CN209868090U - Four-axis thermos cup is got and is put device special manipulator - Google Patents
Four-axis thermos cup is got and is put device special manipulator Download PDFInfo
- Publication number
- CN209868090U CN209868090U CN201920532520.5U CN201920532520U CN209868090U CN 209868090 U CN209868090 U CN 209868090U CN 201920532520 U CN201920532520 U CN 201920532520U CN 209868090 U CN209868090 U CN 209868090U
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- clamping jaw
- moving
- down moving
- screw rod
- right moving
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Abstract
The utility model discloses a four-axis thermos cup taking and placing device special manipulator, including getting material clamping jaw structure, feeding clamping jaw structure, reciprocating drive mechanism and left-right moving drive mechanism, getting material clamping jaw structure and feeding clamping jaw structure all include clamping jaw seat, clamping jaw, back-and-forth movement drive mechanism and clamping jaw drive mechanism, back-and-forth movement drive mechanism includes back-and-forth movement supporting beam, back-and-forth movement drive motor, rack and gear, back-and-forth movement drive motor drives the clamping jaw seat back-and-forth movement through gear and rack, clamping jaw drive mechanism includes clamping jaw clamping cylinder and clamping jaw revolving cylinder; the up-down moving driving mechanism comprises an up-down moving support frame, an up-down moving driving motor and an up-down moving lead screw transmission structure; the left-right moving driving mechanism comprises a left-right moving support frame, a left-right moving driving motor and a left-right moving lead screw transmission structure. The utility model discloses not only production efficiency is high, reduces workman intensity of labour, saves the cost of labor, and the error rate is low moreover, guarantees product quality.
Description
Technical Field
The utility model relates to a spare part of thermos cup production line especially relates to a four-axis thermos cup is got and is put device special mechanical hand.
Background
In the production process of the vacuum cup, the vacuum cup needs to be conveyed to outer wall processing equipment from a conveying belt for processing the outer wall of the cup body, and then the processed vacuum cup is taken down from the outer wall processing equipment and put back to the conveying belt to be conveyed to the next process; at present, the process is manually completed, the thermos cup is manually taken from a conveying belt to outer wall processing equipment for processing the outer wall of the cup body, and then the processed thermos cup is taken back to the conveying belt to be conveyed to the next process, so that the production efficiency is low, the labor intensity of workers is high, and the labor cost is high; moreover, manual operation is easy to make mistakes, so that the phenomenon of processing leakage or repeated processing occurs, and the quality of products is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve the defect that exists among the above-mentioned prior art and not enough, provide one kind and adopt before, back, left and right, upper and lower all around movement's manipulator to replace traditional manual operation to get and put the thermos cup, not only production efficiency is high, reduces workman intensity of labour, saves the cost of labor, and the error rate is low moreover, stops the on-the-spot emergence of hourglass processing or repeated processing, guarantees product quality's four-axis thermos cup and gets and put device special manipulator.
The technical scheme of the utility model: a manipulator special for a four-shaft vacuum cup taking and placing device comprises a material taking clamping jaw structure, a feeding clamping jaw structure, an up-and-down moving driving mechanism for driving the material taking clamping jaw structure and the feeding clamping jaw structure to move up and down, and a left-and-right moving driving mechanism for driving the material taking clamping jaw structure and the feeding clamping jaw structure to move left and right,
the material taking clamping jaw structure and the material feeding clamping jaw structure both comprise clamping jaw seats, clamping jaws arranged on the clamping jaw seats, a front-back movement driving mechanism for driving the clamping jaw seats to move and a clamping jaw driving mechanism for driving the clamping jaws to move,
the back-and-forth movement driving mechanism comprises a back-and-forth movement supporting beam, a back-and-forth movement driving motor, a rack fixed on the back-and-forth movement supporting beam and a gear arranged on the back-and-forth movement driving motor, the gear and the rack are mutually meshed, the clamping jaw seat is fixed at one end of the back-and-forth movement supporting beam, the back-and-forth movement driving motor drives the back-and-forth movement supporting beam and the,
the clamping jaw driving mechanism comprises a clamping jaw clamping cylinder for driving a clamping jaw to clamp and a clamping jaw rotating cylinder for driving the clamping jaw to rotate, the clamping jaw rotating cylinder is fixed on the front side of the clamping jaw seat, the clamping jaw clamping cylinder is rotatably connected to the clamping jaw rotating cylinder through a rotating shaft, and the clamping jaw is installed on the clamping jaw clamping cylinder;
the up-down moving driving mechanism comprises an up-down moving support frame, an up-down moving driving motor and an up-down moving lead screw transmission structure, wherein the up-down moving driving motor is arranged on the up-down moving support frame and drives the material taking clamping jaw structure and the material feeding clamping jaw structure to move up and down through the up-down moving lead screw transmission structure;
the left-right moving driving mechanism comprises a left-right moving support frame, a left-right moving driving motor and a left-right moving lead screw transmission structure, wherein the left-right moving driving motor is arranged on the left-right moving support frame, and drives the up-down moving driving mechanism to move left and right through the left-right moving lead screw transmission structure so as to drive the material taking clamping jaw structure and the feeding clamping jaw structure to move left and.
The utility model discloses a can go on before, after, a left side, a right side, on, all direction movement's manipulator replaces traditional manual operation to get and puts the thermos cup, can be quick accurate with treating that processing the thermos cup clamp on the conveyer belt gets and carry out cup outer wall processing on the outer wall processing equipment, and can be quick accurate with the thermos cup clamp that finishes of processing get the conveyer belt on carry one process down, not only production efficiency is high, reduce workman intensity of labour, save the cost of labor, and the error rate is low moreover, stop the on-the-spot emergence of hourglass processing or reprocessed, guarantee product quality.
Preferably, the up-down moving screw rod transmission structure comprises an up-down moving transmission screw rod connected to an up-down moving driving motor, an up-down moving transmission screw rod nut installed on the up-down moving transmission screw rod, and an up-down moving transmission screw rod seat matched with the up-down moving transmission screw rod, wherein an up-down moving fixing seat is connected to the up-down moving transmission screw rod nut, the up-down moving transmission screw rod nut is respectively fixed at the upper parts of two sides of the up-down moving fixing seat, an up-down moving sliding plate is arranged at the lower parts of two sides of the up-down moving fixing seat, up-down moving sliding rails matched with the up-down moving sliding plate.
The structure ensures that the material taking clamping jaw structure and the material feeding clamping jaw structure driven by the up-and-down moving driving mechanism can move up and down stably and reliably.
Preferably, the left-right movement screw rod transmission structure comprises a left-right movement transmission screw rod connected to a left-right movement driving motor, a left-right movement transmission screw rod nut installed on the left-right movement transmission screw rod, and a left-right movement transmission screw rod seat matched with the left-right movement transmission screw rod, a left-right movement sliding plate is arranged at the bottom of the up-down movement support frame, the left-right movement sliding plate is connected with the left-right movement transmission screw rod nut through a left-right movement fixing seat, a left-right movement sliding rail matched with the left-right movement sliding plate is.
The structure ensures that the left-right moving driving mechanism drives the material taking clamping jaw structure and the material feeding clamping jaw structure to move left and right stably and reliably.
Preferably, the back-and-forth movement driving motor is mounted on the up-and-down movement fixing seat through a motor frame, a back-and-forth movement sliding rail matched with the up-and-down movement sliding plate is arranged on one side of the back-and-forth movement supporting beam, and the up-and-down movement sliding plate is connected with the back-and-forth movement sliding rail through a back-and.
The structure ensures that the forward and backward movement driving mechanism drives the clamping jaw to move forward and backward stably and reliably.
Preferably, the jaw seat is trapezoidal, the width of the front side of the jaw seat is larger than that of the rear side of the jaw seat, the width of the rear side of the jaw seat is matched with that of the front-and-back moving support beam, the rear side of the jaw seat is open, and the front end of the front-and-back moving support beam penetrates through the opening to be inserted into the jaw seat and fixed through a bolt.
The structure ensures the connection firmness of the clamping jaw seat and the supporting beam, and ensures that the supporting beam drives the clamping jaw seat to move forwards and backwards stably and reliably.
Preferably, the clamping jaw clamping cylinder is connected with the rotating shaft through a cylinder connecting plate.
The structure ensures the firmness and reliability of connection of the clamping jaw clamping cylinder and the rotating shaft, so that the clamping of the rotating cylinder is ensured to be stable and reliable through driving the clamping jaw clamping cylinder and the clamping jaw to rotate through the rotating shaft.
Preferably, two ends of the rack are provided with limiting blocking pieces.
The structure ensures that the driving motor drives the supporting beam to move back and forth more stably and reliably through the gear and the rack.
The utility model discloses a can go on before, after, a left side, a right side, on, all direction movement's manipulator replaces traditional manual operation to get and puts the thermos cup, can be quick accurate with treating that processing the thermos cup clamp on the conveyer belt gets and carry out cup outer wall processing on the outer wall processing equipment, and can be quick accurate with the thermos cup clamp that finishes of processing get the conveyer belt on carry one process down, not only production efficiency is high, reduce workman intensity of labour, save the cost of labor, and the error rate is low moreover, stop the on-the-spot emergence of hourglass processing or reprocessed, guarantee product quality.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the middle jaw of the present invention after rotating 90 degrees;
fig. 3 is a schematic structural view of a material taking clamping jaw structure and a material feeding clamping jaw structure in the present invention;
fig. 4 is a schematic structural view of the material taking clamping jaw structure and the feeding clamping jaw structure of the present invention, after the clamping jaws rotate 90 degrees, one of the two clamping jaws is rotated;
fig. 5 is a schematic structural view of the other angle after the clamping jaws of the material taking clamping jaw structure and the material feeding clamping jaw structure of the present invention rotate 90 degrees;
in the figure, 1, a clamping jaw seat, 2, a front and back moving support beam, 3, a front and back moving drive motor, 4, a clamping jaw, 5, a clamping jaw clamping cylinder, 6, a clamping jaw rotating cylinder, 7, a rack, 8, a gear, 9, an up and down moving sliding plate, 10, an up and down moving fixing seat, 11, a front and back moving sliding block, 12, a front and back moving sliding rail, 13, an up and down moving support frame, 14, an up and down moving drive motor, 15, an up and down moving transmission screw rod, 16, an up and down moving transmission screw rod nut, 17, an up and down moving sliding block, 18, an up and down moving sliding rail, 19, a left and right moving support frame, 20, a left and right moving drive motor, 21, a feeding clamping structure, 22, 23, a left and right moving transmission screw rod, 29. a limiting baffle sheet, 30 rotating shafts, 31 cylinder connecting plates.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, but the present invention is not limited thereto.
As shown in fig. 1-5, a special manipulator for a four-axis vacuum cup taking and placing device comprises a material taking clamping jaw structure 22, a feeding clamping jaw structure 21, an up-and-down moving driving mechanism for driving the material taking clamping jaw structure 22 and the feeding clamping jaw structure 21 to move up and down, and a left-and-right moving driving mechanism for driving the material taking clamping jaw structure and the feeding clamping jaw structure to move left and right,
the material taking clamping jaw structure 22 and the material feeding clamping jaw structure 21 both comprise a clamping jaw seat 1, a clamping jaw 4 arranged on the clamping jaw seat 1, a front-back movement driving mechanism for driving the clamping jaw seat 1 to move and a clamping jaw driving mechanism for driving the clamping jaw 4 to move,
the front-back movement driving mechanism comprises a front-back movement supporting beam 2, a front-back movement driving motor 3, a rack 7 fixed on the front-back movement supporting beam 2 and a gear 8 arranged on the front-back movement driving motor 3, wherein the gear 8 is meshed with the rack 7, the clamping jaw seat 1 is fixed at one end of the front-back movement supporting beam 2, the front-back movement driving motor 3 drives the front-back movement supporting beam 2 and the clamping jaw seat 1 to move front and back through the gear 8 and the rack,
the clamping jaw driving mechanism comprises a clamping jaw clamping cylinder 5 for driving a clamping jaw 4 to clamp and a clamping jaw rotating cylinder 6 for driving the clamping jaw 4 to rotate, the clamping jaw rotating cylinder 6 is fixed on the front side of the clamping jaw seat 1, the clamping jaw clamping cylinder 5 is rotationally connected to the clamping jaw rotating cylinder 6 through a rotating shaft 30, and the clamping jaw 4 is installed on the clamping jaw clamping cylinder 5;
the up-down moving driving mechanism comprises an up-down moving support frame 13, an up-down moving driving motor 14 and an up-down moving lead screw transmission structure, wherein the up-down moving driving motor 14 is arranged on the up-down moving support frame 13 and drives the material taking clamping jaw structure 22 and the feeding clamping jaw structure 21 to move up and down through the up-down moving lead screw transmission structure;
the left-right moving driving mechanism comprises a left-right moving support frame 19, a left-right moving driving motor 20 arranged on the left-right moving support frame 19 and a left-right moving lead screw transmission structure, and the left-right moving driving motor 20 drives the left-right moving driving mechanism to move left and right through the left-right moving lead screw transmission structure to drive the material taking clamping jaw structure 22 and the feeding clamping jaw structure 21 to move left and right.
The up-down moving screw rod transmission structure comprises an up-down moving transmission screw rod 15 connected to an up-down moving driving motor 14, an up-down moving transmission screw rod nut 16 installed on the up-down moving transmission screw rod 15 and an up-down moving transmission screw rod seat matched with the up-down moving transmission screw rod 15, an up-down moving fixing seat 10 is connected to the up-down moving transmission screw rod nut 16, a front-back moving driving motor of a material taking clamping jaw structure 22 and a front-back moving driving motor of a feeding clamping jaw structure 21 are respectively fixed on the upper parts of the two sides of the up-down moving fixing seat 10, up-down moving sliding plates 9 are arranged on the lower parts of the two sides of the up-down moving.
The left-right moving screw transmission structure comprises a left-right moving transmission screw rod 23 connected to a left-right moving driving motor 20, a left-right moving transmission screw nut installed on the left-right moving transmission screw rod 23, and a left-right moving transmission screw rod seat 28 matched with the left-right moving transmission screw rod 23, a left-right moving sliding plate 26 is arranged at the bottom of the up-down moving support frame 13, the left-right moving sliding plate 26 is connected with the left-right moving transmission screw nut through a left-right moving fixing seat, a left-right moving sliding rail 25 matched with the left-right moving sliding plate 26 is arranged.
The front-back moving driving motor 3 is installed on the up-down moving fixed seat 10 through a motor frame 27, a front-back moving slide rail 12 matched with the up-down moving slide plate 9 is arranged on one side of the front-back moving support beam 2, and the up-down moving slide plate 9 is connected with the front-back moving slide rail 12 through a front-back moving slide block 11.
The clamping jaw seat 1 is trapezoidal, the width of the front side of the clamping jaw seat is larger than that of the rear side of the clamping jaw seat, the width of the rear side of the clamping jaw seat 1 is matched with that of the front-back moving supporting beam 2, the rear side of the clamping jaw seat 1 is open, and the front end of the front-back moving supporting beam 2 penetrates through the opening to be inserted into the clamping jaw seat 1 and fixed through bolts. The jaw clamping cylinder 5 is connected to the rotating shaft 30 through a cylinder connecting plate 31. And two ends of the rack 7 are provided with limiting blocking pieces 29.
When the utility model is used, two clamping jaw structures are used in a matching way, one clamping jaw structure is used as a feeding clamping jaw structure for sending the vacuum cup on the conveying belt to the outer wall processing equipment for processing, and the other clamping jaw structure is used as a taking clamping jaw structure for taking back the processed vacuum cup from the outer wall processing equipment and putting the vacuum cup on the conveying belt;
the specific action process is as follows: when the up-and-down moving driving mechanism drives the material taking clamping jaw structure and the feeding clamping jaw structure to synchronously move to reach the designated position of the conveying belt through the up-and-down moving lead screw transmission structure, then the clamping jaw clamping cylinder of the feeding clamping jaw structure acts to clamp the vacuum cup to be processed and take out the vacuum cup from the conveying belt, and then the clamping jaw rotating cylinders of the two sets of clamping jaw structures act to rotate the clamping jaws by 90 degrees and send the vacuum cup to the designated position on the outer wall processing equipment; after the previous vacuum cup is machined, the left-right movement driving mechanism and the front-back movement driving mechanism drive the material taking clamping jaw structure to a machining position, a clamping jaw clamping cylinder of the material taking clamping jaw structure acts to clamp the machined vacuum cup, the left-right movement driving mechanism and the front-back movement driving mechanism drive the material taking clamping jaw structure to act to take the machined vacuum cup off from the outer wall machining equipment, then the left-right movement driving mechanism and the front-back movement driving mechanism drive the material feeding clamping jaw structure to deliver the vacuum cup to be machined to the outer wall machining equipment, the clamping jaw clamping cylinder of the material feeding clamping jaw structure acts to loosen the clamping jaw, then the clamping jaw rotating cylinders of the two sets of clamping jaw structures act to rotate the clamping jaw by 90 degrees, and then the front-back movement driving mechanism, the left-right movement driving mechanism, and then repeating the actions until all the vacuum cups are processed.
The utility model discloses a can go on before, after, a left side, a right side, on, all direction movement's manipulator replaces traditional manual operation to get and puts the thermos cup, can be quick accurate with treating that processing the thermos cup clamp on the conveyer belt gets and carry out cup outer wall processing on the outer wall processing equipment, and can be quick accurate with the thermos cup clamp that finishes of processing get the conveyer belt on carry one process down, not only production efficiency is high, reduce workman intensity of labour, save the cost of labor, and the error rate is low moreover, stop the on-the-spot emergence of hourglass processing or reprocessed, guarantee product quality.
Claims (7)
1. The utility model provides a four-axis thermos cup is got and is put device special purpose machinery hand which characterized in that: which comprises a material taking clamping jaw structure, a feeding clamping jaw structure, an up-and-down moving driving mechanism for driving the material taking clamping jaw structure and the feeding clamping jaw structure to move up and down, and a left-and-right moving driving mechanism for driving the material taking clamping jaw structure and the feeding clamping jaw structure to move left and right,
the material taking clamping jaw structure and the material feeding clamping jaw structure both comprise clamping jaw seats, clamping jaws arranged on the clamping jaw seats, a front-back movement driving mechanism for driving the clamping jaw seats to move and a clamping jaw driving mechanism for driving the clamping jaws to move,
the back-and-forth movement driving mechanism comprises a back-and-forth movement supporting beam, a back-and-forth movement driving motor, a rack fixed on the back-and-forth movement supporting beam and a gear arranged on the back-and-forth movement driving motor, the gear and the rack are mutually meshed, the clamping jaw seat is fixed at one end of the back-and-forth movement supporting beam, the back-and-forth movement driving motor drives the back-and-forth movement supporting beam and the,
the clamping jaw driving mechanism comprises a clamping jaw clamping cylinder for driving a clamping jaw to clamp and a clamping jaw rotating cylinder for driving the clamping jaw to rotate, the clamping jaw rotating cylinder is fixed on the front side of the clamping jaw seat, the clamping jaw clamping cylinder is rotatably connected to the clamping jaw rotating cylinder through a rotating shaft, and the clamping jaw is installed on the clamping jaw clamping cylinder;
the up-down moving driving mechanism comprises an up-down moving support frame, an up-down moving driving motor and an up-down moving lead screw transmission structure, wherein the up-down moving driving motor is arranged on the up-down moving support frame and drives the material taking clamping jaw structure and the material feeding clamping jaw structure to move up and down through the up-down moving lead screw transmission structure;
the left-right moving driving mechanism comprises a left-right moving support frame, a left-right moving driving motor and a left-right moving lead screw transmission structure, wherein the left-right moving driving motor is arranged on the left-right moving support frame, and drives the up-down moving driving mechanism to move left and right through the left-right moving lead screw transmission structure so as to drive the material taking clamping jaw structure and the feeding clamping jaw structure to move left and.
2. The special manipulator for the four-axis vacuum cup taking and placing device of claim 1, wherein: the up-down moving screw rod transmission structure comprises an up-down moving transmission screw rod connected to an up-down moving driving motor, an up-down moving transmission screw rod nut installed on the up-down moving transmission screw rod, and an up-down moving transmission screw rod seat matched with the up-down moving transmission screw rod, wherein an up-down moving fixing seat is connected to the up-down moving transmission screw rod nut, the up-down moving transmission screw rod nut is fixed with the up-down moving driving motor of the material taking clamping jaw structure and the up-down moving driving motor of the material feeding clamping jaw structure are respectively fixed on the upper parts of the two sides of the up-down moving fixing seat, up-down moving sliding plates.
3. The special manipulator for the four-axis vacuum cup taking and placing device of claim 1, wherein: the left and right moving screw rod transmission structure comprises a left and right moving transmission screw rod connected to a left and right moving driving motor, a left and right moving transmission screw rod nut installed on the left and right moving transmission screw rod and a left and right moving transmission screw rod seat matched with the left and right moving transmission screw rod, a left and right moving sliding plate is arranged at the bottom of the up and down moving support frame, the left and right moving sliding plate is connected with the left and right moving transmission screw rod nut through a left and right moving fixing seat, a left and right moving sliding rail matched with the left and right moving sliding plate is.
4. The special manipulator for the four-axis vacuum cup taking and placing device of claim 2, wherein the manipulator comprises: the back-and-forth movement driving motor is installed on the up-and-down movement fixing seat through a motor frame, a back-and-forth movement sliding rail matched with the up-and-down movement sliding plate is arranged on one side of the back-and-forth movement supporting beam, and the up-and-down movement sliding plate is connected with the back-and-forth movement sliding rail through a back-.
5. The special manipulator for the four-axis vacuum cup taking and placing device of claim 1, wherein: the clamping jaw seat is trapezoidal, the width of the front side of the clamping jaw seat is larger than that of the rear side of the clamping jaw seat, the width of the rear side of the clamping jaw seat is matched with that of the front-back moving supporting beam, the rear side of the clamping jaw seat is open, and the front end of the front-back moving supporting beam penetrates through the opening to be inserted into the clamping jaw seat and fixed through bolts.
6. The special manipulator for the four-axis vacuum cup taking and placing device of claim 1, wherein: the clamping jaw clamping cylinder is connected with the rotating shaft through a cylinder connecting plate.
7. The special manipulator for the four-axis vacuum cup taking and placing device of claim 1, wherein: and two ends of the rack are provided with limiting blocking pieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920532520.5U CN209868090U (en) | 2019-04-12 | 2019-04-12 | Four-axis thermos cup is got and is put device special manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920532520.5U CN209868090U (en) | 2019-04-12 | 2019-04-12 | Four-axis thermos cup is got and is put device special manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN209868090U true CN209868090U (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920532520.5U Expired - Fee Related CN209868090U (en) | 2019-04-12 | 2019-04-12 | Four-axis thermos cup is got and is put device special manipulator |
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| CN (1) | CN209868090U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112706184A (en) * | 2020-12-18 | 2021-04-27 | 长沙智能制造研究总院有限公司 | Automatic turning device shifts |
| CN113023441A (en) * | 2021-03-05 | 2021-06-25 | 昆山市德来福工业自动化有限公司 | Reed material belt feeding mechanism |
-
2019
- 2019-04-12 CN CN201920532520.5U patent/CN209868090U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112706184A (en) * | 2020-12-18 | 2021-04-27 | 长沙智能制造研究总院有限公司 | Automatic turning device shifts |
| CN113023441A (en) * | 2021-03-05 | 2021-06-25 | 昆山市德来福工业自动化有限公司 | Reed material belt feeding mechanism |
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Granted publication date: 20191231 |