CN112478841A - Non-magnetic thin plate separating robot clamp and separating method - Google Patents
Non-magnetic thin plate separating robot clamp and separating method Download PDFInfo
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- CN112478841A CN112478841A CN202011315102.4A CN202011315102A CN112478841A CN 112478841 A CN112478841 A CN 112478841A CN 202011315102 A CN202011315102 A CN 202011315102A CN 112478841 A CN112478841 A CN 112478841A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000002184 metal Substances 0.000 claims abstract description 17
- 229910052751 metal Inorganic materials 0.000 claims abstract description 17
- 230000000694 effects Effects 0.000 claims abstract description 15
- 238000001179 sorption measurement Methods 0.000 claims abstract description 6
- 238000006073 displacement reaction Methods 0.000 claims description 26
- 238000000926 separation method Methods 0.000 claims description 14
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 101100327917 Caenorhabditis elegans chup-1 gene Proteins 0.000 description 4
- 241000252254 Catostomidae Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/08—Separating articles from piles using pneumatic force
- B65H3/0808—Suction grippers
- B65H3/0816—Suction grippers separating from the top of pile
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Abstract
The invention discloses a non-magnetic thin plate separating robot clamp and a separating method, and belongs to the technical field of automatic equipment. The method comprises the following steps: the sucking disc comprises a movable pipe support, a plurality of first sucking discs and a plurality of second sucking discs. The movable pipe frame can reciprocate along the thickness direction of the thin plate. The first suction disc is fixedly arranged on the movable pipe frame, and the suction area of the first suction disc faces the thin plate. The second sucking disc activity sets up in the activity pipe support, and the second sucking disc can be followed the relative activity pipe support reciprocating motion of sheet thickness direction, and the adsorption area of second sucking disc is towards the marginal position of sheet metal. The non-magnetic thin plate separating robot clamp and the separating method are low in production and manufacturing cost, the separating cost between thin plates can be effectively reduced, the working beat of the robot is further improved, and the automatic production level of the robot is improved.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a non-magnetic thin plate separating robot clamp and a separating method.
Background
At present in the course of working of sheet metal punching press, bending, to the sheet metal below 2.0mm of thickness in-process of waiting to tear open at material loading station stack, because the sheet metal surface is smooth, the multilayer is piled up, and the sheet metal compresses tightly each other, and the air between the board is extruded and is discharged, and the sheet metal is laminated mutually and is glued together, and when sheet metal splitting processing, often because the sizing leads to the double-material, damages mould tamp etc. and influences actual production. For magnetic thin plate material distribution, magnetic force sheet separation equipment is generally adopted, and the problem of magnetic force sheet separation of thin plates can be effectively solved. However, in the process of stamping or bending the non-magnetic thin plate by using the robot, the separation of the non-magnetic thin plate is still difficult, and the separation of the non-magnetic thin plate is usually performed by air blowing and a brush, but the two modes have low efficiency and poor reliability.
Disclosure of Invention
Aiming at the problems in the prior art, the non-magnetic thin plate separating robot clamp and the separating method are provided, the separation between two adjacent thin plates is realized in a mode that the edge corners of the thin plate positioned at the top are tilted, the structure is simple, and the realization process is easy.
The specific technical scheme is as follows:
a non-magnetic thin plate separating robot clamp mainly comprises: the sucking disc comprises a movable pipe support, a plurality of first sucking discs and a plurality of second sucking discs.
The movable pipe frame can reciprocate along the thickness direction of the thin plate. The first suction disc is fixedly arranged on the movable pipe frame, and the suction area of the first suction disc faces the thin plate. The second sucking disc activity sets up in the activity pipe support, and the second sucking disc can be followed the relative activity pipe support reciprocating motion of sheet thickness direction, and the adsorption area of second sucking disc is towards the marginal position of sheet metal.
The non-magnetic thin plate part-tensioning robot clamp is characterized in that the movable pipe frame comprises a plurality of connecting pipes which are connected with each other, and part of the connecting pipes are detachably connected with the robot through connectors.
The non-magnetic thin plate separating robot clamp is characterized by further comprising a vacuum generating device, wherein the vacuum generating device is communicated with the first suckers and the second suckers through pipelines.
The non-magnetic thin plate separating robot clamp is characterized by further comprising a linear displacement actuator, wherein the linear displacement actuator comprises a fixed part and a movable part, the fixed part is fixedly arranged on the movable pipe frame, the movable part is connected with the second sucker, and the second sucker can reciprocate along with the end part of the movable part.
The non-magnetic thin plate separating robot clamp is further characterized in that the movable part of each linear displacement actuator is connected with at least one second suction cup.
The non-magnetic thin plate separating robot clamp is further characterized in that a first sucking disc is fixedly arranged on one side of the linear displacement actuator.
The non-magnetic thin plate separating robot clamp is further characterized in that the thin plate is in a long strip shape, at least one second suction cup is arranged, and the suction area of the second suction cup faces one end part of the thin plate in the length direction.
The non-magnetic thin plate separating robot clamp is characterized in that the thin plate is rectangular, at least two second suction cups are arranged, and the adsorption area of each second suction cup faces to one side edge of the thin plate.
A non-magnetic thin plate separating method comprises the following steps:
s1, the movable pipe frame descends, and the first suction cups and the second suction cups suck the uppermost thin plate in the stacked thin plates;
s2, driving the second sucker to vertically move upwards for a preset distance by the linear displacement actuator, and tilting the edge of the thin plate;
s3, moving the first suckers and the second suckers upwards along with the robot, so as to separate the thin plate between the top and the secondary top;
s4, the robot transfers the sheet to a desired position by the first suction cups and the second suction cups.
The non-magnetic thin plate separating method also has the characteristic that the elastic force generated by the edge tilting of the thin plate positioned at the secondary top is larger than the adhesive force between the secondary top thin plate and the top plate thin plate.
The positive effects of the technical scheme are as follows:
the non-magnetic thin plate separating robot clamp and the separating method provided by the invention can be applied to separating non-magnetic thin plates and magnetic thin plates, are simple in structure and effective and reliable in separating process, are low in production and manufacturing cost, and can effectively reduce the separating cost among the thin plates, so that the working beat of the robot is improved, and the automatic production level of the robot is improved.
Drawings
Fig. 1 is a schematic structural view of a first suction cup and a second suction cup of a non-magnetic thin plate separating robot clamp according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a non-magnetic thin plate separating robot clamp according to an embodiment of the present invention, which is applied to a larger thin plate;
FIG. 3 is a schematic structural diagram of a non-magnetic thin plate separating robot clamp according to an embodiment of the present invention, which is applied to a situation of an elongated thin plate;
FIG. 4 is a schematic structural view of a first suction cup and a second suction cup of a second embodiment of a non-magnetic sheet separation robot clamp according to the present invention;
fig. 5 is a schematic structural diagram of a non-magnetic thin plate separating robot clamp according to a second embodiment of the present invention applied to a larger thin plate.
1. A first suction cup; 2. a second suction cup; 3. a movable pipe frame; 31. a transverse tube; 32. a longitudinal tube; 4. a linear displacement actuator; 5. a connector; 6. a thin plate.
Detailed Description
In order to make the technical means, the creation features, the achievement objects and the effects of the present invention easy to understand, the following embodiments specifically describe a non-magnetic thin plate separating robot clamp and a separating method provided by the present invention with reference to fig. 1 to 5.
The numbering of the components themselves, such as "first", "second", etc., is used herein only to distinguish between the objects depicted and not to have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the non-magnetic sheet separation robot jig, the movable pipe frame 3 is reciprocated in the thickness direction of the sheet 6, generally, the thickness direction of the sheet 6 is vertical, and the adjacent two sheets 6 are separated by the gravity of the sheet 6 itself. First sucking disc 1 sets firmly in activity pipe support 3, and the adsorption zone of first sucking disc 1 is towards sheet metal 6, and first sucking disc 1 mainly used adsorbs the whole of sheet metal 6 to and as the fulcrum that second sucking disc 2 adsorbs. The activity of second sucking disc 2 sets up in activity pipe support 3, second sucking disc 2 can follow the relative activity pipe support 3 reciprocating motion of thickness direction of sheet metal 6, when activity pipe support 3 keeps static promptly, second sucking disc 2 also independently moves, and the adsorption area of second sucking disc 2 is towards the border position of sheet metal 6, second sucking disc 2 mainly used adsorbs the border corner position of sheet metal 6 to the border corner perk that makes sheet metal 6 is crooked, makes the edge of sheet metal 6 begin to separate adjacent two sheet metals 6 to middle part and all the other positions gradually.
In a preferred embodiment, as shown in fig. 1 to 5, the movable pipe frame 3 comprises a plurality of connecting pipes connected with each other, typically the connecting pipes comprise a plurality of longitudinal pipes 32 and a plurality of transverse pipes 31, wherein the longitudinal tubes 32 are perpendicular to the transverse tubes 31, in one embodiment, the longitudinal tubes 32 are arranged along the length of the sheet 6, and the first suction cups 1 and the second suction cups 2 are mostly arranged on the side of the longitudinal pipes 32 close to the thin plates 6, and the transverse pipes 31 are used for connecting a plurality of the longitudinal pipes 32 into a whole, wherein a part of the connecting pipes are detachably connected with the robot through connectors, specifically, the middle parts of the longitudinal pipes 32 and the transverse pipes 31 are connected with a connector 5, and further, the connector 5 may be a connecting flange, by which the connecting pipe is connected to a robot (not shown in the drawing), further, the connection pipe, the first suction plate 1, and the second suction plate 2 can be moved by the robot.
In a preferred embodiment, as shown in fig. 1 to 5, a vacuum generating device (not shown in the figure) is further included, specifically, the vacuum generating device is a vacuum pump or an air pump, the vacuum generating device is disposed outside the split robot clamp, the vacuum generating device is communicated with the first suction cups 1 and the second suction cups 2 through pipelines, vacuum degrees are generated at the suction heads of the first suction cups 1 and the second suction cups 2, so as to suck the thin plate 6, a pipeline between the specific suction cup and the vacuum generating device can be arranged along the direction of the connecting pipe, the specific connecting pipe can be a hollow setting, and the pipeline can be installed inside the connecting pipe, so as to facilitate the collection of the pipeline harness.
In a preferred embodiment, as shown in fig. 1 to 5, the linear displacement actuator 4 is further included, the specific linear displacement actuator 4 may be one of an air cylinder, an electric cylinder and a hydraulic cylinder, the type of the linear displacement actuator 4 may be selected according to actual needs, the linear displacement actuator may be preferably selected to be an air cylinder, the linear displacement actuator is simple in structure and can be controlled by an air source, the linear displacement actuator 4 includes a fixed part and a movable part, the fixed part is fixedly arranged on the movable pipe frame 3, the movable part 3 is connected with the second suction cup 2, and the second suction cup 2 can reciprocate along with the end of the movable part.
In a preferred embodiment, as shown in fig. 1 to 5, the movable part of each linear displacement actuator 4 is connected to at least one second suction cup 2, the second suction cup 2 is used for sucking the corner of the thin plate 6, the second suction cup 2 firstly makes the corner of the thin plate 6 suck and tilt, and the adjacent thin plate 6 is primarily separated at the corner, so that the structure is simple to set, and the operation is convenient.
In some embodiments, as shown in fig. 1 to 3, the movable portion of the linear displacement actuator 4 is fixedly connected to a second suction cup 2, the second suction cup 2 directly faces the corner of the thin plate 6, the corner of the thin plate 6 is sucked by the second suction cup 2, and after the movable portion of the linear displacement actuator 4 is retracted, the second suction cup 2 tilts the corner of the thin plate 6, and the tilted area of the corner is small, which is suitable for the situation that the whole area of the thin plate 6 is small, and the first suction cup 1 at other positions is used as a tilting fulcrum during the tilting operation of the corner.
In other embodiments, as shown in fig. 4 to 5, the movable portion of the linear displacement actuator 4 is fixedly connected to two second suction cups 2, one of the second suction cups 2 directly faces the corner of the thin plate 6, the other second suction cup 2 is slightly close to the corner of the thin plate 6, the distance between the two second suction cups 2 is generally 30-40mm, the two second suction cups 2 suck the corner of the thin plate 6, after the movable portion of the linear displacement actuator 4 retracts, the second suction cup 2 tilts the corner of the thin plate 6, and the tilted area of the corner is larger, which is suitable for the situation that the whole area of the thin plate 6 is larger, and the first suction cup 1 at other positions is used as a tilting fulcrum during the corner tilting operation.
In a preferred embodiment, as shown in fig. 1 and 2, a first suction cup 1 is fixedly arranged on one side of a linear displacement actuator 4, and the arrangement mode is directed to the situation that only one second suction cup 2 is connected with the linear displacement actuator 4, in the process that the second suction cup 2 sucks and tilts the thin plate 6, the first suction cup 1 on one side of the linear displacement actuator 4 is used as a tilting fulcrum in the corner tilting operation process, and the first suction cups at the other positions are used as main sucking force applying points in the sucking process.
In a preferred embodiment, as shown in fig. 3, the sheet 6 is elongated, at least one second suction pad 2 is provided, and the suction area of the second suction pad 2 faces one end portion of the sheet 6 in the longitudinal direction, and when only one second suction pad 2 is provided, suction lift separation is performed only on one end portion of the sheet 6 in the longitudinal direction, which is more suitable for a case where the sheet 6 is not too long, and when two second suction pads 2 are provided, suction lift separation is performed on both end portions of the sheet 6 in the longitudinal direction, which is more suitable for a case where the sheet 6 is long. The number and the position of the second suction cups 2 can be set according to the length requirement of the actual thin plate 6, so as to meet various use requirements.
In a preferred embodiment, as shown in fig. 4, the thin plate 6 has a rectangular shape, at least two second suction cups 2 are provided, and the suction area of the second suction cups 2 faces one side edge of the thin plate 6, and when two second suction cups 2 are provided, suction and lift separation is performed on one side in the longitudinal direction of the thin plate 6, which is more suitable for a case where the thin plate 6 is small, and when four second suction cups 2 are provided, suction and lift separation is performed on both sides in the longitudinal direction of the thin plate 6, which is more suitable for a case where the thin plate 6 is large. The number and the positions of the second suction cups 2 can be set according to the size requirement of the actual thin plate 6 so as to meet various use requirements.
A non-magnetic thin plate separating method comprises the following steps:
s1, the movable pipe frame 3 descends, the movable pipe frame 3 is controlled to ascend and descend through the tail end of the robot, in the descending process, the first suction cups 1 and the second suction cups 2 are located at the same horizontal height, negative pressure is generated by the first suction cups 1 and the second suction cups 2 at the same time, the first suction cups 1 and the second suction cups 2 gradually approach and contact with the thin plates 6 located at the top of the stacked thin plates, and the first suction cups 1 and the second suction cups 2 adsorb the thin plates 6 located at the top of the stacked thin plates;
s2, the linear displacement actuator 4 drives the second sucker 2 to vertically move upwards for a preset distance, so that the edge of the thin plate 6 is tilted, the tilting amplitude enables the elastic force generated by the thin plate 6 positioned at the secondary top to be larger than the adhesive force between the thin plates 6, and the thin plates 6 positioned at the top and the secondary top are firstly separated at the corner edge;
s3, the first suction cups 1 and the second suction cups 2 are moved upward together with the robot, thereby separating the thin plate 6 between the top and the secondary top, from the edge to the middle, or from side to side;
and S4, transferring the thin plate 6 to a required position by the robot through the first suction cups 1 and the second suction cups 2, and after transferring the thin plate 6 to a preset position, closing negative pressure generation by the first suction cups 1 and the second suction cups 2 to separate the thin plate 6 from the first suction cups 1 and the second suction cups 2.
In a preferred embodiment, as shown in fig. 1 to 5, the edge of the sheet 6 at the secondary top is raised to produce a spring force greater than the adhesion between the secondary top sheet 6 and the top sheet 6, and thus the separation between the sheets 6 can be performed by a simpler manner of producing the bend.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A non-magnetic thin plate separating robot clamp is characterized by comprising:
the movable pipe frame can reciprocate along the thickness direction of the thin plate;
the first suction discs are fixedly arranged on the movable pipe frame, and the suction areas of the first suction discs face the thin plate;
a plurality of second sucking discs, the second sucking disc activity set up in the activity pipe support, the second sucking disc can be followed the thickness direction of sheet is relative the reciprocating motion of activity pipe support, just the adsorption zone orientation of second sucking disc the border position of sheet metal.
2. The non-magnetic thin plate partially-tensioned robot clamp according to claim 1, wherein the movable pipe frame comprises a plurality of connecting pipes which are connected with each other, and wherein a part of the connecting pipes are detachably connected with the robot through connectors.
3. The non-magnetic thin plate separating robot clamp according to claim 1, further comprising a vacuum generating device, wherein the vacuum generating device is communicated with the first suction cups and the second suction cups through pipelines.
4. The non-magnetic thin plate separating robot clamp according to claim 1, further comprising a linear displacement actuator, wherein the linear displacement actuator comprises a fixed part and a movable part, the fixed part is fixedly arranged on the movable pipe frame, the movable part is connected with the second suction cup, and the second suction cup can reciprocate along with the end of the movable part.
5. A non-magnetic sheet separation robot clamp according to claim 5, wherein said movable member of each of said linear displacement actuators is connected to at least one of said second suction cups.
6. The non-magnetic thin plate separating robot clamp according to claim 6, wherein the first suction cup is fixed to one side of the linear displacement actuator.
7. A non-magnetic sheet separation robot jig according to claim 1, wherein the sheet is in an elongated shape, the second suction pad is provided with at least one suction area, and the suction area of the second suction pad faces one end portion in the longitudinal direction of the sheet.
8. The non-magnetic robot clamp for spreading thin plates according to claim 1, wherein the thin plate has a rectangular shape, the second suction cups are provided with at least two suction areas, and the suction area of the second suction cup faces one side edge of the thin plate.
9. A method of separating non-magnetic sheets comprising a separating robot gripper according to any of claims 1-8, characterized by the steps of:
s1, the movable pipe frame descends, and the first suction cups and the second suction cups suck the uppermost thin plate in the stacked thin plates;
s2, the linear displacement actuator drives the second sucker to vertically move upwards for a preset distance, so that the edge of the thin plate is tilted;
s3, moving the first suction cups and the second suction cups upwards together with the robot, thereby separating the thin plate between the top and the secondary top;
and S4, the robot transfers the thin plate to a required position through a plurality of first suction cups and a plurality of second suction cups.
10. The method of claim 9, wherein the edge of the second sheet is raised to provide a spring force greater than the adhesion between the second sheet and the top sheet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011315102.4A CN112478841A (en) | 2020-11-20 | 2020-11-20 | Non-magnetic thin plate separating robot clamp and separating method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011315102.4A CN112478841A (en) | 2020-11-20 | 2020-11-20 | Non-magnetic thin plate separating robot clamp and separating method |
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| CN112478841A true CN112478841A (en) | 2021-03-12 |
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| CN202011315102.4A Pending CN112478841A (en) | 2020-11-20 | 2020-11-20 | Non-magnetic thin plate separating robot clamp and separating method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113501406A (en) * | 2021-07-19 | 2021-10-15 | 湖南天桥嘉成智能科技有限公司 | Novel vacuum chuck lifting appliance |
| CN113859969A (en) * | 2021-09-28 | 2021-12-31 | 北京七星华创集成电路装备有限公司 | Transmission mechanism |
| CN114671085A (en) * | 2022-04-11 | 2022-06-28 | 广东嘉元科技股份有限公司 | Automatic bag opening device for vacuumizing copper foil coil |
| CN116853808A (en) * | 2023-07-21 | 2023-10-10 | 奔腾激光(浙江)股份有限公司 | Automatic splitting device for plates |
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| CN207090459U (en) * | 2017-08-07 | 2018-03-13 | 上海华括自动化工程有限公司 | A kind of sheet material splitting mechanism |
| CN109513846A (en) * | 2018-12-07 | 2019-03-26 | 盐城工学院 | A kind of thin slice is said good-bye device and its working method |
| CN209684908U (en) * | 2018-12-27 | 2019-11-26 | 广汽新能源汽车有限公司 | Thin plate is said good-bye system |
| CN210366099U (en) * | 2019-06-03 | 2020-04-21 | 大族激光科技产业集团股份有限公司 | Separate feeding device |
| CN111099402A (en) * | 2019-12-09 | 2020-05-05 | 杭州海舵技术有限公司 | Sheet separating device |
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| CN207090459U (en) * | 2017-08-07 | 2018-03-13 | 上海华括自动化工程有限公司 | A kind of sheet material splitting mechanism |
| CN109513846A (en) * | 2018-12-07 | 2019-03-26 | 盐城工学院 | A kind of thin slice is said good-bye device and its working method |
| CN209684908U (en) * | 2018-12-27 | 2019-11-26 | 广汽新能源汽车有限公司 | Thin plate is said good-bye system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113501406A (en) * | 2021-07-19 | 2021-10-15 | 湖南天桥嘉成智能科技有限公司 | Novel vacuum chuck lifting appliance |
| CN113501406B (en) * | 2021-07-19 | 2024-04-26 | 湖南天桥嘉成智能科技有限公司 | Novel vacuum chuck lifting appliance |
| CN113859969A (en) * | 2021-09-28 | 2021-12-31 | 北京七星华创集成电路装备有限公司 | Transmission mechanism |
| CN114671085A (en) * | 2022-04-11 | 2022-06-28 | 广东嘉元科技股份有限公司 | Automatic bag opening device for vacuumizing copper foil coil |
| CN116853808A (en) * | 2023-07-21 | 2023-10-10 | 奔腾激光(浙江)股份有限公司 | Automatic splitting device for plates |
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