CN209177550U - A kind of multi-functional loading and unloading manipulator applied to automatic detection - Google Patents
A kind of multi-functional loading and unloading manipulator applied to automatic detection Download PDFInfo
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- CN209177550U CN209177550U CN201821424684.8U CN201821424684U CN209177550U CN 209177550 U CN209177550 U CN 209177550U CN 201821424684 U CN201821424684 U CN 201821424684U CN 209177550 U CN209177550 U CN 209177550U
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Abstract
The utility model discloses a kind of multi-functional loading and unloading manipulators applied to automatic detection.The multi-functional loading and unloading manipulator includes mobile mould group and the absorption module that is installed in mobile mould group, the mobile mould group includes the mobile mould group of X-axis, the mobile mould group of Y-axis and the mobile mould group of Z axis, and the absorption module includes that the first sucker, the second sucker and sucker go up and down module.The multi-functional loading and unloading manipulator of the utility model, structure is simple, versatile, setting is convenient, changes the operation mode of original artificial loading, effectively solves the low efficiency of artificial loading, the problems such as consistency is poor, the automatic operation of loading and unloading is realized, while product and two kinds of objects of charging tray can be carried, can be also used for charging tray reset after automatic charging, space occupied is small, unnecessary machine operation link is avoided, shortens the production time, production capacity can effectively improve.
Description
Technical field
The utility model relates to automate processing technique field, more particularly, to a kind of applied to automatic detection
Multi-functional loading and unloading manipulator.
Background technique
Most of product requires to carry out different types of detection before and after certain production links, is arrived according to fraction defective feedback
Front end production process, and filter out bad products and guarantee that rear end process smoothly completes, and then control the product of entire production link
Quality.Most of enterprise is at present artificial loading in the material-uploading style that the process of detection uses, and detection project is examined by machine
It surveys and completes, since artificial discharge position is different, typically result in test result inaccuracy, while artificial loading and unloading are in entirely detection ring
It saves time-consuming longest to save labour turnover to improve detection efficiency, it is modernization that automatic test is constantly turned to from manual testing
The inexorable trend of existence.Although also there is corresponding manipulator to occur at present, it is often had a single function, and product is usually in the detection
By charging tray carrying, so be also required to while product automatic loading/unloading by the movement of charging tray automatic transporting, but single machinery
Hand is difficult to meet this demand, and multiple manipulators operate occupy excessive operating space simultaneously, and increase Existent Costs.
Therefore it provides multi-functional loading and unloading manipulator may be implemented for realizing that it is extremely important that automatic detection has in one kind
Meaning.
Utility model content
The technical problems to be solved in the utility model is that existing feeding manipulator is overcome to operate single defect and deficiency, is mentioned
For a kind of multi-functional loading and unloading manipulator applied to automatic detection.
The utility model above-mentioned purpose is achieved through the following technical solutions:
A kind of multi-functional loading and unloading manipulator applied to automatic detection, the loading and unloading manipulator include mobile mould group
And it is installed on the absorption module in mobile mould group, the mobile mould group includes that the mobile mould group of X-axis, the mobile mould group of Y-axis and Z axis move
Dynamic model group, for realizing movement of the absorption module on XYZ axis, the absorption module detachably connects with the mobile mould group
It connects, the absorption module includes that the first sucker, the second sucker and sucker go up and down module, and first sucker is located at the second sucker
Outside, the lifting of sucker lifting module control first sucker and the second sucker.
Realizing that product feeding is to draw module to realize it in XY axis direction by the mobile mould group of X-axis, the mobile mould group of Y-axis
Random movement, be accurately positioned to above the product of upper material position, then be further moved to absorption mould group by the mobile mould group of Z axis
Above product, module is gone up and down by sucker and controls the second sucker absorption product, is moved into detection station, after detection again
Product is moved to feeding station by manipulator, into next section of process operations.To product, all detection is finished, the decline of the first sucker
Below to the second sucker, charging tray is drawn by the mobile mould group effect decline of Z axis, and it is accurately sent to blanking by the movement of XY axis
Position, the full-automatic loading and unloading for realizing product and charging tray take, and can a manipulator be completed at the same time, not only space hold is small,
And work efficiency is high.
Preferably, first sucker, the second sucker and sucker lifting module are detachably connected.It is described detachably to connect
Connecing can be bolted.
Preferably, sucker lifting module includes jig mounting blocks, is set at left and right sides of jig mounting blocks and has the
One cylinder is set to the second cylinder of the lower central of jig mounting blocks, and first cylinder is removably connected with the first sucker,
Second cylinder is removably connected with the second sucker, and the jig mounting blocks are removably connected to below the mobile mould group of Z axis.
Preferably, first cylinder is detachably connected 4 the first suckers, and second cylinder is detachably connected 2
Two suckers.4 the first suckers in distributed rectangular in tool mounting blocks quadrangle, and are connected on the first cylinder of two sides by nut,
2 the second suckers are symmetrically disposed on the second cylinder.
Preferably, the push rod end of first cylinder is provided with sucker square installing plate, and first sucker is set to
Sucker square installing plate is detachably connected with sucker square installing plate.
Preferably, sucker circular mounting plate, the second sucker setting are provided with below the spill spin block of second cylinder
In sucker circular mounting plate, it is detachably connected with sucker circular mounting plate.
Preferably, first cylinder is double-rod cylinder TN10x100S.
Preferably, second cylinder is rotary cylinder HRQ10.
Preferably, the mobile mould group of the Z axis is detachably connected with the mobile mould group of the Y-axis, the mobile mould group of the Y-axis and institute
The mobile mould group of X-axis is stated to be detachably connected.
Preferably, the mobile mould group of the Y-axis includes Y-axis support plate, Y-axis support plate fixed plate, Y-axis transmission and Y-axis
Jigsaw is moved, the Y-axis support plate fixed plate is used to fix the both ends of Y-axis support plate, and the Y-axis transmission is for driving Y
Axis movement jigsaw moves in Y-axis, and the mobile mould group of the X-axis is detachably connected with Y-axis movement jigsaw.
Y-axis support plate fixed plate includes front shoe and rear fixed plate, fixes the both ends of Y-axis support plate respectively.Before described
Fixed plate is assembled by bolt by one block of horizontal aluminium sheet and vertical aluminium sheet, at the same using one piece of floor be set to two aluminium sheets it
Between, it is vertical two-by-two with it, and be bolted；The rear fixed plate passes through spiral shell by one block of horizontal aluminium sheet and vertical aluminium sheet
Bolt is assembled, while being set between two aluminium sheets using one piece of floor, vertical two-by-two with it, and is bolted.
The Y-axis support plate is process by a 120*60 aluminum profile, is horizontally placed on front shoe and rear fixed plate
Between, and be bolted, it is provided with sliding block and guide rail above the Y-axis support plate, bilateral symmetry is locked by bolt.
The Y-axis movement jigsaw is spliced by one block of horizontally disposed aluminium sheet and one block of aluminium sheet being vertically arranged by bolt solid
It is fixed, and two symmetrical floors are set between two plates, and are bolted, the Y-axis movement jigsaw following four corners is provided with
Four sliding blocks, and be bolted.
It is configured with retarder in the Y-axis transmission, is horizontally placed in the floor in front shoe, while slowing down
A synchronizing wheel is arranged in the output shaft of device, and is connected and fixed by flat key, and Y-axis transmission further includes Y-axis idle pulley and synchronous belt, Y
One bearing of each setting in left and right in axis idle pulley, and rear fixed plate is fixed in by installation axle, I side of synchronous belt is set to
Y-axis idle pulley outer circle, the other side are set to the synchronizing wheel outer circle connecting with driving mechanism motor；Pass through the biography of synchronous belt and synchronizing wheel
The guidance mode of flowing mode and slide block guide rail drives Y-axis movement jigsaw mobile in Y direction.
Preferably, the mobile mould group of the X-axis includes X-axis support plate, X-axis transmission device and X-axis movement jigsaw, the X-axis
Transmission device is for driving X-axis movement jigsaw to move in X-axis, and institute's X-axis movement jigsaw is set in front of Y-axis movement jigsaw, with Y
Axis movement jigsaw is detachably connected.
The X-axis support plate is process by 40*80 aluminum profile, is horizontally placed in front of Y-axis movement jigsaw (8), and lead to
It crosses and is bolted.
The X-axis transmission device includes motor, synchronizing wheel, X-axis idle pulley, synchronous belt, sliding block and guide rail, the motor configuration
There is retarder, is set to X-axis support plate by installing aluminium sheet, and be bolted, while the output shaft of retarder is by putting down
Key is connect with synchronizing wheel, and X-axis support plate right end is arranged in the idle pulley mounting base, and is bolted, before the X-axis idle pulley is interior
One bearing is respectively set afterwards, is set in idle pulley mounting base by installation axle, and be bolted, the synchronous belt side setting
In X-axis idle pulley outer circle, the other side is set to the synchronizing wheel outer circle being connected to motor, and the sliding block and guide rail are horizontally placed on X-axis
In front of support plate, be bolted, two sliding blocks are set to X-axis maneuvering board rear and are bolted, by synchronous belt with
The kind of drive of synchronizing wheel and the guidance mode of slide block guide rail drive X-axis support plate mobile in X-direction.
Preferably, the mobile mould group of the Z axis includes straight line lead screw mould group and driving device, and the driving device is located at straight line
Above lead screw mould group, the straight line lead screw mould group is set in front of X-axis movement jigsaw, is detachably connected, is led to X-axis movement jigsaw
Over-driving device and the cooperation of straight line lead screw mould group realize that draw module moves on Z axis.
The driving device is motor, and the motor is set to above straight line lead screw mould group, is fixed by bolt and mould group
Seat connection, while the output shaft of motor is connect by shaft coupling with lead screw, the jig mounting blocks are set to straight line lead screw mould group
It below fixing seat, and is bolted, passes through the guidance mode of the slide block guide rail built in the driving and straight line mould group of motor, band
Dynamic jig mounting blocks are mobile in Z-direction.
Preferably, the motor is servo motor MSMD022G1U.
The working principle of the multi-functional loading and unloading manipulator of the automatic detection are as follows:
S1. PLC sends pulse signal to each motor, Z axis motor return pulse signal rotating shaft, shaft drive silk
Thick stick rotates, and by the kind of drive of lead screw and feed screw nut, converts linear motion for the rotary motion of machine shaft,
And then the second sucker is driven to be moved to upper material position above product in Z-direction, product is drawn by the second sucker, further
, drive the second sucker to be moved to above product in Z-direction, the second cylinder drive the second sucker about the z axis direction from raw bits
It sets and rotates clockwise 90 °, achieve the purpose that adjust product form；
S2. y-axis motor return pulse signal rotating shaft, shaft drive synchronizing wheel rotate, using synchronous belt with
The kind of drive of synchronizing wheel drives the second sucker to be moved in Y direction from feeding position by the guidance mode of sliding block and guide rail
Check bit, and then product is placed in detection station, detection terminates, and each motor works in order with cylinder, and product is moved to
Home position；
S3. product is fully completed detection in charging tray, and the first cylinder drives the first sucker in Z-direction from the second sucker
Side is moved to below the second sucker, and Z axis motor drives the first sucker to be moved to charging tray position above charging tray, is inhaled by the first sucker
Feeding disk, y-axis motor return pulse signal rotating shaft, shaft drive synchronizing wheel rotate, using synchronous belt with it is synchronous
The kind of drive of wheel drives the first sucker to be moved to blanking from feeding position in Y direction by the guidance mode of sliding block and guide rail
Position, Z axis motor drive the first sucker to be moved to lower material position above lower material position, discharge charging tray in lower material position, pass through three motors
With the co-operating of three cylinders, reach the function of automated handling product and charging tray in the detection process.
Compared with prior art, the utility model has the beneficial effects that
The utility model provides a kind of multi-functional loading and unloading manipulator applied to automatic detection, and structure is simple, leads to
Strong with property, setting is convenient, changes the operation mode of original artificial loading, effectively solves the low efficiency of artificial loading, unanimously
The problems such as property is poor, realizes the automatic operation of loading and unloading；
The multi-functional loading and unloading manipulator of the utility model can carry product and two kinds of objects of charging tray, automatic charging simultaneously
After can be also used for charging tray reset, space occupied is small, avoids unnecessary machine operation link, shortens the production time, production capacity energy
It accesses and effectively improves.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of multi-functional loading and unloading manipulator.
Fig. 2 is the main view of multi-functional loading and unloading manipulator.
Fig. 3 is the partial enlarged view of multi-functional loading and unloading manipulator.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, should not be understood as the limitation to this patent.
Embodiment 1
A kind of multi-functional loading and unloading manipulator applied to automatic detection, as shown in Fig. 1 ~ Fig. 3, including mobile mould group with
And it is installed on the absorption module in mobile mould group, mobile mould group includes the mobile mould group 1 of X-axis, the mobile mould group 2 of Y-axis and the mobile mould of Z axis
Group 3 is drawn module and is detachably connected with mobile mould group, draw module for realizing movement of the absorption module on XYZ axis
Module 6 is gone up and down including the first sucker 4, the second sucker 5 and sucker, the first sucker 4 is located at the outside of the second sucker 5, sucker lifting
Module 6 controls the lifting of the first sucker 4, the second sucker 5, and the mobile mould group 2 of Y-axis is fixed including Y-axis support plate 201, Y-axis support plate
Plate 202, Y-axis transmission 203 and Y-axis move jigsaw 204, and Y-axis support plate fixed plate 202 is for fixing Y-axis support plate 201
Both ends, Y-axis transmission 203 for driving Y-axis movement jigsaw 204 to move in Y-axis, spell with Y-axis movement by the mobile mould group 1 of X-axis
Plate 204 is bolted；The mobile mould group 1 of X-axis includes that X-axis support plate 101, X-axis transmission device 102 and X-axis move jigsaw 103, X-axis
For transmission device 102 for driving X-axis movement jigsaw 103 to move in X-axis, X-axis movement jigsaw 103 is set to Y-axis movement jigsaw
204 fronts are bolted with Y-axis movement jigsaw 204；The mobile mould group 3 of Z axis includes straight line lead screw mould group 301 and driving device
302, driving device 302 is located at 301 top of straight line lead screw mould group, before straight line lead screw mould group 301 is set to X-axis movement jigsaw 103
Side is bolted with X-axis movement jigsaw 103, realizes that drawing module exists by Z axis motor 302 and the cooperation of straight line lead screw mould group 301
It is moved on Z axis；Sucker lifting module 6 has first including jig mounting blocks 601, the left and right sides for being set to jig mounting blocks 601
Cylinder 602 is set to the second cylinder 603 of the lower central of jig mounting blocks 601, the push rod end setting of the first cylinder 602
There is sucker square installing plate 6021, the first sucker 4 is bolted in sucker square installing plate 6021；The rotation of second cylinder 603
It is provided with sucker circular mounting plate 6031 below block, the second sucker 5 is bolted in sucker circular mounting plate, jig mounting blocks
601 are bolted in mobile 3 lower section of mould group of Z axis, and wherein Y-axis support plate fixed plate 202 is including front shoe 2021 and fixed afterwards
Plate 2022 fixes the both ends of Y-axis support plate respectively, and front shoe is by one block of horizontal aluminium sheet 20211 and vertical aluminium sheet 20212
By bolt assembly, while being set between two aluminium sheets using one piece of floor 20213, it is vertical two-by-two with it, and connected by bolt
It connects；Rear fixed plate is assembled by bolt by one block of horizontal aluminium sheet and vertical aluminium sheet, while being set to two using one piece of floor
It is vertical two-by-two with it between aluminium sheet, and be bolted；Y-axis support plate is process by a 120*60 aluminum profile, horizontal
It is set between front shoe and rear fixed plate, and is bolted, be provided with sliding block and guide rail above Y-axis support plate
2011, bilateral symmetry is locked by bolt；Y-axis moves jigsaw by one block of horizontally disposed aluminium sheet and one block of aluminium being vertically arranged
Plate is spliced by bolt to be fixed, and two symmetrical floors is arranged between two plates, and be bolted, and the Y-axis movement is spelled
There are four sliding blocks for the setting of plate following four corners, and are bolted, and retarder is configured in Y-axis transmission, is horizontally placed on
In floor in front shoe, while one synchronizing wheel is set in the output shaft of retarder, and be connected and fixed by flat key, Y-axis passes
Dynamic device further includes Y-axis idle pulley 2031 and synchronous belt 2032, one bearing of each setting in left and right in Y-axis idle pulley, and passing through installation axle will
It is fixed on rear fixed plate, and the synchronous belt side is set to 2031 outer circle of Y-axis idle pulley, and the other side is set to and driving mechanism Y
The synchronizing wheel outer circle that spindle motor 2033 connects；By the guidance mode of the kind of drive and slide block guide rail of synchronous belt and synchronizing wheel,
Drive Y-axis movement jigsaw mobile in Y direction.
X-axis support plate is process by 40*80 aluminum profile, is horizontally placed in front of Y-axis movement jigsaw, and connected by bolt
It connects, X-axis transmission device includes motor, synchronizing wheel, X-axis idle pulley, synchronous belt, sliding block and guide rail, and motor is configured with retarder, passes through
Installation aluminium sheet is set to X-axis support plate, and is bolted, while the output shaft of retarder is connected by flat key and synchronizing wheel
It connects, X-axis support plate right end is arranged in idle pulley mounting base, and is bolted, and one bearing of each setting in front and back, passes through in X-axis idle pulley
Installation axle is set in idle pulley mounting base, and is bolted, and synchronous belt side is set to X-axis idle pulley outer circle, and the other side is set
It is placed in the synchronizing wheel outer circle being connected to motor, sliding block and guide rail are horizontally placed in front of X-axis support plate, are bolted, two
Sliding block is set to X-axis maneuvering board rear and is bolted, and passes through the kind of drive and slide block guide rail of synchronous belt and synchronizing wheel
Guidance mode, drive X-axis support plate mobile in X-direction.
The driving device of Z axis motion module is motor, and motor is set to above straight line lead screw mould group, passes through bolt and mould group
Fixing seat connection, while the output shaft of motor is connect by shaft coupling with lead screw, the jig mounting blocks are set to straight line lead screw
It below module fixing base, and is bolted, passes through the guiding side of the slide block guide rail built in the driving and straight line mould group of motor
Formula drives jig mounting blocks mobile in Z-direction.
The working principle of the multi-functional loading and unloading manipulator of automatic detection are as follows:
S1. PLC sends pulse signal to each motor, Z axis motor return pulse signal rotating shaft, shaft drive silk
Thick stick rotates, and by the kind of drive of lead screw and feed screw nut, converts linear motion for the rotary motion of machine shaft,
And then the second sucker is driven to be moved to upper material position above product in Z-direction, product is drawn by the second sucker, further
, drive the second sucker to be moved to above product in Z-direction, the second cylinder drive the second sucker about the z axis direction from raw bits
It sets and rotates clockwise 90 °, achieve the purpose that adjust product form；
S2. y-axis motor return pulse signal rotating shaft, shaft drive synchronizing wheel rotate, using synchronous belt with
The kind of drive of synchronizing wheel drives the second sucker to be moved in Y direction from feeding position by the guidance mode of sliding block and guide rail
Check bit, and then product is placed in detection station, detection terminates, and each motor works in order with cylinder, and product is moved to
Home position；
S3. product is fully completed detection in charging tray, and the first cylinder drives the first sucker in Z-direction from the second sucker
Side is moved to below the second sucker, and Z axis motor drives the first sucker to be moved to charging tray position above charging tray, is inhaled by the first sucker
Feeding disk, y-axis motor return pulse signal rotating shaft, shaft drive synchronizing wheel rotate, using synchronous belt with it is synchronous
The kind of drive of wheel drives the first sucker to be moved to blanking from feeding position in Y direction by the guidance mode of sliding block and guide rail
Position, Z axis motor drive the first sucker to be moved to lower material position above lower material position, discharge charging tray in lower material position, pass through three motors
With the co-operating of three cylinders, reach the function of automated handling product and charging tray in the detection process.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (10)
1. a kind of multi-functional loading and unloading manipulator applied to automatic detection, which is characterized in that the loading and unloading manipulator packet
The absorption module for including mobile mould group and being installed in mobile mould group, the mobile mould group include X-axis mobile mould group (1), Y-axis shifting
Dynamic model group (2) and Z axis are mobile mould group (3), for realizing movement of the absorption module on XYZ axis, the absorptions module and
The mobile mould group is detachably connected, and the absorption module includes that the first sucker (4), the second sucker (5) and sucker go up and down module
(6), first sucker (4) is located at the outside of the second sucker (5), sucker lifting module (6) control the first sucker (4) and
The lifting of second sucker (5).
2. multi-functional loading and unloading manipulator as described in claim 1, which is characterized in that first sucker (4), the second sucker
(5) it is detachably connected with sucker lifting module (6).
3. multi-functional loading and unloading manipulator as claimed in claim 2, which is characterized in that sucker lifting module (6) includes controlling
Tool mounting blocks (601) is set at left and right sides of jig mounting blocks (601) and has the first cylinder (602), is set to jig mounting blocks
(601) the second cylinder (603) of lower central, first cylinder (602) are detachably connected the first sucker (4), and described
Two cylinders (603) are detachably connected the second sucker (5), and the jig mounting blocks (601) are removably connected to the mobile mould group of Z axis
(3) lower section.
4. multi-functional loading and unloading manipulator as claimed in claim 3, which is characterized in that first cylinder is detachably connected 4
First sucker, second cylinder are detachably connected 2 the second suckers.
5. multi-functional loading and unloading manipulator as claimed in claim 3, which is characterized in that the push rod end of first cylinder (602)
End is provided with sucker square installing plate, and first sucker (4) is set to sucker square installing plate, can with sucker square installing plate
Dismantling connection.
6. multi-functional loading and unloading manipulator as claimed in claim 3, which is characterized in that the spill spin block of second cylinder (603)
Lower section is provided with sucker circular mounting plate, and second sucker (5) is set to sucker circular mounting plate, with sucker circular mounting plate
It is detachably connected.
7. such as any one of the claim 1 ~ 6 multi-functional loading and unloading manipulator, which is characterized in that the Z axis is mobile mould group (3)
It is detachably connected with the Y-axis mobile mould group (2), the Y-axis mobile mould group (2) detachably connects with the X-axis mobile mould group (1)
It connects.
8. multi-functional loading and unloading manipulator as claimed in claim 7, which is characterized in that the Y-axis mobile mould group (2) includes Y-axis
Support plate (201), Y-axis support plate fixed plate (202), Y-axis transmission (203) and Y-axis movement jigsaw (204), the Y-axis branch
Fagging fixed plate (202) is used to fix the both ends of Y-axis support plate (201), and the Y-axis transmission (203) is for driving Y-axis to transport
Dynamic jigsaw (204) move in Y-axis, and the X-axis mobile mould group (1) is detachably connected with Y-axis movement jigsaw (204).
9. multi-functional loading and unloading manipulator as claimed in claim 7, which is characterized in that the X-axis mobile mould group (1) includes X-axis
Support plate (101), X-axis transmission device (102) and X-axis movement jigsaw (103), the X-axis transmission device (102) is for driving X
Axis movement jigsaw (103) moves in X-axis, and institute's X-axis movement jigsaw (103) is set in front of Y-axis movement jigsaw (204), with Y-axis
Movement jigsaw (204) is detachably connected.
10. multi-functional loading and unloading manipulator as claimed in claim 7, which is characterized in that the Z axis mobile mould group (3) includes straight
Filament thick stick mould group (301) and driving device (302), the driving device (302) are located above straight line lead screw mould group (301), institute
It states straight line lead screw mould group (301) to be set in front of X-axis movement jigsaw (103), be detachably connected with X-axis movement jigsaw (103), led to
Over-driving device (302) and straight line lead screw mould group (301) cooperation realize that draw module moves on Z axis.
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| CN201821424684.8U CN209177550U (en) | 2018-08-31 | 2018-08-31 | A kind of multi-functional loading and unloading manipulator applied to automatic detection |
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| CN201821424684.8U CN209177550U (en) | 2018-08-31 | 2018-08-31 | A kind of multi-functional loading and unloading manipulator applied to automatic detection |
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