CN115990904A - Plastic part product line clamping manipulator - Google Patents
Plastic part product line clamping manipulator Download PDFInfo
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- CN115990904A CN115990904A CN202310049103.6A CN202310049103A CN115990904A CN 115990904 A CN115990904 A CN 115990904A CN 202310049103 A CN202310049103 A CN 202310049103A CN 115990904 A CN115990904 A CN 115990904A
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- clamping
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
Abstract
The invention provides a plastic part product line clamping manipulator, which belongs to the technical field of plastic part production and comprises a bracket, a clamping assembly, a piston assembly, a first cylinder barrel, a first driving assembly and a second driving assembly, wherein the first driving assembly is arranged on one side of the bracket and is used for driving the first cylinder barrel to reciprocate between two stations, one end of the first cylinder barrel is connected with the output end of the first driving assembly, the other end of the first cylinder barrel is hinged with the clamping assembly, one end of the piston assembly extends into the first cylinder barrel and is in telescopic fit with the first cylinder barrel, and the other end of the piston assembly extends out of the first cylinder barrel and is hinged with the clamping assembly. Compared with the prior art, the invention can realize continuous automatic clamping and transferring of plastic parts without a complex electric control mechanism, and has the advantages of low cost, stable and reliable clamping of plastic parts and convenient maintenance.
Description
Technical Field
The invention belongs to the technical field of plastic part production, and particularly relates to a plastic part production line clamping manipulator.
Background
At present, different production stations, such as a conveying station, a packaging station, a stacking station and the like, are needed in the production process of plastic parts, in the prior art, the movement of the plastic parts between the two stations is mostly realized by means of a transfer mechanism such as a manipulator, and the plastic parts on one station are clamped and transferred to the other station by the manipulator, so that the subsequent processing of the plastic parts is performed.
The existing manipulator structure is complex, when the plastic part is clamped and transported, various electric mechanisms and sensors are required to be matched with each other, so that the manipulator is high in cost and unfavorable for subsequent maintenance and replacement of corresponding accessories.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the plastic part production line clamping manipulator.
In order to solve the technical problems, the invention provides the following technical scheme:
a plastic part product line clamping manipulator comprises a bracket, a clamping assembly, a piston assembly, a first cylinder barrel, a first driving assembly and a second driving assembly,
the first driving component is arranged at one side of the bracket and is used for driving the first cylinder barrel to reciprocate between two stations,
one end of the first cylinder is connected with the output end of the first driving component, the other end of the first cylinder is hinged with the clamping component, one end of the piston component extends to the inside of the first cylinder and is in telescopic fit with the first cylinder, the other end extends to the outside of the first cylinder and is hinged with the clamping component,
the second driving component is arranged on one side of the bracket, when the first cylinder barrel moves to a station, the second driving component is used for driving the piston component to move towards the inside of the first cylinder barrel so as to further pull the clamping component to act for clamping the plastic piece,
when the first cylinder barrel moves to another station, the second driving assembly is used for driving the piston assembly to move towards the outside of the first cylinder barrel, and then the clamping assembly is pulled to act reversely to loosen the plastic piece.
As a further improvement of the invention: the clamping assembly comprises two groups of clamping plates which are distributed oppositely,
clamping arms are fixedly arranged on one sides of the two groups of clamping plates, one ends of the clamping arms, which are far away from the corresponding clamping plates, are hinged with the outer wall of the first cylinder barrel,
the piston assembly includes a first post and a first piston block,
the first piston block is movably arranged in the first cylinder barrel, one end of the first post rod is connected with the first piston block, and the other end of the first post rod extends to the outside of the first cylinder barrel and is respectively hinged and connected with the two groups of clamping arms through the two groups of connecting rods.
As a further improvement of the invention: and flexible layers are arranged on the opposite sides of the two groups of clamping plates.
As a further improvement of the invention: the first driving component comprises a driving motor, a rotating shaft and a support arm,
the driving motor is fixedly arranged on one side of the support, one end of the rotating shaft is connected with the output end of the driving motor, the other end of the rotating shaft is fixedly connected with the support arm, and one end, far away from the rotating shaft, of the support arm is rotationally connected with the first cylinder barrel.
As a still further improvement of the invention: the rotating shaft is also fixedly provided with a rotating wheel, the circumferential side wall of the rotating wheel is provided with arc-shaped bulges and first magnets which are distributed relatively,
the second driving component comprises a second cylinder barrel, a second piston block and a second column rod,
the second cylinder is fixedly arranged on one side of the support, one end of the second cylinder is communicated with the first cylinder barrel through a hose, the second piston block is movably arranged inside the second cylinder barrel, one end of the second cylinder rod is connected with the second piston block, the other end of the second cylinder rod extends to the outside of the second cylinder barrel and is provided with a second magnet, the second magnet is abutted to the circumferential side wall of the rotating wheel, and the first magnet and the second magnet are attracted to each other.
As a still further improvement of the invention: the side wall of the support is fixedly provided with a positioning block, and the second pole penetrates through the positioning block and is in movable fit with the positioning block.
As a still further improvement of the invention: and a damping layer is arranged at the edge of the second piston block.
Compared with the prior art, the invention has the beneficial effects that:
in the embodiment of the invention, the first cylinder barrel is driven to move to one station by the first driving component, the second driving component drives the piston component to move to the inside of the first cylinder barrel at the moment, and then the clamping component is pulled to move so as to clamp the plastic piece at one station, then the first driving component drives the first cylinder barrel to move to the other station, and the first cylinder barrel drives the clamping component and the plastic piece clamped by the clamping component to move to the other station, at the moment, the second driving component drives the outside of the first cylinder barrel in the piston component box to move so as to pull the clamping component to reversely move so as to loosen the plastic piece, thereby realizing the transfer of the plastic piece, then the first driving component drives the first cylinder barrel to move to the previous station again, and the clamping component clamps the subsequent plastic piece.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram illustrating the connection of the first driving assembly, the supporting member and the clamping assembly according to the present invention;
FIG. 3 is a partial schematic view of a second assembly of the present invention;
in the figure: 10-bracket, 101-positioning block, 20-clamping component, 201-clamping plate, 202-flexible layer, 203-clamping arm, 30-piston component, 301-connecting rod, 302-first pole, 303-first piston block, 40-first cylinder, 50-first driving component, 501-first magnet, 502-rotating wheel, 503-supporting arm, 504-rotating shaft, 505-arc-shaped bulge, 60-second driving component, 601-second magnet, 602-hose, 603-second pole, 604-second cylinder, 605-damping layer and 606-second piston block.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments.
Embodiments of the present patent are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present patent and are not to be construed as limiting the present patent.
Referring to fig. 1, the present embodiment provides a clamping manipulator for a plastic product line, including a bracket 10, a clamping component 20, a piston component 30, a first cylinder 40, a first driving component 50 and a second driving component 60, where the first driving component 50 is installed on one side of the bracket 10 and is used for driving the first cylinder 40 to reciprocate between two stations, one end of the first cylinder 40 is connected with an output end of the first driving component 50, the other end is hinged with the clamping component 20, one end of the piston component 30 extends into the first cylinder 40 and is in telescopic fit with the first cylinder 40, the other end extends to the outside of the first cylinder 40 and is hinged with the clamping component 20, the second driving component 60 is installed on one side of the bracket 10, and when the first cylinder 40 moves to one station, the second driving component 60 is used for driving the piston component 30 to move towards the inside of the first cylinder 40, and then pulls the clamping component 20 to act to clamp the plastic product line, when the first cylinder 40 moves to the other station, and the second driving component 60 is driven to move towards the outside of the first cylinder 40, and then pulls the piston component 60 to move towards the outside of the clamping component 20.
The first cylinder 40 is driven to move to one station by the first driving component 50, the second driving component 60 drives the piston component 30 to move towards the inside of the first cylinder 40 at the moment, then the clamping component 20 is pulled to move so as to clamp a plastic piece at one station, then the first driving component 50 drives the first cylinder 40 to move to the other station, the first cylinder 40 drives the clamping component 20 and the plastic piece clamped by the clamping component to move to the other station, at the moment, the second driving component 60 drives the first cylinder 40 in the box of the piston component 30 to move, then the clamping component 20 is pulled to move reversely so as to loosen the plastic piece, so that the transfer of the plastic piece is realized, then the first driving component 50 drives the first cylinder 40 to move to the previous station again, the clamping component 20 clamps a subsequent plastic piece, and after the plastic piece is clamped, the first driving component 50 drives the first cylinder 40 to move to the subsequent station again, so that the continuous transfer of the plastic piece can be realized.
Referring to fig. 1 and 2, in one embodiment, the clamping assembly 20 includes two sets of clamping plates 201 that are distributed oppositely, one sides of the two sets of clamping plates 201 are fixedly provided with clamping arms 203, one ends of the clamping arms 203, which are far away from the corresponding clamping plates 201, are hinged to the outer wall of the first cylinder 40, the piston assembly 30 includes a first post 302 and a first piston block 303, the first piston block 303 is movably disposed inside the first cylinder 40, one end of the first post 302 is connected with the first piston block 303, and the other ends of the first post 302 extend to the outside of the first cylinder 40 and are respectively hinged to the two sets of clamping arms 203 through two sets of connecting rods 301.
When the first driving assembly 50 drives the first cylinder 40 to move to a station, the second driving assembly 60 drives the first piston block 303 to move towards the inside of the first cylinder 40, so as to drive the first post 302 to synchronously move, and when the first post 302 moves, the connecting rod 301 can drive the two groups of clamping arms 203 to relatively rotate, so as to drive the two groups of clamping plates 201 to relatively move, so as to clamp a plastic piece of a station; then, the first driving assembly 50 drives the first cylinder 40 to move to another station, and further drives the clamped plastic piece to move to another station, at this time, the second driving assembly 60 drives the first piston block 303 to move towards the outside of the first cylinder 40, so as to drive the first post 302 to move synchronously, and the first post 302 moves to drive the two groups of clamping arms 203 to move away from each other through the connecting rod 301, and further drives the two groups of clamping plates 201 to move away from each other, so that the clamped plastic piece is loosened, and the plastic piece falls onto the other station.
Referring to fig. 1 and 2, in one embodiment, two sets of clamping plates 201 are provided with flexible layers 202 on opposite sides, and by means of the arrangement of the flexible layers 202, flexible contact between the two sets of clamping plates 201 and the plastic piece can be achieved, so that on one hand, friction force between the clamping plates 201 and the plastic piece can be improved, and clamping stability of the plastic piece can be improved, and on the other hand, rigid contact between the clamping plates 201 and the plastic piece can be avoided, so that the clamping plates 201 are prevented from damaging the plastic piece.
In one embodiment, the flexible layer 202 may be a rubber layer or a silicone layer, without limitation.
Referring to fig. 1 and 2, in one embodiment, the first driving assembly 50 includes a driving motor (not shown), a rotating shaft 504 and a support arm 503, the driving motor is fixedly mounted on one side of the bracket 10, one end of the rotating shaft 504 is connected to an output end of the driving motor, the other end is fixedly connected to the support arm 503, and an end of the support arm 503 away from the rotating shaft 504 is rotatably connected to the first cylinder 40.
The driving motor drives the rotating shaft 504 to alternately rotate in the forward and reverse directions, so that the supporting arm 503 is driven to alternately rotate, and the supporting arm 503 drives the first cylinder 40 to reciprocally rotate between one station and the other station during rotation, so that continuous clamping and transferring of plastic parts are realized.
Referring to fig. 1 and 3, in an embodiment, the rotating shaft 504 is further fixedly provided with a rotating wheel 502, an arc-shaped protrusion 505 and a first magnet 501 are disposed on a circumferential side wall of the rotating wheel 502, the second driving assembly 60 includes a second cylinder 604, a second piston block 606 and a second rod 603, the second cylinder 604 is fixedly disposed on one side of the bracket 10, one end of the second cylinder 604 is communicated with the first cylinder 40 through a hose 602, the second piston block 606 is movably disposed inside the second cylinder 604, one end of the second rod 603 is connected with the second piston block 606, the other end extends to the outside of the second cylinder 604 and is provided with a second magnet 601, the second magnet 601 abuts against the circumferential side wall of the rotating wheel 502, and the first magnet 501 and the second magnet 601 attract each other.
When the rotating shaft 504 rotates to drive the support arm 503 to rotate and drive the first cylinder 40 to move to a station, the rotating wheel 502 and the arc-shaped protrusion 505 synchronously rotate, the arc-shaped protrusion 505 acts on the second magnet 601 to drive the second rod 603 to move so as to drive the second piston block 606 to move along the inside of the second cylinder 604, thereby drawing air in the first cylinder 40 from the hose 602 to the inside of the second cylinder 604, pulling the first piston block 303 to move towards the inside of the first cylinder 40, and when the first piston block 303 moves, the first rod 302 and the connecting rod 301 can drive the two groups of clamping arms 203 to move relatively, so that the two groups of clamping plates 201 are utilized to clamp plastic parts; when the rotating shaft 504 rotates reversely to drive the support arm 503 to rotate reversely to drive the first cylinder barrel 40 to move to another station, the rotating wheel 502 rotates reversely, at this time, the second magnet 601 and the circumferential side wall of the rotating wheel 502 are in a separated state, the inside of the first cylinder barrel 40 is always in an air pumping state through the friction damping effect between the second piston block 606 and the inner wall of the second cylinder barrel 604, so that the plastic piece is always in a clamping state of two groups of clamping plates 201, falling of the plastic piece in the process of transferring is avoided, until the plastic piece is transferred to another station, the first magnet 501 just rotates to one side of the second magnet 601, the second piston rod 603 can be driven to move reversely through the attraction effect of the first magnet 501 to the second magnet 601, so that the second piston block 606 is driven to move reversely along the inside of the second cylinder barrel 604, air is further pumped into the inside of the first cylinder barrel 40 through the hose 602, the first piston block 303 is further pushed to move outside the first cylinder barrel 40, the first cylinder barrel 40 moves away from each other through the first piston rod 302 and the connecting rod 301, and the two groups of clamping arms 203 are further driven to separate each other, and the two groups of clamping plates 201 are further released, and the clamped plastic piece is placed at the other station; after the plastic part is placed at another station, the rotation direction of the support arm 503 is changed again, so as to drive the rotation direction of the rotating wheel 502 to change, so as to drive the first magnet 501 to be removed from one side of the second magnet 601, at this time, the second magnet 601 is attached to the side wall of the rotating wheel 502 until the second magnet 601 acts on the arc-shaped protrusion 505 again, so as to drive the second piston block 606 to move along the second cylinder 604, thereby extracting the air in the first cylinder 40 from the hose 602 to the second cylinder 604, and pulling the first piston block 303 to move towards the inside of the first cylinder 40, and the first piston block 303 can drive the two groups of clamping arms 203 to move relatively through the first post 302 and the connecting rod 301, so that the two groups of clamping plates 201 are utilized to clamp the subsequent plastic part.
Referring to fig. 1, in one embodiment, a positioning block 101 is fixedly disposed on a side wall of the bracket 10, and the second rod 603 penetrates through the positioning block 101 and is movably matched with the positioning block 101.
Referring to fig. 1 and 3, in one embodiment, the edge of the second piston block 606 is provided with a damping layer 605, and the friction damping effect between the second piston block 606 and the inner wall of the second cylinder 604 can be increased by the arrangement of the damping layer 605, so that when the rotating wheel 502 rotates reversely, the arc-shaped protrusion 505 is separated from the second magnet 601, the second piston block 606 can overcome the gravity of the first piston block 303, the first post 302 and the plastic part and keep static in the second cylinder 604, and further the two groups of clamping plates 201 can stably clamp the plastic part, so that the plastic part is prevented from falling in the process of transferring.
In one embodiment, the damping layer 605 may be a rubber layer or a silica gel layer, which is not limited herein.
In the embodiment of the invention, the first cylinder 40 is driven to move to one station by the first driving component 50, at this time, the second driving component 60 drives the piston component 30 to move towards the inside of the first cylinder 40, and then the clamping component 20 is pulled to move, so as to clamp the plastic piece at one station, then the first driving component 50 drives the first cylinder 40 to move to the other station, the first cylinder 40 drives the clamping component 20 and the plastic piece clamped by the clamping component to move to the other station, at this time, the second driving component 60 drives the first cylinder 40 in the piston component 30 to move outwards, and then the clamping component 20 is pulled to move reversely, so as to release the plastic piece, thereby realizing the transfer of the plastic piece, then the first driving component 50 drives the first cylinder 40 to move to the previous station again, and after the plastic piece is clamped, the first driving component 50 drives the first cylinder 40 to move to the subsequent station again, so that the plastic piece is reciprocated, and the continuous and automatic clamping and transferring of the plastic piece can be realized without complex electrical control mechanism compared with the prior art.
While the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes may be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (7)
1. A plastic part product line clamping manipulator is characterized by comprising a bracket, a clamping assembly, a piston assembly, a first cylinder barrel, a first driving assembly and a second driving assembly,
the first driving component is arranged at one side of the bracket and is used for driving the first cylinder barrel to reciprocate between two stations,
one end of the first cylinder is connected with the output end of the first driving component, the other end of the first cylinder is hinged with the clamping component, one end of the piston component extends to the inside of the first cylinder and is in telescopic fit with the first cylinder, the other end extends to the outside of the first cylinder and is hinged with the clamping component,
the second driving component is arranged on one side of the bracket, when the first cylinder barrel moves to a station, the second driving component is used for driving the piston component to move towards the inside of the first cylinder barrel so as to further pull the clamping component to act for clamping the plastic piece,
when the first cylinder barrel moves to another station, the second driving assembly is used for driving the piston assembly to move towards the outside of the first cylinder barrel, and then the clamping assembly is pulled to act reversely to loosen the plastic piece.
2. A plastic part production line clamping manipulator according to claim 1, wherein the clamping assembly comprises two sets of oppositely distributed clamping plates,
clamping arms are fixedly arranged on one sides of the two groups of clamping plates, one ends of the clamping arms, which are far away from the corresponding clamping plates, are hinged with the outer wall of the first cylinder barrel,
the piston assembly includes a first post and a first piston block,
the first piston block is movably arranged in the first cylinder barrel, one end of the first post rod is connected with the first piston block, and the other end of the first post rod extends to the outside of the first cylinder barrel and is respectively hinged and connected with the two groups of clamping arms through the two groups of connecting rods.
3. A plastic part production line clamping manipulator according to claim 2, wherein the opposite sides of both sets of clamping plates are provided with flexible layers.
4. The plastic part production line clamping manipulator of claim 2, wherein the first driving assembly comprises a driving motor, a rotating shaft and a support arm,
the driving motor is fixedly arranged on one side of the support, one end of the rotating shaft is connected with the output end of the driving motor, the other end of the rotating shaft is fixedly connected with the support arm, and one end, far away from the rotating shaft, of the support arm is rotationally connected with the first cylinder barrel.
5. The plastic part production line clamping manipulator according to claim 4, wherein a rotating wheel is fixedly arranged outside the rotating shaft, arc-shaped protrusions and first magnets are oppositely distributed on the circumferential side wall of the rotating wheel,
the second driving component comprises a second cylinder barrel, a second piston block and a second column rod,
the second cylinder is fixedly arranged on one side of the support, one end of the second cylinder is communicated with the first cylinder barrel through a hose, the second piston block is movably arranged inside the second cylinder barrel, one end of the second cylinder rod is connected with the second piston block, the other end of the second cylinder rod extends to the outside of the second cylinder barrel and is provided with a second magnet, the second magnet is abutted to the circumferential side wall of the rotating wheel, and the first magnet and the second magnet are attracted to each other.
6. The plastic part product line clamping manipulator according to claim 5, wherein a positioning block is fixedly arranged on the side wall of the support, and the second column penetrates through the positioning block and is in movable fit with the positioning block.
7. The plastic part product line clamping manipulator of claim 5, wherein the second piston block edge is provided with a damping layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310049103.6A CN115990904B (en) | 2023-02-01 | 2023-02-01 | Plastic part product line clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310049103.6A CN115990904B (en) | 2023-02-01 | 2023-02-01 | Plastic part product line clamping manipulator |
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| Publication Number | Publication Date |
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| CN115990904A true CN115990904A (en) | 2023-04-21 |
| CN115990904B CN115990904B (en) | 2023-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310049103.6A Active CN115990904B (en) | 2023-02-01 | 2023-02-01 | Plastic part product line clamping manipulator |
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|---|---|---|---|---|
| CN204365885U (en) * | 2014-12-19 | 2015-06-03 | 山东科技大学 | A kind of loading and unloading manipulator for bearing outer ring extrusion process |
| CN106002998A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | High-efficiency working method for automatic clamping manipulator |
| US20170341131A1 (en) * | 2016-05-26 | 2017-11-30 | Daido Steel Co., Ltd. | Holding mechanism |
| CN112338944A (en) * | 2020-10-31 | 2021-02-09 | 吴佳慧 | Industrial robot |
| CN213054899U (en) * | 2020-08-27 | 2021-04-27 | 重庆强业电子有限公司 | Automatic bracket mounting manipulator for notebook loudspeaker production |
| CN215326780U (en) * | 2021-07-07 | 2021-12-28 | 安特威尔叉车属具(漳州)有限公司 | Forklift of printing factory is with synchronous paper book clamp of tumbling |
| CN215968847U (en) * | 2021-09-26 | 2022-03-08 | 宁波市信泰科技有限公司 | Automatic material taking manipulator of double-side arc tile magnet production line |
| CN115159062A (en) * | 2022-07-19 | 2022-10-11 | 山东捷利尔肥业有限公司 | Grabbing manipulator of fertilizer production line |
-
2023
- 2023-02-01 CN CN202310049103.6A patent/CN115990904B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204365885U (en) * | 2014-12-19 | 2015-06-03 | 山东科技大学 | A kind of loading and unloading manipulator for bearing outer ring extrusion process |
| US20170341131A1 (en) * | 2016-05-26 | 2017-11-30 | Daido Steel Co., Ltd. | Holding mechanism |
| CN106002998A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | High-efficiency working method for automatic clamping manipulator |
| CN213054899U (en) * | 2020-08-27 | 2021-04-27 | 重庆强业电子有限公司 | Automatic bracket mounting manipulator for notebook loudspeaker production |
| CN112338944A (en) * | 2020-10-31 | 2021-02-09 | 吴佳慧 | Industrial robot |
| CN215326780U (en) * | 2021-07-07 | 2021-12-28 | 安特威尔叉车属具(漳州)有限公司 | Forklift of printing factory is with synchronous paper book clamp of tumbling |
| CN215968847U (en) * | 2021-09-26 | 2022-03-08 | 宁波市信泰科技有限公司 | Automatic material taking manipulator of double-side arc tile magnet production line |
| CN115159062A (en) * | 2022-07-19 | 2022-10-11 | 山东捷利尔肥业有限公司 | Grabbing manipulator of fertilizer production line |
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| CN115990904B (en) | 2023-05-12 |
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