CN201329585Y - Feeding-blanking manipulator system - Google Patents
Feeding-blanking manipulator system Download PDFInfo
- Publication number
- CN201329585Y CN201329585Y CNU2008202136792U CN200820213679U CN201329585Y CN 201329585 Y CN201329585 Y CN 201329585Y CN U2008202136792 U CNU2008202136792 U CN U2008202136792U CN 200820213679 U CN200820213679 U CN 200820213679U CN 201329585 Y CN201329585 Y CN 201329585Y
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- manipulator
- blanking
- loading
- material loading
- feeding
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Abstract
A feeding-blanking manipulator system is used to respectively supply and take away a material plate on two sides of a host machine, which comprises a feeding manipulator guide rail, a feeding first manipulator, a feeding second manipulator, a feeding carrier and a plate cleaning device which are arranged on one side of the host machine, a blanking manipulator guide rail, a blanking first manipulator, a blanking second manipulator, a blanking carrier, a transitional platform and a control system which are arranged on the other side of the host machine, wherein the feeding first manipulator moves between a material taking position and a feeding position, the feeding second manipulator moves between the a feeding-pouring position and a feeding position, the blanking first manipulator moves between a blanking position and a blanking-pouring position, the blanking second manipulator moves between the blanking position and a material discharge position, and the control system controls the action of each component. The feeding-blanking manipulator system has the advantages of security, reliability, convenient adjustment, compact structure, easy control, high atomization degree and high speed, precision and reliability.
Description
Technical field
The utility model relates to a kind of handling equipment, particularly a kind of loading and unloading manipulator system.
Background technology
In existing pcb board laser drill process, give the machine material loading by the mode of traditional material loading manually, can not satisfy the demands, therefore adopt full automatic loading and unloading manipulator to come loading and unloading usually; Traditional artificial material loading needs two people's (people's blankings, people's material loading), the time need surpass 30S, and utilizes full automatic loading and unloading manipulator the loading and unloading time can be controlled in the 10S, be 1/3 of original required time, the efficient of processing significantly promotes.Full automatic loading and unloading manipulator system generally comprises " feeding manipulator ", " material loading pallet ", " blanking manipulator ", " blanking pallet " four major parts, manipulator can adopt the mode of negative-pressure adsorption to come sheet materials such as " extracting " pcb board, and its control system of utilizing Programmable Logic Controller (PLC) and man-machine interface (HMI) to combine is controlled; By instructing to the Programmable Logic Controller coding, four parts can be worked simultaneously and also can separately be worked independently, and can also select the automatic method of operation and the manual method of operation on man-machine interface.But the existing mechanical hand system is easy to suct many plates in the suction disc process, causes manipulator that the board falling phenomenon takes place in running, on position when expecting main frame accurate inadequately, take up room during material loading bigger simultaneously at two plates.
The utility model content
Main purpose of the present utility model is to provide a kind of loading and unloading manipulator system, and it can be realized the loading and unloading simultaneously of two plates and save the space.
Another purpose of the present utility model is to provide a kind of loading and unloading manipulator system, and it can avoid the board falling phenomenon of manipulator in running, and the position when avoiding expecting main frame is accurate inadequately.
For being implemented in above-mentioned purpose, the utility model provides a kind of loading and unloading manipulator system, be used for supplying and take away material plate respectively in the main frame both sides, it comprises: feeding manipulator guide rail, material loading first manipulator, material loading second manipulator, material loading pallet and the whole plate device of being located at main frame one side, be located at blanking manipulator guide rail, blanking first manipulator, blanking second manipulator, blanking pallet and the transition platform of main frame opposite side, and control system; This feeding manipulator guide rail from the close-by examples to those far off is provided with the material loading position successively, adjusts position, material loading shuffling position, gets material level and put from this main frame, this material loading first manipulator described get that material level is put and the material loading position between move, this material loading second manipulator moves between material loading shuffling position and material loading position, this material loading pallet correspondence is got material level and is put and be provided with, and this whole plate device is provided with corresponding to the material loading shuffling position; This blanking manipulator guide rail from the close-by examples to those far off is provided with blanking position, blanking shuffling position, blowing position successively from this main frame, this blanking first manipulator moves between described blanking position and blanking shuffling position, this blanking second manipulator moves between blanking position and blowing position, corresponding blowing position of this blanking pallet and being provided with, this transition platform is provided with corresponding to the blanking shuffling position; This control system is controlled the action of described material loading first manipulator, material loading second manipulator, material loading pallet, blanking first manipulator, blanking second manipulator, blanking pallet.
Wherein, described main frame is a laser drilling machine.
Wherein, the material plate that described material loading first manipulator is grasped at first is placed on the described whole plate device, after this whole plate device arrangement, is grasped by described material loading second manipulator again.
Wherein, described material loading first manipulator is provided with the material shaking cylinder.
Wherein, installed and blown the material cylinder corresponding to the described material level of getting.
Wherein, described control system comprises electric control system and gas circuit control section.
Wherein, described electric control system is made up of Programmable Logic Controller, man-machine interface, locating module, servo-driver, servomotor and power supply; This Programmable Logic Controller is connected with man-machine interface, locating module, servo-driver communication respectively, this locating module is connected with this servo-driver communication, this servomotor of this servo driver drives, described power supply are respectively to this Programmable Logic Controller and man-machine interface power supply.
Wherein, described Programmable Logic Controller sends displacement commands to described locating module, this locating module response displacement commands is sent corresponding dfisplacement pulse to described servo-driver, and described servo-driver removes to drive servomotor execute bit shifting movement according to the pulse of receiving.
Wherein, described man-machine interface is a touch-screen.
Wherein, described gas circuit control section comprises air dry filter device, air pressure detecting sensor and magnetic valve, compressed air is after filtering through this air dry filter device, flow to this magnetic valve, the air pressure detecting sensor detects air pressure in setting range the time, described magnetic valve impels the material shaking cylinder or blows the action of material cylinder, thus the operation of finishing material shaking or blowing material.
In sum, the utility model provide a kind of safe and reliable, make things convenient for adjustment, compact conformation, be easy to control and realize the loading and unloading manipulator system of the high high speed of automaticity, high accuracy, high stable.Material loading when having realized that by whole plate device two plates have been realized in space that manipulator only accounts for a plate has been saved the space of half; Use material shaking and blow material to solve and in manipulator suction disc process, suct many plates, cause the board falling phenomenon of manipulator in running, and on position problem accurately inadequately when expecting platform.
For further setting forth the utility model is technological means and the effect that the predetermined purpose of realization is taked, see also following about detailed description of the present utility model and accompanying drawing, believe the purpose of this utility model, feature and characteristics, should obtain thus going deep into and concrete understanding, yet accompanying drawing only provides reference and explanation usefulness, is not to be used for the utility model is limited.
Description of drawings
Below in conjunction with accompanying drawing,, will make the technical solution of the utility model and other beneficial effects apparent by the specific embodiment of the present utility model is described in detail.
In the accompanying drawing,
Fig. 1 is the system architecture schematic diagram of the utility model loading and unloading manipulator system one preferred embodiment;
Fig. 2 is the module diagram of the electric control system of the utility model loading and unloading manipulator system one preferred embodiment.
The specific embodiment
Consult Fig. 1, it is the system architecture schematic diagram of the utility model loading and unloading manipulator system one preferred embodiment, in this preferred embodiment, this loading and unloading manipulator system is used for supplying and take away material plate respectively in main frame 1 left and right sides, comprise: the feeding manipulator guide rail 2 of being located at main frame 1 right side, material loading first manipulator 3, material loading second manipulator 4, material loading pallet 5 and whole plate device 6, be located at the blanking manipulator guide rail 7 in main frame 1 left side, blanking first manipulator 8, blanking second manipulator 9, blanking pallet 10 and transition platform 11, and control system (figure does not show); This feeding manipulator guide rail 2 from the close-by examples to those far off is provided with material loading position P3 successively, adjusts position P2, material loading shuffling position P1, gets material level and put P0 from this main frame 1, this material loading first manipulator 3 is put between P0 and the material loading position P3 and to be moved getting material level, this material loading second manipulator 4 moves between material loading shuffling position P1 and material loading position P3, these material loading pallet 5 correspondences are got material level and are put P0 and be provided with, and this whole plate device 6 is provided with corresponding to material loading shuffling position P1; This blanking manipulator guide rail 7 from the close-by examples to those far off is provided with blanking position P4, blanking shuffling position P5, blowing position P6 successively from this main frame 1, this blanking first manipulator 8 moves between blanking position P4 and blanking shuffling position P5, this blanking second manipulator 9 moves between blanking position P4 and blowing position P6, this blanking pallet 10 corresponding blowing position P6 and being provided with, this transition platform 11 is provided with corresponding to blanking shuffling position P5; The action of control system control feeding manipulator (material loading first manipulator 3, material loading second manipulator 4), material loading pallet 5, blanking manipulator (blanking first manipulator 8, blanking second manipulator 9), blanking pallet 10, thereby carry out the operation of material up and down, various piece can be moved simultaneously, reach high speed, high-precision interlock, also can separately work independently.
By the sequence of movement of control system control each several part, can finish specific job step, for example in this preferred embodiment,, can carry out the loading and unloading of two plates simultaneously according to following working method.
Material in the material loading pallet 5 is after the process material shaking and blowing material, pick up first plate with material loading first manipulator 3 and move to material loading shuffling position P1 and be put on the whole plate device 6 (material shaking and blow material can prevent two plank conglutinates), and then get back to and get material level and put P0; Then, material loading first manipulator 3 grasps second plate from material loading pallet 5, material loading second manipulator 4 is after whole plate device 6 is put first plate in order, go down to grab first plate, material loading first manipulator 3 moved to material loading shuffling position P1 second plate is also put in order after two plates were done a good job of it, move to by material loading first manipulator 3 again and adjust position P2 and go down to grasp second plank, promptly " batch turning " finished after plank is done a good job of it, material loading second manipulator 4 be parked in adjust position P2 wait for control system to 4 on material loading second manipulator can material loading signal, receive on the processing table top of expecting main frame 1 on two plates that material loading second manipulator 4 will grasp behind the signal (if blanking this moment manipulator have can not the material loading interlocking signal so feeding manipulator can not carry out material loading and move); When having only last plate, do not carry out the extracting of second plate, first arrangement and do a good job of it after just move to adjust that position P2 waits for can the material loading signal, and send the single board signals that has only a plate to control system.
Blanking first manipulator 8 is put one earlier to blanking pallet 10 after on the processing platform of main frame 1 plank being caught away, another is put on the transition platform 11 temporarily, is put into blanking pallet 10 by " batch turning " again.Be that blanking second manipulator 9 is got material when having only a plate to the platform of main frame 1, and do not carry out " batch turning " action.If the material that grasps from main frame 1 is the bad material of quality that main frame 1 processes, control system can be sent the bad signal of processing to the blanking manipulator, and the blanking manipulator will stagger with good material when putting material and place, and avoid confusion.
In this preferred embodiment, main frame 1 can be laser drilling machine or other process equipment; In addition, described material loading first manipulator 3 also is provided with material shaking cylinder 12, and, put P0 and also be provided with and blow material cylinder (figure do not show) corresponding to getting material level, thereby can be respectively applied for the operation of finishing " material shaking " and " blowing material ".
In this preferred embodiment, its control system comprises electric control system and gas circuit control section.As shown in Figure 2, it is the module diagram of the electric control system of the utility model loading and unloading manipulator system one preferred embodiment.Electric control system is made up of Programmable Logic Controller 20, man-machine interface 21, locating module 22, servo-driver 23, servomotor 24 and power supply 25; This Programmable Logic Controller 20 is connected with man-machine interface 21, locating module 22, servo-driver 23 communications respectively, locating module 22 is connected with servo-driver 23 communications, servo-driver 23 drives servomotor 24, and power supply 25 is respectively to Programmable Logic Controller 20 and man-machine interface 21 power supplies.Man-machine interface 21 can adopt touch-screen.
The utility model by Programmable Logic Controller 20 codings and inner parameter are set realize Programmable Logic Controller 20 communicate with locating module 22 with man-machine interface 21 be connected, swap data; Basis is finished the coordination and the execution of each action to the response of input signal simultaneously, and exports corresponding response signal; The lifting mobile, pallet of manipulator mainly is to carry out by servo-driver 23 control servomotors 24.
In this preferred embodiment, the gas circuit control section comprises air dry filter device, air pressure detecting sensor and magnetic valve; With manual operation " material shaking " is example, suppose that material loading first manipulator 3 will finish a material shaking action in the material grasping process, compressed air is behind process air dry filter device dry filter, flow to magnetic valve, when manipulator " material shaking " knob on the touch man-machine interface 21, if the scope that the air pressure detecting sensor is set is 0.5～0.8MPa, the atmospheric pressure of this moment satisfies sets requirement, Programmable Logic Controller 20 responds " material shaking " signals so, export an execution signal driving magnetic valve simultaneously and impel 12 actions of material shaking cylinder, finish " material shaking " task; If air pressure inadequately then can not carry out, then display alarm information on man-machine interface 21; After " material shaking ", material loading first manipulator 3 can only be picked up a plank at every turn, also can fall back material loading pallet 5 even there is plank to stick together, and helps the quick and smooth of material loading.
In sum, the utility model provide a kind of safe and reliable, make things convenient for adjustment, compact conformation, be easy to control and realize the loading and unloading manipulator system of the high high speed of automaticity, high accuracy, high stable.The utility model utilizes locating module and combining of servo unit to be implemented in accurately control in the moving process of location; Reaching two planks material loading and blanking simultaneously by " batch turning ", is impossible realize and directly account for so little space with common manipulator; Use whole plate device as the support of putting plank temporarily in the material loading process, using transition platform in the time of blanking is to rely on, loading and unloading when realizing two planks, and material loading when two plates have been realized in the space that manipulator only accounts for a plate has been saved the space of half; Use " material shaking " and " blowing material " is easier to suct many plates in solution in manipulator suction disc process, cause the board falling phenomenon of manipulator in running, by " material shaking " and " blowing material ", smooth plank is not easy to stick together, can guarantee the speed and the efficient of each material loading, the material loading process is more smooth.
The above; for the person of ordinary skill of the art; can make other various corresponding changes and distortion according to the technical solution of the utility model and technical conceive, and all these changes and distortion all should belong to the protection domain of the utility model accompanying Claim.
Claims (10)
1, a kind of loading and unloading manipulator system, be used for supplying and take away material plate respectively in the main frame both sides, it is characterized in that, comprise: feeding manipulator guide rail, material loading first manipulator, material loading second manipulator, material loading pallet and the whole plate device of being located at main frame one side, be located at blanking manipulator guide rail, blanking first manipulator, blanking second manipulator, blanking pallet and the transition platform of main frame opposite side, and control system; This feeding manipulator guide rail from the close-by examples to those far off is provided with the material loading position successively, adjusts position, material loading shuffling position, gets material level and put from this main frame, this material loading first manipulator described get that material level is put and the material loading position between move, this material loading second manipulator moves between material loading shuffling position and material loading position, this material loading pallet correspondence is got material level and is put and be provided with, and this whole plate device is provided with corresponding to the material loading shuffling position; This blanking manipulator guide rail from the close-by examples to those far off is provided with blanking position, blanking shuffling position, blowing position successively from this main frame, this blanking first manipulator moves between described blanking position and blanking shuffling position, this blanking second manipulator moves between blanking position and blowing position, corresponding blowing position of this blanking pallet and being provided with, this transition platform is provided with corresponding to the blanking shuffling position; This control system is controlled the action of described material loading first manipulator, material loading second manipulator, material loading pallet, blanking first manipulator, blanking second manipulator, blanking pallet.
2, loading and unloading manipulator as claimed in claim 1 system is characterized in that described main frame is a laser drilling machine.
3, loading and unloading manipulator as claimed in claim 1 system is characterized in that the material plate that described material loading first manipulator is grasped at first is placed on the described whole plate device, after this whole plate device arrangement, is grasped by described material loading second manipulator again.
4, loading and unloading manipulator as claimed in claim 1 system is characterized in that described material loading first manipulator is provided with the material shaking cylinder.
5, loading and unloading manipulator as claimed in claim 1 system is characterized in that, has installed and blows the material cylinder corresponding to the described material level of getting.
6, as claim 4 or 5 described loading and unloading manipulator systems, it is characterized in that described control system comprises electric control system and gas circuit control section.
7, loading and unloading manipulator as claimed in claim 6 system is characterized in that described electric control system is made up of Programmable Logic Controller, man-machine interface, locating module, servo-driver, servomotor and power supply; This Programmable Logic Controller is connected with man-machine interface, locating module, servo-driver communication respectively, this locating module is connected with this servo-driver communication, this servomotor of this servo driver drives, described power supply are respectively to this Programmable Logic Controller and man-machine interface power supply.
8, loading and unloading manipulator as claimed in claim 7 system, it is characterized in that, described Programmable Logic Controller sends displacement commands to described locating module, this locating module response displacement commands is sent corresponding dfisplacement pulse to described servo-driver, and described servo-driver removes to drive servomotor execute bit shifting movement according to the pulse of receiving.
9, loading and unloading manipulator as claimed in claim 7 system is characterized in that described man-machine interface is a touch-screen.
10, loading and unloading manipulator as claimed in claim 6 system, it is characterized in that, described gas circuit control section comprises air dry filter device, air pressure detecting sensor and magnetic valve, compressed air is after filtering through this air dry filter device, flow to this magnetic valve, the air pressure detecting sensor detects air pressure in setting range the time, and described magnetic valve impels the material shaking cylinder or blows the action of material cylinder, thus the operation of finishing material shaking or blowing material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202136792U CN201329585Y (en) | 2008-11-21 | 2008-11-21 | Feeding-blanking manipulator system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202136792U CN201329585Y (en) | 2008-11-21 | 2008-11-21 | Feeding-blanking manipulator system |
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| CN201329585Y true CN201329585Y (en) | 2009-10-21 |
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| CNU2008202136792U Expired - Fee Related CN201329585Y (en) | 2008-11-21 | 2008-11-21 | Feeding-blanking manipulator system |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514046A (en) * | 2011-11-24 | 2012-06-27 | 奈电软性科技电子(珠海)有限公司 | Step-by-step punching system |
| CN102540910A (en) * | 2010-12-16 | 2012-07-04 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Control method, control device and control system for automated machine |
| CN102581681A (en) * | 2012-01-05 | 2012-07-18 | 浙江陀曼精密机械有限公司 | Material receiving control method |
| CN103057971A (en) * | 2012-12-26 | 2013-04-24 | 深圳市金洲精工科技股份有限公司 | Coating material placing machine |
| CN103287828A (en) * | 2012-02-22 | 2013-09-11 | 珠海格力电器股份有限公司 | Automatic loading device and automatic unloading device for plastic-spraying production line |
| CN103658434A (en) * | 2013-11-29 | 2014-03-26 | 唐山学院 | Automatic feeding and discharging manipulator system for shovel sheets of peach-shaped point shovels |
| CN104924298A (en) * | 2015-06-15 | 2015-09-23 | 深圳市鑫运祥精密刀具有限公司 | Manipulator feeding device and processing method |
| CN105159191A (en) * | 2015-08-21 | 2015-12-16 | 深圳罗伯泰克科技有限公司 | Dynamic material hand-over coordinative control system during heat stamping and shaping process |
| CN105236134A (en) * | 2015-10-28 | 2016-01-13 | 昆山鸿志犀自动化机电设备有限公司 | Feeding and discharging mechanism |
| CN105364112A (en) * | 2015-10-28 | 2016-03-02 | 胜狮货柜管理(上海)有限公司 | Automatic drilling system |
| CN105397813A (en) * | 2016-01-01 | 2016-03-16 | 王玮 | Robot and control method thereof |
| CN105459115A (en) * | 2015-12-17 | 2016-04-06 | 王玮 | Industrial robot |
| CN106426248A (en) * | 2016-11-16 | 2017-02-22 | 苏州冠浩斯精密机械有限公司 | Name plate feeding mechanical arm of electromagnetic valve partial assembly machine |
| CN106429426A (en) * | 2015-08-07 | 2017-02-22 | 山东天和绿色包装科技有限公司 | Net mold handling device |
| CN106813992A (en) * | 2017-01-18 | 2017-06-09 | 刘肖俊 | A kind of novel mobile phone touch-screen strength testing device |
| CN109176509A (en) * | 2018-08-17 | 2019-01-11 | 张家港康得新光电材料有限公司 | A kind of virtual switch method, apparatus, server and storage medium |
| CN112224868A (en) * | 2020-10-17 | 2021-01-15 | 东莞科卓机器人有限公司 | FPC (Flexible printed Circuit) light bar feeding method based on CCD (Charge coupled device) |
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2008
- 2008-11-21 CN CNU2008202136792U patent/CN201329585Y/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102540910A (en) * | 2010-12-16 | 2012-07-04 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Control method, control device and control system for automated machine |
| CN102540910B (en) * | 2010-12-16 | 2013-12-11 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Control method, control device and control system for automated machine |
| CN102514046A (en) * | 2011-11-24 | 2012-06-27 | 奈电软性科技电子(珠海)有限公司 | Step-by-step punching system |
| CN102581681A (en) * | 2012-01-05 | 2012-07-18 | 浙江陀曼精密机械有限公司 | Material receiving control method |
| CN102581681B (en) * | 2012-01-05 | 2014-08-20 | 浙江陀曼精密机械有限公司 | Material receiving control method |
| CN103287828A (en) * | 2012-02-22 | 2013-09-11 | 珠海格力电器股份有限公司 | Automatic loading device and automatic unloading device for plastic-spraying production line |
| CN103287828B (en) * | 2012-02-22 | 2015-07-15 | 珠海格力电器股份有限公司 | Automatic loading device and automatic unloading device for plastic-spraying production line |
| CN103057971A (en) * | 2012-12-26 | 2013-04-24 | 深圳市金洲精工科技股份有限公司 | Coating material placing machine |
| CN103057971B (en) * | 2012-12-26 | 2015-11-25 | 深圳市金洲精工科技股份有限公司 | A kind of coating pendulum material machine |
| CN103658434B (en) * | 2013-11-29 | 2016-01-20 | 唐山学院 | Peach-shaped point spade spade sheet automatic loading and unloading manipulator system |
| CN103658434A (en) * | 2013-11-29 | 2014-03-26 | 唐山学院 | Automatic feeding and discharging manipulator system for shovel sheets of peach-shaped point shovels |
| CN104924298A (en) * | 2015-06-15 | 2015-09-23 | 深圳市鑫运祥精密刀具有限公司 | Manipulator feeding device and processing method |
| CN106429426A (en) * | 2015-08-07 | 2017-02-22 | 山东天和绿色包装科技有限公司 | Net mold handling device |
| CN106429426B (en) * | 2015-08-07 | 2019-10-25 | 山东天和绿色包装科技有限公司 | A kind of net mould handling device |
| CN105159191A (en) * | 2015-08-21 | 2015-12-16 | 深圳罗伯泰克科技有限公司 | Dynamic material hand-over coordinative control system during heat stamping and shaping process |
| CN105236134A (en) * | 2015-10-28 | 2016-01-13 | 昆山鸿志犀自动化机电设备有限公司 | Feeding and discharging mechanism |
| CN105364112A (en) * | 2015-10-28 | 2016-03-02 | 胜狮货柜管理(上海)有限公司 | Automatic drilling system |
| CN105364112B (en) * | 2015-10-28 | 2018-06-29 | 胜狮货柜管理(上海)有限公司 | A kind of automatic drilling system |
| CN105459115A (en) * | 2015-12-17 | 2016-04-06 | 王玮 | Industrial robot |
| CN105397813A (en) * | 2016-01-01 | 2016-03-16 | 王玮 | Robot and control method thereof |
| CN105397813B (en) * | 2016-01-01 | 2017-03-29 | 宁波市智能制造产业研究院 | Robot and its control method |
| CN106426248A (en) * | 2016-11-16 | 2017-02-22 | 苏州冠浩斯精密机械有限公司 | Name plate feeding mechanical arm of electromagnetic valve partial assembly machine |
| CN106813992A (en) * | 2017-01-18 | 2017-06-09 | 刘肖俊 | A kind of novel mobile phone touch-screen strength testing device |
| CN109176509A (en) * | 2018-08-17 | 2019-01-11 | 张家港康得新光电材料有限公司 | A kind of virtual switch method, apparatus, server and storage medium |
| CN112224868A (en) * | 2020-10-17 | 2021-01-15 | 东莞科卓机器人有限公司 | FPC (Flexible printed Circuit) light bar feeding method based on CCD (Charge coupled device) |
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