CN113399965A - Reset spring and piece automatic assembly equipment that resets - Google Patents
Reset spring and piece automatic assembly equipment that resets Download PDFInfo
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- CN113399965A CN113399965A CN202110617732.5A CN202110617732A CN113399965A CN 113399965 A CN113399965 A CN 113399965A CN 202110617732 A CN202110617732 A CN 202110617732A CN 113399965 A CN113399965 A CN 113399965A
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- assembly
- feeding channel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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Abstract
The invention discloses automatic assembly equipment for a reset spring and a reset piece, which relates to the field of assembly of an M5 assembly Staobial module of an electronic jacquard machine, and comprises a reset spring feeding channel, a reset piece feeding channel, a clamping assembly piece and a material waiting mechanism, wherein the material waiting mechanism comprises a material waiting plate, and a first feeding channel and a second feeding channel are arranged on the material waiting plate; the return spring enters a first material waiting position of the first feeding channel through the return spring feeding channel; the resetting piece enters a second material waiting position of a second feeding channel through the resetting piece feeding channel; the first material waiting position corresponds to and is communicated with the second material waiting position; the clamping assembly part is used for assembling the return spring positioned at the first material waiting position and the return member positioned at the second material waiting position into a component and transferring the component to the mounting block of the bottom plate for assembly; through utilizing automatic assembly equipment, whole assembly process automation goes on, very big reduction operating personnel's intervention, have very big promotion effect to the promotion of machining efficiency.
Description
Technical Field
The invention relates to the field of Stanobil module assembly of M5 components of an electronic jacquard machine, in particular to automatic assembly equipment of a reset spring and a reset piece of a Stanobil component.
Background
At present, on an electronic jacquard machine, a return spring and a return piece are one of indispensable core components.
However, the assembly method of the stanobbier module is mostly the operation method of purely manually assembling the reset piece and the reset spring (as shown in fig. 1-2, the assembly 102 of the reset spring and the reset piece set is assembled to the placing position at the mounting block 101), which is not only inefficient, but also causes the high labor cost of the factory due to the use of a large amount of labor, so how to replace the traditional manual operation with the automatic assembly has become a problem to be solved urgently at present.
Disclosure of Invention
Aiming at the problem of low efficiency caused by the fact that the reset spring and the reset piece are assembled by pure hands in the prior art, the invention provides automatic assembly equipment; through utilizing this equipment to realize reset spring and the automatic assembly that resets to reach and reduce artifical input, improve machining efficiency's purpose.
The specific scheme provided by the invention is as follows:
the automatic assembly equipment for the reset spring and the reset piece comprises a reset spring feeding channel, a reset piece feeding channel, a clamping assembly piece and a material waiting mechanism, wherein the material waiting mechanism comprises a material waiting plate, and a first feeding channel and a second feeding channel are arranged on the material waiting plate;
the return spring enters a first material waiting position of the first feeding channel through the return spring feeding channel; the resetting piece enters a second material waiting position of the second feeding channel through the resetting piece feeding channel; the first material waiting position corresponds to and is communicated with the second material waiting position;
the clamping assembly part is used for assembling the reset spring positioned at the first waiting material level and the reset member positioned at the second waiting material level into an assembly and transferring the assembly onto the mounting block of the bottom plate for assembly.
Furthermore, a rotating plate is arranged in the material waiting plate, and can rotate in the plane of the material waiting plate; the return spring enters the first feeding channel and is transferred to the first material waiting position through the rotating plate.
Further, the clamping assembly comprises a first clamping body and a second clamping body, the first clamping body and the second clamping body are movably arranged relative to each other, and the first clamping body and the second clamping body move close to each other to assemble the return spring and the return piece into a component and clamp the component.
Further, the first clamp body comprises a first clamping jaw and a first clamping piece, and the first clamping piece is detachably connected with the first clamping jaw;
the second clamp body comprises a second clamping jaw and a second clamping piece, and the second clamping piece is detachably connected with the second clamping jaw;
the relative movement of the first jaw and the second jaw causes the first jaw and the second jaw to move relative to each other.
Furthermore, the clamping assembly further comprises an axial driver, and the first clamping jaw and the second clamping jaw are hinged to the left side and the right side of the axial driver respectively; a pushing disc is fixed on an output shaft of the axial driver, and the left side and the right side of the pushing disc are hinged with the first clamping jaw and the second clamping jaw through connecting rods respectively;
the axial driver drives the output shaft of the axial driver to move so that the pushing disc ascends or descends to achieve relative approaching or departing of the first clamping jaw and the second clamping jaw.
Furthermore, the clamping assembly part further comprises an ejecting rod, the ejecting rod is arranged between the first clamping jaw and the second clamping jaw in a telescopic moving mode, and the ejecting rod is used for ejecting the assembly, which is clamped by the first clamping piece and the second clamping piece, out of the assembly and assembled with the mounting block of the bottom plate.
Furthermore, the clamping device further comprises a multi-axis manipulator, and the clamping assembly is fixed on the multi-axis manipulator.
Further, reset spring material loading is said and is set up on shaking the feeder, reset spring realizes through shaking that transport in the reset spring material loading is said.
Further, still include feed bin and pushing material spare, reset a material loading way with the export of feed bin corresponds the cooperation and makes reset in the feed bin piece that resets can fall into one by one reset on the material loading way, pushing material spare is used for will being located reset on the material loading way piece propelling movement that resets arrives the second treats on the material level.
The beneficial effect that adopts this technical scheme to reach does:
by designing brand-new automatic equipment, the automatic feeding of the return spring is realized by using the return spring feeding channel, and the automatic feeding of the return piece is realized by using the return piece feeding channel; assembling the reset spring and the reset piece on a material waiting plate for material waiting; then utilize the clamping assembly spare to assemble the subassembly and transport the subassembly to the installation piece of bottom plate on and assemble, whole assembly process automation goes on, very big reduction operating personnel's intervention, has very big promotion effect to machining efficiency's promotion.
Drawings
FIG. 1 is a perspective view of a module and a base plate.
Fig. 2 is a completed view of the assembly of the components on the base plate.
Fig. 3 is an overall configuration diagram of the automatic assembling apparatus.
Fig. 4 is a perspective view of the material waiting mechanism.
Figure 5 is a plan view of the holder assembly.
Fig. 6 is a schematic diagram of the assembly of the reset spring and the reset piece by clamping the assembly piece on the waiting plate.
Fig. 7 is a partially enlarged view of a in fig. 6, showing a structure of an assembling process.
Figure 8 is a schematic view of the structure of the clamping assembly for transferring the component to the bottom plate.
Wherein: the device comprises a 10-reset-spring feeding channel, a 20-reset-element feeding channel, a 21-pushing element, a 22-bin, a 30-clamping assembly element, a 31-first clamping body, a 32-second clamping body, a 33-axial driver, a 34-pushing disc, a 35-jacking rod, a 40-feeding mechanism, a 41-feeding plate, a 50-multi-shaft manipulator, a 100-base plate, a 101-mounting block, a 102-assembly, a 411-first feeding channel, a 412-second feeding channel, a 413-rotating plate and a 414-rotating cylinder.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The embodiment provides a reset spring and an automatic assembly device that resets, replaces traditional manual assembly through utilizing this automatic assembly device to reach the purpose that reduces the cost of labor and drop into and improve machining efficiency.
Specifically, referring to fig. 3, the automatic assembling device includes a return spring feeding channel 10, a return member feeding channel 20, and a clamping assembly member 30; the return spring feeding channel 10 is used for conveying and feeding the return springs; the reset piece feeding channel 20 is used for conveying and feeding reset pieces; the clamping assembly 30 is used for assembling and assembling the return spring and the return piece to form an assembly 102, and transporting the formed assembly 102 to the mounting block 101 of the base plate 100 for assembly; through the setting to above structure, the effectual automation that has guaranteed the rigging equipment goes on.
In this embodiment, still add and wait to expect mechanism 40, wait to expect that mechanism 40 is used for reset spring and the in-process of piece material loading that resets to the equipment and the transportation to reset spring and piece that resets can be realized on waiting to expect mechanism 40 to clamping assembly part 30.
Specifically, referring to fig. 4, the material waiting mechanism 40 includes a material waiting plate 41, and a first feeding channel 411 and a second feeding channel 412 are disposed on the material waiting plate 41; the first feeding channel 411 and the return spring feeding channel 10 are matched with each other, so that the return spring can pass through the return spring feeding channel 10 to reach a first material waiting position in the first feeding channel 411; similarly, the second feeding channel 412 is matched with the resetting member feeding channel 20, so that the resetting member can enter a second material waiting position in the second feeding channel 412 through the resetting member feeding channel 20; here, the first waiting position and the second waiting position correspond to each other and communicate with each other, and the clamping assembly 30 may assemble the return spring at the first waiting position and the return member at the second waiting position into the assembly 102 and then transfer the assembly 102 to the mounting block 101 of the base plate 100 for assembly.
According to the scheme, the reset spring feeding channel 10 is utilized to realize automatic feeding of the reset spring, and the reset piece feeding channel 20 is utilized to realize automatic feeding of the reset piece; assembling the reset spring and the reset piece on the material waiting plate 41; then, the assembly 102 is assembled by utilizing the clamping assembly member 30, and the assembly 102 is transferred to the mounting block of the bottom plate for assembly, the whole assembly process is automatically carried out, the intervention of operators is greatly reduced, and the improvement on the processing efficiency is greatly promoted.
In this embodiment, when the clamping assembly part 30 is used to assemble the return springs and the return pieces, one-to-one correspondence should be ensured, that is, one return spring corresponds to one return piece, so as to facilitate assembly and assembly performed by the clamping assembly part 30.
Therefore, in the present scheme, referring to fig. 3-4, the resetting member pushes the feeding one by one through the material pushing member 21, that is, the material pushing member 21 pushes the resetting member, and the second material waiting position pushed from the resetting member feeding channel 20 to the second feeding channel 412 is retreated to prepare for the next pushing.
Optionally, the material pushing device further comprises a bin 22 and a material pushing cylinder, the reset piece feeding channel 20 is correspondingly matched with an outlet of the bin 22, so that reset pieces in the bin 22 can fall into the reset piece feeding channel 20 one by one, the material pushing piece 21 is fixed on the material pushing cylinder, and the action of the material pushing cylinder enables the material pushing piece 21 to push reset pieces located on the reset piece feeding channel 20 to a second material waiting position.
In the scheme, the reset spring is realized by vibration feeding, namely, vibration feeding of the reset spring is realized by using a vibration feeder such as a vibration disc and a direct vibration feeder, a reset spring feeding channel 10 is arranged on the vibration feeder, and the reset spring is conveyed in the reset spring feeding channel 10 in a vibration mode; but the vibrating feeding of the return springs has continuity, that is, the return spring feeding channel 10 connected end to end of the return springs is conveyed until the return springs reach the material waiting plate 41, so that a certain distance can be generated between the return springs, the assembly of the return springs and the return springs can be conveniently realized by the clamping assembly part 30, and the rotating plate 413 is arranged in the material waiting plate 41.
The rotating plate 413 is used for transferring the return spring located at the first position (i.e., the first position) so that the return spring is spaced apart from the return spring located at the second position (i.e., the second position); so as not to interfere with the normal assembly of the clamping assembly 30; in particular, the rotating plate 413 can rotate in the plane of the waiting plate 41; the return spring enters the first feeding channel and is transferred to the first material waiting position through the rotating plate 413.
It can be understood that, the return springs in end-to-end contact are transported through the return spring feeding channel 10, and after the return spring at the foremost end (i.e. the first position) enters the rotating plate 413, the vibration feeder stops vibrating to prevent the subsequent return springs from continuing to be conveyed, and meanwhile, the rotating plate 413 starts to rotate to enable the return spring to turn to the first position to be waiting, so that the return spring at the foremost end (the first position) and the return spring at the next position (the second position) generate a certain distance; therefore, enough space is reserved for assembling the clamping assembly part 30, and the interference influence of the reset spring positioned at the second position can be effectively avoided.
Alternatively, the rotating plate 413 is rotated by a rotating cylinder 414, that is, a rotating cylinder 414 is disposed on the material waiting plate 41, the rotating plate 413 is fixed on the rotating cylinder 414, and the rotating cylinder 414 is activated to rotate the rotating plate 413.
In this embodiment, the fixed rotation angle of the rotary cylinder 414 is 180 °, and the rotation angle may be set according to the actual station positions of the first material waiting position and the second material waiting position, and may also be 150 °, 90 °, 60 °, and the like.
After the return spring and the return member are at respective waiting positions (a first waiting position and a second waiting position), the return spring and the return member need to be assembled and transported by using the clamping assembly member 30.
Specifically, referring to fig. 5, the clamping assembly 30 includes a first clamping body 31 and a second clamping body 32, the first clamping body 31 and the second clamping body 32 are movably disposed relative to each other, and the first clamping body 31 and the second clamping body 32 move toward each other to assemble the return spring and the return member into an assembly and clamp the assembly.
It is understood that, referring to fig. 5-7, the assembly of the return spring and the return member is performed by the first clamp body 31 and the second clamp body 32 during the clamping process, and in order to ensure the smooth completion of the process, the first waiting position and the second waiting position described above correspond to each other and are communicated with each other, which should be understood as follows: the first material level of waiting with the second material of waiting not only needs to communicate, still needs to guarantee to be located the first reset spring that waits the material level and to wait the spring hole coaxial correspondence of the piece that resets that is located the second for first clamp 31 and second clamp 32 are in the gradual in-process that is close to, and one of them clamp promotes reset spring and enters into the spring hole that resets and form subassembly 102, and meanwhile first clamp 31 and second clamp 32 have also accomplished the clamp to this subassembly simultaneously.
This scheme treats the material level through ingenious design first material level and second to cooperation first clamp 31 and second clamp 32 realize only needing an action just to accomplish two processes (equipment, press from both sides tightly), very big shortening process time, the effectual machining efficiency that has promoted.
In this embodiment, the first clamp body 31 includes a first clamping jaw and a first clamping piece, and the first clamping piece is detachably connected to the first clamping jaw; the second clamp body 32 comprises a second clamping jaw and a second clamping piece, and the second clamping piece is detachably connected with the second clamping jaw; the relative movement of the first clamping jaw and the second clamping jaw enables the first clamping piece and the second clamping piece to move relatively.
It can be understood that the assembly and clamping of the return spring and the return member are substantially completed by the clamping pieces (the first clamping piece and the second clamping piece), and the clamping pieces are arranged to be detachable from the clamping jaw, so that the clamping pieces can be conveniently replaced by an operator.
Optionally, the movement of the clamping jaws (the first clamping jaw and the second clamping jaw) is realized by an axial driver 33, that is, the clamping fitting 30 further comprises an axial driver 33, and the first clamping jaw and the second clamping jaw are respectively hinged to the left side and the right side of the axial driver 33; a pushing disc 34 is fixed on an output shaft of the axial driver 33, and the left side and the right side of the pushing disc 34 are respectively hinged with the first clamping jaw and the second clamping jaw through connecting rods; here the axial driver 33 drives its output shaft to move so that the push plate 34 is raised or lowered to achieve relative approaching or distancing of the first jaw to the second jaw.
It will be appreciated that movement of the first and second jaws is achieved by a linkage mechanism, where the axial drive 33 is preferably a hydraulic ram to ensure stability of the movement of the first and second jaws.
After the assembly is clamped by the clamping pieces (the first clamping piece and the second clamping piece), the assembly needs to be transported and installed on the bottom plate, and a placement position is arranged beside the installation block, namely the assembly needs to be placed on the placement position; because the clamping piece (first clamping piece, second clamping piece) clamps the subassembly and makes return spring be in compression state, if direct contact clamping state, will lead to return spring to kick-back and lead to the subassembly can't put into and place the position, consequently, need place the subassembly in placing the position in clamping state.
Therefore, referring to fig. 5 and 8, in the present embodiment, the top-loading rod 35 is provided, that is, the clamping fitting further includes the top-loading rod 35, the top-loading rod 35 is telescopically and movably disposed between the first clamping jaw and the second clamping jaw, and the top-loading rod 35 is used for ejecting the assembly 102 clamped by the first clamping jaw and the second clamping jaw into the placing position, so as to complete the assembly on the mounting block of the bottom plate 100.
Specifically, the first and second clip clamping assemblies 102 are transferred to and adjacent to the placement location such that the assemblies correspond to the placement location; the top-mounted lever 35 is then actuated to extend against the upper surface of the reset member to apply a downward force to the entire assembly 102 so that the assembly 102 moves downward under the action of the top-mounted lever 35 and in the clamped state of the first and second jaws until the assembly 102 disengages the jaws (first and second jaws) into the rest position.
The installation of the reset spring in the assembly in a compressed state and a placing position can be directly completed by arranging the top mounting rod 35, so that the installation process is simple and easy to operate.
Optionally, the telescopic movement of the top-loading rod 35 is realized by an electric push rod, that is, the top-loading rod 35 is installed on the electric push rod, and the action of the electric push rod will make the top-loading rod 35 complete the telescopic movement.
In this embodiment, a multi-axis manipulator 50 is further included, the clamping assembly 30 described above is fixed on the multi-axis manipulator 50, and by using the action of the multi-axis manipulator 50, the transfer and transportation of the components from the waiting plate 41 to the bottom plate 100 by the clamping assembly 30 is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. An automatic reset spring and reset piece assembling device comprises a reset spring feeding channel (10), a reset piece feeding channel (20) and a clamping assembly piece (30), and is characterized by further comprising a material waiting mechanism (40), wherein the material waiting mechanism (40) comprises a material waiting plate (41), and a first feeding channel (411) and a second feeding channel (412) are arranged on the material waiting plate (41);
the return spring enters a first material waiting position of the first feeding channel (411) through the return spring feeding channel (10); the resetting piece enters a second material waiting position of the second feeding channel (412) through the resetting piece feeding channel (20); the first material waiting position corresponds to and is communicated with the second material waiting position;
the clamping assembly part (30) is used for assembling the return spring at the first waiting position and the return member at the second waiting position into an assembly (102) and transferring the assembly (102) to a mounting block (101) of a bottom plate (100) for assembly.
2. The automatic assembly equipment of the return spring and the return member according to claim 1, characterized in that a rotating plate (413) is arranged in the material waiting plate (41), and the rotating plate (413) can rotate in the plane of the material waiting plate (41); the return spring enters the first feeding channel (411) and is transferred to the first material waiting position through the rotating plate (413).
3. An automatic return spring and return element assembling device according to claim 1 or 2, characterized in that said clamping assembly (30) comprises a first clamp body (31) and a second clamp body (32), said first clamp body (31) and said second clamp body (32) being arranged in a movable manner, said first clamp body (31) and said second clamp body (32) being moved towards each other to enable assembling said return spring and return element into an assembly (102) and clamping said assembly (102).
4. An automatic assembly apparatus of a return spring and a return member according to claim 3,
the first clamp body (31) comprises a first clamping jaw and a first clamping piece, and the first clamping piece is detachably connected with the first clamping jaw;
the second clamp body (32) comprises a second clamping jaw and a second clamping piece, and the second clamping piece is detachably connected with the second clamping jaw;
the relative movement of the first jaw and the second jaw causes the first jaw and the second jaw to move relative to each other.
5. The automatic reset spring and reset piece assembling equipment according to claim 4, wherein the clamping assembly piece (30) further comprises an axial driver (33), and the first clamping jaw and the second clamping jaw are respectively hinged on the left side and the right side of the axial driver (33); a pushing disc (34) is fixed on an output shaft of the axial driver (33), and the left side and the right side of the pushing disc (34) are hinged with the first clamping jaw and the second clamping jaw through connecting rods respectively;
the axial driver (33) drives the output shaft thereof to act so as to enable the pushing disc (34) to ascend or descend so as to achieve relative approaching or departing of the first clamping jaw and the second clamping jaw.
6. The automatic reset spring and reset piece assembling equipment according to claim 5, wherein the clamping assembly member (30) further comprises an ejecting rod (35), the ejecting rod (35) is telescopically and movably arranged between the first clamping jaw and the second clamping jaw, and the ejecting rod (35) is used for ejecting the assembly (102) clamped by the first clamping jaw and the second clamping jaw to be assembled with the mounting block of the bottom plate.
7. The automatic assembly equipment for the return spring and the return member according to claim 1, further comprising a multi-axis manipulator (50), wherein the clamping assembly (30) is fixed on the multi-axis manipulator (50).
8. The automatic reset spring and reset member assembling equipment according to claim 1, wherein the reset spring feeding channel (10) is arranged on a vibration feeder, and the reset spring realizes the conveying in the reset spring feeding channel (10) through vibration.
9. The automatic assembling equipment for the return spring and the return member according to claim 1, further comprising a bin (22) and a pushing member (21), wherein the return member feeding channel (20) is correspondingly matched with an outlet of the bin (22) so that the return members in the bin (22) can fall into the return member feeding channel (20) one by one, and the pushing member (21) is used for pushing the return member on the return member feeding channel (20) to the second material waiting position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110617732.5A CN113399965A (en) | 2021-06-02 | 2021-06-02 | Reset spring and piece automatic assembly equipment that resets |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110617732.5A CN113399965A (en) | 2021-06-02 | 2021-06-02 | Reset spring and piece automatic assembly equipment that resets |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113399965A true CN113399965A (en) | 2021-09-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110617732.5A Pending CN113399965A (en) | 2021-06-02 | 2021-06-02 | Reset spring and piece automatic assembly equipment that resets |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113399965A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60238253A (en) * | 1984-05-07 | 1985-11-27 | Fujitsu Ltd | Robot hand |
| CN102581856A (en) * | 2011-01-06 | 2012-07-18 | 精工爱普生株式会社 | Robot hand |
| CN110355558A (en) * | 2019-08-13 | 2019-10-22 | 武汉纺织大学 | A kind of assembly equipment of return unit and reset spring |
| CN110370007A (en) * | 2019-08-13 | 2019-10-25 | 武汉纺织大学 | A kind of assembly equipment of dynamic iron and dynamic pressure spring |
-
2021
- 2021-06-02 CN CN202110617732.5A patent/CN113399965A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60238253A (en) * | 1984-05-07 | 1985-11-27 | Fujitsu Ltd | Robot hand |
| CN102581856A (en) * | 2011-01-06 | 2012-07-18 | 精工爱普生株式会社 | Robot hand |
| CN110355558A (en) * | 2019-08-13 | 2019-10-22 | 武汉纺织大学 | A kind of assembly equipment of return unit and reset spring |
| CN110370007A (en) * | 2019-08-13 | 2019-10-25 | 武汉纺织大学 | A kind of assembly equipment of dynamic iron and dynamic pressure spring |
Non-Patent Citations (2)
| Title |
|---|
| 杨家军: "《机械创新设计与实践》", 31 May 2014 * |
| 王寒里: "《业机器人PCB异形插件工作站应用指南》", 31 January 2018 * |
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Application publication date: 20210917 |