CN105197584B - Automatic feeding device with robots - Google Patents
Automatic feeding device with robots Download PDFInfo
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- CN105197584B CN105197584B CN201510404535.XA CN201510404535A CN105197584B CN 105197584 B CN105197584 B CN 105197584B CN 201510404535 A CN201510404535 A CN 201510404535A CN 105197584 B CN105197584 B CN 105197584B
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Abstract
The invention relates to an automatic feeding device with robots. The automatic feeding device is used for carrying workpieces to a specified station. The automatic feeding device comprises a frame table, a PLC system arranged on the frame table and a feeding system arranged on the frame table and connected with the PLC system. The feeding system comprises five parts including a feeding mechanism, a positioning conveying mechanism, a vision mechanism, a vacuum conveying mechanism and an empty-tray discharging mechanism. A tray fully loading the workpieces is conveyed to the positioning conveying mechanism to be fixed and locked through the feeding mechanism, the workpieces in the tray are all carried to the specified station through the vacuum conveying mechanism under the assisting of the vision mechanism, then the tray is conveyed to the empty-tray discharging mechanism through the positioning conveying mechanism, and the tray is conveyed out through the empty-tray discharging mechanism. Compared with the prior art, the automatic feeding device has the advantages of being high in adaptability, wide in universality, high in feeding speed, low in workpiece damaging risk and the like.
Description
Technical field
The present invention relates to a kind of charging equipment, more particularly, to a kind of automatic charging equipment of use robot.
Background technology
In electronic devices and components, the automatic assembly line of small car part, often using automatic charging equipment by device
Part is placed into from scattered state or from pallet on the specified station of production line with parts.This equipment generally require attention with
Lower Railway Project：One is will to prevent plowing from dirty parts in feeding process；Two are docked with detection station hi-Fix；Three
It is that charging equipment is wanted to correspond to the parts of many dimensions, will carries out uninterruptedly under the operating mode of high speed high acceleration
Produce operation in enormous quantities.Equipment on market for loading and unloading mainly has transfer machine and robot arm.
As Chinese patent ZL201210202880.1 discloses a kind of loading and unloading manipulator, including rotational workpieces module, on
Material module, clamp module, cutting module and kinetic control system module, loading and unloading machine hand getting gas pawl grabbing workpiece will
Workpiece is asked to be rigid objects, the action that can be done is single, it is adaptable to without the need for the occasion of the requirements such as high accuracy.Chinese patent
200820126417.2 disclose a kind of transfer mechanism, including three groups of component suction nozzles, and three groups of component suction nozzles are separately positioned on
On respective clutch matrix, one of clutch matrix is connected with the first actuator axial stretching bar end；Clutch matrix phase
Connected with guide rod between mutually, and the mutual distance of clutch matrix is controlled by a controlling organization.The patent replace manually from
Three fool proof entrances reduce the working strength of people to battery of mobile phone feeding, realize the automatization of battery of mobile phone detection.
But to workpiece pose, transfer machine requires that strictly the various poses being likely to occur of workpiece are corresponded to be needed to set up other
Mechanism, these mechanisms not only difficult design, and increase machinery equipment volume, production cost is improve, shifting is leveraged
The work efficiency and the market competitiveness of carrier aircraft.Above-mentioned transfer machine and Simple robot arm have following inevitable shortcoming：
(1) each motion does not possess high speed, the ability of high acceleration operation, and low production efficiency affects production capacity；
(2) workpiece stiffness and pose there are certain requirements, the mechanisms such as correction need to be set up, production cost is increased；
(3) it is only applicable to that required precision is not high or the occasion without required precision；
(4) no Intelligent Recognition and arbitration functions, industrial applicability are restricted.
The content of the invention
The purpose of the present invention provides a kind of use robot to overcome the defect of above-mentioned prior art presence
Automatic charging equipment.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of automatic charging equipment of use robot, for by work transporting to specified station, it is described it is automatic on
Material equipment includes pallet, the PLC control system that is arranged on pallet and is arranged on pallet and is connected with PLC control system
Feeding system, the feeding system includes：
Feed mechanism：The z moved up and down to transporter and along z-axis from the y moved forward and backward along y-axis is to transmission
Device is constituted；
Positioning connecting gear：Including bracket tray positioning apparatus, the holding tray separating device and pallet transmission dress being arranged on pallet
Put；
Vacuum feeding unit：Including the robot being arranged on pallet, and the vac sorb dress being arranged in robot
Put；
Visual mechanisms：Including detection CCD camera, positioning CCD camera and knowledge mark CCD camera, described detection CCD camera sets
Put in the surface of positioning connecting gear, described positioning CCD camera is arranged in robot, and described knowledge mark CCD camera sets
The mark point that workpiece in pallet is recognized on pallet is put, and feedback signal is to robot so as to accurately draw workpiece, detect CCD
Whether there is workpiece in camera calibration pallet, if having, vacuum feeding unit starts, workpiece is transported to specified station, if nothing,
Positioning connecting gear starts, and pallet is sent to blank panel cutting agency, by detection CCD camera, positioning CCD camera and knowledge mark CCD
The hi-Fix and identification visual system of camera composition, coordinates the robot of high-speed mobile, composition negative feedback closed loop control system
System, can be with 360 ° of comprehensive picking up work piece, visual recognition workpiece, and no matter workpiece is in which kind of attitude and position；
Blank panel cutting agency：The 2nd y moved left and right to transporter and along y-axis from the 2nd z moved up and down along z-axis to
Transporter is constituted；
During work, the pallet Jing feed mechanisms of fully loaded workpiece are sent to positioning connecting gear, and pallet is by bracket tray positioning apparatus
Locking is fixed, then, under the auxiliary positioning of positioning CCD camera and knowledge mark CCD camera, vacuum absorption device random device people movement
On workpiece to pallet, vacuum is opened, workpiece is drawn by vacuum absorption device, and is sent on specified station, as detection CCD
Camera calibration workpiece in pallet is transmitted after finishing, and bracket tray positioning apparatus unclamp, and pallet Jing pallet transporters are sent to blank panel
Cutting agency, then it is moved to pallet bottom.
A described y includes the first fixed mount, and the first pallet being arranged on the first fixed mount to transporter
Platform, the first ball-screw and servomotor, the first described fixed mount are provided with first straight line slide rail along the y-axis direction, institute
The first tray platform stated is arranged on first straight line slide rail, and is connected with the first ball-screw, described first sensor with
First tray platform is contacted, described the first ball-screw connection servomotor, and first sensor is limit switch, plays protection dress
The effect of putting, makes device without departing from its movement travel；
A described z is made up of to transporter the first single axis robot and the first support base, the first described support
Seat is arranged on the first single axis robot, and is moved up and down along the z-axis direction；
During work, start servomotor, drive the first ball-screw, drive the first tray platform to move along first straight line slide rail
It is dynamic, the pallet being placed on the first tray platform is sent on the first support base, then starts the first single axis robot, driven
First support base is moved along the z-axis direction, and pallet is sent to positioning connecting gear.
Described bracket tray positioning apparatus include the first fixed seat being arranged on pallet, and are arranged in the first fixed seat
Positioning cylinder, the positioning cylinder connects locating piece；
Described holding tray separating device includes the second fixed seat being arranged on pallet, and is arranged in the second fixed seat
Separation cylinder；
Described pallet transporter includes the first transmission cylinder being arranged on pallet and second straight line guide rail；
Pallet Jing feed mechanisms are sent to positioning connecting gear, and now, bracket tray positioning apparatus work starts positioning cylinder,
Make locating piece fit with pallet, locking positioning is carried out to pallet, after workpiece conveying is finished in pallet, start positioning cylinder, make
Locating piece is separated with pallet, is started first and is transmitted cylinder, drives pallet to be moved to blank panel cutting agency along second straight line guide rail.
Described positioning cylinder is provided with two.
Described vacuum absorption device is made up of with the vacuum cup for being arranged on vacuum shaft bottom vacuum shaft, described vacuum
Axle is arranged in robot, and is moved up and down along robot, described vacuum shaft connection vacuum generating device.
First light source and secondary light source of auxiliary detection positioning, the first described light source are additionally provided with described visual mechanisms
The two ends of positioning connecting gear are separately positioned on secondary light source.
Safety guard is provided with the top of described pallet, described detection CCD camera is arranged on safety guard, and is located at positioning and passed
Send the surface of mechanism.
The 2nd described z is made up of to transporter the second single axis robot and the second support base, the second described single shaft
Robot is arranged on the second support base, and is moved up and down along the z-axis direction；
The 2nd described y includes the second fixed mount, the second transmission cylinder, the first buffer positioner and second to transporter
Buffer positioner, the second described fixed mount are provided with the 3rd line slide rail along the y-axis direction, and the 3rd line slide rail is provided with
The second tray platform connect with the second transmission cylinders, the first described buffer positioner and the second buffer positioner are set respectively
Put in the rear and front end of the 3rd line slide rail, the second described transmission cylinder is connected with PLC control system, the first buffering positioning
Device and the second buffer positioner play buffering positioning along moving for the 3rd line slide rail to the second tray platform；
During work, the pallet Jing pallet transporters of empty material are sent to the 2nd z on the second support base of transporter, open
Dynamic second single axis robot, drives the second support base to move down along the z-axis direction, and pallet is sent to the 2nd y to transporter the
On two tray platforms, restart the second transmission cylinder, drive the second tray platform to move along the y-axis direction, so as to the support for expecting sky
Disk transports pallet.
Compared with prior art, the present invention has advantages below：
(1) robot that the present invention is used has high degree of freedom, is equipped with high-resolution visual mechanisms, Intelligent Recognition
With seizure product feature, positioning precision height, fast response time drastically increase production efficiency.
(2) using vacuum absorption device transport product, will not fragment and scratch product external surfaces, reduce product in feeding
During be risk of damage to, largely prevented the rising of product fraction defective.
(3) automatic charging equipment adaptability of the invention height, versatility are wide, can correspond to the product of different specification size,
Pallet need to be changed only, is simple to manufacture, low cost, thus the large-scale production cost of product high-volume of many specifications of many sizes is significantly
Degree is reduced.
Description of the drawings
Fig. 1 is the whole machine schematic appearance of the present invention；
Fig. 2 is the main structure diagram of the present invention；
Fig. 3 is the structural representation of the feed mechanism of the present invention；
Fig. 4 is the structural representation of the positioning connecting gear of the present invention；
Fig. 5 is the structural representation of the vacuum feeding unit of the present invention；
Fig. 6 is the structural representation of the visual mechanisms of the present invention；
Fig. 7 is the structural representation of the blank panel cutting agency of the present invention；
In figure, 1- feed mechanisms, 2- positioning connecting gears, 3- visual mechanisms, 4- vacuum feeding units, 5- blank panel blanking machines
Structure, 6- pallets, 7- pallets, 8- safety guards, to transporter, the first z of 12- are to transporter, 21- pallets positioning dress for the first y of 11-
Put, 22- holding tray separating devices, 23- pallet transporters, 31- detection CCD cameras, the first light sources of 32-, 33- positioning CCD cameras,
34- secondary light sources, 35- know mark CCD camera, and 41- robots, 42- vacuum shafts, 43- vacuum cups, the 2nd z of 51- are filled to transmission
Put, the 2nd y of 52- are to transporter, the first fixed mounts of 111-, the first tray platforms of 112-, 113- first straight line slide rails, 114-
One sensor, the first ball-screws of 115-, 116- servomotors, the first single axis robots of 121-, the first support bases of 122-, 211-
First fixed seat, 212- positioning cylinders, 213- locating pieces, the second fixed seats of 221-, 222- separate cylinder, and 231- second straight lines are led
Rail, the transmission cylinders of 232- first, the second support bases of 511-, the second single axis robots of 512-, the second fixed mounts of 521-, 522- the 3rd
Line slide rail, the first buffer positioners of 523-, the transmission cylinders of 524- second, the second buffer positioners of 525-, the second pallets of 526-
Platform.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention be not limited to
Following embodiments.
Embodiment 1
As depicted in figs. 1 and 2, a kind of automatic charging equipment of use robot 41, including pallet 6, is arranged on pallet 6
PLC control system and the feeding system for being arranged on pallet 6 and being connected with PLC control system, pallet 6 is provided with safety
Cover 8, feeding system includes：
Feed mechanism 1, its structure are as shown in Figure 3：From the y moved forward and backward along y-axis to transporter 11 and in z-axis
First z of lower movement is constituted to transporter 12；First y includes the first fixed mount 111 to transporter 11, and is arranged on
The first tray platform 112, first sensor 114, the first ball-screw 115 and servomotor 116 on one fixed mount 111, the
One fixed mount 111 is provided with first straight line slide rail 113 along the y-axis direction, and the first tray platform 112 is arranged on first straight line slide rail
On 113, and it is connected with the first ball-screw 115, first sensor 114 is connected with the first tray platform 112, the first ball-screw
115 connection servomotors 116；First z is made up of to transporter 12 the first single axis robot 121 and the first support base 122, the
One support base 122 is arranged on the first single axis robot 121, and is moved up and down along the z-axis direction；
Positioning connecting gear 2, its structure are as shown in Figure 4：Including the bracket tray positioning apparatus 21, pallet being arranged on pallet 6
Segregation apparatuss 22 and pallet transporter 23；Bracket tray positioning apparatus 21 include the first fixed seat 211 being arranged on pallet 6, with
And two positioning cylinders 212 being arranged in the first fixed seat 211, the connection locating piece 213 of positioning cylinder 212；Pallet is separated
Device 22 includes the second fixed seat 221 being arranged on pallet 6, and the separation cylinder being arranged in the second fixed seat 221
222, bracket tray positioning apparatus 21 act on the 1st layer of TRAY disk (the superiors), position the 1st layer of TRAY disk；Positioning the 1st layer of TRAY disk
While, holding tray separating device 22 acts on the 2nd layer of TRAY disk (sublevel), the 2nd layer of TRAY disk is divided with the 1st layer of TRAY disk completely
From.
Bracket tray positioning apparatus 21 are arranged in the central authorities of the TRAY disks left and right sides, and a first from left is right totally 2, while action；Pallet
Segregation apparatuss 22 are arranged in the end end of the TRAY disks left and right sides, and a first from left is right totally 2, while action；Pallet transporter 23 is wrapped
Include the first transmission cylinder 232 and second straight line guide rail 231 being arranged on pallet 6；
Vacuum feeding unit 4, its structure are as shown in Figure 5：Including the robot 41 being arranged on pallet 6, and it is arranged on
Vacuum shaft 42 in robot 41,42 bottom of vacuum shaft are provided with vacuum cup 43, the connection vacuum generator of vacuum shaft 42；
Visual mechanisms 3, its structure are as shown in Figure 6：Including detection CCD camera 31, positioning CCD camera 33, know mark CCD camera
35, and first light source 32 and secondary light source 34 of auxiliary detection positioning, detection CCD camera 31 is arranged on safety guard 8, and position
In the surface of positioning connecting gear 2, positioning CCD camera 33 is arranged in robot 41, is known mark CCD camera 35 and is arranged on pallet
Workpiece on 6, together with positioning CCD camera 33 in 41 location tray 6 of auxiliary robot；
Blank panel cutting agency 5, its structure are as shown in Figure 7：From the 2nd z moved up and down along z-axis to transporter 51 and along y
The 2nd y that axle is moved left and right is constituted to transporter 52；2nd z is to transporter 51 by the second single axis robot 512 and second
Support base 511 is constituted, and the second single axis robot 512 is arranged on the second support base 511, and is moved up and down along the z-axis direction, second
Single axis robot 512 connects PLC control system；2nd y includes the second fixed mount 521, the second transmission cylinder to transporter 52
524th, the first buffer positioner 523 and the second buffer positioner 525, it is the 3rd straight that the second fixed mount 521 is provided with along the y-axis direction
Line slide rail 522, the 3rd line slide rail 522 are provided with the second tray platform 526 being connected with the second transmission cylinder 524, the
One buffer positioner 523 and the second buffer positioner 525 are separately positioned on the rear and front end of the 3rd line slide rail 522, and second passes
Cylinder 524 of supplying gas is connected with PLC control system.
During work, the pallet 7 of fully loaded workpiece is placed on the first tray platform 112, starts servomotor 116, drives the
One tray platform 112 is moved along first straight line guide rail, pallet 7 is sent to the first support base 122, then starts the first single shaft machine
Device people 121, drives the first support base 122 to move along the z-axis direction, and pallet 7 is sent to positioning connecting gear 2, starts positioning gas
Cylinder 212, drives locating piece 213 to pallet locking positioning, has workpiece, start machine people in the detection detection pallet 7 of CCD camera 31
41, under the positioning action of positioning CCD camera 33 and knowledge mark CCD camera 35, vacuum cup 43 is moved to into the workpiece in pallet 7
Position, opens vacuum, and workpiece picks up by vacuum cup 43, and then driven machine people 41 is by work transporting to specified station, machine
Device people 41 repeats absorption workpiece action and is all finished by conveyance up to the workpiece in pallet 7, and now, detection CCD camera 31 is detected
To in pallet 7 without workpiece, start positioning cylinder 212 and pallet 7 is unclamped, and pallet is driven along second by the first transmission cylinder 232
Line slideway 231 is moved on the second support base 511 of blank panel cutting agency 5, starts the second single axis robot 512, drives the
Two support bases 511 are moved down along the z-axis direction, and pallet 7 is sent to the 2nd y on the second tray platform 526 of transporter 52, then
Start second and transmit cylinder 524, drive the second tray platform 526 to move along the y-axis direction, so as to the pallet 7 of empty material is transported frame
Platform 6.
Claims (8)
1. a kind of automatic charging equipment of use robot, for by work transporting to specified station, described automatic charging
Equipment includes pallet (6), the PLC control system that is arranged on pallet (6) and is arranged on pallet (6) and with PLC controls is
The feeding system of system connection, it is characterised in that the feeding system includes：
Feed mechanism (1)：The z moved up and down to transporter (11) and along z-axis from the y moved forward and backward along y-axis to
Transporter (12) is constituted；
Positioning connecting gear (2)：Including the bracket tray positioning apparatus (21), holding tray separating device (22) being arranged on pallet (6) and
Pallet transporter (23)；
Vacuum feeding unit (4)：Including the robot (41) being arranged on pallet (6), and it is arranged in robot (41)
Vacuum absorption device；
Visual mechanisms (3)：Including detection CCD camera (31), positioning CCD camera (33) and knowledge mark CCD camera (35), described inspection
The surface that CCD camera (31) is arranged on positioning connecting gear (2) is surveyed, described positioning CCD camera (33) is arranged on robot
(41), on, described knowledge mark CCD camera (35) is arranged on pallet (6)；
Blank panel cutting agency (5)：Second moved left and right to transporter (51) and along y-axis from the 2nd z moved up and down along z-axis
Y is constituted to transporter (52)；
During work, pallet (7) the Jing feed mechanisms (1) of fully loaded workpiece are sent to positioning connecting gear (2), and pallet (7) is by pallet
Positioner (21) locking is fixed, then, under the auxiliary positioning of positioning CCD camera (33), vacuum absorption device random device people
(41) it is moved on the workpiece in pallet (7), opens vacuum, workpiece is drawn by vacuum absorption device, and is sent to specified station
On, after detection CCD camera (31) detects the interior workpiece transmission of pallet (7) to be finished, bracket tray positioning apparatus (21) unclamp, pallet
(7) Jing pallets transporter (23) is sent to blank panel cutting agency (5), then is moved to pallet (6) bottom.
2. a kind of automatic charging equipment of use robot according to claim 1, it is characterised in that a described y
To transporter (11) including the first fixed mount (111), and the first tray platform being arranged on the first fixed mount (111)
(112), first sensor (114), the first ball-screw (115) and servomotor (116), described the first fixed mount (111)
First straight line slide rail (113) along the y-axis direction is provided with, described the first tray platform (112) is arranged on first straight line slide rail
(113) on, and it is connected with the first ball-screw (115), described first sensor (114) is connect with the first tray platform (112)
Touch, described the first ball-screw (115) connection servomotor (116)；
A described z is made up of to transporter (12) the first single axis robot (121) and the first support base (122), described
The first support base (122) be arranged on the first single axis robot (121), and move up and down along the z-axis direction；
During work, start servomotor (116), drive the first ball-screw (115), the first tray platform (112) is driven along the
One line slide rail (113) is mobile, and the pallet (7) being placed on the first tray platform (112) is sent to the first support base (122)
On, then start the first single axis robot (121), drive the first support base (122) to move along the z-axis direction, pallet (7) is transmitted
To positioning connecting gear (2).
3. the automatic charging equipment of a kind of use robot according to claim 1, it is characterised in that described pallet is fixed
Position device (21) is including the first fixed seat (211) being arranged on pallet (6), and is arranged in the first fixed seat (211)
Positioning cylinder (212), positioning cylinder (212) connection locating piece (213)；
Described holding tray separating device (22) includes the second fixed seat (221) being arranged on pallet (6), and is arranged on second
Separation cylinder (222) in fixed seat (221)；
Described pallet transporter (23) is led including the first transmission cylinder (232) and second straight line being arranged on pallet (6)
Rail (231)；
Pallet (7) Jing feed mechanisms (1) are sent to positioning connecting gear (2), and now, bracket tray positioning apparatus (21) work starts
Positioning cylinder (212), is made locating piece (213) be fitted with pallet (7), carries out locking positioning to pallet (7), treat work in pallet (7)
After part conveying is finished, start positioning cylinder (212), locating piece (213) is separated with pallet (7), start first and transmit cylinder
(232), pallet (7) is driven to be moved to blank panel cutting agency (5) along second straight line guide rail (231).
4. a kind of automatic charging equipment of use robot according to claim 3, it is characterised in that described positioning gas
Cylinder (212) is provided with two.
5. the automatic charging equipment of a kind of use robot according to claim 1, it is characterised in that described vacuum is inhaled
Adsorption device is by vacuum shaft (42) and is arranged on the vacuum cup (43) of vacuum shaft (42) bottom and constitutes, and described vacuum shaft (42) sets
Put in robot (41), and move up and down along robot (41), described vacuum shaft (42) connection vacuum generating device.
6. a kind of automatic charging equipment of use robot according to claim 1, it is characterised in that described vision machine
First light source (32) and secondary light source (34) of auxiliary detection positioning, described the first light source (32) and the are additionally provided with structure (3)
Two light sources (34) are separately positioned on the two ends of positioning connecting gear (2).
7. a kind of automatic charging equipment of use robot according to claim 1, it is characterised in that described pallet
(6) safety guard (8) is provided with the top of, described detection CCD camera (31) is arranged on safety guard (8), and is located at positioning conveyer
The surface of structure (2).
8. a kind of automatic charging equipment of use robot according to claim 1, it is characterised in that the 2nd described z
It is made up of to transporter (51) the second single axis robot (512) and the second support base (511), the second described single axis robot
(512) it is arranged on the second support base (511), and moves up and down along the z-axis direction；
, to transporter (52) including the second fixed mount (521), the second transmission cylinder (524), the first buffering are fixed for the 2nd described y
Position device (523) and the second buffer positioner (525), described the second fixed mount (521) are provided with the 3rd straight line along the y-axis direction
Slide rail (522), the 3rd line slide rail (522) are provided with the second tray platform being connected with the second transmission cylinder (524)
(526), described the first buffer positioner (523) and the second buffer positioner (525) are separately positioned on the 3rd line slide rail
(522) rear and front end；
During work, pallet (7) Jing pallet transporters (23) of empty material is sent to the 2nd z and supports to the second of transporter (51)
On seat (511), start the second single axis robot (512), drive the second support base (511) to move down along the z-axis direction, by pallet (7)
The 2nd y is sent to on second tray platform (526) of transporter (52), restarts the second transmission cylinder (524), drive the
Two tray platforms (526) are moved along the y-axis direction, so as to the pallet (7) of empty material is transported pallet (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510404535.XA CN105197584B (en) | 2015-07-10 | 2015-07-10 | Automatic feeding device with robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510404535.XA CN105197584B (en) | 2015-07-10 | 2015-07-10 | Automatic feeding device with robots |
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| Publication Number | Publication Date |
|---|---|
| CN105197584A CN105197584A (en) | 2015-12-30 |
| CN105197584B true CN105197584B (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510404535.XA Active CN105197584B (en) | 2015-07-10 | 2015-07-10 | Automatic feeding device with robots |
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