CN106144625A - A kind of classification Palletizer of mechanically-based hands - Google Patents
A kind of classification Palletizer of mechanically-based hands Download PDFInfo
- Publication number
- CN106144625A CN106144625A CN201610702009.6A CN201610702009A CN106144625A CN 106144625 A CN106144625 A CN 106144625A CN 201610702009 A CN201610702009 A CN 201610702009A CN 106144625 A CN106144625 A CN 106144625A
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- Prior art keywords
- roller
- cylinder
- plate
- frame
- palletizer
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C1/00—Labelling flat essentially-rigid surfaces
- B65C1/02—Affixing labels to one flat surface of articles, e.g. of packages, of flat bands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
- B65C9/36—Wipers; Pressers
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- Labeling Devices (AREA)
Abstract
The invention discloses the classification Palletizer of a kind of mechanically-based hands, including carrier pipeline, carrier pipeline includes the feeding roller table conveyer belt set gradually, driven roller-way and location roller bed conveyors, carrier pipeline is provided above dyestripping identification mechanism, roller bed conveyors side, location is additionally provided with base, being provided with six axis robot on base, six axis robot is provided with grasping mechanism, six axis robot periphery is additionally provided with non-defective unit rest area, NonConforming Product Area and label-sticking mechanism.Good positioning effect of the present invention, precision is high, and reduces manpower intervention, little to product injury.
Description
Technical field
The present invention relates to haulage equipment field, be specifically related to the classification Palletizer of a kind of mechanically-based hands.
Background technology
Before many large-scale product warehousings or use, as packing all due to outside carrier, so needing to arrange
And identification, the mode of operation that existing general employing is artificial, but owing to product stacking is higher, there is bigger inconvenience, and product
Surface has layer protecting film, can find information, extremely inconvenience after needing to tear on the identification code on surface, and manual
Dyestripping is the most difficult, easily damages product surface.And when carrying typically also by a dead lift, need stronger work
Power, although mechanical hand can replace manually, but nowadays mechanical hand cannot be competent at for bigger article, grasp stability pole
Difference, fragile.
Summary of the invention
It is an object of the invention to the problem above overcoming prior art to exist, it is provided that the classification code of a kind of mechanically-based hands
Buttress equipment, good positioning effect of the present invention, precision is high, and reduces manpower intervention, little to product injury.
For realizing above-mentioned technical purpose, reaching above-mentioned technique effect, the present invention is achieved through the following technical solutions:
The classification Palletizer of a kind of mechanically-based hands, including carrier pipeline, described carrier pipeline includes setting successively
The feeding roller table conveyer belt put, driven roller-way and location roller bed conveyors, described carrier pipeline is provided above dyestripping identification
Mechanism, roller bed conveyors side, described location is additionally provided with base, and described base is provided with six axis robot, described six axle machines
Tool is provided with grasping mechanism on hand, and described six axis robot periphery is additionally provided with non-defective unit rest area, NonConforming Product Area and labeling
Mechanism.
Further, described location roller bed conveyors includes that rack platform, described rack platform surface configuration have some rollers
Road, described roller-way is connected with power drive mechanism, is provided with lifting body, described lifting body top below some described roller-ways
Being provided with some top boards, described top board is arranged between adjacent two roller-ways, and roller-way two ends are also provided with clamping plate, described folder
Plate surface configuration has some roller-ways to dodge hole, and two described clamping plate are all set on the axis of guide, between the described axis of guide and clamping plate
Being provided with axle sleeve, described axle sleeve is connected with Boards wall, and described clamping plate are additionally provided with fixing fixture block, described fixing fixture block sandwiched
On the first belt gear, the discharge end side of described location roller bed conveyors is provided with stop part, on described top board all
The even guide wheel that is provided with, described guide wheel rotates along roller-way axial direction and arranges.
Further, described dyestripping identification mechanism includes portal frame, described portal frame is provided with and moves in the X-axis direction
Slip girder, described slip girder is provided with the slip auxiliary girder moved along Z-direction, described slip auxiliary girder is provided with support
Installing plate, is provided with two detection beams moved along Y direction, described detection beam is provided with two bottom described support mounting plate
The individual mounting bracket moved in the X-axis direction, described mounting bracket is provided with sucker and barcode scanning camera.
Further, it is provided with lift cylinder between described mounting bracket and sucker, is provided with bottom described lift cylinder
Horizontal adjustment plate, described horizontal adjustment plate is provided with Long Circle hole, is provided with spring avoiding mechanism, institute in described Long Circle hole
State sucker to be arranged on bottom spring avoiding mechanism.
Further, described grasping mechanism includes that basic framework, described basic framework are all provided with along the dual-side of X-direction
Being equipped with guide rail, described guide rail is arranged along Y direction, and two described guide rails are provided with the first slide unit and the
Two slide units, two described first slide units and first capture frame and connect, and two described second slide units and second capture frame and connect, described
First captures frame and second captures on frame and is provided with grasping plate, is additionally provided with the in the basic framework that described guide rail is corresponding
Two belt gears, the belt top of described second belt gear and bottom sandwiched respectively are fixed with the first transmission jig arm
With the second transmission jig arm, described first transmission jig arm is fixedly installed on the first crawl frame, and described second transmission jig arm is arranged on
Second captures on frame.
Further, mounting plane plate is set in the middle part of described basic framework, is provided with in the middle of described mounting plane plate and weighs
Sensor, is additionally provided with axle joined assemblies between described mounting plane plate and basic framework.
Further, described label-sticking mechanism includes mounting platform, and described attachment mesa base is provided with installation bracing frame, institute
Stating and be provided with sliding rail and the 3rd belt gear between attachment platform and installing rack, described attachment platform surface is provided with
Bid mechanism, the bid end of bid mechanism is provided with labeling plate, and described labeling plate surface configuration has some adsorption holes, described absorption
Hole is connected with vacuum pipe, and described labeling plate is connected with swingle, and described swingle is arranged on rotary cylinder, described rotary pneumatic
Cylinder is connected by link and the first cylinder, and described first cylinder is arranged on fixing support rack, and described fixing support rack is fixed
On attachment platform.
Further, the second cylinder, described first gas it are additionally provided with between described first cylinder and fixing support rack
Cylinder and the second cylinder are all arranged towards labeling direction.
The invention has the beneficial effects as follows:
Move to bottom, be stopped by stop part bottom it, it is achieved rear and front end by carrier by the conveyer belt of roller-way structure
Spacing, then by lifting body and clip board engagement, it is possible to make carrier lift up and realize the spacing of right position so that carry
Tool position is always consistent, reduces the demand that mechanical hand efficiently positions, and accelerates grasp speed, promotes and captures effect.Use
Driving belt mechanism is as the power of clamping plate, it is ensured that two clamping plate can synchronize mutually to move, and by the second motor-driven
And proximity transducer, it is possible to the carrier adapting to arbitrary dimension uses, and the suitability is wide.By two lead screw gear and two
The upper roof beam structure being respectively provided with bottom lead screw gear achieves omnibearing movement on horizontal plane, it is possible to adapt to the product of various sizes
Product use, and dyestripping uses vacuum cup, will not damage product surface, it is to avoid artificial bad generation, when by fixed
Behind roller bed conveyors location, position, it is possible to remove the location positioning between support mounting plate and location roller bed conveyors from, reduce location
Mechanism gets involved, and improves precision.Arranged by the second belt gear enable to the grasping plate of both sides can relative motion, it is possible to
Capture various sizes of product.When axle joined assemblies makes to capture, it is possible to have certain leeway of rocking, reduce weight to mechanical hand
Impulsive force, improves service life.
After to labeling plate surface configuration adsorption hole, got involved by vacuum, it is possible to quickly adsorb label, and will not
Label is watered the water surface pollute, labeling plate by rotary cylinder, the first cylinder and the second cylinder turn to and release can
Realize labeling, make product pass through from side.It is provided with sliding rail between attachment platform and installing rack, can by movement
Overall labeling part be may move, to meet the use of different size mechanism.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
The detailed description of the invention of the present invention is shown in detail in by following example and accompanying drawing thereof.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, in embodiment technology being described below
The required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only some realities of the present invention
Execute example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the location roller-way conveyer structure schematic diagram of the present invention；
Fig. 3 is the clamping plate part-structure schematic diagram of the present invention；
Fig. 4 is the suction cup portion structural representation of the present invention；
Fig. 5 is the grasping mechanism part-structure schematic diagram of the present invention；
Fig. 6 is the structural representation of the label-sticking mechanism of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to figs. 1 through shown in Fig. 6, a kind of mechanical hand location grasping mechanism, including carrier pipeline 1, carrier pipeline bag
Including feeding roller table conveyer belt 2, driven roller-way 3 and the location roller bed conveyors 4 set gradually, carrier pipeline is provided above tearing
Film identification mechanism 15, roller bed conveyors side, location is additionally provided with base 16, base is provided with six axis robot 17, six axle machines
Tool is provided with grasping mechanism 18 on hand, and six axis robot periphery is additionally provided with non-defective unit rest area 44, NonConforming Product Area 45 and patch
Marking machine structure 46.
Location roller bed conveyors includes that rack platform 5, rack platform surface configuration have some roller-ways 6, roller-way to pass with power
Motivation structure connects, and is provided with lifting body below some roller-ways, and lifting body top is provided with some top boards 7, and top board is arranged on
Between adjacent two roller-ways, roller-way two ends being also provided with clamping plate 8, cleat surface is provided with some roller-ways and dodges hole 9, two
Clamping plate are all set on the axis of guide 10, are provided with axle sleeve 11 between the axis of guide and clamping plate, and axle sleeve is connected with Boards wall, on clamping plate
Being additionally provided with fixing fixture block 12, fixing fixture block is folded on the first belt gear 13, the discharge end of location roller bed conveyors
Side is provided with stop part 14.
Wherein, carrier is sent on stop part by location roller bed conveyors, it is achieved one end positions, then lifting body action
Rise, it is possible to making top board by carrier jack-up, after carrier departs from conveyer belt, driving belt mechanism action, driving belt rotates through
Fixing fixture block makes two clamping plate mutually draw close, and the position of carrier is limited adjustment by clamping plate further, is folded in location roller-way transmission
Centre, makes every a batch of carrier all can be in same position on top board, it is simple to detection beam and mounting bracket are to carrier surface
The thin film of product adsorbs and tears, and is identified information, also allows for grasping mechanism and captures.
Being evenly arranged with guide wheel 19 on top board, guide wheel rotates along roller-way axial direction and arranges, and holds up when guide wheel heads on carrier
After, the pinching action of clamping plate can make carrier slide on guide wheel, and frictional force is little, and therefore the active force of clamping plate can reduce, dynamic
Make more smooth and easy.
Dyestripping identification mechanism includes portal frame 20, and portal frame is provided with the slip girder 21 moved in the X-axis direction, and slides
It is provided with the slip auxiliary girder 22 moved along Z-direction on girder, slip auxiliary girder is provided with support mounting plate 23, support mounting plate
Bottom is provided with two detection beams 24 moved along Y direction, detection beam is provided with two installations moved in the X-axis direction and props up
Frame 25, mounting bracket is provided with sucker 26 and barcode scanning camera 27.Detection beam and mounting bracket are mutually moved along X and Y-axis
Cooperation realizes horizontal plane and moves, and is removed by the thin film of product surface by sucker, is produced by barcode scanning camera while removing
Product information.
It is provided with lift cylinder 28 between mounting bracket and sucker, bottom lift cylinder, is provided with horizontal adjustment plate 29, water
Being provided with Long Circle hole 30 on flat adjustable plate, be provided with spring avoiding mechanism 31 in Long Circle hole, sucker is arranged on spring and dodges
Actuator base, vacuum cup can be firmly pressed on the film of product by lift cylinder, and spring avoiding mechanism then avoids vacuum to inhale
Pressure on dish crosses macrolesion product, improves stability in use.
Grasping mechanism includes basic framework 32, and basic framework is provided with guide rail 33 along the dual-side of X-direction,
Guide rail is arranged along Y direction, and two guide rails are provided with the first slide unit and the second slide unit, two the first slide units with
First captures frame 36 connects, and two the second slide units and second capture frame 37 and connect, and the first crawl frame and second captures and is all provided with on frame
It is equipped with grasping plate 38, in the basic framework that guide rail is corresponding, is additionally provided with the second belt gear 39, the second belt transmission
The belt top of mechanism and bottom sandwiched respectively are fixed with the first transmission jig arm 40 and the second transmission jig arm 41, the first transmission jig arm
Being fixedly installed on the first crawl frame, the second transmission jig arm is arranged on the second crawl frame.Integrated model can extend along Y direction
And shortening, adapt to the product gripping of all size.
Mounting plane plate 42 is set in the middle part of basic framework, in the middle of mounting plane plate, is provided with LOAD CELLS, mounting plane
Axle joined assemblies 43 it is additionally provided with, it is possible to just can learn the concrete weight of product when capturing between plate and basic framework, convenient fast
Victory, and axle connects group when making to capture, it is possible to and having certain leeway of rocking, reduce the weight impulsive force to mechanical hand, raising makes
Use the life-span.
Label-sticking mechanism includes mounting platform 47, and attachment mesa base is provided with installation bracing frame 48, attachment platform and installation
Being provided with sliding rail 49 and the 3rd belt gear 50 between frame, attachment platform surface is provided with bid mechanism 51, bid
The bid end of mechanism is provided with labeling plate 52, and labeling plate surface configuration has some adsorption holes, and adsorption hole is connected with vacuum pipe, patch
Target is connected with swingle 53, and swingle is arranged on rotary cylinder 54, and rotary cylinder is connected by link and the first cylinder 55
Connecing, the first cylinder is arranged on fixing support rack 56, and fixing support rack is fixed on attachment platform.Six axis robot is by capturing
Mechanism moves to label-sticking mechanism front after capturing product, and label-sticking mechanism is according to product size, by the 3rd belt gear band
Dynamic attachment platform moves along sliding rail, to vacate enough spaces, keeps the distance between product, and then bid mechanism will
One label is sent, rotary cylinder action make labeling plate keep horizontally disposed position, first cylinder shrink, by labeling strip to
Above label, after vacuum gets involved, inhaling vacuum by adsorption hole, label is attracted to labeling plate surface, then rotary cylinder immediately
Action, rotates labeling plate to plumbness, and then the first cylinder is released, and label is affixed to product surface, and vacuum is closed,
Realizing labeling, use the thrust of the first cylinder to carry out labeling, labeling firmness is high, effective, and the first cylinder resets, six axis robot
Just the product posting label can be removed, simple and fast
The second cylinder 57, the first cylinder and the second cylinder it is additionally provided with all towards patch between first cylinder and fixing support rack
Mark direction is arranged, and the second cylinder coordinates the first cylinder action so that the action of labeling is divided into two parts, after drawing label, first
Second cylinder operation, first releases certain distance by the first cylinder and labeling plate, and then rotary cylinder action rotates the position of labeling plate
Put, last first cylinder action, label is attached on product, so make labeling plate will not get to bid mechanism when rotated
On, it is ensured that smooth movements degree.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (8)
1. the classification Palletizer of a mechanically-based hands, it is characterised in that: include carrier pipeline, described carrier pipeline bag
Including the feeding roller table conveyer belt set gradually, driven roller-way and location roller bed conveyors, described carrier pipeline is provided above
Dyestripping identification mechanism, roller bed conveyors side, described location is additionally provided with base, described base is provided with six axis robot, institute
Stating and be provided with grasping mechanism on six axis robot, described six axis robot periphery is additionally provided with non-defective unit rest area, defective products is placed
District and label-sticking mechanism.
The classification Palletizer of a kind of mechanically-based hands the most according to claim 1, it is characterised in that: described location roller-way
Conveyer belt includes that rack platform, described rack platform surface configuration have some roller-ways, described roller-way to be connected with power drive mechanism,
Being provided with lifting body below some described roller-ways, described lifting body top is provided with some top boards, and described top board is arranged on
Between adjacent two roller-ways, roller-way two ends being also provided with clamping plate, described cleat surface is provided with some roller-ways and dodges hole, and two
Individual described clamping plate are all set on the axis of guide, are provided with axle sleeve, described axle sleeve and Boards wall between the described axis of guide and clamping plate
Connecting, described clamping plate are additionally provided with fixing fixture block, described fixing fixture block is folded on the first belt gear, described location
The discharge end side of roller bed conveyors is provided with stop part, and described top board is evenly arranged with guide wheel, and described guide wheel is along roller-way axle
Rotate to direction and arrange.
The classification Palletizer of a kind of mechanically-based hands the most according to claim 1, it is characterised in that: described dyestripping identification
Mechanism includes portal frame, described portal frame is provided with the slip girder moved in the X-axis direction, described slip girder is provided with
The slip auxiliary girder moved along Z-direction, described slip auxiliary girder is provided with support mounting plate, arranges bottom described support mounting plate
There are two detection beams moved along Y direction, described detection beam is provided with two mounting brackets moved in the X-axis direction, institute
State and in mounting bracket, be provided with sucker and barcode scanning camera.
The classification Palletizer of a kind of mechanically-based hands the most according to claim 3, it is characterised in that: described mounting bracket
And it is provided with lift cylinder between sucker, is provided with horizontal adjustment plate bottom described lift cylinder, described horizontal adjustment plate sets
Being equipped with Long Circle hole, be provided with spring avoiding mechanism in described Long Circle hole, described sucker is arranged on bottom spring avoiding mechanism.
The classification Palletizer of a kind of mechanically-based hands the most according to claim 1, it is characterised in that: described grasping mechanism
Including basic framework, described basic framework is provided with guide rail along the dual-side of X-direction, and described guide rail is along Y
Direction of principal axis is arranged, and two described guide rails are provided with the first slide unit and the second slide unit, two described first slide units and the
One captures frame connection, and two described second slide units and second capture frame and connect, and described first captures frame and second captures on frame equal
It is provided with grasping plate, in the basic framework that described guide rail is corresponding, is additionally provided with the second belt gear, described second skin
The belt top of tape handler and bottom sandwiched respectively are fixed with the first transmission jig arm and the second transmission jig arm, and described first passes
Dynamic jig arm is fixedly installed on the first crawl frame, and described second transmission jig arm is arranged on the second crawl frame.
The classification Palletizer of a kind of mechanically-based hands the most according to claim 5, it is characterised in that: described basic framework
Middle part arranges mounting plane plate, is provided with LOAD CELLS, described mounting plane plate and basis frame in the middle of described mounting plane plate
Axle joined assemblies it is additionally provided with between frame.
The classification Palletizer of a kind of mechanically-based hands the most according to claim 1, it is characterised in that: described label-sticking mechanism
Including attachment platform, described attachment mesa base is provided with installation bracing frame, is provided with between described attachment platform and installing rack
Sliding rail and the 3rd belt gear, described attachment platform surface is provided with bid mechanism, and the bid end of bid mechanism sets
Being equipped with labeling plate, described labeling plate surface configuration has some adsorption holes, described adsorption hole to be connected with vacuum pipe, described labeling plate
Being connected with swingle, described swingle is arranged on rotary cylinder, and described rotary cylinder is connected by link and the first cylinder,
Described first cylinder is arranged on fixing support rack, and described fixing support rack is fixed on attachment platform.
The classification Palletizer of a kind of mechanically-based hands the most according to claim 7, it is characterised in that: described first
Being additionally provided with the second cylinder between cylinder and fixing support rack, described first cylinder and the second cylinder all set towards labeling direction
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610702009.6A CN106144625B (en) | 2016-08-22 | 2016-08-22 | A kind of classification Palletizer based on manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610702009.6A CN106144625B (en) | 2016-08-22 | 2016-08-22 | A kind of classification Palletizer based on manipulator |
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| Publication Number | Publication Date |
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| CN106144625A true CN106144625A (en) | 2016-11-23 |
| CN106144625B CN106144625B (en) | 2018-05-04 |
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| CN201610702009.6A Active CN106144625B (en) | 2016-08-22 | 2016-08-22 | A kind of classification Palletizer based on manipulator |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107454819A (en) * | 2017-05-18 | 2017-12-08 | 深圳市敏佳捷自动化科技有限公司 | Dismount panel assembly |
| CN107626608A (en) * | 2017-10-27 | 2018-01-26 | 无锡大东机械制造有限公司 | The stacking control device that packaging bag is identified using visual imaging |
| CN107718853A (en) * | 2017-11-15 | 2018-02-23 | 安徽中显智能机器人有限公司 | A kind of Coating-removing machine |
| CN108687658A (en) * | 2018-03-23 | 2018-10-23 | 上海先德机械工程有限公司 | Workpiece machining apparatus |
| CN109911354A (en) * | 2019-04-01 | 2019-06-21 | 启翊创智能科技(苏州)有限公司 | It takes pictures mechanism |
| CN110803365A (en) * | 2019-11-27 | 2020-02-18 | 深圳市银浩自动化设备有限公司 | Automatic assembling equipment for production and processing of protection plates |
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| CN108687658A (en) * | 2018-03-23 | 2018-10-23 | 上海先德机械工程有限公司 | Workpiece machining apparatus |
| CN108687658B (en) * | 2018-03-23 | 2022-06-14 | 先德智能装备股份有限公司 | Workpiece machining equipment |
| CN109911354A (en) * | 2019-04-01 | 2019-06-21 | 启翊创智能科技(苏州)有限公司 | It takes pictures mechanism |
| CN109911354B (en) * | 2019-04-01 | 2024-04-12 | 启翊创智能科技(苏州)有限公司 | Photographing mechanism |
| CN110803365A (en) * | 2019-11-27 | 2020-02-18 | 深圳市银浩自动化设备有限公司 | Automatic assembling equipment for production and processing of protection plates |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106144625B (en) | 2018-05-04 |
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Address after: High tech Zone Suzhou city Jiangsu province 215011 Yinzhu Road No. 15 Patentee after: Suzhou Longkun automation equipment Co., Ltd Address before: High tech Zone Suzhou city Jiangsu province 215011 Yinzhu Road No. 15 Patentee before: SUZHOU LANGKUN AUTOMATION EQUIPMENT Co.,Ltd. |
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