CN107253189A - A kind of transfer robot with sucked type handgrip - Google Patents
A kind of transfer robot with sucked type handgrip Download PDFInfo
- Publication number
- CN107253189A CN107253189A CN201710610979.8A CN201710610979A CN107253189A CN 107253189 A CN107253189 A CN 107253189A CN 201710610979 A CN201710610979 A CN 201710610979A CN 107253189 A CN107253189 A CN 107253189A
- Authority
- CN
- China
- Prior art keywords
- rotating disk
- bearing
- bent axle
- bolts
- controller
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of transfer robot with sucked type handgrip, including base, bearing, rotating disk, sucker, the base upper end is provided with bearing rotating seat, the bearing rotating seat upper end is provided with the bearing, the bearing upper end is provided with bent axle, described bent axle one end is provided with bent axle sliding bar, scalable thread bush is installed outside the bent axle sliding bar, bent axle driven rod is installed in the middle of the scalable thread bush and the bearing, described bent axle sliding bar one end is provided with rotating disk mounting seat, spinning disk drive motor is installed inside the rotating disk mounting seat, described rotating disk mounting seat one end is provided with rotating disk band dynamic bearing.The present invention is simple in construction, easy to use, and the carrying of object is realized by the bent axle and the bearing rotating seat, and has two kinds of handbarrows of the manipulator and the sucker, is adapted to the carrying of major part object, the scope of application is wider.
Description
Technical field
The present invention relates to intelligent robot technology field, and in particular to a kind of transfer robot with sucked type handgrip.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, and advance volume can be run again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is assistance or the substitution mankind
The work of work, for example, produce industry, construction industry, or dangerous work.It is senior integral traffic control opinion, mechano-electronic, calculating
Machine, material and bionic product.There is important use in industry, medical science, agricultural, the construction industry even field such as military affairs, remove
One kind of robot when transporting robot, transfer robot is can to carry out the industrial robot of automated handling operation.Carry and make
Industry refers to grip workpiece with a kind of equipment, refers to move on to another Working position from a Working position.Transfer robot can pacify
The workpiece handling that different end effectors is filled to complete various different shapes and state works, and significantly reduces the mankind heavy
Manual labor.The transfer robot used in the world exceedes 100,000, is widely used in lathe loading and unloading, the automatic metaplasia of stamping machine
The automatic transporting of producing line, automatic assembly line, Palletised carry, container etc..Systems in Certain Developed Countries has made artificial carrying
To greatest extent, what is gone beyond the limit must be completed by transfer robot.The handling gripper of common transfer robot only has one
Kind, so there is limitation to the object of carrying, applicability is not also extensive, and this gives people many troubles of band altogether in work.
The content of the invention
The purpose of the present invention is that provides a kind of conveying robot with sucked type handgrip to solve the above problems
People.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of transfer robot with sucked type handgrip, including base, bearing, rotating disk, sucker, the base upper end
Bearing rotating seat is installed, the bearing rotating seat upper end is provided with the bearing, and the bearing upper end is provided with bent axle, described
Bent axle one end, which is provided with outside bent axle sliding bar, the bent axle sliding bar, is provided with scalable thread bush, the scalable screw thread
Set in the middle of the bearing with being provided with bent axle driven rod, and described bent axle sliding bar one end is provided with rotating disk mounting seat, the rotation
Spinning disk drive motor is installed, described rotating disk mounting seat one end is provided with rotating disk band dynamic bearing inside rotating disk mounting seat,
The rotating disk band dynamic bearing side is provided with the rotating disk, and the rotating disk upper end is provided with manipulator, the manipulator
Finger tip is provided with touch sensor, and the rotating disk upper end is provided with the sucker, and described sucker one end is provided with magnet layer, institute
State manipulator root wrist and the suction cup interior installs force sensor, the chassis interior is provided with controller, the control
Device side is provided with power supply, and the power supply side is provided with drive gear set, and the drive gear set side is provided with servo electricity
Machine.
Further, the bearing rotating seat is mounted by means of bolts on the base upper end, and the bearing passes through bolt
The bearing rotating seat upper end is fixedly mounted on, the bent axle is mounted by means of bolts on the bearing upper end, the bent axle
Sliding bar is mounted by means of bolts on described bent axle one end, and the scalable thread bush is mounted by means of bolts on the song
Outside axle sliding bar.
Further, the bent axle driven rod is mounted by means of bolts in the scalable thread bush and the bearing
Between, the rotating disk mounting seat is mounted by means of bolts on described bent axle sliding bar one end, and the spinning disk drive motor leads to
Bolt is crossed to be fixedly mounted on inside the rotating disk mounting seat.
Further, the rotating disk band dynamic bearing is mounted by means of bolts on described rotating disk mounting seat one end, described
Rotating disk is fixedly mounted on the rotating disk band dynamic bearing side by interference fit, and the manipulator is bolted installation
In the rotating disk upper end.
Further, the touch sensor is mounted by means of bolts on the manipulator finger tip, and is connect by signal wire
Enter the controller, the sucker is mounted by means of bolts on the rotating disk upper end, and the magnet layer is bolted
The controller is accessed installed in described sucker one end, and by signal wire, the force snesor is mounted by means of bolts on
The manipulator root wrist and the suction cup interior, and the controller is accessed by signal wire.
Further, the controller is mounted by means of bolts on the chassis interior, and the power supply is bolted
Installed in the controller side, the drive gear set is mounted by means of bolts on the power supply side, the servo electricity
Machine is mounted by means of bolts on the drive gear set side.
Beneficial effect is：The robot architecture is simple, easy to use, real by the bent axle and the bearing rotating seat
The carrying of existing object, and have two kinds of handbarrows of the manipulator and the sucker, it is adapted to the carrying of major part object, is applicable
Scope is wider.
Brief description of the drawings
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is the rotating disk schematic diagram of the present invention；
Fig. 3 is the partial schematic diagram of the present invention.
Wherein：
1st, rotating disk；2nd, rotating disk band dynamic bearing；3rd, rotating disk mounting seat；4th, controller；5th, bent axle sliding bar；6th, it can stretch
Contracting thread bush；7th, bent axle driven rod；8th, bent axle；9th, bearing；10th, base；11st, bearing rotating seat；12nd, touch sensor；13rd, machine
Tool hand；14th, force snesor；15th, magnet layer；16th, sucker；17th, power supply；18th, spinning disk drive motor；19；Servomotor；20、
Drive gear set.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As Figure 1-3, a kind of transfer robot with sucked type handgrip, including base 10, bearing 9, rotating disk 1,
Sucker 16, the upper end of base 10 is provided with bearing rotating seat 11, and the upper end of bearing rotating seat 11 is provided with bearing 9, and the upper end of bearing 9 is installed
There is bent axle 8, the one end of bent axle 8, which is provided with outside bent axle sliding bar 5, bent axle sliding bar 5, is provided with scalable thread bush 6, scalable
Thread bush 6 in the middle of bearing 9 with being provided with bent axle driven rod 7, and the one end of bent axle sliding bar 5 is provided with rotating disk mounting seat 3, rotating disk
Spinning disk drive motor 18 is installed, the one end of rotating disk mounting seat 3 is provided with rotating disk band dynamic bearing 2, rotation inside mounting seat 3
The side of dribbling dynamic bearing 2 is provided with rotating disk 1, and the upper end of rotating disk 1 is provided with manipulator 13, and the finger tip of manipulator 13 is installed tactile
Sensor 12, the upper end of rotating disk 1 is provided with sucker 16, and the one end of sucker 16 is provided with magnet layer 15,13 wrists of manipulator and suction
The inside of disk 16 is installed and is provided with controller 4 inside force sensor 14, base 10, and the side of controller 4 is provided with power supply 17, power supply
17 sides are provided with drive gear set 20, and the side of drive gear set 20 is provided with servomotor 19.
In said structure, during using robot, start machine people controller 4, the control servomotor 19 of controller 4 starts work
Make, servomotor 19 drives drive gear set 20 to start working by power transmission shaft, bent axle of the drive gear set 20 with mobile robot
Driven rod 7 is started working, and bent axle driven rod 7 moves up and down with dynamic crankshaft sliding bar 5, while controller 4 drives rotation dish driving
Motor 18 is started working, and spinning disk drive motor 18 drives rotating disk 1 to start working, the thing that rotating disk 1 is carried as needed
The instrument of selection transportation is, it is necessary to which during using sucker 16, the control magnet of controller 4 layer 15 and force snesor 14 are started working, and work as suction
When disk 16 holds the object for needing to carry, force snesor 14 is excited, and signal is passed into controller 4, controller 4 is according to information
To control the dynamics of the carry an object of sucker 16, when carry an object needs to use manipulator 13 to carry, the control machinery hand of controller 4
13 start working, and after manipulator 13 touches object, touch sensor 12 is excited, and passes information to controller 4, control
Device 4, come the dynamics between the finger of control machinery hand 13, prevents object from being grabbed bad according to information, when manipulator 13 catches object to start carrying
When, force snesor 14 is excited, and passes information to controller 4, and controller 4 is according to information come the carrying of control machinery hand 13
Dynamics carrys out carry an object.
In order to further improve a kind of use function of the transfer robot with sucked type handgrip, bearing rotating seat 11 leads to
Cross bolt and be fixedly mounted on the upper end of base 10, bearing 9 is mounted by means of bolts on the upper end of bearing rotating seat 11, and bent axle 8 passes through
Bolt is fixedly mounted on the upper end of bearing 9, and bent axle sliding bar 5 is mounted by means of bolts on the one end of bent axle 8, scalable thread bush 6
It is mounted by means of bolts on outside bent axle sliding bar 5, bent axle driven rod 7 is mounted by means of bolts on scalable thread bush 6
In the middle of bearing 9, rotating disk mounting seat 3 is mounted by means of bolts on bent axle 8, and rotating disk band dynamic bearing 2 is bolted
Installed in the one end of rotating disk mounting seat 3, rotating disk 1 is fixedly mounted on rotating disk band dynamic bearing 2 side, machinery by interference fit
Hand 13 is mounted by means of bolts on the upper end of rotating disk 1, and touch sensor 12 is mounted by means of bolts on the finger tip of manipulator 13,
And by signal wire access controller 4, sucker 16 is mounted by means of bolts on the upper end of rotating disk 1, magnet layer 15 passes through bolt
The one end of sucker 16 is fixedly mounted on, and by signal wire access controller 4, force snesor 14 is mounted by means of bolts on machinery
Inside 13 wrists of hand and sucker 16, and by signal wire access controller 4, controller 4 is mounted by means of bolts on base
Inside 10, power supply 17 is mounted by means of bolts on the side of controller 4, and drive gear set 20 is mounted by means of bolts on power supply
17 sides, servomotor 19 is mounted by means of bolts on the side of drive gear set 20.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the original for simply illustrating the present invention described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its Xiao Wu circle
It is fixed.
Claims (6)
1. a kind of transfer robot with sucked type handgrip, it is characterised in that：Including base, bearing, rotating disk, sucker, institute
State base upper end and bearing rotating seat is installed, the bearing rotating seat upper end is provided with the bearing, and the bearing upper end is installed
There is bent axle, described bent axle one end is provided with outside bent axle sliding bar, the bent axle sliding bar and is provided with scalable thread bush, described
Bent axle driven rod is installed, described bent axle sliding bar one end is provided with rotating disk installation in the middle of scalable thread bush and the bearing
Spinning disk drive motor is installed inside seat, the rotating disk mounting seat, described rotating disk mounting seat one end is provided with rotating disk
Band dynamic bearing, the rotating disk band dynamic bearing side is provided with the rotating disk, and the rotating disk upper end is provided with manipulator, institute
State manipulator finger tip and touch sensor is installed, the rotating disk upper end is provided with the sucker, and described sucker one end is provided with
Magnet layer, the manipulator root wrist and the suction cup interior install force sensor, and the chassis interior is provided with controller,
The controller side is provided with power supply, and the power supply side is provided with drive gear set, and the drive gear set side is installed
There is servomotor.
2. a kind of transfer robot with sucked type handgrip according to claim 1, it is characterised in that：The bearing rotation
Swivel base is mounted by means of bolts on the base upper end, and the bearing is mounted by means of bolts on the bearing rotating seat
End, the bent axle is mounted by means of bolts on the bearing upper end, and the bent axle sliding bar is mounted by means of bolts on institute
Bent axle one end is stated, the scalable thread bush is mounted by means of bolts on outside the bent axle sliding bar.
3. a kind of transfer robot with sucked type handgrip according to claim 1, it is characterised in that：The bent axle band
Lever is mounted by means of bolts in the middle of the scalable thread bush and the bearing, and the rotating disk mounting seat passes through bolt
Described bent axle sliding bar one end is fixedly mounted on, the spinning disk drive motor is mounted by means of bolts on the rotating disk peace
Fill inside seat.
4. a kind of transfer robot with sucked type handgrip according to claim 1, it is characterised in that：The rotating disk
Band dynamic bearing is mounted by means of bolts on described rotating disk mounting seat one end, and the rotating disk is fixedly mounted by being interference fitted
In rotating disk band dynamic bearing side, the manipulator is mounted by means of bolts on the rotating disk upper end.
5. a kind of transfer robot with sucked type handgrip according to claim 1, it is characterised in that：The tactile is passed
Sensor is mounted by means of bolts on the manipulator finger tip, and accesses the controller by signal wire, and the sucker passes through
Bolt is fixedly mounted on the rotating disk upper end, and the magnet layer is mounted by means of bolts on described sucker one end, and passes through
Signal wire accesses the controller, and the force snesor is mounted by means of bolts on the manipulator root wrist and the sucker
Inside, and the controller is accessed by signal wire.
6. a kind of transfer robot with sucked type handgrip according to claim 1, it is characterised in that：The controller
The chassis interior is mounted by means of bolts on, the power supply is mounted by means of bolts on the controller side, described
Drive gear set is mounted by means of bolts on the power supply side, and the servomotor is mounted by means of bolts on the drive
Moving gear group side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710610979.8A CN107253189A (en) | 2017-07-25 | 2017-07-25 | A kind of transfer robot with sucked type handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710610979.8A CN107253189A (en) | 2017-07-25 | 2017-07-25 | A kind of transfer robot with sucked type handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107253189A true CN107253189A (en) | 2017-10-17 |
Family
ID=60025174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710610979.8A Pending CN107253189A (en) | 2017-07-25 | 2017-07-25 | A kind of transfer robot with sucked type handgrip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107253189A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901034A (en) * | 2017-11-09 | 2018-04-13 | 无锡百禾工业机器人有限公司 | A kind of four axis robots |
| CN108065688A (en) * | 2017-11-18 | 2018-05-25 | 林泽辉 | A kind of article-holding frame for being convenient for taking eminence commodity |
| CN108555597A (en) * | 2018-04-02 | 2018-09-21 | 苏州迅镭激光科技有限公司 | A kind of welded equipment of automatic bending of square casing |
| CN109015714A (en) * | 2018-09-10 | 2018-12-18 | 王家成 | A kind of crawl mechanical arm tail end clamping device |
| CN109079720A (en) * | 2018-09-30 | 2018-12-25 | 安徽工程大学 | A kind of list robot bearing assembly manipulation platform |
| CN109079768A (en) * | 2018-09-10 | 2018-12-25 | 广东宏穗晶科技服务有限公司 | A kind of transfer robot |
| CN109356390A (en) * | 2018-11-29 | 2019-02-19 | 上海大界机器人科技有限公司 | A kind of construction equipment, system and its control method |
| CN110978019A (en) * | 2019-12-11 | 2020-04-10 | 安徽瞬达信息科技有限公司 | Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot |
| CN111515974A (en) * | 2020-05-06 | 2020-08-11 | 乔汉夷 | Test tube operation platform between medical isolation |
| CN111660318A (en) * | 2020-06-17 | 2020-09-15 | 广东智源机器人科技有限公司 | Manipulator structure |
| CN112157667A (en) * | 2020-09-15 | 2021-01-01 | 广东广沃智能科技有限公司 | Industrial robot assembly workstation |
| JP2021000709A (en) * | 2019-06-24 | 2021-01-07 | 株式会社アットロボティクス | Robot and fingertip member for robot |
| CN112248014A (en) * | 2020-10-22 | 2021-01-22 | 广州文冲船厂有限责任公司 | Flange sleeve pipe pickup apparatus |
| CN112297654A (en) * | 2020-10-22 | 2021-02-02 | 广州文冲船厂有限责任公司 | Code printing production line |
| CN113524256A (en) * | 2021-08-11 | 2021-10-22 | 长鑫存储技术有限公司 | Mechanical arm, mask detection device and mask detection system |
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| CN205600756U (en) * | 2016-04-28 | 2016-09-28 | 扬州大学 | Optic platform snatchs manipulator |
| WO2017157482A1 (en) * | 2016-03-16 | 2017-09-21 | Ks Control Gmbh | Device for receiving, holding and/or positioning planar workpieces, in particular sheets of glass |
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| CN201183739Y (en) * | 2008-03-18 | 2009-01-21 | 上海力进铝质工程有限公司 | Hydraulic rotatable type vacuum four-claw glass hoister |
| WO2017157482A1 (en) * | 2016-03-16 | 2017-09-21 | Ks Control Gmbh | Device for receiving, holding and/or positioning planar workpieces, in particular sheets of glass |
| CN205497514U (en) * | 2016-04-08 | 2016-08-24 | 山东昊威机器人有限公司 | Novel mechanical arm |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901034A (en) * | 2017-11-09 | 2018-04-13 | 无锡百禾工业机器人有限公司 | A kind of four axis robots |
| CN108065688A (en) * | 2017-11-18 | 2018-05-25 | 林泽辉 | A kind of article-holding frame for being convenient for taking eminence commodity |
| CN108065688B (en) * | 2017-11-18 | 2020-07-28 | 泉州市菲式生物科技有限公司 | Article shelf device convenient for taking high-place goods |
| CN108555597A (en) * | 2018-04-02 | 2018-09-21 | 苏州迅镭激光科技有限公司 | A kind of welded equipment of automatic bending of square casing |
| CN108555597B (en) * | 2018-04-02 | 2024-03-22 | 苏州迅镭激光科技有限公司 | Automatic integrative equipment of welding of bending of square casing |
| CN109015714A (en) * | 2018-09-10 | 2018-12-18 | 王家成 | A kind of crawl mechanical arm tail end clamping device |
| CN109079768A (en) * | 2018-09-10 | 2018-12-25 | 广东宏穗晶科技服务有限公司 | A kind of transfer robot |
| CN109079720A (en) * | 2018-09-30 | 2018-12-25 | 安徽工程大学 | A kind of list robot bearing assembly manipulation platform |
| CN109079720B (en) * | 2018-09-30 | 2022-03-04 | 安徽工程大学 | Single robot bearing assembly operation platform |
| CN109356390A (en) * | 2018-11-29 | 2019-02-19 | 上海大界机器人科技有限公司 | A kind of construction equipment, system and its control method |
| JP2021000709A (en) * | 2019-06-24 | 2021-01-07 | 株式会社アットロボティクス | Robot and fingertip member for robot |
| JP7362103B2 (en) | 2019-06-24 | 2023-10-17 | 株式会社アットロボティクス | Robots and robot hand parts |
| CN110978019A (en) * | 2019-12-11 | 2020-04-10 | 安徽瞬达信息科技有限公司 | Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot |
| CN111515974A (en) * | 2020-05-06 | 2020-08-11 | 乔汉夷 | Test tube operation platform between medical isolation |
| CN111660318A (en) * | 2020-06-17 | 2020-09-15 | 广东智源机器人科技有限公司 | Manipulator structure |
| CN112157667A (en) * | 2020-09-15 | 2021-01-01 | 广东广沃智能科技有限公司 | Industrial robot assembly workstation |
| CN112297654A (en) * | 2020-10-22 | 2021-02-02 | 广州文冲船厂有限责任公司 | Code printing production line |
| CN112248014B (en) * | 2020-10-22 | 2023-03-10 | 广州文冲船厂有限责任公司 | Flange sleeve pipe pickup apparatus |
| CN112248014A (en) * | 2020-10-22 | 2021-01-22 | 广州文冲船厂有限责任公司 | Flange sleeve pipe pickup apparatus |
| CN113524256A (en) * | 2021-08-11 | 2021-10-22 | 长鑫存储技术有限公司 | Mechanical arm, mask detection device and mask detection system |
| CN113524256B (en) * | 2021-08-11 | 2023-02-28 | 长鑫存储技术有限公司 | Mechanical arm, mask detection device and mask detection system |
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Application publication date: 20171017 |