CN214418818U - Auxiliary device for offline pre-lap of manipulator - Google Patents
Auxiliary device for offline pre-lap of manipulator Download PDFInfo
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- CN214418818U CN214418818U CN202120542659.5U CN202120542659U CN214418818U CN 214418818 U CN214418818 U CN 214418818U CN 202120542659 U CN202120542659 U CN 202120542659U CN 214418818 U CN214418818 U CN 214418818U
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- 238000004519 manufacturing process Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 238000003825 pressing Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 2
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- 230000005540 biological transmission Effects 0.000 description 1
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Abstract
本实用新型揭示了一种机械手线下预搭辅助装置，包括预搭龙门架，包括：龙门架本体、主臂、主杆接口组件和对齐组件。主臂安装在龙门架本体的立柱上，主臂能沿立柱升降，主臂与龙门架本体的横梁平行。主杆接口组件安装在主臂上，主杆接口组件能沿主臂移动，机械手的主杆安装在主杆接口组件上。对齐组件安装在龙门架本体上，对齐组件指示主杆接口组件的相对位置。其中，依据对齐组件，调节龙门架本体、主臂和主杆接口组件的位置，使得安装在主杆接口组件上的主杆被调整到与线上工位相匹配的位置。该机械手线下预搭辅助装置通过还原Tooling拾取零件时，压机内横杆式机械手主杆与下模表面工序件的相对位置，在压机外完成预搭，大幅减少压机停机占用时长。
The utility model discloses an auxiliary device for pre-strapping under the line of a manipulator, which comprises a pre-strapping gantry, comprising: a gantry body, a main arm, a main rod interface component and an alignment component. The main arm is installed on the column of the gantry body, the main arm can be lifted and lowered along the column, and the main arm is parallel to the beam of the gantry body. The main rod interface assembly is installed on the main arm, the main rod interface assembly can move along the main arm, and the main rod of the manipulator is installed on the main rod interface assembly. An alignment assembly is mounted on the gantry body, and the alignment assembly indicates the relative position of the main pole interface assembly. Wherein, according to the alignment assembly, the positions of the gantry body, the main arm and the main rod interface assembly are adjusted, so that the main rod installed on the main rod interface assembly is adjusted to a position matching the online workstation. When the manipulator offline pre-lap assist device picks up parts by restoring Tooling, the relative position of the main bar of the horizontal bar manipulator in the press and the process parts on the surface of the lower die is pre-lapped outside the press, which greatly reduces the time occupied by the press downtime.
Description
Technical Field
The utility model relates to an automobile parts field, more specifically say, relate to the appurtenance on the car production water line.
Background
Automobile production lines have a large number of stamping stations, and automobile stamping generally uses a mechanical arm Tooling of the automobile stamping production line to pick and place workpieces for automated part processing. Fig. 1 discloses a structural diagram of a robot tool in an automated production line used in the prior art. Fig. 1 discloses a robot for the schuller Serioline automation line. In the schuller Serioline automatic production line, the transmission of the process pieces is completed by a schuller cross-bar manipulator CBF, and Tooling is a special pneumatic clamp which is installed on the cross-bar manipulator CBF and has high flexibility, and is formed by assembling a plurality of rod pieces and a sucker.
Referring to fig. 1, tolling includes a main rod 101, a plurality of sub-rods 102 extending transversely from the main rod 101, a plurality of support rods 103 extending from the sub-rods 102, a steering knuckle 104 mounted on the support rods 103, and a suction cup 105 mounted on the steering knuckle 104. The boom 101 is mounted to a crossbar robot 107 by a gripper 106. The primary component of tolling that functions to pick and place is the suction cup 105. the suction cup 105 needs to be accurately positioned to the desired location to be attached to the work piece at the exact location. In order to accurately position the suction cup 105, the tolling needs to be manually constructed before a new mold is used to produce a part each time, and the specific positions of the tolling secondary rod 102, the support rod 103, the steering joint 104 and the suction cup 105 are determined according to the relative position between the tolling primary rod 101 and the surface of the lower mold carrying the produced part when the part is taken and the surface structure of the produced part (process part). After positioning is completed, the Tooling air tube is connected so that the suction cup can start working. The correct set-up of Tooling is a prerequisite for the delivery of process pieces. Taking the schuler six-order servo press production line as an example, the tolling with a total of CBF0-CBF6 and 7 sets of cross-bar manipulators CBF needs to be built. In an actual production line, wherein Tooling building of a 6-set cross-bar manipulator CBF of CBF1-CBF6 needs to be carried out in a 1# press and a 6# press respectively, building devices need to stop the presses, and mass production time is occupied.
SUMMERY OF THE UTILITY MODEL
According to the utility model discloses an embodiment provides a take auxiliary device in advance under manipulator line, take the portal frame in advance including one, take the portal frame in advance and include: the device comprises a portal frame body, a main arm, a main rod interface assembly and an alignment assembly. The main arm is arranged on an upright post of the portal frame body, can lift along the upright post, and is parallel to a cross beam of the portal frame body. The main rod interface component is arranged on the main arm and can move along the main arm, and the main rod of the manipulator is arranged on the main rod interface component. The alignment assembly is mounted on the gantry body and indicates the relative position of the main rod interface assembly. And the positions of the portal frame body, the main arm and the main rod interface assembly are adjusted according to the alignment assembly, so that the main rod arranged on the main rod interface assembly is adjusted to the position matched with the on-line station.
In one embodiment, an alignment assembly includes: centering rod, horizontal scale and vertical scale. The centering rod is installed on the portal frame body, and the centering groove on centering rod and the bed die that bears the weight of the process piece on the station aligns, and the centering rod carries out X to centering with the centering groove, and X is to the commodity circulation direction of assembly line in the horizontal plane. The horizontal graduated scale is arranged on the centering rod and indicates the position in the Y direction, and the Y direction is the direction vertical to the X direction in the horizontal plane. The vertical graduated scale is installed on the stand of portal frame body, and vertical graduated scale instructs Z position to, and Z is vertical direction.
In one embodiment, the boom interface assembly includes several different types of boom interfaces to accommodate different types of booms.
In one embodiment, the pre-erection gantry further comprises a lifting mechanism, wherein the lifting mechanism is connected to the main arm, and the lifting mechanism drives the main arm to lift along the upright post.
In one embodiment, the pre-assembled portal frame further comprises an air path mounting plate, the air path mounting plate is mounted on the upright post of the portal frame body, and the air path of the driving manipulator is mounted through the air path mounting plate.
In one embodiment, the pre-assembled portal frame further comprises universal casters and balance braces, the universal casters and the balance braces are installed at the bottom of the portal frame body, the universal casters drive the portal frame body to move, and the balance braces fix and support the portal frame body.
In one embodiment, the robot offline pre-lap assist apparatus further comprises a pre-lap web rack, the pre-lap web rack being placed at an idle station without a lower mold, the pre-lap web rack carrying process pieces, the pre-lap web rack comprising: the frame body, work piece support piece and centering groove. The workpiece supporting piece is arranged on the frame body, bears the working procedure piece and can drive the working procedure piece to move along the Y direction. The centering groove is arranged on the frame body.
In one embodiment, the workpiece support comprises: support bracket, runner actuating mechanism and baffle. The support bracket is mounted on the frame body. The runner drive mechanism is installed on the support bracket. The baffle is installed on runner actuating mechanism, and the process spare is born to the baffle, and runner actuating mechanism drive baffle and drive process spare are to moving along Y.
In one embodiment, the pre-lap material rack further comprises universal casters and balance braces, the universal casters and the balance braces are installed at the bottom of the frame body, the universal casters drive the frame body to move, and the balance braces are fixed and support the frame body.
The utility model discloses a when taking auxiliary device in advance under manipulator line and picking up the part through reduction Tooling, the relative position of crossbar formula manipulator mobile jib and lower mould surface process spare in the press accomplishes new part Tooling in advance outside the press, and it is long when reducing online Tooling to build produced press machine shut down to occupy by a wide margin.
Drawings
Fig. 1 discloses a structural diagram of a robot tool in an automated production line used in the prior art.
Fig. 2 discloses a structure diagram of a pre-assembled portal frame of the pre-assembled auxiliary device under the manipulator line according to an embodiment of the present invention.
Fig. 3 discloses a partial enlarged structural view of a pre-assembled portal frame of the pre-assembled auxiliary device under the manipulator line according to the present invention.
Fig. 4 shows a block diagram of the centering grooves on the lower mold carrying the work pieces at the station.
Fig. 5 is a partial enlarged structural view of another part of the pre-landing portal frame of the robot offline pre-landing assisting device according to an embodiment of the present invention.
Fig. 6 shows a structural diagram of a pre-loading rack of the robot offline pre-loading assisting device according to an embodiment of the present invention.
Detailed Description
The utility model provides a take auxiliary device in advance under manipulator line includes two subassemblies on the whole: pre-lapping portal frames and pre-lapping material sheet frames. The Tooling of the manipulator is arranged on the pre-lapping portal frame when the online pre-lapping is carried out, the pre-lapping portal frame is matched with a lower die for bearing the working procedure piece on the station, and the position of the Tooling of the manipulator is adjusted on the pre-lapping portal frame, so that the Tooling position of the manipulator is basically consistent with the actual position in the online pressing machine. When an empty station without a lower die is met, the pre-lapping material sheet frame is used for bearing the working procedure pieces, the pre-lapping material sheet frame replaces the lower die to bear the working procedure pieces, the pre-lapping portal frame is matched with the pre-lapping material sheet frame, and the position of the Tooling of the manipulator is adjusted on the pre-lapping portal frame to be basically consistent with the actual position in the online pressing machine.
Fig. 2 discloses a structure diagram of a pre-assembled portal frame of the pre-assembled auxiliary device under the manipulator line according to an embodiment of the present invention. Referring to fig. 2, the pre-lap portal frame of the robot offline pre-lap auxiliary device comprises: a gantry body 201, a main arm 202, a main rod interface assembly 203, and an alignment assembly.
The portal frame body 201 is a portal frame structure formed by overlapping sectional materials and comprises a base, a stand column and a cross beam.
The main arm 202 is installed on a vertical column of the gantry body 201, the main arm 202 can ascend and descend along the vertical column, and the main arm is parallel to a cross beam of the gantry body 201. In one embodiment, the pre-erection gantry further comprises a lifting mechanism 205, the lifting mechanism 205 is mounted on the gantry body 201, the lifting mechanism 205 is connected to the main arm 202, and the lifting mechanism 205 drives the main arm 202 to lift along the upright column to adjust the Z-direction position (height) of the main arm.
The boom interface assembly 203 is mounted on the main arm 202, the boom interface assembly 203 being movable along the main arm 202. A robot's boom, such as boom 101 shown in fig. 1, is mounted on the boom interface assembly. In one embodiment, to accommodate the boom of a robotic arm of the stationary type, the boom interface assembly 203 provides several different types of boom interfaces to accommodate the different types of booms. Fig. 3 shows a partially enlarged structural view of a pre-assembled portal frame of the robot offline pre-assembly auxiliary device according to the present invention, and fig. 3 shows a partially enlarged view of a main rod interface assembly. In the embodiment shown in fig. 3, the boom interface assembly provides three different types of boom interfaces: bridge type, 60housing type and 40housing type. The three types of main rod interfaces respectively correspond to the main seats of the three main rod interfaces: bridge frame female seats 231, 60housing female seats 232, and 40housing female seats 233. In the illustrated embodiment, the bridge-type frame female seats 231 are installed along the direction of the main arm 202, and the 60housing female seats 232 and 40housing female seats 233 are respectively installed at both ends of the sub-arm, which is in a perpendicular direction to the main arm. In the using process, according to the requirement of the punching production line, the Tooling main rods with different interface types are installed on the corresponding main rod interfaces, and Tooling off-line pre-lapping is carried out.
The alignment assembly is mounted on the gantry body 201 and indicates the relative position of the master rod interface assembly. The relative position of the main rod interface component represents the relative position of the Tooling main rod arranged on the main rod interface, and the Tooling main rod can be positioned by positioning the position of the main rod interface component, so that the position of the Tooling main rod on the pre-built portal frame is consistent with the actual position of the Tooling main rod in the online pressing machine. In one embodiment, an alignment assembly includes: a centering rod 204, a horizontal scale and a vertical scale. The centering rod 204 is mounted on the gantry body, in the illustrated embodiment, the centering rod 204 is mounted in the middle of a base of the gantry body, the centering rod 204 is aligned with a centering groove 402 on a lower mold 401 carrying the process piece on the station, and the centering rod 204 and the centering groove 402 perform X-direction centering, wherein X-direction is the material flow direction of the production line in the horizontal plane. Fig. 4 and 5 disclose the structure of the centering bars and centering grooves, wherein fig. 4 discloses a structural view of the centering grooves on the lower mold carrying the process elements at the station. Fig. 5 is a partially enlarged structural view of another portion of the pre-assembled portal frame of the pre-assembled auxiliary device under the manipulator line according to the present invention, and fig. 5 is an enlarged structural view of the base and the column portion of the pre-assembled portal frame. Referring to fig. 4, the bottom of a lower mold 401 carrying process pieces at a station has a centering slot 402. The centering rod 204 is aligned with the centering slot 402 to achieve an X-directional centering operation. The horizontal scale is mounted on the centering rod 204, or the horizontal scale may be a horizontal scale directly engraved on the centering rod 204. The horizontal scale indicates the position in the Y direction, which is a direction perpendicular to the X direction in the horizontal plane. The vertical graduated scale is installed on the stand of portal frame body, perhaps, vertical graduated scale also can be the vertical scale of directly carving on the stand. The vertical scale indicates the position in the Z direction, which is the vertical direction.
In the embodiment shown in fig. 2, the pre-landing gantry further comprises the following components: an air path mounting plate 206, a universal caster 207, and a balance brace 208. The gas circuit mounting plate 206 is installed on the column of the gantry body 201, and the gas circuit of the driving manipulator is installed through the gas circuit mounting plate 206. The universal caster 207 and the balance supporting leg 208 are installed at the bottom of the portal frame body 201, the universal caster 207 drives the portal frame body to move, and the balance supporting leg 208 is fixed and supports the portal frame body. In the illustrated embodiment, a universal caster 207 and a balance arm 208 are respectively installed at four corners of the base of the gantry body 201, when the gantry body is moved, the balance arm 208 is folded, the gantry body is driven by the universal caster 207 to move, after the gantry body is moved in place, the balance arm 208 is put down, the balance arm 208 is supported on the ground, and the height of the balance arm 208 can be adjusted. The four balance arm braces 208 are adjusted respectively to ensure that the gantry body 201 is in a horizontal state.
After the main rod of the manipulator is installed on the main rod interface, the positions of the portal frame body, the main arm and the main rod interface component are adjusted according to the alignment component, so that the main rod installed on the main rod interface component is adjusted to the position matched with the on-line station.
For example, when picking up a work piece, the lower mold carrying the work piece is in a stationary state, the main rod of the manipulator is in a moving state, the work piece stays on the upper surface of the lower mold, and when the main rod of the manipulator moves to a work-taking position, the work piece is picked up to the next work step by generating a suction force through the interaction between the toiling gas circuit and the suction cup.
For the non-empty station with the lower mold, the picking positions of the process pieces in the specific process are fixed values, that is, the spatial positions of the center of the main rod of the manipulator and the center of the lower surface of the lower mold are fixed values and can be recorded as three coordinate values of an X axis, a Y axis and a Z axis, and the three directions of the X axis, the Y axis and the Z axis are defined as above: the X direction is the material flow direction of the assembly line in the horizontal plane, the Y direction is the direction perpendicular to the X direction in the horizontal plane, and the Z direction is the vertical direction. At this time, according to the coordinate value and the position of the lower die body, the relative position of the lower die and the main rod of the manipulator in the press can be simulated and reduced outside the press, and the Tooling pre-lapping is carried out.
The main rod of the manipulator and the lower die are positioned in the X-axis direction: the X axle is the commodity circulation direction promptly, before taking in advance under the line, aligns through the centering groove of bed die and the centering rod of portal frame body, then the coincidence of the lower surface central point of the mobile jib of manipulator and bed die in the X axle direction.
The main rod of the manipulator and the positioning process of the lower die in the Y-axis direction: by utilizing the Y-direction horizontal graduated scale on the centering rod, the graduated degrees of the horizontal graduated scale on the centering rod on the two sides of the portal frame body are consistent, namely, the portal frame body and the lower die are centered in the Y-axis direction. And then adjusting the position of the main rod interface assembly on the main arm, wherein the main arm extends along the Y direction, so that the Y-direction position of the main rod interface assembly is adjusted along the main arm. The position (Y-direction position sum) of the main rod interface female seat on the main arm is consistent with the position (Y-direction position) of the main rod interface female seat on the actual mechanical hand in the pressing machine, even if the Y-axis coordinates of the two Tooling main rod female seats taking the center of the lower surface of the die as the origin of a coordinate system are consistent with the inside of the pressing machine.
The main rod of manipulator and the positioning process of bed die in the Z axle direction: and operating the lifting mechanism, adjusting the Z-direction height of the main arm through the lifting mechanism, and positioning the Z-direction height of the main arm by using a vertical graduated scale installed on the upright column, so that the scale value of the main arm in the Z-axis direction on the portal frame body is consistent with the Z-axis coordinate of the Tooling main rod female seat in the press.
After the positioning in the three directions of the X axis, the Y axis and the Z axis is completed, the relative position of the main rod interface assembly of the pre-lapping portal frame and the lower mold is consistent with the actual relative position of the tolling main rod female seat and the lower mold in the press.
Then the Tooling main rod is installed on the main rod interface component of the main arm, and at the moment, under the assistance of the pre-building portal frame, the relative position relationship formed by the Tooling main rod and the lower die is consistent with that in the press. On the basis, the positioning installation of the Tooling auxiliary rod, the supporting rod, the steering joint and the sucker and the connection of the sucker can be carried out.
Some links on the production line also have empty station, do not have the bed die on the empty station, to empty station, the utility model discloses a manipulator line is taken auxiliary device in advance down and can be used and is taken the material piece frame in advance, takes the material piece frame in advance and places on the empty station that does not have the bed die, takes the material piece frame in advance and replaces the bed die to bear the process spare. Fig. 6 shows a structural diagram of a pre-loading rack of the robot offline pre-loading assisting device according to an embodiment of the present invention. As shown, the pre-lap rack comprises: a frame body 301, a workpiece support, and a centering slot 305. The workpiece support member is mounted on the frame body 301, and the workpiece support member carries the process member and can drive the process member to move in the Y direction. In the illustrated embodiment, the workpiece support comprises: a support bracket 302, a wheel drive mechanism 303, and a baffle 304. The support bracket 302 is mounted on the frame body 301. A rotary wheel drive mechanism 303 is mounted on the support bracket 302. The baffle 304 is mounted on the rotary wheel driving mechanism 303, the baffle 304 carries the working piece, and the rotary wheel driving mechanism 303 drives the baffle 304 and drives the working piece to move along the Y direction. The centering groove 305 is provided on the frame body 301, and in the illustrated embodiment, the centering groove 305 is provided at the bottom of the frame body 301. The centering slots 305 of the pre-lap pallet function in the same manner as the centering slots on the lower die, and are all aligned in the X-direction in cooperation with the centering bars. In the illustrated embodiment, the pre-lap sheet stand further comprises casters 306 and balance support feet 307, the casters 306 and balance support feet 307 being mounted at the bottom of the pre-lap sheet stand 301. The universal caster 306 drives the pre-lap sheet rack to move, and the balance brace 307 fixes and supports the pre-lap sheet rack. In the illustrated embodiment, a universal caster 306 and a balance brace 307 are respectively installed at four corners of the bottom of the pre-material sheet rack 301, when the pre-material sheet rack is moved, the balance brace 307 is retracted, the pre-material sheet rack is moved by the universal caster 306, after the pre-material sheet rack is moved in place, the balance brace 307 is put down, the balance brace 307 is supported on the ground, and the height of the balance brace 307 can be adjusted. The four balance arms 307 are adjusted to ensure that the pre-lap frame 301 is horizontal.
In the idle station without the lower die, the pre-lapping material rack replaces the lower die to carry the working piece, and the operation process of the pre-lapping material rack is consistent with the process of aligning with the lower die.
The utility model discloses a when taking auxiliary device in advance under manipulator line and picking up the part through reduction Tooling, the relative position of crossbar formula manipulator mobile jib and lower mould surface process spare in the press accomplishes new part Tooling in advance outside the press, and it is long when reducing online Tooling to build produced press machine shut down to occupy by a wide margin.
It should also be noted that the above-mentioned embodiments are only specific embodiments of the present invention. It is obvious that the present invention is not limited to the above embodiments, and similar changes or modifications can be directly derived or easily suggested by those skilled in the art from the disclosure of the present invention, and all should fall within the protection scope of the present invention. The above-described embodiments are provided to enable persons skilled in the art to make or use the invention, and many modifications and variations may be made to the above-described embodiments by persons skilled in the art without departing from the inventive concept of the present invention, so that the scope of the invention is not limited by the above-described embodiments, but should be accorded the widest scope consistent with the innovative features set forth in the claims.
Claims (9)
1. The utility model provides a take auxiliary device in advance under manipulator line, its characterized in that includes one and takes the portal frame in advance, it includes to take the portal frame in advance:
a gantry body;
the main arm is arranged on an upright post of the portal frame body, can lift along the upright post and is parallel to a cross beam of the portal frame body;
the main rod interface assembly is arranged on the main arm and can move along the main arm, and the main rod of the manipulator is arranged on the main rod interface assembly;
the alignment assembly is arranged on the portal frame body and indicates the relative position of the main rod interface assembly;
and the positions of the portal frame body, the main arm and the main rod interface assembly are adjusted according to the alignment assembly, so that the main rod arranged on the main rod interface assembly is adjusted to the position matched with the on-line station.
2. The robot offline preassembly aid of claim 1, wherein said alignment assembly comprises:
the centering rod is arranged on the portal frame body, the centering rod is aligned with a centering groove on a lower die for bearing the working procedure piece on the station, the centering rod and the centering groove perform X-direction centering, and the X direction is the material flow direction of the assembly line in the horizontal plane;
the horizontal graduated scale is arranged on the centering rod and indicates the position in the Y direction, and the Y direction is the direction vertical to the X direction in the horizontal plane;
the vertical scale is installed on the stand of portal frame body, and the vertical scale instructs Z position to, and Z is vertical direction.
3. The robot offline preassembly aid of claim 1, wherein the boom interface assembly comprises a plurality of different types of boom interfaces to accommodate different types of booms.
4. The robot offline pre-lapping auxiliary device of claim 1, wherein the pre-lapping portal frame further comprises a lifting mechanism, the lifting mechanism is connected to the main arm, and the lifting mechanism drives the main arm to lift along the upright post.
5. The robot offline pre-lap auxiliary device of claim 1, wherein the pre-lap portal frame further comprises an air path mounting plate, the air path mounting plate is mounted on the column of the portal frame body, and the air path of the driving robot is mounted through the air path mounting plate.
6. The robot offline pre-lap auxiliary device of claim 1, wherein the pre-lap portal frame further comprises a universal caster and a balance brace, the universal caster and the balance brace are installed at the bottom of the portal frame body, the universal caster drives the portal frame body to move, and the balance brace fixes and supports the portal frame body.
7. The robot offline pre-lap assist apparatus of claim 1, further comprising a pre-lap web rack, the pre-lap web rack being placed at an idle station without a lower mold, the pre-lap web rack carrying process pieces, the pre-lap web rack comprising:
a frame body;
the workpiece supporting piece is arranged on the frame body and bears the working procedure piece and can drive the working procedure piece to move along the Y direction;
the centering groove is arranged on the frame body.
8. The robot offline preassembly aid of claim 7, wherein said workpiece support comprises:
the supporting bracket is arranged on the frame body;
the rotating wheel driving mechanism is arranged on the supporting bracket;
the baffle, the baffle is installed on runner actuating mechanism, and the process spare is born to the baffle, and runner actuating mechanism drive baffle and drive process spare are to moving along Y.
9. The robot offline pre-lap auxiliary device of claim 7, wherein the pre-lap sheet rack further comprises casters and balance braces, the casters and the balance braces are mounted at the bottom of the frame body, the casters drive the frame body to move, and the balance braces fix and support the frame body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120542659.5U CN214418818U (en) | 2021-03-16 | 2021-03-16 | Auxiliary device for offline pre-lap of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120542659.5U CN214418818U (en) | 2021-03-16 | 2021-03-16 | Auxiliary device for offline pre-lap of manipulator |
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| Publication Number | Publication Date |
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| CN214418818U true CN214418818U (en) | 2021-10-19 |
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| CN202120542659.5U Active CN214418818U (en) | 2021-03-16 | 2021-03-16 | Auxiliary device for offline pre-lap of manipulator |
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