CN113619270B - Automatic rubbing device for vehicle identification code - Google Patents
Automatic rubbing device for vehicle identification code Download PDFInfo
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- CN113619270B CN113619270B CN202110769630.5A CN202110769630A CN113619270B CN 113619270 B CN113619270 B CN 113619270B CN 202110769630 A CN202110769630 A CN 202110769630A CN 113619270 B CN113619270 B CN 113619270B
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- Prior art keywords
- rubbing
- hole
- drive
- control unit
- vehicle identification
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F16/00—Transfer printing apparatus
- B41F16/0006—Transfer printing apparatus for printing from an inked or preprinted foil or band
- B41F16/004—Presses of the reciprocating type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F33/00—Indicating, counting, warning, control or safety devices
- B41F33/0036—Devices for scanning or checking the printed matter for quality control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F33/00—Indicating, counting, warning, control or safety devices
- B41F33/16—Programming systems for automatic control of sequence of operations
Abstract
The invention provides an automatic rubbing device of a vehicle identification code, which comprises: the robot comprises a robot body, wherein a rubbing floating mechanism is arranged at the tail end of an arm of the robot body, and a rubbing hole is formed in the robot body in a penetrating manner; one end of the rubbing part extends into the rubbing hole; suction means for sucking the rubbing paper; a robot controller, comprising: the first control module is used for controlling the robot body to drive the tail end of the arm to move to the rubbing position according to the rubbing instruction, controlling the suction component to abut against the rubbing position and generating a rubbing signal; the second control module is used for pressing the rubbing floating mechanism according to the rubbing signal to drive the rubbing component to pass through the rubbing hole and act on the rubbing paper, and then controlling the rubbing component to transversely move along the rubbing hole so as to perform automatic rubbing. The vehicle identification code rubbing device has the beneficial effects that the vehicle identification code rubbing process is automatic, personnel do not need to interfere, the device performs position correction by shooting rubbing positions of the vehicle identification codes on the vehicle body, and the compatibility of multiple vehicle types is realized and rubbing quality is guaranteed.
Description
Technical Field
The invention relates to the technical field of vehicle identification code rubbing, in particular to an automatic rubbing device for a vehicle identification code.
Background
Robots are increasingly arranged in automobile assembly workshops in modern production, but vehicle identification code rubbing is always kept in a manual mode, a transfer tool is generally adopted for manual operation, the assembly beat is affected by the duration of rubbing, moreover, the rubbing quality of the vehicle identification code cannot be guaranteed along with fatigue of operators, the automation rate is low, the traditional robot fixed-point vehicle identification code rubbing operation is not provided with an automatic vehicle identification code rubbing detection system, manual intervention is still needed, a special vehicle identification code automatic rubbing device for the robot is not provided, compatibility of multiple vehicle types cannot be achieved, and the beat of rubbing cannot be guaranteed.
Disclosure of Invention
The invention provides an automatic rubbing device for vehicle identification codes, which aims at the problems existing in the prior art and comprises:
the robot comprises a robot body, wherein the tail end of an arm of the robot body is provided with a rubbing floating mechanism, and a rubbing hole is formed in the rubbing floating mechanism in a penetrating manner;
the rubbing part is arranged at the top of the rubbing floating mechanism through a transverse moving mechanism, and one end of the rubbing part extends into the rubbing hole;
at least one sucking component arranged at the bottom of the rubbing floating mechanism and used for sucking a rubbing paper;
a robot controller, connect robot body and rubbing floating mechanism respectively, the robot controller includes:
the first control module is used for controlling the robot body to drive the tail end of the arm to move to the rubbing position of the vehicle identification code of the vehicle body according to an external rubbing instruction, and controlling the suction component adsorbed with the rubbing paper to abut against the rubbing position and generating a rubbing signal;
the second control module is connected with the first control module and used for controlling the downward-pressing rubbing floating mechanism according to rubbing signals so as to drive one end of the rubbing part to penetrate through the rubbing hole and act on rubbing paper, and then controlling the transverse moving mechanism to drive the rubbing part to transversely move along the rubbing hole so as to automatically rubbing the vehicle identification code.
Preferably, the system further comprises a camera and a light source module, which are arranged at one side of the rubbing floating mechanism, wherein the camera and the light source module are connected with the robot controller, and the first control module comprises:
the first control unit is used for controlling the robot body to drive the tail end of the arm to move to a preset position according to the rubbing instruction and triggering to generate an in-place signal;
the second control unit is connected with the first control unit and is used for controlling the camera and the light source module to shoot images of the preset position according to the in-place signal, and correcting the preset position according to the images to obtain a rubbing position;
the first control unit controls the robot body to drive the tail end of the arm to move to the rubbing position, and then controls the absorbing component absorbed with the rubbing paper to abut against the rubbing position and generates rubbing signals.
Preferably, the rubbing part includes a rubbing head driving module and a rubbing head, the rubbing head driving module is connected with the robot controller, and the second control module includes:
the third control unit is used for controlling the rubbing head driving module to drive the rubbing head to rotate according to the rubbing signal, and simultaneously controlling the pressing rubbing floating mechanism to drive the rubbing head to pass through the rubbing hole and act on rubbing paper;
and the fourth control unit is used for controlling the transverse moving mechanism to drive the rubbing head to transversely move along the rubbing hole so as to automatically rubbing the vehicle identification code.
Preferably, the rubbing instruction comprises a preset rotating speed, and the second control module generates a rubbing signal comprising the preset rotating speed when the suction component abuts against the rubbing position;
the third control unit controls the rubbing head driving module to drive the rubbing head to rotate according to the preset rotating speed according to the rubbing signal.
Preferably, the rubbing hole on the rubbing floating mechanism is provided with a plurality of rubbing subareas, and each rubbing subarea is vertically arranged along the inner wall of the rubbing hole.
Preferably, the device also comprises a front-back moving mechanism arranged below the transverse moving mechanism and connected with the robot controller, the second control module also comprises a fifth control unit used for after the rubbing operation is completed, and controlling the front-back moving mechanism to drive the transverse moving mechanism and the rubbing part to vertically move along the rubbing hole, so that one end of the rubbing part moves from the rubbing subarea which completes rubbing operation to the next rubbing subarea which is vertically arranged.
Preferably, the robot further comprises a plurality of rubbing fixing mechanisms which are respectively arranged at two sides of the rubbing floating mechanism and used for adsorbing surrounding areas of the rubbing position in the process that the first control unit controls the robot body to drive the tail end of the arm to move to the rubbing position, so that the rubbing paper and the rubbing position do not move relatively.
Preferably, the rubbing floating structure comprises:
the fixed plate is provided with a square hole in a penetrating way, and one end of the rubbing part penetrates through the square hole;
the rubbing board is arranged below the fixed board, a rubbing hole is formed in the middle of the rubbing board in a penetrating mode, and one end of the rubbing component penetrates through the rubbing hole after penetrating through the square hole;
the spring devices are respectively arranged on two sides of the square hole on the fixing plate, the fixing plate and the rubbing plate are connected, and when the rubbing plate is abutted against the rubbing position of the vehicle identification code of the automobile body, the spring devices are extruded to drive one end of the rubbing part to pass through the rubbing hole and act on rubbing paper.
Preferably, the suction means is a suction cup.
Preferably, the rubbing floating mechanism is arranged at the tail end of an arm of the robot body through a flange.
The technical scheme has the following advantages or beneficial effects: the device realizes the automation of the rubbing process of the vehicle identification code without personnel interference, and the device performs position correction by shooting the rubbing position of the vehicle identification code on the vehicle body, realizes compatibility of multiple vehicle types and ensures rubbing quality.
Drawings
FIG. 1 is a schematic diagram of the apparatus according to the preferred embodiment of the present invention;
FIG. 2 is a block diagram of the whole apparatus according to the preferred embodiment of the present invention;
FIG. 3 is an enlarged view of the rubbing member in a preferred embodiment of the present invention;
fig. 4 is a top view of a rubbing member in accordance with a preferred embodiment of the present invention.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present invention is not limited to the embodiment, and other embodiments may fall within the scope of the present invention as long as they conform to the gist of the present invention.
In accordance with the foregoing and other problems of the prior art, the present invention provides an automatic vehicle identification code printing apparatus, as shown in fig. 1-4, comprising:
the robot comprises a robot body 1, wherein a rubbing floating mechanism 2 is arranged at the tail end of an arm of the robot body 1, and a rubbing hole 21 is formed in the rubbing floating mechanism 2 in a penetrating manner;
the rubbing part 3 is arranged at the top of the rubbing floating mechanism 2 through a transverse moving mechanism 4, and one end of the rubbing part 3 extends into the rubbing hole 21;
at least one sucking component 5 arranged at the bottom of the rubbing floating mechanism 2 and used for sucking a rubbing paper;
a robot controller 6, respectively connected to the robot body 1 and the rubbing float mechanism 2, the robot controller 6 comprising:
the first control module 61 is configured to control the robot body 1 to drive the arm end to move to a rubbing position of a vehicle identification code of a vehicle body according to an external rubbing instruction, and control the suction component 5 with the rubbing paper attached to abut against the rubbing position and generate a rubbing signal;
the second control module 62 is connected to the first control module 61, and is used for controlling the pressing rubbing floating mechanism 2 according to the rubbing signal so as to drive one end of the rubbing component 3 to pass through the rubbing hole 21 and act on the rubbing paper, and then controlling the transverse moving mechanism 4 to drive the rubbing component 3 to transversely move along the rubbing hole 21 so as to automatically rubbing the vehicle identification code.
Specifically, in this embodiment, the device may be used as an independent workstation to perform work, the robot controller 6 directly controls the robot body 1, the lateral movement mechanism 4, the suction component 5, the camera and the light source module 7, and the rubbing component 3 directly controls by its own rubbing driving control system, so as to implement the adjustable rubbing rotation speed, simplify the electrical hardware device, and enable an operator to quickly disassemble and maintain the device.
In the preferred embodiment of the present invention, the first control module 61 further comprises a camera and light source module 7 disposed at one side of the rubbing floating mechanism 2, wherein the camera and light source module 7 is connected to the robot controller 6, and the first control module 61 comprises:
the first control unit 611 is configured to control the robot body 1 to drive the arm end to move to a preset position according to the rubbing instruction and trigger to generate an in-place signal;
the second control unit 612 is connected to the first control unit 611, and is configured to control the camera and the light source module 7 to capture an image of a preset position according to the in-place signal, and correct the preset position according to the image to obtain a rubbing position;
the first control unit 611 controls the robot body 1 to drive the arm end to move to the rubbing position, and then controls the suction component 5 with the rubbing paper attached to abut against the rubbing position and generates a rubbing signal.
Specifically, in this embodiment, the camera and light source module 11 may be a 2D camera, a 3D camera or a FANUC rvision 3DV, and the rubbing position of the vehicle identification code is determined by capturing the a-pillar feature hole and the B-pillar feature hole of the vehicle body, so as to implement 3D position correction of the rubbing position, where the FANUC rvision 3DV is not easily affected by ambient light, so that the rubbing position can be quickly obtained and 3D position correction can be performed.
In the preferred embodiment of the present invention, the rubbing part 3 includes a rubbing head driving module 31 and a rubbing head 32, the rubbing head driving module 31 is connected to the robot controller 6, and the second control module 62 includes:
the third control unit 621 is configured to control the rubbing head driving module 31 to drive the rubbing head 32 to rotate according to the rubbing signal, and simultaneously control the pressing rubbing floating mechanism 2 to drive the rubbing head 32 to pass through the rubbing hole 21 and act on the rubbing paper;
the fourth control unit 622 is configured to control the lateral movement mechanism 4 to drive the rubbing head 32 to move laterally along the rubbing hole 21, so as to automatically rubbing the vehicle identification code.
Specifically, in this embodiment, the rubbing head driving module 31 adopts a speed-adjustable driving spindle with floating rubbing, and can directly drive the rubbing head 32 to rotate, the rotation speed is controlled by the second control module 62, the transverse moving mechanism 4 is composed of a linear electric cylinder (or a motor screw structure) and corresponding components, the rubbing head 32 is driven to move transversely, and in the process of automatically rotating the rubbing head 32 on the rubbing head driving module 31, the transverse movement of the transverse moving mechanism 4 is overlapped, so as to realize automatic rubbing of the vehicle identification code.
In the preferred embodiment of the present invention, the rubbing command includes a preset rotation speed, and the second control module 62 generates a rubbing signal including the preset rotation speed when the suction component 5 abuts against the rubbing position;
the third control unit 621 controls the rubbing head driving module 31 to drive the rubbing head 32 to rotate according to the preset rotation speed according to the rubbing signal.
Specifically, in this embodiment, the second control module 62 may adjust the preset rotation speed in the rubbing instruction according to the actual requirement, so that the rubbing head 32 fully extrudes on the rubbing paper, and the rubbing quality of the vehicle identification code is ensured.
In the preferred embodiment of the present invention, the rubbing hole 21 on the rubbing floating mechanism 2 is provided with a plurality of rubbing subareas, and each rubbing subarea is vertically arranged along the inner wall of the rubbing hole 21.
In the preferred embodiment of the present invention, a front-back moving mechanism 8 is further included, which is disposed below the lateral moving mechanism 4 and connected to the robot controller 6, and the second control module 62 further includes a fifth control unit 623, configured to control the front-back moving mechanism 8 to drive the lateral moving mechanism 4 and the rubbing member 3 to move vertically along the rubbing hole 21 after the rubbing operation is completed, so that one end of the rubbing member 3 moves from the rubbing sub-area where the rubbing operation is completed to the next rubbing sub-area vertically arranged.
Specifically, in this embodiment, the front-back moving mechanism 8 is composed of an air cylinder, a guide rail and a member, and can drive the lateral moving mechanism 4 and the rubbing part 3 to move back and forth integrally.
In the preferred embodiment of the present invention, the present invention further includes a plurality of rubbing fixing mechanisms 9 respectively disposed at two sides of the rubbing floating mechanism 2, for adsorbing the surrounding area of the rubbing position in the process that the first control unit 611 controls the robot body 1 to drive the arm end to move to the rubbing position, so that the rubbing paper and the rubbing position do not move relatively.
Specifically, in this embodiment, the rubbing fixing mechanism 9 is composed of an air cylinder and a suction cup, and when the rubbing fixing mechanism enters the rubbing position, the suction cup is pushed out by the air cylinder to suck the automobile body, so that the rubbing head 32 does not move relatively to the automobile body in the rubbing process.
In a preferred embodiment of the invention, the rubbing floating structure 2 comprises:
a fixed plate 22, wherein a square hole 23 is arranged in the middle of the fixed plate 22 in a penetrating way, and one end of the rubbing part 3 passes through the square hole 23;
the rubbing board 24 is arranged below the fixed board 22, a rubbing hole 21 is formed in the middle of the rubbing board 24 in a penetrating manner, and one end of the rubbing part 3 penetrates through the rubbing hole 21 after penetrating through the square hole 23;
the plurality of spring devices 25 are respectively arranged at two sides of the square hole 23 on the fixed plate 22, and are connected with the fixed plate 22 and the rubbing plate 24, when the rubbing plate 24 is abutted against the rubbing position of the vehicle identification code of the automobile body, the spring devices 25 are extruded so as to drive one end of the rubbing part 3 to pass through the rubbing hole 21 and act on rubbing paper.
In a preferred embodiment of the invention, the suction means 5 are suction cups.
Specifically, in this embodiment, the robot controller 6 controls the robot body 1 to drive the suction member 5 to move to a position where the rubbing paper is placed to suck a piece of rubbing paper.
In the preferred embodiment of the invention, the rubbing float 2 is mounted at the end of the arm of the robot body 1 by a flange 10.
Specifically, in this embodiment, an air blowing device may be additionally provided in the present device, and the air blowing device may be disposed at one end of the rubbing floating mechanism 2, and the air blowing device is controlled by the robot controller 6 to blow and clean the area of the vehicle identification code, so as to improve the rubbing quality of the vehicle identification code.
In a preferred embodiment of the present invention, the specific steps of the automatic rubbing device for the vehicle identification code to perform automatic rubbing are as follows:
s1, a robot controller 6 controls a robot body 1 to drive a suction part 5 to move to a position where rubbing paper is placed to suck one rubbing paper, then controls the robot body 1 to drive a camera and a light source module 7 to move to a preset position and trigger a in-place signal, and the robot controller 6 controls the camera and the light source module 7 to shoot an image of the preset position according to the in-place signal and corrects the preset position according to the image to obtain the rubbing position;
s2, a robot controller 6 controls a robot body 1 to drive the tail end of an arm to move to a rubbing position, and then controls a suction component 5 adsorbed with rubbing paper to abut against the rubbing position and generates a rubbing signal;
s3, the robot controller 6 controls the rubbing head driving module 31 to drive the rubbing head 32 to rotate at a preset rotating speed according to rubbing signals, and simultaneously controls the pressing rubbing floating mechanism 2 to drive the rubbing head 32 to pass through the rubbing hole 21 and act on rubbing paper, at the moment, the robot controller 6 controls the transverse moving mechanism 4 to drive the rubbing head 32 to transversely move along the rubbing hole 21, and automatic rubbing is carried out on the vehicle identification code;
s4, after rubbing of one rubbing subarea is completed, the robot controller 6 controls the robot body 1 to lift the tail end of the arm and controls the front-back moving mechanism 8 to drive the rubbing head 32 to move to the other rubbing subarea, and then the robot controller 6 controls the robot body 1 to drive the tail end of the arm to move to the rubbing position to perform rubbing.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and drawings, and are intended to be included within the scope of the present invention.
Claims (8)
1. An automatic vehicle identification code developing device, comprising:
the robot comprises a robot body, wherein a rubbing floating mechanism is arranged at the tail end of an arm of the robot body, and a rubbing hole is formed in the rubbing floating mechanism in a penetrating manner;
the rubbing part is arranged at the top of the rubbing floating mechanism through a transverse moving mechanism, and one end of the rubbing part extends into the rubbing hole;
at least one sucking component arranged at the bottom of the rubbing floating mechanism and used for sucking a rubbing paper;
the robot controller is connected with the robot body and the rubbing floating mechanism respectively, and the robot controller comprises:
the first control module is used for controlling the robot body to drive the tail end of the arm to move to a rubbing position of a vehicle identification code of a vehicle body according to an external rubbing instruction, and controlling the suction component sucked with the rubbing paper to abut against the rubbing position and generate a rubbing signal;
the second control module is connected with the first control module and used for controlling the pressing-down of the rubbing floating mechanism according to the rubbing signal so as to drive one end of the rubbing part to pass through the rubbing hole and act on the rubbing paper, and then controlling the transverse moving mechanism to drive the rubbing part to transversely move along the rubbing hole so as to automatically rubbing the vehicle identification code;
still include a camera and light source module, set up in one side of rubbing floating mechanism, camera and light source module connect robot controller, then first control module includes:
the first control unit is used for controlling the robot body to drive the tail end of the arm to move to a preset position according to the rubbing instruction and triggering to generate an in-place signal;
the second control unit is connected with the first control unit and is used for controlling the camera and the light source module to shoot an image of the preset position according to the in-place signal, and correcting the preset position according to the image to obtain the rubbing position;
the first control unit controls the robot body to drive the tail end of the arm to move to the rubbing position, and then controls the suction component adsorbed with the rubbing paper to abut against the rubbing position and generates the rubbing signal.
Also comprises a plurality of rubbing fixing mechanisms which are respectively arranged at two sides of the rubbing floating mechanism, and the first control unit is used for adsorbing surrounding areas of the rubbing position in the process that the first control unit controls the robot body to drive the tail end of the arm to move to the rubbing position, so that the rubbing paper and the rubbing position do not move relatively.
2. The automatic rubbing device of claim 1, wherein the rubbing part comprises a rubbing head driving module and a rubbing head, the rubbing head driving module is connected to the robot controller, and the second control module comprises:
the third control unit is used for controlling the rubbing head driving module to drive the rubbing head to rotate according to the rubbing signal, and simultaneously controlling the rubbing floating mechanism to be pressed down so as to drive the rubbing head to pass through the rubbing hole and act on the rubbing paper;
and the fourth control unit is used for controlling the transverse moving mechanism to drive the rubbing head to transversely move along the rubbing hole so as to automatically rubbing the vehicle identification code.
3. The automatic rubbing device according to claim 2, wherein the rubbing command comprises a preset rotation speed, and the second control module generates the rubbing signal comprising the preset rotation speed when the suction component abuts against the rubbing position;
and the third control unit controls the rubbing head driving module to drive the rubbing head to rotate according to the preset rotating speed according to the rubbing signal.
4. The automatic rubbing device according to claim 1, wherein the rubbing hole on the rubbing floating mechanism is provided with a plurality of rubbing subareas, and each rubbing subarea is vertically arranged along the inner wall of the rubbing hole.
5. The automatic rubbing device according to claim 4, further comprising a front-back moving mechanism disposed below the lateral moving mechanism and connected to the robot controller, wherein the second control module further comprises a fifth control unit, and the fifth control unit is configured to control the front-back moving mechanism to drive the lateral moving mechanism and the rubbing member to move vertically along the rubbing hole after the rubbing operation is completed, so that one end of the rubbing member moves from a rubbing sub-area where the rubbing operation is completed to a next rubbing sub-area arranged vertically.
6. The automatic rubbing device of claim 1, wherein the rubbing float mechanism comprises:
the rubbing part comprises a fixing plate, a fixing plate and a fixing plate, wherein a square hole is formed in the middle of the fixing plate in a penetrating mode, and one end of the rubbing part penetrates through the square hole;
the rubbing plate is arranged below the fixed plate, the rubbing hole is formed in the middle of the rubbing plate in a penetrating mode, and one end of the rubbing part penetrates through the rubbing hole after penetrating through the square hole;
the spring devices are respectively arranged on two sides of the square hole on the fixing plate, are connected with the fixing plate and the rubbing plate, and when the rubbing plate is abutted against the rubbing position of the vehicle identification code of the automobile body, the spring devices are extruded to drive one end of the rubbing part to pass through the rubbing hole and act on the rubbing paper.
7. The automatic rubbing device of claim 1, wherein the suction means is a suction cup.
8. The automatic rubbing device of claim 1, wherein the rubbing float mechanism is mounted to the arm end of the robot body by a flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110769630.5A CN113619270B (en) | 2021-07-07 | 2021-07-07 | Automatic rubbing device for vehicle identification code |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110769630.5A CN113619270B (en) | 2021-07-07 | 2021-07-07 | Automatic rubbing device for vehicle identification code |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113619270A CN113619270A (en) | 2021-11-09 |
| CN113619270B true CN113619270B (en) | 2023-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110769630.5A Active CN113619270B (en) | 2021-07-07 | 2021-07-07 | Automatic rubbing device for vehicle identification code |
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| CN (1) | CN113619270B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2580878B2 (en) * | 1991-02-28 | 1997-02-12 | 三菱自動車工業株式会社 | Body number treasure collecting device |
| CN104553275B (en) * | 2014-10-31 | 2017-01-18 | 浙江吉利控股集团有限公司 | Quick frame number imprinting device |
| CN108819517A (en) * | 2018-04-03 | 2018-11-16 | 东莞市皓奇企业管理服务有限公司 | The application method of the automatic rubbing robot of historical relic an inscription on a tablet |
| CN213441674U (en) * | 2020-10-09 | 2021-06-15 | 山东博尔特电梯有限公司 | Rubbing template for additionally installing elevator |
| CN112536539A (en) * | 2020-12-07 | 2021-03-23 | 长春光华微电子设备工程中心有限公司 | Feeding system and method of laser processing equipment |
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