WO2006002995A1 - Mecanisme de prehension pneumatique - Google Patents

Mecanisme de prehension pneumatique Download PDF

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Publication number
WO2006002995A1
WO2006002995A1 PCT/EP2005/007284 EP2005007284W WO2006002995A1 WO 2006002995 A1 WO2006002995 A1 WO 2006002995A1 EP 2005007284 W EP2005007284 W EP 2005007284W WO 2006002995 A1 WO2006002995 A1 WO 2006002995A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
arm
actuator
compressed air
gripper
Prior art date
Application number
PCT/EP2005/007284
Other languages
German (de)
English (en)
Inventor
Wolfgang Laufenberg
Ralf Kurpjuweit
Wolfhard Schmidt
Original Assignee
Wolfgang Laufenberg
Ralf Kurpjuweit
Wolfhard Schmidt
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wolfgang Laufenberg, Ralf Kurpjuweit, Wolfhard Schmidt filed Critical Wolfgang Laufenberg
Publication of WO2006002995A1 publication Critical patent/WO2006002995A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom

Definitions

  • the invention relates to a compressed air-operated gripping device.
  • the invention is concerned with the problem of designing such a gripping device for carrying out a specific sequence of movements, namely in a structurally simple and functionally safe construction.
  • Such a gripping device should be particularly suitable to be able to manipulate press workpieces in pressing tools easily and safely.
  • Under manipulation is here specifically the insertion of a press workpiece in a pressing tool and a subsequent removal from the pressing tool, in which it has been inserted for processing to form.
  • it is extremely important that, for example, a press workpiece to be deformed in succession in a plurality of pressing tools can be transported in a positionally accurate manner from one pressing tool to the next.
  • This transport relates to a removal of a press workpiece from a pressing tool with subsequent insertion into a subsequent pressing tool for further deformation.
  • Previously used gripping tools had to be able to reach under the workpiece for removal from a press mold in any form in order to transport the workpiece can.
  • special workpiece lifting devices are usually necessary in the pressing tools, with which the workpiece can be brought into a position in which the previously common gripping tools can grasp the workpiece for transport. In doing so, it may be easy to change the production process, i. In particular, the production accuracy impairing changes in position come.
  • a solution of the problem according to the invention shows a compressed air-operated gripping device with all the features of claim 1.
  • the invention is based on the general idea to use a compressed air-operated gripping device, with which it is possible to record a workpiece without undercutting in a suitable shape for a transport and to put down again.
  • these gripping means are perpendicular to a surface of the workpiece to be gripped.
  • Such a vertical placement requires a sufficient manipulation space above the respective workpiece surfaces on which the gripping is to take place. These spaces are often missing. This applies, for example, in a manipulation of workpieces in pressing tools, in which there is only a relatively small distance between the upper and lower punches in the open state of the pressing tool.
  • the retraction of the gripping head with the gripping means takes place in the gap between an upper and lower punch of a pressing tool by a gripping arm, at the front end of the gripping head is pivotally mounted.
  • a particular advantage of the invention is that compressed air is needed as the only supplied from the outside drive energy. As a result, a simple and robust construction of the gripping device that works reliably for series operation is possible.
  • Fig. 1 is a perspective view of a in the lower punch of a Pressing tool lying press workpiece with this attacking, several compressed air operated gripping devices,
  • Fig. 2 is a perspective view of one of the several gripping devices
  • Fig. 3 is a gripping device according to Fig. 2 with extended gripping head and in
  • FIG. 4 shows a longitudinal section through the gripping device according to FIG. 2 with a position of the gripping arm in the return position
  • FIG. 5 shows the gripping device in the manner of illustration according to FIG. 4, but with the gripping position
  • FIG. 6 shows the gripping device in a state of Fig. 3 in a longitudinal section
  • FIG. 7 shows a longitudinal section through the gripping device in an operating state according to FIG. 3 with a different sectional view from the previous sectional views, FIG.
  • FIG. 8 shows a detailed section from a again differently guided longitudinal section through the gripping device
  • FIG. 10 shows the gripping head in a representation according to FIG. 9, but with a gripping-active.
  • Fig. 1 1 shows a further embodiment of a gripping device in a longitudinal section with a position of the gripper arm and the gripping head in one
  • Fig. 1 shows a field of application for compressed air operated gripping devices according to the invention. This will be discussed first below.
  • a press workpiece 2 In the lower punch 1 of a pressing tool, which is located at a relatively small distance above the lower punch upper punch is not drawn, is a press workpiece 2. This already formed in the press tool in question pressing workpiece 2 is to be transported in a subsequent pressing tool exactly in position for a subsequent deformation process.
  • the transport device used for this according to the example shown comprises transfer bars 3, to each of which individual compressed-air-actuated gripping devices 4 are fastened in an application-oriented manner.
  • two gripping devices 4 are provided on two opposite transfer bars 3.
  • Each of the gripping devices 4 comprises a gripper housing 5, a gripping arm 6 mounted therein and a gripping head 7, which can be attached pivotably to this gripping arm 6, with gripping means 8 which can be attached to the pressing workpiece 2.
  • the gripping means 8 consist of either suction cups 32 or permanent magnets 30.
  • the permanent magnets 30 are displaceable between a gripping-active and gripping-inactive position by means of compressed air.
  • gripping-active state of the gripping means 8 - as shown in Fig. 1 - takes place the transport of the workpiece 2 from the pressing tool shown in a subsequent, not shown pressing tool by a displacement of the transfer bars 3 on the one hand above and on the other side to the subsequent pressing tool.
  • permanent magnets 30 (not shown in FIG. 1, but shown in FIGS. 9, 10) as gripping means 8 can only be used if workpieces 2 which can be gripped by magnetic force are to be manipulated. Otherwise, suction cups 32 are to be used as gripping means 8.
  • the use of permanent magnets 30 as gripping means 8 is particularly well suited, in particular, when no planar gripping surfaces required for use of suction cups 32 as gripping means 8 are present on a workpiece 2.
  • a single gripping device 4 each show a perspective view of Figs. 2 and 3.
  • the gripping device 4 as shown in Fig. 2 is in a state in which the gripping head 7 and the gripping means 8 each occupy their reset position.
  • the gripping head 7 including the gripping means 8 are in their respective gripping state.
  • the gripping device 4 consists of various sections on which, initially only, as far as they are visible in Fig. 3, received.
  • the gripper housing 5 In the gripper housing 5 is jlvessverschiebbar mounted the gripping head 7, wherein the gripping means 8 are mounted rotatably via a ball joint 9 within the gripping head 7.
  • the ball joint 9 connects the gripping means 8 with a base body 10 of the gripping head 7 mounted pivotably on the gripping arm 6.
  • the gripper arm 6 comprises in total, in particular, a hollow shaft 11, which is mounted displaceably in the gripper housing 5.
  • two further waves namely a first auxiliary shaft 12 and a second auxiliary shaft for secure mounting of the gripping arm 6 within the gripper housing 5.
  • an actuator 14 Within the hollow shaft 11 of the gripping arm 6 relatively slidably supports to the hollow shaft 11, an actuator 14.
  • the actuator 14 serves as Drive means for pivoting the gripping head 7.
  • FIG. 4 A longitudinal section through the gripping device in the drawn in Fig. 2 state, Fig. 4, in which the longitudinal section through the hollow shaft 11 as shown in FIG. 3 runs.
  • the cutting guide is such that the first and second auxiliary shaft 12, 13 are not visible in this section.
  • a drive reciprocating piston 18 can oscillate in a hollow cylinder 19 of the gripper housing 5 over a limited length. This path length corresponds to the linear path of the gripping arm 6, this maximum can perform.
  • a drive means is compressed air, with which this reciprocating piston 18 within the hollow cylinder 19 on both sides can be acted upon alternately.
  • the mutual application is made by individually in the drawing not completely illustrated compressed air channels with connections to the first and second compressed air channel 15, 16.
  • the reciprocating piston 18 is operatively connected to a first connecting element 20.
  • the operative connection is generated by compression springs 21, the between the reciprocating piston 18 and the first connecting element 20 are clamped such that they try to produce an increase in distance between the reciprocating piston 18 and the first connecting element 20.
  • the compression springs 21 press the first connecting element 20 against an axial abutment on the hollow shaft 11 of the gripping arm 6.
  • the compression springs 21 respectively engage with the first connecting elements 20 firmly connected guide pins 22 which are mounted longitudinally displaceably in the reciprocating piston 18.
  • a second connection element 23 is provided on the actuator 14.
  • the first connection element 20 and the second connection element 23 can be temporarily connected to one another with a force fit.
  • Such a frictional connection between the first and second connecting element 20 and 23 is forcibly given in a position of the piston 18 in its return position, as drawn in Fig. 4.
  • a pneumatically actuated displacement of the gripping arm 6 from its return position in Fig. 4 in its fully extended gripping position as shown in Fig. 5 can be achieved as follows.
  • the reciprocating piston 18 moves to the position shown in FIG. 5, in which the gripping arm 6 has reached its maximum Ausfahrlage.
  • the first and the second connecting element 20; 23 positively connected with each other.
  • the first connection element 20 is under the pressure of the compression springs 21 against the associated abutment of the hollow shaft 11.
  • the reciprocating piston 18 thus operates on its displacement both the actuator 14 and the hollow shaft 11 at the same time, so that no relative displacement between the actuator 14 and the hollow shaft 11 can occur. Due to a lack of relative movement of the actuator 14 relative to the hollow shaft 11, the actuator 14 does not exert any pivoting drive force for the gripping head 7 during the stroke of the lifting piston 18 described above.
  • the first and second connecting elements 20; 23 are detachably connectable to each other via the following connection technology.
  • FIG. 7 The local sectional view shows two parallel to the common axis of the hollow shaft 11 and the actuator 14 extending, firmly connected to the gripper housing 5 guide rods 24 recognize. Between the first and second connecting element 20; 23 displaceable balls 25 are provided. The reciprocating piston 18 is in a displacement range between its return position and the end of the linear displacement of the gripping arm 6, so a system of these balls 25 ensures the guide rods 24 for a non-positive connection between the two connecting elements 20 and 23.
  • the actuation of the gripping means 8 within the gripping head 7 is effected by compressed air.
  • the required compressed air supply is based on a compressed air source and passes through the third compressed air channel 17 through the hollow actuator 14 formed therethrough. Since the actuator 14 shifts in the operation of the gripping device 4 relative to the third compressed air channel 17, a telescopic connection between the third compressed air channel 17 and the cavity of the actuator 14 via a telescopic tube 26 is provided. From the interior of the actuator 14, the compressed air required for operating the gripping means 8 of the gripping head 7 passes through compressed air connection lines 27 integrated in the individual connecting joints.
  • the introduced into the gripping head 7 compressed air is used via a provided in this gripping head 7 venturi 28 for generating a negative pressure.
  • the negative pressure thus generated allows the fixed attachment of a suction cup 32 designed as a gripping means 8 on the workpiece to be gripped.
  • the gripping device automatically assumes its reset state in the event of a failure of the compressed air supply.
  • 4 return springs are provided in the gripping device, which automatically cause the above desired state in a compressed air failure. These return springs are installed so that they are forcibly tensioned at a storage of the reciprocating piston 18 from its return position in the gripping position, to a potential energy level sufficient for a return movement.
  • Fig. 8 shows a section of a partial longitudinal section through the gripper housing 5 along the axis of the additional shaft 13, in which such as a compression spring 29 formed return spring is shown.
  • the compression springs 21 between the reciprocating piston 18 and the first connecting element 20 also serve automatically as a return spring.
  • a return spring 29 return springs and compressed air can be used as a return energy.
  • a return air cushion is compressed correspondingly high during the extension of the actuating elements of the gripping device 4.
  • Fig. 9 shows an embodiment of the gripping means 8, in which they are realized by a displaceable within the gripping head 7 permanent magnet 30.
  • the displacement of this permanent magnet 30 between a gripping-active and a gripping-active position is effected by compressed air.
  • the permanent magnet 30 is displaceably mounted in a double-sided pressurized by compressed air piston 31.
  • the permanent magnet 30 as gripping means 8 acts as follows.
  • the permanent magnet 30 acts attractively on the workpiece to be gripped while this attractive force is released in the retracted position.
  • the storage and operation of the permanent magnet 30 bearing piston is common technical knowledge in the field of pneumatics and therefore requires no further description.
  • FIGS. 11-13 show an alternative embodiment of the gripping device 4 according to the invention.
  • this gripping device 4 has two reciprocating pistons 32, 33 within the hollow cylinder 19 of the gripper housing 5.
  • the reciprocating piston 32 is fixedly connected to the gripping arm 6, the reciprocating piston 33 is fixedly connected to the actuator .14.
  • Both reciprocating pistons 32 and 33 can oscillate within the gripper housing 5 parallel to the direction of movement of the gripper arm 6.
  • the maximum possible path length of the reciprocating piston 32 corresponds to the linear travel of the gripper arm 6, which can perform this maximum.
  • the maximum possible path length of the reciprocating piston 33 corresponds to this maximum path length of the reciprocating piston 32, but extended by the additional path length, which can perform the actuator 14 for pivotal movement of the gripping head 7.
  • the gripper arm associated with the reciprocating 32 has two parallel to the movement of the gripper arm extending piston rods 34 which are perpendicular to a piston end face 35 of the reciprocating piston 32 and connected to this terminal.
  • the piston top side or piston end side 35 of the reciprocating piston 32 is designed as an annular surface.
  • the reciprocating piston 33 has the front side two radially extending annular surfaces 36, 37 of different diameters, which are radially spaced from each other.
  • the inner and outer diameters of the individual annular surfaces 35, 36, 37 of the two reciprocating pistons 32, 33 are matched to one another in such a way that they form a common surface sealed against the hollow cylinder, in particular in the reset position of FIG.
  • the end faces 35, 36, 37 of the lifting pistons 32, 33 facing the latter are subjected to compressed air.
  • the resulting force leads to a movement of the two reciprocating pistons 32, 33 within the hollow cylinder 19 forward in the direction of the gripping head 7.
  • the two reciprocating pistons 32, 33 are releasably connected to each other, in particular blocked by the annular surface 35 of the piston 32 in the radial direction protrudes relative to the annular surface 36 of the reciprocating piston 33.
  • the lifting cylinder 33 by further supplying compressed air 37 from the interlocked with the lifting cylinder 32 position relative to the latter further in the direction of G ripe head 7, since the lifting cylinder 33 in this position (still ) does not hit the wall 39.
  • the corresponding forward movement of the actuator 14 fixedly connected to the lifting cylinder 33 then leads to the pivoting movement of the gripping head 7.
  • the gripping head 7 is therefore connected directly to a vacuum source, so that a suction cup, not shown, can grip workpieces by means of negative pressure.
  • the reciprocating pistons 32, 33 can be returned from the position shown in FIG. 13 to the reset position by pressurizing the compressed air line 41 with the back sides of the piston end faces. Initially, the reciprocating piston 32 is returned by the compressed air 41 to that position in which its annular surfaces 36, 37 abut against the annular surface 35 of the reciprocating piston 32. By further pressurization then both reciprocating pistons 32, 33 are returned to the reset position, since the reciprocating piston 32 is carried by the reciprocating piston 33.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un mécanisme de préhension pneumatique destiné à des mouvements linéaires et oscillants. Ce mécanisme est caractérisé en ce qu'un bras préhenseur (6) est monté linéairement mobile dans un boîtier (5) ; en ce qu'une tête de préhension (7), montée pivotante sur le bras préhenseur (6), est destinée à être appliquée sur la pièce à saisir (8) ; en ce que la tête de préhension (7) à appliquer sur la pièce à saisir (2) est pourvue de moyens préhenseurs (8) permettant de déplacer la pièce (2), ces moyens préhenseurs étant reliés temporairement de manière fixe à la pièce à saisir (2) ; en ce que les moyens préhenseurs (8) de la tête de préhension (7) sont réalisés sous la forme d'une ventouse (32) ou d'un aimant permanent (30) qui, dans la tête de préhension (7), peut être déplacé(e) entre une position de préhension active et une position de préhension inactive et en ce que l'air comprimé est l'unique énergie d'entraînement alimentée depuis l'extérieur.
PCT/EP2005/007284 2004-07-06 2005-07-06 Mecanisme de prehension pneumatique WO2006002995A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410032778 DE102004032778A1 (de) 2004-07-06 2004-07-06 Druckluftbetätigte Greifeinrichtung
DE102004032778.5 2004-07-06

Publications (1)

Publication Number Publication Date
WO2006002995A1 true WO2006002995A1 (fr) 2006-01-12

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PCT/EP2005/007284 WO2006002995A1 (fr) 2004-07-06 2005-07-06 Mecanisme de prehension pneumatique

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DE (1) DE102004032778A1 (fr)
WO (1) WO2006002995A1 (fr)

Cited By (9)

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CN104259295A (zh) * 2014-08-21 2015-01-07 宁波敏实汽车零部件技术研发有限公司 车门柱板工件冲压生产线及其机械手臂
CN105170827A (zh) * 2015-10-29 2015-12-23 重庆市铜梁区精亿电脑配件有限公司 通压自动化机械手生产线
CN105195638A (zh) * 2015-10-29 2015-12-30 重庆市铜梁区精亿电脑配件有限公司 驱动连接杆
CN105234953A (zh) * 2014-07-07 2016-01-13 苏州科沃斯商用机器人有限公司 用于吸附装置的吸盘及装有该吸盘的吸附装置
CN106037576A (zh) * 2016-05-31 2016-10-26 南昌理工学院 吸附装置及应用该吸附装置的攀爬清洗机器人
CN106694732A (zh) * 2016-12-14 2017-05-24 安徽海拓志永智能装备股份有限公司 一种高效机械手自动化冲压线
CN107598000A (zh) * 2017-10-13 2018-01-19 广东海洋大学 一种冲压上下料机械手
CN108544519A (zh) * 2018-06-26 2018-09-18 天津龙创恒盛实业有限公司 活塞盐芯的上下料夹爪
CN114825142A (zh) * 2022-05-26 2022-07-29 国网河北省电力有限公司石家庄供电分公司 手车式断路器更换方法

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DE102008021029A1 (de) 2008-04-25 2009-07-23 De-Sta-Co Europe Gmbh Greifvorrichtung
DE102009016215A1 (de) 2009-04-03 2010-10-14 Volkswagen Ag Verfahren zur Herstellung eines Bauteils sowie zur Herstellung des Bauteils verwendbare Spanneinrichtung, Klapprahmen sowie Presswerkzeug
DE102012104815B4 (de) * 2011-06-07 2015-07-09 Visiontools Bildanalyse Systeme Gmbh Greiferanordnung
DE202012013044U1 (de) * 2012-02-28 2014-11-12 Springer Gmbh Antriebsvorrichtung zum Antreiben einer Vorrichtung zum Greifen und/oder Spannen eines Werkstückes, wie zum Beispiel eines Bleches oder dergleichen, und Vorrichtungen zum Greifen und/oder Spannen eines Werkstückes
CN106001300A (zh) * 2016-06-28 2016-10-12 昆山华航威泰机器人有限公司 一种冲压机用机械手
DE102020202389A1 (de) 2020-02-25 2021-08-26 Volkswagen Aktiengesellschaft Einrichtung und Verfahren zur Handhabung wenigstens eines Bauteils, sowie Handhabungssystem und Verfahren zur Realisierung eines Materialflusses
DE102022125563A1 (de) 2022-10-04 2024-04-04 J.Schmalz Gmbh Handhabungsvorrichtung

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GB2271732A (en) * 1989-08-16 1994-04-27 Amada Co Ltd Sheet workpiece gripping device
DE19628556A1 (de) * 1996-07-16 1998-01-22 Meleghy Gmbh & Co Kg Vorrichtung zur Entnahme und Zuführung von Formteilen
DE10014786A1 (de) * 2000-03-24 2001-10-04 Rieger Dieter Heinz Vorrichtung zum lösbaren Einspannen eines Werkstücks
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US4439092A (en) * 1981-11-17 1984-03-27 Kabushiki Kaisha Orii Jidoki Seisakusho Apparatus for unloading workpiece from press
GB2271732A (en) * 1989-08-16 1994-04-27 Amada Co Ltd Sheet workpiece gripping device
DE19628556A1 (de) * 1996-07-16 1998-01-22 Meleghy Gmbh & Co Kg Vorrichtung zur Entnahme und Zuführung von Formteilen
US20030075941A1 (en) * 1996-10-07 2003-04-24 Mcintosh Bruce D. Linear slide gripper
DE10014786A1 (de) * 2000-03-24 2001-10-04 Rieger Dieter Heinz Vorrichtung zum lösbaren Einspannen eines Werkstücks

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105234953A (zh) * 2014-07-07 2016-01-13 苏州科沃斯商用机器人有限公司 用于吸附装置的吸盘及装有该吸盘的吸附装置
WO2016004854A1 (fr) * 2014-07-07 2016-01-14 苏州科沃斯商用机器人有限公司 Disque d'aspiration pour appareil d'adsorption et appareil d'adsorption pourvu du disque d'aspiration
CN104259295A (zh) * 2014-08-21 2015-01-07 宁波敏实汽车零部件技术研发有限公司 车门柱板工件冲压生产线及其机械手臂
CN105170827A (zh) * 2015-10-29 2015-12-23 重庆市铜梁区精亿电脑配件有限公司 通压自动化机械手生产线
CN105195638A (zh) * 2015-10-29 2015-12-30 重庆市铜梁区精亿电脑配件有限公司 驱动连接杆
CN106037576B (zh) * 2016-05-31 2018-09-04 南昌理工学院 吸附装置及应用该吸附装置的攀爬清洗机器人
CN106037576A (zh) * 2016-05-31 2016-10-26 南昌理工学院 吸附装置及应用该吸附装置的攀爬清洗机器人
CN106694732A (zh) * 2016-12-14 2017-05-24 安徽海拓志永智能装备股份有限公司 一种高效机械手自动化冲压线
CN106694732B (zh) * 2016-12-14 2018-04-03 安徽海拓志永智能装备股份有限公司 一种高效机械手自动化冲压线
CN107598000A (zh) * 2017-10-13 2018-01-19 广东海洋大学 一种冲压上下料机械手
CN107598000B (zh) * 2017-10-13 2023-11-21 广东海洋大学 一种冲压上下料机械手
CN108544519A (zh) * 2018-06-26 2018-09-18 天津龙创恒盛实业有限公司 活塞盐芯的上下料夹爪
CN108544519B (zh) * 2018-06-26 2023-12-01 天津龙创恒盛实业有限公司 活塞盐芯的上下料夹爪
CN114825142A (zh) * 2022-05-26 2022-07-29 国网河北省电力有限公司石家庄供电分公司 手车式断路器更换方法
CN114825142B (zh) * 2022-05-26 2024-03-12 国网河北省电力有限公司石家庄供电分公司 手车式断路器更换方法

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