CN112456131B - Melamine material loading end effector - Google Patents
Melamine material loading end effector Download PDFInfo
- Publication number
- CN112456131B CN112456131B CN202011458734.6A CN202011458734A CN112456131B CN 112456131 B CN112456131 B CN 112456131B CN 202011458734 A CN202011458734 A CN 202011458734A CN 112456131 B CN112456131 B CN 112456131B
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- China
- Prior art keywords
- module
- grabbing assembly
- beating
- cantilever
- assembly module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 239000000463 material Substances 0.000 title claims abstract description 29
- 229920000877 Melamine resin Polymers 0.000 title claims abstract description 14
- 239000012636 effector Substances 0.000 title claims abstract description 14
- JDSHMPZPIAZGSV-UHFFFAOYSA-N melamine Chemical compound NC1=NC(N)=NC(N)=N1 JDSHMPZPIAZGSV-UHFFFAOYSA-N 0.000 title claims abstract description 14
- 238000010009 beating Methods 0.000 claims abstract description 35
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 239000000843 powder Substances 0.000 description 5
- 239000004744 fabric Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
-
- 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
- B65G47/905—Control arrangements
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a melamine feeding end effector which comprises a cantilever module, a left grabbing assembly module and a right grabbing assembly module which are connected to the cantilever module and have the same structure, wherein an X-direction amplitude changing device is arranged on the cantilever module, two sets of beating modules are arranged on the left grabbing assembly module and the right grabbing assembly module, and a Y-direction amplitude changing overturning module, a guiding module and a material box grabbing module are arranged on the left grabbing assembly module and the right grabbing assembly module. The end picking device is provided with the beating module, the Y-direction amplitude-changing overturning module, the guiding module and the material box grabbing module, so that various products can be dealt with.
Description
Technical Field
The invention relates to the field of automatic production, in particular to a melamine feeding end effector.
Background
In the melamine automation industry, the end effector is used as a manipulator for replacing manual operation and action execution, and plays an important role in an automatic production link. The traditional pick-up end has single pick-up function, can only aim at specific products, and lacks flexibility and expansibility.
Disclosure of Invention
The invention aims to design a melamine feeding end effector, which can cope with various products.
In order to achieve the above purpose, the present invention provides the following technical solutions: a melamine feeding end effector comprises a cantilever module, a left grabbing assembly module and a right grabbing assembly module which are connected to the cantilever module and have the same structure,
the device comprises a cantilever module, a left grabbing assembly module, a right grabbing assembly module, a beating module, a Y-direction amplitude overturning module, a guiding module and a material box grabbing module, wherein the cantilever module is provided with an X-direction amplitude changing device, and the left grabbing assembly module and the right grabbing assembly module are respectively provided with a beating module, a Y-direction amplitude changing overturning module, a guiding module and a material box grabbing module.
Further, the cantilever module comprises a cantilever frame, the X-direction amplitude variation device is arranged on the cantilever frame,
the X-direction amplitude changing device comprises an X-direction amplitude changing module arranged on the cantilever rack, a connecting module used for connecting the left grabbing assembly module and the right grabbing assembly module, and an amplitude changing position signal feedback device used for detecting amplitude changing of the left grabbing assembly module and the right grabbing assembly module, wherein the X-direction amplitude changing module, the connecting module and the amplitude changing position signal feedback device comprise two.
Further, the X-direction amplitude changing module comprises a servo motor fixedly arranged on the cantilever rack, a screw rod connected with an output shaft of the servo motor and a screw rod sliding block capable of horizontally moving along the screw rod, and the connecting module is connected with the screw rod sliding block, so that the screw rod sliding block drives the horizontal direction to move to achieve X-direction amplitude changing.
Further, the amplitude position signal feedback device comprises a laser generator arranged on the connecting module and a laser receiver arranged on the cantilever rack, laser is emitted through the laser generator, and laser is received through the laser receiver, so that the distance between the laser generator and the laser receiver is judged, and the movement distance of the connecting module is further judged.
Further, the connecting module is connected with the left grabbing assembly module and the right grabbing assembly module through the locating pins, and the connecting module is provided with locating pin holes.
Further, the beating module comprises a beating rack fixedly mounted on the guiding module and the Y-direction amplitude-changing overturning module, a beating cylinder is fixedly mounted on the beating rack, an output shaft of the beating cylinder is connected with a beating connecting rod, and the beating connecting rod is rotationally connected to the beating rack through a rotating shaft.
Further, the Y-direction amplitude-changing overturning module comprises two moving plates which are arranged on the connecting plate in a sliding way, wherein the front surface of one moving plate is provided with an air cylinder base, the air cylinder base is fixedly provided with a jacking air cylinder,
an output shaft of the jacking cylinder is connected with a cylinder connecting seat arranged on the front surface of the other moving plate,
simultaneously, fixedly provided with two fixed racks on the connecting plate, the rotation is provided with two rotation gear assembly on the movable plate, fixed rack with rotate between the gear assembly meshing, just rotate gear assembly and magazine and snatch module fixed connection.
Further, two ends of the connecting plate are provided with a limiting block.
Further, the guide module comprises a guide cylinder, a guide piece is connected to an output shaft of the guide cylinder, meanwhile, a supporting plate is fixedly arranged on the guide cylinder, the supporting plate is fixedly connected with one of the moving plates, and a beating machine frame is fixedly connected to the supporting plate.
Further, the magazine grabbing module comprises a magazine rack fixedly connected to the rotary gear assembly, two grippers are connected to the magazine rack through springs, and bumps matched with the guide pieces for use are arranged at the bottoms of the grippers.
Further, a material blocking module and a detection module are arranged on the material box frame.
The melamine feeding end effector has the advantages that:
the end picking device is provided with the beating module, the Y-direction amplitude-changing overturning module, the guiding module and the material box grabbing module, so that various products can be dealt with.
Drawings
FIG. 1 is a schematic diagram of the structure of the pick-up;
FIG. 2 is a schematic view of the structure of the cantilever module;
FIG. 3 is a schematic view of the left gripper assembly module;
fig. 4 is a schematic structural view of the rapping module;
FIG. 5 is a schematic diagram of the front structure of the connection plate;
FIG. 6 is a schematic structural view of the Y-direction luffing and overturning module;
FIG. 7 is a schematic view of a guide module;
fig. 8 is a schematic structural view of the cartridge gripping module.
Wherein: 1. cantilever module, 2, left grabbing assembly module, 3, right grabbing assembly module, 4, cantilever frame, 5, X to become width of cloth module, 6, become width of cloth position signal feedback device, 7, connecting module, 8, beat the module, 9, Y to become width of cloth upset module, 10, direction module, 11, magazine grabbing module, 12, connect the material mould, 13, beat the frame, 14, beat the cylinder, 15, beat the connecting rod, 16, rotate the gear, 17, fixed rack, 18, stopper, 19, jack-up cylinder, 20, direction cylinder, 21, guide, 22, detection module, 23, tongs, 24, layer board, 25, magazine frame, 26, fender material module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-8, the present invention provides the following technical solutions: a melamine feeding end effector comprises a cantilever module 1, a left grabbing assembly module 2 and a right grabbing assembly module 3 which are connected to the cantilever module 1 and have the same structure,
the cantilever module 1 is provided with an X-direction amplitude changing device, the X-direction amplitude changing device drives the left grabbing assembly module 2 and the right grabbing assembly module 3 to move in the X direction, and the left grabbing assembly module 2 and the right grabbing assembly module 3 are respectively provided with a beating module 8, a Y-direction amplitude changing overturning module 9, a guiding module 10 and a material box grabbing module 11 for grabbing a material receiving die 12.
In this embodiment, the boom module 1 comprises a boom housing 4, the X-direction horn is disposed on the boom housing 4,
the X-direction amplitude changing device comprises an X-direction amplitude changing module 5 arranged on the cantilever rack 4, a connecting module 7 used for connecting the left grabbing assembly module 2 and the right grabbing assembly module 3, and an amplitude changing position signal feedback device 6 used for detecting amplitude changing of the left grabbing assembly module 2 and the right grabbing assembly module 3, wherein the X-direction amplitude changing module 5, the connecting module 7 and the amplitude changing position signal feedback device 6 comprise two.
The X-direction amplitude changing module 5 comprises a servo motor fixedly arranged on the cantilever rack 4, a screw rod connected with an output shaft of the servo motor and a screw rod sliding block capable of horizontally moving along the screw rod, and the connecting module 7 is connected with the screw rod sliding block, so that the horizontal direction of the connecting module 7 is driven to move to achieve X-direction amplitude changing through the screw rod sliding block.
The amplitude position signal feedback device 6 comprises a laser generator arranged on the connecting module 7 and a laser receiver arranged on the cantilever rack 4, wherein the laser generator moves horizontally along with the connecting module 7, the laser receiver is fixed,
the laser generator emits laser and the laser receiver receives the laser, so that the distance between the laser generator and the laser receiver is judged, and the movement distance of the connecting module 7 is further judged.
In this embodiment, the connection module 7 is connected with the left grabbing assembly module 2 and the right grabbing assembly module 3 through positioning pins, and the connection module 7 is provided with positioning pin holes, and meanwhile, the left grabbing assembly module 2 and the right grabbing assembly module 3 each comprise a connection plate provided with positioning pin holes, so that the connection module 7 is connected with the left grabbing assembly module 2 and the right grabbing assembly module 3 through the positioning pin connection mode.
In this embodiment, the rapping module 8 comprises a rapping frame 13 fixedly mounted on a guiding module 10 and a Y-direction amplitude inverting module 9,
the beating machine frame 13 is fixedly provided with a beating air cylinder 14, an output shaft of the beating air cylinder 14 is connected with a beating connecting rod 15, and the beating connecting rod 15 is rotationally connected to the beating machine frame 13 through a rotating shaft, so that when the beating air cylinder 14 stretches and contracts, the beating connecting rod 15 can be driven to rotate relative to the beating machine frame 13.
In this embodiment, the Y-direction amplitude-change overturning module 9 includes two moving plates slidably disposed on a connecting plate, a horizontal slideway is disposed on the connecting plate, each moving plate is slidably disposed in the horizontal slideway,
the front surface of one of the moving plates is provided with a cylinder base, the cylinder base is fixedly provided with a jacking cylinder 19,
the output shaft of the jacking cylinder 19 is connected with a cylinder connecting seat arranged on the front surface of the other movable plate, so that the two movable plates can be driven to horizontally slide on the connecting plate through the extension and contraction of the jacking cylinder 19,
simultaneously, two fixed racks 17 are fixedly arranged on the connecting plate, two rotating gear assemblies are rotatably arranged on the moving plate, each rotating gear assembly comprises a rotating gear, each fixed rack 17 is meshed with the corresponding rotating gear, each rotating gear is fixedly connected with a rotating shaft, each rotating shaft penetrates through the corresponding moving plate and is fixedly connected with a rotating gear connecting piece, when the two moving plates horizontally slide, the rotating gears rotate due to the meshing of the corresponding rotating gears and the corresponding fixed racks 17, so that the rotating gear connecting pieces are driven to rotate,
and the rotating gear connecting piece is fixedly connected with the material box grabbing module 11, and finally drives the material box grabbing module 11 to rotate.
Meanwhile, two ends of the connecting plate are provided with limiting blocks 18 for limiting the movement of the moving plate, so that the material receiving mould 12 grabbed on the material box grabbing module 11 can only be turned 180 degrees.
In this embodiment, the guiding module 10 includes the guiding cylinder 20, be connected with the guide 21 on the output shaft of guiding cylinder 20, drive the flexible of guide 21 through the flexible of guiding cylinder 20, simultaneously, fixedly on the guiding cylinder 20 be provided with a layer board 24, layer board 24 and one of them movable plate fixed connection to also can take the horizontal slip of guiding module 10 through the removal of movable plate, just fixedly connected with beats frame 13 on the layer board 24, make and beat module 8 also can slide together horizontal.
In this embodiment, the cartridge gripping module 11 includes a cartridge frame 25 fixedly connected to the rotating gear, two grippers 23 are connected to the cartridge frame 25 through springs, a bump is disposed at the bottom of each gripper 23 and used in cooperation with the guide member 21, when the guide member 21 is extended, the gripper 23 is opened by the bump in contact with the bump, and when the guide member 21 is retracted, the gripper 23 is folded again due to resilience of the springs to grip the receiving mold 12.
In this embodiment, the material blocking module 26 is disposed on the material box frame 25, the material blocking module 26 includes six connecting holes disposed on the material box frame 25, three symmetrically disposed on the material box frame 25,
the connecting hole is internally inserted with different numbers of cross bars according to the diameter of the receiving mould 12, so that the maximum distance between the two cross bars is smaller than the diameter of the receiving mould 12, and the powder is easy to become cake-shaped, and then if poured into the receiving mould 12, the subsequent work can be influenced, so that the cake-shaped powder is received firstly by the blocking module 26, and then is beaten by the beating module 8, so that the cake-shaped powder is changed into powder, and then enters the receiving mould 12.
Meanwhile, a detection module 22 is arranged on the material box rack 25, the detection module 22 is an infrared sensor, and the detection module 22 is used for judging that cake-shaped powder is arranged on the material blocking module 26.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A melamine feed end effector, characterized in that: comprises a cantilever module, a left grabbing assembly module and a right grabbing assembly module which are connected to the cantilever module and have the same structure, wherein an X-direction amplitude changing device is arranged on the cantilever module, a beating module, a Y-direction amplitude changing overturning module, a guiding module and a material box grabbing module are arranged on the left grabbing assembly module and the right grabbing assembly module,
the cantilever module comprises a cantilever frame, the X-direction amplitude variation device is arranged on the cantilever frame, the X-direction amplitude variation device comprises an X-direction amplitude variation module arranged on the cantilever frame, a connecting module for connecting the left grabbing assembly module and the right grabbing assembly module and an amplitude variation position signal feedback device for detecting amplitude variation of the left grabbing assembly module and the right grabbing assembly module, wherein the X-direction amplitude variation module, the connecting module and the amplitude variation position signal feedback device respectively comprise two,
the amplitude position signal feedback device comprises a laser generator arranged on the connecting module and a laser receiver arranged on the cantilever rack, the laser generator emits laser, the laser receiver receives the laser, thereby judging the distance between the laser generator and the laser receiver, further judging the movement distance of the connecting module,
the connecting module is connected with the left grabbing assembly module and the right grabbing assembly module through positioning pins, the connecting module is provided with positioning pin holes, and meanwhile, the left grabbing assembly module and the right grabbing assembly module both comprise a connecting plate provided with the positioning pin holes, so that the connecting module is connected with the left grabbing assembly module and the right grabbing assembly module through the positioning pins,
the beating module comprises a beating rack fixedly arranged on the guiding module and the Y-direction amplitude-changing overturning module, a beating air cylinder is fixedly arranged on the beating rack, an output shaft of the beating air cylinder is connected with a beating connecting rod, the beating connecting rod is rotationally connected on the beating rack through a rotating shaft,
the Y-direction amplitude-change overturning module comprises two movable plates which are arranged on a connecting plate in a sliding mode, wherein the front face of one movable plate is provided with an air cylinder base, an jacking air cylinder is fixedly arranged on the air cylinder base, an output shaft of the jacking air cylinder is connected with an air cylinder connecting seat arranged on the front face of the other movable plate, meanwhile, two fixed racks are fixedly arranged on the connecting plate, two rotating gear assemblies are rotatably arranged on the movable plate, the fixed racks are meshed with the rotating gear assemblies, and the rotating gear assemblies are fixedly connected with the material box grabbing module.
2. The melamine feed end effector as set forth in claim 1, wherein: the X-direction amplitude changing module comprises a servo motor fixedly arranged on the cantilever rack, a screw rod connected with an output shaft of the servo motor and a screw rod sliding block capable of horizontally moving along the screw rod, and the connecting module is connected with the screw rod sliding block, so that the screw rod sliding block drives the horizontal direction to move to achieve X-direction amplitude changing.
3. The melamine feed end effector as set forth in claim 1, wherein: two ends of the connecting plate are provided with a limiting block.
4. A melamine feed end effector as claimed in claim 3, wherein: the guide module comprises a guide cylinder, a guide piece is connected to an output shaft of the guide cylinder, meanwhile, a supporting plate is fixedly arranged on the guide cylinder, the supporting plate is fixedly connected with one moving plate, and a beating machine frame is fixedly connected to the supporting plate.
5. The melamine feed end effector as set forth in claim 4, wherein: the material box grabbing module comprises a material box rack fixedly connected to the rotary gear assembly, two grippers are connected to the material box rack through springs, and bumps matched with the guide piece for use are arranged at the bottom of each gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011458734.6A CN112456131B (en) | 2020-12-11 | 2020-12-11 | Melamine material loading end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011458734.6A CN112456131B (en) | 2020-12-11 | 2020-12-11 | Melamine material loading end effector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112456131A CN112456131A (en) | 2021-03-09 |
| CN112456131B true CN112456131B (en) | 2024-01-30 |
Family
ID=74802850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011458734.6A Active CN112456131B (en) | 2020-12-11 | 2020-12-11 | Melamine material loading end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112456131B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205033195U (en) * | 2015-09-25 | 2016-02-17 | 广州擎天实业有限公司 | Robot clamp that commonality is strong |
| CN106965157A (en) * | 2017-04-06 | 2017-07-21 | 苏州金逸康自动化设备有限公司 | A kind of manipulator for carrying plurality of specifications anchor ear skin |
| CN108016877A (en) * | 2018-01-03 | 2018-05-11 | 广东江友智能科技有限公司 | A kind of novel minitype motor shifting apparatus |
| CN108569550A (en) * | 2017-03-11 | 2018-09-25 | 北京航天斯达科技有限公司 | A kind of chemical fiber spinning cake robot clamp for stacking |
| CN209869373U (en) * | 2019-04-11 | 2019-12-31 | 惠州市盛广达实业有限公司 | Automatic pressfitting machine of melamine double-layer bowl |
| CN111071785A (en) * | 2019-12-31 | 2020-04-28 | 东莞市慧江平成机械有限公司 | Automatic transfer machine equipment for coating line |
| CN211109862U (en) * | 2019-12-17 | 2020-07-28 | 重庆工业职业技术学院 | Automatic chemical part transposition mechanism |
| CN211895110U (en) * | 2020-01-21 | 2020-11-10 | 蓝思智能机器人(长沙)有限公司 | Stack material taking equipment |
-
2020
- 2020-12-11 CN CN202011458734.6A patent/CN112456131B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205033195U (en) * | 2015-09-25 | 2016-02-17 | 广州擎天实业有限公司 | Robot clamp that commonality is strong |
| CN108569550A (en) * | 2017-03-11 | 2018-09-25 | 北京航天斯达科技有限公司 | A kind of chemical fiber spinning cake robot clamp for stacking |
| CN106965157A (en) * | 2017-04-06 | 2017-07-21 | 苏州金逸康自动化设备有限公司 | A kind of manipulator for carrying plurality of specifications anchor ear skin |
| CN108016877A (en) * | 2018-01-03 | 2018-05-11 | 广东江友智能科技有限公司 | A kind of novel minitype motor shifting apparatus |
| CN209869373U (en) * | 2019-04-11 | 2019-12-31 | 惠州市盛广达实业有限公司 | Automatic pressfitting machine of melamine double-layer bowl |
| CN211109862U (en) * | 2019-12-17 | 2020-07-28 | 重庆工业职业技术学院 | Automatic chemical part transposition mechanism |
| CN111071785A (en) * | 2019-12-31 | 2020-04-28 | 东莞市慧江平成机械有限公司 | Automatic transfer machine equipment for coating line |
| CN211895110U (en) * | 2020-01-21 | 2020-11-10 | 蓝思智能机器人(长沙)有限公司 | Stack material taking equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112456131A (en) | 2021-03-09 |
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Address after: 215000 room 507, No. 1699, Zuchongzhi South Road, Kunshan City, Suzhou City, Jiangsu Province Applicant after: Kunshan Intelligent Equipment Research Institute Applicant after: SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Address before: 215000 no.1699, Zuchongzhi South Road, Kunshan City, Suzhou City, Jiangsu Province Applicant before: KUNSHAN INTELLIGENT ROBOT R & D CENTER, SHENYANG INSTITUTE OF AUTOMATION Applicant before: SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES |
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