home position sensing, whether judges rotary cylinder in " original position " state, if current rotate
Cylinder is not at original position, waits rotary cylinder to return to original position, if already at original position, opening electromagnetic valve, makes rotary cylinder
Rotation, enters the 10th step in place afterwards；
10th step, detects the first telescopic cylinder home position sensing, whether judges the first telescopic cylinder in " original position " state, if
The first telescopic cylinder is not then waited to return to home state in the original location, if in original position, opening electromagnetic valve, the first telescopic cylinder
Forward extend out, when the first telescopic cylinder stretches out in place, into the 11st step；
11st step, detects the second telescopic cylinder home position sensing, whether judges telescopic cylinder in " original position " state, if do not existed
Home state, then wait the second telescopic cylinder to return to original position, if in original position opens electromagnetic valve, and the second telescopic cylinder is downward
Stretch out, when stretching out in place, into the 12nd step；
12nd step, detects two-way cylinder home position sensing, whether judges two-way cylinder in " original position " state, if not in original
Position, then wait two-way cylinder to return to original position, if in original position closes electromagnetic valve, and two-way cylinder piston steps up to centre, will
Shears handss close up, and unclamp Web materials, into the 13rd step；
13rd step, closes the second telescopic cylinder electromagnetic valve, and the second telescopic cylinder shrinks upwards, when original position is retracted to, enters the
14 steps；
14th step, closes the first telescopic cylinder electromagnetic valve, and the first telescopic cylinder shrinks upwards, when original position is retracted to, enters the
15 steps；
15th step, send part to finish, and waits pickup trigger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510273347.8A CN104889981B (en) | 2015-05-26 | 2015-05-26 | Net grabbing robot for building wallboard forming system and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510273347.8A CN104889981B (en) | 2015-05-26 | 2015-05-26 | Net grabbing robot for building wallboard forming system and control method thereof |
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| CN104889981B true CN104889981B (en) | 2017-03-22 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106142053B (en) * | 2016-08-03 | 2018-05-01 | 嘉兴学院 | A kind of multiple degrees of freedom automatic control manipulator |
| CN106276226A (en) * | 2016-08-24 | 2017-01-04 | 浩科机器人（苏州）有限公司 | A kind of robot gripper |
| CN107571272B (en) * | 2017-09-30 | 2020-03-17 | 迈克医疗电子有限公司 | Grabbing device state detection method, device and system |
| CN108584412A (en) * | 2018-03-30 | 2018-09-28 | 山东七星实业有限公司 | A kind of lining transfer robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20000026826A (en) * | 1998-10-23 | 2000-05-15 | 김형벽 | Robot hand |
| CN2900105Y (en) * | 2006-05-29 | 2007-05-16 | 中冶京诚工程技术有限公司 | Net sheet catching mechanism |
| CN102848387A (en) * | 2011-06-28 | 2013-01-02 | 苏州经贸职业技术学院 | Conveying manipulator system |
| CN202507275U (en) * | 2011-11-29 | 2012-10-31 | 长城汽车股份有限公司 | Automatic transportation device |
| CN203070664U (en) * | 2013-02-07 | 2013-07-17 | 哈尔滨职业技术学院 | Pneumatic mechanical arm experiment demonstration apparatus |
| CN203882524U (en) * | 2014-02-22 | 2014-10-15 | 山东栋梁科技设备有限公司 | Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer |
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