CN212569530U - Mobile cluster splicing transportation system - Google Patents
Mobile cluster splicing transportation system Download PDFInfo
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- CN212569530U CN212569530U CN202021595961.9U CN202021595961U CN212569530U CN 212569530 U CN212569530 U CN 212569530U CN 202021595961 U CN202021595961 U CN 202021595961U CN 212569530 U CN212569530 U CN 212569530U
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Abstract
The utility model discloses a mobile bundling splicing system, which comprises an AGV trolley, a triaxial module actuating mechanism, a floating splicing mechanism and a vision mechanism, wherein the triaxial module actuating mechanism is arranged on the AGV trolley, the floating splicing mechanism is connected at the drive end of the triaxial module actuating mechanism, and the vision mechanism is arranged at one side of the floating splicing mechanism; the triaxial module actuating mechanism, the floating plug-in mechanism and the vision mechanism are respectively communicated with the AGV through Modbus TCP. In the embodiment of the utility model, the mobile bundling splicing system has the advantage of high intelligent degree, can automatically and sequentially butt joint with equipment one by one, does not need to consume a large amount of manpower and material resources, solves the problem of low butt joint efficiency, and ensures the test efficiency and the interaction efficiency of the equipment; the mobile cluster splicing system has the advantage of high communication efficiency, the control process of each mechanism or device cannot be delayed greatly, the butt joint efficiency can be ensured, and the test efficiency and the interaction efficiency of equipment are also ensured.
Description
Technical Field
The utility model relates to a flow test technical field particularly, relates to a mobile grafting conveyor system tied in a bundle.
Background
In an intelligent factory, most production equipment is fixed in position, and objects needing to be transported, such as raw materials, processed semi-finished products, finished products and the like, flow among the production equipment through the AGV trolley, so that butt joint among the production equipment is realized. Production facility has fixed operation procedure usually, and very big some equipment does not have high in the clouds communication function, can not follow long-range debugging, needs the staff to carry out the setting and the control of procedure manually, when needs adjust production facility, in order to avoid the staff to produce equipment such as AGV dolly and disturb, generally need whole line to stop the operation and carry out debugging operation again, otherwise can produce the safety problem easily.
The AGV dolly plays the function of plugging into to different production facility, consequently, the AGV dolly all can have remote control (data remote transmission function promptly) usually, can utilize the AGV dolly to debug the production facility that can't carry out remote communication, avoids the staff to get into the place, reduces the safety risk.
However, because the data interfaces of different production equipment are not consistent in setting position, the fixed interface is difficult to adapt to different production equipment, and an upper computer is required to be matched with a special protocol converter to control the AGV trolley and the interface, so that the problem of low communication efficiency exists, great delay can occur in the control process, the problem of low butt joint efficiency exists, the test efficiency and the interaction efficiency of the equipment are influenced, if the AGV trolley is developed aiming at the pertinence of specific production equipment, the workload is huge, the cost is high, and the implementation is not facilitated.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art, and provides a mobile bundling splicing transportation system which has the advantage of high intelligent degree, can automatically and sequentially butt joint with equipment one by one, does not need to consume a large amount of manpower and material resources, solves the problem of low butt joint efficiency, and ensures the test efficiency and the interaction efficiency of the equipment; in addition, the mobile cluster splicing transportation system has the advantage of high communication efficiency, the control process of each mechanism or device cannot be delayed greatly, the docking efficiency can be ensured, and the testing efficiency and the interaction efficiency of equipment can be ensured; moreover, after the mobile cluster splicing transportation system tests and interacts equipment, the transportation function of articles can be realized, and the system has more purposes.
Correspondingly, the embodiment of the utility model provides a mobile tied bundle plug-in transport system, mobile tied bundle plug-in transport system includes AGV dolly, triaxial module actuating mechanism, unsteady grafting mechanism and vision mechanism, triaxial module actuating mechanism sets up on the AGV dolly, unsteady grafting mechanism is connected in the drive end of triaxial module actuating mechanism, the vision mechanism sets up one side of unsteady grafting mechanism;
the three-axis module actuating mechanism, the floating insertion mechanism and the vision mechanism are communicated with the AGV through Modbus TCP respectively.
In an optional embodiment, the three-axis module actuator includes a module controller, an X-axis module, a Y-axis module, and a Z-axis module;
the module controller and the X-axis module are arranged on the AGV trolley, the Y-axis module is connected to the driving end of the X-axis module, the Z-axis module is connected to the driving end of the Y-axis module, and the floating plug-in mechanism is connected to the driving end of the Z-axis module;
the module controller adopts Modbus TCP with the AGV dolly communication, just the module controller respectively with X axle module, Y axle module and Z axle module electricity are connected.
Optional implementation mode, unsteady grafting mechanism is including the public head of pegging graft, the public head of pegging graft adopt Modbus TCP with AGV dolly communication.
In an optional embodiment, the vision mechanism comprises a vision camera and a square light source, and the vision camera, the square light source and the male plug are oriented in the same direction;
the vision camera with square light source adopt Modbus TCP respectively with the AGV dolly communication.
In an optional embodiment, a protective shell is arranged on the AGV, and surrounds the triaxial module executing mechanism, the floating plug-in mechanism and the vision mechanism;
the protective shell is provided with a protective shell opening, and the vision camera, the square light source and the plug male head face the protective shell opening;
the protective housing opening part is provided with safe grating, safe grating with the AGV dolly electricity is connected.
In an optional embodiment, the mobile cluster splicing transport system further comprises an operating button, the operating button is arranged on the outer wall of the protective shell, and the operating button is electrically connected with the AGV trolley.
Optional embodiment, the grafting transport system tied in a bundle flows still includes the warning light, the warning light sets up on protective housing's the outer wall, the warning light adopt Modbus TCP with AGV dolly communication.
In an optional embodiment, the mobile cluster splicing transportation system further comprises a 5G module;
a supporting plate is arranged above the triaxial module actuating mechanism, the floating insertion mechanism and the vision mechanism in the protective shell;
the 5G module sets up on the layer board, the AGV dolly passes through the 5G module communicates with mobile terminal.
In an optional embodiment, the flow bundle splicing transport system further includes a Dongle module, the Dongle module is disposed on the pallet, and the AGV is electrically connected to the wireless device through the Dongle module.
Optional embodiment, the plug-in conveyor system tied in a bundle flows still includes inverter, inverter sets up on the AGV dolly, inverter respectively with the AGV dolly triaxial module actuating mechanism the grafting mechanism floats with vision mechanism electricity is connected.
The embodiment of the utility model provides a mobile cluster splicing transportation system, in which, the AGV trolley is used as a main control party, the three-axis module actuating mechanism, the floating plug-in mechanism and the vision mechanism respectively adopt Modbus TCP to communicate with the AGV trolley, based on the Modbus TCP communication protocol, the three-axis module actuating mechanism, the floating plug-in mechanism, the vision mechanism and the AGV trolley can be directly communicated through a network (such as an Ethernet network), a special protocol converter is not required to be matched, and the three-axis AGV trolley has the advantage of high communication efficiency, the AGV trolley does not have great delay in the control process of the triaxial module actuating mechanism, the floating insertion mechanism and the vision mechanism, the problem of low butt joint efficiency is solved, and the test efficiency and the interaction efficiency of equipment are effectively ensured; in addition, based on the AGV trolley, the automatic movement of the mobile cluster splicing transport system can be realized so as to dock equipment at different geographical positions, and meanwhile, the AGV trolley can control the operation of the three-axis module executing mechanism, the floating splicing mechanism and the vision mechanism, so that the docking with the equipment is automatically realized; moreover, based on the AGV dolly, the transportation function of article can also be realized to the grafting transport system of flowing bundling after testing and interacting equipment, possesses more usage.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the assembly of a mobile cluster splicing transportation system according to an embodiment of the present invention;
fig. 2 is a schematic three-dimensional structure diagram of a flow cluster splicing transportation system in an embodiment of the present invention;
fig. 3 is an exploded view of a three-dimensional structure of a flow cluster splicing transportation system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of the three-axis module actuator and the vision mechanism according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Fig. 1 is the utility model discloses the embodiment of the utility model provides a component schematic diagram of the grafting transportation system tied in a bundle flows, fig. 2 is the utility model discloses the embodiment of the utility model provides a three-dimensional structure schematic diagram of the grafting transportation system tied in a bundle flows, fig. 3 is the utility model discloses the embodiment of the utility model provides a three-dimensional structure explosion chart of the.
The embodiment of the utility model provides a transport system that pegs graft tied in a bundle flows, the transport system that pegs graft tied in a bundle flows includes AGV dolly 1, triaxial module actuating mechanism 2, unsteady grafting mechanism 3 and vision mechanism 4, triaxial module actuating mechanism 2 sets up on the AGV dolly 1, unsteady grafting mechanism 3 is connected triaxial module actuating mechanism 2's drive end, vision mechanism 4 sets up one side of unsteady grafting mechanism 3.
Triaxial module actuating mechanism 2 unsteady grafting mechanism 3 with vision mechanism 4 adopts Modbus TCP respectively with AGV dolly 1 communication.
In specific implementation, the AGV trolley 1 is a master controller and can send geographical position information of equipment to the AGV trolley 1, the AGV trolley 1 autonomously moves according to the geographical position information, after the AGV trolley 1 autonomously moves in place, different geographical in-place information can be generated and sent to the triaxial module execution mechanism 2, the floating insertion mechanism 3 and the vision mechanism 4 through Modbus TCP, and the triaxial module execution mechanism 2, the floating insertion mechanism 3 and the vision mechanism 4 are allowed to work after receiving the corresponding geographical in-place information; meanwhile, after the vision mechanism 4 receives the corresponding geographical in-place information, the vision mechanism 4 executes a photographing action to obtain photographing position information, and sends the photographing position information back to the AGV trolley 1 through a Modbus TCP; after receiving the photographing position information, the AGV trolley 1 generates corresponding triaxial module execution information according to the photographing position information, and sends the triaxial module execution information to the triaxial module execution mechanism 2 through a Modbus TCP, the triaxial module execution mechanism 2 performs autonomous motion according to the triaxial module execution information, and after the triaxial module execution mechanism 2 autonomously moves in place, docking in-place information is generated and sent back to the AGV trolley 1 through the Modbus TCP; the AGV trolley 1 receives the in-place butt joint information, then generates butt joint information, sends the butt joint information to the floating plug-in mechanism 3 through a Modbus TCP, and the floating plug-in mechanism 3 receives the butt joint information and then starts to butt joint with equipment.
It should be noted that, adopt Modbus TCP with AGV dolly 1 communication mean to adopt Modbus TCP gateway and connect the simple domain bus of usefulness and based on Modbus TCP communication protocol realize with AGV dolly 1's communication, through Modbus TCP communication protocol, triaxial module actuating mechanism 2 the grafting mechanism 3 floats vision mechanism 4 with can carry out the direct communication through network (for example ethernet) between the AGV dolly 1, need not to cooperate special protocol converter, have the advantage that communication efficiency is high, AGV dolly 1 is right triaxial module actuating mechanism 2 the grafting mechanism 3 floats with great delay can not appear in vision mechanism 4's control process, has solved the problem that butt joint efficiency is low, effectively guarantees test efficiency and the interactive efficiency of equipment.
In the embodiment of the present invention, based on the AGV trolley 1, the autonomous movement of the mobile cluster splicing transportation system can be realized to dock the devices at different geographical positions, and meanwhile, the AGV trolley 1 as a master controller can control the operation of the triaxial module actuator 2, the floating splicing mechanism 3 and the vision mechanism 4, so as to automatically dock the devices; therefore, the mobile cluster splicing and transporting system has the advantages of being intelligent and high in automation degree, can be automatically moved to different geographical positions, can be automatically docked with equipment, can be automatically docked with the equipment one by one in sequence, does not need to consume a large amount of manpower, solves the problem of low docking efficiency, and ensures the testing efficiency and the interaction efficiency of the equipment.
Moreover, based on AGV dolly 1, the transportation function of article can also be realized to the grafting transport system of flowing bundling after testing and interacting equipment, possesses more usage.
Fig. 4 is a schematic structural diagram of the three-axis module actuator and the vision mechanism according to an embodiment of the present invention.
Specifically, the three-axis module actuator 2 includes a module controller 66, an X-axis module 21, a Y-axis module 22, and a Z-axis module 23.
The module controller 66 and the X-axis module 21 are arranged on the AGV trolley 1; the Y-axis module 22 is connected to the driving end of the X-axis module 21, and the Y-axis module 22 moves along the X-axis direction under the driving of the X-axis module 21; the Z-axis module 23 is connected to the driving end of the Y-axis module 22, and the Z-axis module 23 moves along the Y-axis direction under the driving of the Y-axis module 22; the floating plugging mechanism 3 is connected to the driving end of the Z-axis module 23, and the floating plugging mechanism 3 moves along the Z-axis direction under the driving of the Z-axis module 23.
The module controller 66 adopts Modbus TCP to communicate with the AGV trolley 1, and the module controller 66 is respectively electrically connected with the X-axis module 21, the Y-axis module 22 and the Z-axis module 23, in specific implementation, after the AGV trolley 1 receives the photographing position information, corresponding three-axis module execution information is generated according to the photographing position information, and the three-axis module execution information is sent to the module controller 66 through the Modbus TCP, the module controller 66 respectively controls the feeding of the X-axis module 21, the Y-axis module 22 and the Z-axis module 23 according to the three-axis module execution information so as to enable the floating insertion mechanism 3 to move to the butt joint position, after the X-axis module 21, the Y-axis module 22 and the Z-axis module 23 autonomously move in place, the module controller 66 can generate the butt joint in-place information, and sending the in-place docking information to the AGV trolley 1 through Modbus TCP.
It should be noted that, the module controller 66 is adopted to control the feeding of the X-axis module 21, the Y-axis module 22 and the Z-axis module 23, so as to ensure the motion accuracy of the X-axis module 21, the Y-axis module 22 and the Z-axis module 23, and effectively reduce the butting position deviation of the floating plugging mechanism 3; in addition, AGV dolly 1 adopt Modbus TCP with module controller 66 communication, can realize right X axle module 21Y axle module 22 with the control of Z axle module 23, module controller 66's setting has simplified communication line to a certain extent, and can guarantee communication efficiency equally well.
Specifically, unsteady grafting mechanism 3 is including the public head 334 of pegging graft, the public head 334 of pegging graft and the grafting port looks adaptation of equipment for dock with equipment, the public head 334 of pegging graft adopt Modbus TCP with AGV dolly 1 communication.
In specific implementation, the AGV trolley 1 receives the in-place docking information, generates docking information, and sends the docking information to the plug male head 334 through the Modbus TCP, and the plug male head 334 receives the docking information and then starts to dock with the device.
Specifically, vision mechanism 4 includes vision camera 422 and square light source 413, vision camera 422 square light source 413 with public head 334's orientation is the same, all is towards equipment in concrete implementation, vision camera 422 can carry out the action of shooing, in order to acquire the position information of shooing, square light source 413 can do vision camera 422 provides stable light source, guarantees vision camera 422's formation of image quality to acquire more accurate position information of shooing, vision camera 422 with square light source 413 adopts Modbus TCP respectively with AGV dolly 1 communication.
In specific implementation, after AGV dolly 1 independently moved to target in place, can produce different geography information that targets in place to reach different geography information that targets in place respectively send to in vision camera 422 with square light source 413, vision camera 422 with square light source 413 receives corresponding geography information that targets in place, square light source 413 is opened, simultaneously vision camera 422 carries out the action of shooing, obtains the position information of shooing, and will the position information of shooing sends back through Modbus TCP among the AGV dolly 1.
Specifically, be provided with protective housing 5 on AGV dolly 1, protective housing 5 surrounds triaxial module actuating mechanism 2 unsteady grafting mechanism 3 with vision mechanism 4, protective housing 5 can protect well triaxial module actuating mechanism 2 unsteady grafting mechanism 3 with vision mechanism 4.
Be provided with protective housing opening 51 on the protective housing 5, vision camera 422 square light source 413 with plug male 334 all is the orientation protective housing opening 51, in the concrete implementation, protective housing opening 51 is towards equipment, the warp protective housing opening 51 realizes the butt joint with equipment.
Specially, protective housing opening 51 department is provided with safety grating 52, safety grating 52 with AGV dolly 1 electricity is connected, in the concrete implementation, safety grating 52 is as photoelectric safety protection device in the automatic operation in-process of the grafting conveying system tied in a bundle flows, when personnel are close to protective housing opening 51, safety grating 52 can produce the level change, AGV dolly 1 senses safety grating 52's level change back can produce the scram signal, and scram the grafting conveying system tied in a bundle flows, protection personnel's safety.
Specifically, the plug transport system tied in a bundle flows still includes operating button 67, operating button 67 sets up on the outer wall of protective housing 5, operating button 67 with AGV dolly 1 electricity is connected, in the concrete implementation, operating button 67 can include start button, stop button, scram button etc. through operating button 67 can manual control the plug transport system tied in a bundle flows.
Concretely, the grafting transport system tied in a bundle flows still includes warning light 68, warning light 68 sets up on the outer wall of protective housing 5, warning light 68 adopt Modbus TCP with AGV dolly 1 communication.
In the concrete implementation, AGV dolly 1 basis the running state of the grafting conveyor system tied in a bundle flows produces different warning light running signal, and will warning light running signal send to warning light 68, warning light 68 basis warning light running signal produces different light effects, instructs through different light effects the operating condition that the grafting conveyor system tied in a bundle that flows locates.
Specifically, the flow cluster splicing transportation system further comprises a 5G module 64.
Wherein, protective housing 5's inside is in triaxial module actuating mechanism 2 unsteady grafting mechanism 3 with the top of vision mechanism 4 is provided with layer board 62, 5G module 64 sets up on the layer board 62, AGV dolly 1 passes through 5G module 64 and mobile terminal communication, in the concrete implementation, mobile terminal can pass through 5G module 64 sends the geographical position information of equipment to in the AGV dolly 1, can also pass through mobile terminal real-time supervision simultaneously mobile bundled grafting transport system's operating condition and behavior.
Specifically, the mobile bundled plug-in transport system further comprises a Dongle module 65, the Dongle module 65 is disposed on the pallet 62, and the AGV cart 1 is electrically connected with wireless devices through the Dongle module 65, in specific implementation, the AGV cart 1 can be connected with specific wireless devices, such as a wireless mouse, a wireless keyboard and the like, in a matching manner through the Dongle module 65, so as to operate the mobile bundled plug-in transport system.
It should be noted that, the 5G module 64 and the Dongle module 65 are disposed on the pallet 62, and the pallet 62 is located at the top of the mobile cluster plug-in transport system, so that blocking can be reduced to a certain extent, and stable and effective operation of communication and wireless connection is ensured.
Concretely, the plug-in conveyor system tied in a bundle flows still includes inverter 61, inverter 61 sets up on the AGV dolly 1, inverter 61 respectively with AGV dolly 1 triaxial module actuating mechanism 2 unsteady plug-in mechanism 3 with 4 electricity of vision mechanism are connected, in order to do AGV dolly 1 triaxial module actuating mechanism 2 unsteady plug-in mechanism 3 with vision mechanism 4 provides DC power supply.
The embodiment of the utility model provides a mobile cluster splicing transportation system, in which, the AGV trolley 1 is used as a main control party, the three-axis module executing mechanism 2, the floating plug-in mechanism 3 and the vision mechanism 4 are respectively communicated with the AGV trolley 1 by adopting Modbus TCP, based on the Modbus TCP communication protocol, the three-axis module actuating mechanism 2, the floating plug-in mechanism 3, the vision mechanism 4 and the AGV trolley 1 can directly communicate through a network (such as Ethernet), and a special protocol converter is not required to be matched, so that the three-axis AGV trolley has the advantage of high communication efficiency, the AGV trolley 1 does not have great delay in the control process of the triaxial module execution mechanism 2, the floating insertion mechanism 3 and the vision mechanism 4, the problem of low butt joint efficiency is solved, and the test efficiency and the interaction efficiency of equipment are effectively ensured; in addition, based on the AGV trolley 1, the automatic movement of the mobile cluster splicing transport system can be realized so as to dock equipment at different geographical positions, and meanwhile, the AGV trolley 1 can control the operation of the three-axis module execution mechanism 2, the floating splicing mechanism 3 and the vision mechanism 4, so that the docking with the equipment is automatically realized; moreover, based on AGV dolly 1, the transportation function of article can also be realized to the grafting transport system of flowing bundling after testing and interacting equipment, possesses more usage.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
In addition, the above detailed description is made on a mobile bundling splicing transportation system provided by the embodiment of the present invention, and a specific example should be adopted herein to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (10)
1. The mobile bundled splicing transport system is characterized by comprising an AGV trolley, a three-axis module actuating mechanism, a floating splicing mechanism and a vision mechanism, wherein the three-axis module actuating mechanism is arranged on the AGV trolley, the floating splicing mechanism is connected to the driving end of the three-axis module actuating mechanism, and the vision mechanism is arranged on one side of the floating splicing mechanism;
the three-axis module actuating mechanism, the floating insertion mechanism and the vision mechanism are communicated with the AGV through Modbus TCP respectively.
2. The flow cluster plug transport system of claim 1, wherein the three-axis module actuator comprises a module controller, an X-axis module, a Y-axis module, and a Z-axis module;
the module controller and the X-axis module are arranged on the AGV trolley, the Y-axis module is connected to the driving end of the X-axis module, the Z-axis module is connected to the driving end of the Y-axis module, and the floating plug-in mechanism is connected to the driving end of the Z-axis module;
the module controller adopts Modbus TCP with the AGV dolly communication, just the module controller respectively with X axle module, Y axle module and Z axle module electricity are connected.
3. The flow cluster plug transport system of claim 1, wherein the floating plug mechanism includes a plug male head that communicates with the AGV cart using Modbus TCP.
4. The flow cluster plug transport system of claim 3, wherein the vision mechanism comprises a vision camera and a square light source, the vision camera, the square light source and the plug male head being oriented in the same direction;
the vision camera with square light source adopt Modbus TCP respectively with the AGV dolly communication.
5. The flow cluster plug transport system of claim 4, wherein a protective enclosure is provided on the AGV car, said protective enclosure enclosing the tri-axial module actuator, the floating plug mechanism, and the vision mechanism;
the protective shell is provided with a protective shell opening, and the vision camera, the square light source and the plug male head face the protective shell opening;
the protective housing opening part is provided with safe grating, safe grating with the AGV dolly electricity is connected.
6. The flow cluster plug transport system of claim 5 further comprising an operating button disposed on an outer wall of the protective enclosure, the operating button being electrically connected to the AGV cart.
7. The mobile cluster splicing transport system of claim 5, further comprising a warning light disposed on an outer wall of the protective housing, the warning light communicating with the AGV cart using Modbus TCP.
8. The flow cluster plug transport system of claim 5, further comprising a 5G module;
a supporting plate is arranged above the triaxial module actuating mechanism, the floating insertion mechanism and the vision mechanism in the protective shell;
the 5G module sets up on the layer board, the AGV dolly passes through the 5G module communicates with mobile terminal.
9. The flow bundle docked transport system of claim 8, further comprising a Dongle module disposed on the pallet, the AGV cart electrically connected to the wireless device through the Dongle module.
10. The mobile cluster inserting and transporting system according to claim 1, further comprising an inverter power supply, wherein the inverter power supply is arranged on the AGV trolley, and the inverter power supply is respectively electrically connected with the AGV trolley, the triaxial module executing mechanism, the floating inserting mechanism and the vision mechanism.
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| CN202021595961.9U CN212569530U (en) | 2020-08-05 | 2020-08-05 | Mobile cluster splicing transportation system |
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| CN202021595961.9U CN212569530U (en) | 2020-08-05 | 2020-08-05 | Mobile cluster splicing transportation system |
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