CN108818513A - A kind of rotary upper piece manipulator - Google Patents
A kind of rotary upper piece manipulator Download PDFInfo
- Publication number
- CN108818513A CN108818513A CN201810842074.8A CN201810842074A CN108818513A CN 108818513 A CN108818513 A CN 108818513A CN 201810842074 A CN201810842074 A CN 201810842074A CN 108818513 A CN108818513 A CN 108818513A
- Authority
- CN
- China
- Prior art keywords
- reversing frame
- rotation drive
- upper piece
- traversing bracket
- drive device
- 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.)
- Granted
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000035611 feeding Effects 0.000 claims 1
- 239000011521 glass Substances 0.000 abstract description 15
- 238000012545 processing Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000005357 flat glass Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rotary upper piece manipulators, including pedestal, the first reversing frame, traversing bracket and grabbing device, the first rotation drive device is provided on pedestal, first reversing frame is connected with the output shaft of the first rotation drive device, traversing bracket is movably arranged on the first reversing frame, and traversing bracket is connected with the cross sliding driving device being arranged on the first reversing frame, grabbing device is hubbed on traversing bracket, and grabbing device is connected with the second rotation drive device being arranged on traversing bracket.First reversing frame and traversing bracket can be turned round with respect to pedestal, grabbing device also can traversing bracket revolution relatively so that grabbing device carries out upper piece operation before being moved easily to any glass frame, and the time for transferring glass is shorter, the non-processing time is reduced, working efficiency is improved.In addition, structure of the invention is more compact, do not need to occupy biggish working space, space needed for occupied area and work can be effectively reduced.
Description
Technical field
The present invention relates to glass transfer devices, the upper piece manipulator especially transferred for glass.
Background technique
Glass automatic sheet-feeding machinery hand is placed in sheet glass the transport platform of glass processing device for grabbing sheet glass
On.Existing upper piece manipulator, main structure mostly use three orthogonal mechanical arms, and this upper piece manipulator is often deposited
In some shortcomings point：1, whole to take up a large area, the required space that works is larger；2, operation flexibility is poor, transfers glass institute
The time needed is longer, not practical enough；3, more complex, management difficulty height is operated.Therefore, it is necessary to which it is mechanical to design a kind of glass loading
At least one of hand, to solve the above technical problems.
Summary of the invention
The present invention provides a kind of rotary upper piece manipulator, integrally takes up a large area to solve existing upper piece manipulator,
The larger problem in space needed for working.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of rotary upper piece manipulator comprising
Control device；
Pedestal is provided with the first rotation drive device on the pedestal；
First reversing frame is connected with the output shaft of first rotation drive device；
Traversing bracket is movably arranged on the first reversing frame, the traversing bracket be arranged on the first reversing frame one
Cross sliding driving device is connected；
Grabbing device is hubbed on traversing bracket, and the grabbing device drives with the second rotation being arranged on traversing bracket
Dynamic device is connected.
Preferably, the grabbing device includes the second reversing frame, material-taking rack and vertical shift driving mechanism, and the second reversing frame is pivoted
It is connected on traversing bracket and with the output shaft of second rotation drive device, is vertically arranged on second reversing frame
Guide rail；Material-taking rack is movably arranged on guide rail and can vertically move along guide rail, is provided with sucker on the material-taking rack；Vertical shift is driven
Motivation structure is connected with the second reversing frame and material-taking rack simultaneously.
Further, the quantity of the material-taking rack and vertical shift driving mechanism is two, and two material-taking racks are respectively in second
The two sides of reversing frame, two material-taking racks are respectively connected with a vertical shift driving mechanism.
Further, in two material-taking racks, longitudinal guide part is provided on one of material-taking rack, another material-taking rack
On be provided with guide groove compatible with guide part, the guide part is located in guide groove and can be along guide groove longitudinal sliding motion.
Further, the guide groove is provided with the end face of material-taking rack, and the cross section of the guide part in T font or
Dove-tail form or L-type.
Preferably, the guide groove is provided with the side wall of material-taking rack, and the guide part cross section is U-shaped or F
Font or L-type.
Preferably, the vertical shift driving mechanism includes at least two vertical shift cylinders, these vertical shift cylinders are longitudinally arranged and fold
It puts together.
Preferably, the solenoid valve being connected with sucker, the traversing branch are provided on second reversing frame or material-taking rack
The conducting slip ring being electrically connected with the coil on solenoid valve is installed, the output shaft of second rotation drive device is worn on frame
On conducting slip ring.
Preferably, the cross sliding driving device includes third rotation drive device and driving rack, third rotation driving dress
It installs on the first reversing frame, is connected with transmission gear on the output shaft of the third rotation drive device；Driving rack is horizontal
It is meshed to setting on the traversing bracket and with the transmission gear.
The beneficial effects of the invention are as follows：The present invention includes the portions such as pedestal, the first reversing frame, traversing bracket and grabbing device
Part is provided with the first rotation drive device on pedestal, and the first reversing frame is connected with the output shaft of the first rotation drive device, horizontal
It moves bracket to be movably arranged on the first reversing frame, and traversing bracket and the cross sliding driving device phase that is arranged on the first reversing frame
Connection, grabbing device are hubbed on traversing bracket, and grabbing device and the second rotation drive device being arranged on traversing bracket
It is connected.First reversing frame and traversing bracket can be turned round with respect to pedestal, and grabbing device also being capable of relatively traversing bracket time
Turn so that grabbing device carried out before being moved easily to any glass frame upper piece operation, and transfer glass time it is shorter, reduce it is non-
Process time improves working efficiency.In addition, structure of the invention is more compact, do not need to occupy biggish working space, it can
Space needed for effectively reducing occupied area and work, in order to mounting arrangements.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples：
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram at another visual angle of the present invention；
Fig. 3 is the structural schematic diagram of grabbing device；
Fig. 4 is the exploded view of grabbing device.
Specific embodiment
Referring to Fig.1~Fig. 4, the present invention are a kind of rotary upper piece manipulators comprising control device, pedestal 1, first time
Pivoted frame 3, traversing bracket 51 and grabbing device 6 are provided with the first rotation drive device 2 on pedestal 1.First reversing frame 3 and
The output shaft of one rotation drive device 2 is connected.Traversing bracket 51 is movably arranged on the first reversing frame 3, traversing bracket 51 with
The cross sliding driving device being arranged on the first reversing frame 3 is connected, and cross sliding driving device can drive traversing bracket 51 when working
Along 3 transverse shifting of the first reversing frame.Grabbing device 6 is hubbed on traversing bracket 51, and grabbing device 6 and setting are in traversing branch
The second rotation drive device 52 on frame 51 is connected.
Specifically, grabbing device 6 includes the second reversing frame 61, material-taking rack 63 and vertical shift driving mechanism 65, the second reversing frame
61 are hubbed on traversing bracket 51 and are connected with the output shaft of the second rotation drive device 52, longitudinal on the second reversing frame 61
It is provided with guide rail 62, material-taking rack 63 is movably arranged on guide rail 62 and can vertically move along guide rail 62, sets on material-taking rack 63
It is equipped with sucker 64, vertical shift driving mechanism 65 is connected with the second reversing frame 61 and material-taking rack 63 simultaneously.Pass through vertical shift driving mechanism
65 can drive material-taking rack 63 along 62 vertical shift of guide rail.
Referring to Fig. 3 and Fig. 4, the quantity of material-taking rack 63 and vertical shift driving mechanism 65 is two, and two material-taking racks 63 divide column
In the two sides of the second reversing frame 61, two material-taking racks 63 are respectively connected with a vertical shift driving mechanism 65.Two material-taking racks 63
Can independent-lifting so that glass upper piece and bottom sheet can carry out simultaneously, improve the speed of fluctuating plate, and then improve work effect
Rate.In addition, two material-taking racks 63 also can synchronizing moving, to grab area and the biggish glass of weight.
Further, in two material-taking racks 63, longitudinal guide part 631 is provided on one of material-taking rack 63, separately
Guide groove 632 compatible with guide part 631 is provided on an outer material-taking rack 63, guide part 631 is located in guide groove 632 simultaneously
It can 632 longitudinal sliding motion of respective guide slot.Guide groove 632 can be provided with the end face of material-taking rack, corresponding, the cross of guide part 631
Section is in T font or dove-tail form or L-type.In addition, guide groove 632 can also be provided with the side wall of material-taking rack, and it is corresponding, it leads
Cross section to portion 631 is U-shaped or F font or L-type.
The cooperation of guide part 631 and guide groove 632 can play the role of guiding and limit to the movement of material-taking rack 63, make
The vertical shift process of material-taking rack 63 is more steady.In addition, the guide part 631 and guide groove 632 that are combined together are also to two material-taking racks
63 play the role of support and balance, and after sucker 64 is adsorbed onto glass, the carrying of material-taking rack 63 increases, so that material-taking rack 63
By biggish deflection torque, it is easy to cause 63 stress deformation of guide rail 62 and material-taking rack, and passes through guide part 631 and guide groove
The deflection torque that side material-taking rack 63 is subject to can be shared the material-taking rack 63 and other one of other side by 632 cooperation
On the guide rail 62 of side, so as to avoid 63 stress deformation of guide rail 62 and material-taking rack.In addition, being carried when on two material-taking racks 63
When having glass, the cooperation of guide part 631 and guide groove 632 can make deflection torque suffered by two material-taking racks 63 reach flat
Weighing apparatus reduces the stress of guide rail 62, avoids guide rail 62 from deforming, and can reduce the resistance being subject to when 63 vertical shift of material-taking rack.
Vertical shift driving mechanism 65 includes at least two vertical shift cylinders 651, these vertical shift cylinders 651 are longitudinally arranged and overlay
Together.Through this structure, make material-taking rack 63 that there are at least two vertical shift travel points, to pick and place the glass at different height.Separately
Outside, the structures such as double stroke cylinder, electric pushrod also can be used in vertical shift driving mechanism 65.
It is provided with the solenoid valve being connected with sucker 64 on the second reversing frame 61 or material-taking rack 63, on traversing bracket 51
Conducting slip ring 7 is installed, the coil on solenoid valve and conducting slip ring 7 are electrically connected, the output shaft of the second rotation drive device 52
It is threaded through on conducting slip ring 7.It is additionally provided on the second reversing frame 61 and material-taking rack 63 close to structures such as switches, close to switch
Conducting wire is also electrically connected with conducting slip ring 7.Electric wire be can be avoided when the second reversing frame 61 is rotated by the way that conducting slip ring 7 is arranged
The problem of now winding.In order to avoid interference of the movement by other component of material-taking rack 63, the second rotation drive device 52 it is defeated
Shaft extend downwardly longer distance so that the second reversing frame 61 relatively on the lower, this makes the output of the second rotation drive device 52
Some is exposed to outside axis, this section of output shaft of exposure is coated by conducting slip ring 7, and conducting slip ring 7 can play one
The effect of sealing avoids water or oil from causing to corrode to the output shaft of the second rotation drive device 52.
Cross sliding driving device includes third rotation drive device 41 and driving rack 42, and third rotation drive device 41 is arranged
On the first reversing frame 3, and transmission gear is connected on the output shaft of third rotation drive device 41, driving rack 42 is laterally set
It sets on traversing bracket 51 and is meshed with transmission gear, traversing bracket can be driven when third rotation drive device 41 works
51 opposite first reversing frame, 3 transverse shiftings.In addition, transmission gear and driving rack 42 can also be by screw structure or synchronous belt knots
Structure etc. replaces.
First rotation drive device 2, the second rotation drive device 52 and third rotation drive device 41 by motor and subtract
The components such as fast device composition, the output shaft of motor are connected with the input shaft of retarder.
It is provided with a turntable 31 on first reversing frame 3, positioning piece 32 is provided on turntable 31, is arranged on pedestal 1
Have one for detecting the detection piece 11 of 32 position of locating piece, detection piece 11 and control device are electrically connected.It is set on pedestal 1
It is equipped with positioning device, positioning device includes the positioning cylinder 81 being arranged on pedestal 1 and the output shaft phase with positioning cylinder 81
The frictional disk 82 of connection, frictional disk 82 are located at 31 lower section of turntable, and when the rotation of the first reversing frame 3, turntable 31 also follows rotation, when
Locating piece 32 after testing part 11 when, it will detection trigger part 11, detection piece 11 will issue feedback signal to control device, positioning
Cylinder 81 acts, and makes 82 uplink of frictional disk and is in contact with turntable 31, the first reversing frame 3 is made to stop operating, so as to by first
Reversing frame 3 positions, and grabbing device 6 is accurately positioned.Guide post 83 is additionally provided on pedestal 1, frictional disk 82 is threaded through on guide post 83,
To limit the rotation of frictional disk 82.
Locating piece 32 can be magnetic patch, corresponding, and detection piece 11 is magnetic field strength detection device；Locating piece 32 can also be iron
The structures such as block or aluminium block, corresponding, detection piece 11 is close to switch or optoelectronic switch or limit switch；Locating piece 32
It can also be a reflective mirror, corresponding, detection piece 11 is laser transmitting-receiving device.In addition, positioning device can also be by positioning cylinder 81
And the positioning port composition on turntable 31 is set, the output shaft uplink of cylinder is simultaneously plugged in positioning port, turns so as to limit
The rotation of disk 31 and the first reversing frame 3.
Above-described embodiment is preferred embodiment of the invention, and the present invention can also have other embodiments.The technology of this field
Personnel can also make equivalent deformation or replacement on the premise of without prejudice to spirit of the invention, these equivalent variation or replacement are wrapped
It is contained in range set by the claim of this application.
Claims (9)
1. a kind of rotary upper piece manipulator, which is characterized in that including
Control device；
Pedestal (1) is provided with the first rotation drive device (2) on the pedestal (1)；
First reversing frame (3) is connected with the output shaft of first rotation drive device (2)；
Traversing bracket (51), is movably arranged on the first reversing frame (3), and the traversing bracket (51) and setting are in the first reversing frame
(3) cross sliding driving device on is connected；
Grabbing device (6) is hubbed on traversing bracket (51), and the grabbing device (6) and setting are on traversing bracket (51)
Second rotation drive device (52) is connected.
2. the rotary upper piece manipulator of one kind according to claim 1, it is characterised in that：The grabbing device (6) includes
Second reversing frame (61) is hubbed on the output shaft phase on traversing bracket (51) and with second rotation drive device (52)
It connects, is vertically arranged with guide rail (62) on second reversing frame (61)；
Material-taking rack (63) is movably arranged on guide rail (62) and can vertically move along guide rail (62), on the material-taking rack (63)
It is provided with sucker (64)；
Vertical shift driving mechanism (65), while being connected with the second reversing frame (61) and material-taking rack (63).
3. the rotary upper piece manipulator of one kind according to claim 2, it is characterised in that：The material-taking rack (63) and vertical shift
The quantity of driving mechanism (65) is two, and two material-taking racks (63) are respectively in the two sides of the second reversing frame (61), two feedings
Frame (63) is respectively connected with a vertical shift driving mechanism (65).
4. the rotary upper piece manipulator of one kind according to claim 3, it is characterised in that：In two material-taking racks (63), wherein
Longitudinal guide part (631) are provided on one material-taking rack (63), are provided on another material-taking rack (63) and guide part
(631) compatible guide groove (632), the guide part (631) are located in guide groove (632) and can be along guide groove (632)
Longitudinal sliding motion.
5. the rotary upper piece manipulator of one kind according to claim 4, it is characterised in that：The guide groove (632) opens up
In the end face of material-taking rack, and the cross section of the guide part (631) is in T font or dove-tail form or L-type.
6. the rotary upper piece manipulator of one kind according to claim 4, it is characterised in that：The guide groove (632) opens up
In the side wall of material-taking rack, and the guide part (631) cross section is U-shaped or F font or L-type.
7. the rotary upper piece manipulator of one kind according to claim 2, it is characterised in that：The vertical shift driving mechanism (65)
Including at least two vertical shift cylinders (651), these vertical shift cylinders (651) are longitudinally arranged and are stacked together.
8. the rotary upper piece manipulator of one kind according to claim 2, it is characterised in that：Second reversing frame (61) or
The solenoid valve being connected with sucker (64) is provided on material-taking rack (63), be equipped on the traversing bracket (51) on solenoid valve
The conducting slip ring (7) that is electrically connected of coil, the output shaft of second rotation drive device (52) is threaded through conducting slip ring (7)
On.
9. the rotary upper piece manipulator of one kind according to claim 1, it is characterised in that：The cross sliding driving device includes
Third rotation drive device (41) is arranged on the first reversing frame (3), the output of the third rotation drive device (41)
Transmission gear is connected on axis；
Driving rack (42) is horizontally installed on the traversing bracket (51) and is meshed with the transmission gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810842074.8A CN108818513B (en) | 2018-07-27 | 2018-07-27 | Rotary feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810842074.8A CN108818513B (en) | 2018-07-27 | 2018-07-27 | Rotary feeding manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108818513A true CN108818513A (en) | 2018-11-16 |
| CN108818513B CN108818513B (en) | 2023-12-15 |
Family
ID=64141265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810842074.8A Active CN108818513B (en) | 2018-07-27 | 2018-07-27 | Rotary feeding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108818513B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111824767A (en) * | 2020-07-01 | 2020-10-27 | 广州国智机电设备有限公司 | Feeding mechanical arm |
| CN115870955A (en) * | 2023-02-01 | 2023-03-31 | 苏州菱麦自动化设备科技有限公司 | Manipulator for automatically carrying materials |
| US20240116173A1 (en) * | 2022-10-07 | 2024-04-11 | Kubota Corporation | Robotic arm mount assembly including rack and pinion |
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| JP2003133795A (en) * | 2001-10-29 | 2003-05-09 | Matsushita Electric Ind Co Ltd | Detecting method of upper-face height of board in electronic part mounting apparatus |
| CN104176471A (en) * | 2014-08-07 | 2014-12-03 | 山东大学 | Cantilever type automatic loading and unloading device and method for stone plate |
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| CN205687134U (en) * | 2016-06-02 | 2016-11-16 | 成都泓睿科技有限责任公司 | Rotary turnplate clamp device |
| CN108115666A (en) * | 2016-11-28 | 2018-06-05 | 章弘毅 | Novel palletizer tool hand |
| CN208713966U (en) * | 2018-07-27 | 2019-04-09 | 中山迪威玻璃机械制造有限公司 | A kind of rotary upper piece manipulator |
-
2018
- 2018-07-27 CN CN201810842074.8A patent/CN108818513B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003133795A (en) * | 2001-10-29 | 2003-05-09 | Matsushita Electric Ind Co Ltd | Detecting method of upper-face height of board in electronic part mounting apparatus |
| CN104176471A (en) * | 2014-08-07 | 2014-12-03 | 山东大学 | Cantilever type automatic loading and unloading device and method for stone plate |
| CN104444141A (en) * | 2014-11-27 | 2015-03-25 | 苏州博众精工科技有限公司 | Rotating disc mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111824767A (en) * | 2020-07-01 | 2020-10-27 | 广州国智机电设备有限公司 | Feeding mechanical arm |
| US20240116173A1 (en) * | 2022-10-07 | 2024-04-11 | Kubota Corporation | Robotic arm mount assembly including rack and pinion |
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| CN115870955A (en) * | 2023-02-01 | 2023-03-31 | 苏州菱麦自动化设备科技有限公司 | Manipulator for automatically carrying materials |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108818513B (en) | 2023-12-15 |
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