CN110040507A - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN110040507A CN110040507A CN201910435623.4A CN201910435623A CN110040507A CN 110040507 A CN110040507 A CN 110040507A CN 201910435623 A CN201910435623 A CN 201910435623A CN 110040507 A CN110040507 A CN 110040507A
- Authority
- CN
- China
- Prior art keywords
- suction cup
- guide rail
- driver
- cup assembly
- sliding block
- 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.)
- Granted
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 31
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 230000000712 assembly Effects 0.000 abstract description 14
- 238000000429 assembly Methods 0.000 abstract description 14
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000009434 installation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 241000252253 Catostomus Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to automated production equipment technical fields, disclose a kind of manipulator, including driver, connecting rod, Suction cup assembly and the first displacement component.One end of two connecting rods is hinged and hinged place and the driving end of driver connect.The other end of every connecting rod is hinged with one group of Suction cup assembly.First displacement component includes the first guide rail, the driving direction for extending perpendicularly to driver of the first guide rail, and Suction cup assembly is slidably disposed on the first guide rail.Driver can drive link move and Suction cup assembly driven to slide along the first rail.Manipulator provided by the invention, it is moved using driver drive link, and so that connecting rod is driven two groups of Suction cup assemblies along the first guide rail while moving in the opposite direction, to realize the displacement movement of Suction cup assembly, in addition, by adjusting crawl stroke of the driving apart from adjustable Suction cup assembly of driver, the scope of application is expanded.
Description
Technical field
The present invention relates to automated production equipment technical field more particularly to a kind of manipulators.
Background technique
During the automated production of electronic product, hardware products and food etc., feeding usually is carried out using manipulator
And blanking.In order to improve working efficiency, manipulator generally includes multiple groups grabbing assembly, carries out feeding using multiple groups grabbing assembly
Or blanking.
In the existing manipulator with multiple groups grabbing assembly, it generally can not realize displacement grasping movement, i.e., it will crawl
Component is fixed in the structures such as mounting plate, and grabbing assembly can only grab the workpiece of fixed position, and crawl stroke cannot root
It is adjusted according to the location of workpiece, the scope of application is small.
Therefore, the novel manipulator of one kind is needed to solve the above problems.
Summary of the invention
Based on the above, the purpose of the present invention is to provide a kind of manipulators, compared with prior art, may be implemented
Displacement grasping movement, crawl stroke can carry out flexible modulation according to the position of workpiece, and the scope of application is wider.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of manipulator, including grabbing assembly, the grabbing assembly include:
Driver；
One end of connecting rod, two connecting rods is hinged and hinged place is connect with the driving end of the driver；
Suction cup assembly, the other end of the every connecting rod be hinged with one group described in Suction cup assembly；
First displacement component, including the first guide rail, the drive for extending perpendicularly to the driver of first guide rail
Dynamic direction, the Suction cup assembly are slidably disposed on first guide rail.
Further, the quantity of the grabbing assembly is four groups.
It further, further include mounting plate, wherein grabbing assembly described in two groups is set to the side of the mounting plate, in addition
Grabbing assembly described in two groups is set to the other side of the mounting plate.
Further, extending direction of the adsorption plane of the Suction cup assembly perpendicular to first guide rail.
Further, the first displacement component further includes the first sliding block, and two first sliding blocks are mounted slidably
In on first guide rail, each first sliding block connect one group described in Suction cup assembly.
Further, the first displacement component further includes the first connecting plate, is provided with one on each first sliding block
First connecting plate described in block, the Suction cup assembly are set on first connecting plate, the other end of the connecting rod and described the
One connecting plate is hinged.
Further, the grabbing assembly further includes the second displacement component, and the second displacement component includes the second guide rail,
The extending direction of second guide rail is parallel to the driving direction of the driver, and the hinged place of two connecting rods is slideably
It is set on second guide rail.
Further, the second displacement component further includes the second sliding block, and second sliding block is slidably disposed in institute
It states on the second guide rail, the hinged place of two connecting rods is connect with second sliding block.
Further, the second displacement component further includes drive link, and the drive link extends perpendicularly to
The driving direction of the driver, one end of the drive link are connect with the driving end of the driver, the other end with it is described
The connection of second sliding block.
Further, the grabbing assembly further includes sensor, and the sensor is for detecting first connecting plate
Position.
The invention has the benefit that
Manipulator provided by the invention is moved using driver drive link, and connecting rod is made to drive two groups of Suction cup assembly edges
First guide rail moves in the opposite direction simultaneously, i.e. two groups of Suction cup assemblies can flex outward simultaneously or simultaneously to contract,
To realize Suction cup assembly displacement movement, in addition, by adjusting driver driving apart from adjustable Suction cup assembly
Stroke is grabbed, i.e. two groups of Suction cup assemblies flex outward or can be according to actual demands such as the positions of workpiece to the distance of contract
Flexible modulation is carried out, the scope of application is expanded.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also implement according to the present invention
The content of example and these attached drawings obtain other attached drawings.
Fig. 1 is structural schematic diagram of the manipulator provided in an embodiment of the present invention under first angle；
Fig. 2 is the structural schematic diagram of manipulator provided in an embodiment of the present invention under a second angle；
Fig. 3 is partial structural diagram of the manipulator provided in an embodiment of the present invention under third angle；
Fig. 4 is partial structural diagram of the manipulator provided in an embodiment of the present invention under fourth angle.
In figure:
100- workpiece；
1- driver；
2- connecting rod；
3- Suction cup assembly；
4- the first displacement component；The first guide rail of 41-；The first sliding block of 42-；The first connecting plate of 43-；
5- mounting plate；
6- the second displacement component；The second guide rail of 61-；The second sliding block of 62-；63- drive link；
7- connection component；The second connecting plate of 71-；72- third connecting plate；73- attachment base；
8- tracheae fixing seat；
9- sensor.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below
It will the technical scheme of the embodiment of the invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ", only
For descriptive purposes, or for distinguishing different structure or component, it is not understood to indicate or imply relative importance.Its
In, term " first position " and " second position " they are two different positions.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection；It can be mechanical connection,
It is also possible to be electrically connected；It can be directly connected, can also can be inside two elements indirectly connected through an intermediary
Connection.For the ordinary skill in the art, can be understood with concrete condition above-mentioned term in the present invention specifically contain
Justice.
As shown in Figure 1-Figure 3, the present embodiment provides a kind of manipulator, including grabbing assembly, grabbing assembly includes driver
1, connecting rod 2, Suction cup assembly 3 and the first displacement component 4.One end of two connecting rods 2 is hinged and the driving end of hinged place and driver 1
Connection.The other end of every connecting rod 2 is hinged with one group of Suction cup assembly 3.First displacement component 4 includes the first guide rail 41, and first leads
The driving direction for extending perpendicularly to driver 1 of rail 41, Suction cup assembly 3 are slidably disposed on the first guide rail 41.It drives
Dynamic device 1 can drive link 2 move and Suction cup assembly 3 driven to slide along the first guide rail 41.Optionally, in the present embodiment, it drives
Dynamic device 1 is cylinder.Optionally, Suction cup assembly 3 can be Bernoulli Jacob's Contactless sucking disk or common sucker.
Manipulator provided in this embodiment is moved using 1 drive link 2 of driver, and connecting rod 2 is made to drive two groups of sucker groups
Part 3 moves in the opposite direction simultaneously along the first guide rail 41, i.e. two groups of Suction cup assemblies 3 can flex outward simultaneously or simultaneously to
Contract, so that the displacement grasping movement of Suction cup assembly 3 is realized, in addition, the driving distance by adjusting driver 1 can be adjusted
The crawl stroke of whole Suction cup assembly 3, i.e. two groups of Suction cup assemblies 3 flex outward or can be according to workpiece to the distance of contract
The actual demands such as 100 position carry out flexible modulation, expand the scope of application.Secondly, utilizing a driving in the present embodiment
Device 1 drives two groups of Suction cup assemblies 3 simultaneously, it is possible to reduce the usage quantity of driver 1, not only save the cost, but also be conducive to subtract
The overall volume of gadget hand.Again, using Suction cup assembly 3 come grabbing workpiece 100, it is more advantageous to the stability for guaranteeing crawl,
Prevent workpiece 100 from falling in feeding or blanking process.Finally, can not only be played by the first guide rail 41 of setting
Guiding role, it is ensured that the accuracy of 3 motion path of Suction cup assembly, and advantageously ensure that Suction cup assembly 3 during the motion
Stability, to improve the operating accuracy of manipulator.
Optionally, as Figure 1-Figure 2, in manipulator provided in this embodiment, the quantity of grabbing assembly is four groups.By
It is provided with two groups of Suction cup assemblies 3 in every group of grabbing assembly, so entire manipulator is provided with eight groups of Suction cup assemblies 3 in total, leads to
The cooperation for crossing eight groups of Suction cup assemblies 3 can significantly improve feeding and blanking efficiency.Certainly, in other embodiments, grabbing assembly
Quantity can also be adjusted according to actual needs, such as can be two groups, six groups or eight groups etc., this is not restricted.
Further, manipulator provided in this embodiment further includes mounting plate 5, wherein two groups of grabbing assemblies are set to installation
The side of plate 5, in addition two groups of grabbing assemblies are set to the other side of mounting plate 5.By the way that mounting plate 5 is arranged, has and more conducively guarantee
The job stability of grabbing assembly, while being conducive to that multiple groups grabbing assembly is made to be able to carry out synchronizing moving.Specifically, grabbing assembly
It is respectively arranged at the opposite two sides of mounting plate 5.Setting can save installation space in this manner, further decrease machinery
The overall volume of hand.Optionally, two groups of grabbing assemblies positioned at 5 the same side of mounting plate are centrosymmetric setting.According to such side
Formula setting, can further save installation space, keep the structure of manipulator more compact.
Optionally, manipulator provided in this embodiment further includes connection component 7, connection component 7 include the second connecting plate 71,
One end of third connecting plate 72 and attachment base 73, the second connecting plate 71 is connect with third connecting plate 72, and the other end and mounting plate 5 connect
It connects, two piece of second connecting plate 71 is respectively arranged at the two sides of third connecting plate 72, one end of attachment base 73 and third connecting plate 72
Connection, the other end of attachment base 73 are configured as connecting with external robots and/or movement mould group.Using connection component 7 by machine
Tool hand is connect with external robots and/or movement mould group, consequently facilitating manipulator realizes whole movement.In addition, by two piece
Two connecting plates 71 are separately positioned on the two sides of third connecting plate 72, can not only interfere to avoid with Suction cup assembly 3, Er Qieyou
Mounting plate 5 is clamped from two sides conducive to connection component 7, guarantees the fastness connected between connection component 7 and mounting plate 5.
Optionally, manipulator provided in this embodiment further includes tracheae fixing seat 8, and tracheae fixing seat 8 is set to the second company
On fishplate bar 71.In the present embodiment, altogether there are two tracheae fixing seat 8, a tracheae fixing seat 8 is correspondingly arranged at one piece of second company
On fishplate bar 71.External tracheae is connected using tracheae fixing seat 8, gas is then conveyed to Suction cup assembly 3 and driver 1 by tracheae
Body can guarantee being fixedly secured for tracheae by the way that tracheae fixing seat 8 is arranged, to advantageously ensure that Suction cup assembly 3 and driver 1
Job stability.
Optionally, extending direction of the adsorption plane of Suction cup assembly 3 perpendicular to the first guide rail 41.It is arranged in this manner,
More conducively Suction cup assembly 3 stretches out mounting plate 5 to adsorb workpiece 100.
Optionally, as shown in figure 3, the first displacement component 4 further includes the first sliding block 42, two the first sliding blocks 42 are slideably
It is set on the first guide rail 41, each first sliding block 42 connects one group of Suction cup assembly 3.Suction cup assembly 3 is arranged in the first sliding block
On 42, by the cooperation of the first sliding block 42 and the first guide rail 41, Suction cup assembly 3 can be improved along 41 sliding process of the first guide rail
In smoothness and stability.
Optionally, the first displacement component 4 further includes the first connecting plate 43, is provided with one piece first on each first sliding block 42
Connecting plate 43, Suction cup assembly 3 are set on the first connecting plate 43, and the other end of connecting rod 2 and the first connecting plate 43 are hinged.By setting
The first connecting plate 43 is set, is conducive to link together the first sliding block 42, Suction cup assembly 3 and 2 three of connecting rod, it is ensured that between three
The stability and accuracy of cooperation.
Optionally, as shown in figures 1 and 3, grabbing assembly further includes sensor 9, and sensor 9 is for detecting the first connecting plate
43 position.The position that the first connecting plate 43 is detected by sensor 9, can be with the position of indirect monitoring Suction cup assembly 3.It is preferred that
Ground, sensor 9 are range sensor.In the present embodiment, there are two sensor 9, each sensings for setting in every group of grabbing assembly
One piece of first connecting plate 43 of corresponding detection of device 9.
Optionally, as shown in figure 4, grabbing assembly further includes the second displacement component 6, the second displacement component 6 is led including second
The extending direction of rail 61, the second guide rail 61 is parallel to the driving direction of driver 1, and the hinged place of two connecting rods 2 is slideably set
It is placed on the second guide rail 61.When 1 drive link 2 of driver, the hinged place that will drive two connecting rods 2 is sliding along the second guide rail 61
It is dynamic, to advantageously ensure that stationarity and accuracy that connecting rod 2 moves.It should be pointed out that in the present embodiment, being located at installation
Two groups of grabbing assemblies of 5 the same side of plate share second guide rail 61, to advantageously ensure that two groups of grabbing assembly crawl strokes
Consistency.
Optionally, the second displacement component 6 further includes the second sliding block 62, and the second sliding block 62 is slidably disposed in the second guide rail
On 61, the hinged place of two connecting rods 2 is connect with the second sliding block 62.It is conducive to by the second sliding block 62 and the second being combined with for guide rail 61
Guarantee the smoothness of connecting rod 2 during the motion.
Optionally, the second displacement component 6 further includes drive link 63, and drive link 63 extends perpendicularly to driver
1 driving direction, one end of drive link 63 are connect with the driving end of driver 1, and the other end is connect with the second sliding block 62.It is i.e. logical
Overdrive connecting rod 63 transmission drive the second sliding block 62 slided along the second guide rail 61.By the way that drive link 63 is arranged, be conducive to change
Become the driving direction of driver 1.Further, two drivers 1 in two groups of grabbing assemblies of 5 the same side of mounting plate are in
Center symmetric setting, and two drivers 1 are located at the two sides of the second guide rail 61.It is arranged in this manner, is conducive to
Keep the structure of manipulator more compact, saves installation space, reduce the volume of manipulator.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of manipulator, which is characterized in that including grabbing assembly, the grabbing assembly includes:
Driver (1)；
One end of connecting rod (2), two connecting rods (2) is hinged and hinged place is connect with the driving end of the driver (1)；
Suction cup assembly (3), the other end of the every connecting rod (2) be hinged with one group described in Suction cup assembly (3)；
First displacement component (4), including the first guide rail (41), first guide rail (41) extend perpendicularly to the driving
The driving direction of device (1), the Suction cup assembly (3) are slidably disposed on first guide rail (41).
2. manipulator according to claim 1, which is characterized in that the quantity of the grabbing assembly is four groups.
3. manipulator according to claim 2, which is characterized in that further include mounting plate (5), wherein crawl group described in two groups
Part is set to the side of the mounting plate (5), and in addition grabbing assembly described in two groups is set to the other side of the mounting plate (5).
4. manipulator according to claim 1, which is characterized in that the adsorption plane of the Suction cup assembly (3) is perpendicular to described
The extending direction of first guide rail (41).
5. manipulator according to claim 1, which is characterized in that the first displacement component (4) further includes the first sliding block
(42), two first sliding blocks (42) are slidably disposed on first guide rail (41), each first sliding block
(42) Suction cup assembly (3) described in one group of connection.
6. manipulator according to claim 5, which is characterized in that the first displacement component (4) further includes the first connection
Plate (43) is provided with one piece of first connecting plate (43), Suction cup assembly (3) setting on each first sliding block (42)
In on first connecting plate (43), the other end of the connecting rod (2) and first connecting plate (43) are hinged.
7. manipulator according to claim 1, which is characterized in that the grabbing assembly further includes the second displacement component (6),
The second displacement component (6) includes the second guide rail (61), and the extending direction of second guide rail (61) is parallel to the driving
The driving direction of device (1), the hinged place of two connecting rods (2) are slidably disposed on second guide rail (61).
8. manipulator according to claim 7, which is characterized in that the second displacement component (6) further includes the second sliding block
(62), second sliding block (62) is slidably disposed on second guide rail (61), the hinged place of two connecting rods (2)
It is connect with second sliding block (62).
9. manipulator according to claim 8, which is characterized in that the second displacement component (6) further includes drive link
(63), the driving direction for extending perpendicularly to the driver (1) of the drive link (63), the drive link (63)
One end connect with the driving end of the driver (1), the other end is connect with second sliding block (62).
10. manipulator according to claim 6, which is characterized in that the grabbing assembly further includes sensor (9), described
Sensor (9) is used to detect the position of first connecting plate (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910435623.4A CN110040507B (en) | 2019-05-23 | 2019-05-23 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910435623.4A CN110040507B (en) | 2019-05-23 | 2019-05-23 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110040507A true CN110040507A (en) | 2019-07-23 |
| CN110040507B CN110040507B (en) | 2024-04-09 |
Family
ID=67283430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910435623.4A Active CN110040507B (en) | 2019-05-23 | 2019-05-23 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110040507B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015639A (en) * | 2019-12-28 | 2020-04-17 | 苏州精濑光电有限公司 | Manipulator device |
| CN113983778A (en) * | 2021-11-30 | 2022-01-28 | 广东拓斯达科技股份有限公司 | Full-automatic flat-lying type baking line |
| CN115162682A (en) * | 2021-04-02 | 2022-10-11 | 广东博智林机器人有限公司 | Floor installation device and floor installation equipment |
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| US5895037A (en) * | 1996-01-17 | 1999-04-20 | Heidelberger Druckmaschinen Ag | Drive transmission for a pull sucker or forwarding sucker, in particular, for a device for correcting misaligned sheets |
| CN1680053A (en) * | 2004-04-08 | 2005-10-12 | 许勒压力机两合公司 | Transfer arrangement and method |
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| CN210192772U (en) * | 2019-05-23 | 2020-03-27 | 广东拓斯达科技股份有限公司 | Mechanical arm |
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| US4604026A (en) * | 1983-03-01 | 1986-08-05 | Dart Industries Inc. | Telescoping parts manipulator |
| US5895037A (en) * | 1996-01-17 | 1999-04-20 | Heidelberger Druckmaschinen Ag | Drive transmission for a pull sucker or forwarding sucker, in particular, for a device for correcting misaligned sheets |
| CN1680053A (en) * | 2004-04-08 | 2005-10-12 | 许勒压力机两合公司 | Transfer arrangement and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015639A (en) * | 2019-12-28 | 2020-04-17 | 苏州精濑光电有限公司 | Manipulator device |
| CN115162682A (en) * | 2021-04-02 | 2022-10-11 | 广东博智林机器人有限公司 | Floor installation device and floor installation equipment |
| CN115162682B (en) * | 2021-04-02 | 2023-10-03 | 广东博智林机器人有限公司 | Floor installation device and floor installation equipment |
| CN113983778A (en) * | 2021-11-30 | 2022-01-28 | 广东拓斯达科技股份有限公司 | Full-automatic flat-lying type baking line |
| CN113983778B (en) * | 2021-11-30 | 2022-12-06 | 广东拓斯达科技股份有限公司 | Full-automatic flat-lying type baking line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110040507B (en) | 2024-04-09 |
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