CN111570205A - Four-axis vision dispensing equipment - Google Patents
Four-axis vision dispensing equipment Download PDFInfo
- Publication number
- CN111570205A CN111570205A CN202010554445.XA CN202010554445A CN111570205A CN 111570205 A CN111570205 A CN 111570205A CN 202010554445 A CN202010554445 A CN 202010554445A CN 111570205 A CN111570205 A CN 111570205A
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- dispensing
- bottom plate
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- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 239000003292 glue Substances 0.000 claims abstract description 25
- 230000000007 visual effect Effects 0.000 claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
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- Coating Apparatus (AREA)
Abstract
The invention relates to the technical field of dispensing equipment, and particularly discloses four-axis visual dispensing equipment, which comprises: dispensing a glue gun; the rotating assembly comprises a rotating plate, a rotating motor and an inclination angle adjusting plate, the rotating motor drives the rotating plate to rotate around a vertical axis, the inclination angle adjusting plate is fixedly connected with the rotating plate, and the glue dispensing gun is obliquely fixed on the inclination angle adjusting plate; and the shifting mechanism is fixedly connected with the rotating component and is used for driving the rotating component to perform translational motion. The invention provides four-axis visual dispensing equipment, which can solve the problem that a dispensing gun of the traditional dispensing equipment cannot stretch into a narrow space to operate.
Description
Technical Field
The invention relates to the technical field of dispensing equipment, in particular to four-axis visual dispensing equipment.
Background
With the continuous optimization and progress of the automatic dispensing technology, the dispensing technology is more and more important in the manufacturing industry. At present, the dispensing technology has penetrated into many fields such as integrated circuits, semiconductor packages, printed circuit boards, color liquid crystal screens, electronic components, electronic parts, and automobile parts production.
The dispensing apparatus generally includes a vertically disposed dispensing gun and a shifting mechanism for driving the dispensing gun to move horizontally, wherein during dispensing, the shifting mechanism drives the dispensing gun to move to a position to be dispensed, and then the dispensing gun ejects the glue. Because the traditional shifting mechanism can only drive the vertically arranged dispensing gun to translate, the operating space in the vertical direction required by the dispensing gun is large (at least the dispensing gun can be accommodated). For example, referring to fig. 1, the upper side of the to-be-dispensed position 1 is blocked by a baffle 2, and although the operating space 3 is provided between the baffle 2 and the to-be-dispensed position 1, the operating space 3 is not enough to accommodate a vertically disposed dispensing gun 4, so the displacement mechanism 5 cannot translate the dispensing gun 4 to the to-be-dispensed position 1 from the left and right sides, if the displacement mechanism 5 moves the dispensing gun 4 from top to bottom to approach the to-be-dispensed position 1, the dispensing gun 4 is blocked by the baffle 2 in the descending process, and finally dispensing cannot be performed because the dispensing gun 4 cannot reach the to-be-dispensed position 1.
Therefore, the existing dispensing equipment needs to be improved to solve the problem that the dispensing gun cannot extend into a narrow space for operation.
Disclosure of Invention
The invention aims to provide four-axis visual dispensing equipment, which can solve the problem that a dispensing gun of the traditional dispensing equipment cannot extend into a narrow space to operate.
To achieve the above object, the present invention provides a four-axis visual dispensing apparatus, comprising:
dispensing a glue gun;
the rotating assembly comprises a rotating plate, a rotating motor and an inclination angle adjusting plate, the rotating motor drives the rotating plate to rotate around a vertical axis, the inclination angle adjusting plate is fixedly connected with the rotating plate, and the glue dispensing gun is obliquely fixed on the inclination angle adjusting plate;
and the shifting mechanism is fixedly connected with the rotating component and is used for driving the rotating component to perform translational motion.
Preferably, the method further comprises the following steps:
and the visual compensation camera is fixedly connected with the rotating assembly and used for downwards acquiring the position to be subjected to glue dispensing.
Preferably, the lower end of the inclination angle adjusting plate is provided with a first fixing hole and a plurality of second fixing holes which are arranged at intervals from top to bottom by taking the first fixing hole as a circle center;
the glue dispensing gun is fixedly connected with the glue dispensing gun through the first fixing hole and any one of the second fixing holes.
Preferably, the inclination angle adjusting plate comprises a straight lower plate fixedly connected with the rotating plate and an inclined lower plate positioned below the straight lower plate, and the first fixing hole and the second fixing hole are both fixed on the inclined lower plate.
Preferably, the displacement mechanism comprises an X-axis translation assembly for driving the rotation assembly to move in a horizontal X-axis direction in a translation manner; the X-axis translation assembly includes:
the X-axis bottom plate is fixedly arranged;
the X-axis sliding block is connected with the X-axis bottom plate in a sliding mode along the X-axis direction;
the end part of the X-axis screw rod is rotatably connected with the X-axis bottom plate through a bearing, and the middle part of the X-axis screw rod is in threaded connection with the X-axis sliding block;
the X-axis motor is fixed on the X-axis bottom plate and used for driving the X-axis screw rod to rotate.
Preferably, the displacement mechanism comprises a Y-axis translation component for driving the rotation component to move in translation along a horizontal Y-axis direction; x axle direction and Y axle direction mutually perpendicular, Y axle translation subassembly includes:
the Y-axis bottom plate is fixedly connected with the X-axis sliding block;
the Y-axis sliding block is connected with the Y-axis bottom plate in a sliding mode along the Y-axis direction;
the end part of the Y-axis screw rod is rotationally connected with the Y-axis bottom plate through a bearing, and the middle part of the Y-axis screw rod is in threaded connection with the Y-axis sliding block;
and the Y-axis motor is fixed on the Y-axis bottom plate and is used for driving the Y-axis lead screw to rotate.
Preferably, the displacement mechanism comprises a Z-axis translation assembly for driving the rotation assembly to move in translation along a vertical Z-axis direction; the Z axle direction respectively with X axle direction and Y axle direction are perpendicular, Z axle translation subassembly includes:
the Z-axis bottom plate is fixedly connected with the Y-axis sliding block;
the Z-axis sliding block is connected with the Z-axis bottom plate in a sliding mode along the Z-axis direction; the rotating assembly is fixedly connected with the Z-axis sliding block;
the end part of the Z-axis screw rod is rotationally connected with the Z-axis bottom plate through a bearing, and the middle part of the Z-axis screw rod is in threaded connection with the Z-axis sliding block;
and the Z-axis motor is fixed on the Z-axis bottom plate and is used for driving the Z-axis screw rod to rotate.
Preferably, the rotating assembly further comprises a vertical plate fixedly connected with the Z-axis sliding block and a horizontal plate fixed at the top of the vertical plate, and the rotating motor is fixed on the horizontal plate.
Preferably, the bottom of the displacement mechanism is further provided with a fixed support leg.
The invention has the beneficial effects that: the four-axis visual dispensing equipment is provided, because the dispensing gun is obliquely arranged, a gun nozzle can enter a position to be dispensed from the side surface of a narrow operation space, and the shifting mechanism can firstly move the dispensing gun to the side surface of the operation space and then move the gun nozzle of the dispensing gun to the position to be dispensed; further, the glue dispensing gun can rotate under the drive of the rotating motor, so that the rotating motor can change the position of the gun nozzle, the gun nozzle can enter an operation space from multiple directions, and the flexibility of the glue dispensing gun is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic diagram of a working state of a conventional dispensing apparatus provided in the background art;
fig. 2 is a schematic structural diagram of a four-axis visual dispensing apparatus according to an embodiment;
FIG. 3 is a schematic structural diagram of a displacement mechanism provided in the embodiment;
FIG. 4 is a schematic view of a first perspective of a rotation assembly according to an exemplary embodiment;
FIG. 5 is a schematic view of a second perspective of the rotating assembly according to the present embodiments;
fig. 6 is a schematic view of a working state of the four-axis visual dispensing apparatus according to the embodiment.
In the figure:
1. a position to be dispensed;
2. a baffle plate;
3. an operating space;
4. dispensing a glue gun; 401. a gun nozzle;
5. a displacement mechanism;
501. an X-axis translation assembly; 5011. an X-axis base plate; 5012. an X-axis slider; 5013. an X-axis lead screw; 5014. an X-axis motor;
502. a Y-axis translation assembly; 5021. a Y-axis base plate; 5022. a Y-axis slider; 5023. a Y-axis lead screw; 5024. a Y-axis motor;
503. a Z-axis translation assembly; 5031. a Z-axis baseplate; 5032. a Z-axis slide block; 5033. a Z-axis motor;
6. a fixed leg;
7. a rotating assembly; 701. a vertical plate; 702. a horizontal plate; 703. a rotating plate; 704. a rotating electric machine; 705. an inclination angle adjusting plate; 7051. straightening the lower plate; 7052. an inclined lower plate; 7053. a first fixing hole; 7054. a second fixing hole;
8. a vision compensation camera.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that 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. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present.
Furthermore, the terms "long", "short", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention, but do not indicate or imply that the referred devices or elements must have the specific orientations, be configured to operate in the specific orientations, and thus are not to be construed as limitations of the present invention.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Referring to fig. 2 to 6, the present embodiment provides a four-axis visual dispensing apparatus, which includes a dispensing gun 4, a rotating assembly 7 and a shifting mechanism 5.
The rotating assembly 7 comprises a vertical plate 701 fixedly connected with the shifting mechanism 5, a horizontal plate 702 fixed on the top of the vertical plate 701, a rotating plate 703 positioned below the horizontal plate 702, a rotating motor 704 fixed on the horizontal plate 702 and driving the rotating plate 703 to rotate around a vertical axis, and an inclination adjusting plate 705 fixedly connected with the rotating plate 703. The glue dispensing gun 4 is obliquely fixed to the tilt angle adjusting plate 705. The shifting mechanism 5 is fixedly connected with the rotating component 7 and is used for driving the rotating component 7 to move in a translation manner.
Referring to fig. 6, in the four-axis visual dispensing apparatus provided in this embodiment, since the dispensing gun 4 is obliquely disposed, the gun nozzle 401 thereof can enter the to-be-dispensed position 1 from the side surface of the narrow operating space 3 below the baffle 2, the shifting mechanism 5 can move the dispensing gun 4 to the side surface of the operating space 3 first, and then move the gun nozzle 401 of the dispensing gun 4 to the to-be-dispensed position 1; further, the glue dispensing gun 4 can be driven by the rotating motor 704 to rotate, so that the rotating motor 704 can change the position of the gun nozzle 401, the gun nozzle 401 can enter the operation space 3 from multiple directions, and the flexibility of the glue dispensing gun 4 is greatly improved.
Referring to fig. 3, the displacement mechanism 5 includes an X-axis translation assembly 501 for driving the rotation assembly 7 to move in a horizontal X-axis direction in a translational manner, a Y-axis translation assembly 502 for driving the rotation assembly 7 to move in a horizontal Y-axis direction in a translational manner, and a Z-axis translation assembly 503 for driving the rotation assembly 7 to move in a vertical Z-axis direction in a translational manner. The X-axis direction is perpendicular to the Y-axis direction, and the Z-axis direction is perpendicular to the X-axis direction and the Y-axis direction respectively.
The X-axis translation assembly 501 includes an X-axis base plate 5011, an X-axis slider 5012, an X-axis lead 5013, and an X-axis motor 5014. The X-axis base plate 5011 is fixedly disposed on the fixing legs 6. The X-axis slider 5012 is slidably connected to the X-axis base 5011 in the X-axis direction. The end part of the X-axis lead screw 5013 is rotatably connected with the X-axis bottom plate 5011 through a bearing, and the middle part of the X-axis lead screw is in threaded connection with the X-axis sliding block 5012. The X-axis motor 5014 is fixed to the X-axis base plate 5011 and used for driving the X-axis screw 5013 to rotate.
The Y-axis translation assembly 502 includes a Y-axis baseplate 5021, a Y-axis slider 5022, a Y-axis screw 5023, and a Y-axis motor 5024. The Y-axis bottom plate 5021 is fixedly connected with the X-axis slider 5012. The Y-axis slider 5022 is slidably connected with the Y-axis bottom plate 5021 along the Y-axis direction. The end part of the Y-axis screw rod 5023 is rotatably connected with the Y-axis bottom plate 5021 through a bearing, and the middle part of the Y-axis screw rod 5023 is in threaded connection with the Y-axis slider 5022. The Y-axis motor 5024 is fixed on the Y-axis bottom plate 5021 and is used for driving the Y-axis screw rod 5023 to rotate.
The Z-axis translation assembly 503 comprises a Z-axis bottom plate 5031, a Z-axis slider 5032, a Z-axis lead screw and a Z-axis motor 5033. The Z-axis bottom plate 5031 is fixedly connected to the Y-axis slider 5022. The Z-axis sliding block 5032 is slidably connected to the Z-axis bottom plate 5031 along the Z-axis direction, and the vertical plate 701 of the rotating assembly 7 is fixed to the Z-axis sliding block 5032. The end of the Z-axis lead screw is rotatably connected with the Z-axis bottom plate 5031 through a bearing, and the middle of the Z-axis lead screw is in threaded connection with the Z-axis slider 5032. The Z-axis motor 5033 is fixed to the Z-axis bottom plate 5031 and is configured to drive the Z-axis lead screw to rotate.
When the X-axis motor 5014 is started, the X-axis screw 5013 rotates, so that the X-axis slider 5012 drives the Y-axis bottom plate 5021 to slide along the X-axis direction; when the Y-axis motor 5024 is started, the Y-axis screw rod 5023 rotates, so that the Y-axis slider 5022 drives the Z-axis bottom plate 5031 to slide along the Y-axis direction; when the Z-axis motor 5033 is started, the Z-axis lead screw rotates, so that the Z-axis slide block 5032 drives the vertical plate 701 to slide along the Z-axis direction; accordingly, the shift mechanism 5 can realize the translational movement of the rotating assembly 7 in the X-axis direction, the Y-axis direction, and the Z-axis direction.
Referring to fig. 4 to 6, the tilt angle adjusting plate 705 includes a straight lower plate 7051 fixedly connected to the rotating plate 703 and an inclined lower plate 7052 located below the straight lower plate 7051. The inclined lower plate 7052 is provided with a first fixing hole 7053 and a plurality of second fixing holes 7054 which are arranged at intervals from top to bottom by taking the first fixing hole 7053 as a circle center. The glue dispensing gun 4 is fixedly connected with the glue dispensing gun 4 through the first fixing hole 7053 and any one of the second fixing holes 7054. Optionally, the glue dispensing gun 4 can be fixed by using a fixing bolt or a screw to penetrate through the first fixing hole 7053 and the second fixing hole 7054 and then to be in threaded connection with the glue dispensing gun 4. For example, one side of the dispensing gun 4 close to the inclined lower plate 7052 is provided with a first threaded hole and a second threaded hole, the first fixing bolt penetrates through the first fixing hole 7053 and then is in threaded connection with the first threaded hole, and the second fixing bolt penetrates through one of the second fixing holes 7054 and then is in threaded connection with the second threaded hole; due to the different heights of the second fixing holes 7054, the tilt angles of the dispensing guns 4 are different when the second threaded holes of the dispensing guns 4 are aligned and fixed with the different second fixing holes 7054.
Optionally, a vision compensation camera 8 is further fixedly connected to the horizontal plate 702 of the rotating assembly 7, and the vision compensation camera 8 is used for acquiring the position 1 to be dispensed downwards and calculating a relevant position compensation distance, so that the control device is favorable for controlling the shifting mechanism 5 and the rotating motor 704 to enable the gun nozzle 401 to smoothly reach the position 1 to be dispensed.
The four-axis vision dispensing equipment that this embodiment provided acquires through vision compensation camera 8 and waits to glue the distance information between position 1 and the gluey rifle 4 of point, again through to shift mechanism 5 and rotating assembly 7 accurate control alright make the rifle mouth 401 position of gluey rifle 4 nimble changeable, be favorable to realizing some complicated glue dispensing processes, greatly improved production efficiency, have higher economic value.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a four-axis vision dispensing equipment which characterized in that includes:
dispensing a glue gun;
the rotating assembly comprises a rotating plate, a rotating motor and an inclination angle adjusting plate, the rotating motor drives the rotating plate to rotate around a vertical axis, the inclination angle adjusting plate is fixedly connected with the rotating plate, and the glue dispensing gun is obliquely fixed on the inclination angle adjusting plate;
and the shifting mechanism is fixedly connected with the rotating component and is used for driving the rotating component to perform translational motion.
2. The four-axis visual dispensing apparatus of claim 1, further comprising:
and the visual compensation camera is fixedly connected with the rotating assembly and used for downwards acquiring the position to be subjected to glue dispensing.
3. The four-axis visual dispensing equipment according to claim 1, wherein the lower end of the inclination angle adjusting plate is provided with a first fixing hole and a plurality of second fixing holes which are arranged at intervals from top to bottom with the first fixing hole as a circle center;
the glue dispensing gun is fixedly connected with the glue dispensing gun through the first fixing hole and any one of the second fixing holes.
4. The four-axis visual dispensing device according to claim 3, wherein the tilt adjusting plate comprises a straight lower plate fixedly connected to the rotating plate and an inclined lower plate located below the straight lower plate, and the first fixing hole and the second fixing hole are fixed on the inclined lower plate.
5. The four-axis visual dispensing apparatus according to claim 1, wherein the displacement mechanism comprises an X-axis translation assembly for driving the rotation assembly to move in translation along a horizontal X-axis direction; the X-axis translation assembly includes:
the X-axis bottom plate is fixedly arranged;
the X-axis sliding block is connected with the X-axis bottom plate in a sliding mode along the X-axis direction;
the end part of the X-axis screw rod is rotatably connected with the X-axis bottom plate through a bearing, and the middle part of the X-axis screw rod is in threaded connection with the X-axis sliding block;
the X-axis motor is fixed on the X-axis bottom plate and used for driving the X-axis screw rod to rotate.
6. The four-axis visual dispensing apparatus according to claim 5, wherein the displacement mechanism comprises a Y-axis translation assembly for driving the rotation assembly to move in a horizontal Y-axis direction; x axle direction and Y axle direction mutually perpendicular, Y axle translation subassembly includes:
the Y-axis bottom plate is fixedly connected with the X-axis sliding block;
the Y-axis sliding block is connected with the Y-axis bottom plate in a sliding mode along the Y-axis direction;
the end part of the Y-axis screw rod is rotationally connected with the Y-axis bottom plate through a bearing, and the middle part of the Y-axis screw rod is in threaded connection with the Y-axis sliding block;
and the Y-axis motor is fixed on the Y-axis bottom plate and is used for driving the Y-axis lead screw to rotate.
7. The four-axis visual dispensing apparatus according to claim 6, wherein the displacement mechanism comprises a Z-axis translation assembly for driving the rotation assembly to move in translation along a vertical Z-axis direction; the Z axle direction respectively with X axle direction and Y axle direction are perpendicular, Z axle translation subassembly includes:
the Z-axis bottom plate is fixedly connected with the Y-axis sliding block;
the Z-axis sliding block is connected with the Z-axis bottom plate in a sliding mode along the Z-axis direction; the rotating assembly is fixedly connected with the Z-axis sliding block;
the end part of the Z-axis screw rod is rotationally connected with the Z-axis bottom plate through a bearing, and the middle part of the Z-axis screw rod is in threaded connection with the Z-axis sliding block;
and the Z-axis motor is fixed on the Z-axis bottom plate and is used for driving the Z-axis screw rod to rotate.
8. The four-axis visual dispensing equipment according to claim 7, wherein the rotating assembly further comprises a vertical plate fixedly connected with the Z-axis sliding block and a horizontal plate fixed on the top of the vertical plate, and the rotating motor is fixed on the horizontal plate.
9. The four-axis visual dispensing device according to claim 1, wherein the bottom of the displacement mechanism is further provided with a fixing support leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010554445.XA CN111570205A (en) | 2020-06-17 | 2020-06-17 | Four-axis vision dispensing equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010554445.XA CN111570205A (en) | 2020-06-17 | 2020-06-17 | Four-axis vision dispensing equipment |
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| CN111570205A true CN111570205A (en) | 2020-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010554445.XA Pending CN111570205A (en) | 2020-06-17 | 2020-06-17 | Four-axis vision dispensing equipment |
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| CN (1) | CN111570205A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113499696A (en) * | 2021-07-05 | 2021-10-15 | 南方科技大学 | Liquid mixing apparatus |
| CN113814122A (en) * | 2021-09-30 | 2021-12-21 | 江西晶超光学有限公司 | Dispensing device and dispensing method |
| CN114749333A (en) * | 2022-03-31 | 2022-07-15 | 江西微电新能源有限公司 | Semi-automatic steel shell dispensing equipment |
| CN115228688A (en) * | 2022-07-05 | 2022-10-25 | 天能电池集团（安徽）有限公司 | Dispensing manipulator for storage battery |
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| CN114749333A (en) * | 2022-03-31 | 2022-07-15 | 江西微电新能源有限公司 | Semi-automatic steel shell dispensing equipment |
| CN115228688A (en) * | 2022-07-05 | 2022-10-25 | 天能电池集团（安徽）有限公司 | Dispensing manipulator for storage battery |
| CN115228688B (en) * | 2022-07-05 | 2024-02-06 | 天能电池集团（安徽）有限公司 | Dispensing manipulator for storage battery |
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