CN110936290A - Automatic glass positioning system and positioning method thereof - Google Patents
Automatic glass positioning system and positioning method thereof Download PDFInfo
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- CN110936290A CN110936290A CN201911366394.1A CN201911366394A CN110936290A CN 110936290 A CN110936290 A CN 110936290A CN 201911366394 A CN201911366394 A CN 201911366394A CN 110936290 A CN110936290 A CN 110936290A
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- 239000011521 glass Substances 0.000 title claims abstract description 152
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000007599 discharging Methods 0.000 claims abstract description 46
- 239000000463 material Substances 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000005498 polishing Methods 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000001179 sorption measurement Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention provides an automatic glass positioning system and a positioning method thereof.A feeding and discharging mechanical arm sucks glass to be processed from a material taking area and moves the glass out of the material taking area, then the glass to be processed is placed in a positioning part on a positioning jig, then the feeding and discharging mechanical arm laterally moves for a preset distance to enable the glass to be abutted against the edge of the positioning part, then a suction hole on the positioning part is connected with negative pressure to adsorb the glass to be processed, a flexible sucker of the feeding and discharging mechanical arm breaks the negative pressure, the glass to be processed completely falls into the positioning part to complete automatic positioning, then the feeding and discharging mechanical arm returns to the material taking area, the steps are sequentially repeated until all the positioning parts are provided with the glass to be processed, and finally the feeding and discharging mechanical arm sequentially moves the glass on the positioning. The feeding and discharging device and the positioning mechanism are integrated, positioning is completed in the feeding process, feeding errors are reduced, the rate of finished products is guaranteed, and the production efficiency is improved.
Description
Technical Field
The invention relates to the field of glass processing, in particular to an automatic glass positioning system and a positioning method thereof.
Background
As shown in the attached figure 1 of the specification, the conventional mobile phone glass primary positioning mechanism clamps glass through a plurality of positioning columns, and the positioning columns are driven by a servo motor to complete positioning, so that the cost is high, and the occupied space is large. Moreover, the glass can be positioned only by a single piece, and then the glass is carried to the polishing jig back and forth, so that the time consumption is high, and the efficiency is low. Thus, the prior art has yet to be improved and enhanced.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide an automatic glass positioning system which is small in occupied space and high in efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides an automatic glass positioning system, which comprises: the feeding and discharging mechanical arm is used for grabbing and moving glass and is provided with a flexible sucker for grabbing the glass; the positioning jig is used for positioning glass in the feeding process, a plurality of positioning portions are arranged on the positioning jig, and a plurality of suction holes used for sucking the glass are formed in the positioning portions.
Furthermore, the automatic glass positioning system is characterized in that the positioning parts are regularly and uniformly distributed on the positioning jig, a negative pressure cavity is arranged in the positioning jig, the negative pressure cavity is communicated with the suction holes of the positioning parts, and the negative pressure cavity is connected with a negative pressure fan outside the mechanism.
Furthermore, the automatic glass positioning system is characterized in that the positioning jig is a long strip plate, and a plurality of positioning parts are arranged on the positioning jig in a linear horizontal manner at preset intervals.
Furthermore, the automatic glass positioning system further comprises a material rack for storing glass and a lifting mechanism for driving the material rack to do lifting motion.
In a preferred embodiment, the positioning fixture is a positioning suction plate, the bottom of the positioning suction plate is provided with a horizontal positioning block, and the side of the positioning suction plate is provided with a vertical positioning block.
Furthermore, the automatic glass positioning system is characterized in that the negative pressure cavity is divided into an upper part, a middle part and a lower part which are arranged in the positioning jig.
In a preferred embodiment, the positioning portion is a positioning concave region adapted to the shape of the glass.
Specifically, in the automatic glass positioning system, the feeding and discharging manipulator is a three-axis manipulator.
In a preferred embodiment, in the automatic glass positioning system, a carrier plate for receiving glass and preventing the glass from falling to the lower side is disposed on one side of the positioning fixture.
Furthermore, the automatic glass positioning system comprises a feeding and discharging manipulator, wherein the feeding and discharging manipulator comprises a first guide rail, a second guide rail, a lifting guide rail and a driving mechanism for driving the second guide rail to move horizontally on the first guide rail, the second guide rail is slidably arranged on the first guide rail and is perpendicular to the first guide rail, the lifting guide rail is arranged at one end of the second guide rail, and the flexible sucker is arranged on the lifting guide rail.
Furthermore, the automatic glass positioning system comprises a driving mechanism and a second driving member, wherein the first driving member is arranged on the first guide rail and used for driving the second guide rail to translate along the linear direction of the second guide rail, and the second driving member is arranged on the second guide rail and used for driving the second guide rail to translate along the linear direction of the first guide rail.
The automatic positioning method of the automatic glass positioning system comprises the following steps:
the feeding and discharging mechanical arm sucks glass to be processed from the material taking area and moves out of the material taking area;
the feeding and discharging mechanical arm puts the glass to be processed into a positioning part on the positioning jig;
the suction hole on the positioning part is connected with negative pressure to adsorb the glass to be processed, and meanwhile, the feeding and discharging mechanical arm starts to laterally move for a preset distance to enable the glass to be abutted against the edge of the positioning part;
the flexible sucker of the feeding and discharging manipulator cuts off the negative pressure, and the glass to be processed completely falls into the positioning part to complete automatic positioning;
the feeding and discharging manipulator returns to the material taking area, and the steps are sequentially repeated until all positioning parts on all positioning jigs are provided with the glass to be processed;
and the feeding and discharging mechanical arm sequentially moves the to-be-processed glass positioned on the positioning jig into the polishing device for processing.
Compared with the prior art, the invention provides an automatic glass positioning system and a positioning method thereof, wherein the automatic glass positioning system comprises: the feeding and discharging mechanical arm is used for grabbing and moving glass and is provided with a flexible sucker for grabbing the glass; the positioning jig is used for positioning glass in the feeding process, a plurality of positioning portions are arranged on the positioning jig, and a plurality of suction holes used for sucking the glass are formed in the positioning portions. The glass is sucked by the manipulator through the flexible sucker, the fragile material which has high requirements on the surface smoothness of the glass is highly friendly, the glass sucked by the flexible sucker is conveyed to the positioning jig by the manipulator, the manipulator moves the glass through a micro distance, the glass is in friendly contact with the positioning part through the good flexibility of the flexible sucker so as to be positioned, and meanwhile, the glass is fixed on the positioning jig through the suction holes in the positioning jig so as to prevent the positioned glass from moving or falling. Furthermore, the positioning parts are regularly and uniformly distributed on the positioning jig, so that the positioning jig can position the plurality of pieces of glass under the condition of ensuring the precision, and the production efficiency is improved. Furthermore, the positioning jig is a long strip plate, the preset spacing distance of the positioning parts is linearly and horizontally arranged on the positioning jig, so that the positioning jig is simple in structure and low in manufacturing cost, the positioning parts are horizontally arranged, and the positioning of the manipulator is facilitated, and the improvement of the control precision is facilitated.
The glass to be processed is sucked from the material taking area and moved out of the material taking area by the feeding and discharging mechanical arm, then the glass to be processed is placed into the positioning portion on the positioning jig, then the feeding and discharging mechanical arm laterally moves for a preset distance to enable the glass to be abutted against the edge of the positioning portion, meanwhile, a suction hole on the positioning portion is connected with negative pressure to adsorb the glass to be processed, a flexible sucker of the feeding and discharging mechanical arm breaks the negative pressure, the glass to be processed completely falls into the positioning portion to complete automatic positioning, then the feeding and discharging mechanical arm returns to the material taking area, the steps are sequentially repeated until all the positioning portions on all the positioning jigs are provided with the glass to be processed, and finally the feeding and discharging mechanical arm sequentially moves the glass to be processed, which is positioned on. The loading and unloading device and the positioning mechanism are integrated, positioning is completed in the loading process through the arrangement of the adsorption type positioning jig, loading errors are reduced, the yield is ensured, multi-station positioning can be realized, the production time is shortened, and the production efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a conventional mobile phone glass primary positioning mechanism provided by the present invention.
FIG. 2 is a schematic structural view of an automatic glass positioning system according to the present invention.
FIG. 3 is a front view of the automatic glass positioning system provided by the present invention.
Fig. 4 is a schematic structural diagram of a positioning fixture in another embodiment of the automatic glass positioning system provided by the present invention.
FIG. 5 is a schematic structural view of a loading and unloading robot of the automatic glass positioning system provided by the present invention.
Fig. 6 is a schematic structural view of a lifting rail of the automatic glass positioning system provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "on," "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present invention are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.
As shown in fig. 2, 3, 5 and 6, the present invention provides an automatic glass positioning system comprising: the feeding and discharging mechanical arm 2 is used for grabbing and moving glass, and a flexible sucker 234 used for grabbing the glass is arranged on the feeding and discharging mechanical arm 2; the positioning jig 4 is used for positioning glass in the feeding process, a plurality of positioning portions 41 are arranged on the positioning jig 4, the positioning portions 41 are regularly and uniformly distributed on the positioning jig 4, and a plurality of suction holes (not numbered) for sucking the glass are formed in the positioning portions 41. The number of the positioning portions 41 is generally 5 to 10 because of limited space. The glass is sequentially sucked by the feeding and discharging mechanical arm 2, the glass is moved to the corresponding positioning part 41 on the positioning jig 4 to be positioned, meanwhile, the glass on the positioning part 41 is sucked by the suction holes on the positioning part 41 to prevent the glass from falling, and then the glass on each positioning part 41 is sequentially sent into the polishing device by the feeding and discharging mechanical arm 2. The loading and unloading device and the positioning mechanism are integrated, positioning is completed in the loading process through the arrangement of the adsorption type positioning jig 4, loading errors are reduced, the yield is guaranteed, multi-station positioning can be realized, the production time is shortened, and the production efficiency is improved.
Further, in the automatic glass positioning system provided by the invention, the positioning jig 4 is a long strip plate, and the plurality of positioning parts 41 are arranged on the positioning jig 4 at preset intervals in a straight line. Such setting space utilization is high, and each location portion 41 level is arranged, also is convenient for accurate location.
Preferably, in the automatic glass positioning system provided by the present invention, the positioning fixture 4 is a positioning suction plate, a horizontal positioning block 421 is disposed at the bottom of the positioning suction plate, and a vertical positioning block 422 is disposed at the side of the positioning suction plate. During the material loading, go up unloading manipulator 2 and snatch glass and press close to the location suction disc through removing, a bit interval still slightly, move preset distance (generally about several millimeters) to one side simultaneously, conflict on lateral part locating piece 422 (flexible sucking disc 234 is soft, make glass's displacement have certain elastic space, can not make it cracked), flexible sucking disc 234 loosens glass, let glass lean on gravity nature whereabouts, stop when falling to horizontal location piece 421, accomplish L type bottom location, inhale the hole and let in the negative pressure and hold glass and ensure that the glass position is motionless.
In another embodiment of the automatic glass positioning system of the present invention, as shown in fig. 4, the positioning portion 41 is a concave positioning area adapted to the shape of the glass. Similarly, during the material loading, go up unloading manipulator 2 and snatch glass and press close to the concave region of location through removing, there is some interval a little in addition, move predetermined distance (generally about several millimeters) to one side simultaneously, contradict on the border of the concave region of location one side, flexible sucking disc 234 loosens glass, lets glass fall naturally by gravity, stops when falling the border of the concave region bottom of location, accomplishes L type bottom location, inhales the hole and lets in the negative pressure and inhales glass and ensure that the glass position is motionless.
Further, according to the automatic glass positioning system provided by the invention, the positioning jig 4 is internally provided with the negative pressure cavity 43, the negative pressure cavity 43 is communicated with the suction holes of the positioning parts 41, and the negative pressure cavity 43 is connected with a negative pressure fan outside the mechanism. The arrangement of the negative pressure cavity 43 is used for uniformly controlling the adsorption effect on each suction hole.
Further, in the automatic glass positioning system provided by the invention, the negative pressure cavity 43 is divided into an upper part, a middle part and a lower part, and is arranged in the positioning jig 4. The arrangement of the sub-chambers is beneficial to controlling the suction force of the suction holes at different positions on the positioning portion 41, and the suction force is also determined by the size of the suction holes.
Preferably, a carrier plate 7 for receiving the glass and preventing the glass from falling to the lower side is arranged on one side of the positioning fixture 4. When unexpected conditions such as outage, fan work abnormity take place, positioning jig 4 loses adsorption efficiency, and glass drops from positioning jig 4, and the glass that drops because lose adsorption efficiency can be accepted to support plate 7 this moment, prevents that glass from further falling into the bottom of burnishing machine, the normal operating of harm other positions.
With reference to fig. 2, fig. 3, fig. 5 and fig. 6, in particular, in the automatic glass positioning system provided by the present invention, the loading and unloading robot 2 is a three-axis robot. The three-axis manipulator mainly has the translational degree of freedom in the three directions of the X-axis direction, the Y-axis direction and the Z-axis direction, and is simple in structure, small in occupied space, easy to embed into a polishing host, simple in control algorithm and more accurate in control.
Furthermore, the automatic glass positioning system provided by the invention further comprises a material rack 1 for storing and taking glass and a lifting mechanism 6 for driving the material rack to do lifting motion, wherein the lifting mechanism 6 adopts a lifting rod telescopic cylinder. The loading and unloading manipulator 2 comprises a first guide rail 21, a second guide rail 22, a lifting guide rail 23 and a driving mechanism for driving the second guide rail 22 to move horizontally on the first guide rail 21, the second guide rail 22 is arranged on the first guide rail 21 and is perpendicular to the first guide rail 21, the lifting guide rail 23 is arranged at one end of the second guide rail 22, and the suction part is arranged on the lifting guide rail 23. The first guide rail 21 is used for realizing the translational degree of freedom in the X-axis direction, the second guide rail 22 is used for realizing the translational degree of freedom in the Y-axis direction, the lifting guide rail 23 is used for realizing the translational degree of freedom in the Z-axis direction, the suction part is arranged at the lower part of the lifting guide rail 23, and the whole feeding and discharging manipulator 2 is closely arranged above the material rack 1. The feeding and discharging mechanical arm 2 is very compact in structure, small in occupied space and convenient to embed into a polishing host.
Further, the automatic glass positioning system provided by the present invention comprises a first driving member 24 and a second driving member 25, wherein the first driving member 24 is disposed on the first guide rail 21 and is used for driving the second guide rail 22 to translate along the linear direction (Y axis) where the second guide rail 22 is located, and the second driving member 25 is disposed on the second guide rail 22 and is used for driving the second guide rail 22 to translate along the linear direction (X axis) where the first guide rail 21 is located. Specifically, in the present embodiment, the first driving member 24 employs a servo motor for providing more precise translation accuracy, and the second driving member 25 employs a stepping motor for further reducing the occupied space. Lifting guide 23 is lifting cylinder 231, specifically is biax lifting cylinder, and lifting cylinder 231 fuses drive component and guide rail in an organic whole, and it is still less than step motor occupation space, is favorable to further reducing occupation space, has further made things convenient for in the automatic unloading mechanism embedding polishing host computer of going up of glass.
Further, the loading and unloading manipulator 2 further comprises a bracket 233 and a rotary driving member 232, the rotary driving member 232 drives the bracket 233 to rotate, two flexible suckers 234 are arranged on the bracket 233, and the rotary driving member 232 can adopt a rotary cylinder. In order to make the best use of space, the material rack 1 is horizontal, and the glass is placed on the material rack 1 in a row, so that a rotary driving component is adopted to rotate a preset angle, such as 90 degrees or 180 degrees, after the suction component sucks the glass, so as to be in butt joint with each station suction cup 5 on the polishing device. In this embodiment, the rotation is first 90 ° and then 180 °.
Referring to fig. 2, the two automatic positioning systems of the present invention are symmetrically and parallelly disposed on both sides of the polishing station, when the system on one side is working, the system on the other side can be lowered to the material rest 1 by the lifting mechanism 6, and the worker can take the processed glass and supplement the unprocessed glass, thereby improving the production efficiency of the whole polishing device.
Based on the automatic glass positioning system, the invention also provides an automatic positioning method, which comprises the following steps:
s1, the feeding and discharging manipulator sucks glass to be processed from the material taking area and moves the glass out of the material taking area;
s2, the feeding and discharging manipulator puts the glass to be processed into the positioning part on the positioning jig;
s3, connecting the suction hole on the positioning part with negative pressure to absorb the glass to be processed, and enabling the feeding and discharging manipulator to start to laterally move for a preset distance to enable the glass to be abutted against the edge of the positioning part;
s4, the negative pressure is cut off by the flexible sucker of the feeding and discharging manipulator, and the glass to be processed completely falls into the positioning part to complete automatic positioning;
s5, returning the feeding and discharging manipulator to the material taking area, and repeating the steps in sequence until all positioning parts on all positioning jigs are provided with the glass to be processed;
and S6, sequentially moving the to-be-processed glass positioned on the positioning jig into the polishing device for processing by the feeding and discharging manipulator.
In summary, according to the automatic glass positioning system and the positioning method thereof provided by the invention, the feeding and discharging manipulator sucks glass to be processed from the material taking area and moves out of the material taking area, then the glass to be processed is placed in the positioning part on the positioning jig, then the feeding and discharging manipulator laterally moves for a predetermined distance to enable the glass to be abutted against the edge of the positioning part, then the suction hole on the positioning part is connected with negative pressure to adsorb the glass to be processed, the flexible suction disc of the feeding and discharging manipulator breaks the negative pressure, the glass to be processed completely falls into the positioning part to complete automatic positioning, then the feeding and discharging manipulator returns to the material taking area, the steps are sequentially repeated until all the positioning parts on all the positioning jigs are provided with the glass to be processed, and finally the feeding and discharging manipulator sequentially moves the glass to be processed positioned on the positioning jig into the polishing. The loading and unloading device and the positioning mechanism are integrated, positioning is completed in the loading process through the arrangement of the adsorption type positioning jig, loading errors are reduced, the yield is ensured, multi-station positioning can be realized, the production time is shortened, and the production efficiency is improved.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.
Claims (10)
1. An automatic glass positioning system, comprising: the feeding and discharging mechanical arm is used for grabbing and moving glass and is provided with a flexible sucker for grabbing the glass; the positioning jig is used for positioning glass in the feeding process, a plurality of positioning portions are arranged on the positioning jig, and a plurality of suction holes used for sucking the glass are formed in the positioning portions.
2. The automatic glass positioning system according to claim 1, wherein the positioning portions are regularly and uniformly distributed on the positioning jig, negative pressure cavities are arranged in the positioning jig, the negative pressure cavities are communicated with the suction holes of the positioning portions, and the negative pressure cavities are connected with a negative pressure fan outside the mechanism.
3. The automatic glass positioning system of claim 2, wherein the positioning fixture is a strip plate, and the plurality of positioning portions are horizontally arranged on the positioning fixture at predetermined intervals in a straight line.
4. The automatic glass positioning system of claim 3, further comprising a rack for storing glass and a lifting mechanism for driving the rack to move up and down.
5. The automatic glass positioning system of claim 3, wherein the positioning fixture is a positioning suction plate, a horizontal positioning block is arranged at the bottom of the positioning suction plate, and a vertical positioning block is arranged at the side of the positioning suction plate.
6. The automatic glass positioning system of claim 5, wherein the negative pressure cavity is divided into an upper portion, a middle portion and a lower portion, and is disposed in the positioning fixture.
7. The automatic glass positioning system of claim 6, wherein the positioning part is a positioning concave area matched with the shape of the glass.
8. The automatic glass positioning system of any one of claims 1-7, wherein the loading and unloading robot is a three-axis robot.
9. The automatic glass positioning system of claim 8, wherein a carrier plate for receiving the glass and preventing the glass from falling down is disposed on one side of the positioning fixture.
10. The method of claim 1, comprising the steps of:
the feeding and discharging mechanical arm sucks glass to be processed from the material taking area and moves out of the material taking area;
the feeding and discharging mechanical arm puts the glass to be processed into a positioning part on the positioning jig;
the suction hole on the positioning part is connected with negative pressure to adsorb the glass to be processed, and meanwhile, the feeding and discharging mechanical arm starts to laterally move for a preset distance to enable the glass to be abutted against the edge of the positioning part;
the flexible sucker of the feeding and discharging manipulator cuts off the negative pressure, the glass to be processed completely falls into the positioning part,
completing automatic positioning;
the feeding and discharging manipulator returns to the material taking area, and the steps are sequentially repeated until all positioning parts on the positioning jig are provided with the glass to be processed;
and the feeding and discharging mechanical arm sequentially moves the to-be-processed glass positioned on the positioning jig into the polishing device for processing.
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| CN201911366394.1A CN110936290A (en) | 2019-12-26 | 2019-12-26 | Automatic glass positioning system and positioning method thereof |
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| CN201911366394.1A CN110936290A (en) | 2019-12-26 | 2019-12-26 | Automatic glass positioning system and positioning method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113071925A (en) * | 2021-03-16 | 2021-07-06 | 广东拓斯达科技股份有限公司 | Automatic rotating stand assembly line for workpieces |
| CN117719885A (en) * | 2024-01-25 | 2024-03-19 | 苏州德机自动化科技有限公司 | Automatic plate glass loading and unloading equipment |
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