CN111250845A - Carrying mechanism, cutting system and method for metal plate - Google Patents
Carrying mechanism, cutting system and method for metal plate Download PDFInfo
- Publication number
- CN111250845A CN111250845A CN202010071010.XA CN202010071010A CN111250845A CN 111250845 A CN111250845 A CN 111250845A CN 202010071010 A CN202010071010 A CN 202010071010A CN 111250845 A CN111250845 A CN 111250845A
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- China
- Prior art keywords
- plasma cutting
- collinear
- suction head
- guide rails
- electromagnetic suction
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K10/00—Welding or cutting by means of a plasma
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
Abstract
The invention relates to a carrying mechanism, a cutting system and a method for a metal plate, which comprise a lifting appliance, wherein the lifting appliance can reach any point in a set space under the driving of a movement mechanism; a plurality of electromagnetic suction heads are separately arranged on one end surface of the lifting appliance, and each electromagnetic suction head can respectively perform reciprocating linear motion along a set direction so as to change the length of the electromagnetic suction head extending out of the electromagnetic suction head; the extension of the electromagnetic suction head is set as follows: under the condition of no external force, the ends of the plurality of electromagnetic suction heads far away from the lifting appliance are in the same plane. The end face of the lifting appliance is provided with a plurality of mounting holes with mutually parallel axes, and the electromagnetic suction heads are arranged in the mounting holes.
Description
Technical Field
The invention belongs to the technical field of plasma cutting machines, and particularly relates to a plate carrying mechanism for a plasma cutting machine.
Background
At present, metal saw blade mainly is through laser cutting or plasma cutting processing, and the sheet metal blank shifts with the saw bit and the waste material after the cutting by workman's operation driving, to the great and very heavy blank of size and saw bit, security and last unloading efficiency obtain not guaranteeing, have the potential safety hazard.
The inventor has appreciated that when an operator operates the travelling crane to transfer a sheet metal part, the lifting device at the lower end of the travelling crane generally adopts an electromagnetic lifting device, and the electromagnetic lifting device can sequentially act in a three-dimensional space according to a set X, Y, Z-axis rectangular coordinate system, so that the electromagnetic lifting device reaches any point in the set space to complete the transfer of the sheet metal part. In consideration of collision prevention, when the electromagnetic lifting appliance is transferred from the current position to the required position, the motion track of the electromagnetic lifting appliance is not a continuous straight line, and the electromagnetic lifting appliance is required to move along the X, Y, Z-axis direction respectively to finally reach the target position.
Under the condition that the surface of the metal plate is a plane, the electromagnetic lifting appliance can directly walk along a straight line between two points, so that the walking path is reduced greatly, and the transfer efficiency of the metal plate is increased; however, the flatness of the surface of the metal plate is not satisfactory, and the electromagnetic lifting appliance which is capable of moving along the shortest straight line and traveling between the shortest lines is limited to have a great possibility of colliding with the bulge on the surface of the metal plate, so that the plate or the battery lifting appliance is damaged.
Meanwhile, the existing plasma metal cutting machine does not have the automatic feeding and discharging function for automatically finishing the blanks, finished products and waste products of the metal plates, the manufacturing cost of the plasma cutting machine is high, the plasma cutting machine which does not have the automatic feeding and discharging function is directly eliminated, huge loss can be caused undoubtedly, and a transformation method for transforming the old plasma cutting machine into the plasma cutting machine with the automatic feeding and discharging function does not exist in the prior art.
Disclosure of Invention
The invention provides a conveying mechanism for a sheet metal part, which can solve the problem that the surface of the sheet metal part is easy to bump when an electromagnetic lifting appliance is in linear walking from the current position in the conventional conveying mechanism adopting the electromagnetic lifting appliance.
The second purpose of the invention is to provide a plasma cutting system, which can complete the automatic feeding and discharging operation of a plasma cutting assembly, increase the feeding and discharging efficiency and reduce the potential safety hazard.
The third objective of the present invention is to provide a method for modifying a plasma cutting machine, which modifies the existing plasma cutting machine without automatic feeding and discharging function into the plasma cutting system provided in the second objective.
In order to achieve the first object, a first aspect of the present invention provides a conveying mechanism for a sheet metal element, including a lifting device, wherein the lifting device is driven by a movement mechanism to reach any point in a set space.
A plurality of electromagnetic suction heads are separately arranged on one end surface of the lifting appliance, and each electromagnetic suction head can respectively perform reciprocating linear motion along a set direction so as to change the length of the electromagnetic suction head extending out of the electromagnetic suction head; the extension of the electromagnetic suction head is set as follows: under the condition of no external force, the ends of the plurality of electromagnetic suction heads far away from the lifting appliance are in the same plane.
In order to achieve the second object, a second aspect of the present invention provides a plasma cutting system, which utilizes the transporting mechanism for a metal plate, and includes a pedestal, wherein a plasma cutting assembly is disposed on an upper surface of the pedestal, a feeding and discharging assembly is disposed on one side of the plasma cutting assembly, and the feeding and discharging assembly includes the transporting mechanism for a metal plate. The conveying mechanism for the metal plate is in signal connection with the control system, and the control system controls the conveying mechanism for the metal plate to complete the conveying of the metal plate along a set track.
As a further definition of the second aspect of the invention, the movement mechanism comprises a three-dimensional movement platform comprising a gantry crane, the gantry crane being capable of travelling along two mutually parallel collinear guides.
The plasma cutting assembly on the upper surface of the pedestal travels along two parallel support guide rails. The two collinear guide rails are respectively collinear with the two support guide rails, and the collinear guide rails are in contact with the end parts of the support guide rails to form an integral guide rail structure.
To achieve the third object, a third aspect of the present invention provides a method for modifying a plasma cutting machine, including the steps of:
installing two collinear guide rails on the upper surface of the plasma cutting machine, so that the collinear guide rails are respectively collinear with two original support guide rails of the plasma cutting assembly; the end of each collinear guide rail is in contact with the end of the corresponding support guide rail, and the shape and the size of the cross section of each collinear guide rail are the same as those of the support guide rails.
A plurality of trays are arranged between the two collinear guide rails to complete the bearing of the material plates, finished products and waste products;
and a gantry crane is arranged on the collinear guide rail, a sliding frame sliding along the horizontal direction in the gantry crane is connected with a vertical lifting unit, and a lifting appliance is fixedly arranged at the lower end of the vertical lifting unit.
The invention has the beneficial effects that:
(1) the mode that the end face department at the hoist sets up a plurality of electromagnetic suction heads is adopted, and every electromagnetic suction head can both be followed and set for the direction flexible, and then makes the electromagnetic suction head when contacting the protruding on sheet metal surface, can be through flexible in order to reduce the collision between the two, guarantees that the hoist can follow and sets for orbit arrival sheet metal department to through magnetic force actuation sheet metal.
(2) Meanwhile, the plurality of electromagnetic suction heads are matched for use to suck raw materials, finished products and waste materials, the tail ends of the electromagnetic suction heads can form a suction surface, and the suction surface can be matched with the surface flatness of the metal plate part to meet the requirements through the extension and retraction of the electromagnetic suction heads, so that the situations of concavity and convexity exist. The attraction of the metal plate is completed by the plurality of electromagnetic suction heads together, so that the stability of the electromagnetic lifting appliance in transferring the metal plate is improved.
(3) The mode that adopts sheet metal transport mechanism in one side of plasma cutting machine is adopted, integrates sheet metal transport mechanism and original plasma cutting machine into an organic whole mechanism, utilizes control system automatic control metal transport mechanism to accomplish the transport of sheet metal, can reduce artificial participation, improves the security of sheet metal plasma cutting.
(4) The mode that collinear guide rails and corresponding support guide rails are arranged in a collinear mode is adopted, so that the three-dimensional motion platform arranged above the collinear guide rails can drive the electromagnetic lifting appliance to walk to the support guide rails in the plasma cutting assembly, and the electromagnetic lifting appliance arranged in the three-dimensional motion platform can be used for completing the position adjustment of the metal plate in the cutting process.
The mode that the plasma cutting assembly that will be old, do not possess the automatic unloading function of going up is reformed transform is adopted, when realizing the unloading function of going up of plasma cutting assembly, avoids because of directly eliminating the loss that old plasma cutting machine caused.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic view of a motion mechanism used in cooperation with a spreader in embodiment 1 of the present invention;
fig. 2 is a schematic structural view of a carriage and a spreader in embodiment 1 of the present invention;
FIG. 3 is a schematic view of the structure of an electromagnetic attraction head in embodiment 1 of the present invention;
FIG. 4 is a schematic view of the overall structure in embodiment 2 of the present invention;
fig. 5 is a schematic structural diagram of an exchange pedestal in embodiment 2 of the present invention.
In the figure: 1. a tray; 2. a feeding and discharging mechanism; 3. an exchange workbench; 4. a pedestal; 5. a collinear guide rail; 21. a gantry; 22. a transverse guide rail; 23. a carriage; 231. a hydraulic motor; 232. a vertical guide rail; 233. a vertical hydraulic cylinder; 234. a support; 235. a hanger plate; 236. an electromagnetic suction head; 2361. a fixed flange; 2362. a connecting rod; 2363. a return spring element; 2364. an electromagnet; 31. a table rail; 32. a bracket guide rail; 33. an upper working table; 34. a support frame; 35. a motor; 36. a lifting hydraulic cylinder; 37. and (5) a lower workbench.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
For convenience of description, the words "up, down, left and right" when appearing in the present invention merely indicate correspondence with the up, down, left and right directions of the drawings themselves, and are not limiting of structure, but merely for convenience of description and simplified description, and do not indicate or imply that the referenced apparatus or component must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting of the present invention.
Example 1
As shown in fig. 1 to 3, the present embodiment provides a conveying mechanism for a sheet metal part, which includes a lifting device, and the lifting device can be driven by a movement mechanism to reach any point in a set space.
A plurality of electromagnetic suction heads are separately arranged on one end surface of the lifting appliance, and each electromagnetic suction head can respectively perform reciprocating linear motion along a set direction so as to change the length of the electromagnetic suction head extending out of the electromagnetic suction head;
the extension of the electromagnetic suction head is set as follows: under the condition of no external force, the ends of the plurality of electromagnetic suction heads far away from the lifting appliance are in the same plane.
A plurality of mounting holes with mutually parallel axes are formed in the end face of the lifting appliance, and the electromagnetic suction heads are arranged in the mounting holes;
outside cover of electromagnetism suction head is equipped with reset spring 2363, and the one end of keeping away from the hoist with the electromagnetism suction head is established to the end, reset spring 2363 sets up between the terminal surface of hoist and the terminal spacing arch of electromagnetism suction head to realize that the electromagnetism suction head resets under the external force condition not.
Electromagnetic suction head includes connecting rod 2362, mounting flange 2361 has been cup jointed to the connecting rod 2362 outside, mounting hole fixed connection of mounting flange 2361 and hoist, can relative slip between connecting rod 2362 and the mounting flange 2361, the one end that connecting rod 2362 inserted mounting flange 2361 is equipped with the boss to avoid connecting rod 2362 to drop from mounting flange 2361, the one end that connecting rod 2362 kept away from mounting flange 2361 is provided with electro-magnet 2364, be provided with between electro-magnet 2364 and the hoist reset spring 2363.
Specifically, the lower end of the connecting rod 2362 is connected with the electromagnet 2364 through threads, and the sectional area of the electromagnet 2364 in the direction perpendicular to the axis of the connecting rod 2362 is larger than the sectional area of the connecting rod 2362, so that the electromagnet 2364 forms a limiting and protruding effect, and the limiting of the return spring 2363 can be realized.
As described in the present embodiment, each electromagnetic suction head is capable of extending and retracting in a set direction, which may be the axial direction of the connecting rod.
When the metal carrying mechanism is not needed to work, the electromagnetic suction head is suspended and stays at a certain position above the metal plate, when the metal plate needs to be carried by the lifting appliance, the control mechanism can calculate a straight line path between the electromagnetic suction head and the position, to be sucked, of the metal plate at the moment, and control the motion mechanism (such as a three-dimensional workbench and a mechanical arm) to enable the lifting appliance to drive the electromagnetic suction head to reach a set position along the shortest straight line track between two points.
In the process that the lifting appliance drives the electromagnetic suction head to move, if the electromagnetic suction head collides with the bulge on the surface of the metal plate, the electromagnetic suction head can retract to reduce the damage caused by collision.
Example 2
As shown in fig. 4-5, the present embodiment provides a plasma cutting system, which utilizes the conveying mechanism for a metal plate, and includes a pedestal 4, a plasma cutting assembly is disposed on the upper surface of the pedestal 4, a feeding and discharging mechanism assembly 2 is disposed on one side of the plasma cutting assembly, and the feeding and discharging mechanism assembly 2 includes the conveying mechanism for a metal plate.
The motion mechanism comprises a three-dimensional motion platform. The three-dimensional motion platform comprises a gantry crane, and the gantry crane can travel along two collinear guide rails 5 which are parallel to each other. The plasma cutting assembly on the upper surface of the pedestal 4 travels along two support guide rails which are parallel to each other.
The two collinear guide rails 5 are respectively collinear with the two support guide rails, and the collinear guide rails 5 are in contact with the end parts of the support guide rails to form an integral guide rail structure.
A plurality of trays are arranged between the two collinear guide rails 5, and the trays are respectively used for storing materials, finished products and waste products; be provided with change table 3 between two support guide rails, change table 3 realizes the cutting of material and goes up unloading work in turn. A gantry crane in the three-dimensional motion platform is internally provided with a sliding frame component, the sliding frame component can perform reciprocating linear motion along the crossing direction of the gantry crane, the lower part of the sliding frame component is connected with a lifting appliance, and the lifting appliance is lifted along the vertical direction; set up a plurality of trays between two collinear guide rails, can reduce the distance between sheet metal blank, waste product, finished product and the plasma cutting subassembly, be convenient for realize change table's last unloading operation.
The collinear guide rail 5 is horizontally arranged, the moving direction of the sliding frame is horizontally arranged, and the moving direction of the sliding frame is vertical to the collinear guide rail 5.
Specifically, the three-dimensional motion platform comprises a portal frame 21, a transverse guide rail 22 is mounted on the portal frame 21, the transverse guide rail 22 comprises a slide rail, a rack is connected to the slide rail, the slide rail is connected to a support plate, the support plate is connected to a carriage, the carriage comprises a support 234, four guide rail holes are formed in the periphery of the support 234 and used for mounting a vertical guide rail 232, the vertical guide rail 232 is connected to an electromagnetic chuck, the electromagnetic chuck comprises a hanging plate 235, electromagnetic suction heads are arranged on the lower surface of the hanging plate 235 and have multiple specifications and multiple arrangements, the support 234 is connected to a vertical hydraulic cylinder 233, the support 234 is connected to a hydraulic motor 231, a spindle of the hydraulic motor 231 is connected to a gear, and the carriage moves on the transverse guide rail 22 through gear and rack transmission; the vertical hydraulic cylinder 233 stretches and retracts to drive the lifting appliance to move in the vertical direction, the hydraulic motor 231 is started to drive the lifting appliance to move horizontally, and different types of electromagnetic chucks and different arrangement modes are adopted to process saw blades of different specifications.
The change table 3 includes support frame 34, the both sides of support frame 34 cloth respectively have "a mountain a rectangle" guide rail, workstation 33 is connected to the guide rail, it has flat nylon gyro wheel to go up workstation 33 in rectangle guide rail one side, at the slotted nylon gyro wheel of mountain shape guide rail one side, change table 3 establishes motor 35 in one side, motor 35 makes through chain drive the workstation removes along support frame 34, 36 one end grounds of hydraulic cylinder, and special track is connected to one end, drag the workstation "being connected" of device and track guide rail top, can realize highly flexible.
When the upper workbench 33 works, the lower workbench 37 performs feeding and discharging work, when the upper workbench 33 finishes working at a machining station, the lifting hydraulic cylinder 36 is in a contraction state, the lower workbench 37 is at a lower position, at this time, the bracket guide rail 32 is in butt joint with the guide rail 31 of the lower workbench 37, the motor 35 is started, the upper workbench 33 moves to the position above the lower workbench 37 along the guide rail through chain transmission, the lifting hydraulic cylinder 36 extends out, the workbench rises, the lower workbench 37 is driven to the machining station through the chain transmission, blanks on the lower workbench 37 are machined, and meanwhile, the feeding and discharging device performs feeding and discharging work on the upper workbench 33.
Example 3
The embodiment provides a method for modifying a plasma cutting machine, which comprises the following steps:
installing two collinear guide rails 5 on the upper surface of the plasma cutting machine, so that the collinear guide rails 5 are respectively collinear with two original support guide rails of the plasma cutting assembly; the end of each collinear rail 5 is in contact with the end of the corresponding carriage rail, and the collinear rail 5 has the same cross-sectional shape and size as the carriage rail.
A plurality of trays are arranged between the two collinear guide rails 5 to complete the bearing of the material plates, finished products and waste products;
and a gantry crane is arranged on the collinear guide rail 5, a sliding frame in the gantry crane is connected with a vertical lifting unit, and a lifting appliance is arranged at the lower end of the vertical lifting unit.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The carrying mechanism for the metal plate is characterized by comprising a lifting appliance, wherein the lifting appliance can reach any point in a set space under the driving of a movement mechanism;
a plurality of electromagnetic suction heads are separately arranged on one end surface of the lifting appliance, and each electromagnetic suction head can respectively perform reciprocating linear motion along a set direction so as to change the length of the electromagnetic suction head extending out of the electromagnetic suction head;
the extension of the electromagnetic suction head is set as follows: under the condition of no external force, the ends of the plurality of electromagnetic suction heads far away from the lifting appliance are in the same plane.
2. The sheet metal conveying mechanism according to claim 1, wherein a plurality of mounting holes having axes parallel to each other are provided at an end surface of the hanger, and the electromagnetic suction head is provided in the mounting hole;
the outside cover of electromagnetism suction head is equipped with reset spring, and the one end of keeping away from the hoist with the electromagnetism suction head is established to the end, reset spring sets up between the terminal surface of hoist and the terminal spacing arch of electromagnetism suction head to realize that the electromagnetism suction head resets under the external force condition not.
3. The sheet metal conveying mechanism according to claim 2, wherein the electromagnetic suction head includes a connecting rod, a fixing flange is sleeved outside the connecting rod, the fixing flange is fixedly connected with the mounting hole of the hanger, the connecting rod and the fixing flange can slide relatively, a boss is arranged at one end of the connecting rod inserted into the fixing flange to prevent the connecting rod from falling off from the fixing flange, an electromagnet is arranged at one end of the connecting rod away from the fixing flange, and the reset spring is arranged between the electromagnet and the hanger.
4. A plasma cutting system, which utilizes the carrying mechanism for the metal plate member as claimed in any one of claims 1 to 3, and is characterized by comprising a pedestal, wherein a plasma cutting assembly is arranged on the upper surface of the pedestal, a feeding and discharging assembly is arranged on one side of the plasma cutting assembly, the feeding and discharging assembly comprises the carrying mechanism for the metal plate member, the carrying mechanism for the metal plate member is in signal connection with a control system, and the control system controls the carrying mechanism for the metal plate member to carry the metal plate member along a set track.
5. The plasma cutting system of claim 4, wherein the motion mechanism comprises a three-dimensional motion platform.
6. The plasma cutting system of claim 5, wherein the three-dimensional motion platform comprises a gantry crane capable of traveling along two co-linear rails that are parallel to each other;
the plasma cutting assembly on the upper surface of the pedestal travels along two parallel support guide rails;
the two collinear guide rails are respectively collinear with the two support guide rails, and the collinear guide rails are in contact with the end parts of the support guide rails to form an integral guide rail structure.
7. The plasma cutting system of claim 5, wherein a plurality of trays are provided between two collinear guide rails, the trays being used to enable storage of materials, finished products and waste products, respectively;
an exchange workbench is arranged between the two support guide rails, and the exchange workbench alternately realizes cutting of materials and feeding and discharging work.
8. The plasma cutting system of claim 6, wherein a gantry crane in the three-dimensional motion platform is provided with a carriage component, the carriage component can perform reciprocating linear motion along the crossing direction of the gantry crane, the lower part of the carriage component is connected with the lifting appliance, and the lifting appliance is lifted and lowered along the vertical direction;
the collinear guide rail is horizontally arranged, the moving direction of the sliding frame is horizontally arranged, and the moving direction of the sliding frame is vertical to the collinear guide rail.
9. The method for modifying the plasma cutting machine is characterized by comprising the following steps of:
installing two collinear guide rails on the upper surface of the plasma cutting machine, so that the collinear guide rails are respectively collinear with two original support guide rails of the plasma cutting assembly;
a plurality of trays are arranged between the two collinear guide rails to complete the bearing of the material plates, finished products and waste products;
and a gantry crane is arranged on the collinear guide rail, and a lifting appliance capable of lifting along the vertical direction is arranged at the lower end of the sliding frame.
10. The method of modifying a plasma cutting machine according to claim 9,
in the step 1, the end part of each collinear guide rail is contacted with the end part of the corresponding support guide rail, and the shape and the size of the cross section of each collinear guide rail are the same as those of the support guide rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010071010.XA CN111250845A (en) | 2020-01-21 | 2020-01-21 | Carrying mechanism, cutting system and method for metal plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010071010.XA CN111250845A (en) | 2020-01-21 | 2020-01-21 | Carrying mechanism, cutting system and method for metal plate |
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| Publication Number | Publication Date |
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| CN111250845A true CN111250845A (en) | 2020-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010071010.XA Pending CN111250845A (en) | 2020-01-21 | 2020-01-21 | Carrying mechanism, cutting system and method for metal plate |
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Cited By (2)
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| CN112061779A (en) * | 2020-08-18 | 2020-12-11 | 晶澳（邢台）太阳能有限公司 | Tool backflow transfer mechanism applied to series welding machine and carrying method thereof |
| CN112338956A (en) * | 2020-11-27 | 2021-02-09 | 北京石油化工学院 | Electromagnetic gripper device for carrying base plate |
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Application publication date: 20200609 |
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