CN204935641U - A kind of feeding robot paw - Google Patents
A kind of feeding robot paw Download PDFInfo
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- CN204935641U CN204935641U CN201520652263.0U CN201520652263U CN204935641U CN 204935641 U CN204935641 U CN 204935641U CN 201520652263 U CN201520652263 U CN 201520652263U CN 204935641 U CN204935641 U CN 204935641U
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- battery
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- suction cup
- cup assembly
- feeding robot
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Abstract
The utility model discloses a kind of feeding robot paw, and be connected on the mechanical arm of the robot on lithium battery assembly line, feeding robot paw comprises bindiny mechanism, substrate, testing agency, adsorbing mechanism and gripping body.Testing agency comprises and being connected on substrate and the vision inspection apparatus be electrically connected with controlling organization, and vision inspection apparatus detects the position of battery pack and battery hopper; Adsorbing mechanism is connected to the below of substrate and is electrically connected with controlling organization, adsorbs battery pack by vacuum adsorption force; Gripping body, comprise electric cylinder and be connected to and electric cylinder embraces clip assembly, electric cylinder to be connected on substrate and be electrically connected with controlling organization, and electric cylinder is flexible to be driven and embrace a clip assembly and embrace and press from both sides battery pack or battery hopper.The feeding robot paw for lithium battery assembly line that the utility model discloses, can stablize, fast, the battery pack of crawl many cells composition of safety and battery hopper, ensure controllability and the stability of whole transfer process.
Description
Technical field
The utility model relates to a kind of manipulator, particularly relates to the battery loading robot hand that a kind of electric automobile power battery assembly line is special.
Background technology
For the feeding robot paw of electric automobile lithium battery assembly line, be a kind ofly gathered Servo Drive Technology's, vision technique and vacuum suction technology coordinated signals and the special equipment unit formed.
The feature of servo-drive is accurately with flexible, be particularly suitable for active force increase fast and need in pinpoint application, and electric drive compact conformation, be applicable in the environment of space constraint, especially along with Continuous Innovation and the high speed development of electron trade, the manufacturing cost of servo-drive Related product constantly declines, and these all demonstrate electric drive undoubtedly extremely strong vitality in automatic field.
Electricity cylinder is a kind of form of expression of electric drive technology, it is the modular product by servomotor and leading screw integrated design, convert the rotary motion of servomotor to rectilinear motion, the precise rotation of servomotor is controlled simultaneously, accurately the characteristic transition such as revolution controls, accurate torque control become the advantages such as precise speed controls, Accurate Position Control, accurate thrust control, realize novelty, integrated product that high-precision linear moves.
Compared to hydraulic cylinder and cylinder, the advantage of electric cylinder is its Close loop servo control, and control accuracy reaches 0.02mm, controls thrust precision and reaches 1%, can multipoint positioning, and realizes environment more environmental protection, and more energy-conservation, mounting means is more flexible.
Vacuum absorption device is a kind of labour saving machine that the pull of vacuum relying on vacuum source to produce is lifted by crane object, carries and clamped, vacuum cup is the executive component of vacuum absorption device, vacuum-energy is changed into mechanical energy, it has advantage: structure is simple, and cost is low, easy for installation, maintenance cost is few, not disfiguring workpiece etc.
Vision technique relies on the imaging of CCD industrial intelligent camera, carried out image processing and analyzing, extracts required characteristic information, convert the position deviation of actual executing agency to.Particularly along with image processing algorithm is increasingly efficient ripe, vision technique is more and more extensive in field application such as the automatic fixation and recognition of workpiece, position deviation inspections.
The mechanism of building based on electric cylinder, vision technique and vacuum absorption device can reach stable, complete the basic demand capturing some battery pack and battery hopper fast, but it is the main stage that the assembling of current driving force battery is also in manual assembly, not yet occur the special manipulator of mechanism for battery loading of electricity consumption cylinder, vision technique and vacuum suction technology, designing a kind of battery loading paw special for battery assembly line is newly the utility model purpose.
Utility model content
Technical problem to be solved in the utility model is the battery loading robot hand providing a kind of battery assembly line special, can complete the battery pack of many cell compositions and the carrying work of battery hopper.
To achieve these goals, feeding robot paw of the present utility model, be connected on the mechanical arm of the robot on lithium battery assembly line, described robot also comprises controlling organization, and described feeding robot paw comprises:
Bindiny mechanism, is connected with described mechanical arm;
Substrate, is connected in described bindiny mechanism;
Testing agency, comprises the vision inspection apparatus that connection is electrically connected on the substrate and with described controlling organization, and described vision inspection apparatus detects the position of battery pack and battery hopper;
Adsorbing mechanism, is connected to the below of described substrate and is electrically connected with described controlling organization, adsorbing battery pack by vacuum adsorption force; And
Gripping body, comprise electric cylinder and be connected to armful clip assembly on electric cylinder, described electric cylinder connects on the substrate and is electrically connected with described controlling organization, and described electric cylinder is flexible drives a described armful clip assembly to embrace folder battery pack or battery hopper.
Above-mentioned feeding robot paw, wherein, described battery pack is made up of polylith cell.
Above-mentioned feeding robot paw, wherein, described testing agency also comprises the bar-code identification sensor identifying bar code on described cell, and described bar-code identification sensor connects on the substrate and is electrically connected with described controlling organization.
Above-mentioned feeding robot paw, wherein, described testing agency also comprises the laser range sensor of the number of plies detecting battery hopper, and described laser range sensor connects on the substrate and is electrically connected with described controlling organization.
Above-mentioned feeding robot paw, wherein, described vision inspection apparatus and described bar-code identification sensor setting are in the side of described substrate, and described laser range sensor is arranged at the relative opposite side of described substrate.
Above-mentioned feeding robot paw, wherein, described bindiny mechanism comprises adpting flange, flange connecting plate and gripper shoe, described adpting flange is connected with described mechanical arm, described flange connecting plate is fixedly connected on described adpting flange, described gripper shoe is two pieces, is individually fixed in the both sides of described flange connecting plate, and described substrate is fixedly connected in described two pieces of gripper shoes.
Above-mentioned feeding robot paw, wherein, described armful of clip assembly comprises pressure arm body, the first guide rail slide block, battery plate and the second guide rail slide block, described pressure arm body is installed on the substrate by described first guide rail slide block, and described battery plate is arranged on described pressure arm body by described second guide rail slide block.
Above-mentioned feeding robot paw, wherein, described adsorbing mechanism comprises Suction cup assembly, tracheorrhaphy gas board component and vacuum generator assembly, described tracheorrhaphy gas board component is connected with described vacuum generator assembly, described Suction cup assembly is connected with described tracheorrhaphy gas board component, and described Suction cup assembly connects on the substrate.
Above-mentioned feeding robot paw, wherein, described Suction cup assembly comprises the first Suction cup assembly and the second Suction cup assembly, and the size of described first Suction cup assembly is greater than the size of described second Suction cup assembly, and described first Suction cup assembly and described second Suction cup assembly are crisscross arranged.
Above-mentioned feeding robot paw, wherein, battery cell described in each includes battery and draws face, battery described in each draws corresponding first Suction cup assembly in face and two the second Suction cup assemblies, described first Suction cup assembly draws the mid portion in face in the described battery of correspondence, and described second Suction cup assembly corresponds to the two ends that face drawn by described battery.
Beneficial functional of the present utility model is, the battery loading robot hand for battery assembly line that the utility model discloses, can stablize, fast, the battery pack of crawl many cells composition of safety and battery hopper, ensure controllability and the stability of whole transfer process.
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail, but not as to restriction of the present utility model.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is bindiny mechanism's structural representation of the utility model one embodiment;
Fig. 3 is the gripping body structural representation of the utility model one embodiment;
Fig. 4 is the adsorbing mechanism structural representation of the utility model one embodiment;
Fig. 5 is testing agency's structural representation of the utility model one embodiment.
Wherein, Reference numeral
1 substrate
2 bindiny mechanisms
21 adpting flanges
22 flange connecting plates
23 gripper shoes
3 gripping bodies
31 reentrant type electricity cylinder components
311 reentrant type electricity cylinders
312 electric cylinder bearings one
313 electric cylinder bearings two
314 electric cylinder flanges
32 armfuls of clip assemblies
321 pressure arm bodies
322 guide rail slide blocks one (the first guide rail slide block)
323 battery plates
324 guide rail slide blocks two (the second guide rail slide block)
4 adsorbing mechanisms
41 large footpaths Suction cup assembly (the first Suction cup assembly)
42 path Suction cup assemblies (the second Suction cup assembly)
43 sucker bases
44 tracheorrhaphy gas board components
441 air dividing plates
442 gas-tpe fittings
45 vacuum generator assemblies
451 vacuum generator groups
452 points of air parcels
453 points of air parcel installing plates
454 valve plates
5 testing agencies
51 vision inspection apparatus
511 vision systems
512 vision installation components
52 bar-code identification sensor devices
521 bar-code identification sensors
522 screen bar code recognizer installed parts
53 laser range sensors
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, technical solutions of the utility model are described in detail, further to understand the purpose of this utility model, scheme and effect, but not as the restriction of the utility model claims protection domain.
In the detailed description of the invention shown in Fig. 1, the battery loading robot hand that the utility model provides a kind of battery assembly line special, be arranged on the mechanical arm working end of described six-joint robot, wherein, the bindiny mechanism 2 that described battery loading robot hand comprises substrate 1 and installs on the substrate, gripping body 3, adsorbing mechanism 4 and testing agency 5, bindiny mechanism 2 on described substrate 1 arranges and is connected with the mechanical arm working end of six-joint robot, gripping body 3 on described substrate 1 is arranged at and runs through described substrate 1 both sides, adsorbing mechanism 4 on described substrate 1 is arranged at below described substrate 1, described bindiny mechanism 2, gripping body 3, adsorbing mechanism 4 is connected with the controlling organization of described six-joint robot respectively with testing agency 5.
See bindiny mechanism's structural representation that Fig. 2, Fig. 2 are the utility model one embodiment.In the present embodiment, described bindiny mechanism 2 comprises adpting flange 21, flange connecting plate 22 and gripper shoe 23, described flange connecting plate 22 is fixed on below described adpting flange 21, described gripper shoe 23 is fixed on each one piece of both sides below described flange connecting plate 22, and described substrate 1 is fixed on below described two pieces of gripper shoes 23.
See the gripping body structural representation that Fig. 3, Fig. 3 are the utility model one embodiment.In the present embodiment, described gripping body 3 comprises reentrant type electricity cylinder component 31, embraces clip assembly 32, described reentrant type electricity cylinder component 31 comprises reentrant type electricity cylinder 311, electric cylinder bearing 1, electric cylinder bearing 2 313 and electric cylinder flange 314, described electric cylinder bearing 1 and described electric cylinder bearing 2 313 are fixed on above described substrate 1, described reentrant type electricity cylinder flange 314 installed surface is fixed on described electric cylinder bearing 1 side, and described reentrant type electricity cylinder 311 afterbody installed surface is fixed on described electric cylinder bearing 2 313 side.Described electric cylinder flange 314 connects described reentrant type electricity cylinder 311 and described armful of clip assembly 32.
Described armful of clip assembly 32 comprises pressure arm body 321, guide rail slide block 1, battery plate 323 and guide rail slide block 2 324.Described pressure arm body 321 is arranged on above described substrate 1 by described guide rail slide block 1, and described battery plate 323 is arranged on described pressure arm body 321 side by described guide rail slide block 2 324.
See the adsorbing mechanism structural representation that Fig. 4, Fig. 4 are the utility model one embodiment.In the present embodiment, described adsorbing mechanism 4 comprises: large footpath Suction cup assembly 41, path Suction cup assembly 42, sucker base 43, tracheorrhaphy gas board component 44 and vacuum generator assembly 45.Described large footpath Suction cup assembly 41 and described path Suction cup assembly 42 are fixed on below described sucker base 43, and described sucker base 43 is fixed on below described substrate 1.
Described tracheorrhaphy gas board component 44 comprises air dividing plate 441 and gas-tpe fitting 442.Described gas-tpe fitting 442 is fixed on described air dividing plate 441, and described air dividing plate 441 is fixed on described gripper shoe 23 side.
Described vacuum generator assembly 45 comprises vacuum generator group 451, point air parcel 452, point air parcel installing plate 453 and valve plate 454.Described point of air parcel 452 two ends fixing described point air parcel installing plate 453 respectively, described point of air parcel installing plate 453 is fixed on above described valve plate 454, and described valve plate 454 is fixed on described flange connecting plate 22 side.
See testing agency's structural representation that Fig. 5, Fig. 5 are the utility model one embodiment.In the present embodiment, described testing agency 5 comprises: vision inspection apparatus 51, bar-code identification sensor device 52 and laser range sensor 53.Described vision inspection apparatus 51 comprises vision system 511 and vision installation component 512, and described vision system 511 is fixed on described vision installation component 512 front, and described vision installation component 512 is fixed on described gripper shoe 23 front.Described bar-code identification sensor device 52 comprises bar-code identification sensor 521 and screen bar code recognizer installed part 522, described bar-code identification sensor 521 is arranged on described screen bar code recognizer installed part 522 front, and described screen bar code recognizer installed part 522 is fixed on described substrate 1 side.Described laser range sensor 53 is arranged at described substrate 1 opposite flank.
In the utility model one embodiment, ABB six-joint robot is adopted to realize the driving of whole paw.According to the difference of job specification, ABB six-joint robot can realize arc-welding, assembling, casting cleaning, application/spraying, cutting, polishing, material handling, the functions such as stacking, by selection grounds such as actuating range, positioning precision, wrist load, use occasion and outer shaft configurations, the utility model preferred six-joint robot IRB6700 series (brachium 3200mm, prudent 150kg), realize quick, stable, the movement reliably of whole manipulator.
The utility model is considered to step up the many factors such as power and arm of force opening and closing stroke required for gripping battery, the RCP4-RA6R-I-56P-4-350 type electricity cylinder of the preferred IAI of the gripping body in battery loading robot hand, electricity cylinder stroke 350mm, accommodates power 800N.Make gripping body accurately can control to capture different gripping sizes and the gripping power such as the battery pack of 6-12 cell composition and battery hopper.By analyzing the factors such as the construction profile of cell in gripping battery pack, material and weight, in adsorbing mechanism 4, the ZP2-TB15MTN type sucker (correspondence and above-mentioned path Suction cup assembly 42) of each cell by two groups of diameter 15mm and ZP2-HN type sucker (corresponding Yu the above-mentioned large footpath Suction cup assembly 41) acting in conjunction of diameter 32mm, wherein ZP2-TB15MTN type sucker is positioned at cell absorption two ends, face, a main balanced action, ZP2-TB15MTN type sucker is positioned at cell and draws face mid portion, for drawing the main power of battery.
In dynamic lithium battery group feeding process, whole device controls gripping body 3, adsorbing mechanism 4 and testing agency 5 by the main control PLC transmission instruction of controlling organization to robot simultaneously completes Coupled motion process.Wherein:
The battery pack of lithium battery captures: the special battery loading robot hand of battery assembly line sends by main control PLC order to move to lithium battery hopper top position by six-joint robot, main control PLC sends a signal to large footpath Suction cup assembly 41, cell is drawn by path Suction cup assembly 42, send a signal to reentrant type electricity cylinder 311 again, drive battery plate 323 that battery pack is embraced folder, drive battery loading robot hand lithium battery group to be transported to the position of specifying by six-joint robot;
The battery hopper of lithium battery captures: after the battery in battery hopper takes, send order by main control PLC and move to battery hopper top position by six-joint robot, gripping body 3 armfuls folder battery hopper, battery loading robot hand is moved by six-joint robot and is placed on line body position, side by battery hopper, continues to capture battery pack in lower floor's battery hopper.
Before battery loading robot hand captures battery, need to determine battery pack position by the vision system 511 in vision inspection apparatus 51, the bar code on cell is scanned by bar-code identification sensor 521, the accuracy of checking cell order, detects the number of plies of battery hopper by laser range sensor 53.
In battery crawl process, whole device is transferred by being moved by six-joint robot, by the acting in conjunction carrying lithium battery group of driving and vacuum cup about standard electric cylinder, battery is captured by gripping body, drive lower battery plate to embrace the empty battery hopper of folder on the line body of side by electric cylinder again after one case battery pack has captured, continue the battery pack in crawl lower floor battery hopper, after the battery pack of current location has captured, wait for that next battery hopper flows into, this is for completing a circulation.
The utility model has a kind ofly gathered servo techniques and vacuum technique coordinated signals and the special equipment for lithium battery material loading formed, can stablize in conjunction with production line beat, fast, safety the battery pack of 6-12 cell composition is regularly transported to production line assigned address, can accurate quick position lithium battery group position, by vacuum cup carrying lithium battery group, embrace clip assembly by electric cylinder effect and embrace folder battery pack, and reach the object of transfer lithium battery safely and fast by the coordinated signals of above all elements.
Certainly; the utility model also can have other various embodiments; when not deviating from the utility model spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the utility model, but these change accordingly and are out of shape the protection domain that all should belong to the claim appended by the utility model.
Claims (10)
1. a feeding robot paw, be connected on the mechanical arm of the robot on lithium battery assembly line, described robot also comprises controlling organization, it is characterized in that, described feeding robot paw comprises:
Bindiny mechanism, is connected with described mechanical arm;
Substrate, is connected in described bindiny mechanism;
Testing agency, comprises the vision inspection apparatus that connection is electrically connected on the substrate and with described controlling organization, and described vision inspection apparatus detects the position of battery pack and battery hopper;
Adsorbing mechanism, is connected to the below of described substrate and is electrically connected with described controlling organization, adsorbing battery pack by vacuum adsorption force; And
Gripping body, comprise electric cylinder and be connected to armful clip assembly on electric cylinder, described electric cylinder connects on the substrate and is electrically connected with described controlling organization, and described electric cylinder is flexible drives a described armful clip assembly to embrace folder battery pack or battery hopper.
2. feeding robot paw according to claim 1, is characterized in that, described battery pack is made up of polylith cell.
3. feeding robot paw according to claim 2, it is characterized in that, described testing agency also comprises the bar-code identification sensor identifying bar code on described cell, and described bar-code identification sensor connects on the substrate and is electrically connected with described controlling organization.
4. feeding robot paw according to claim 3, is characterized in that, described testing agency also comprises the laser range sensor of the number of plies detecting battery hopper, and described laser range sensor connects on the substrate and is electrically connected with described controlling organization.
5. feeding robot paw according to claim 4, is characterized in that, described vision inspection apparatus and described bar-code identification sensor setting are in the side of described substrate, and described laser range sensor is arranged at the relative opposite side of described substrate.
6. feeding robot paw according to claim 1, it is characterized in that, described bindiny mechanism comprises adpting flange, flange connecting plate and gripper shoe, described adpting flange is connected with described mechanical arm, described flange connecting plate is fixedly connected on described adpting flange, described gripper shoe is two pieces, is individually fixed in the both sides of described flange connecting plate, and described substrate is fixedly connected in described two pieces of gripper shoes.
7. feeding robot paw as claimed in claim 1, it is characterized in that, described armful of clip assembly comprises pressure arm body, the first guide rail slide block, battery plate and the second guide rail slide block, described pressure arm body is installed on the substrate by described first guide rail slide block, and described battery plate is arranged on described pressure arm body by described second guide rail slide block.
8. feeding robot paw as claimed in claim 2, it is characterized in that, described adsorbing mechanism comprises Suction cup assembly, tracheorrhaphy gas board component and vacuum generator assembly, described tracheorrhaphy gas board component is connected with described vacuum generator assembly, described Suction cup assembly is connected with described tracheorrhaphy gas board component, and described Suction cup assembly connects on the substrate.
9. feeding robot paw as claimed in claim 8, it is characterized in that, described Suction cup assembly comprises the first Suction cup assembly and the second Suction cup assembly, the size of described first Suction cup assembly is greater than the size of described second Suction cup assembly, and described first Suction cup assembly and described second Suction cup assembly are crisscross arranged.
10. feeding robot paw as claimed in claim 9, it is characterized in that, battery cell described in each includes battery and draws face, battery described in each draws corresponding first Suction cup assembly in face and two the second Suction cup assemblies, described first Suction cup assembly draws the mid portion in face in the described battery of correspondence, and described second Suction cup assembly corresponds to the two ends that face drawn by described battery.
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|---|---|---|---|
| CN201520652263.0U CN204935641U (en) | 2015-08-26 | 2015-08-26 | A kind of feeding robot paw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520652263.0U CN204935641U (en) | 2015-08-26 | 2015-08-26 | A kind of feeding robot paw |
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| CN204935641U true CN204935641U (en) | 2016-01-06 |
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| CN106740727A (en) * | 2017-01-17 | 2017-05-31 | 宁波威客双创投资有限公司 | A kind of battery captures moving machine |
| CN107572252A (en) * | 2017-09-27 | 2018-01-12 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp carried for cell phone mainboard |
| CN107825091A (en) * | 2017-09-28 | 2018-03-23 | 浙江理工大学 | The carrying positioner of liner plate on a kind of draught fan impeller |
| CN108306044A (en) * | 2018-03-01 | 2018-07-20 | 珠海格力精密模具有限公司 | Electricity core snatchs hand claw and has its power battery assembly robot |
| CN108381580A (en) * | 2018-04-28 | 2018-08-10 | 天津银隆新能源有限公司 | It a kind of battery modules retaining paw and puts together machines people with its battery modules |
| CN108818600A (en) * | 2018-06-29 | 2018-11-16 | 合肥巨智能装备有限公司 | A kind of new energy motor inserting-coil grabbing device and its robot gripping apparatus |
| CN109015732A (en) * | 2018-08-07 | 2018-12-18 | 镇江成泰自动化技术有限公司 | A kind of dynamic lithium battery material catching robot |
| CN109129527A (en) * | 2018-08-16 | 2019-01-04 | 上海发那科机器人有限公司 | A kind of carton intelligence pickup robot gripper |
| CN109227592A (en) * | 2018-11-27 | 2019-01-18 | 南京理工大学张家港工程院有限公司 | A kind of mechanization process jaw means |
| CN109807619A (en) * | 2019-01-16 | 2019-05-28 | 上海诺银机电科技有限公司 | A kind of linear guide intelligence assembly line |
| CN109849043A (en) * | 2019-01-30 | 2019-06-07 | 上海发那科机器人有限公司 | A kind of robot hand and its application method applied to LCD assembly |
| CN110048151A (en) * | 2019-04-23 | 2019-07-23 | 深圳市麦格米特控制技术有限公司 | A kind of assemble method of battery pack, device, electronic equipment and storage medium |
| CN110635147A (en) * | 2019-09-27 | 2019-12-31 | 深圳市誉辰自动化设备有限公司 | Feeding and discharging clamp of laminated battery cell and battery cell hot press |
| CN110802599A (en) * | 2019-11-28 | 2020-02-18 | 爱孚迪(上海)制造系统工程有限公司 | System for grabbing parts from material frame under robot vision guidance and control method |
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| CN114435939A (en) * | 2022-01-07 | 2022-05-06 | 北新建材(天津)有限公司 | Automatic backing plate feeding robot and stable picking and placing method |
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| CN106740727A (en) * | 2017-01-17 | 2017-05-31 | 宁波威客双创投资有限公司 | A kind of battery captures moving machine |
| CN107572252A (en) * | 2017-09-27 | 2018-01-12 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp carried for cell phone mainboard |
| CN107825091A (en) * | 2017-09-28 | 2018-03-23 | 浙江理工大学 | The carrying positioner of liner plate on a kind of draught fan impeller |
| CN108306044A (en) * | 2018-03-01 | 2018-07-20 | 珠海格力精密模具有限公司 | Electricity core snatchs hand claw and has its power battery assembly robot |
| CN108306044B (en) * | 2018-03-01 | 2023-11-10 | 珠海格力精密模具有限公司 | Battery cell grabbing paw and power battery assembly robot with same |
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| CN108818600A (en) * | 2018-06-29 | 2018-11-16 | 合肥巨智能装备有限公司 | A kind of new energy motor inserting-coil grabbing device and its robot gripping apparatus |
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| CN109129527A (en) * | 2018-08-16 | 2019-01-04 | 上海发那科机器人有限公司 | A kind of carton intelligence pickup robot gripper |
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| CN110802599B (en) * | 2019-11-28 | 2021-04-06 | 爱孚迪(上海)制造系统工程有限公司 | Control method for grabbing parts from material frame under visual guidance of robot |
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| CN114772279A (en) * | 2022-04-27 | 2022-07-22 | 芜湖固高自动化技术有限公司 | Casket-like bowl reloading robot and terminal executive device thereof |
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