CN106132185A - Jaw and robot abnormal shape inserter clamp device - Google Patents
Jaw and robot abnormal shape inserter clamp device Download PDFInfo
- Publication number
- CN106132185A CN106132185A CN201610608852.8A CN201610608852A CN106132185A CN 106132185 A CN106132185 A CN 106132185A CN 201610608852 A CN201610608852 A CN 201610608852A CN 106132185 A CN106132185 A CN 106132185A
- Authority
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- China
- Prior art keywords
- jaw
- piston rod
- paw
- cylinder body
- manhole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
Abstract
The open a kind of jaw of the present invention and robot abnormal shape inserter clamp device, described jaw includes: cylinder body, piston rod, a pair paw, return unit and block, described piston rod and described return unit are positioned at described cylinder interior, described return unit is socketed in the lower end of described piston rod, and its upper end abuts with the lower surface of the flange part that described piston rod upper end is arranged；Described block is fixed on the bottom of described cylinder body, and the lower end of described return unit abuts with the upper end of described block, and the lower end of described piston rod is stretched out outside described cylinder body through described block；Described paw is rotationally connected by the lower end of a central axis pin with described piston rod, and described paw is rotationally connected with described cylinder body by a spin axis pivot pin.Moved up and down in cylinder body by compressed air-driven piston rod and drive paw to open and tighten up to grip electronic devices and components, not only compact conformation, take up room little, and without trachea is separately configured, improve gripping, the response speed of plug-in unit and service life.
Description
Technical field
The invention belongs to inserter field, particularly to a kind of jaw and robot abnormal shape inserter clamp device.
Background technology
Robot abnormal shape inserter is the machinery equipment that electronic devices and components are inserted in PCB specify position, machine
Device people's abnormal shape inserter generally includes: machine casing, equipment base, pcb board transmit positioner and robot.The Z of robot
Clamp device is set on axle, robot clamp device is commonly installed multiple jaw or sucker for gripping and plug-in mounting electronics unit device
Part；Pcb board transmits positioner and pcb board is sent to precalculated position, and robot clamp device is first by corresponding electronics by instruction
Part is plugged into the position specified on pcb board.At present, jaw typically uses cylinder to control its gripping electronic devices and components and plug-in unit is made
Industry；Each cylinder is required to insert trachea so that robot clamp device is the most burdensome, and trachea and holding wire cabling are complicated, bear a heavy burden
Bigger；And due to the limitation installed between the object on cylinder limited service life, clamp device, using a period of time
After, jaw there will be the phenomenon of loosening corrupted, affects the plug-in unit precision of equipment.
Summary of the invention
The present invention provides a kind of jaw and robot abnormal shape inserter clamp device, to alleviate heavy burden, to simplify trachea and letter
Number line cabling, and improve jaw service life and plug-in unit precision.
On the one hand, the present invention provides a kind of jaw, including: cylinder body, piston rod, a pair paw, return unit and block, described
Piston rod and described return unit are positioned at described cylinder interior, and described return unit is socketed in the lower end of described piston rod, its upper end with
The lower surface of the flange part that described piston rod upper end is arranged abuts；Described block is fixed on the bottom of described cylinder body, described reset
The lower end of part abuts with the upper end of described block, and the lower end of described piston rod is stretched out outside described cylinder body through described block；Institute
Stating paw to be rotationally connected by the lower end of a central axis pin with described piston rod, described paw is by a spin axis pivot pin and described cylinder
Body is rotationally connected.
Described cylinder body includes that main body, described main body are symmetrically arranged on two with a pair ear, and the end of described ear is provided with circle
Through hole.
Described piston rod includes that central shaft, the bottom of described central shaft are provided with manhole.
Described paw includes main body, and the both sides, upper end of described main body are respectively provided with connecting portion, and one end of described connecting portion is provided with
Manhole, the other end of described connecting portion is provided with U-shaped elongated hole.
Manhole on the U-shaped elongated hole of described connecting portion and described piston rod makes described by the series connection of described central axis pin
Paw is connected with described piston rod.
The manhole of described connecting portion and the manhole of described ear make described hands by the series connection of described rotating axle pin
Pawl is connected with described cylinder body.
Described paw also includes that crawl section, the upper end of described crawl section and described connecting portion are provided with one end of manhole even
Connect.
Between described two paws, extension spring can also be set.
Described jaw is provided with quick connector, and described quick connector is internal is hollow-core construction.
On the other hand, invention provides a kind of robot abnormal shape inserter clamp device, including any of the above-described described jaw,
Described robot abnormal shape inserter clamp device is provided with quick-speed plug device, and the quick connector of described jaw fills with quick-speed plug
Put connection.
The jaw that the present invention provides, on the one hand, moved up and down in cylinder body by compressed air-driven piston rod and drive
Paw opens and tightens up to grip electronic devices and components, not only compact conformation, take up room little, and without trachea is separately configured, carry
High gripping, the response speed of plug-in unit and service life.On the other hand, by arranging quick-speed plug structure, improve jaw
Change the speed suitability.The robot abnormal shape inserter clamp device of the present invention, because have employed the jaw of said structure, bears a heavy burden
Relatively gently, trachea and signal line wiring are simplified, improve service life.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the clamp device that the present invention uses；
Fig. 2 is the decomposition texture schematic diagram of the clamp device that the present invention uses；
Fig. 3 A and Fig. 3 B is respectively perspective view and the cross section view of the first sorting mechanism；
Fig. 4 is the perspective view of the second sorting mechanism；
Fig. 5 A is the front view of jaw installation shaft assembly；
Fig. 5 B is Fig. 5 A cross section view along A-A direction；
Fig. 6 is the generalized section of the clamp device that the present invention uses；
Fig. 7 is the operation principle schematic diagram of the clamp device that the present invention uses；
Fig. 8 is clamp device and the robot connection diagram of the present invention；
Fig. 9 and Figure 10 is respectively perspective view and the decomposing schematic representation of the jaw that the present invention uses；
Figure 11 is the Fig. 9 profile along A-A direction；
Figure 12 is the perspective view of the suction nozzle 70 that the present invention uses；
Figure 13 is the decomposing schematic representation of the suction nozzle 70 that the present invention uses；
Figure 14 is the Figure 12 generalized section along A-A direction.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the clamp device that the present invention uses, and Fig. 2 is the decomposition of the clamp device that the present invention uses
Structural representation, as it can be seen, clamp device 10, is installed on the end of robot Z axis 1, including: the first sorting mechanism 11,
Two sorting mechanisms 13, multiple jaw installation shaft assembly 15 and a support plate 17；Described robot Z axis 1 is each passed through the first separator
Structure the 11, second sorting mechanism 13 and the center of a support plate 17, multiple jaw installation shaft assemblies 15 are distributed around described robot Z；
First sorting mechanism 11 is fixing with robot body to be connected；Second sorting mechanism 13 and a support plate 17 are fixing with robot Z axis 1 even
Connecing, the second sorting mechanism 13 is between the first sorting mechanism 11 and a support plate 17；Multiple jaw installation shaft assemblies 15 uniformly divide
Cloth is slidably connected on a support plate 17 and with a support plate 17；Jaw installation shaft assembly 15 is provided with selection control part 19, works as sorting
Control piece 19 is when the first sorting mechanism 11 is combined, and described clamping jaw device can move axially together with robot Z axis；When sorting control
Product 19 is when the second sorting mechanism 13 is combined, and the second sorting mechanism 13, jaw installation shaft assembly 15 and a support plate 17 can be followed
Robot Z axis 1 moves axially together.
Fig. 3 A and Fig. 3 B is respectively perspective view and the cross section view of the first sorting mechanism, as it can be seen, first
The main body 111 of sorting mechanism 11 is hollow cylinder, and main body 111 medial wall is provided with the first annulus keyway 112, the first annulus keyway
112 is the inwall circular ring structure to outside concave shape one-tenth of main body 111.The face, fixed end of the first sorting mechanism 11 is provided with for machine
The axis hole 113 that people's Z axis 1 passes, the first sorting mechanism 11 is slidably connected with robot Z axis 1.
Fig. 4 is the perspective view of the second sorting mechanism, as it can be seen, the second sorting mechanism 13 includes main body 131,
The outer wall of main body is provided with the second annulus keyway 132, and the second annulus keyway 132 is that the outer wall of main body 131 caves inward formation.Main
Being additionally provided with the axis hole 133 passed for robot Z axis 1 in the axle of body 131 in the heart, the second sorting mechanism 13 is fixed with robot Z axis 1
Connect.
Fig. 5 A is the front view of jaw installation shaft assembly, and Fig. 5 B is Fig. 5 A cross section view along A-A direction, as it can be seen,
Jaw installation shaft assembly 15 includes that mounting seat 151 and jaw install axle 152, and jaw installs one end of axle 152 and the end of mounting seat
Portion is fixing to be connected, and the other end is provided with quick-speed plug device 153, and jaw can be locked in jaw by quick-speed plug device 153 pacifies
On dress axle 152.It is a hollow axle that jaw installs axle 152, and inside is provided with central passage 154.
As shown in Figure 5 B, in selection control part 19 is arranged on the top cavity of mounting seat 151 and be axially movable, sorting control
Product 19 is a piston shaft, is provided with separator 191 in the middle of selection control part 19, and described top cavity is separated into by separator 191
First cavity 158 and the second cavity 159, selection control part 19 two ends are rotatably supported on described top cavity by sealing member 101
In.Mounting seat 151 is provided with air inlet air flue the 155, first air flue 156 and the second air flue 157, the first air flue 156 and the first cavity 158
Communicating, the second air flue 157 communicates with the second cavity 159, air inlet air flue 155 and jaw install the central passage 154 of axle 152, the
One air flue 156 and the second air flue 157 communicate, and electromagnetic valve controls compressed gas and entered into mounting seat 151 inside by air inlet air flue 155
In each air flue, when compressed air is entered in the first cavity 158 by the first air flue 156, selection control part 19 is driven to prolong it
Axially mobile towards described second direction, cavity place (right direction in Fig. 5 B)；When compressed air is entered by the second air flue 157
Time in the second cavity 159, drive selection control part 19 to prolong it and axially move towards the first direction, cavity 158 place (left side in Fig. 5 B)
Dynamic, it is achieved to drive selection control part 19 moving axially in the top cavity of mounting seat 151.
Connect elastic trachea 100 and be arranged on the air inlet of air inlet air flue 155, provide source of the gas for jaw installation shaft assembly 15.
As depicted in figs. 1 and 2, a support plate 17 is provided with the spline 20 coordinated with jaw installation shaft assembly 15, a support plate
17 use splined builtup structure to prevent from relatively rotating with jaw installation shaft assembly 15.
The operation principle of the clamp device of the present invention is discussed in detail below in combination with Fig. 6 and Fig. 7.As it can be seen, it is initial
Position (state shown in Fig. 1), all selection control parts 19 are inserted into first point near the end of the first sorting mechanism 11 side
Select in the first annulus keyway 112 of mechanism 11, make jaw be in the pcb board that high position prevents in moving process and is disposed below
On components and parts interfere；When a certain jaw needs to carry out plug-in unit or gripping electronic component, with the most a certain jaw, axle group is installed
As a example by part motion, it is positioned at the selection control part 19 in corresponding mobile jaw installation shaft assembly 15 axially towards the second sorting mechanism
13 directions are moved, and selection control part 19 inserts the second annulus key of the second sorting mechanism 13 near one end of the second sorting mechanism 13
In groove 132, i.e. this installation shaft assembly 15 links together with the second sorting mechanism 13, due to the second sorting mechanism 13 and a support plate
17 fixing with robot Z axis 1 are connected, and when robot Z axis 1 is axially downward, drive this installation shaft assembly 15 along with the
Two sorting mechanisms 13 and a support plate 17 move (as shown in Figure 7) downwardly together so that corresponding jaw complete crawl electronic component or
The action of plug-in unit.
As shown in Figure 2 and Figure 6, be also socketed with bolster 30 in the upper end of the second sorting mechanism 13, bolster 30 one end with
The upper surface of the second sorting mechanism 13 abuts, and the other end is connected to the bottom face of the fixture 31 being fixed on robot Z axis 1.
When plug-in unit, if corresponding electronic component cannot be plugged into the position specified on pcb board by jaw or first with neighbouring electronics
Part interferes, and installation shaft assembly 15 and connected second sorting mechanism 13 move up compression bolster 30, to avoid
Infringement components and parts.Bolster 30 in the present invention is stage clip, it would however also be possible to employ other have the alternative elements of elastic deformation.
As it is shown in fig. 7, be additionally provided with photoelectric sensor 40 on the upper surface of support plate 17, the quantity of photoelectric sensor 40 with
The quantity of jaw installation shaft assembly 15 matches, and photoelectric sensor 40 is used for judging that whether jaw is by corresponding electronic component grafting
Appointment position on pcb board.Under normal circumstances, photoelectric sensor 40 detects mounting seat 151, i.e. photoelectric sensor 40 with
Mounting seat 151 is maintained in predetermined appropriate distance.If corresponding electronic element cannot be plugged into the specific bit of pcb board by jaw
Put, or interfere with neighbouring electronic component, cause installation shaft assembly 15 and connected second sorting mechanism 13 upwards
Mobile compression bolster 30, drives the mounting seat 151 on installation shaft assembly to move up simultaneously, makes photoelectric sensor 40 and install
The distance of seat is beyond preset range, and then stops robot Z axis to continue downward grafting electronic component, to avoid clamp device, electricity
Sub-components and parts and pcb board are damaged.
Fig. 8 is clamp device and the robot connection diagram of the present invention, as it can be seen, the first sorting of clamp device 10
The outer housing of mechanism 11 is connected by connecting plate assembly 100 is fixing with robot body 200, and robot body 200 is additionally provided with CCD
Visual component 300, CCD visual component 300 is fixed on the outside of clamp device 10, and CCD visual component 300 is used for positioning pcb board
Position makes plug-in unit more accurate.
The clamp device of the present invention, eliminates cylinder and drives jaw to move, decrease pneumatic action frequency, and can be wide
Be applied in four axle robots of various brands generally, have compact conformation, response speed is fast in gripping, the suitability is wide, easy care
Feature.
The clamp device of the present invention only need a driving (i.e. the movement of Z axis) just can complete all jaws feeding successively and
The action of plug-in unit.
Clamp device 50 of the present invention also includes that jaw 50 and suction nozzle 60, jaw 50 are used for gripping the electronic component of abnormal shape, inhale
Mouth 60 is for drawing the temperature electronic element that top is the most smooth.Separately below jaw 50 and suction nozzle 60 are described in detail.
Fig. 9 and Figure 10 is respectively perspective view and the decomposing schematic representation of the jaw 50 that the present invention uses, such as figure institute
Showing, jaw 50 includes: cylinder body 51, piston rod 52 and a pair paw 53, and piston rod 52 is positioned at cylinder body 51 inside center, and paw 53 leads to
Crossing central axis pin 61 to be rotationally connected with piston rod 52, paw 53 is rotationally connected with cylinder body 51 by spin axis pivot pin 62.
Figure 11 is the Fig. 9 profile along A-A direction, and jaw 50 also includes return unit 54 and block 55；Return unit 54 is socketed
In the lower end of piston rod 52, upper end abuts with the lower surface of the flange part 522 of piston rod；Block 55 is fixed on the end of cylinder body 51
Portion, the lower end of return unit 54 abuts with the upper end of block 55, and the outside of cylinder body 51 is stretched out through block 55 in the lower end of piston rod 52,
Return unit 54 is between the flange part 522 being positioned at block 55 and piston rod.
As shown in Figure 10, cylinder body 51 includes that main body 511, main body 511 are symmetrically arranged on two with a pair ear 512, ear 512
End is provided with manhole 513.Piston rod 52 includes that central shaft 521, the bottom of central shaft 521 are provided with manhole 523. hands
Pawl 53 includes main body 531, and the both sides, upper end of main body 531 are respectively provided with connecting portion 532, and one end of connecting portion 532 is provided with manhole
533, the other end of connecting portion 532 is provided with U-shaped elongated hole 534. paw 53 and also includes crawl section 535, the upper end of crawl section 535 and company
Meeting portion 532 and be provided with one end connection of manhole 533, electronic devices and components accommodate between two crawl sections 535.Between two paws 53
Extension spring (not shown) can also be set, provide enough clamping forces for the electronic devices and components that gripping is bigger.
With reference to Fig. 9-11, when assembling jaw 50, first piston rod 52 is put into cylinder body with the assembly that return unit 54 is constituted
In 51, then block 55 is fixed on cylinder base and makes the central shaft 521 of piston rod 52 reach through the center of block 55
Outside cylinder body, make piston rod 52 and return unit 54 be locked in cylinder body 51, then two connecting portions 532 on paw 53 are connected to cylinder
In the ear 512 of body 51, the ear 512 of cylinder body 51 is placed between two connecting portions 532, make manhole on paw 53 533 with
Manhole 513 on cylinder body 51 aligns, U-shaped vast sky 534 on paw 53 aligns with the manhole 523 on piston rod 52；
Then central axis pin 61 is sequentially passed through the manhole 523 on the U-shaped elongated hole 534 of first on paw 53, piston rod 52, hands
Second U-shaped elongated hole 534 on pawl 53 completes the connection of paw 53 and cylinder body 51, then is sequentially passed through from outside by spin axis pivot pin 62
Second manhole 533 on first manhole 533 on paw 53, the manhole 513 on cylinder body 51, paw 53
Complete the connection of paw 53 and cylinder body 51, complete the connection of paw 53 and piston rod 52.
Paw 53 in the present invention use compressed air as driving force, when extraneous air enters into the internal pusher of cylinder body 51
When dynamic piston rod 52 moves axially downwards in cylinder body 51, piston rod 52 imparts power to paw by central axis pin 61
52, paw 53 with rotating axle pin 62 for axle rotate time paw 53 be flared out simultaneously, return unit 54 is compressed simultaneously；When cancelling cylinder
Compressed air in body 51, piston rod 52 moves upward under the effect of return unit 54 and makes it inwardly tighten up.
Return unit 54 in the present invention uses stage clip.
As it is shown in figure 9, the upper end of cylinder body 51 is provided with quick connector 56, jaw 50 installs axle by quick connector 56 with jaw
Quick-speed plug device 153 (Fig. 5 A) dismounting of assembly 15 connects, it is achieved quick-replaceable jaw.Quick connector 56 is internal is hollow knot
Structure, is linked in cylinder body 51 so that jaw to be installed the air in the central passage 154 of axle 152.
Figure 12 is the perspective view of the suction nozzle 70 that the present invention uses, Figure 13 be the suction nozzle 70 that uses of the present invention point
Solving schematic diagram, Figure 14 is the Figure 12 generalized section along A-A direction, as it can be seen, the suction nozzle 70 of the present invention includes: body 71,
Vacuum generator 72 and sucker 73, it is internal that vacuum generator 72 is arranged on body 71, and sucker 73 is arranged on the lower end of body 71.This
Body 71 upper end is provided with quick connector 74, and suction nozzle 70 is by the quick-speed plug device of quick connector 74 with jaw installation shaft assembly 15
153 (Fig. 5 A) dismantles connection.Quick connector 74 is internal is hollow-core construction, to be installed by jaw in the central passage 154 of axle 152
Air is linked in body 71.
Claims (10)
1. a jaw, it is characterised in that including: cylinder body, piston rod, a pair paw, return unit and block, described piston rod and
Described return unit is positioned at described cylinder interior, and described return unit is socketed in the lower end of described piston rod, its upper end and described piston
The lower surface of the flange part that bar upper end is arranged abuts；Described block is fixed on the bottom of described cylinder body, the lower end of described return unit
Abutting with the upper end of described block, the lower end of described piston rod is stretched out outside described cylinder body through described block；Described paw leads to
The lower end crossing a central axis pin and described piston rod is rotationally connected, and described paw is rotated even with described cylinder body by a spin axis pivot pin
Connect.
Jaw the most according to claim 1, it is characterised in that described cylinder body includes that main body, described main body lateral symmetry set
A pair ear, the end of described ear is had to be provided with manhole.
Jaw the most according to claim 2, it is characterised in that described piston rod includes central shaft, under described central shaft
End is provided with manhole.
Jaw the most according to claim 3, it is characterised in that described paw includes main body, the both sides, upper end of described main body
Being respectively provided with connecting portion, one end of described connecting portion is provided with manhole, and the other end of described connecting portion is provided with U-shaped elongated hole.
Jaw the most according to claim 4, it is characterised in that on the U-shaped elongated hole of described connecting portion and described piston rod
Manhole makes described paw be connected with described piston rod by the series connection of described central axis pin.
Jaw the most according to claim 5, it is characterised in that the manhole of described connecting portion and the circle of described ear
Through hole makes described paw be connected with described cylinder body by the series connection of described rotating axle pin.
Jaw the most according to claim 6, it is characterised in that described paw also includes crawl section, described crawl section upper
End is provided with one end of manhole and is connected with described connecting portion.
Jaw the most according to claim 7, it is characterised in that between described two paws, extension spring can also be set.
9. according to the arbitrary described jaw of claim 1-8, it is characterised in that described jaw is provided with quick connector, described soon
Connection-peg is internal is hollow-core construction.
10. a robot abnormal shape inserter clamp device, it is characterised in that include according to claim 1-9 arbitrary described
Jaw, described robot abnormal shape inserter clamp device is provided with quick-speed plug device, and the quick connector of described jaw is with quick
Pull-plug device connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608852.8A CN106132185A (en) | 2016-07-28 | 2016-07-28 | Jaw and robot abnormal shape inserter clamp device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608852.8A CN106132185A (en) | 2016-07-28 | 2016-07-28 | Jaw and robot abnormal shape inserter clamp device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106132185A true CN106132185A (en) | 2016-11-16 |
Family
ID=57254153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610608852.8A Pending CN106132185A (en) | 2016-07-28 | 2016-07-28 | Jaw and robot abnormal shape inserter clamp device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106132185A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108366521A (en) * | 2017-07-26 | 2018-08-03 | 珠海智新自动化科技有限公司 | One kind is quick, intelligent to change head abnormal shape plug-in machine |
| CN109688784A (en) * | 2018-12-05 | 2019-04-26 | 珠海智新自动化科技有限公司 | A kind of plug head with capture configurations |
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| CN105451534A (en) * | 2015-12-17 | 2016-03-30 | 珠海市宇腾自动化设备制造有限公司 | IC inserting end for full-automatic irregularly-shaped insertion machine |
| CN105598366A (en) * | 2015-11-23 | 2016-05-25 | 广兴机械科技（惠州）有限公司 | Special clamping jaw installed on mechanical arm for casting shell mold and used for slurry dipping |
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| CN201399788Y (en) * | 2009-05-15 | 2010-02-10 | 竺开明 | Pneumatic control mechanical gripper |
| CN201950675U (en) * | 2010-12-27 | 2011-08-31 | 东莞市新泽谷机械有限公司 | Structurally-improved manipulator claw |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108366521A (en) * | 2017-07-26 | 2018-08-03 | 珠海智新自动化科技有限公司 | One kind is quick, intelligent to change head abnormal shape plug-in machine |
| CN109688784A (en) * | 2018-12-05 | 2019-04-26 | 珠海智新自动化科技有限公司 | A kind of plug head with capture configurations |
| CN109688784B (en) * | 2018-12-05 | 2023-05-09 | 珠海智新自动化科技有限公司 | Plug-in head with locking structure and integrated plug-in mechanism |
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Application publication date: 20161116 |