CN220499148U - Feeding and discharging transportation system suitable for automatic wire end framing - Google Patents
Feeding and discharging transportation system suitable for automatic wire end framing Download PDFInfo
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- CN220499148U CN220499148U CN202420085363.9U CN202420085363U CN220499148U CN 220499148 U CN220499148 U CN 220499148U CN 202420085363 U CN202420085363 U CN 202420085363U CN 220499148 U CN220499148 U CN 220499148U
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- 238000009432 framing Methods 0.000 title claims abstract description 60
- 238000007599 discharging Methods 0.000 title claims description 11
- 239000000463 material Substances 0.000 claims abstract description 96
- 238000004519 manufacturing process Methods 0.000 claims abstract description 42
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000000007 visual effect Effects 0.000 claims description 22
- 230000007246 mechanism Effects 0.000 claims description 11
- 235000004443 Ricinus communis Nutrition 0.000 claims description 4
- 239000013589 supplement Substances 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000000712 assembly Effects 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
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Abstract
The utility model discloses a loading and unloading transport system suitable for automatic wire end framing, which comprises a material frame for carrying a material sheet, an online detection device, a DOLLY vehicle for carrying the material frame, a submerged AGV for towing the DOLLY vehicle, a control system and a forklift AGV for transferring the material frame from a material storage area to a loading and unloading frame position, wherein the forklift AGV is provided with a material frame information identification system, and the control system is electrically connected with the forklift AGV, the submerged AGV, the online detection device and an automatic framing production line to control the automatic operation of the forklift AGV, the submerged AGV and the DOLLY vehicle and realize the loading and unloading transport of the automatic wire end framing. The automatic line loading and unloading device is matched with an automatic line loading and unloading production line, realizes loading and unloading transportation of automatic line end loading, has high automation degree, can visually grasp the loading information and the operation condition of the production line in real time, reduces the labor intensity, improves the production safety, and realizes loading and unloading transportation of automatic line end loading.
Description
Technical Field
The utility model relates to the technical field of intelligent transportation, in particular to a loading and unloading transportation system suitable for automatic wire end framing.
Background
Along with the improvement of intelligent stamping factory production line beats and formed part quality, line end manual framing on more and more stamping production lines is replaced by automatic framing. However, the existing framing production line still adopts a manual forklift to transport empty material frames and full material frames to and from a storage area to and from an automatic framing station at the end of a line, the labor intensity of workers is high, and the material frames for manually distinguishing different workpieces are prone to error, so that subsequent production is suspended, the production efficiency is low, and potential safety hazards are easily caused when the material frames pass through a production area. Under the background, developing a loading and unloading transportation system suitable for automatic wire end framing becomes an urgent problem to be solved.
Disclosure of Invention
The utility model aims to solve the problems and provides a loading and unloading transportation system suitable for automatic wire end framing. The automatic frame loading and unloading device comprises a material frame for carrying the material sheets, an online detection device, a DOLLY vehicle, a submerged AGV, a control system and a forklift AGV, and is matched with an automatic frame loading production line to realize loading and unloading transportation of automatic frame loading at the end of the line, so that the automatic frame loading device is high in automation degree, can visually grasp frame loading information and the operation condition of the production line in real time, reduces the labor intensity of workers and improves the production safety. Realize the last automatic loading and unloading transportation of dress frame of line.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a go up unloading conveying system suitable for automatic dress frame at end of line, cooperates with automatic dress frame production line, go up unloading conveying system including the material frame that is used for bearing the material piece, on-line measuring device, be used for bearing the DOLLY car of material frame, be used for drawing the submerged AGV of DOLLY car, control system, be used for from the material storage area transport the fork truck formula AGV of material frame to the position of unloading frame, be equipped with material frame information identification system on the fork truck formula AGV, control system with fork truck formula AGV, submerged AGV, on-line measuring device and automatic dress frame production line electric signal connection, control fork truck formula AGV, submerged AGV and DOLLY car automatic operation realize the last unloading transportation of automatic dress frame at end of line.
The submerged AGV comprises a frame, a battery pack is arranged at the front end of the frame, an AGV control mechanism is arranged at the rear end of the frame, the AGV control mechanism is in electrical signal connection with a control system, a front steering wheel assembly and front universal casters are arranged on the side, close to the battery pack, of the middle part of the frame, a rear steering wheel assembly and rear universal casters are arranged on the side, close to the AGV control mechanism, of the middle part of the frame, a laser scanner for detecting surrounding obstacles and navigating paths is arranged at the diagonal position of the frame, and a magnetic sensor and a station identification device are arranged at the bottom of the frame.
A vehicle body appearance shield panel assembly is arranged above the vehicle frame.
And a safety contact edge is arranged around the lower part of the frame.
The rear end of the frame is provided with a charging device.
The submerged AGV is characterized in that a locating pin is arranged on the submerged AGV, a locating hole is formed in the middle of the DOLLY vehicle, and the locating hole is matched with the locating pin to realize dragging of the whole vehicle.
The automatic framing production line comprises a framing station vision system for identifying characteristics of a material frame, a visual mobile robot system for grabbing materials at different positions according to different plate materials, and a conveying belt conveyor for conveying qualified workpieces for grabbing by robots, wherein the framing station vision system and the mobile robot system are provided with two sets, the two sets of framing station vision systems and the mobile robot system are sequentially distributed on two sides of the conveying belt conveyor, the framing station vision system identifies characteristic positions of the material frame and sends the characteristic positions to the visual mobile robot system for starting production, the conveying belt conveyor works to convey the plate materials to the appointed positions, the visual mobile robot system grabs the material frame, gives signals to the whole line after the frame is full, and dispatches a submerged AGV to pull the full material frame and supplement an empty material frame.
The on-line detection device comprises a visual camera used for identifying material frame information after receiving a material frame signal of a manual feeding frame position, and the visual camera is arranged on the platform.
The left side and the right side both sides of DOLLY car all are provided with side guide structure, and left rear side and right rear side all are provided with location structure, be equipped with automobile body deflector, location pinhole on the DOLLY car respectively, side guide structure and automobile body deflector cooperation, be used for the thick direction of DOLLY car, location structure and location pinhole cooperation are used for the accurate location of DOLLY car at last unloading station.
And a tablet positioning supporting block for tablet positioning is arranged on the tablet frame.
The beneficial effects of the utility model are as follows:
1. the automatic frame loading and unloading device comprises a material frame for carrying the material sheets, an online detection device, a DOLLY vehicle, a submerged AGV, a control system and a forklift AGV, and is matched with an automatic frame loading production line to realize loading and unloading transportation of automatic frame loading at the end of the line, so that the automatic frame loading device is high in automation degree, can visually grasp frame loading information and the operation condition of the production line in real time, reduces the labor intensity of workers and improves the production safety. Realize the last automatic loading and unloading transportation of dress frame of line.
2. The utility model has strong adaptability, can schedule the planning paths of the forklift AGVs and the submerged AGVs and the number of the material frames in time according to the production information, and is suitable for the intelligent loading and unloading transportation of various automatic workpiece wire end framing.
3. The utility model has the advantages of convenient operation and easy production expansion, and can increase the framing stations, the fork truck type AGVs and the number of submerged AGVs according to the production condition.
4. The submerged AGV comprises a frame, a battery pack is arranged at the front end of the frame, an AGV control mechanism is arranged at the rear end of the frame, a front steering wheel assembly and front universal casters are arranged on the side, close to the battery pack, of the middle portion of the frame, a rear steering wheel assembly and rear universal casters are arranged on the side, close to the control system, of the middle portion of the frame, a laser scanner is arranged at the diagonal position of the frame, a magnetic sensor and a station identification device are arranged at the bottom of the frame, and the submerged AGV is guaranteed to reliably and efficiently pull the DOLLY vehicle.
5. The vehicle body appearance shield panel assembly is arranged above the vehicle frame, can be opened and can be independently disassembled and assembled, has the effect of safety protection, and is convenient to disassemble, assemble, replace and maintain; safety contact edges are arranged on the periphery of the lower portion of the frame, so that safety protection effect is improved.
6. The automatic charging device is arranged at the rear end of the frame, so that the equipment can be conveniently charged.
7. Through being equipped with the locating pin on submerged AGV, the intermediate position of DOLLY car is equipped with the locating hole, and the locating hole uses with the locating pin cooperation, conveniently realizes quick location connection and whole car and pulls.
8. The automatic framing production line's framing station vision system, mobile robot system be equipped with two sets, two sets framing station vision system, mobile robot system distribute in proper order in the both sides of conveyor, through framing station vision system discernment material frame feature position and send for taking visual mobile robot system to begin production, conveyor belt work transport sheet material to appointed position, take visual mobile robot system to grab the material dress frame, give the signal and give whole line after the frame is full, dispatch immersive AGV to pull away full material frame and supply empty material frame, degree of automation is high, work efficiency has been improved.
9. The left side and the right side both sides at the DOLLY car all are provided with side guide structure, and left rear side and right rear side all are provided with location structure, are equipped with automobile body deflector, location pinhole on the DOLLY car respectively, and side guide structure and automobile body deflector cooperation, be used for the thick direction of DOLLY car, location structure and location pinhole cooperation are used for the accurate positioning of DOLLY car at last unloading station, improve work efficiency.
10. The vision camera is installed on the platform, and through installing light and vision camera on the platform for take a picture discernment sheet material position on the conveyor belt machine, guarantee to direct the accuracy that the robot grabs the material, guarantee safe and reliable production.
11. Through being equipped with the tablet location supporting shoe that is used for the tablet location on the material frame, guarantee that the tablet location is accurate reliable, guarantee product quality, improve work efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a planar layout structure of the present utility model;
FIG. 2 is an enlarged view of part of I of FIG. 1;
FIG. 3 is a schematic view of the structure of a submersible AGV carrying a doly vehicle and a material frame of the present utility model;
FIG. 4 is a schematic diagram II of a structure of a submersible AGV carrying a doly vehicle and a material frame according to the present utility model;
FIG. 5 is an enlarged view of a portion of the junction A of the submerged AGV of FIG. 4 with the doly truck;
FIG. 6 is a schematic view of the structure of a submerged AGV of the present utility model;
FIG. 7 is a schematic top view of a submerged AGV of the present utility model;
fig. 8 is a block diagram of the doly car of the present utility model.
In the figure:
1. the material frame, 1-1, positioning the supporting block;
2. an online detection device, 2-1, a visual camera;
the vehicle comprises a DOLLY vehicle, a positioning hole, a side guiding structure, a positioning structure, a vehicle body guiding plate and a positioning pin hole, wherein the DOLLY vehicle is 3-1, the positioning hole is 3-2, the side guiding structure is 3-3, the positioning structure is 3-4, and the positioning pin hole is 3-5;
4. the automatic guided vehicle comprises a submerged AGV, 4-1 parts of positioning pins, 4-2-1 parts of front steering wheel assemblies, 4-2-2 parts of rear steering wheel assemblies, 4-3-1 parts of front universal casters, 4-3-2 parts of rear universal casters, 4-4 parts of battery packs, 4-5 parts of automatic charging devices, 4-6 parts of AGV control mechanisms, 4-7 parts of laser scanners, 4-8 parts of magnetic sensors, 4-9 parts of station identification devices, 4-10 parts of frames, 4-11 parts of vehicle body appearance shield panel assemblies and 4-12 parts of safety contact edges.
5. An automatic framing production line, 5-1, a visual mobile robot system, 5-2, a conveying belt conveyor and 5-3, a framing station visual system;
6.a control system;
7. fork truck formula AGV.
Detailed Description
In order to make the technical solution of the present utility model better understood by those skilled in the art, the technical solution of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.
As shown in fig. 1 to 8, a go up unloading conveying system suitable for automatic framing at end of line combines fig. 1, cooperates with automatic framing production line 5, and automatic framing production line 5 is used for automatic framing production, go up unloading conveying system including the material frame 1 that is used for bearing the tablet, on-line measuring device 2, the DOLLY car 3 (or the work or material rest car), submerged AGV4, control system 6, fork truck formula AGV7, the DOLLY car 3 is used for bearing the material frame 1, submerged AGV4 is used for pulling the DOLLY car 3, fork truck formula AGV7 is used for transporting material frame 1 to unloading frame position from the material storage area, be equipped with material frame information identification system on the fork truck formula AGV7, control system 6 with fork truck formula AGV7, submerged AGV4, on-line measuring device 2 and automatic framing production line 5 electric signal connection, control AGV4 and automatic operation of DOLLY car 3 realize the last unloading transportation of automatic framing of line.
The fork truck formula AGV7 and the formula AGV4 that dives sharing one set wireless communication and dispatch system control system 6 promptly, when the production line needs empty material frame, control system 6 dispatch fork truck formula AGV7 is according to the transportation of material frame 1 demand information appointed empty material frame to last unloading frame station, output acknowledgement information for control system 6 after accomplishing, carry out the visual discernment of material frame of next step and follow-up transportation work, when there is full material frame to need the off-line on the production line, control system 6 dispatch fork truck formula AGV7 takes off full material frame from last unloading frame station and transfers to the material storage area, and output feedback information gives control system 6.
The material frame 1 is provided with a material sheet positioning supporting block 1-1 for positioning the material sheets.
As shown in fig. 6 and 7, the submerged AGV4 comprises a frame 4-10, a battery pack 4-4 is arranged at the front end of the frame 4-10, an AGV control mechanism 4-6 is arranged at the rear end of the frame 4-10, the submerged AGV comprises a control electric cabinet and the like, the AGV control mechanism 4-6 is electrically connected with the control system 6, a front steering wheel assembly 4-2-1 and a front universal castor 4-3-1 are arranged at the middle part of the frame 4-10 near the battery pack 4-4 side, a rear steering wheel assembly 4-2 and a rear universal castor 4-3-2 are arranged at the middle part of the frame 4-10 near the AGV control mechanism 4-6 side, a laser scanner 4-7 is arranged at the diagonal position of the frame 4-10, a peripheral obstacle is detected and a path is navigated through the laser scanner 4-7, a magnetic sensor 4-8 and a station identification device 4-9 are arranged at the bottom of the frame 4-10, and the laser scanner 4-7, the station identification device 4-8 and the station identification device 4-9 are electrically connected with the control mechanism 4-6 respectively, so that the submerged automatic charging and the submerged steering and the automatic cruising of the AGV are realized.
The upper part of the frame 4-10 is provided with a vehicle body appearance shield panel assembly 4-11, and the vehicle body appearance shield panel assembly 4-11 can be opened and independently disassembled.
The periphery of the lower part of the frame 4-10 is provided with a safety contact edge 4-12.
The rear end of the frame 4-10 is provided with an automatic charging device 4-5.
As shown in fig. 3, 4, 6, 8 and the like, the submerged AGV4 is provided with a positioning pin 4-1, the positioning pin 4-1 can be lifted, the middle position of the dolby car 3 is provided with a positioning hole 3-1, and the positioning hole 3-1 is matched with the positioning pin 4-1 to realize the dragging of the whole car. The submerged AGV4 is submerged under the DOLLY vehicle 3 according to the task instruction, and the extending locating pin 4-1 is inserted into the DOLLY vehicle locating hole 3-1 to pull the DOLLY vehicle 3 to bear the material frame 1 according to the planned path to reciprocate between the storage area and the line end automatic framing station.
The locating pin 4-1 is arranged at the left and right sides of the central part of the frame 4-10, which is close to the central line.
As shown in fig. 1, the automatic framing production line 5 includes a framing station vision system 5-3 for identifying the characteristics of the material frame, a visual mobile robot system 5-1 for grabbing materials according to different plate materials reaching different positions, and a conveying belt 5-2 for conveying qualified workpieces for grabbing by a robot, wherein the framing station vision system 5-3 and the mobile robot system 5-1 are provided with two sets, the two sets of framing station vision systems 5-3 and the mobile robot system 5-1 are sequentially distributed on two sides of the conveying belt 5-2, the framing station vision system 5-3 identifies the characteristic positions of the material frame and sends the characteristic positions to the visual mobile robot system 5-1 for starting production, the conveying belt 5-2 works to convey the plate materials to the designated positions, the visual mobile robot system 5-1 grabs the material frame, gives a signal to the whole line after the frame is full, and schedules an embedded AGV4 to pull full material frames and supplement empty material frames.
As shown in figure 1 of the drawings,
a platform is arranged above the conveying belt conveyor 5-2, the online detection device 2 comprises a visual camera 2-1 for identifying material frame information after receiving a material frame signal of a manual feeding frame position, and the visual camera 2-1 is arranged on the platform. In addition, can install the light on the platform to reinforcing illumination, guarantee to shoot clearly. The illuminating lamp and the visual camera are arranged on the platform and used for photographing and identifying the position of the plate on the conveying belt conveyor 5-2, so as to guide the robot to grab the material.
As shown in fig. 1, the online detection device 2 includes a vision camera 2-1 for identifying frame information after receiving a frame signal of a manual feeding frame, and the vision camera 2-1 is mounted on a platform.
As shown in fig. 2, fig. 3, fig. 7, fig. 8, etc., the left side and the right side both sides of the DOLLY car 3 are provided with side guiding structures 3-2, the left back side and the right back side are provided with positioning structures 3-3, the DOLLY car 3 is respectively provided with a car body guiding plate 3-4 and a positioning pin hole 3-5, the side guiding structures 3-2 are matched with the car body guiding plate 3-4 and are used for coarse guiding of the DOLLY car 3, and the positioning structures 3-3 are matched with the positioning pin holes 3-5 and are used for accurately positioning the DOLLY car 3 at the loading and unloading stations. The side guide structure 3-2 and the positioning structure 3-3 are mounted on a support frame which is mounted on the ground or a foundation, for example, is fixed on the ground by expansion bolts. The guiding and positioning of the vehicle body of the DOLLY vehicle 3 at the framing working position is performed, and the signal is sent to the framing station vision system 5-3 after the in-place detection of the vehicle body of the DOLLY vehicle 3.
During operation, line end framing system sends production information, and the display of the material loading station that is connected with control system signal is the display screen can show production information in real time, like showing material frame number etc. simultaneously control system 6 dispatch planning route and material frame quantity, and submerged AGV4 moves to fork truck formula AGV and changes material frame station, and fork truck formula AGV changes the material frame according to the material frame number that shows, and fork truck formula AGV gives the signal and confirms after having accomplished, discerns the material frame through vision camera 2-1: if the frame is qualified, the submerged AGV4 is conveyed to a framing station according to a planned path, a frame is placed in place and sends out an in-place signal, a tail framing system identifies the frame characteristics and sends out a robot, the tail framing system starts framing, a signal is given out after the frame is full, the signal is fed back to a tail framing system, and the tail framing system sends out production information and is performed circularly; if the frame is unqualified, the frame alarms to replace the frame, and then the forklift AGV replaces the frame according to the displayed frame number.
In describing the present utility model, it should be noted that the azimuth or positional relationship indicated by the terms "left", "right", "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; the two components can be connected mechanically or electrically, can be connected directly or indirectly through an intermediate medium, and can be communicated inside the two components. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Claims (10)
1. The utility model provides a go up unloading conveying system suitable for automatic dress frame at end of line, cooperates with automatic dress frame production line, characterized by, go up unloading conveying system including the material frame that is used for bearing the material piece, on-line measuring device, be used for bearing the DOLLY car of material frame, be used for towing the submerged AGV of DOLLY car, control system, be used for transporting the fork truck formula AGV of material frame to the last unloading frame position from the material storage area, be equipped with material frame information identification system on the fork truck formula AGV, control system with fork truck formula AGV, submerged AGV, on-line measuring device and automatic dress frame production line electric signal connection, control fork truck formula AGV, submerged AGV and DOLLY car automatic operation realize the last unloading transportation of automatic dress frame at end of line.
2. The feeding and discharging transportation system suitable for automatic line end framing according to claim 1, wherein the submerged AGV comprises a frame, a battery pack is arranged at the front end of the frame, an AGV control mechanism is arranged at the rear end of the frame and is in electrical signal connection with a control system, a front steering wheel assembly and a front universal castor are arranged on the side, close to the battery pack, of the middle part of the frame, a rear steering wheel assembly and a rear universal castor are arranged on the side, close to the AGV control mechanism, of the middle part of the frame, a laser scanner for detecting peripheral obstacles and navigating paths is arranged at the diagonal position of the frame, and a magnetic sensor and a station identification device are arranged at the bottom of the frame.
3. The loading and unloading transport system for automatic wire end framing of claim 2, wherein a vehicle body appearance shield panel assembly is provided above the vehicle frame.
4. The feeding and discharging transportation system suitable for automatic wire end framing of claim 2, wherein a safety contact edge is arranged on the periphery of the lower part of the frame.
5. The feeding and discharging transportation system for automatic wire end framing of claim 2, wherein a charging device is arranged at the rear end of the frame.
6. The feeding and discharging transportation system suitable for automatic line end framing according to claim 1, wherein a positioning pin is arranged on the submerged AGV, a positioning hole is arranged in the middle of the DOLLY car, and the positioning hole is matched with the positioning pin to realize whole car dragging.
7. The feeding and discharging transportation system suitable for automatic wire end framing according to claim 1, wherein the automatic framing production line comprises a framing station vision system for identifying characteristics of a material frame, a visual mobile robot system for grabbing materials according to different plate materials reaching different positions, and a conveying belt conveyor for conveying qualified workpieces for grabbing by a robot, wherein the framing station vision system and the mobile robot system are provided with two sets, the two sets of framing station vision systems and the mobile robot system are sequentially distributed on two sides of the conveying belt conveyor, the framing station vision system identifies characteristic positions of the material frame and sends the characteristic positions to the visual mobile robot system to start production, the conveying belt machine works to convey the plate materials to a designated position, the visual mobile robot system grabs the material frame, gives a signal to the whole line after the frame is full, and a submerged AGV is scheduled to pull the full material frame and supplement an empty material frame.
8. The feeding and discharging transportation system suitable for automatic wire end framing according to claim 7, wherein a platform is arranged above the conveyor belt, the online detection device comprises a visual camera for identifying material frame information after receiving a manual feeding frame position material frame signal, and the visual camera is arranged on the platform.
9. The feeding and discharging transportation system suitable for automatic wire end framing according to claim 1, wherein side guiding structures are arranged on the left side and the right side of the DOLLY car, positioning structures are arranged on the left rear side and the right rear side of the DOLLY car, car body guiding plates and positioning pin holes are respectively arranged on the DOLLY car, the side guiding structures are matched with the car body guiding plates and used for coarse guiding of the DOLLY car, and the positioning structures are matched with the positioning pin holes and used for accurately positioning the DOLLY car at the feeding and discharging stations.
10. The feeding and discharging transportation system for automatic wire end framing of claim 1, wherein a material sheet positioning support block for positioning the material sheet is arranged on the material frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420085363.9U CN220499148U (en) | 2024-01-15 | 2024-01-15 | Feeding and discharging transportation system suitable for automatic wire end framing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420085363.9U CN220499148U (en) | 2024-01-15 | 2024-01-15 | Feeding and discharging transportation system suitable for automatic wire end framing |
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| Publication Number | Publication Date |
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| CN220499148U true CN220499148U (en) | 2024-02-20 |
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| CN202420085363.9U Active CN220499148U (en) | 2024-01-15 | 2024-01-15 | Feeding and discharging transportation system suitable for automatic wire end framing |
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| CN (1) | CN220499148U (en) |
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- 2024-01-15 CN CN202420085363.9U patent/CN220499148U/en active Active
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