CN110687045A - Industrial robot chip arranging device and arranging method - Google Patents
Industrial robot chip arranging device and arranging method Download PDFInfo
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- CN110687045A CN110687045A CN201910974920.6A CN201910974920A CN110687045A CN 110687045 A CN110687045 A CN 110687045A CN 201910974920 A CN201910974920 A CN 201910974920A CN 110687045 A CN110687045 A CN 110687045A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L22/00—Testing or measuring during manufacture or treatment; Reliability measurements, i.e. testing of parts without further processing to modify the parts as such; Structural arrangements therefor
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L22/00—Testing or measuring during manufacture or treatment; Reliability measurements, i.e. testing of parts without further processing to modify the parts as such; Structural arrangements therefor
- H01L22/30—Structural arrangements specially adapted for testing or measuring during manufacture or treatment, or specially adapted for reliability measurements
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Abstract
The invention belongs to the technical field of chip processing equipment, and particularly relates to an industrial robot chip arranging device which comprises a workbench, wherein two conveyor belt assemblies for conveying trays are arranged on the workbench side by side, tray lowering assemblies and tray stacking assemblies are respectively arranged at two ends of each conveyor belt assembly, two tray lifting assemblies, a chip feeding mechanical arm and a chip visual detection device which are positioned in the middle of each conveyor belt assembly are also arranged on the workbench, and the positions of the chip feeding mechanical arm and the chip visual detection device respectively correspond to the positions of the two tray lifting assemblies. According to the invention, by arranging the structures such as the conveyor belt assembly, the tray lowering assembly, the tray stacking assembly, the tray lifting assembly, the chip loading manipulator and the chip visual detection device, semi-automatic chip placement and detection are realized, and the working efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of chip processing equipment, and particularly relates to a chip arranging device of an industrial robot.
Background
Generally speaking, because the size of a chip is small, the chip needs to be put on a tray uniformly, then the chip on the tray is checked through human eyes and some detection tools, whether the size and the shape of the chip are qualified or not is checked, a mature visual detection device is already available on the market at present, the chip is photographed through an industrial camera, then the picture is transmitted to a control system, and a visual detection module in the control system analyzes the picture so as to remove the unqualified chip.
The problem of the prior art is that the tray arrangement is still achieved manually at present, resulting in insufficient efficiency.
Disclosure of Invention
In order to make up the defects of the prior art, the invention provides a technical scheme of an industrial robot chip arranging device.
The chip arranging device for the industrial robot is characterized by comprising a workbench, wherein a conveyor belt assembly for conveying trays is arranged on the workbench, and a tray lowering assembly and a tray stacking assembly are respectively arranged at two ends of the conveyor belt assembly;
the conveying belt assembly comprises a conveying belt frame, two conveying belts arranged on the conveying belt frame and a conveying belt driving device for driving the conveying belts to move;
the tray lowering assembly comprises a first tray placing frame for placing a tray, a first tray supporting mechanism positioned between the two conveyor belts and two groups of tray side clamping mechanisms fixedly connected to the two sides of the conveyor belt frame respectively;
the tray stacking assembly comprises a second tray placing frame used for placing trays, a second tray supporting mechanism located between the two conveyor belts and two sets of tray side supporting mechanisms fixedly connected to the two sides of the conveyor belt frame respectively.
The utility model provides an industrial robot chip regular device which characterized in that first tray supporting mechanism includes first cylinder and the first tray layer board of being connected with first cylinder cooperation.
The regular device of industrial robot chip, its characterized in that first tray supporting mechanism still includes the second cylinder of being connected with the cooperation of first cylinder, the second cylinder is located the lower extreme of first cylinder for the first cylinder of lifting.
The utility model provides an orderly device of industrial robot chip which characterized in that tray side clamping mechanism includes that fixed connection presss from both sides tight base, fixed connection in the third cylinder of tray side clamp base, the pinch-off blades of being connected with the cooperation of third cylinder in the tray side of conveyer belt frame both sides tight base.
The utility model provides an industrial robot chip regular device, its characterized in that second tray supporting mechanism includes fifth cylinder and the second tray layer board of being connected with the cooperation of fifth cylinder.
The utility model provides a regular device of industrial robot chip, its characterized in that tray side supporting mechanism includes fixed connection in the pendulum piece support and the pendulum piece of conveyer belt frame, the rear end and the pendulum piece support of pendulum piece rotate to be connected, the rear end surface of pendulum piece has vertical plane and arc surface, the arc surface is located vertical planar upper end, vertical plane is pressed close to with the pendulum piece support, the front end of pendulum piece sets up the wedge structure.
The regular device of industrial robot chip, its characterized in that still set up the tray lifting subassembly that is located the conveyer belt subassembly middle part on the workstation, tray lifting subassembly includes fixed connection in the tray lifting base of workstation, fixed connection in the sixth cylinder of tray lifting base one end, the lift baffle of being connected with the cooperation of sixth cylinder, fixed connection in the seventh cylinder of tray lifting base and the third tray layer board of being connected with the cooperation of seventh cylinder.
The utility model provides a regular device of industrial robot chip, its characterized in that tray lifting subassembly still includes a plurality of fixed connection in the stand of tray lifting base, fixed connection intermediate lamella on the stand and a plurality of sliding sleeves that set up in the intermediate lamella, the bottom fixed connection of third tray layer board a plurality of and sliding sleeve sliding connection's guide post.
The chip sizing method for the industrial robot is characterized by comprising the following steps:
step 1) stacking the trays one by one in a tray lowering assembly;
step 2) placing the trays one by one on the conveyor belt through the tray lowering assembly;
step 3) driving the tray to move through the conveyor belt, enabling the tray to pause to move through the tray lifting assembly in the moving process of the tray, and then placing the chip on the tray or carrying out visual detection on the tray on which the chip is placed;
step 4), the tray lifting assembly puts the tray back to the conveyor belt;
and 5) conveying the trays to a tray stacking assembly by the conveyor belt, and stacking the trays one by the tray stacking assembly.
The invention has the beneficial effects that: according to the invention, by arranging the structures such as the conveyor belt assembly, the tray lowering assembly, the tray stacking assembly, the tray lifting assembly, the chip loading manipulator and the chip visual detection device, semi-automatic chip placement and detection are realized, and the working efficiency is greatly improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a tray lowering assembly according to the present invention;
FIG. 3 is a schematic view of a structure of a pallet side clamping mechanism according to the present invention;
FIG. 4 is a second structural view of a pallet side clamping mechanism according to the present invention;
FIG. 5 is a schematic view of a tray stacking assembly according to the present invention;
FIG. 6 is a schematic structural view of a supporting mechanism at the side of the tray in the present invention;
FIG. 7 is a sectional view showing the structure of the tray side supporting mechanism of the present invention;
FIG. 8 is a schematic view of the pallet lift assembly of the present invention;
FIG. 9 is a schematic structural diagram of a use state of the present invention;
FIG. 10 is a second structural diagram illustrating a usage state of the present invention;
FIG. 11 is a third structural diagram illustrating a usage state of the present invention;
in the figure: a workbench 1, a pallet 2, a conveyor belt component 3, a conveyor belt frame 300, a drive conveyor belt 301, a conveyor belt driving device 302, a pallet lowering component 4, a first pallet supporting mechanism 400, a first air cylinder 4000, a first pallet supporting plate 4001, a second air cylinder 4002, a pallet side clamping mechanism 401, a pallet side clamping base 4010, a third air cylinder 4011, a pallet side clamping support 4012, a fourth air cylinder 4013, a clamping plate 4014, a first pallet placing frame 402, a pallet stacking component 5, a second pallet supporting mechanism 500, a fifth air cylinder 5000, a second pallet supporting plate 5001, a pallet side supporting mechanism 501, a pendulum block support 5010, a pendulum block 5011, a vertical plane 50110, an arc surface 50111, a wedge structure 50112, a second pallet placing frame 502, a pallet lifting component 6, a pallet lifting base 600, a sixth air cylinder 601, a lifting baffle 602, a seventh air cylinder 604, a third pallet supporting plate 604, a column 605, an intermediate plate 606, an intermediate plate 605, A sliding sleeve 607, a guide post 608, a chip loading manipulator 7, a chip visual inspection device 8 and a housing 9.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1-11, an industrial robot chip arranging device comprises a workbench 1, a conveyor belt assembly 3 for conveying a tray 2 is arranged on the workbench 1, a tray lowering assembly 4 and a tray stacking assembly 5 are respectively arranged at two ends of the conveyor belt assembly 3, and a tray lifting assembly 6 located in the middle of the conveyor belt assembly 3 is further arranged on the workbench 1.
The conveyor belt assembly 3 is a well-known technology, and includes a conveyor belt frame 300, two conveyor belts 301 disposed on the conveyor belt frame 300, and a conveyor belt driving device 302 for driving the conveyor belts 301 to move, where the conveyor belt driving device 302 includes a motor, a pulley, and the like, and the motor drives a driving wheel of the conveyor belt to rotate through the pulley.
The tray lowering assembly 4 comprises a first tray placing frame 402 for placing the tray 2, a first tray supporting mechanism 400 positioned between the two conveyor belts 301, and two sets of tray side clamping mechanisms 401 fixedly connected to the two sides of the conveyor belt frame 300 respectively. The first tray placing frame 402 is four right-angle plates fixedly connected to the conveyor belt frame 300, and the four right-angle plates enclose a placing cavity corresponding to the shape of the tray 2.
The first tray supporting mechanism 400 comprises a first air cylinder 4000, a first tray supporting plate 4001 connected with the first air cylinder 4000 in a matched mode, and a second air cylinder 4002 connected with the first air cylinder 4000 in a matched mode, wherein the second air cylinder 4002 is located at the lower end of the first air cylinder 4000 and used for lifting the first air cylinder 4000. Specifically, the equal vertical setting of two cylinders, second cylinder 4002's the cylinder body and first cylinder 4000's cylinder body fixed connection, second cylinder 4002's cylinder shaft fixed support down on a bottom plate, this bottom plate is through a one side fixed connection in conveyer frame 300 lower extreme, a plurality of guide bars of sliding connection still on this bottom plate, the top and the first tray layer board 4001 fixed connection of guide bar make first tray layer board 4001 go up and down more steadily. The supporting force of the linkage cylinder group consisting of the first cylinder 4000 and the second cylinder 4001 is larger.
Tray side clamping mechanism 401 includes that fixed connection presss from both sides tight base 4010 in the tray side of conveyer belt frame 300 both sides, horizontal fixed connection presss from both sides tight base 4010's third cylinder 4011 in tray side, horizontal sliding connection presss from both sides tight support 4012 in the tray side of tight base 4010 in tray side, vertical fixed connection presss from both sides tight support 4012's fourth cylinder 4013 in tray side, the clamp plate 4014 of being connected with fourth cylinder 4013 cooperation, third cylinder 4011 is connected with tray side clamp support 4012 cooperation, clamp plate 4014 is located fourth cylinder 4013's lower extreme. The provision of the fourth cylinder 4013 enables the mechanism to accommodate pallets 2 of different thicknesses.
The tray stacking assembly 5 comprises a second tray placing frame 502 for placing the tray 2, a second tray supporting mechanism 500 positioned between the two conveyor belts 301, and two sets of tray side supporting mechanisms 501 fixedly connected to two sides of the conveyor belt frame 300 respectively. The second tray placing frame 502 is four right-angle plates fixedly connected to the conveyor belt frame 300, and the four right-angle plates enclose a placing cavity corresponding to the shape of the tray 2.
The second tray supporting mechanism 500 comprises a vertically arranged fifth cylinder 5000 and a second tray supporting plate 5001 connected with the fifth cylinder 5000 in a matched mode, and the fifth cylinder 5000 drives the second tray supporting plate 5001 to vertically lift. Specifically, the bottom end of the fifth cylinder 5000 is fixedly supported on a bottom plate, and the bottom plate is fixedly connected with the conveyor belt frame 300 through a side plate
The tray side supporting mechanism 501 comprises a swing block support 5010 and a swing block 5011 which are fixedly connected to the conveyor belt frame 300, the rear end of the swing block 5011 is rotatably connected with the swing block support 5010, a vertical plane 50110 and an arc surface 50111 are arranged on the surface of the rear end of the swing block 5011, the arc surface 50111 is located at the upper end of the vertical plane 50110, the vertical plane 50110 is close to the swing block support 5010, a wedge-shaped structure 50112 is arranged at the front end of the swing block 5011, the upper surface of the wedge-shaped structure 50112 is a horizontal plane for supporting the tray 2, and the lower surface of the wedge-shaped structure 50112 is an inclined plane for facilitating the tray 2 to pass through. When the tray 2 passes through the swing block 5011 upwards, the upper part of the rear end of the swing block 5011 tends to rotate outwards, and the part is just provided with the arc face 50111, so that the swing block 5011 cannot interfere with the swing block bracket 5010, the swing block 5011 smoothly rotates upwards, the tray 2 smoothly passes through the swing block 5011, and then the swing block 5011 resets, and because the lower part of the rear end of the swing block is a vertical plane 50110 close to the swing block bracket 5010, the tray 2 can be supported on the swing block 5011, and the swing block 5011 cannot swing downwards, so that the tray 2 falls off.
Tray lifting subassembly 6 includes fixed connection in tray lifting base 600 of workstation 1, fixed connection in the sixth cylinder 601 of tray lifting base 600 one end, the lift baffle 602 of being connected with the cooperation of sixth cylinder 601, fixed connection in the seventh cylinder 603 of tray lifting base 600 and the third tray layer board 604 of being connected with the cooperation of seventh cylinder 603, the equal vertical setting of sixth cylinder 601 and seventh cylinder 603. In addition, the tray lifting assembly 6 further includes a plurality of columns 605 fixedly connected to the tray lifting base 600, a middle plate 606 fixedly connected to the columns 605, and a plurality of sliding sleeves 607 disposed on the middle plate 606, and a plurality of guide posts 608 slidably connected to the sliding sleeves 607 are fixedly connected to the bottom of the third tray supporting plate 604.
The chip feeding manipulator can be used in cooperation with a chip feeding manipulator 7 and a chip visual detection device 8, the chip feeding manipulator 7 is a combination of a conventional manipulator structure and a vacuum chuck, and the manipulator drives the vacuum chuck to suck chips and install the chips on a tray. The chip visual detection device 8 comprises a visual detection support and an industrial camera arranged on the visual detection support, a picture of the visual chip taken by the industrial camera is conducted to the control system, and a visual detection module preset in the control system analyzes the picture to judge whether the size and the shape of the visual chip are qualified or not. Both industrial cameras and visual inspection modules are well known in the art.
In addition, the workbench 1 of the invention can be provided with an outer cover 9, and the outer cover 9 is provided with other conventional control accessories such as a control system, a display screen, an alarm and the like.
The work of the invention is controlled by a control system through programming, and a conventional photoelectric sensor is arranged as a travel switch.
The method for regulating the chips of the industrial robot is realized by adopting the regulating device, and comprises the following steps:
step 1) stacking the trays one by one in a tray lowering assembly 4;
step 2) placing the trays 2 one by one on the conveyor belt 301 by the tray lowering assembly 4;
step 3), driving the tray 2 to move through the conveyor belt 301, enabling the tray 2 to pause to move through the tray lifting assembly 6 in the moving process of the tray 2, and then placing chips on the tray 2;
step 4), the tray lifting assembly 6 puts the tray 2 back to the conveyor belt 301;
step 5) the conveyor belt 301 conveys the trays 2 to the tray stacking assembly 5, and the tray stacking assembly 5 stacks the trays 2 one by one;
and 6) placing the tray 2 with the chips placed on the second tray placing frame 502 onto the first tray placing frame 402 of another arranging device by a machine or manually, and enabling the tray 2 to be placed and stacked according to the steps, wherein the difference is that when the tray comes to the middle part of the conveyor belt 301 and is lifted by the tray lifting assembly 6, the industrial camera 801 in the chip visual detection device 8 shoots the chips on the tray 1 to detect whether the chips are qualified, if the chips are qualified, the tray continues to advance, if the chips are not qualified, the machine stops operating, and meanwhile, an alarm gives an alarm, the tray is taken down manually, and then the machine continues to operate.
The specific operation of the step 1) is as follows: the individual trays 2 are stacked manually or by machine in the first tray placing rack 402 of the tray lowering assembly 4 and supported by the first tray supporting mechanism 400.
The specific operation of the step 2) is as follows: a third air cylinder 4011 in the tray side clamping mechanism 401 drives a clamping plate 4014 to clamp a penultimate tray 2 at the bottom, then the first tray supporting mechanism 400 drives the penultimate tray 2 at the bottom to descend, so that the tray is placed on the conveyor belt 301 and taken away by the conveyor belt 301, then the first tray supporting plate 4001 in the first tray supporting mechanism 400 resets, the tray side clamping mechanism 401 resets, so that the stacked trays 2 move downwards for one position, then the actions are continued, so that the trays 2 are placed downwards one by one, or after the first tray supporting plate 4001 resets, the fourth air cylinder 4013 drives the clamping plate 4014 to move downwards, so that the tray 2 is stably placed on the first tray supporting plate 4001, then the third air cylinder 4011 drives the clamping plate 4014 to loosen the tray 2, and the fourth air cylinder 4013 drives the clamping plate 4014 to move upwards.
The specific operation of the step 3) is as follows: when the conveyor belt 301 brings the tray 2 to the middle of the conveyor belt 301, the photoelectric sensor senses the tray 2, the signal is transmitted to the control system, the control system controls the sixth cylinder 601 in the tray lifting assembly 6 to drive the lifting baffle 602 to lift up to block the tray 2, then the seventh cylinder 603 drives the third tray supporting plate 604 to lift up, the third tray supporting plate 604 lifts up the tray 2, then the chip loading manipulator 7 places the chips on the tray 2 one by one, all actions of the chip loading manipulator 7 are controlled through programming, the accuracy is high, meanwhile, the tray can be connected with the conveyor belt frame 300 in a sliding mode, and the position of the tray 2 is prevented from deviating;
the specific operation of the step 4) is as follows: after the chip is loaded, the third tray support 604 brings the tray 2 back to the conveyor 301, and the lifting baffle 602 moves down to make the tray 2 move forward continuously.
The specific operation of the step 5) is as follows: the tray 2 is sent to second tray rack 502 bottom, fifth cylinder 5000 in the tray is folded the subassembly 5 and is driven second tray layer board 5001 and shift up, second tray layer board 5001 drives tray 2 lifting, second tray layer board 5001 resets after tray 2 passes through pendulum piece 5011 of tray collateral branch supporting mechanism 501 again, tray 2 supports on pendulum piece 5011, accomplish the heap, original tray 2 is upwards lifted in this in-process second tray rack 502.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A chip arranging device for an industrial robot is characterized by comprising a workbench, wherein a conveyor belt assembly for conveying trays is arranged on the workbench, and a tray lowering assembly and a tray stacking assembly are respectively arranged at two ends of the conveyor belt assembly;
the conveying belt assembly comprises a conveying belt frame, two conveying belts arranged on the conveying belt frame and a conveying belt driving device for driving the conveying belts to move;
the tray lowering assembly comprises a first tray placing frame for placing a tray, a first tray supporting mechanism positioned between the two conveyor belts and two groups of tray side clamping mechanisms fixedly connected to the two sides of the conveyor belt frame respectively;
the tray stacking assembly comprises a second tray placing frame used for placing trays, a second tray supporting mechanism located between the two conveyor belts and two sets of tray side supporting mechanisms fixedly connected to the two sides of the conveyor belt frame respectively.
2. An industrial robot chip arranging device according to claim 1, wherein the first tray supporting mechanism comprises a first cylinder and a first tray pallet cooperatively connected with the first cylinder.
3. An industrial robot chip arranging device according to claim 2, wherein the first tray supporting mechanism further comprises a second cylinder cooperatively connected with the first cylinder, the second cylinder being located at a lower end of the first cylinder for lifting the first cylinder.
4. An industrial robot chip arranging device according to any one of claims 1-3, wherein the tray side clamping mechanism comprises a tray side clamping base fixedly connected to both sides of the conveyor belt frame, a third air cylinder fixedly connected to the tray side clamping base, and a clamping plate cooperatively connected with the third air cylinder.
5. An industrial robot chip arranging device according to claim 1, wherein the second tray supporting mechanism comprises a fifth cylinder and a second tray supporting plate cooperatively connected with the fifth cylinder.
6. The industrial robot chip arranging device according to claim 1 or 5, wherein the tray side supporting mechanism comprises a swing block support and a swing block fixedly connected to the conveyor belt frame, the rear end of the swing block is rotatably connected with the swing block support, the rear end surface of the swing block is provided with a vertical plane and an arc surface, the arc surface is located at the upper end of the vertical plane, the vertical plane is close to the swing block support, and the front end of the swing block is provided with a wedge structure.
7. The industrial robot chip arranging device according to claim 1, wherein a tray lifting assembly is further disposed on the workbench and located in the middle of the conveyor belt assembly, and the tray lifting assembly includes a tray lifting base fixedly connected to the workbench, a sixth air cylinder fixedly connected to one end of the tray lifting base, a lifting baffle cooperatively connected to the sixth air cylinder, a seventh air cylinder fixedly connected to the tray lifting base, and a third tray supporting plate cooperatively connected to the seventh air cylinder.
8. The industrial robot chip arranging device as claimed in claim 7, wherein the tray lifting assembly further comprises a plurality of columns fixedly connected to the tray lifting base, a middle plate fixedly connected to the columns, and a plurality of sliding sleeves disposed on the middle plate, and a plurality of guide posts slidably connected to the sliding sleeves are fixedly connected to the bottom of the third tray.
9. An industrial robot chip leveling method is characterized by comprising the following steps:
step 1) stacking the trays one by one in a tray lowering assembly;
step 2) placing the trays one by one on the conveyor belt through the tray lowering assembly;
step 3) driving the tray to move through the conveyor belt, enabling the tray to pause to move through the tray lifting assembly in the moving process of the tray, and then placing the chip on the tray or carrying out visual detection on the tray on which the chip is placed;
step 4), the tray lifting assembly puts the tray back to the conveyor belt;
and 5) conveying the trays to a tray stacking assembly by the conveyor belt, and stacking the trays one by the tray stacking assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910974920.6A CN110687045A (en) | 2019-10-14 | 2019-10-14 | Industrial robot chip arranging device and arranging method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910974920.6A CN110687045A (en) | 2019-10-14 | 2019-10-14 | Industrial robot chip arranging device and arranging method |
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| CN110687045A true CN110687045A (en) | 2020-01-14 |
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| CN201910974920.6A Pending CN110687045A (en) | 2019-10-14 | 2019-10-14 | Industrial robot chip arranging device and arranging method |
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| CN105292892A (en) * | 2015-11-11 | 2016-02-03 | 江苏汇博机器人技术有限公司 | Automatic storage system of industrial robot |
| CN105417179A (en) * | 2015-11-18 | 2016-03-23 | 无锡市正阳机械有限公司 | Conveying and stacking device |
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Application publication date: 20200114 |