CN204038631U - About the online piler of multiaxis bridge glass of stack mechanical arm - Google Patents
About the online piler of multiaxis bridge glass of stack mechanical arm Download PDFInfo
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- CN204038631U CN204038631U CN201420301422.8U CN201420301422U CN204038631U CN 204038631 U CN204038631 U CN 204038631U CN 201420301422 U CN201420301422 U CN 201420301422U CN 204038631 U CN204038631 U CN 204038631U
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Abstract
The utility model relates to glass machinery and robot and automatic control technology field, specifically a kind of online piler of multiaxis bridge glass about stack mechanical arm, comprise manipulator control system and vision positioning system and application tool, this device is by frame, main frame, multifunctional vacuum grasping system, vision positioning system, rotatable platform, control system forms, frame is across above glass production line, adopt double gate type two ends cantilever design, the hanging of walking overarm brace is on the hanging fulcrum of left and right sides gate framework, on between the walking overarm brace that main frame is installed on frame, main frame is provided with the physical construction of four degree of freedom Serial manipulators, structure is walking in a horizontal state axle, vertical-lift axle, first S. A., second S. A. forms crawl glass device.Compared with the existing technology, its advantage is the utility model: the structure adopting four degree of freedom Serial manipulators, accurately locates, adds structural bearing intensity, improve the stability of piler.
Description
[technical field]
The utility model relates to glass machinery and degree of freedom serial manipulator and automatic control technology field, specifically a kind of online piler of multiaxis bridge glass about stack mechanical arm.
[background technology]
The equipment of the online stacking of flat glass production line mainly contains: horizontal stacking, vertical stacks stack machine, manipulator stacking machine.The advanced general high-grade line of manufacturing line is in the majority, higher to requirements for quality, grade classification is comparatively thin, arranges branch line in a large number; Main stacking apparatus is vertical stacks stack machine, manipulator stacking machine.Domestic manufacturing line is except introduced project, and low and middle-end is more, generally gets plate, stacking is operated on main line and completes, main usage level piler and manipulator stacking machine.Always there are some unsatisfactory places in these three kinds of conventional stacking apparatuss: horizontal stacking stacking specification limit is large, easy to operate, cost is low, in less demanding situation particularly case of heavy load, obtains use in a big way at home strictly speaking; But its stacking procedure keeps flat for flat grabbing, be plumbness when needing glass after glass shelfful by flip horizontal, easily cause glass to abrade, surface quality is not high, and the stacking cycle is longer, cannot meet high-grade requirement.Vertical stacks stack machine track is fixed, and the cycle is fast, stacking precision is higher; But need the branch line of supporting complexity, turn to, adjust the devices such as limit to coordinate, separate unit piler can only pile the glass of a kind of specification or kind, and difficult in maintenance.The advantage of manipulator stacking machine utilizes stacking carrier articulated type industrial robot spatial character nimbly and freely can realize flight to capture, and stacking cycle fast, single device can divide second-class stacking etc.; But be limited by the load-carrying capacity of industrial robot, general maximum weight capacity < 350kg, be mainly applicable to small pieces in stacking, centering sheet is helpless, and industrial robot needs import, expensive.Therefore need a kind of gather horizontal stacking, vertical stacks stack machine, manipulator stacking machine advantage in integral type stacking apparatus.
[summary of the invention]
The purpose of this utility model proposes a kind of structure having 4 degree of freedom Serial manipulators, adopt PLC intelligent control program, the vertical glass of specification a series of on manufacturing line, weight can be realized to send in glass sheet package, and can across on the main line in production line cold side stacking region, precision is high, the cycle is fast, the online piler of multiaxis bridge glass of the relevant stack mechanical arm of enhancing productivity.
To achieve these goals, a kind of online piler of multiaxis bridge glass about stack mechanical arm is provided, comprise manipulator control system and vision positioning system and computer applicaion instrument, described computer applicaion instrument is PLC programming software or Halcon or Visual C++6.0 software, this device is by frame 1, main frame 2, multifunctional vacuum grasping system 3, vision positioning system 4, rotatable platform 6, control system 5 forms, frame 1 is across above glass production line, adopt double gate type two ends cantilever design, walking overarm brace 102 is hung on the hanging fulcrum of left and right sides gate framework 101, on between the walking overarm brace 102 that main frame 2 is installed on frame 1, main frame 2 is provided with the physical construction of four degree of freedom Serial manipulators, described structure is walking in a horizontal state axle 2-1, vertical-lift axle 2-2, first S. A. 2-3, second S. A. 2-4 forms crawl glass device, realize handling process, comprise with lower part:
A. described walking in a horizontal state axle 2-1 is straight-line motion, and adopt four groups of roller set 2-102 to add two guide rail 2-101 and lead, the first gear 2-104, tooth bar 2-105 transmission, the first gear 2-104 is installed on the first speed reducer for servo motor 2-106 output shaft; Guide rail 2-101, tooth bar 2-105 are fixed on walking overarm brace 102, and other parts are fixed on mobile roof support 2-103, and object is adjustment movement position;
B. described vertical-lift axle 2-2 is straight-line motion, and adopt line slideway 2-204 to add slide block 2-203 and lead, rack pinion, the second speed reducer for servo motor 2-201 drives; Slide block 2-203, the second speed reducer for servo motor 2-201 are fixed on mobile roof support 2-103, and miscellaneous part is fixed on lifting bracket 2-202, and object is adjustment movement position;
C. the first S. A. 2-3 rotates key element is external tooth type revolving support frame 2-302, and the first S. A. 2-3 is fixed on the end of lifting bracket 2-202; Driver element is the 3rd speed reducer for servo motor 2-301, and the 3rd speed reducer for servo motor 2-301 is fixed on lifting bracket 2-202, engages direct-drive by the 3rd gear 2-303; This joint realizes 360 ° and rotates arbitrarily, adjustment athletic posture, and swinging strut 2-402 horizontal mounting surface is arranged on the bottom attachment face of external tooth type revolving support frame 2-302; Vertical mounting surface on the right side of swinging strut 2-402 is connected with multifunctional vacuum grasping system by bearing pin 2-404, bearing seat 2-403, be fixed on the output flange axle of the 4th speed reducer for servo motor 2-401 on the left of swinging strut, the 4th speed reducer for servo motor 2-401 is fixed on the hanger of multifunctional vacuum grasping system; This axle realizes multi-functional grabbing device and rotates ± 90 ° around the second S. A. 2-4;
D. multifunctional vacuum grabbing device 3 connects with the second S. A. 2-4, by four degrees of freedom combination: realize adjusting after vision positioning device 4 obtains the actual coordinate of glass 7 position of main frame 2 and attitude and make that the center of glass system of axes X-axis of the tool coordinates system of multifunctional vacuum grabbing device 3 and the initial point heart is in glass parallel, Y-axis overlaps; Finally realize the position that the first S. A. 2-3 rotates to 90 °, when glass width is less than length then without the need to rotating;
E. the second S. A. 2-4 rotates 84 °, when the horizontal attitude of glass 7 being become stacking by the change of adjustment athletic posture become the angle of 84 ° with horizontal surface and long limit under attitude, by vertical for glass 7 feeding glass sheet package 8;
F. stack mechanical arm control system adopts PLC to control, the servomotor of four degree of freedom of manipulator is connected with control system PLC by RS-232 interface circuit, and RS-232 interface circuit is also connected with read-out, keyboard, manipulator control circuit, vision positioning control system in addition; Wherein read-out, keyboard, manipulator control circuit, vision positioning control system form intelligence demonstration box, select the man-machine interface of different stacking mode of operation by intelligence demonstration box, described computer applicaion instrument is PLC programming software, Halcon, Visual C++6.0.
Double gate type two ends cantilever design walking crossbeam 102 is hung on the hanging fulcrum of both sides gate framework 101, and vertical-lift support 2-202 is arranged on the mobile space of walking crossbeam 102.
Vertical-lift axle 2-2 adopts line slideway 2-204 to add slide block 2-203 guiding and replaces with the two guide rail guiding of employing four groups of roller shelving.
External tooth type revolving support frame 2-302 on first S. A. 2-3 replaces with internal-gear type or cycloidal-pin wheel subtracts machine, and walking in a horizontal state axle 2-1 and vertical-lift axle 2-2 is mainly used in adjusting movement position; First S. A. 2-3 and the second S. A. 2-4 is mainly used in adjusting athletic posture; The degrees of freedom combination motion of four direction can realize putting into glass sheet package 8 by vertical for glass 7.
A swinging strut 2-402 is provided with between the first S. A. 2-3 and the second S. A. 2-4; On swinging strut 2-402, Plane Installation is on external tooth type revolving support frame 2-302, and the left and right sides is connected with multifunctional vacuum grabbing device 3 by axle 2-404, bearing seat 2-403; 4th speed reducer for servo motor 2-401 is arranged on multifunctional vacuum grabbing device 3, and output flange axle is arranged on swinging strut 2-402.
In frame or grabbing device be provided with a set of vision positioning device 4, vision positioning device 4 provides the actual position of glass 7 in stacking system of axes to piler, and described vision positioning device 4 comprises camera, photoelectric switch, vision positioning control treatment circuit, image processing software halcon or VC++6 are formed.
Multifunctional vacuum grabbing device connects for drawing glass with the second S. A., described grabbing device is provided with vacuum pump or vacuum generator, the second described S. A. adopts quarter bend to add aluminium section bar as skeleton, sucker loads on aluminium section bar, aluminium section bar is buckled on rectangular steel pipe, move according to demand, sucker group zonal control, adapt to the glass crawl of weight 100-1200kg, specification 1200X900-5000X4800mm.
The utility model compared with the existing technology, its advantage is: dynamically can get sheet by canbe used on line glass, can horizontal stacking again can stacking,vertical, can realize in glass feeding glass sheet package nimbly and freely as articulated type industrial robot, without the need to upset, and accurately locate, cycle is fast, cheap, thus effectively to glass orderly adopt dress, servomotor is adopted to substitute common electric machine, improve the particularity of suction cup carrier walking, adopt PLC intelligent control program, realize automatic adjustment and the control of glass position and travel distance and movement position, adopt the structure of four degree of freedom Serial manipulators, add structural bearing intensity, solve the danger of workman's operation, improve the stability of piler.
[accompanying drawing explanation]
Fig. 1 is the utility model organigram;
Fig. 2 is the view of the utility model embodiment when glass being sent into pallet;
Fig. 3 is I place enlarged diagram in the utility model Fig. 1;
Fig. 4 is II place enlarged diagram in the utility model Fig. 1;
Fig. 5 is the utility model control system hardware composition frame chart;
In figure: 1, frame 2, main frame 3, multifunctional vacuum grasping system 4, vision positioning system 5, control system 6, rotatable platform 7, glass 8, glass sheet package 9, rollgang 101, gate framework 102, walking overarm brace 2-1, walking in a horizontal state axle 2-2, vertical-lift axle 2-3, first S. A. 2-4, second S. A. 2-101, two guide rail 2-102, roller set 2-103, mobile roof support 2-104, first gear 2-105, tooth bar 2-106, first speed reducer for servo motor 2-201, second speed reducer for servo motor 2-202, lifting bracket 2-203, slide block 2-204, line slideway 2-301, 3rd speed reducer for servo motor 2-302, external tooth type revolving support frame 2-303, 3rd gear 2-401, 4th speed reducer for servo motor 2-402, swinging strut 2-403, bearing seat 2-404, bearing pin,
Specify Fig. 5 as Figure of abstract of the present utility model.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the utility model is described in further detail, and the structure of this device and principle are very clearly concerning the people of this specialty.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Embodiment 1
By reference to the accompanying drawings, be specifically described of the present utility model, wherein the manufacturing technology of piler comprises the technology of control system is clearly concerning the people of this specialty:
The utility model can realize full automaticity stacking, as shown in Figure 1 and Figure 2, the utility model is made up of frame 1, main frame 2 (comprising: walking in a horizontal state axle 2-1, vertical-lift axle 2-2, the first S. A. 2-3, the second S. A. 2-4), multifunctional vacuum grasping system 3, vision positioning system 4, control system 5; Other is product line device: pallet plummer 6, glass sheet package 8, rollgang 9, glass 7.
Frame 1 is across above glass production line, and outward appearance is double gate type two ends cantilever designs, and walking overarm brace 102 is hung on the hanging fulcrum of both sides gate framework 101.This gate suspension centre structure is conducive to the integral rigidity of walking overarm brace 102, is conducive to the mobile space of vertical-lift support 2-202 at walking overarm brace 102.
As shown in Figure 3, Figure 4, main frame 2 is made up of four degree of freedom: walking in a horizontal state axle 2-1, vertical-lift axle 2-2, the first S. A. 2-3, the second S. A. 2-4.Walking in a horizontal state axle 2-1, vertical-lift axle 2-2 are mainly used in adjusting movement position, and the first S. A. 2-3, the second S. A. 2-4 are mainly used in adjusting athletic posture.Walking in a horizontal state axle 2-1 adopts four groups of roller set 2-102 to add two guide rail guiding 2-101, the first gear 2-104, tooth bar 2-105 transmission, and the first gear 2-104 is installed on the first speed reducer for servo motor 2-106 output shaft; Guide rail 2-101, tooth bar 2-104 are fixed on walking crossbeam direct 102, and other are fixed on mobile roof support 2-103; Can move and accurately locate in optional position on walking crossbeam 101.Vertical-lift axle 2-2 adopts line slideway 2-204 to add slide block 2-203 and leads (four groups of roller set also can be adopted to add two guide rail guiding), rack pinion, and the second speed reducer for servo motor 2-201 drives; Slide block 2-203, the second speed reducer for servo motor 2-201 are fixed on mobile roof support 2-103, and other are fixed on lifting bracket 2-202; Can move up and down in the direction perpendicular to mill floor and accurately locate.It is external tooth type revolving support 2-302 that first S. A. 2-3 rotates key element, also can be internal tooth or cycloidal planetary gear speed reducer, and its one side is fixed on the end of lifting bracket 2-202; Driver element is the 3rd speed reducer for servo motor 2-301, is fixed on lifting bracket 2-202, engages direct-drive by the 3rd gear 2-303; This joint can realize 360 ° and rotate arbitrarily, but generally only needs to rotate ± 90 ° according to actual functional capability demand.First S. A. 2-3 is vertical with the axis of the second S. A. 2-4, and swinging strut 2-402 horizontal mounting surface is arranged on the lower attachment face of revolving support 2-302; The vertical mounting surface of swinging strut 2-402 side is connected with multifunctional vacuum grasping system by bearing pin 2-404, bearing seat 2-403, side is fixed on the output flange axle of the 4th speed reducer for servo motor 2-401, and the 4th speed reducer for servo motor 2-401 is fixed on the hanger of multifunctional vacuum grasping system; This axle can realize multi-functional grabbing device and rotate ± 90 ° around the second S. A. 2-4.
Multifunctional vacuum grabbing device 3: for drawing glass, this part can adopt vacuum pump to produce vacuum, also can select vacuum generator.Adopt steel to add aluminium section bar as skeleton, sucker is zonal control, can adapt to the crawl of weight 100 ~ 1200kg, specification 1200X900 ~ 5000X4880mm glass.
Vision positioning device 4: in view of the change of glass size and the structure of roller-way and stacker's process flow, need accurately to locate glass before crawl glass, in order to ensure stacking quality, native system has abandoned traditional machinery location, adopts advanced vision technique.This system comprises other softwares such as camera, photoelectric switch, treater, image procossing; Camera is installed in frame, also can install with on multifunctional vacuum grasping system, the site plan picture of glass is obtained before capturing glass, electric signal is converted to by photoelectric switch, then image processing circuit is entered and image processing software halcon or VC++6 is converted into location information, in conjunction with the consistent oad of glass, thus the actual position of glass in stacking system of axes can be obtained, so to four-degree-of-freedom be composed in series manipulator capture attitude monitor.Described image processing circuit adopts ADSP-BF609 double-core process or other image pick-up card circuit.
Control system 5: by PC+PLC control circuit+servo drive control, the Sequence motion of domination manipulator as prescribed, by the information of its control system, instruction is sent to actuating unit simultaneously, have man machine operation interface, obtained the monitor message of vision positioning system by communication network.
Pallet plummer 6: two kinds of forms can be had, one is fixed way, is arranged on mill floor, and a kind of is the rotary frame mechanism that changes, and is arranged on mill floor, can rotate at horizontal surface ± 180 °; After glass piles with, by rotation of rotary table, forward empty frame to stacking side, to ensure the continuity of producing, to float line without any interference.
The utility model concrete operations are as follows:
When glass 7 runs to piler place, cold junction line traffic control controls rollgang 9 and stops, and glass 7 stops sheet, carries out preliminary pre-determined bit to glass 7.Vision positioning system 4 obtains the location information of glass 7 by image procossing, and calculates its actual coordinate in stacking system of axes; Adjust the position of main frame 2 and attitude and make that the center of glass system of axes X-axis of the tool coordinates system of multifunctional vacuum grasping system 3 and the initial point heart is in glass parallel, Y-axis overlaps after control system obtains glass 7 actual coordinate information, and the travel distance of hoisting depth during positional information calculation vertical-lift axle 2-2 film releasing according to glass working direction and walking in a horizontal state axle 2-1; Vertical-lift axle 2-2 motor drives multifunctional vacuum grasping system 3 to drop on by vacsorb glass on glass, and vertical-lift axle 2-2 motor drives and promotes glass, and after safety distance, walking in a horizontal state axle 2-1 starts to drive walking, moves to stacking pallet 8 direction; Position (as glass width is less than length then without the need to rotating), the second S. A. 2-4 that simultaneously the first S. A. 2-3 rotates to 90 ° rotate 84 °, when the horizontal attitude of glass 7 being become stacking by attitudes vibration become the angle of 84 ° with horizontal surface and long limit under attitude, arrive the rear placing glass of pallet 8, multifunctional vacuum grasping system 3 breaking vacuum, main frame 2 returns, each axle resets, and waits for next task.
Claims (7)
1. the online piler of multiaxis bridge glass about stack mechanical arm, comprise manipulator control system and vision positioning system and computer applicaion instrument, described computer applicaion instrument is PLC programming software or Halcon or Visual C++6.0 software, it is characterized in that manipulator control system is by frame (1), main frame (2), multifunctional vacuum grasping system (3), vision positioning system (4), rotatable platform (6), control system (5) forms, frame (1) is across above glass production line, adopt double gate type two ends cantilever design, walking overarm brace (102) hanging is on the hanging fulcrum of left and right sides gate framework (101), on between the walking overarm brace (102) that main frame (2) is installed on frame (1), main frame (2) is provided with the physical construction of four degree of freedom Serial manipulators, described structure is walking in a horizontal state axle (2-1), vertical-lift axle (2-2), first S. A. (2-3), second S. A. (2-4) forms crawl glass device, realize handling process, comprise with lower part:
A. described walking in a horizontal state axle (2-1) is straight-line motion, four groups of roller set (2-102) are adopted to add two guide rail (2-101) guiding, first gear (2-104), tooth bar (2-105) transmission, the first gear (2-104) is installed on the first speed reducer for servo motor (2-106) output shaft; Guide rail (2-101), tooth bar (2-105) are fixed in walking overarm brace (102), and other parts are fixed on mobile roof support (2-103), and object is adjustment movement position;
B. described vertical-lift axle (2-2) is straight-line motion, and adopt line slideway (2-204) to add slide block (2-203) guiding, rack pinion, the second speed reducer for servo motor (2-201) drives; Slide block (2-203), the second speed reducer for servo motor (2-201) are fixed on mobile roof support (2-103), and miscellaneous part is fixed on lifting bracket (2-202), and object is adjustment movement position;
C. the first S. A. (2-3) rotates key element is external tooth type revolving support frame (2-302), and the first S. A. (2-3) is fixed on the end of lifting bracket (2-202); Driver element is the 3rd speed reducer for servo motor (2-301), 3rd speed reducer for servo motor (2-301) is fixed on lifting bracket (2-202), direct-drive is engaged by the 3rd gear (2-303), realize 360 ° to rotate arbitrarily, adjustment athletic posture, swinging strut (2-402) horizontal mounting surface is arranged on the bottom attachment face of external tooth type revolving support frame (2-302); The vertical mounting surface on swinging strut (2-402) right side is connected with multifunctional vacuum grasping system by bearing pin (2-404), bearing seat (2-403), be fixed on the output flange axle of the 4th speed reducer for servo motor (2-401) on the left of swinging strut, 4th speed reducer for servo motor (2-401) is fixed on the hanger of multifunctional vacuum grasping system, realizes multi-functional grabbing device and rotates ± 90 ° around the second S. A. (2-4);
D. multifunctional vacuum grabbing device (3) connects with the second S. A. (2-4), by four degrees of freedom combination: realize adjusting after vision positioning device (4) obtains the actual coordinate of glass (7) position of main frame (2) and attitude and make that the center of glass system of axes X-axis of the tool coordinates system of multifunctional vacuum grabbing device (3) and the initial point heart is in glass parallel, Y-axis overlaps; Finally realize the position that the first S. A. (2-3) rotates to 90 °, when glass width is less than length then without the need to rotating;
E. the second S. A. (2-4) rotates 84 °, when the horizontal attitude of glass (7) being become stacking by the change of adjustment athletic posture become the angle of 84 ° with horizontal surface and long limit under attitude, by vertical for glass (7) feeding glass sheet package (8);
F. stack mechanical arm control system adopts PLC to control, the servomotor of four degree of freedom of manipulator is connected with control system PLC by RS-232 interface circuit, and RS-232 interface circuit is also connected with read-out, keyboard, manipulator control circuit, vision positioning control system in addition; Wherein read-out, keyboard, manipulator control circuit, vision positioning control system form intelligence demonstration box, select the man-machine interface of different stacking mode of operation by intelligence demonstration box.
2. a kind of online piler of multiaxis bridge glass about stack mechanical arm as claimed in claim 1, it is characterized in that double gate type two ends cantilever design walking crossbeam (102) hanging is on the hanging fulcrum of both sides gate framework (101), vertical-lift support (2-202) is arranged on the mobile space of walking crossbeam (102).
3. a kind of online piler of multiaxis bridge glass about stack mechanical arm as claimed in claim 1, is characterized in that vertical-lift axle (2-2) adopts line slideway (2-204) to add slide block (2-203) guiding and replaces with the two guide rail guiding of employing four groups of roller shelving.
4. a kind of online piler of multiaxis bridge glass about stack mechanical arm as claimed in claim 1, the external tooth type revolving support frame (2-302) that it is characterized in that on the first S. A. (2-3) replaces with internal-gear type or cycloidal-pin wheel subtracts machine, and walking in a horizontal state axle (2-1) and vertical-lift axle (2-2) are mainly used in adjusting movement position; First S. A. (2-3) and the second S. A. (2-4) are mainly used in adjusting athletic posture; The degrees of freedom combination motion of four direction can realize putting into glass sheet package (8) by vertical for glass (7).
5. a kind of online piler of multiaxis bridge glass about stack mechanical arm as claimed in claim 1, is characterized in that being provided with a swinging strut (2-402) between the first S. A. (2-3) and the second S. A. (2-4); The upper Plane Installation of swinging strut (2-402) is on external tooth type revolving support frame (2-302), and the left and right sides is connected with multifunctional vacuum grabbing device (3) by axle (2-404), bearing seat (2-403); 4th speed reducer for servo motor (2-401) is arranged on multifunctional vacuum grabbing device (3), and output flange axle is arranged on swinging strut (2-402).
6. a kind of online piler of multiaxis bridge glass about stack mechanical arm as claimed in claim 1, it is characterized in that in frame or grabbing device is provided with a set of vision positioning device (4), vision positioning device (4) provides glass (7) actual position in stacking system of axes to piler, and described vision positioning device (4) comprises camera, photoelectric switch, vision positioning control treatment circuit, image processing software halcon or VC++6 are formed.
7. a kind of online piler of multiaxis bridge glass about stack mechanical arm as claimed in claim 1, it is characterized in that multifunctional vacuum grabbing device connects for drawing glass with the second S. A., described grabbing device is provided with vacuum pump or vacuum generator, the second described S. A. adopts quarter bend to add aluminium section bar as skeleton, sucker loads on aluminium section bar, aluminium section bar is buckled on rectangular steel pipe, move according to demand, sucker group zonal control, adapts to the glass crawl of weight 100-1200kg, specification 1200 × 900-5000 × 4800mm.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104044924A (en) * | 2014-06-06 | 2014-09-17 | 中国建材国际工程集团有限公司 | Multi-axis bridge frame type glass online stacking machine about stacking manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104044924A (en) * | 2014-06-06 | 2014-09-17 | 中国建材国际工程集团有限公司 | Multi-axis bridge frame type glass online stacking machine about stacking manipulator |
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