CN110116909A - Take emptying equipment - Google Patents
Take emptying equipment Download PDFInfo
- Publication number
- CN110116909A CN110116909A CN201910393923.0A CN201910393923A CN110116909A CN 110116909 A CN110116909 A CN 110116909A CN 201910393923 A CN201910393923 A CN 201910393923A CN 110116909 A CN110116909 A CN 110116909A
- Authority
- CN
- China
- Prior art keywords
- axis
- pick
- material component
- guidance set
- driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
Abstract
The invention discloses one kind to take emptying equipment, comprising: at least two Y-axis guidance sets, Y-axis guidance set are equipped with the pick-and-place material component being arranged successively along the y axis, and each Y-axis guidance set is arranged successively along the X-direction perpendicular to Y direction；X-axis driver, X-axis driver are connected to pick-and-place material component, to adjust the spacing picked and placed between material component in X-axis；Y-axis driver, Y-axis driver are connected to pick-and-place material component, to adjust the spacing picked and placed between material component in Y-axis.Expect between component to be that spacing can be automatically adjusted by corresponding driver in X-axis and Y-axis due to picking and placing, then the positional relationship picked and placed between material component can adaptively be adjusted according to the arrangement mode of vacuum formed box, the applicability for taking emptying equipment is improved, to improve pick-and-place material efficiency and production efficiency.
Description
Technical field
The present invention relates to loading and unloading equipment technical field, in particular to one kind takes emptying equipment.
Background technique
3D glass can all be had enough to meet the need between each process before packing using vacuum formed box, at present, it usually needs by multiple suctions
Glass in modeling box is put into automation equipment.However, due in many automation equipments the spacing of blowing position and vacuum formed box it
Between spacing it is different, and it is fixed for taking the pick-and-places material modular construction on emptying equipment.If taking the pick-and-place material portion on emptying equipment
Part structure is identical as the arrangement mode of vacuum formed box, then can directly from all vacuum formed boxes simultaneously feeding, but due to pick and place expect
Modular construction is different from the arrangement mode of blowing position of automation equipment, and each material component that picks and places is unable to each blowing position of alignment,
Directly all glass can not be placed on the blowing position of automation equipment simultaneously, reduce feeding efficiency and production efficiency.
Therefore, pick-and-place material efficiency how is improved, is a technical problem that technical personnel in the field need to solve at present.
Summary of the invention
In view of this, the object of the present invention is to provide one kind to take emptying equipment, pick-and-place material efficiency can be improved.
To achieve the above object, the invention provides the following technical scheme:
One kind taking emptying equipment, comprising:
At least two Y-axis guidance sets, the Y-axis guidance set are equipped with the pick-and-place material portion being arranged successively along the y axis
Part, each Y-axis guidance set are arranged successively along the X-direction perpendicular to the Y direction；
X-axis driver, the X-axis driver are connected to the pick-and-place material component, to adjust between the pick-and-place material component
Spacing in the X-axis；
Y-axis driver, the Y-axis driver are connected to the pick-and-place material component, to adjust between the pick-and-place material component
Spacing in the Y-axis.
Preferably, on each Y-axis guidance set, one of them described pick-and-place material component is to be fixed on the Y-axis guiding
The benchmark of component picks and places material component, remaining described material component that picks and places is the sliding pick-and-place for being slidably connected to the Y-axis guidance set
Expect component, the movable end of the Y-axis driver is connected to the sliding pick-and-place material component and fixing end is fixed on the Y-axis
Guidance set, the pick-and-place material component are connected to be adjusted in synchronism the adjacent pick-and-place material component in the Y by linkage structure
Spacing in axis direction.
Preferably, the linkage structure includes several connecting rods, and the connecting rod hingedly forms revolute pair two-by-two, all described
Revolute pair is set gradually along the Y direction, and the adjacent revolute pair is corresponding hinged so that middle part forms parallelogram connection-rod
Structure, two opposite endpoints of the parallelogram connection-rod structure are respectively the articulated shaft in two revolute pairs；Respectively
Articulated shaft in the revolute pair is correspondingly connected with each pick-and-place material component.
Preferably, on each Y-axis guidance set, a pick-and-place material component positioned at middle part is benchmark pick-and-place
Expect component.
Preferably, all pick-and-place material components are driven by the same Y-axis driver.
Preferably, the Y-axis guidance set is fixed with limiting buffer structure, the limiting buffer structure by with the Y
The movable end of axis driver offsets to limit the maximum spacing for picking and placing material component in the Y direction.
Preferably, the Y-axis driver and the two sides for picking and placing material component and being respectively arranged on bottom plate, the Y-axis driver
Fixing end and the Y-axis guidance set be fixed on the bottom plate, the movable end of the Y-axis driver passes through on the bottom plate
It connects through-hole and connects the Y-axis guidance set.
Preferably, the X-axis driver is connected between the adjacent Y-axis guidance set.
It preferably, further include X-axis guidance set for being oriented to along the X-direction, the Y-axis guidance set is sliding
It is dynamic to be connected to X-axis guidance set.
Preferably, pick-and-place material component includes sucker hold-down support and the sucker for being fixed on the sucker hold-down support,
The sucker hold-down support is connected to the Y-axis guidance set.
It is provided by the invention to take emptying equipment, comprising: at least two Y-axis guidance sets, Y-axis guidance set are equipped with along Y
The pick-and-place material component that axis direction is arranged successively, each Y-axis guidance set are arranged successively along the X-direction perpendicular to Y direction；X-axis
Driver, X-axis driver are connected to pick-and-place material component, to adjust the spacing picked and placed between material component in X-axis；Y-axis driver,
Y-axis driver is connected to pick-and-place material component, to adjust the spacing picked and placed between material component in Y-axis.
Expect between component to be that spacing can be automatically adjusted by corresponding driver in X-axis and Y-axis due to picking and placing,
Then the positional relationship picked and placed between material component can adaptively be adjusted according to the arrangement mode of vacuum formed box, raising takes emptying equipment
Applicability, to improve pick-and-place material efficiency and production efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is provided by the present invention takes the first of emptying equipment to structure chart；
Fig. 2 is provided by the present invention takes the second of emptying equipment to structure chart；
Fig. 3 is the schematic diagram provided by the present invention for taking emptying equipment after picking and placing material component Y direction spacing and becoming smaller；
Fig. 4 is the schematic diagram provided by the present invention for taking emptying equipment after picking and placing material component X-direction spacing and becoming smaller；
Fig. 5 is the schematic diagram provided by the present invention for taking emptying equipment after picking and placing material component Y direction spacing and becoming larger；
Fig. 6 is the schematic diagram provided by the present invention for taking emptying equipment after picking and placing material component X-direction spacing and becoming larger.
Fig. 1 is into Fig. 6:
1- bottom plate, 2- linkage structure, 21- connecting rod, 22- pin shaft, 23-X type structure, 24-V type structure, 3-Y axis driver,
4- linear bearing, 5- circlip, 6- slide unit cylinder connecting plate, 7- sucker hold-down support, 8- sucker, 81- benchmark pick and place material component, 9-X
Axis driver, 10-Y axis guidance set, 11- cylinder head support, 12- cushioning support-saddle, 13- oil buffer, 14- flake connect
Head.
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 every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide one kind and takes emptying equipment, can be improved pick-and-place material efficiency.
In a kind of specific embodiment provided by the present invention for taking emptying equipment, Fig. 1 to Fig. 6 is please referred to, including pick and place material portion
Part, X-axis driver 9 and Y-axis driver 3.The equipment can be used for the pick-and-place of 3D glass or the pick-and-place of other materials part.
Y-axis guidance set 10 is at least two, and Y-axis guidance set 10 is equipped with the pick-and-place material being arranged successively along the y axis
Component, each Y-axis guidance set 10 are arranged successively along the X-direction perpendicular to Y direction.Optionally, Y-axis guidance set 10 can be with
It is specific as shown in Figure 1, Y-axis guidance set 10 may include two parallel guiding extended along the y axis for guiding axis
Axis.Preferably, all pick-and-place material components may be constructed matrix under any spacer conditions, as shown in Fig. 2, constituting 2 × 5 squares
Battle array.
X-axis driver 9 is connected to pick-and-place material component, to adjust the spacing picked and placed between material component in X-axis.
Y-axis driver 3 is connected to pick-and-place material component, to adjust the spacing picked and placed between material component in Y-axis.
Expect between component to be that spacing can be automatically adjusted by corresponding driver in X-axis and Y-axis due to picking and placing,
Then the positional relationship picked and placed between material component can adaptively be adjusted according to the arrangement mode of vacuum formed box, raising takes emptying equipment
Applicability, to improve pick-and-place material efficiency and production efficiency.
Further, on each Y-axis guidance set 10, one of material component that picks and places is to be fixed on Y-axis guidance set 10
Benchmark picks and places material component 81, and it is the sliding pick-and-place material component for being slidably connected to Y-axis guidance set 10 that remaining, which picks and places material component,.Y-axis
The movable end of driver 3 is connected to a sliding and picks and places material component and be fixed on Y-axis guidance set 10, picks and places material component and passes through connection
Dynamic structure 2 is connected to be adjusted in synchronism adjacent pick and place and expect the spacing of component in the Y-axis direction.
On Y-axis guidance set 10, when Y-axis driver 3 drives a sliding to pick and place material component, due to linkage structure 2
Setting, all slidings pick and place material components and can pick and place material component 81 relative to benchmark slide along the y axis, to adjust adjacent
The spacing of material component in the Y-axis direction is picked and placed, it is easy to adjust.
Further, linkage structure 2 includes several connecting rods 21.In each linkage structure 2, connecting rod 21 is hinged two-by-two to be formed
Revolute pair, all revolute pairs are set gradually along the y axis, and adjacent rotated pair is corresponding hinged so that middle part forms parallelogram and connects
Rod structure, two opposite endpoints of parallelogram connection-rod structure are respectively the articulated shaft in two revolute pairs.Each revolute pair
Interior articulated shaft is correspondingly connected with each pick-and-place material component.Wherein, the articulated shaft in revolute pair refers to constituting two of revolute pair
Articulated shaft between connecting rod 21.
As shown in Figure 1, linkage structure 2 is parallelogram hinge telescopic rod, freedom degree 1 is moved along Y-axis.Wherein,
In the Y-axis direction, other than the revolute pair at both ends, in remaining revolute pair, two needs of connecting rod 21 intersect and hingedly constitute X-type knot
Structure 23, with this could it is corresponding with adjacent rotated pair hingedly constituted parallelogram connection-rod structure when, parallelogram connection-rod knot
Two opposite endpoints of structure are respectively the articulated shaft of two revolute pairs.It can be the hinge that intersects for each revolute pair at both ends
It connects and constitutes X-type structure, the adjacent free end of two of them is corresponding with adjacent rotated pair hinged；Or the end hinge of two connecting rods
It connects and constitutes V-structure 24, two free ends are corresponding with adjacent rotated pair hinged.Parallelogram hinge Telescopic rod structure molding
Afterwards, the parallelogram connection-rod structure including being sequentially connected in the Y-axis direction.Specifically, the adjacent spacing for picking and placing material component can
Changed with equivalent.
Using linkage, is driven by Y-axis driver 3 and pick and place material component to reach and pick and place material part centre away from same time-varying
Change, structure is simple, and linkage process does not need in addition to consume the energy, is conducive to save the cost.
Obviously, in other embodiments, linkage structure can also carry out other settings.For example, linkage structure can also be
The telescopic oil cylinder between pick-and-place material component adjacent in the Y-axis direction is connected, the flexible realization distance for passing through each telescopic oil cylinder is adjusted
Section.
Further, it picks and places material component and corresponding Y-axis guidance set 10 is slidably connected to by linear bearing 4, more specifically
Ground, can be by 5 clamping of circlip, so as to reduce the frictionally damage picked and placed between material component and Y-axis guidance set 10.
Further, on each Y-axis guidance set 10, the pick-and-place material component positioned at middle part is to be fixed on Y-axis guiding group
The benchmark of part 10 picks and places material component 81.When adjusting the spacing of Y direction, each material component that picks and places is with an intermediate pick-and-place material portion
It scatters centered on part to two sides or is withdrawn to the center, convenient for control.As shown in figure 3,5 pick-and-places on along the y axis are expected
In component, it is located in the middle pick-and-place material component 81 on the basis of pick-and-place material component.
Further, all pick-and-place material components are driven by same Y-axis driver 3, to further decrease control difficulty.Its
In, each Y-axis guidance set 10 picks and places the movable end that material component is fixed on the Y-axis driver 3 by a sliding.
Further, limiting buffer structure is fixed on Y-axis guidance set 10, limiting buffer structure with Y-axis by driving
The movable end of device 3 offsets to limit and pick and place the maximum spacing of material component in the Y-axis direction, improves the safety used.
Specifically, as shown in Fig. 2, limiting buffer structure can specifically include the cushioning support-saddle 12 for being fixed on bottom plate 1 and connect
The oil buffer 13 being connected on cushioning support-saddle 12 is offseted by the movable end of oil buffer 13 and Y-axis driver 3 to limit
The fixing end of Y-axis driver 3 and the maximum distance of movable end, while can have buffer function to the movable end of Y-axis driver 3.
Further, Y-axis driver 3 and pick-and-place material component are respectively arranged on the two sides of bottom plate 1, the fixing end of Y-axis driver 3
It is fixed on bottom plate 1 with Y-axis guidance set 10, the movable end of Y-axis driver 3 connects Y-axis guiding by the connection through-hole on bottom plate 1
Component 10 convenient for assembly, while can allow interference to avoid picking and placing mutually to hit between material component and Y-axis driver 3 or it occurs.
More specifically, the movable end of Y-axis cylinder is connected by flake connector 14 as shown in Figure 1, Y-axis driver 3 can be Y-axis cylinder
Cylinder head support 11, then Y-axis guidance set 11 is connected by cylinder head support 11.
Further, it is connected with X-axis driver 9 between adjacent Y-axis guidance set 10, so as to realize in X-direction
Two neighboring Y-axis guide frame spacing is adjustable, corresponding to adjust the spacing that material component is picked and placed in X-direction.
As shown in figure 4, setting gradually two Y-axis guidance sets 10, one of Y-axis guidance set 10 and X in X-direction
The fixing end of axis driver 9 can be fixed on bottom plate 1, and the movable end of X-axis driver 9 is fixed on another Y-axis guidance set
10。
Further, it further includes the X-axis guidance set for being oriented to along the x axis that this, which takes emptying equipment, specifically may be used
Think guiding axis.Y-axis guidance set 10 is slidably connected to X-axis guidance set, transports in the X-axis direction so as to improve material component is picked and placed
Dynamic stationarity.
Further, picking and placing material component includes sucker hold-down support 7 and the sucker 8 for being fixed on sucker hold-down support 7, sucker
Hold-down support 7 is connected to Y-axis guide frame, can reduce the damage treated and pick and place component.Certainly, in other embodiments
In, picking and placing material component can also be fixture or other component.
Further, X-axis driver 9 and Y-axis driver 3 can be set to cylinder, linear motor or the drive of other straight lines
Motivation structure.
Further, this takes emptying equipment to be also connected to use on other mechanical equipments, for example, this takes emptying equipment
Bottom plate 1 along Z-direction drive pick and place material component Z axis driver, wherein Z-direction is perpendicular to X-direction and Y direction.
Z axis driver can connect in bottom plate 1.Usual Z-direction is lifting direction, and X-direction and Y direction are the side in horizontal plane
To.
It is provided by the present invention to take emptying equipment during specifically used applied to one of 3D glass absorption, such as Fig. 3
With shown in Fig. 4, original state, i.e., under feeding state, at X-axis cylinder (i.e. X-axis driver 9), Y-axis cylinder (i.e. Y-axis driver 3)
In retracted state；As shown in Figure 5 and Figure 6, when putting glass in automation equipment, two X-axis cylinders pass through slide unit cylinder connecting plate 6
Entire row (the sucker hold-down support 7 that Y-direction is set gradually is a row) sucker hold-down support 7 is driven to slide, so that two rows of suckers are solid
Determine the increasing of the distance between support 7.The Y-axis cylinder on rear side of emptying equipment is taken to drive by cylinder head support 11, flake connector 14
Dynamic sucker hold-down support 7 slides, due to using linkage structure 2 to link together between sucker hold-down support 7, so when a suction
When disk hold-down support 7 slides along the y axis, other sucker hold-down supports 7 link together.During X in this way, Y-axis just realize simultaneously
The heart is adjusted away from displacement.
The equipment can be used for the center of X-axis, Y-axis both direction away from displacement, can solve 3D glass and takes from vacuum formed box
Afterwards, by being placed in automation equipment after this equipment displacement, matching for vacuum formed box and automation equipment is realized, for subtracting
The workload of few 3D glass packaging is of great significance, application easy to spread.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Emptying equipment is taken to be described in detail to provided by the present invention above.Specific case used herein is to this
The principle and embodiment of invention is expounded, method of the invention that the above embodiments are only used to help understand and
Its core concept.It should be pointed out that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection of the claims in the present invention
In range.
Claims (10)
1. one kind takes emptying equipment characterized by comprising
At least two Y-axis guidance sets (10), the Y-axis guidance set (10) are equipped with the pick-and-place being arranged successively along the y axis
Expect component, each Y-axis guidance set (10) is arranged successively along the X-direction perpendicular to the Y direction；
X-axis driver (9), the X-axis driver (9) are connected to pick-and-place material component, with adjust pick-and-places expect component it
Between spacing in the X-axis；
Y-axis driver (3), the Y-axis driver (3) are connected to pick-and-place material component, with adjust pick-and-places expect component it
Between spacing in the Y-axis.
2. according to claim 1 take emptying equipment, which is characterized in that on each Y-axis guidance set (10), wherein one
A material component that picks and places is benchmark pick-and-place material component (81) for being fixed on the Y-axis guidance set (10), remaining described pick-and-place
Material component is the sliding pick-and-place material component for being slidably connected to the Y-axis guidance set (10), the activity of the Y-axis driver (3)
End is connected to the sliding pick-and-place material component and fixing end is fixed on the Y-axis guidance set (10), the pick-and-place material portion
Part is connected to be adjusted in synchronism the adjacent spacing for picking and placing material component in the Y direction by linkage structure (2).
3. according to claim 2 take emptying equipment, which is characterized in that the linkage structure (2) includes several connecting rods
(21), the connecting rod (21) hingedly forms revolute pair two-by-two, and all revolute pairs are set gradually along the Y direction, adjacent
The revolute pair is corresponding hinged so that middle part forms parallelogram connection-rod structure, and two of the parallelogram connection-rod structure
Opposite endpoint is respectively the articulated shaft in two revolute pairs；Articulated shaft and each pick-and-place in each revolute pair are expected
Component is correspondingly connected with.
4. according to claim 3 take emptying equipment, which is characterized in that on each Y-axis guidance set (10), be located at
The pick-and-place material component of one of portion is that the benchmark picks and places material component (81).
5. according to claim 3 take emptying equipment, which is characterized in that all pick-and-place material components are by the same Y
Axis driver (3) driving.
6. according to claim 5 take emptying equipment, which is characterized in that the Y-axis guidance set (10) is fixed with limit
Buffer structure, the limiting buffer structure with the movable end of the Y-axis driver (3) by offseting to limit the pick-and-place material portion
Maximum spacing of the part in the Y direction.
7. according to claim 5 take emptying equipment, which is characterized in that the Y-axis driver (3) and the pick-and-place material portion
Part is respectively arranged on the two sides of bottom plate (1), and the fixing end of the Y-axis driver (3) and the Y-axis guidance set (10) are fixed on institute
It states bottom plate (1), the movable end of the Y-axis driver (3) connects the Y-axis by the connection through-hole on the bottom plate (1) and is oriented to
Component (10).
8. according to any one of claims 1 to 7 take emptying equipment, which is characterized in that the adjacent Y-axis guidance set
(10) the X-axis driver (9) is connected between.
9. according to claim 8 take emptying equipment, which is characterized in that further include for being led along the X-direction
To X-axis guidance set, the Y-axis guidance set (10) is slidably connected to X-axis guidance set.
10. according to claim 8 take emptying equipment, which is characterized in that the pick-and-place material component includes the fixed branch of sucker
Seat (7) and the sucker (8) for being fixed on the sucker hold-down support (7), the sucker hold-down support (7) are connected to the Y-axis and lead
To component (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910393923.0A CN110116909A (en) | 2019-05-13 | 2019-05-13 | Take emptying equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910393923.0A CN110116909A (en) | 2019-05-13 | 2019-05-13 | Take emptying equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110116909A true CN110116909A (en) | 2019-08-13 |
Family
ID=67522251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910393923.0A Pending CN110116909A (en) | 2019-05-13 | 2019-05-13 | Take emptying equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110116909A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0441332A (en) * | 1990-06-08 | 1992-02-12 | Kamo Denki Kenkyusho:Kk | Automatic paper stacker for off-wheel |
| CN103086153A (en) * | 2011-11-01 | 2013-05-08 | 鸿劲科技股份有限公司 | Variable distance transfer device for electronic components |
| CN207027496U (en) * | 2017-07-10 | 2018-02-23 | 深圳市欧盛自动化有限公司 | The fixture of manipulator |
| CN208629456U (en) * | 2018-07-17 | 2019-03-22 | 嘉兴立石智能科技有限公司 | Four station displacements transplant clamp hand |
| CN208802561U (en) * | 2018-08-02 | 2019-04-30 | 合肥智法自然电子科技有限公司 | A kind of equidistant tunable arrangement of rubber raw materials |
-
2019
- 2019-05-13 CN CN201910393923.0A patent/CN110116909A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0441332A (en) * | 1990-06-08 | 1992-02-12 | Kamo Denki Kenkyusho:Kk | Automatic paper stacker for off-wheel |
| CN103086153A (en) * | 2011-11-01 | 2013-05-08 | 鸿劲科技股份有限公司 | Variable distance transfer device for electronic components |
| CN207027496U (en) * | 2017-07-10 | 2018-02-23 | 深圳市欧盛自动化有限公司 | The fixture of manipulator |
| CN208629456U (en) * | 2018-07-17 | 2019-03-22 | 嘉兴立石智能科技有限公司 | Four station displacements transplant clamp hand |
| CN208802561U (en) * | 2018-08-02 | 2019-04-30 | 合肥智法自然电子科技有限公司 | A kind of equidistant tunable arrangement of rubber raw materials |
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| Title |
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| 彭海兰: "《自动化生产线安装与调试》", 30 June 2014 * |
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Application publication date: 20190813 |
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