CN210537259U - Suction actuating mechanism and mounter with same - Google Patents
Suction actuating mechanism and mounter with same Download PDFInfo
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- CN210537259U CN210537259U CN201921358243.7U CN201921358243U CN210537259U CN 210537259 U CN210537259 U CN 210537259U CN 201921358243 U CN201921358243 U CN 201921358243U CN 210537259 U CN210537259 U CN 210537259U
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Abstract
The utility model discloses an absorb actuating mechanism and have its subsides installation, absorb actuating mechanism can locate the below of the shooting subassembly of subsides installation and with the shooting subassembly cooperation, it includes to absorb actuating mechanism: an actuating mechanism supporting seat; the U-axis rotating mechanism is arranged on the executing mechanism supporting seat; the U-axis rotating mechanism comprises: the rotary platform is provided with a channel which is communicated along the axial direction of the rotary platform and can rotate around the axial direction of the rotary platform, and the rotary platform is positioned below the shooting assembly; the suction nozzle subassembly, the suction nozzle subassembly is located rotary platform just can absorb or loosen the assembly part, the suction nozzle subassembly is equipped with the air vent that link up along its axial, the camera of shooting the subassembly can see through the passageway with the assembly part is shot to the air vent or by the assembly part. The suction actuating mechanism not only can suck or release the assembly part, but also can improve the space compactness.
Description
Technical Field
The utility model relates to a absorb actuating mechanism and have this subsides installation that absorbs actuating mechanism.
Background
While the production technology is continuously developed, more automatic production equipment is applied to various manufacturing stations in the manufacturing industry, such as a mounter. The automatic process is realized, the assembly parts are conveyed to a processing station through the automatic conveying and circulating device, and after the assembly parts are automatically positioned by the equipment, the assembly operation of the station is carried out by the related execution parts. The traditional mounting mode is that a single station is usually attached to assemble a single feeding and discharging module, the feeding and discharging module usually adopts an absorption execution device, an assembly part can be absorbed and loosened through the absorption execution device, and the assembly part can be moved. Existing suction actuators typically require multiple movements to determine the position of the assembly and do not improve the accuracy of its alignment with the assembly, resulting in inefficient grasping of the assembly.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least.
Therefore, the utility model provides an absorb actuating mechanism, this absorb actuating mechanism can improve absorption efficiency and the precision to the assembly part, shortens production processing cycle.
The utility model discloses still provide a subsides installation, this subsides installation can improve machining efficiency, shortens production and processing cycle.
According to the utility model discloses absorb actuating mechanism of first aspect embodiment, can locate the below of the shooting subassembly of installation and with the shooting subassembly cooperation, absorb actuating mechanism includes: an actuating mechanism supporting seat; the U-axis rotating mechanism is arranged on the executing mechanism supporting seat; the U-axis rotating mechanism comprises: the rotary platform is provided with a channel which is communicated along the axial direction of the rotary platform and can rotate around the axial direction of the rotary platform, and the rotary platform is positioned below the shooting assembly; the suction nozzle subassembly, the suction nozzle subassembly is located rotary platform just can absorb or loosen the assembly part, the suction nozzle subassembly is equipped with the air vent that link up along its axial, the camera of shooting the subassembly can see through the passageway with the air vent is shot the assembly part or is installed the part.
According to the utility model discloses absorb actuating mechanism installs U axle rotary mechanism on the actuating mechanism supporting seat, and rotary platform can drive the suction nozzle subassembly and rotate around rotary platform's axial to the air vent intercommunication that passageway and suction nozzle subassembly that rotary platform corresponds, the camera can see through passageway and air vent in proper order to the assembly part and shoot by the characteristic information of assembly part, and characteristic information includes positional information. This absorb actuating mechanism not only can realize shooing the location, can also change the angle of absorbing the assembly part through rotatory mode, improves absorption precision and absorption efficiency to the assembly part.
According to an embodiment of the invention, the channel is coaxial with the vent.
According to the utility model discloses an embodiment, the suction nozzle subassembly includes: the suction nozzle base is connected with the rotating platform and is formed into a hollow structure; the suction nozzle is connected with the suction nozzle base and is formed into a hollow structure, the hollow parts of the suction nozzle and the suction nozzle base form at least one part of the vent hole, and the suction nozzle is provided with a suction hole which penetrates through the suction nozzle along the thickness direction of the suction nozzle; a vacuum generator in communication with the suction aperture.
According to the utility model discloses an embodiment, the suction nozzle subassembly still includes: the upper end and the lower end of the suction nozzle rod are respectively connected with the suction nozzle base and the suction nozzle, and the suction nozzle rod is formed into a hollow structure and is provided with a mounting hole which is communicated along the wall thickness direction of the suction nozzle rod; and one end of the air pipe connector is arranged in the mounting hole, and the other end of the air pipe connector is communicated with the vacuum generator.
According to the utility model discloses an embodiment, U axle rotary mechanism still includes: the U-shaft fixing support is respectively connected with the executing mechanism supporting seat and the rotating platform, and is provided with a light through hole which is communicated along the thickness direction of the U-shaft fixing support, and the light through hole is opposite to the channel.
According to the utility model discloses an embodiment, absorb actuating mechanism still include: the X-axis linear guide rail is arranged on the executing mechanism supporting seat and extends along the horizontal direction; the Z-axis guide rail fixing plate is arranged on the X-axis linear guide rail; the Z-axis linear guide rail is arranged on the Z-axis guide rail fixing plate and extends along the vertical direction, and the U-axis rotating mechanism is mounted on the Z-axis linear guide rail; the Z-axis linear motor is arranged on the Z-axis guide rail fixing plate and is connected with the U-axis rotating mechanism so as to drive the Z-axis linear motor to move along the axial direction of the Z-axis linear guide rail; and the X-axis motor is connected with the Z-axis guide rail fixing plate to drive the Z-axis guide rail fixing plate to move along the axial direction of the X-axis linear guide rail.
According to the utility model discloses an embodiment, absorb actuating mechanism still include: the Z-axis grating reading head is arranged on the U-axis fixing bracket; and the Z-axis grating ruler is arranged on the Z-axis guide rail fixing plate and is matched with the Z-axis grating reading head.
According to the utility model discloses an embodiment, the absorption actuating mechanism can with the assembly part is carried to being assembled part in order to assemble, Z axle linear electric motor includes: the pressure feedback module can acquire pressure information between the assembly part and the assembled part according to a current value, and the driving part of the Z-axis linear motor can receive the pressure information and drive the suction nozzle to move in the vertical direction according to the pressure information.
According to the utility model discloses an embodiment, absorb actuating mechanism still include: the negative pressure detection part is arranged on the actuating mechanism supporting seat and communicated with the suction hole, and the negative pressure detection part can detect the negative pressure value in the suction hole when the suction nozzle adsorbs the assembly part.
According to the utility model discloses subsides installation of second aspect embodiment, including any one above-mentioned absorption actuating mechanism.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic view of an angle of a suction actuator according to an embodiment of the present invention;
fig. 2 is a schematic structural view of yet another angle of the suction actuator according to the embodiment of the present invention;
FIG. 3 is a right side view of FIG. 1;
fig. 4 is a schematic structural view of a U-axis fixing bracket of the suction actuator according to an embodiment of the present invention;
fig. 5 is a schematic view of the assembly between the U-axis rotating mechanism and the nozzle assembly of the suction actuator according to the embodiment of the present invention;
fig. 6 is a partial cross-sectional view of fig. 5.
Reference numerals:
a suction actuator 3340;
an actuator support block 3341;
a U-axis rotating mechanism 3342; rotary platform 3342 a; a channel 3342 b; a U-axis fixing bracket 3342 c; a light-passing hole 3342 d;
a suction nozzle assembly 3343; nozzle base 3343 a; a suction nozzle 3343 b; a mounting hole 3343 c; a nozzle rod 3343 d; a gas line connector 3343 e; suction holes 3343 s;
an X-axis linear guide 3344; an X-axis motor 3344 a;
a Z-axis guide rail fixing plate 3345; z-axis linear guide 3345 a; a Z-axis linear motor 3345 b; a Z-axis grating read head 3345 c; a Z-axis grating scale 3345 d;
the negative pressure detection unit 3346.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The suction actuator 3340 according to an embodiment of the present invention is described in detail below with reference to the drawings.
As shown in fig. 1 to 6, according to the utility model discloses an absorb actuating mechanism 3340, can locate the below of the shooting subassembly of mounter and cooperate with the shooting subassembly, absorb actuating mechanism 3340 and include: the camera comprises an actuator support 3341 and a U-axis rotating mechanism 3342, wherein the U-axis rotating mechanism 3342 comprises a rotating platform 3342a and a suction nozzle component 3343, the U-axis rotating mechanism 3342 is arranged on the actuator support 3341, the rotating platform 3342a is provided with a channel 3342b which penetrates along the axial direction and can rotate around the axial direction, the rotating platform 3342a is positioned below the shooting component, the suction nozzle component 3343 is arranged on the rotating platform 3342a and can suck or release an assembly part, the suction nozzle component 3343 is provided with a vent hole which penetrates along the axial direction, and a camera of the shooting component can shoot the assembly part or the assembled part through the channel 3342b and the vent hole.
In other words, according to the utility model discloses absorb actuating mechanism 3340 mainly comprises actuating mechanism supporting seat 3341 and U axle rotary mechanism 3342, installs U axle rotary mechanism 3342 on actuating mechanism supporting seat 3341, can play the supporting role to U axle rotary mechanism 3342. The U-axis rotating mechanism 3342 is mainly composed of a rotating platform 3342a and a suction nozzle assembly 3343, and the rotating platform 3342a is provided below the imaging assembly to provide a rotating motion. The rotary platform 3342a is internally provided with a channel 3342b which penetrates along the axial direction, a suction nozzle component 3343 which is connected with the rotary platform 3342a is internally provided with a vent hole which penetrates along the axial direction, and a camera of the shooting component above the channel 3342b can shoot the assembly part or the assembled part through the channel 3342b and the vent hole to acquire characteristic information, particularly position information of the assembly part and the assembled part. The suction nozzle assembly 3343 can suck or loosen the fitting so that suction of the fitting can be achieved.
From this, according to the utility model discloses absorb actuating mechanism 3340 mainly comprises actuating mechanism supporting seat 3341 and U axle rotary mechanism 3342, can guarantee the rigidity and the assembly precision of whole mechanism through actuating mechanism supporting seat 3341, adopts rotatable U axle rotary mechanism 3342 that has hollow structure, not only can realize the location of shooing, can also change the angle of absorbing the assembly part through rotatory mode.
According to an embodiment of the present invention, the channel 3342b and the vent hole are coaxial, the channel 3342b and the vent hole can be disposed oppositely, and the camera can directly obtain the characteristic information, especially the position information, of the assembly member or the assembled member through the channel 3342b and the vent hole.
As shown in fig. 5, further, the suction nozzle assembly 3343 includes a suction nozzle base 3343a, a suction nozzle 3343b, and a vacuum generator (not shown), the suction nozzle base 3343a is connected to the rotary platform 3342a and is formed in a hollow structure, and the rotary platform 3342a can fix the suction nozzle base 3343 a. The suction nozzle 3343b is connected to the suction nozzle base 3343a and has a hollow structure, and the suction nozzle 3343b can be attached to the suction nozzle base 3343 a. The suction nozzle 3343b and the hollow portion of the nozzle base 3343a constitute at least a part of the vent hole, the suction nozzle 3343b is provided with a suction hole 3343s penetrating in the thickness direction thereof, and the vacuum generator communicates with the suction hole 3343s and can generate suction force to the assembly by supplying negative pressure.
As shown in fig. 5, in some embodiments of the present invention, the suction nozzle assembly 3343 further comprises: a nozzle rod 3343d and a gas pipe connector 3343e, the upper and lower ends of the nozzle rod 3343d are connected to a nozzle base 3343a and a nozzle 3343b, respectively, the nozzle 3343b can be installed through the nozzle rod 3343d, and the nozzle 3343b can be detachably connected to the nozzle rod 3343d, so that the suction of products can be performed by replacing different nozzles 3343b with different products. The suction nozzle rod 3343d has a hollow structure and is provided with a mounting hole 3343c penetrating in the wall thickness direction thereof, one end of the air pipe fitting 3343e is provided in the mounting hole 3343c, and the other end of the air pipe fitting 3343e communicates with the vacuum generator, thereby facilitating the mounting of the vacuum generator.
As shown in fig. 4, according to an embodiment of the present invention, the U-axis rotating mechanism 3342 further includes: the U-axis fixing bracket 3342c and the U-axis fixing bracket 3342c are connected to the actuator support base 3341 and the rotary platform 3342a, respectively, and the rotary platform 3342a can be mounted on the actuator support base 3341. The U-axis fixing bracket 3342c is provided with a light transmitting hole 3342d penetrating in the thickness direction thereof, the light transmitting hole 3342d is provided to face the channel 3342b, and the photographing module located above the rotary table 3342a can photograph an assembly or an assembled object sequentially through the light transmitting hole 3342d and the channel 3342 b.
Optionally, the suction actuator 3340 further comprises: the X-axis linear guide 3344, the Z-axis linear guide fixing plate 3345, the Z-axis linear guide 3345a, the Z-axis linear motor 3345b and the X-axis motor 3344a, wherein the X-axis linear guide 3344 is arranged on the actuator supporting seat 3341 and extends along the horizontal direction, the Z-axis guide fixing plate 3345 is arranged on the X-axis linear guide 3344, the Z-axis linear guide 3345a is arranged on the Z-axis guide fixing plate 3345 and extends along the vertical direction, the U-axis rotating mechanism 3342 is arranged on the Z-axis linear guide 3345a, the Z-axis linear motor 3345b is arranged on the Z-axis guide fixing plate 3345 and is connected with the U-axis rotating mechanism 3342 to drive the Z-axis linear guide 3345a to move axially, and the X-axis motor 3344a is connected with the Z-axis guide fixing plate 3345 to drive the Z-axis guide fixing plate 3345 to. That is to say, the Z-axis guide fixing plate 3345 can drive the U-axis rotating mechanism 3342 to move back and forth along the axial direction of the X-axis linear guide 3344, and the U-axis rotating mechanism 3342 can also move along the axial direction of the Z-axis linear guide 3345a, wherein the X-axis linear guide 3344 can extend along the horizontal direction, the Z-axis linear guide 3345a can extend along the vertical direction, and the position adjustment of the U-axis rotating mechanism 3342 in the horizontal direction and the vertical direction can be realized.
The Z-axis linear guide 3345a can fix not only the U-axis fixing bracket 3342c but also a mover of the Z-axis linear motor 3345b and perform a guiding function.
Furthermore, the absorption actuating mechanism 3340 further comprises a Z-axis grating reading head 3345c and a Z-axis grating ruler 3345d, wherein the Z-axis grating reading head 3345c is arranged on the U-axis fixing support 3342c and is used for controlling the precision and the stroke of the Z-axis movement; z-axis grating ruler 3345d is arranged on Z-axis guide rail fixing plate 3345 and matched with Z-axis grating reading head 3345c to provide accurate displacement data for the motion of Z-axis linear motor 3345 b.
In some embodiments of the present invention, the suction actuator 3340 can convey the assembly member to the assembled member to be assembled, the Z-axis linear motor 3345b includes a pressure feedback module, the pressure feedback module can acquire the assembly member and the pressure information between the assembled member according to the current value, and the driving part of the Z-axis linear motor 3345b can receive the pressure information and drive the suction nozzle 3343b to move in the up-and-down direction according to the pressure information. The sucking actuator 3340 can suck the assembly member and drive the assembly member to move to the assembled member, and when assembling, the suction nozzle 3343b presses down the assembled member, and at this time, the pressure during actual assembling can be converted according to the current fed back by the Z-axis linear motor driver. That is to say, the Z-axis linear motor 3345b has pressure feedback, and can determine the pressure by setting a current value, and has signal feedback after reaching a preset pressure.
Optionally, the suction actuator 3340 further comprises: the negative pressure detecting part 3346, the negative pressure detecting part 3346 is provided in the actuator support 3341 and communicates with the suction hole 3343s, and the negative pressure detecting part 3346 can detect the negative pressure value in the suction hole 3343s when the suction nozzle 3343b sucks the assembly, and can determine whether the vacuum negative pressure of the suction nozzle 3343b is firmly sucked when sucking the product, thereby ensuring the negative pressure requirement for normal operation, and feeding back information when the negative pressure requirement is not satisfied.
In summary, the suction actuator 3340 according to the embodiment of the present invention combines the actuator support 3341 and the U-axis rotation mechanism 3342 to obtain the characteristic information of the assembly or the assembled part by the hollow structure matching with the camera assembly. And the U-axis rotating mechanism 3342 is matched with the X-axis linear guide 3344 and the Z-axis linear guide 3345a, so that the U-axis rotating mechanism 3342 has three motion directions of front and back, up and down and rotation, the X-axis linear guide 3344 and the Z-axis linear guide 3345a are respectively installed on two sides of the Z-axis guide fixing plate 3345, and then the U-axis rotating mechanism 3342 is fixed on the Z axis, so that the space of the whole mechanism can be compact.
According to the utility model discloses the mounter includes the absorption actuating mechanism 3340 according to above-mentioned embodiment, because according to the utility model discloses the absorption actuating mechanism 3340 has above-mentioned technological effect, consequently, according to the utility model discloses the mounter also has corresponding technological effect, can effectual improvement promptly to the absorption efficiency and the precision of assembly part, improve assembly part and by the assembly efficiency between the assembly part.
Other structures and operations of the mounter according to the embodiment of the present invention are understood and easily implemented by those skilled in the art, and thus will not be described in detail.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a absorb actuating mechanism, can locate the below of the shooting subassembly of installation and with the shooting subassembly cooperation, its characterized in that, absorb actuating mechanism includes:
an actuating mechanism supporting seat;
the U-axis rotating mechanism is arranged on the executing mechanism supporting seat;
the U-axis rotating mechanism comprises:
the rotary platform is provided with a channel which is communicated along the axial direction of the rotary platform and can rotate around the axial direction of the rotary platform, and the rotary platform is positioned below the shooting assembly;
the suction nozzle subassembly, the suction nozzle subassembly is located rotary platform just can absorb or loosen the assembly part, the suction nozzle subassembly is equipped with the air vent that link up along its axial, the camera of shooting the subassembly can see through the passageway with the air vent is shot the assembly part or is installed the part.
2. The suction actuator of claim 1, wherein the channel and the vent are coaxial.
3. The suction actuator of claim 2, wherein the nozzle assembly comprises:
the suction nozzle base is connected with the rotating platform and is formed into a hollow structure;
the suction nozzle is connected with the suction nozzle base and is formed into a hollow structure, the hollow parts of the suction nozzle and the suction nozzle base form at least one part of the vent hole, and the suction nozzle is provided with a suction hole which penetrates through the suction nozzle along the thickness direction of the suction nozzle;
a vacuum generator in communication with the suction aperture.
4. The suction actuator of claim 3, wherein the nozzle assembly further comprises:
the upper end and the lower end of the suction nozzle rod are respectively connected with the suction nozzle base and the suction nozzle, and the suction nozzle rod is formed into a hollow structure and is provided with a mounting hole which is communicated along the wall thickness direction of the suction nozzle rod;
and one end of the air pipe connector is arranged in the mounting hole, and the other end of the air pipe connector is communicated with the vacuum generator.
5. The suction actuator of claim 1, wherein the U-axis rotation mechanism further comprises:
the U-shaft fixing support is respectively connected with the executing mechanism supporting seat and the rotating platform, and is provided with a light through hole which is communicated along the thickness direction of the U-shaft fixing support, and the light through hole is opposite to the channel.
6. The suction actuator of claim 5, further comprising:
the X-axis linear guide rail is arranged on the executing mechanism supporting seat and extends along the horizontal direction;
the Z-axis guide rail fixing plate is arranged on the X-axis linear guide rail;
the Z-axis linear guide rail is arranged on the Z-axis guide rail fixing plate and extends along the vertical direction, and the U-axis rotating mechanism is mounted on the Z-axis linear guide rail;
the Z-axis linear motor is arranged on the Z-axis guide rail fixing plate and is connected with the U-axis rotating mechanism so as to drive the Z-axis linear motor to move along the axial direction of the Z-axis linear guide rail;
and the X-axis motor is connected with the Z-axis guide rail fixing plate to drive the Z-axis guide rail fixing plate to move along the axial direction of the X-axis linear guide rail.
7. The suction actuator of claim 6, further comprising:
the Z-axis grating reading head is arranged on the U-axis fixing bracket;
and the Z-axis grating ruler is arranged on the Z-axis guide rail fixing plate and is matched with the Z-axis grating reading head.
8. The suction actuator of claim 6, wherein the suction actuator is capable of delivering the assembly to an assembled part for assembly, the Z-axis linear motor comprising:
the pressure feedback module can acquire pressure information between the assembly part and the assembled part according to a current value, and the driving part of the Z-axis linear motor can receive the pressure information and drive the suction nozzle to move in the vertical direction according to the pressure information.
9. The suction actuator of claim 3, further comprising:
the negative pressure detection part is arranged on the actuating mechanism supporting seat and communicated with the suction hole, and the negative pressure detection part can detect the negative pressure value in the suction hole when the suction nozzle adsorbs the assembly part.
10. A mounter characterized by comprising the suction actuator of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921358243.7U CN210537259U (en) | 2019-08-21 | 2019-08-21 | Suction actuating mechanism and mounter with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921358243.7U CN210537259U (en) | 2019-08-21 | 2019-08-21 | Suction actuating mechanism and mounter with same |
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| Publication Number | Publication Date |
|---|---|
| CN210537259U true CN210537259U (en) | 2020-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921358243.7U Active CN210537259U (en) | 2019-08-21 | 2019-08-21 | Suction actuating mechanism and mounter with same |
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| CN (1) | CN210537259U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110446422A (en) * | 2019-08-21 | 2019-11-12 | 常州铭赛机器人科技股份有限公司 | Draw executing agency and the placement equipment with it |
-
2019
- 2019-08-21 CN CN201921358243.7U patent/CN210537259U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110446422A (en) * | 2019-08-21 | 2019-11-12 | 常州铭赛机器人科技股份有限公司 | Draw executing agency and the placement equipment with it |
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