CN108015795A - A kind of grabbing device of automatic guiding - Google Patents
A kind of grabbing device of automatic guiding Download PDFInfo
- Publication number
- CN108015795A CN108015795A CN201810003822.3A CN201810003822A CN108015795A CN 108015795 A CN108015795 A CN 108015795A CN 201810003822 A CN201810003822 A CN 201810003822A CN 108015795 A CN108015795 A CN 108015795A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- float plate
- grabbing
- clip claw
- grabbing device
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/106—Gripping heads and other end effectors having finger members with three or more finger members moving in parallel relationship
Abstract
The present invention relates to a kind of grabbing device of automatic guiding, it is used for grabbing workpiece and grabbing workpiece is accurately positioned over commitment positions, grabbing device includes the clip claw mechanism of grabbing workpiece, grabbing device, which further includes, enables the accurate grabbing workpiece of clip claw mechanism or the accurate centering body for placing workpiece, the floating Slab element being arranged on supporting rack that centering body includes supporting rack, can be slided with anteroposterior direction in left-right direction, clip claw mechanism are fixedly connected on the bottom of floating Slab element；The clip claw mechanism of the grabbing device of the automatic guiding of invention is set in grabbing workpiece by the floating of floating Slab element in the centering body of the present invention so that clip claw mechanism captures or places workpiece and lateral（I.e. in left and right directions or in anteroposterior direction）During stress, clip claw mechanism can laterally shift, until workpiece is accurately captured or workpiece is accurately positioned over commitment positions.When during the clamping jaw crawl of the clip claw mechanism of the present invention or placing workpiece, workpiece will not be caused to scratch.
Description
Technical field
The present invention relates to a kind of grabbing device of automatic guiding.
Background technology
Double mass flywheel is the important composition component of automobile power assembly, is engaging or is separating first, clutch can be reduced
When impact, the torsion vibration absorber effect of this point and clutch disc is identical；The vibrations of engine can be on the other hand reduced, because
Engine end is installed on for flywheel, weight is big, vibrations and impact when internal torsion vibration absorber can be worked with balanced engine.
The shell of double mass flywheel is by punch forming, and main location hole is completed by machining, appearance profile and location hole it
Between there are bigger deviation.
Higher and higher, carrying workpiece generally use robot or manipulator are required based on the automation of current mechanical equipment.
But many workpiece and not all shape are all machinings, some are cast member or forge piece etc., and appearance profile position is determined with needing
The position dimension uniformity of position is not especially accurate, and workpiece needs fast automatic crawl, and positioning, is placed into correct position.
In the prior art since the size of workpiece is uncertain, during the clamping jaw grabbing workpiece of robot or manipulator, from
Can cause to collide between clamping jaw and workpiece, clamping jaw and workpiece are damaged, in addition, when, the workpiece that is crawled it is outer
Workpiece, there are during larger position deviation, is placed into location hole, clamping jaw can produce radial force, workpiece positioning by shape with location hole
Face easily scratches, and manipulator or robot can be caused to damage by lateral force.
The content of the invention
The technical problems to be solved by the invention are to overcome the deficiencies of the prior art and provide a kind of crawl dress of automatic guiding
Put, it will not be workpiece scratch.
In order to solve the above technical problems, the technical solution that the present invention takes is as follows：
A kind of grabbing device of automatic guiding, it is used for grabbing workpiece and grabbing workpiece is accurately positioned over commitment positions, crawl
Device includes the clip claw mechanism of grabbing workpiece, and grabbing device, which further includes, enables the accurate grabbing workpiece of clip claw mechanism or accurate placement
The centering body of workpiece, centering body include supporting rack, are arranged on supporting rack with what anteroposterior direction can slide in left-right direction
On floating Slab element, clip claw mechanism is fixedly connected on the bottom of floating Slab element；When clip claw mechanism grabbing workpiece and front and rear
When direction or left and right directions stress, clip claw mechanism can be floated by centering body in anteroposterior direction and left and right directions until by work
Part captures, when the workpiece of crawl is positioned over commitment positions and in anteroposterior direction or left and right directions stress by clip claw mechanism, clamping jaw
Mechanism can be floated until workpiece is positioned over commitment positions by centering body in anteroposterior direction and left and right directions.
Preferably, floating Slab element includes the first float plate being fixedly connected with clip claw mechanism, and the first float plate is opposite to prop up
Support can be slided with anteroposterior direction in left-right direction.
Preferably, floating Slab element further includes is slidably connected at support with a direction in anteroposterior direction in left-right direction
The second float plate on frame, it is floating that the first float plate is slidably connected at second with another direction in anteroposterior direction in left-right direction
On movable plate.
Preferably, floating Slab element further includes the first sliding equipment between the first float plate and the second float plate,
First float plate is slidably connected by the first sliding equipment and the second float plate.
Preferably, floating Slab element further includes the second sliding equipment between the second float plate and supporting rack, and second
Float plate is slidably connected by the second sliding equipment with supporting rack.
Preferably, supporting rack includes being located at lateral gusset plate and the cover board above gusset plate, cover board and gusset
Accommodation space is enclosed between plate, floating Slab element can be slided with left and right directions along the longitudinal direction in accommodation space
Dynamic, the second sliding equipment is arranged between cover board and the second float plate.
Preferably, centering body further includes conflict between the first float plate side and gusset plate and the second float plate side
Multiple elastic components between gusset plate.
Preferably, centering body, which further includes, is intended to drive floating Slab element to slide into appearance with left and right directions along the longitudinal direction
Receive space centre response agency.
Preferably, response agency includes being fixedly connected on fixed disk that is in the middle part of the first float plate and offering cone tank,
Through cover board, the second float plate set and pillar of the bottom formed with taper surface, be fixed on cover board upper side be used for drive
The vertically moving driving device of dynamic pillar.
Preferably, the first sliding equipment includes the first slide being fixed on the first float plate upper side and fixation is set
Put the first matrix in the second float plate downside, offered on the first matrix with the first slide coordinate slide sliding slot, second
Sliding equipment includes the second slide for being fixed on the second float plate upper side and be fixed at cover board downside the
Two matrixs, offer on the second matrix and coordinate the sliding slot slided with the second slide.
Due to the implementation of above technical scheme, the present invention has the following advantages that compared with prior art：
The clip claw mechanism of the grabbing device of the automatic guiding of the present invention is in grabbing workpiece by being floated in the centering body of the present invention
The floating of movable plate unit is set so that clip claw mechanism captures or places workpiece and lateral（I.e. in left and right directions or in front and back
To）During stress, clip claw mechanism can laterally shift, until workpiece is accurately captured or is accurately positioned over workpiece set
Position.Since the clip claw mechanism of the present invention can float along left and right, anteroposterior direction, when clamping jaw captures, clamping jaw will not be produced with workpiece
Raw lateral hard contact, when placing workpiece, workpiece will not produce the contact of hardness with the hole wall of location hole, will not cause work
Part scratches, and will not injure grabbing device, the efficiency of the crawl work of grabbing device greatly improves.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the grabbing device of the automatic guiding of the present invention；
Fig. 2 is the dimensional structure diagram of the centering body of the present invention（One of gusset plate is omitted）；
Fig. 3 is the dimensional structure diagram of the floating Slab element of the present invention；
Fig. 4 is the dimensional structure diagram of the pillar and fixed disk in the response agency of the present invention；
Wherein：1st, centering body；10th, driving device；101st, pillar；1010；Taper surface；102nd, fixed disk；1020th, cone tank；
111st, cover board；112nd, gusset plate；121st, the first float plate；122nd, the second float plate；13rd, elastic component；141st, the first slide；142、
First matrix；151st, the second slide；152nd, the second matrix；2nd, clip claw mechanism；20th, clamping jaw；200th, workpiece；X, left and right directions；Y、
Anteroposterior direction.
Embodiment
The present invention will be further described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of grabbing device of automatic guiding, it is used for grabbing workpiece 200 and will grab
Workpiece 200 is taken accurately to be positioned over commitment positions, grabbing device includes the clip claw mechanism 2 of grabbing workpiece 200（Clip claw mechanism includes grabbing
Take multiple clamping jaws of workpiece）, grabbing device, which further includes, to be enable the accurate grabbing workpiece 200 of clip claw mechanism 2 or accurately places workpiece
200 centering body 1, centering body 1 are arranged on support including what supporting rack, in left-right direction X and anteroposterior direction Y can be slided
Floating Slab element on frame, clip claw mechanism 2 are fixedly connected on the bottom of floating Slab element；When 2 grabbing workpiece 200 of clip claw mechanism simultaneously
In anteroposterior direction Y or left and right directions X stress, clip claw mechanism 2 can be in anteroposterior direction Y and left and right directions X by centering body 1
Float until workpiece 200 is captured, when clip claw mechanism 2 workpiece 200 of crawl is positioned over commitment positions and in anteroposterior direction Y or
During left and right directions X stress, clip claw mechanism 2 can be floated by centering body 1 in anteroposterior direction Y and left and right directions X until by work
Part 200 is positioned over commitment positions.
Specifically, floating Slab element includes the first float plate 121 being fixedly connected with clip claw mechanism 2, the first float plate 121
X and anteroposterior direction Y it can be slided in left-right direction with respect to supporting rack.Floating Slab element further includes X in left-right direction and front and back
A direction into Y is slidably connected at the second float plate 122 on supporting rack, the first float plate 121 in left-right direction X and before
Another direction in rear direction Y is slidably connected in the second float plate 122（In this example, the first float plate 121 is along front and back
It is slidably connected to Y and the second float plate 122；X's second float plate 122 is slidably connected with cover board 111 in left-right direction, this
Outside, since the first float plate 121 is connected in the second float plate 122, when the second float plate 122, X is slided in left-right direction
When dynamic, the first float plate 121 can follow the second float plate 122, and X is moved in left-right direction, i.e., in this example, the second float plate
122 X can only move in left-right direction, and the first float plate 121 be able to can then be moved in anteroposterior direction Y, left and right directions X,
So as to which clip claw mechanism be able to can float in anteroposterior direction Y, left and right directions X, the position of its own has been adjusted）.
Floating Slab element further includes the first sliding equipment between the first float plate 121 and the second float plate 122, the
One float plate 121 is slidably connected by the first sliding equipment and the second float plate 122.Floating Slab element further includes floating arranged on second
The second sliding equipment between movable plate 122 and supporting rack, the second float plate 122 is slided by the second sliding equipment and supporting rack to be connected
Connect；In this example, the first sliding equipment includes the first slide 141 being fixed on 121 upper side of the first float plate and fixes
The first matrix 142 of 122 downside of the second float plate is arranged on, offers to coordinate with the first slide 141 on the first matrix 142 and slides
Dynamic sliding slot, the second sliding equipment includes the second slide 151 being fixed on 122 upper side of the second float plate and fixation is set
The second matrix 152 in 111 downside of cover board is put, is offered on the second matrix 152 and coordinates the cunning slided with the second slide 151
Groove.
Further, supporting rack includes being located at lateral gusset plate 112 and the cover board 111 above gusset plate 112,
Be enclosed accommodation space between cover board 111 and gusset plate 112, floating Slab element can be along front and back in accommodation space
Slided to Y and left and right directions X, the second sliding equipment is arranged between 111 and second float plate 122 of cover board.Centering body 1 further includes
Contradict more between 122 side of the second float plate and gusset plate 112 between 121 side of the first float plate and gusset plate 112
A elastic component 13.
Further, centering body 1, which further includes, is intended to drive floating Slab element Y and left and right directions X cunnings along the longitudinal direction
Move to the response agency of the centre of accommodation space.Response agency includes being fixedly connected in the middle part of the first float plate 121 and opens
Fixed disk 102 equipped with cone tank 1020, set through cover board 111, the second float plate 122 and bottom is formed with taper surface
1010 pillar 101, be fixed on 111 upper side of cover board be used for drive the vertically moving driving device 10 of pillar 101.
The working condition of the grabbing device of the automatic guiding of the present invention is as follows：
When grabbing workpiece, grabbing device is moved in left and right or anteroposterior direction workpiece（Whole grabbing device is in crossbeam in this example
On can left and right or move back and forth, not shown in figure）, and alignment pieces（Due to the difference of the shape of workpiece, clamping jaw can not essence
True alignment pieces, can there are some deviations）, when the downward grabbing workpiece of clamping jaw, since existing deviation clamping jaw connects with workpiece
After touch, can be in lateral force, can be on a left side after clamping jaw lateral force since whole clip claw mechanism is connected on floating Slab element
Right direction X or anteroposterior direction Y float, until with workpiece alignment by workpiece grabbing.
Location hole is moved to after grabbing workpiece and by workpiece（Commitment positions）When, response agency work, i.e. driving device
Driving pillar moves downward, and the taper surface of pillar can be contacted with the cone tank of fixed disk, and fixed disk can drive the first float plate to move
Dynamic, the first float plate drives the movement of the second float plate, and up to the first float plate, Y and left and right directions X return to centre along the longitudinal direction
Position（It is by being realized with the second float plate that the left and right directions X of first float plate, which floats,）, pillar will not be with fixed disk at this time
When contradict, i.e. the first float plate and the second float plate will not float, and stablize in centre position, so as to prevent clip claw mechanism from moving
When rock；
When the workpiece of crawl to be moved to the top position of location hole, and start to move downward when putting the workpiece in location hole, return
Structure of answering a pager's call works, and driving device driving pillar moves up, and is allowed to contradict with fixed disk detachment, floating Slab element can be front and rear at this time
Direction Y and left and right directions X floats, namely clip claw mechanism can float in anteroposterior direction Y and left and right directions X, when workpiece is put into
During location hole, clip claw mechanism lateral force, then can float in anteroposterior direction Y and left and right directions X, until putting the workpiece in positioning
Hole.
In conclusion the clip claw mechanism of the grabbing device of the automatic guiding of the present invention passes through the present invention's in grabbing workpiece
The floating of floating Slab element is set in centering body so that clip claw mechanism captures or places workpiece and lateral（I.e. in right and left
To X or in anteroposterior direction Y）During stress, clip claw mechanism can laterally shift, until workpiece is accurately captured or by workpiece
Accurately it is positioned over commitment positions.Since the clip claw mechanism of the present invention can float along left and right, anteroposterior direction, when clamping jaw captures, folder
Pawl will not produce lateral hard contact with workpiece, and when placing workpiece, workpiece will not produce hardness with the hole wall of location hole
Contact, will not cause workpiece to scratch, will not injure grabbing device, the efficiency of the crawl work of grabbing device greatly improves.
The present invention is described in detail above, its object is to allow the personage for being familiar with this field technology to understand this
The content of invention is simultaneously carried out, and it is not intended to limit the scope of the present invention, all Spirit Essence institutes according to the present invention
The equivalent change or modification of work, should all cover within the scope of the present invention.
Claims (10)
1. a kind of grabbing device of automatic guiding, it is used to grabbing workpiece and is accurately positioned over the grabbing workpiece both position
Put, the grabbing device includes the clip claw mechanism of grabbing workpiece, it is characterised in that：The grabbing device, which further includes, makes the clamping jaw
Mechanism can accurately grabbing workpiece or the accurate centering body for placing workpiece, the centering body includes supporting rack, along right and left
To the floating Slab element being arranged on support frame as described above that can be slided with anteroposterior direction, the clip claw mechanism is fixedly connected on institute
State the bottom of floating Slab element；
When the clip claw mechanism grabbing workpiece and in anteroposterior direction or left and right directions stress, it is described right that the clip claw mechanism passes through
Middle mechanism can be floated in anteroposterior direction and left and right directions until by the workpiece grabbing, when the clip claw mechanism is by the work of crawl
Part is positioned over the commitment positions and in anteroposterior direction or left and right directions stress, and the clip claw mechanism passes through the centering body
It can float in anteroposterior direction and left and right directions until the workpiece is positioned over the commitment positions.
2. the grabbing device of automatic guiding according to claim 1, it is characterised in that：The floating Slab element includes and institute
The first float plate that clip claw mechanism is fixedly connected is stated, first float plate can be in left-right direction with before with respect to support frame as described above
Rear direction is slided.
3. the grabbing device of automatic guiding according to claim 2, it is characterised in that：The floating Slab element further includes edge
A direction in left and right directions and anteroposterior direction is slidably connected at the second float plate on support frame as described above, and described first floats
Plate is slidably connected in second float plate along another direction in the left and right directions and anteroposterior direction.
4. the grabbing device of automatic guiding according to claim 3, it is characterised in that：The floating Slab element, which further includes, to be set
The first sliding equipment between first float plate and the second float plate, first float plate are slided by described first
Mechanism is slidably connected with second float plate.
5. the grabbing device of automatic guiding according to claim 4, it is characterised in that：The floating Slab element, which further includes, to be set
The second sliding equipment between second float plate and supporting rack, second float plate pass through second sliding equipment
It is slidably connected with support frame as described above.
6. the grabbing device of automatic guiding according to claim 5, it is characterised in that：Support frame as described above is included positioned at lateral
Gusset plate and the cover board above the gusset plate, it is empty that receiving has been enclosed between the cover board and the gusset plate
Between, the floating Slab element can be slided with left and right directions along the longitudinal direction in the accommodation space, and described second slides
Mechanism is arranged between the cover board and the second float plate.
7. the grabbing device of automatic guiding according to claim 6, it is characterised in that：The centering body further includes conflict
It is more between the second float plate side and the gusset plate between the first float plate side and the gusset plate
A elastic component.
8. the grabbing device of automatic guiding according to claim 6, it is characterised in that：The centering body further includes trend
Slide into the response agency of the centre of the accommodation space with left and right directions along the longitudinal direction in the drive floating Slab element.
9. the grabbing device of automatic guiding according to claim 8, it is characterised in that：The response agency includes fixed connect
Fixed disk that is in the middle part of first float plate and offering cone tank is connected on, is set through the cover board, the second float plate
And pillar of the bottom formed with taper surface, be fixed on the cover board upper side be used for drive the pillar vertically to transport
Dynamic driving device.
10. the grabbing device of automatic guiding according to claim 5, it is characterised in that：First sliding equipment includes
The first slide for being fixed on the first float plate upper side and it is fixed at the second float plate downside
First matrix, offers on first matrix and coordinates the sliding slot slided, the second sliding equipment bag with first slide
Include the second slide being fixed on the second float plate upper side and be fixed at the second of the cover board downside
Matrix, offers on second matrix and coordinates the sliding slot slided with second slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810003822.3A CN108015795A (en) | 2018-01-03 | 2018-01-03 | A kind of grabbing device of automatic guiding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810003822.3A CN108015795A (en) | 2018-01-03 | 2018-01-03 | A kind of grabbing device of automatic guiding |
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| Publication Number | Publication Date |
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| CN108015795A true CN108015795A (en) | 2018-05-11 |
Family
ID=62071145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810003822.3A Pending CN108015795A (en) | 2018-01-03 | 2018-01-03 | A kind of grabbing device of automatic guiding |
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| CN108858161A (en) * | 2018-08-22 | 2018-11-23 | 中民筑友科技投资有限公司 | A kind of manipulator and set mould truss robot |
| CN110052800A (en) * | 2019-05-05 | 2019-07-26 | 博格华纳汽车零部件（江苏）有限公司 | Pressure shell and core component combination mechanism |
| CN110355777A (en) * | 2019-07-17 | 2019-10-22 | 苏州托克斯冲压设备有限公司 | It is automatically aligned to grabbing device and is automatically aligned to capture apparatus |
| CN111590627A (en) * | 2020-05-29 | 2020-08-28 | 苏州天准科技股份有限公司 | Clamping jaw device |
| CN111627850A (en) * | 2020-06-12 | 2020-09-04 | 文一三佳(合肥)机器人智能装备有限公司 | Arrange piece machine initial point correction system |
| CN111687878A (en) * | 2020-06-03 | 2020-09-22 | 杭州浙达精益机电技术股份有限公司 | Floating self-adaptive structure device of robot arm |
| CN112008391A (en) * | 2019-05-31 | 2020-12-01 | 京瓷办公信息系统株式会社 | Assembling device |
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| CN115057203A (en) * | 2022-06-29 | 2022-09-16 | 三一机器人装备(西安)有限公司 | Self-selection obstacle-avoiding centering device and production line |
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| CN108858161A (en) * | 2018-08-22 | 2018-11-23 | 中民筑友科技投资有限公司 | A kind of manipulator and set mould truss robot |
| CN110052800A (en) * | 2019-05-05 | 2019-07-26 | 博格华纳汽车零部件（江苏）有限公司 | Pressure shell and core component combination mechanism |
| CN112008391A (en) * | 2019-05-31 | 2020-12-01 | 京瓷办公信息系统株式会社 | Assembling device |
| CN112008391B (en) * | 2019-05-31 | 2022-07-01 | 京瓷办公信息系统株式会社 | Assembling device |
| CN110355777A (en) * | 2019-07-17 | 2019-10-22 | 苏州托克斯冲压设备有限公司 | It is automatically aligned to grabbing device and is automatically aligned to capture apparatus |
| CN111590627A (en) * | 2020-05-29 | 2020-08-28 | 苏州天准科技股份有限公司 | Clamping jaw device |
| CN111687878A (en) * | 2020-06-03 | 2020-09-22 | 杭州浙达精益机电技术股份有限公司 | Floating self-adaptive structure device of robot arm |
| CN111687878B (en) * | 2020-06-03 | 2023-10-31 | 杭州浙达精益机电技术股份有限公司 | Floating self-adaptive structure device of robot arm |
| CN111627850A (en) * | 2020-06-12 | 2020-09-04 | 文一三佳(合肥)机器人智能装备有限公司 | Arrange piece machine initial point correction system |
| CN114643570A (en) * | 2020-12-17 | 2022-06-21 | 沈阳新松机器人自动化股份有限公司 | Electric floating unit |
| CN114643570B (en) * | 2020-12-17 | 2023-05-30 | 沈阳新松机器人自动化股份有限公司 | Electric floating unit |
| CN113697477A (en) * | 2021-08-13 | 2021-11-26 | 杭州徐睿机械有限公司 | Attitude-fixing material taking mechanism for tobacco pipe type special-shaped joint |
| CN113697477B (en) * | 2021-08-13 | 2022-12-13 | 杭州徐睿机械有限公司 | Attitude-fixing material taking mechanism for tobacco pipe type special-shaped joint |
| CN113770679A (en) * | 2021-09-29 | 2021-12-10 | 广东皓耘科技有限公司 | Filter element replacing device and maintenance robot |
| CN115057203B (en) * | 2022-06-29 | 2023-07-28 | 三一机器人装备(西安)有限公司 | Self-selection obstacle avoidance centering device and production line |
| CN115057203A (en) * | 2022-06-29 | 2022-09-16 | 三一机器人装备(西安)有限公司 | Self-selection obstacle-avoiding centering device and production line |
| CN115070375A (en) * | 2022-07-19 | 2022-09-20 | 南京泰普森自动化设备有限公司 | Friction piece group assembling device |
| CN115351584A (en) * | 2022-08-31 | 2022-11-18 | 珞璜(重庆)机器人有限公司 | Automatic cylinder head machining system |
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