CN112008904B - Sheet loading and unloading machine - Google Patents
Sheet loading and unloading machine Download PDFInfo
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- CN112008904B CN112008904B CN202011106616.9A CN202011106616A CN112008904B CN 112008904 B CN112008904 B CN 112008904B CN 202011106616 A CN202011106616 A CN 202011106616A CN 112008904 B CN112008904 B CN 112008904B
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- large arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/04—Accessories specially adapted for use with machines or devices of the preceding groups for supporting or holding work or conveying or discharging work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/04—Accessories specially adapted for use with machines or devices of the preceding groups for supporting or holding work or conveying or discharging work
- B28D7/046—Accessories specially adapted for use with machines or devices of the preceding groups for supporting or holding work or conveying or discharging work the supporting or holding device being of the vacuum type
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Abstract
The invention discloses a sheet loading and unloading machine which comprises a rack, wherein the left end and the right end of the rack are provided with a humanoid arm device; the humanoid arm device comprises a support, a large arm and a small arm, wherein the upper end of the large arm is hinged with the upper end of the support, the head end of the small arm is hinged with the lower end of the large arm, the humanoid arm device further comprises a first driving mechanism and a second driving mechanism, the first driving mechanism drives the large arm to rotate, and the second driving mechanism drives the small arm to rotate; and a sucker device is arranged between the tail ends of the two small arms. According to the invention, the humanoid arm device is utilized to drive the sucker device to act, so that the sheet loading and unloading operation of the sheet material is simpler, and the sheet loading and unloading efficiency is higher.
Description
Technical Field
The invention relates to a plate processing device, in particular to a plate loading and unloading machine.
Background
On a large-scale plate processing production line, a plate needs to be turned over from a vertical state to a horizontal state and then conveyed to the production line for deep processing. In traditional operation process, need the manual work to carry, and to the heavy panel of bulky weight, its amount of labour is big, and is inefficient, has great potential safety hazard, and is difficult to carry panel every certain time according to actual operation, and the operation limitation is big, influences the production quality of panel easily.
For this reason, automatic loading and unloading equipment has appeared in the prior art, and the existing automatic loading and unloading equipment mainly comprises a six-axis mechanical arm loading and unloading device and a horizontal loading and unloading platform. Although the up-and-down device of the six-axis mechanical arm can replace manpower, the cost and the later maintenance cost are high, certain technical capability requirements are required for operators, certain limitations are also provided for large plates and thick plates, and the higher the six-axis mechanical arm grabs an object, the higher the requirement on the mechanical arm is, the higher the cost is. The existing horizontal upper and lower piece platforms are not reasonable enough in structure, the equipment has multiple action beats when being operated for loading and unloading pieces, the production efficiency is low, and the load capacity is not strong.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the present invention is directed to a sheet feeding and discharging machine, which solves one or more of the problems of the prior art and provides at least one of the advantages of the prior art.
The solution of the invention for solving the technical problem is as follows: a sheet loading and unloading machine comprises a rack, wherein the left end and the right end of the rack are provided with a humanoid arm device; the humanoid arm device comprises a support, a large arm and a small arm, wherein the upper end of the large arm is hinged with the upper end of the support, the head end of the small arm is hinged with the lower end of the large arm, the humanoid arm device further comprises a first driving mechanism and a second driving mechanism, the first driving mechanism drives the large arm to rotate, and the second driving mechanism drives the small arm to rotate; and a sucker device is arranged between the tail ends of the two small arms.
The invention has the beneficial effects that: according to the invention, the humanoid arm device is utilized to drive the sucker device to act, so that the sheet loading and unloading operation of the sheet material is simpler, and the sheet loading and unloading efficiency is higher.
As a further improvement of the technical scheme, the humanoid arm device further comprises a traction mechanism, wherein the traction mechanism comprises a traction end, and the traction end is arranged on the large arm or the small arm.
Through increasing drive mechanism, when imitative people's arm work, provide auxiliary power for imitative people's arm device is more reliable and more stable in the swing.
As a further improvement of the above technical solution, the traction mechanism includes a guide wheel, a traction rope and a counterweight block, the guide wheel is disposed on the support, the traction rope goes around the guide wheel, one end of the traction rope is fixedly connected with the counterweight block, and the other end of the traction rope is a traction end.
Utilize the balancing weight to provide invariable traction force for traction effect is better.
As a further improvement of the above technical scheme, a cross beam is arranged at the top end of the support, the guide wheels are arranged at the front end and the rear end of the cross beam, the balancing weight is located behind the support, the large arm is arranged in front of the support, and the traction end of the traction rope bypasses the two guide wheels and then is connected with the large arm.
As a further improvement of the above technical solution, the first driving mechanism includes a motor and a gear reduction box, the motor includes a main shaft, the gear reduction box includes an input shaft and an output shaft, the input shaft and the main shaft are in meshing transmission through a first gear set, and the output shaft and the input shaft are in meshing transmission through a second gear set; the reduction ratio of the main shaft to the input shaft is greater than 1, and the reduction ratio of the output shaft to the input shaft is greater than 1. The reduction gearbox can be used for achieving the effects of reducing speed and increasing force, so that the loading capacity of the arm simulating device is higher.
As a further improvement of the technical scheme, a cavity is arranged at the front end of the support, and a connecting block is arranged at the upper end of the large arm and extends into the cavity; the lower end of the large arm is provided with a containing cavity, and the head end of the small arm extends into the containing cavity. The upper end of the big arm is hidden in the support, and the head end of the small arm is hidden in the big arm, so that the whole humanoid arm device is more concise and compact.
As a further improvement of the technical scheme, the sucker device comprises a rotating shaft and a sucker frame, the sucker frame is fixed on the rotating shaft, the left end and the right end of the rotating shaft are respectively hinged with the tail ends of the two small arms, and the small arms are provided with third driving mechanisms which drive the rotating shaft to rotate.
As the further improvement of above-mentioned technical scheme, the sucking disc frame includes horizontal pole and a plurality of montant, the horizontal pole is hollow structure, the pivot cover is in the horizontal pole, the horizontal pole is including connecting the face, a plurality of the montant fix and be connected on the face, every the montant on all be equipped with a plurality of suction nozzle, be connected through the bracing piece between suction nozzle and the montant, be equipped with the through-hole on the montant, the bracing piece cover is in the through-hole, the bracing piece overcoat has compression spring, compression spring's both ends are respectively in the surface of montant and the surface butt of suction nozzle.
By optimizing the structure of the sucker device, the whole sucker device is simpler and more compact. The adsorption force is better.
As a further improvement of the technical scheme, the support is fixed on the rear side of the frame, the frame comprises a working surface, and a front-rear conveying device is arranged on the working surface. Through the whole rear side that sets up at the frame of imitative army device for the overall structure of machine is simple compacter from top to bottom, and the occupation of land space of equipment is littleer.
As a further improvement of the above technical solution, the conveying device includes a plurality of conveying belt mechanisms, each conveying belt mechanism includes a support and a conveying belt, the support is fixed on the frame, and an extending end is provided on the support and extends out of the front end of the frame.
As a further improvement of the technical scheme, the device further comprises a film changing device, wherein the film changing device comprises a moving trolley, more than two limiting tables are arranged on the moving trolley, and the moving trolley is positioned in front of the rack. Through increasing the film changing device, can switch different panel to the convenience.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a schematic view of the overall structure of a plate loading and unloading device of the present invention;
FIG. 2 is a schematic view of the construction of the humanoid arm apparatus of the invention;
FIG. 3 is a schematic structural view of a first drive mechanism of the present invention;
FIG. 4 is a schematic view of the working state of the present invention;
FIG. 5 is a schematic structural diagram of another embodiment of the present invention;
fig. 6 is a perspective view of the changer of the present invention.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. The drawings illustrate a preferred embodiment of the invention and, together with the description, serve to complement the description with figures so that the person may visually and vividly understand each and every feature and every technical solution of the invention, but are not to be construed as limiting the scope of the invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions. Meanwhile, all technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.
Referring to fig. 1 to 3, a sheet loading and unloading machine comprises a frame 100, wherein both left and right ends of the frame 100 are provided with a human-arm simulating device 200; the humanoid arm device 200 comprises a support 210, a big arm 220 and a small arm 230, wherein the upper end of the big arm 220 is hinged with the upper end of the support 210, the head end of the small arm 230 is hinged with the lower end of the big arm 220, the humanoid arm device 200 further comprises a first driving mechanism 240 and a second driving mechanism 250, the first driving mechanism drives 240 the big arm 220 to rotate, and the second driving mechanism 250 drives the small arm 230 to rotate; a suction cup device 300 is arranged between the ends of the two small arms 230.
Further as a preferred embodiment, the humanoid arm device 200 further comprises a traction mechanism 400, wherein the traction mechanism 400 comprises a traction end, and the traction end is arranged on the large arm 220 or the small arm 230.
Further as a preferred embodiment, the traction mechanism 400 includes a guide wheel 410, a traction rope 420 and a counterweight 430, the guide wheel 410 is disposed on the support 210, the traction rope 420 passes around the guide wheel 410, one end of the traction rope 420 is fixedly connected with the counterweight 430, and the other end of the traction rope 420 is a traction end.
Further as a preferred embodiment, a cross beam 211 is disposed at the top end of the support 210, the guide wheels 410 are disposed at the front and rear ends of the cross beam 211, the counterweight 430 is located behind the support 210, the large arm 220 is disposed in front of the support 210, and the traction end of the traction rope 420 bypasses the two guide wheels 410 and is connected to the large arm 220.
Further as a preferred embodiment, the first driving mechanism 240 includes a motor 241 and a gear reduction box 242, the motor 241 includes a main shaft, the gear reduction box 242 includes an input shaft and an output shaft, the input shaft and the main shaft are in mesh transmission through a first gear set, and the output shaft and the input shaft are in mesh transmission through a second gear set; the reduction ratio of the main shaft to the input shaft is greater than 1, and the reduction ratio of the output shaft to the input shaft is greater than 1.
Further as a preferred embodiment, a cavity 212 is arranged at the front end of the support 210, a connecting block 221 is arranged at the upper end of the large arm 220, and the connecting block 221 extends into the cavity 212; the lower end of the large arm 220 is provided with a cavity 222, and the head end of the small arm 230 extends into the cavity 222.
Further as a preferred embodiment, the suction cup device 300 includes a rotating shaft 310 and a suction cup holder 320, the suction cup holder 320 is fixed on the rotating shaft 310, the left end and the right end of the rotating shaft 310 are respectively hinged to the ends of the two small arms 230, a third driving mechanism 260 is arranged on the small arms 230, and the third driving mechanism 260 drives the rotating shaft 310 to rotate.
Further as preferred embodiment, the suction cup holder 320 includes horizontal pole 321 and a plurality of montant 322, horizontal pole 321 is hollow structure, pivot 310 cover in horizontal pole 321, and horizontal pole 321 and pivot 310 relatively fixed connection, horizontal pole 321 is including connecting the face, a plurality of montant 322 fix on being connected the face, every montant 322 on all be equipped with a plurality of suction nozzle 330, be connected through bracing piece 340 between suction nozzle 330 and the montant, be equipped with the through-hole on the montant 322, bracing piece 340 cover is in the through-hole, bracing piece 340 is overcoat has compression spring 350, compression spring 350's both ends are respectively in the surface of montant 322 and the surface butt of suction nozzle 330.
Further, in a preferred embodiment, the support 210 is fixed to a rear side of the frame 100, and the frame 100 includes a working surface on which the front-rear conveying device 500 is disposed.
Further as a preferred embodiment, the conveying device 500 includes a plurality of conveying belt mechanisms 510, each conveying belt mechanism 510 includes a support 511 and a conveying belt 512, the support 511 is fixed on the rack 100, and an extending end is provided on the support 511, and the extending end extends out of the front end of the rack 100.
Referring to fig. 4, the plate loading and unloading device is used for loading and unloading glass plates. In operation, the two human-arm-like devices 200 are equivalent to two arms of a human body, the first driving mechanism 240, the second driving mechanism 250 and the third driving mechanism 260 are equivalent to shoulder joints, elbow joints and wrist joints of the arms of the human body, first the first driving mechanism 240 and the second driving mechanism 250 drive the large arm 220 and the small arm 230 to simultaneously rotate counterclockwise so as to drive the suction cup device 300 to move forward, so that the suction cup device 300 is close to the a frame 700, then the third driving mechanism 260 drives the suction cup frame 320 to turn over, so that the plurality of suction nozzles 330 can face the surface of the glass, and then the first driving mechanism 240 and the second driving mechanism 250 continue to drive the suction nozzles 330 to be close to the surface of the glass, so that the plurality of suction nozzles 330 can tightly adsorb the surface of the glass. Then the first driving mechanism 240 and the second driving mechanism 250 drive the large arm 220 and the small arm 230 to simultaneously rotate clockwise, so that the suction cup device 300 drives the single glass plate to leave the a-frame 700, meanwhile, the third driving mechanism 260 drives the rotating shaft 310 to turn over, so that the glass plate is changed from a vertical state to a horizontal state, then the first driving mechanism 240 and the second driving mechanism 250 continue to drive the large arm 220 and the small arm 230 to simultaneously rotate clockwise, so that the surface of the glass plate can be attached to the conveying device 500 on the working surface, then the suction nozzle 330 deflates, so that the suction cup device 300 is separated from the glass plate, and the glass plate is conveyed to the next working procedure under the action of the conveying device 500.
When the humanoid arm device 200 swings forwards or backwards, the rotation directions of the large arm and the small arm are consistent, so that the humanoid arm device 200 is more stable and reliable when carrying plates.
Meanwhile, since the load of the large arm 220 is large in the process of carrying the glass plate, the traction mechanism 400 is arranged on the humanoid arm device 200, and the gravity of the counterweight 430 of the traction mechanism 400 acts on the large arm 220 through the traction rope 420, so that the traction force can offset a part of the load force of the glass plate, thereby reducing the load force of the first driving mechanism 240 and enabling the action of the large arm 220 to be more stable. Moreover, when the large arm 220 swings forward, since the suction cup device 300 is unloaded, the forward swing of the large arm 220 can be stabilized by the traction force. Moreover, since the magnitude of the traction force directly depends on the weight of the weight block and the traction force is constant, when aiming at different plates, the driving force of the first driving mechanism 240 can be adjusted by configuring the weight of the weight block, and the applicability is strong.
Of course, instead of providing traction means on the large arm 220, traction means may be added to the small arm 230. Also, the traction mechanism 400 may provide traction by using a torsion spring in addition to providing traction with a counterweight. For example, a torsion spring is added at the hinge joint of the large arm 220 and the support 210, and the torsion spring makes the large arm 220 have the tendency of clockwise rotation, thereby also counteracting the acting force when carrying the plate material. Alternatively, a compression bar may be added between the support 210 and the large arm 220 to provide a pushing force to the large arm 220 to move the large arm 220 away from the support 210.
In addition, in the embodiment, the reduction gearbox is formed by transmission of multiple groups of straight gears, wherein 4 groups of straight gear structures are adopted for transmission because the loads of the large arm and the small arm are large. Referring to fig. 3, the first driving mechanism 240 includes a motor, an input shaft, two transmission shafts, and an output shaft. A pinion is fixed on a main shaft of the motor, and then a bull gear and a pinion are arranged on the input shaft, the transmission shaft and the output shaft, wherein the bull gear of the input shaft is meshed with the pinion of the main shaft of the motor, the pinion of the input shaft is meshed with the bull gear on the transmission shaft, then the pinion of the transmission shaft is meshed with the bull gear of the next transmission shaft, and the pinion of the next transmission shaft is meshed with the bull gear of the output shaft. And the large arm 220 is fixedly connected to the output shaft. It is known that the driving force is amplified by the multistage spur gear transmission from the main shaft of the motor to the output shaft. And the transmission structure of multistage straight gears is adopted, so that the structure is simple, the transmission is reliable, and the load capacity is strong. Moreover, the multi-stage gear transmission is hidden in the large arm 220 or the support 210, so that the integral structure of the upper and lower plate devices is simpler and more compact.
In the embodiment, the large arm is hidden in the support, and the small arm is hidden in the large arm, so that the space in the large arm and the space in the small arm are skillfully utilized, and the integral structure of the plate loading and unloading machine is more compact. Moreover, the central axes of the support, the large arm and the small arm are positioned in the same plane, so that the overturning force received by the first driving mechanism and the second driving mechanism is smaller, and the driving is more stable. Meanwhile, the swing angle of the large arm can be limited by the size of the cavity, the swing angle of the small arm can be limited by the size of the cavity, and the motion reliability of the humanoid arm device 200 is higher.
Furthermore, in this embodiment, the vertical rods 322 of the suction cup holder 320 and the support 511 of the conveying device 500 are staggered, so that the suction cup holder 320 can pass through the working surface from top to bottom, and the sucked plate can be placed on the working surface.
Referring to fig. 5 to 6, as a further preferable embodiment, the apparatus further includes a film changer 600, where the film changer 600 includes a ground rail 610 and a moving trolley 620, and two limiting tables 630 are disposed on the moving trolley 620. The a-frame 700 is fixed to the stopper 630. When the robot works, the movable trolley 620 is driven, so that one limiting table 630 reaches a set place, at the moment, the A frame just faces the humanoid arm device 200, and the plate on the A frame can be subjected to sheet loading and unloading operation. When the corresponding plate on the frame A is moved to the air, the moving trolley 620 is controlled to move along the left and right directions, and different limiting tables 630 can be switched, so that the plate on the other frame A700 can be subjected to sheet loading and unloading operation. The production efficiency is improved. Meanwhile, according to the production requirement, the plate which does not pass through the specification can be placed on the limiting table 630, and then the quick switching of the plate can be realized by switching the limiting table 630. Preferably, the changer 600 further comprises a rack 640, the rack 640 and the ground rail 610 are parallel to each other, and the moving cart comprises a driving motor, a main gear is connected to the driving motor, and the main gear is meshed with the rack 640. The driving motor rotates forward and backward to drive the movable trolley 620 to move back and forth on the ground rail 610.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.
Claims (1)
1. The utility model provides a sheet material loading and unloading machine which characterized in that: the robot comprises a rack, wherein the left end and the right end of the rack are provided with arm simulating devices; the humanoid arm device comprises a support, a large arm and a small arm, wherein the upper end of the large arm is hinged with the upper end of the support, the head end of the small arm is hinged with the lower end of the large arm, the humanoid arm device further comprises a first driving mechanism and a second driving mechanism, the first driving mechanism drives the large arm to rotate, and the second driving mechanism drives the small arm to rotate; a sucker device is arranged between the tail ends of the two small arms;
the humanoid arm device further comprises a traction mechanism, the traction mechanism comprises a traction end, and the traction end is arranged on the large arm or the small arm;
the traction mechanism comprises a guide wheel, a traction rope and a balancing weight, the guide wheel is arranged on the support, the traction rope bypasses the guide wheel, one end of the traction rope is fixedly connected with the balancing weight, and the other end of the traction rope is a traction end;
the traction mechanism further provides traction force by utilizing a torsion spring, specifically, the torsion spring is additionally arranged at the hinged position of the large arm and the support, and the large arm is enabled to have a clockwise rotation trend by the torsion spring, so that acting force when a plate is conveyed is offset;
the top end of the support is provided with a cross beam, the front end and the rear end of the cross beam are provided with the guide wheels, the balancing weight is positioned behind the support, the large arm is arranged in front of the support, and the traction end of the traction rope bypasses the two guide wheels and is connected with the large arm;
the first driving mechanism comprises a motor, an input shaft, two transmission shafts and an output shaft, wherein a pinion is fixed on a main shaft of the motor, and then a bull gear and a pinion are respectively arranged on the input shaft, the transmission shafts and the output shaft; the driving force is amplified from the main shaft of the motor to the output shaft through the transmission of multistage straight gears, and the multistage gear transmissions are all hidden in a large arm or a support;
a cavity is formed in the front end of the support, a connecting block is arranged at the upper end of the large arm, and the connecting block extends into the cavity; the lower end of the large arm is provided with a cavity, the head end of the small arm extends into the cavity, and the central axes of the support, the large arm and the small arm are positioned on the same plane;
the sucking disc device comprises a rotating shaft and a sucking disc frame, the sucking disc frame is fixed on the rotating shaft, the left end and the right end of the rotating shaft are respectively hinged with the tail ends of two small arms, a third driving mechanism is arranged on each small arm, and the third driving mechanism drives the rotating shaft to rotate;
the sucker frame comprises a cross rod and a plurality of vertical rods, the cross rod is of a hollow structure, the rotating shaft is sleeved in the cross rod, the cross rod comprises a connecting surface, the vertical rods are fixed on the connecting surface, a plurality of suction nozzles are arranged on each vertical rod, the suction nozzles are connected with the vertical rods through support rods, through holes are formed in the vertical rods, the support rods are sleeved in the through holes, compression springs are sleeved outside the support rods, and two ends of each compression spring are respectively abutted against the surfaces of the vertical rods and the suction nozzles;
the support is fixed on the rear side of the rack, the rack comprises a working surface, a front-back conveying device is arranged on the working surface, the conveying device comprises a plurality of conveying belt mechanisms, each conveying belt mechanism comprises a support and a conveying belt, the supports are fixed on the rack, extending ends are arranged on the supports, and the extending ends extend out of the front end of the rack;
the film changer comprises a moving trolley, wherein more than two limiting tables are arranged on the moving trolley, and the moving trolley is positioned in front of the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011106616.9A CN112008904B (en) | 2020-10-16 | 2020-10-16 | Sheet loading and unloading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011106616.9A CN112008904B (en) | 2020-10-16 | 2020-10-16 | Sheet loading and unloading machine |
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| Publication Number | Publication Date |
|---|---|
| CN112008904A CN112008904A (en) | 2020-12-01 |
| CN112008904B true CN112008904B (en) | 2021-06-11 |
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| CN202011106616.9A Active CN112008904B (en) | 2020-10-16 | 2020-10-16 | Sheet loading and unloading machine |
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| CN110405742A (en) * | 2019-08-01 | 2019-11-05 | 佛山市顺德区晶睿机电科技有限公司 | A kind of swing mechanical arm of three-link of glass loading and unloading |
| CN110540069A (en) * | 2019-09-28 | 2019-12-06 | 蚌埠凯盛工程技术有限公司 | Integrated device for loading and unloading sheet glass |
| CN211168920U (en) * | 2019-12-25 | 2020-08-04 | 山东通疆机械科技有限公司 | High-speed glass loading and unloading platform |
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| CN112008904A (en) | 2020-12-01 |
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