CN208962030U - A kind of adjustable pitch-changing mechanism and manipulator - Google Patents
A kind of adjustable pitch-changing mechanism and manipulator Download PDFInfo
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- CN208962030U CN208962030U CN201821754808.9U CN201821754808U CN208962030U CN 208962030 U CN208962030 U CN 208962030U CN 201821754808 U CN201821754808 U CN 201821754808U CN 208962030 U CN208962030 U CN 208962030U
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- suction nozzle
- mounting base
- shifting block
- changing mechanism
- nozzle mounting
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Abstract
The utility model provides a kind of adjustable pitch-changing mechanism and manipulator, is related to automation equipment technical field.This is adjustable, and pitch-changing mechanism includes rack, shifting block, shifting block driving assembly, mounting base locating part and multiple suction nozzle mounting bases；The rack includes sliding axle, and multiple suction nozzle mounting bases are successively arranged arrangement to second end from the first end of the sliding axle；The shifting block includes interconnecting piece and adjustment portion, and the interconnecting piece is connect with the output end of the shifting block driving assembly；The adjustment portion is used to adjust the distance between the suction nozzle mounting base；The mounting base locating part is used to maintain the spacing of the two neighboring suction nozzle mounting base.The manipulator includes above-mentioned adjustable pitch-changing mechanism.The technical issues of it is non-adjustable that the utility model solves spacing existing in the prior art, can not pick up muti-piece material simultaneously.
Description
Technical field
The utility model relates to automation equipment technical fields, more particularly, to a kind of adjustable pitch-changing mechanism and manipulator.
Background technique
It in the process of material, needs to be picked up material and shift, these operations are typically all to pass through machine
Human arm executes, existing manipulator can only single pick up one block of material, although or can pick up muti-piece simultaneously,
But adjacent storeroom leads to the material frame for not adapting to various specifications and influences production efficiency away from non-adjustable.And it uses artificial
Mode come be adjusted be easy to make some surface of material generate scratch influence quality.
Based on this, the utility model provides a kind of adjustable pitch-changing mechanism and manipulator to solve above-mentioned technical problem.
Utility model content
The purpose of this utility model is to provide a kind of adjustable pitch-changing mechanisms, to solve spacing existing in the prior art not
It is adjustable, the technical issues of muti-piece material can not be picked up simultaneously.
The purpose of this utility model, which also resides in, provides a kind of manipulator, and the manipulator includes above-mentioned adjustable pitch-changing mechanism,
It is non-adjustable for solving existing manipulator spacing, the technical issues of muti-piece material can not be picked up simultaneously.
Based on above-mentioned first purpose, the utility model provides a kind of adjustable pitch-changing mechanism, including rack, shifting block, shifting block
Driving assembly, mounting base locating part and multiple suction nozzle mounting bases；
The rack includes sliding axle, multiple suction nozzle mounting bases from the first end of the sliding axle to second end successively
It is arranged arrangement；The shifting block includes interconnecting piece and adjustment portion, and the interconnecting piece is connect with the output end of the shifting block driving assembly；
The adjustment portion is used to adjust the distance between the suction nozzle mounting base；The mounting base locating part is for remaining two neighboring described
The spacing of suction nozzle mounting base.
Optionally, above-mentioned adjustable pitch-changing mechanism, the adjustment portion include multiple moving tooth units；
Multiple moving tooth units are respectively used to adjust multiple suction nozzle mounting bases in addition to being located at two ends；
The suction nozzle mounting base in the first end of the sliding axle is fixed on the sliding axle；Close to the cunning
The suction nozzle mounting base in moving axis second end is fixed on the corresponding moving tooth unit.
Optionally, above-mentioned adjustable pitch-changing mechanism, the mounting base locating part are elastic component, and the elastic component is arranged each
Between the suction nozzle mounting base and next moving tooth unit.
Optionally, above-mentioned adjustable pitch-changing mechanism, the elastic component are preloading spring.
Optionally, above-mentioned adjustable pitch-changing mechanism on the sliding axle, is arranged between the suction nozzle mounting base of adjacent two
There is spacing collar；
The spacing collar is used to guarantee the minimum spacing of two suction nozzle mounting bases.
Optionally, above-mentioned adjustable pitch-changing mechanism, the rack further include the mounting plate being disposed vertically；The two of the mounting plate
Side is respectively arranged with fixed mounting；The both ends of the sliding axle are separately fixed on two fixed mountings.
Optionally, above-mentioned adjustable pitch-changing mechanism, the suction nozzle mounting base and institute in the second end of the sliding axle
It states and is provided with buffer spring between fixed mounting.
Optionally, above-mentioned adjustable pitch-changing mechanism, the shifting block driving assembly include cylinder, sliding rail and are arranged on the slide rail
Sliding block；
The shifting block is fixed on the slide block；The cylinder is used to that the sliding block to be driven to move on the sliding rail, from
And the shifting block is driven to move.
Optionally, above-mentioned adjustable pitch-changing mechanism, the cylinder body of the cylinder are fixedly connected with the shifting block；The work of the cylinder
Stopper rod and the connecting shaft floating connection being fixed in the rack.
Based on above-mentioned second purpose, the utility model provides a kind of manipulator, and the manipulator includes described adjustable
Pitch-changing mechanism.
The adjustable pitch-changing mechanism provided by the utility model, including rack, shifting block, shifting block driving assembly, mounting base limit
Position part and multiple suction nozzle mounting bases；The rack includes sliding axle, and multiple suction nozzle mounting bases are by the first of the sliding axle
It holds and is successively arranged arrangement to second end；The shifting block includes interconnecting piece and adjustment portion, the interconnecting piece and the shifting block driving group
The output end of part connects；The adjustment portion is used to adjust the distance between the suction nozzle mounting base；The mounting base locating part is used for
Maintain the spacing of the two neighboring suction nozzle mounting base.Adjustable pitch-changing mechanism provided by the utility model, multiple suction nozzle installation sets
It is set on the rack on sliding axle, and drives shifting block to carry out the spacing between multiple suction nozzle installation sets by shifting block driving assembly
Adjustment.Since suction nozzle installation set can install suction nozzle, after multiple suction nozzle installation sets are respectively mounted suction nozzle, can grab simultaneously multiple
Material；In addition, the spacing between suction nozzle installation set is adjustable, the material disc of different spacing can be applicable in.
The manipulator provided by the utility model, the manipulator include above-mentioned adjustable pitch-changing mechanism, therefore are had upper
State all advantages of adjustable pitch-changing mechanism.
Based on this, the utility model has that crawl material efficiencies are high, spacing adjustable application range is wide compared with original technology
Advantage.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the overall structure diagram at adjustable the first visual angle of pitch-changing mechanism provided by the embodiment of the utility model；
Fig. 2 is the overall structure diagram at adjustable the second visual angle of pitch-changing mechanism provided by the embodiment of the utility model；
Fig. 3 is the structural schematic diagram at the first visual angle of shifting block in adjustable pitch-changing mechanism provided by the embodiment of the utility model；
Fig. 4 is the structural schematic diagram at the second visual angle of shifting block in adjustable pitch-changing mechanism provided by the embodiment of the utility model；
Fig. 5 is that adjustable pitch-changing mechanism provided by the embodiment of the utility model removes the structural schematic diagram after shifting block；
Fig. 6 is between two neighboring suction nozzle mounting base after adjustable pitch-changing mechanism removing shifting block provided by the embodiment of the utility model
The structural schematic diagram at the first visual angle when away from minimum；
Fig. 7 is between two neighboring suction nozzle mounting base after adjustable pitch-changing mechanism removing shifting block provided by the embodiment of the utility model
The structural schematic diagram at the second visual angle when away from minimum.
Icon: 1- mounting plate；2- fixed mounting；3- sliding axle；4- moving tooth unit；5- spring retainer hole；6- groove；7-
Mounting hole；8- suction nozzle mounting base；9- preloading spring；10- spacing collar；11- buffer spring；12- cylinder；13- sliding rail；14- is sliding
Block；15- connecting shaft.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Embodiment one
Fig. 1 is the overall structure diagram at adjustable the first visual angle of pitch-changing mechanism provided by the embodiment of the utility model；Fig. 2 is
The overall structure diagram at the second visual angle of adjustable pitch-changing mechanism provided by the embodiment of the utility model；Fig. 3 is that the utility model is real
The structural schematic diagram at the first visual angle of shifting block in the adjustable pitch-changing mechanism of example offer is provided；Fig. 4 is provided by the embodiment of the utility model
The structural schematic diagram at the second visual angle of shifting block in adjustable pitch-changing mechanism；Fig. 5 is adjustable displacement machine provided by the embodiment of the utility model
Structure removes the structural schematic diagram after shifting block；Fig. 6 is that adjustable pitch-changing mechanism provided by the embodiment of the utility model removes phase after shifting block
The structural schematic diagram at the first visual angle when adjacent two suction nozzle mounting base spacing minimums；Fig. 7 be it is provided by the embodiment of the utility model can
Modulation spacing mechanism remove shifting block after two neighboring suction nozzle mounting base spacing minimum when the second visual angle structural schematic diagram.
As depicted in figs. 1 and 2, a kind of adjustable pitch-changing mechanism, the adjustable pitch-changing mechanism packet are provided in the present embodiment
Including rack, shifting block, shifting block driving assembly, mounting base locating part and multiple suction nozzle mounting bases 8；
The rack includes sliding axle 3, and multiple suction nozzle mounting bases 8 are from the first end of the sliding axle 3 to second end
Successively it is arranged arrangement；The shifting block includes interconnecting piece and adjustment portion, the output end of the interconnecting piece and the shifting block driving assembly
Connection；The adjustment portion is used to adjust the distance between the suction nozzle mounting base 8；The mounting base locating part is for maintaining adjacent two
The spacing of a suction nozzle mounting base 8.
Adjustable pitch-changing mechanism provided by the utility model, multiple suction nozzle installation sets are set on the rack on sliding axle 3, and are led to
Shifting block driving assembly driving shifting block is crossed to be adjusted the spacing between multiple suction nozzle installation sets.Since suction nozzle installation set can pacify
Dress suction nozzle can grab multiple materials after multiple suction nozzle installation sets are respectively mounted upper suction nozzle simultaneously.Different material discs has not
Same spacing, therefore the spacing between material placed on it is also different.Spacing in the utility model between suction nozzle installation set
It is adjustable, it can be applicable in the material disc of different spacing, avoid frequently replacing mechanical arm according to different material discs.Hand is not needed
Flowing mode holds to be adjusted, and avoids that some surface of material is made to generate scratch shadow and ring quality.
Based on this, the utility model has that crawl material efficiencies are high, spacing adjustable application range is wide compared with original technology
Advantage.
As shown in Figure 3 to Figure 4, in the optinal plan of the present embodiment, the adjustment portion includes multiple moving tooth units 4；
Multiple moving tooth units 4 are respectively used to adjust multiple suction nozzle mounting bases 8 in addition to being located at two ends；
The suction nozzle mounting base 8 in the first end of the sliding axle 3 is fixed on the sliding axle 3；Close to institute
The suction nozzle mounting base 8 in 3 second end of sliding axle is stated to be fixed on the corresponding moving tooth unit 4.
Specifically, shifting block is for adjusting the spacing between multiple suction nozzle mounting bases 8 under the driving of shifting block driving assembly.It dials
Block includes interconnecting piece and adjustment portion, wherein multiple mounting holes 7 is arranged on interconnecting piece, which is used for and shifting block driving assembly
Output end connection；Adjustment portion includes multiple moving tooth units 4, and moving tooth unit 4 can push adjusting in addition to being located at two ends
Multiple suction nozzle mounting bases 8.Multiple suction nozzle mounting bases 8 are successively arranged arrangement to second end from the first end of sliding axle 3, and first
Suction nozzle mounting base 8 is bolted on sliding axle 3, close to sliding axle 3 second in the last one suction nozzle mounting base 8 and shifting block
Moving tooth unit 4 on end is fixedly connected；Multiple suction nozzles between first suction nozzle mounting base 8 and the last one suction nozzle mounting base 8
Mounting base 8 is adjusted by a moving tooth unit 4 respectively, i.e., other than the last one moving tooth unit 4, the quantity of moving tooth unit 4
The quantity of suction nozzle mounting base 8 between the first suction nozzle mounting base 8 and the last one suction nozzle mounting base 8 is identical.
In the above-mentioned technical solutions, further, the mounting base locating part is elastic component, and the elastic component is arranged every
Between a suction nozzle mounting base 8 and next moving tooth unit 4.
In the above-mentioned technical solutions, further, the elastic component is preloading spring 9.
In the present embodiment, mounting base locating part is elastic component, and setting is in each suction nozzle mounting base 8 and next moving tooth unit
Between 4, and it is located at the top of sliding axle 3, after moving tooth unit 4 adjusts suction nozzle mounting base 8, the spring energy of elastic component offer
It is enough that suction nozzle mounting base 8 is limited, move suction nozzle mounting base 8 not.The elastic component of the present embodiment preferably pre-tightens bullet
Spring 9, the spring retainer hole 5 for limit pre-pressing spring 9 is provided on moving tooth unit 4, and preloading spring 9 is inserted into spring retainer hole
In 5.
It is emphasized that installation locating part is the preferred embodiment that elastic component is the utility model, installation limit
Part can also be extensible member, such as cylinder 12, realize the limit to suction nozzle mounting base 8 by flexible abut against of cylinder 12.
In the optinal plan of the present embodiment, on the sliding axle 3, it is arranged between the suction nozzle mounting base 8 of adjacent two
There is spacing collar 10；
The spacing collar 10 is used to guarantee the minimum spacing of two suction nozzle mounting bases 8.
In the above-mentioned technical solutions, further, the suction nozzle mounting base 8 in the second end of the sliding axle 3
Buffer spring 11 is provided between the fixed mounting 2.
Specifically, as shown in Figures 5 to 7, spacing collar 10 can horizontally slip on sliding axle 3, two neighboring suction nozzle
A spacing collar 10 is respectively provided in mounting base 8.Moving tooth list when shifting block driving assembly driving shifting block moves downward, on shifting block
Member 4 pushes suction nozzle mounting base 8 and spacing collar 10 on sliding axle 3 to turn left sliding along sliding rail 13, until the top of spacing collar 10
The firmly adjacent gas nozzle mounting base in left side, two adjacent at this time 8 spacing of suction nozzle mounting base are minimum, using being mounted on suction nozzle mounting base
Nozzle pick material on 8, after material pickup, shifting block driving assembly driving shifting block is moved right, the moving tooth list on shifting block
Member 4 pushes suction nozzle mounting base 8 and spacing collar 10 on sliding axle 3 to turn right sliding along sliding rail 13, until reaching maximum position
Shifting block driving assembly stops driving afterwards, on right side fixed mounting 2 (fixed mounting 2 in 3 second end of sliding axle)
Buffer gear is used to buffer the movement of shifting block, simultaneously because the preload effect of buffer spring 11 makes the position of adjacent gas nozzle mounting base
It sets and is kept fixed, then material is being put into corresponding material disc.
Moving tooth unit 4 is interfered with spacing collar 10 in order to prevent, the present embodiment moving tooth unit 4 bottom design with
The groove 6 of skirt profile cooperation.
In the optinal plan of the present embodiment, the rack further includes the mounting plate 1 being disposed vertically；The two of the mounting plate 1
Side is respectively arranged with fixed mounting 2；The both ends of the sliding axle 3 are separately fixed on two fixed mountings 2.
In the above-mentioned technical solutions, further, the shifting block driving assembly includes cylinder 12, sliding rail 13 and is arranged in cunning
Sliding block 14 on rail 13；
The shifting block is fixed on the sliding block 14；The cylinder 12 is for driving the sliding block 14 in the sliding rail 13
Movement, so that the shifting block be driven to move.
In the above-mentioned technical solutions, further, the cylinder body of the cylinder 12 is fixedly connected with the shifting block；The cylinder
12 piston rod and 15 floating connection of connecting shaft being fixed in the rack.
Specifically, shifting block driving assembly includes cylinder 12, sliding rail 13 and sliding block 14 in the present embodiment；Wherein sliding rail 13 is solid
It is fixed that sliding block 14 and sliding rail 13 cooperate, and the cylinder body of cylinder 12 is fixed on shifting block on the rack, the piston rod of cylinder 12 be fixed on
15 floating connection of connecting shaft on mounting plate 1.
It is emphasized that the above-mentioned cylinder body by cylinder 12 is fixed on shifting block, the piston rod of cylinder 12 is fixed on rack
On structure be a preferred embodiment of the present embodiment, but be not limited only to above structure, can also be by the cylinder body of cylinder 12
It is fixed on the rack, the piston rod of cylinder 12 is connect with shifting block；When cylinder 12 works, piston rod is flexible to drive connected to it group
Block movement.
Embodiment two
This embodiment offers a kind of manipulator, the manipulator includes adjustable displacement machine described in embodiment one
Structure, the robot manipulator structure is simple and reliable, accurate positioning, can grab multiple materials simultaneously, additionally it is possible to be applicable in the object of different spacing
Charging tray avoids frequently replacing mechanical arm according to different material discs, improves processing efficiency.Manual mode is not needed more
It is adjusted appearance, avoids that some surface of material is made to generate scratch shadow and ring quality.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of adjustable pitch-changing mechanism, which is characterized in that including rack, shifting block, shifting block driving assembly, mounting base locating part and
Multiple suction nozzle mounting bases；
The rack includes sliding axle, and multiple suction nozzle mounting bases are successively arranged from the first end of the sliding axle to second end
Arrangement；The shifting block includes interconnecting piece and adjustment portion, and the interconnecting piece is connect with the output end of the shifting block driving assembly；It is described
Adjustment portion is used to adjust the distance between the suction nozzle mounting base；The mounting base locating part is for maintaining the two neighboring suction nozzle
The spacing of mounting base.
2. adjustable pitch-changing mechanism according to claim 1, which is characterized in that the adjustment portion includes multiple moving tooth units；
Multiple moving tooth units are respectively used to adjust multiple suction nozzle mounting bases in addition to being located at two ends；
The suction nozzle mounting base in the first end of the sliding axle is fixed on the sliding axle；Close to the sliding axle
The suction nozzle mounting base in second end is fixed on the corresponding moving tooth unit.
3. adjustable pitch-changing mechanism according to claim 2, which is characterized in that the mounting base locating part is elastic component, institute
Elastic component is stated to be arranged between each suction nozzle mounting base and next moving tooth unit.
4. adjustable pitch-changing mechanism according to claim 3, which is characterized in that the elastic component is preloading spring.
5. adjustable pitch-changing mechanism according to claim 1, which is characterized in that on the sliding axle, described in adjacent two
Spacing collar is arranged between suction nozzle mounting base；
The spacing collar is used to guarantee the minimum spacing of two suction nozzle mounting bases.
6. adjustable pitch-changing mechanism according to claim 1, which is characterized in that the rack further includes the installation being disposed vertically
Plate；The two sides of the mounting plate are respectively arranged with fixed mounting；The both ends of the sliding axle be separately fixed at two it is described solid
Determine in mounting base.
7. adjustable pitch-changing mechanism according to claim 6, which is characterized in that the institute in the second end of the sliding axle
It states and is provided with buffer spring between suction nozzle mounting base and the fixed mounting.
8. adjustable pitch-changing mechanism according to claim 1, which is characterized in that the shifting block driving assembly includes cylinder, cunning
The sliding block of rail and setting on the slide rail；
The shifting block is fixed on the slide block；The cylinder is for driving the sliding block to move on the sliding rail, thus band
Move the shifting block movement.
9. adjustable pitch-changing mechanism according to claim 8, which is characterized in that the cylinder body of the cylinder is fixed with the shifting block
Connection；The piston rod of the cylinder and the connecting shaft floating connection being fixed in the rack.
10. a kind of manipulator, which is characterized in that the manipulator includes such as the described in any item adjustable displacements of claim 1-9
Mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821754808.9U CN208962030U (en) | 2018-10-26 | 2018-10-26 | A kind of adjustable pitch-changing mechanism and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821754808.9U CN208962030U (en) | 2018-10-26 | 2018-10-26 | A kind of adjustable pitch-changing mechanism and manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN208962030U true CN208962030U (en) | 2019-06-11 |
Family
ID=66760734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821754808.9U Active CN208962030U (en) | 2018-10-26 | 2018-10-26 | A kind of adjustable pitch-changing mechanism and manipulator |
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| Country | Link |
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| CN (1) | CN208962030U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079836A (en) * | 2018-10-26 | 2018-12-25 | 蓝思智能机器人(长沙)有限公司 | A kind of adjustable pitch-changing mechanism and manipulator |
| CN111055099A (en) * | 2019-12-27 | 2020-04-24 | 广东思为客科技股份有限公司 | Spoon lid equipment of piling up |
| TWI802080B (en) * | 2021-09-17 | 2023-05-11 | 大陸商環鴻電子(昆山)有限公司 | Suction nozzle device with adjustable spacing, nozzle mechanism and method for adjusting nozzle position |
-
2018
- 2018-10-26 CN CN201821754808.9U patent/CN208962030U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079836A (en) * | 2018-10-26 | 2018-12-25 | 蓝思智能机器人(长沙)有限公司 | A kind of adjustable pitch-changing mechanism and manipulator |
| CN109079836B (en) * | 2018-10-26 | 2024-06-04 | 蓝思智能机器人(长沙)有限公司 | Adjustable pitch mechanism and manipulator |
| CN111055099A (en) * | 2019-12-27 | 2020-04-24 | 广东思为客科技股份有限公司 | Spoon lid equipment of piling up |
| CN111055099B (en) * | 2019-12-27 | 2021-08-10 | 广东思为客科技股份有限公司 | Spoon lid equipment of piling up |
| TWI802080B (en) * | 2021-09-17 | 2023-05-11 | 大陸商環鴻電子(昆山)有限公司 | Suction nozzle device with adjustable spacing, nozzle mechanism and method for adjusting nozzle position |
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