CN110921324A - Vacuum chuck carrying module - Google Patents
Vacuum chuck carrying module Download PDFInfo
- Publication number
- CN110921324A CN110921324A CN201911082760.0A CN201911082760A CN110921324A CN 110921324 A CN110921324 A CN 110921324A CN 201911082760 A CN201911082760 A CN 201911082760A CN 110921324 A CN110921324 A CN 110921324A
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- Prior art keywords
- sucker
- central base
- base body
- module
- sucking disc
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- 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
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- 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
- B65G49/063—Transporting devices for sheet glass
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- 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
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/04—Arrangements of vacuum systems or suction cups
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Abstract
The invention discloses a vacuum sucker carrying module which comprises a central base body, at least two sucker mounting frameworks and at least two groups of sucker modules, wherein the at least two sucker mounting frameworks are uniformly and alternately assembled around the central base body, the sucker modules correspond to the sucker mounting frameworks one by one, each sucker module comprises a sucker carrier, a movable module and a sucker assembly arranged at the lower end of the sucker carrier, the sucker carrier is arranged below the corresponding sucker mounting frameworks, the movable module is arranged on the corresponding sucker mounting frameworks and is in transmission connection with the sucker carriers so as to drive the sucker carriers to horizontally move close to or far away from the central base body, a negative pressure cavity is arranged inside the sucker carrier, a negative pressure port communicated with the negative pressure cavity is formed in the negative pressure cavity, and the lower end adsorption surface of the sucker assembly protrudes out of the lower end surface of the central base. The advantages are that: the structure design is simple and reasonable, the problem that the tail end of the existing sucker module is easy to generate stress concentration and is only suitable for carrying plates with single specification is effectively solved.
Description
Technical Field
The invention belongs to the field of mechanical engineering, and particularly relates to a vacuum chuck carrying module.
Background
In the industrial production field, the liquid crystal glass substrate is fragile, light and thin, so that the space transportation in the production process is a big problem.
In the existing FPD glass substrate carrying robot and other products, stress concentration is easily generated at the tail end of a sucker module, so that the stress of a glass substrate is uneven, and the damage rate in the carrying process is increased.
Disclosure of Invention
The invention aims to provide a vacuum chuck carrying module, which effectively overcomes the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a vacuum sucker carrying module comprises a central base body, at least two sucker mounting frameworks and at least two groups of sucker modules, wherein the at least two sucker mounting frameworks are uniformly and alternately assembled around the central base body, the sucker modules correspond to the sucker mounting frameworks one by one, each sucker module comprises a sucker carrier, a moving module and a sucker component arranged at the lower end of the sucker carrier, the sucker carriers are arranged below the corresponding sucker mounting frameworks, the moving modules are arranged on the corresponding sucker mounting frameworks and are in transmission connection with the sucker carriers so as to drive the sucker carriers to horizontally move close to or away from the central base body, a negative pressure cavity is arranged inside each sucker carrier, a negative pressure port communicated with the negative pressure cavity is formed in each negative pressure cavity, and the negative pressure ports are externally connected with a vacuum generating device through pipelines, the sucker assembly is communicated with the negative pressure cavity, and the lower end adsorption surface of the sucker assembly protrudes out of the lower end face of the central base body.
The invention has the beneficial effects that: the structure design is simple and reasonable, the problem that the tail end of the existing sucker module is easy to generate stress concentration and is only suitable for carrying plates with single specification is effectively solved.
On the basis of the technical scheme, the invention can be further improved as follows.
Furthermore, the negative pressure port is externally connected with a vacuum generating device through a pipeline penetrating through the inside of the central base body.
The beneficial effect of adopting above-mentioned further scheme is that the result design is reasonable, has improved the phenomenon that the pipeline leaks and takes place the potential safety hazard easily.
Furthermore, the sucker assembly comprises a plurality of suckers which are uniformly distributed, and the suckers are detachably mounted at the lower ends of the corresponding sucker carriers respectively and are communicated with the corresponding negative pressure cavities.
The beneficial effect of adopting the further scheme is that the adsorption performance is good.
Furthermore, the suckers are distributed in a rectangular array along the length and width directions of the corresponding sucker mounting framework.
The beneficial effects of adopting above-mentioned further scheme are that adsorption area is big, and the stress point distributes rationally in the panel handling.
Furthermore, the four sucker mounting frameworks are rectangular structures with the same specification, the long axes of the four sucker mounting frameworks are distributed in a cross shape by using the central point of the central base body, and the moving module is used for driving the sucker carrier to horizontally move close to or away from the central base body along the length direction of the sucker mounting frameworks.
The beneficial effects of adopting above-mentioned further scheme are that it is reasonable to distribute, and whole atress is better, and the transport is more steady.
The novel sucker installation framework structure comprises a central base body, and is characterized by further comprising four angle adjusting mechanisms, wherein one ends of the sucker installation frameworks are hinged to the central base body respectively, the four angle adjusting mechanisms are installed on the central base body respectively and are connected with the four sucker installation frameworks in a one-to-one correspondence mode respectively, and the angle adjusting mechanisms are used for driving the corresponding sucker installation frameworks to swing up and down.
The beneficial effect who adopts above-mentioned further scheme is that this design does benefit to the relative roughness of adjusting four sucking disc installation frameworks and sucking disc subassembly and panel to do benefit to the good transport of panel.
Furthermore, the angle adjusting mechanism is a hydraulic rod, one end of the hydraulic rod is respectively hinged with the upper end of the corresponding sucker mounting framework far away from one end of the central base body, the other end of the hydraulic rod respectively extends upwards in an inclined manner to be hinged with the periphery of the upper end of the central base body, the angle adjusting mechanism further comprises a closed-loop control flatness adjusting system, the closed-loop control flatness adjusting system comprises four infrared sensors and a controller, a hydraulic pump set connected with each hydraulic rod oil circuit is arranged on the central base body, the hydraulic pump set is externally connected with a hydraulic station, the lower end surface of the central base body is a horizontal plane, four infrared sensors are respectively arranged on the lower end surface of the central base body at positions corresponding to the length direction of each sucker mounting framework, the controller is arranged on the central base body and is respectively connected with the four infrared sensors and the hydraulic pump set.
The beneficial effect of adopting above-mentioned further scheme is that the closed-loop control is adjusted, guarantees the validity of panel sucking disc.
Further, the moving module comprises two conveying roller shafts, a belt and an adjusting knob, the sucker mounting framework is hollow inside, a slide way communicated with the inner cavity of the sucker mounting framework is arranged in the middle of the lower end of the sucker mounting framework along the length direction of the sucker mounting framework, the two conveying roller shafts are rotatably mounted at two ends inside the sucker mounting framework along the width direction of the corresponding sucker mounting framework respectively, one end of one conveying roller shaft penetrates through one side of the sucker mounting framework to extend to the outside of the sucker mounting framework and is connected with the adjusting knob, the belt surrounds the two conveying roller shafts, a connecting portion is arranged at the upper end of the sucker module, and the connecting portion extends upwards through the slide way and is fixedly connected with the lower layer of the belt.
The beneficial effects of adopting above-mentioned further scheme are that structural design is reasonable, operation convenient to use.
Drawings
FIG. 1 is a schematic perspective view of a vacuum chuck transporting module according to the present invention;
FIG. 2 is a schematic bottom view of the vacuum chuck transporting module of the present invention;
FIG. 3 is a schematic structural view of the vacuum chuck transporting module of the present invention without the chuck mounting frame.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the automatic belt conveyor comprises a central base body, 2 a sucker mounting framework, 3 a sucker module, 4 an angle adjusting mechanism, 5 an infrared sensor, 31 a sucker carrier, 32 a moving module, 321 a conveying roller shaft, 322 a belt, 323 an adjusting knob.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example (b): as shown in fig. 1 to 3, the vacuum chuck transporting module of this embodiment includes a central base 1, at least two chuck mounting frames 2 and at least two sets of chuck modules 3, wherein at least two chuck mounting frames 2 are uniformly and alternately assembled around the central base 1, the chuck modules 3 are in one-to-one correspondence with the chuck mounting frames 2, each chuck module 3 includes a chuck carrier 31, a moving module 32 and a chuck assembly installed at a lower end of the chuck carrier 31, the chuck carrier 31 is disposed under the corresponding chuck mounting frame 2, the moving module 32 is installed on the corresponding chuck mounting frame 2 and is in transmission connection with the chuck carrier 31 to drive the chuck carrier 31 to move horizontally close to or away from the central base 1, a negative pressure cavity is formed in the chuck carrier 31, and a negative pressure port communicated with the negative pressure cavity is formed thereon, the negative pressure port is externally connected with a vacuum generating device through a pipeline, the sucker assembly is communicated with the negative pressure cavity, and the lower end adsorption surface of the sucker assembly protrudes out of the lower end face of the central base body 1.
In the use, according to the specification of waiting to carry panel (glass), adjust the position of sucking disc subassembly in every sucking disc module 3, it is concrete, adjust sucking disc subassembly translation through removing module 32 and be close to or keep away from central base member 1, the sucking disc subassembly can carry out the unipolar and remove, consequently the size can be adjusted according to the panel of difference to this device, has widened the application scope of product, and the effectual terminal stress concentration that easily produces of current sucking disc module that has improved has strengthened the commonality of whole module transport.
As a preferred embodiment, the negative pressure port is externally connected with a vacuum generating device through a pipeline passing through the inside of the central base body 1, and the arrangement enables the pipeline to be partially hidden in the central base body, improves the phenomenon that the pipeline is exposed in disorder in a large area, enables the pipeline arrangement to be safer, and simultaneously, can reduce the weight of the central base body.
As a preferred embodiment, the suction cup assembly includes a plurality of suction cups uniformly distributed, and the suction cups are detachably mounted on the lower ends of the corresponding suction cup carriers 31 and communicated with the corresponding negative pressure cavities, so that the suction performance is good.
Each sucker is assembled at the corresponding threaded hole of the lower end of the sucker carrier 31 in a threaded connection mode, the threaded hole is communicated with the negative pressure cavity, and the threaded connection position is sealed by adopting rubber to surround the filling gap.
The modular sucking disc is adopted, once the sucking disc is damaged, the one-way valve on the air path of the sucking disc is used for automatically protecting the sucking disc, and the plate is prevented from falling and being damaged due to power failure or air leakage caused by damage of the sucking disc. Simultaneously, four sucking disc subassemblies and single little sucking disc all can set up spare parts, only need change rapidly when taking place to damage, alright resume productivity in very short time.
As an optimal implementation mode, a plurality of above-mentioned sucking discs are rectangular array along the length width direction of the above-mentioned sucking disc installation skeleton 2 that corresponds and distributes, and is more specific, every group sucking disc subassembly has six sucking discs, six sucking discs are arranged into two lines along the width direction of sucking disc installation skeleton 2, every line is equipped with threely to along length direction interval distribution, it is rationally arranged, and adsorption efficiency is good, and the stress area of panel can be effectively increased to whole 24 sucking discs, and arranging of four directions also can make the stress point more reasonable.
For more reasonable distribution, the central base body 1 is of a regular columnar structure (the cross section is circular), so that the sucker mounting framework 2 is reasonable in distribution and good in stress of the whole structure.
When two sucking disc installation frameworks 2 are arranged, a symmetrical distribution mode is adopted, and particularly, the two sucking disc installation frameworks are symmetrically distributed on two sides of the central base body 1.
When above-mentioned sucking disc installation skeleton 2 was equipped with the base several, adopted the circumference distribution mode, specifically, a plurality of sucking disc installation skeleton 2 along circumferencial direction evenly distributed on same circumference, every sucking disc installation skeleton 2 is along the radial distribution of 1 circular cross section of central base member.
Of course, the best, the number of the sucker mounting frames 2 is four, and the sucker mounting frames are arranged in the X \ Y axis direction, and the specific implementation mode is as follows:
the four sucker mounting frames 2 are rectangular structures with the same specification, the long axes of the four sucker mounting frames 2 are distributed in a cross shape by using the central point of the central base body 1, and the moving module 32 is used for driving the sucker carrier 31 to horizontally move close to or away from the central base body 1 along the length direction of the sucker mounting frames 2, so that the overall distribution is reasonable, and the sucker mounting frames are stable in carrying.
As a preferred embodiment, the device further comprises four angle adjusting mechanisms 4, wherein one end of each of the sucker mounting frameworks 2 is hinged to the central base 1, the four angle adjusting mechanisms 4 are mounted on the central base 1 and are connected to the four sucker mounting frameworks 2 in a one-to-one correspondence manner, the angle adjusting mechanisms 4 are used for driving the corresponding sucker mounting frameworks 2 to swing up and down, and the angle adjusting mechanisms 4 can adjust the vertical inclination angles of the corresponding sucker mounting frameworks 2, so that the plane of the lower end surface of each sucker mounting framework 2 can be parallel to the plane of a plate (glass) to be conveyed, and the conveying reliability is ensured.
In a preferred embodiment, the angle adjusting mechanism 4 is a hydraulic rod, one end of the hydraulic rod is hinged to the upper end of the corresponding sucker mounting frame 2 away from the end of the central base 1, the other end of the hydraulic rod extends obliquely upwards to be hinged to the periphery of the upper end of the central base 1, the closed-loop control flatness adjusting system comprises four infrared sensors 5 and a controller, a hydraulic pump set connected with each hydraulic rod oil circuit is mounted on the central base 1, the hydraulic pump set is externally connected with a hydraulic station, the lower end surface of the central base 1 is a horizontal surface, the four infrared sensors 5 are mounted on the lower end surface of the central base 1 at positions corresponding to the longitudinal direction of each sucker mounting frame 2, and the controller is mounted on the central base 1, the controller is respectively connected with the four infrared sensors 5 and the hydraulic pump set, the controller can calculate the offset rate of the four sucker assemblies relative to the plate on the whole mechanism according to the data of the infrared sensors, the hydraulic rod is controlled according to the offset rate to carry out leveling work, closed-loop control is achieved through the feedback mechanism, the levelness of the mechanical device in working is guaranteed, and safety is further improved
As a preferred embodiment, as shown in fig. 3, the moving module comprises two conveying roller shafts 321, a belt 322 and an adjusting knob 323, the suction cup mounting frame 2 is hollow, a slide way penetrating through the inner cavity is provided at the middle part of the lower end of the suction cup mounting frame in the length direction, the two conveying roller shafts 321 are rotatably mounted at the two ends of the suction cup mounting frame 2 in the width direction of the corresponding suction cup mounting frame 2, one end of one of the conveying roller shafts 321 extends to the outside through one side of the suction cup mounting frame 2 and is connected with the adjusting knob 323, the belt 322 surrounds the two conveying roller shafts 321, a connecting part is provided at the upper end of the suction cup module 32, the connecting part extends upwards through the slide way and is connected and fixed with the lower layer of the belt 322, and when adjusting, by rotating and screwing the adjusting knob 323, can drive rather than the conveying roller 321 that is connected rotatory to drive belt 322 and the operation of another conveying roller 321, and then drive the connecting portion of being connected with belt 322 and order about sucking disc module 32 translation, the whole operation is used fairly simplely, adjust the position of all sucking disc subassemblies according to panel specification in advance when carrying the panel to a specification, make its common absorption scope and panel specification adaptation can, the concrete operation process of whole vacuum chuck transport module as follows:
before entering a working state:
measuring the size specification of the conveyed material, and adjusting the four sucker assemblies to proper positions through a positioning knob;
connecting a vacuum generating device into the device, electrifying, electrically leveling through an infrared sensor, simultaneously opening an external air pump, putting an experimental plate into the device, and detecting the sealing performance of the device;
the device is connected into an external mechanical arm, and preparation work is completed.
When entering the working state:
electrifying for self-checking to confirm that the working condition is good;
the external mechanical arm moves the device to a position where the device is contacted with a carried plate, and an adsorption signal is sent to the device through the electric control equipment;
the device receives a signal, controls the gas circuit to be opened, and pumps the inside of the sucker into low atmospheric pressure to combine the sucker with the plate;
the external mechanical arm controls the device to a release position and sends a release signal;
the device receives a signal, controls the disconnection of the gas circuit, gradually releases the internal pressure of the sucker assembly and places the target plate at a target position.
In the whole process of the working conditions above the cycle, the infrared sensor and the closed-loop operation mechanism are always in the running state, and the parallelism of the mechanism is monitored and corrected at any time.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The utility model provides a vacuum chuck transport module which characterized in that: comprises a central base body (1), at least two sucker installation frameworks (2) and at least two groups of sucker modules (3), wherein the sucker installation frameworks (2) are assembled around the central base body (1) evenly and at intervals, the sucker modules (3) correspond to the sucker installation frameworks (2) one by one, each sucker module (3) comprises a sucker carrier (31), a movable module (32) and a sucker component arranged at the lower end of the sucker carrier (31), the sucker carrier (31) is arranged below the corresponding sucker installation frameworks (2), the movable module (32) is arranged on the corresponding sucker installation frameworks (2) and is in transmission connection with the sucker carrier (31) so as to drive the horizontal movement of the sucker carrier (31) to be close to or away from the central base body (1), and a negative pressure cavity is arranged inside the sucker carrier (31), the vacuum sucker is characterized in that a negative pressure port communicated with the negative pressure cavity is formed in the vacuum sucker, the negative pressure port is externally connected with a vacuum generating device through a pipeline, the sucker component is communicated with the negative pressure cavity, and the lower end adsorption surface of the sucker component protrudes out of the lower end face of the central base body (1).
2. The vacuum chuck handling module of claim 1, further comprising: the negative pressure port is externally connected with a vacuum generating device through a pipeline penetrating through the interior of the central base body (1).
3. The vacuum chuck handling module of claim 1, further comprising: the sucker assembly comprises a plurality of suckers which are uniformly distributed, and the suckers are detachably mounted at the lower ends of the corresponding sucker carriers (31) respectively and are communicated with the corresponding negative pressure cavities.
4. A vacuum chuck handling module according to claim 3 and further comprising: a plurality of the suckers are distributed in a rectangular array along the length and width directions of the corresponding sucker mounting framework (2).
5. A vacuum chuck handling module according to any one of claims 1 to 4, further comprising: sucking disc installation skeleton (2) are equipped with four to be the unanimous rectangular cubic structure of specification, four the long axis of sucking disc installation skeleton (2) with the central point of central matrix body (1) is "ten" word distribution, it is used for driving about to remove module (32) sucking disc carrier (31) are followed the length direction horizontal migration of sucking disc installation skeleton (2) is close to or keeps away from central matrix body (1).
6. The vacuum chuck handling module of claim 5, further comprising: still include four angle adjustment mechanism (4), the one end of sucking disc installation skeleton (2) respectively with central authorities base member (1) is articulated, four angle adjustment mechanism (4) install respectively in on central authorities base member (1) to respectively the one-to-one with four sucking disc installation skeleton (2) are connected, angle adjustment mechanism (4) are used for ordering about the correspondence sucking disc installation skeleton (2) are swung from top to bottom and are changeed.
7. The vacuum chuck handling module of claim 5, further comprising: the angle adjusting mechanism (4) is a hydraulic rod, one end of the hydraulic rod is hinged with the upper end of one end, far away from the central base body (1), of the corresponding sucker mounting framework (2), the other end of the hydraulic rod extends upwards in an inclined mode to be hinged with the periphery of the upper end of the central base body (1), the angle adjusting mechanism further comprises a closed-loop control flatness adjusting system, the closed-loop control flatness adjusting system comprises four infrared sensors (5) and a controller, a hydraulic pump set connected with each hydraulic rod oil way is installed on the central base body (1), the hydraulic pump set is externally connected with a hydraulic station, the lower end face of the central base body (1) is a horizontal plane, the four infrared sensors (5) are installed on the lower end face of the central base body (1) respectively and correspond to the position of each sucker mounting framework (2) in the length direction, and the controller is installed on the central base body (1), the controller is respectively connected with the four infrared sensors (5) and the hydraulic pump set.
8. The vacuum chuck handling module of claim 5, further comprising: remove the module and include two conveying roller axle (321), belt (322) and adjust knob (323), the inside cavity of sucking disc installation skeleton (2), its lower extreme middle part is equipped with the slide that link up rather than inside cavity along its length direction, two conveying roller axle (321) is respectively along corresponding the width direction rotatable install in of sucking disc installation skeleton (2) the inside both ends of sucking disc installation skeleton (2), one of them the one end of conveying roller axle (321) is passed one side of sucking disc installation skeleton (2) extends its outside, and with adjust knob (323) is connected, belt (322) encircle in two on conveying roller axle (321), sucking disc module (32) upper end is equipped with connecting portion, connecting portion upwards extend the extension the slide, and with the lower floor of belt (322) is connected fixedly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911082760.0A CN110921324A (en) | 2019-11-07 | 2019-11-07 | Vacuum chuck carrying module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911082760.0A CN110921324A (en) | 2019-11-07 | 2019-11-07 | Vacuum chuck carrying module |
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| Publication Number | Publication Date |
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| CN110921324A true CN110921324A (en) | 2020-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911082760.0A Pending CN110921324A (en) | 2019-11-07 | 2019-11-07 | Vacuum chuck carrying module |
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| CN (1) | CN110921324A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112025470A (en) * | 2020-09-14 | 2020-12-04 | 佛山市俐锋节能自动化设备有限公司 | Glass conveying table with auxiliary steering function |
| WO2020224680A3 (en) * | 2020-07-29 | 2021-06-17 | 苏州贝基电子科技有限公司 | Glass transportation device |
| WO2023092901A1 (en) * | 2021-11-24 | 2023-06-01 | 江苏科技大学 | Device for carrying marine three-dimensional curved plate |
| CN117464657A (en) * | 2023-11-21 | 2024-01-30 | 球明汽车零部件（天津）有限公司 | New energy automobile skylight transport manipulator |
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| WO2020224680A3 (en) * | 2020-07-29 | 2021-06-17 | 苏州贝基电子科技有限公司 | Glass transportation device |
| CN112025470A (en) * | 2020-09-14 | 2020-12-04 | 佛山市俐锋节能自动化设备有限公司 | Glass conveying table with auxiliary steering function |
| WO2023092901A1 (en) * | 2021-11-24 | 2023-06-01 | 江苏科技大学 | Device for carrying marine three-dimensional curved plate |
| CN117464657A (en) * | 2023-11-21 | 2024-01-30 | 球明汽车零部件（天津）有限公司 | New energy automobile skylight transport manipulator |
| CN117464657B (en) * | 2023-11-21 | 2024-04-16 | 球明汽车零部件（天津）有限公司 | New energy automobile skylight transport manipulator |
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