CN109809130A - It is a kind of for assisting the feeding device of AGV - Google Patents
It is a kind of for assisting the feeding device of AGV Download PDFInfo
- Publication number
- CN109809130A CN109809130A CN201910224005.5A CN201910224005A CN109809130A CN 109809130 A CN109809130 A CN 109809130A CN 201910224005 A CN201910224005 A CN 201910224005A CN 109809130 A CN109809130 A CN 109809130A
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- screw rod
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- blanking plate
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Abstract
The invention discloses a kind of for assisting the feeding device of AGV, is related to AGV technical field of auxiliary equipment.The present invention includes blanking plate, and blanking plate is installed on the ground by several first support columns, and the upper surface middle part of blanking plate is provided with a feed opening, and the upper surface of blanking plate is equipped with a lifting clamping device；The lower surface of blanking plate is placed with a supporting mechanism；Going up and down clamping device includes elevating mechanism and clamping device；Elevating mechanism includes fixed plate, the second support column and first hydraulic cylinder；Clamping device includes lifter plate, the first screw rod and the second screw rod.The present invention is by the first L-type snap-gauge on clamping device and the second L-type snap-gauge come goods clamping, and make cargo security land on automated guided vehicle by elevating mechanism and supporting mechanism, effectively raise the loading efficiency and feeding precision and the production efficiency of enterprise of feeding device；And it ensure that the safety of cargo.
Description
Technical field
The invention belongs to AGV technical field of auxiliary equipment, more particularly to a kind of for assisting the feeding device of AGV.
Background technique
AGV, that is, automated guided vehicle is the travelling bogie that homing devices are magnetically or optically waited equipped with electricity, this trolley
It can be travelled along defined guide path, be the transport vehicle with safeguard protection and various transfer functions；AGV is people's fortune
It send express delivery and material etc. to provide convenient, and reduces the production cost of enterprise.
Currently, auxiliary AGV carries out feeding mostly by being accomplished manually, this mode working efficiency is low, and increases enterprise
Production cost；And the AGV charging equipment that a part is completed by feeding device can not effectively guarantee the safety of article, and
Feeding precision is low, causes the damage of article；Therefore require study it is a kind of for assisting the feeding device of AGV improve feeding effect
Rate and the safety for guaranteeing article.
Summary of the invention
The purpose of the present invention is to provide a kind of for assisting the feeding device of AGV, passes through the first L-type on clamping device
Snap-gauge and the second L-type snap-gauge carry out goods clamping, and are leading cargo security land automatically by elevating mechanism and supporting mechanism
Draw on transport vehicle, solve existing artificial loading low efficiency, and the problem of mechanical feeding not can guarantee cargo security.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions:
The present invention is a kind of for assisting the feeding device of AGV, including blanking plate, and the blanking plate passes through several first
Dagger is installed on the ground, and the upper surface middle part of the blanking plate is provided with a feed opening, the upper surface installation of the blanking plate
There is a lifting clamping device；The lower surface of the blanking plate is placed with a supporting mechanism；
The lifting clamping device includes elevating mechanism and clamping device；The elevating mechanism includes fixed plate, second
Dagger and first hydraulic cylinder；The fixed plate is mounted on the upper surface of blanking plate by several second support columns；The fixed plate
Be evenly distributed in the upper surface several first hydraulic cylinders be installed；
The clamping device includes lifter plate, the first screw rod and the second screw rod；The upper surface of the lifter plate and the first liquid
The piston rod end face of cylinder pressure is fixedly mounted；The lower surface of the lifter plate is installed with the first screw rod and the second screw rod respectively；It is described
A turbine is fixed in the middle part of first screw rod；The thread rotary orientation of first screw both end is opposite；And the two of first screw rod
End has been respectively cooperating with first wire nut；One first L-type snap-gauge is fixed on the bottom surface of the first wire nut；The two first L-type cards
Plate is oppositely arranged；
The worm screw with turbine engaged transmission is fixed in the middle part of second screw rod；The end of second screw rod and fixation
The first motor output axis connection being mounted on lifter plate lower surface；The thread rotary orientation of second screw both end is opposite；And institute
The both ends for stating the second screw rod have been respectively cooperating with the second screw；One second L-type snap-gauge is fixed on the bottom surface of second screw；Two
The second L-type snap-gauge is oppositely arranged；
The supporting mechanism includes second hydraulic cylinder, support plate, third screw rod, half blanking plate and the second motor；Two groups of institutes
Second hydraulic cylinder is stated to be respectively and fixedly installed on ground；The piston rod end face of the second hydraulic cylinder is fixed with a support plate；Together
A third screw rod is fixedly installed between two support plates on second hydraulic cylinder top described in one group；The spiral shell of the third screw both end
Line is oppositely oriented；And the end of the third screw rod is connect with the second motor output shaft of fixed installation on the supporting plate；It is described
The end of third screw rod is combined with two third screws respectively；The two third screws are respectively and fixedly installed to the side of half blanking plate
Face；The blanking plate profile that two half blanking plates are formed is adapted with feed opening.
Further, the distance between the transverse slat of the first L-type snap-gauge and blanking plate are equal to the transverse slat of the second L-type snap-gauge
The distance between blanking plate.
Further, being evenly distributed in the upper surface for the lifter plate is fixed with several guide posts；It opens the upper surface of the fixed plate
There are several pilot holes with guide post clearance fit.
Further, automated guided vehicle, and the automated guided vehicle position are placed with below the blanking plate
Between two groups of second hydraulic cylinders.
Further, the central axes of first screw rod are vertical with the central axes of the second screw rod；The position of the first wire nut
Shifting amount is equal with the displacement of the second screw；The top surface of the first wire nut is fixed with one first sliding block, first sliding block with
The first sliding groove formation for being provided with lifter plate lower surface is slidably connected；The top surface of second screw is fixed with one second sliding block,
Second sliding block is formed with the second sliding slot for being provided with lifter plate lower surface and is slidably connected.
The invention has the following advantages:
The present invention drives the rotation of the second screw rod by first motor, and the second screw rod is driven by engaging for worm screw and turbine
Dynamic first screw rod rotation, so that two first wire nuts and two third screws are close to each other, and passes through the first L-type snap-gauge and second
L-type snap-gauge carrys out goods clamping, and under the action of elevating mechanism, cargo is placed on blanking plate, drives goods in second hydraulic cylinder
Object decline, and third screw rod is rotated, two halves blanking plate is located remotely from each other, and cargo is fallen on automated guided vehicle；This process is not
It needs manually to participate in, improves the loading efficiency and feeding precision and the production efficiency of enterprise of feeding device；And avoid goods
The damage of object improves the safety of cargo.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of main view of the feeding device for assisting AGV of the present invention；
Fig. 2 is the structural schematic diagram of lifting clamping device of the invention；
Fig. 3 is the structural schematic diagram of the embodiment of the present invention two；
In attached drawing, parts list represented by the reference numerals are as follows:
1- blanking plate, 2- lifting clamping device, 3- supporting mechanism, 4- elevating mechanism, 5- clamping device, 6- guide plate,
The first support column of 101-, 301- second hydraulic cylinder, 302- support plate, 303- third screw rod, half blanking plate of 304-, 305- third silk
Mother, the second motor of 306-, 401- fixed plate, the second support column of 402-, 403- first hydraulic cylinder, 501- lifter plate, 502- first
Screw rod, the second screw rod of 503-, 504- first wire nut, 505- the first L-type snap-gauge, 506- first motor, the second screw of 507-, 508-
Second L-type snap-gauge, 509- guide post, 601- support rod, 602- third cylinder, 603- third sliding block, 5021- turbine, 5031- snail
Bar.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " setting ", "ON", " lower surface ", " upper surface ", " in ",
Indicating positions or the positional relationship such as " distance ", "inner", " bottom surface ", are merely for convenience of description of the present invention and simplification of the description, without
It is that the component of indication or suggestion meaning or element must have a particular orientation, is constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.
As shown in Figs. 1-2, the present invention is a kind of for assisting the feeding device of AGV, including blanking plate 1, and blanking plate 1 passes through
Several first support columns 101 are installed on the ground, and the upper surface middle part of blanking plate 1 is provided with a feed opening, the upper table of blanking plate 1
Face is equipped with a lifting clamping device 2；The lower surface of blanking plate 1 is placed with a supporting mechanism 3；
Going up and down clamping device 2 includes elevating mechanism 4 and clamping device 5；Elevating mechanism 4 is supported including fixed plate 401, second
Column 402 and first hydraulic cylinder 403；Fixed plate 401 is mounted on the upper surface of blanking plate 1 by several second support columns 402；It is fixed
Being evenly distributed in the upper surface for plate 401 is equipped with several first hydraulic cylinders 403；
Clamping device 5 includes lifter plate 501, the first screw rod 502 and the second screw rod 503；The upper surface of lifter plate 501 and the
The piston rod end face of one hydraulic cylinder 403 is fixedly mounted；The lower surface of lifter plate 501 is installed with the first screw rod 502 and second respectively
Screw rod 503；First screw rod is fixed with a turbine 5021 on 502 middle part；The thread rotary orientation at 502 both ends of the first screw rod is opposite；And the
The both ends of one screw rod 502 have been respectively cooperating with first wire nut 504；One first L-type snap-gauge is fixed on the bottom surface of first wire nut 504
505；Two first L-type snap-gauges 505 are oppositely arranged；Wherein lifter plate 501 can pass through feed opening；
The middle part of second screw rod 503 is fixed with the worm screw 5031 with 5021 engaged transmission of turbine；The end of second screw rod 503
Axis connection is exported with the first motor 506 being fixedly mounted on 501 lower surface of lifter plate；The screw thread at 503 both ends of the second screw rod revolves
To opposite；And second the both ends of screw rod 503 be respectively cooperating with the second screw 507；One is fixed on the bottom surface of second screw 507
Two L-type snap-gauges 508；Two second L-type snap-gauges 508 are oppositely arranged；
Supporting mechanism 3 includes second hydraulic cylinder 301, support plate 302, third screw rod 303, half blanking plate 304 and third silk
Mother 305；Two groups of second hydraulic cylinders 301 are respectively and fixedly installed on ground；The piston rod end face of second hydraulic cylinder 301 is fixed with one
Support plate 302；A third screw rod 303 is fixedly installed between two support plates 302 on same group of 301 top of second hydraulic cylinder；The
The thread rotary orientation at three screw rods, 303 both ends is opposite；And the end of third screw rod 303 be fixedly mounted in support plate 302 second
Motor 306 exports axis connection；The end of third screw rod 303 is combined with two third screws 305 respectively；Two third screws 305 difference
It is fixedly mounted on the side of half blanking plate 304；The blanking plate profile that two halves blanking plate 304 is formed is adapted with feed opening.
Wherein, the distance between the transverse slat of the first L-type snap-gauge 505 and blanking plate 1 are equal to the transverse slat of the second L-type snap-gauge 508
The distance between blanking plate 1, guarantee the first L-type snap-gauge 505 and the second L-type snap-gauge 508 simultaneously to the sustained height of cargo into
Row clamping, guarantees the safety of cargo.
Wherein, being evenly distributed in the upper surface for lifter plate 501 is fixed with four guide posts 509；The upper surface of fixed plate 401 be provided with
Four pilot holes of 509 clearance fit of guide post, guide post 509 are led with pilot hole with the lifting offer for being combined into lifter plate 501
To effect.
Wherein, automated guided vehicle is placed with below blanking plate, and automated guided vehicle is located at two group of second liquid
Between cylinder pressure 301.
Wherein, the central axes of the first screw rod 502 are vertical with the central axes of the second screw rod 503；The displacement of first wire nut 504
It is equal with the displacement of the second screw 507, guarantee that the first L-type snap-gauge 505 and the second L-type snap-gauge 508 touch cargo simultaneously, and
Goods clamping simultaneously；The top surface of first wire nut 504 is fixed with one first sliding block, the first sliding block and is provided with 501 following table of lifter plate
The first sliding groove formation in face is slidably connected；The top surface of second screw 507 is fixed with one second sliding block, the second sliding block and is provided with liter
The second sliding slot formation of drop 501 lower surface of plate is slidably connected, and guarantees the directionality of first wire nut 504 and the movement of the second screw 507.
One concrete application of the present embodiment are as follows:
The piston rod of second hydraulic cylinder 301 rises, so that support plate 302 drives third screw rod 303, half blanking plate, 304 and
Third screw 305 rises, and blanking plate is located in feed opening；Two second screws 507 are located at the both ends of the second screw rod 503；
Two first wire nuts 504 are located at the both ends of the first screw rod 502；
Cargo is transmitted near feed opening through conveyer belt, and then first motor 506 drives the second screw rod 503 to rotate, and second
Screw rod 503 is rotated by worm screw 5031 with the first screw rod 502 of driving that engages of turbine 5021；Two second screws 507 are at this time
Close to each other on two screw rods 503, two first wire nuts 504 are close to each other on the first screw rod 502；In the first L-type snap-gauge 505 or the
Under the drive of two L-type snap-gauges 508, cargo is in the upper surface of blanking plate；With two first L-type snap-gauges 505 it is close to each other with
And two second L-type snap-gauge 508 it is close to each other；Two first L-type snap-gauges 505 and two second L-type snap-gauges 508 will press from both sides cargo
It holds, ensure that the accuracy of cargo clamping；
The piston rod of first hydraulic cylinder 403 and the piston rod decline of second hydraulic cylinder 301, with two first L-type snap-gauges 505
The supporting role of clamping action and blanking plate to cargo is carried out to cargo with two second L-type snap-gauges 508, thus it is ensured that the peace of cargo
Quan Xing prevents cargo from dropping；When the upper surface of blanking plate and automated guided vehicle distance away when, first hydraulic cylinder
403 and second hydraulic cylinder 301 stop working；Second motor 306 drives third screw rod 303 to rotate, in the drive of third screw 305
Under, two and half blanking plates 304 are located remotely from each other, and are pressed from both sides in two first L-type snap-gauges 505 and two second L-type snap-gauges 508 to cargo
It holds under effect, cargo will not be mobile with half blanking plate 304；When two halves blanking plate 304 fully opens and cargo can be by two
When gap between half blanking plate 304, the piston rod of first hydraulic cylinder 403 drives lifter plate 501 to continue to decline, when the bottom of cargo
When the upper surface of face contact automated guided vehicle, first motor 506 is inverted, two second screws 507 phase on the second screw rod 503
Mutually separate, two first wire nuts 504 are located remotely from each other on the first screw rod 502, and cargo will fall in the upper of automated guided vehicle at this time
Surface；This process loading efficiency is high, and ensure that the safety of cargo, avoids the loss of people's economic asset.
Embodiment two
As shown in figure 3, guide plate 6 passes through four support rods 601 installation being uniformly arranged on the ground, under guide plate 6
Surface slidably connects the lifting clamping device 2 driven by third cylinder 602, and third cylinder 602 is fixedly mounted on guide plate 6
Lower surface；
Going up and down clamping device 2 includes elevating mechanism 4 and clamping device 5；Elevating mechanism 4 includes fixed plate 401 and the first liquid
Cylinder pressure 403；Being evenly distributed in the upper surface for fixed plate 401 is fixed there are four third sliding block 603, and every two third sliding block 603 is one group, and one
Group third sliding block 603 and a sliding rail form limit sliding, are slided by the limit of third sliding block 603 and sliding rail to clamp for lifting
The hanging offer support force of mechanism 2, and sliding rail is fixedly mounted on the lower surface of guide plate 6, one in every group of third sliding block 603
It is connected with the piston rod end face of third cylinder 602；Being evenly distributed in the upper surface for fixed plate 401 is equipped with several first hydraulic cylinders 403；
Clamping device 5 includes lifter plate 501, the first screw rod 502 and the second screw rod 503；The upper surface of lifter plate 501 and the
The piston rod end face of one hydraulic cylinder 403 is fixedly mounted；The lower surface of lifter plate 501 is installed with the first screw rod 502 and second respectively
Screw rod 503；First screw rod is fixed with a turbine 5021 on 502 middle part；The thread rotary orientation at 502 both ends of the first screw rod is opposite；And the
The both ends of one screw rod 502 have been respectively cooperating with first wire nut 504；One first L-type snap-gauge is fixed on the bottom surface of first wire nut 504
505；Two first L-type snap-gauges 505 are oppositely arranged；Automated guided vehicle is placed on the underface ground of lifter plate 501；
The middle part of second screw rod 503 is fixed with the worm screw 5031 with 5021 engaged transmission of turbine；The end of second screw rod 503
Axis connection is exported with the first motor 506 being fixedly mounted on 501 lower surface of lifter plate；The screw thread at 503 both ends of the second screw rod revolves
To opposite；And second the both ends of screw rod 503 be respectively cooperating with the second screw 507；One is fixed on the bottom surface of second screw 507
Two L-type snap-gauges 508；Two second L-type snap-gauges 508 are oppositely arranged；
Wherein, being evenly distributed in the upper surface for lifter plate 501 is fixed with four guide posts 509；The upper surface of fixed plate 401 be provided with
Four pilot holes of 509 clearance fit of guide post, guide post 509 are led with pilot hole with the lifting offer for being combined into lifter plate 501
To effect.
Cargo on conveyer belt effectively can be passed through the second L-type snap-gauge 508 and the first L by the technical solution of this embodiment two
Type snap-gauge 505 is grabbed, and is placed on the upper surface of automated guided vehicle.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (5)
1. a kind of for assisting the feeding device of AGV, including blanking plate (1), the blanking plate (1) passes through several first support columns
(101) it installs on the ground, and the upper surface middle part of the blanking plate (1) is provided with a feed opening, it is characterised in that:
The upper surface of the blanking plate (1) is equipped with a lifting clamping device (2)；The lower surface of the blanking plate (1) is placed with
One supporting mechanism (3)；
The lifting clamping device (2) includes elevating mechanism (4) and clamping device (5)；The elevating mechanism (4) includes fixed plate
(401), the second support column (402) and first hydraulic cylinder (403)；The fixed plate (401) passes through several second support columns (402)
It is mounted on the upper surface of blanking plate (1)；Being evenly distributed in the upper surface for the fixed plate (401) is equipped with several first hydraulic cylinders (403)；
The clamping device (5) includes lifter plate (501), the first screw rod (502) and the second screw rod (503)；The lifter plate
(501) piston rod end face of upper surface and first hydraulic cylinder (403) is fixedly mounted；The lower surface of the lifter plate (501) point
It is not installed with the first screw rod (502) and the second screw rod (503)；A turbine is fixed in the middle part of first screw rod (502)
(5021)；The thread rotary orientation at the first screw rod (502) both ends is opposite；And the both ends of first screw rod (502) are respectively cooperating with
There are first wire nut (504)；One first L-type snap-gauge (505) is fixed on the bottom surface of the first wire nut (504)；Two the oneth L
Type snap-gauge (505) is oppositely arranged；
The worm screw (5031) with turbine (5021) engaged transmission is fixed in the middle part of second screw rod (503)；Described second
The end of bar (503) and first motor (506) the output axis connection being fixedly mounted on lifter plate (501) lower surface；Described
The thread rotary orientation at two screw rods (503) both ends is opposite；And the both ends of second screw rod (503) have been respectively cooperating with the second screw
(507)；One second L-type snap-gauge (508) is fixed on the bottom surface of second screw (507)；The two second L-type snap-gauges
(508) it is oppositely arranged；
The supporting mechanism (3) includes second hydraulic cylinder (301), support plate (302), third screw rod (303), half blanking plate
(304) and third screw (305)；Second hydraulic cylinder described in two groups (301) is respectively and fixedly installed on ground；Described second is hydraulic
The piston rod end face of cylinder (301) is fixed with a support plate (302)；Two supports on second hydraulic cylinder described in same group (301) top
A third screw rod (303) is fixedly installed between plate (302)；The thread rotary orientation at third screw rod (303) both ends is opposite；And institute
The end for stating third screw rod (303) and the second motor (306) being fixedly mounted on support plate (302) export axis connection, described
The end of third screw rod (303) is combined with two third screws (305) respectively；The two third screws (305) are fixedly mounted respectively
In the side of half blanking plate (304)；The blanking plate profile that two half blanking plates (304) are formed is adapted with feed opening.
2. according to claim 1 a kind of for assisting the feeding device of AGV, which is characterized in that the first L-type snap-gauge
(505) the distance between transverse slat and blanking plate (1) be equal to the second L-type snap-gauge (508) transverse slat and blanking plate (1) between away from
From.
3. according to claim 1 a kind of for assisting the feeding device of AGV, which is characterized in that the lifter plate (501)
Be evenly distributed in the upper surface and be fixed with several guide posts (509)；The upper surface of the fixed plate (401) is provided between guide post (509)
Several pilot holes of gap cooperation.
4. according to claim 1 a kind of for assisting the feeding device of AGV, which is characterized in that under the blanking plate
Side is placed with automated guided vehicle, and the automated guided vehicle is located between two groups of second hydraulic cylinders (301).
5. according to claim 1 a kind of for assisting the feeding device of AGV, which is characterized in that first screw rod
(502) central axes are vertical with the central axes of the second screw rod (503)；The displacement and the second screw of the first wire nut (504)
(507) displacement is equal；The top surface of the first wire nut (504) is fixed with one first sliding block, first sliding block with open up
First sliding groove formation in lifter plate (501) lower surface is slidably connected；The top surface of second screw (507) is fixed with one second
Sliding block, second sliding block are formed with the second sliding slot for being provided with lifter plate (501) lower surface and are slidably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910224005.5A CN109809130A (en) | 2019-03-22 | 2019-03-22 | It is a kind of for assisting the feeding device of AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910224005.5A CN109809130A (en) | 2019-03-22 | 2019-03-22 | It is a kind of for assisting the feeding device of AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109809130A true CN109809130A (en) | 2019-05-28 |
Family
ID=66610073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910224005.5A Withdrawn CN109809130A (en) | 2019-03-22 | 2019-03-22 | It is a kind of for assisting the feeding device of AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109809130A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247613A (en) * | 2021-05-24 | 2021-08-13 | 三门峡职业技术学院 | Automatic change material taking manipulator |
-
2019
- 2019-03-22 CN CN201910224005.5A patent/CN109809130A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247613A (en) * | 2021-05-24 | 2021-08-13 | 三门峡职业技术学院 | Automatic change material taking manipulator |
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Application publication date: 20190528 |
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| WW01 | Invention patent application withdrawn after publication |