CN106391408B - A kind of automatic adhesive application system and its coating technique - Google Patents
A kind of automatic adhesive application system and its coating technique Download PDFInfo
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- CN106391408B CN106391408B CN201610939672.8A CN201610939672A CN106391408B CN 106391408 B CN106391408 B CN 106391408B CN 201610939672 A CN201610939672 A CN 201610939672A CN 106391408 B CN106391408 B CN 106391408B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C9/00—Apparatus or plant for applying liquid or other fluent material to surfaces by means not covered by any preceding group, or in which the means of applying the liquid or other fluent material is not important
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- 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
- B25J9/048—Pendulum type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
Abstract
本发明提供一种自动涂胶系统及其涂胶工艺。本发明自动涂胶系统包括六轴机器人，所述六轴机器人上设有非标机械夹手，所述非标机械夹手包括钢网模具装夹机构、模块转夹机构和视角影像成形系统；钢网模具架，所述钢网模具架上储存有钢网模具；上料模块架，所述上料模块架包括料架，所述料架上设有平行导轨，所述平行导轨上设有托盘支架；和自动涂胶设备。本发明自动涂胶系统采用六轴机器人、非标机械夹手、视角影像成形系统、钢网模具架和上料模块架组成自动化涂胶装置，在活动区域内实现零角度、无死角智能涂胶作业。
The invention provides an automatic gluing system and a gluing process thereof. The automatic gluing system of the present invention includes a six-axis robot, and a non-standard mechanical gripper is arranged on the six-axis robot, and the non-standard mechanical gripper includes a steel mesh mold clamping mechanism, a module rotating clamping mechanism and a viewing angle image forming system; A steel mesh mold frame, on which a steel mesh mold is stored; a feeding module frame, the feeding module frame includes a feeding frame, the feeding frame is provided with parallel guide rails, and the parallel guide rails are provided with Pallet holders; and automatic gluing equipment. The automatic gluing system of the invention adopts a six-axis robot, a non-standard mechanical gripper, a viewing angle image forming system, a steel mesh mold frame and a feeding module frame to form an automatic gluing device, and realizes zero-angle, no dead angle intelligent gluing in the active area Operation.
Description
Technical field
The present invention relates to a kind of glue stations more particularly to a kind of automatic adhesive application systems and its coating technique.
Background technique
The technology that frequency converter product module currently on the market applies heat-conducting glue mainly apply three-axis robot dispenser and
Manual mold gluing.Three-axis robot dispenser is that circular movement pattern is carried out with three shaft mechanicals sizing material point on the surface of product
On, three-axis robot dispenser principle be using injecting glue mode give product carry out dispensing, the shape that can be formed have circle shape,
Have a strip, three-axis robot dispenser the degree of automation is low, dispensing surface journey arc-shaped, can not accomplish it is smooth, due to sizing material
Viscosity it is high, the phenomenon that wire drawing can occur in each glue point, add the frequency of glue high, addition sizing material is complicated for operation；Manual mold
Gluing: steel mesh mold is used, to product gluing in a manner of printing, Manual mold gluing is had the following deficiencies: 1, hand-guided
The smearing dynamics of scraper, it is unstable；2, particular manufacturing craft is more, and replacement frequency is high, and handwork low efficiency, there are security risks；3,
The speed of demoulding is uneven, and sizing material edge can generate burr.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of automatic adhesive application system, which uses six axis
Robot, nonstandard mechanical clamp hand, perspective images formation system, steel mesh mold rack and feeding module frame composition automatic pasting dress
It sets, zero degree is realized in zone of action, without dead angle intelligence gluing operation.
A kind of automatic adhesive application system, comprising:
Six-joint robot, the six-joint robot are equipped with nonstandard mechanical clamp hand, and the nonstandard mechanical clamp hand includes steel mesh
Clamping device, module turn clamp mechanism and perspective images formation system；
Steel mesh mold rack stores steel mesh mold in the steel mesh mold rack；
Feeding module frame, the feeding module frame include material frame, and the material frame is equipped with closed slide, the closed slide
It is equipped with tray supporter；With
Automatic glue painting device.
Wherein, the automatic adhesive application system is equipped with main control processor, and the six-joint robot is equipped with control system, robot
System, the automatic glue painting device are equipped with gluing PLC, the main control processor and the robot control system and gluing PLC
Connection.
It wherein, further include gluing intermediate station and pipeline, the gluing intermediate station is equipped with clamp hand.
Wherein, the automatic glue painting device includes rack, and the rack is equipped with steel mesh die arrangement device, the steel mesh
Automatic glue adding device and scraper are equipped with above die arrangement device；
The feeding module is provided at least two material frame, and the material frame is equipped with several layers closed slide, every layer of parallel conductive
After processing is completed, the six-joint robot removes the tray supporter to module on rail outward, until all pallets on material frame
It all removes, main control processor alarm, prompts complementary module, the module on the six-joint robot and its other material framves.
Another aspect of the present invention provides a kind of coating technique of automatic adhesive application system, and the coating technique is easy to operate, nobody
Operation, high production efficiency；Under conditions of realizing identical action, the input cost of equipment can have greatly been saved；Gluing
Precision is high, no security risk.
A kind of coating technique of above-mentioned automatic adhesive application system, comprising the following steps:
(1) six-joint robot turns to the top of the steel mesh mold rack, and the steel mesh clamping device clamping is put
Set the steel mesh mold in steel mesh mold rack；
(2) six-joint robot turns to the automatic glue painting device, and rotating the steel mesh clamping device will clamp
Steel mesh mold be placed on the automatic glue painting device, the automatic glue painting device adds glue to steel mesh mold；
(3) six-joint robot turns to the feeding module frame, rotate the nonstandard mechanical clamp hand by perspective images at
Shape system alignment is placed in the module on the feeding module frame, and the perspective images formation system sits the position of the module
Mark is analyzed, and the nonstandard mechanical clamp hand is rotated, and the module turns clamp mechanism and clamps the module；
(4) six-joint robot turns to the automatic glue painting device, and the module turns the position of clamp mechanism adjustment module,
Into the bottom of steel mesh mold in the automatic glue painting device, the module is contacted with the bottom surface of the steel mesh mold, it is described from
Dynamic automatic double surface gluer is by the steel mesh mold to module progress gluing, and after the completion of gluing, the six-joint robot takes off downwards
Mould.
Wherein, step (1) detailed process are as follows: the instruction of input module gluing, main control processor is controlled to robot is
System issues the instruction of clamping steel mesh mold, and the robot control system reads the clamping steel mesh mold instruction, controls six axis machines
Device people moves to the top of the steel mesh mold rack, rotates the nonstandard mechanical clamp hand, the module is driven to turn clamp mechanism clamping
The steel mesh mold.
Wherein, step (2) detailed process are as follows: the robot control system drives the six-joint robot to turn to institute
Automatic glue painting device is stated, the module is rotated and turns the mold branch that the steel mesh mold is placed in the automatic glue painting device by clamp mechanism
On frame, the steel mesh die arrangement device carries out positioning and clamping to the steel mesh mold, and the main control processor is to the gluing
PLC is issued plus glue instruction, and the gluing PLC driving automatic glue adding device adds glue to the steel mesh mold.
Wherein, step (3) detailed process are as follows: robot control system drives the six-joint robot to turn on described
Expect module rack, rotates the mould that perspective images formation system is directed at top on the feeding module frame by the nonstandard mechanical clamp hand
Block, the perspective images formation system analyze the position coordinates of the module, main control processor read module position
Coordinate information is set, issues clamping module by signal to robot control system, the robot control system drives the nonstandard machine
Tool clamp hand, the module turn clamp mechanism and clamp the module.
Wherein, step (4) detailed process are as follows: the robot control system drives the six-joint robot to turn to institute
Automatic glue painting device is stated, the module turns the position of clamp mechanism adjustment module, into steel mesh mold in the automatic glue painting device
Bottom, be directed at the steel mesh mold bottom glue bearing areas of automatic glue painting device, the module and the bottom surface of the steel mesh mold connect
Touching, gluing PLC driving scraper carry out frictioning in the steel mesh mold, after the completion of module gluing, the six-joint robot to
Lower mobile demoulding.
Wherein, further include step (5) after the step (4): the six-joint robot turns to gluing intermediate station, described
Gluing intermediate station drives the clamp hand to clamp the module, and the module turns clamp mechanism and completes the adjustment set to module clip fetch bit,
The module is clamped, the six-joint robot is gone to above pipeline, and the module clamping mechanism places the module in institute
It states on pipeline belt.
The invention has the following advantages: automatic adhesive application system provided by the invention, comprising: six-joint robot, it is described
Six-joint robot is equipped with nonstandard mechanical clamp hand, and the nonstandard mechanical clamp hand includes that steel mesh clamping device, module turn folder machine
Structure and perspective images formation system；Steel mesh mold rack stores steel mesh mold in the steel mesh mold rack；Feeding module frame, institute
Stating feeding module frame includes material frame, and the material frame is equipped with closed slide, and the closed slide is equipped with tray supporter；With it is automatic
Automatic double surface gluer.Automatic adhesive application system of the present invention is using six-joint robot, nonstandard mechanical clamp hand, perspective images formation system, steel mesh
Mold rack and feeding module frame form automatic pasting device, and zero degree is realized in zone of action, is made without dead angle intelligence gluing
Industry.
Detailed description of the invention
Fig. 1 is automatic adhesive application system structural schematic diagram of the invention；
Fig. 2 is automatic adhesive application system C-C cross section structure schematic diagram of the invention；
Fig. 3 is automatic adhesive application system D-D cross section structure schematic diagram of the invention.
Attached drawing mark is as follows: 1- six-joint robot, 11- nonstandard mechanical clamp hand, 12- perspective images formation system, 2- steel mesh
Mold rack, 3- feeding module frame, 31- expect frame, 32- tray supporter, 4- automatic glue painting device, 41- automatic glue adding device, 42- steel
Net die arrangement device, 43- scraper, 5- gluing intermediate station, 51- clamp hand, 6- pipeline.
Specific embodiment
The present invention is described in detail below in conjunction with attached drawing 1-3.
Referring to Fig. 1, the automatic adhesive application system in the present embodiment includes six-joint robot 1, and six-joint robot 1 is equipped with nonstandard
Mechanical clamp hand 11, nonstandard machinery clamp hand 11 turn clamp mechanism and perspective images formation system including steel mesh clamping device, module
12；Steel mesh mold rack 2 stores steel mesh mold in steel mesh mold rack 2；Feeding module frame 3, feeding module frame 3 include material frame 31,
Expect that frame 31 is equipped with closed slide, closed slide is equipped with tray supporter 32；With automatic glue painting device 4.
Six-joint robot 1 of the present invention can be realized in defined scope of activities imitates the movable characteristic of manpower, feeding module
Module is placed on tray supporter 32 on frame 3, the steel mesh mold in nonstandard machinery clamp hand 11 turns clamp mechanism for clamping steel mesh
Mold, module turn clamp mechanism and complete the gluing to module for clamping the module on feeding module frame 3, automatic glue painting device 4, this
Automatic adhesive application system in embodiment is using six-joint robot 1, nonstandard mechanical clamp hand 11, perspective images formation system 12, steel mesh
Mold rack 2 and feeding module frame 3 form automatic pasting device, zero degree are realized in zone of action, without dead angle intelligence gluing
Operation.
When work, six-joint robot 1 turns to the top of steel mesh mold rack 2, and the clamping of steel mesh clamping device is placed on steel
Steel mesh mold in net mold rack 2, six-joint robot 1 turn to automatic glue painting device 4, and rotation steel mesh clamping device will clamp
Steel mesh mold be placed on automatic glue painting device 4, automatic glue painting device 4 adds glue to steel mesh mold, on six-joint robot 1 turns to
Expect module rack 3, rotates nonstandard mechanical clamp hand 11 and perspective images formation system 12 is aligned to the mould being placed on feeding module frame 3
Block, perspective images formation system 12 analyze the position coordinates of module, rotate nonstandard mechanical clamp hand 11, module turns clamp mechanism
Module is clamped, six-joint robot 1 turns to automatic glue painting device 4, and module turns the position of clamp mechanism adjustment module, into automatic glue application
The bottom of steel mesh mold in equipment 4, module are contacted with the bottom surface of steel mesh mold, and automatic glue painting device 4 is by steel mesh mold to mould
Block carries out gluing, and after the completion of gluing, six-joint robot 1 completes the gluing to module to bottom knockout.
As another embodiment, the automatic adhesive application system of the present embodiment further includes gluing intermediate station 5 and pipeline 6,
Gluing intermediate station 5 is equipped with clamp hand 51, and automatic glue painting device 4 includes rack, and rack is equipped with steel mesh die arrangement device 42, steel mesh
Automatic glue adding device 41 and scraper 43 are equipped with above die arrangement device 42, feeding module frame 3 is equipped at least two material frame 31, material
Frame 31 is equipped with several layers closed slide, and after processing is completed, six-joint robot 1 is by tray supporter for the module on every layer of closed slide
32 remove outward, and until all pallets all remove on material frame 31, main control processor alarm prompts complementary module, six axis machines
Module on people 1 and its other material framves 31, automatic adhesive application system are equipped with main control processor, and six-joint robot 1 is equipped with robot
Control system, automatic glue painting device 4 are equipped with gluing PLC, and main control processor is connect with robot control system and gluing PLC.
The coating technique of automatic adhesive application system in the present embodiment, comprising the following steps:
(1) input module gluing instructs, and main control processor issues the instruction of clamping steel mesh mold, machine to robot control system
Device people's control system reads the instruction of clamping steel mesh mold, and control six-joint robot 1 moves to the top of steel mesh mold rack 2, rotation
Nonstandard machinery clamp hand 11, drive module turn clamp mechanism clamping steel mesh mold；
(2) robot control system driving six-joint robot 1 turns to automatic glue painting device 4, and rotating module turns clamp mechanism will
Steel mesh mold is placed on the mould rack of automatic glue painting device 4, and steel mesh die arrangement device 42 carries out positioning dress to steel mesh mold
Folder, main control processor issues gluing PLC plus glue instruction, gluing PLC drive automatic glue adding device 41 to add glue to steel mesh mold；
(3) robot control system driving six-joint robot 1 turns to feeding module frame 3, and rotating nonstandard mechanical clamp hand 11 will
Perspective images formation system 12 is directed at the module of top on feeding module frame 3, position of the perspective images formation system 12 to module
It sets coordinate to be analyzed, main control processor read module location coordinate information, issues clamping module letter to robot control system
Number, the nonstandard mechanical clamp hand 11 of robot control system driving, module turns clamp mechanism clamping module；
(4) robot control system driving six-joint robot 1 turns to automatic glue painting device 4, and module turns clamp mechanism adjustment mould
The position of block, into the bottom of steel mesh mold in automatic glue painting device 4, the steel mesh mold bottom for being directed at automatic glue painting device 4 is applied
Glue region, module are contacted with the bottom surface of steel mesh mold, and gluing PLC drives scraper 43 to carry out frictioning, module gluing in steel mesh mold
After the completion, six-joint robot 1 moves down demoulding；
(5) six-joint robot 1 turns to gluing intermediate station 5, and gluing intermediate station 5 drives 51 clamp module of clamp hand, and module turns folder
Mechanism completes the adjustment set to module clip fetch bit, clamps module, and six-joint robot 1 goes to 6 top of pipeline, module clamping mechanism
Module is placed on 6 belt of pipeline.
For automatic adhesive application system of the invention with scan round mode operation, each unit port moment is anti-to main control processor
Present the state of equipment.When system works, command signal is first issued by outside, main control processor passes through the shape of logic analysis each unit
State, and operating instruction is provided to robot and other ancillary equipments.Robot and ancillary equipment read instruction and are analyzed and held
Row, and it is synchronous to main control processor reception and registration instruction execution state.
It completes to set gluing quantity, main control processor is issued to automatic glue painting device 4 plus glue signal, automatic glue painting device
PLC driving supply sizing material system is to steel mesh mold automatic glue adding, and after completing every batch of product, main control processor issues recycling steel
Net die signal, robot control system are read, and driving six-joint robot 1 rotates at automatic glue painting device 4, steel mesh clamping mould
Gear grips mold, automatic glue painting device 4 unclamp steel mesh die arrangement device, and six-joint robot 1 takes out steel mesh mold, turn to steel
Steel mesh mold is put into steel mesh mold rack 2 by net mold rack 2, steel mesh clamping device.
Automatic adhesive application system of the invention has the advantages that
1, practical, easy to operate, unattended, high production efficiency；
2, under conditions of realizing identical action, the input cost of equipment can greatly have been saved；
3, gluing precision is high, no security risk.
The Applicant declares that the present invention is explained by the above embodiments detailed construction and technique of the invention, but the present invention
It is not limited to above-mentioned detailed construction and technique, that is, does not mean that the present invention must rely on above-mentioned detailed construction and technique could be real
It applies.Person of ordinary skill in the field should be understood that any improvement in the present invention, to the equivalent of each raw material of product of the present invention
Replacement and addition, the selection of concrete mode of auxiliary element etc., all of which fall within the scope of protection and disclosure of the present invention.
Claims (8)
1. a kind of automatic adhesive application system characterized by comprising
Six-joint robot (1), the six-joint robot (1) are equipped with nonstandard mechanical clamp hand (11), the nonstandard mechanical clamp hand
It (11) include that steel mesh clamping device, module turn clamp mechanism and perspective images formation system (12)；
Steel mesh mold rack (2), the steel mesh mold rack (2) is for storing steel mesh mold；
Feeding module frame (3), the feeding module frame (3) include material frame (31), and the material frame (31) is equipped with closed slide, institute
Closed slide is stated equipped with tray supporter (32), the feeding module frame (3) is equipped at least two material frame (31)；With
Automatic glue painting device (4), the automatic glue painting device (4) includes rack, and the rack is equipped with steel mesh mold positioning dress
It sets (42), automatic glue adding device (41) and scraper (43) is equipped with above the steel mesh die arrangement device (42)；
The automatic adhesive application system is equipped with main control processor, and the six-joint robot (1) is equipped with robot control system, described
Automatic glue painting device (4) is equipped with gluing PLC, and the main control processor is connect with the robot control system and gluing PLC,
The material frame (31) is equipped with several layers closed slide, the module on every layer of closed slide after processing is completed, the six axis machine
People (1) removes the tray supporter (32) outward, until pallets all on material frame (31) all removals, the main control processor
Alarm, prompts complementary module, and the six-joint robot (1) clamps the module on other material framves (31).
2. automatic adhesive application system according to claim 1, which is characterized in that further include gluing intermediate station (5) and pipeline
(6), the gluing intermediate station (5) is equipped with clamp hand (51).
3. a kind of coating technique of automatic adhesive application system as claimed in claim 1 or 2, which comprises the following steps:
(1) six-joint robot (1) turns to the top of the steel mesh mold rack (2), the steel mesh clamping device clamping
The steel mesh mold being placed in the steel mesh mold rack (2)；
(2) six-joint robot (1) turns to the automatic glue painting device (4), and rotating the steel mesh clamping device will press from both sides
The steel mesh mold taken is placed on the automatic glue painting device (4), and the automatic glue painting device (4) adds glue to steel mesh mold；
(3) six-joint robot (1) turns to the feeding module frame (3), rotates the nonstandard mechanical clamp hand (11) for visual angle
Image formation system (12) is directed at the module being placed on the feeding module frame (3), the perspective images formation system (12)
The position coordinates of the module are analyzed, the nonstandard mechanical clamp hand (11) is rotated, the module turns clamp mechanism clamping institute
State module；
(4) six-joint robot (1) turns to the automatic glue painting device (4), and the module turns the position of clamp mechanism adjustment module
It sets, into the bottom of steel mesh mold in the automatic glue painting device (4), the module is contacted with the bottom surface of the steel mesh mold,
The automatic glue painting device (4) carries out gluing, after the completion of gluing, the six axis machine to the module by the steel mesh mold
People (1) is to bottom knockout.
4. coating technique according to claim 3, which is characterized in that step (1) detailed process are as follows: input module applies
Glue instruction, main control processor issue the instruction of clamping steel mesh mold to robot control system, and the robot control system is read
The clamping steel mesh mold instruction, controls the top that the six-joint robot (1) moves to the steel mesh mold rack (2), rotates
The nonstandard mechanical clamp hand (11), drives the module to turn clamp mechanism and clamps the steel mesh mold.
5. coating technique according to claim 3, which is characterized in that step (2) detailed process are as follows: the robot
Control system drives the six-joint robot (1) to turn to the automatic glue painting device (4), rotates the module and turns clamp mechanism for institute
It states steel mesh mold to be placed on the mould rack of the automatic glue painting device (4), the steel mesh die arrangement device (42) is to described
Steel mesh mold carries out positioning and clamping, and the main control processor issues gluing PLC plus glue instruction, gluing PLC drive automatic glue adding
Device (41) Xiang Suoshu steel mesh mold adds glue.
6. coating technique according to claim 3, which is characterized in that step (3) detailed process are as follows: robot control
Six-joint robot described in system drive (1) turns to the feeding module frame (3), rotates the nonstandard mechanical clamp hand (11) for visual angle
Image formation system (12) is directed at the module of top on the feeding module frame (3), the perspective images formation system (12)
The position coordinates of the module are analyzed, the main control processor read module location coordinate information, is controlled to robot
System issues clamping module by signal, the robot control system driving nonstandard mechanical clamp hand (11), and the module turns folder
Mechanism clamps the module.
7. coating technique according to claim 3, which is characterized in that step (4) detailed process are as follows: the robot
Control system drives the six-joint robot (1) to turn to the automatic glue painting device (4), and the module turns clamp mechanism adjustment module
Position be directed at the steel mesh mold of automatic glue painting device (4) into the bottom of steel mesh mold in the automatic glue painting device (4)
Bottom glue bearing areas, the module are contacted with the bottom surface of the steel mesh mold, and gluing PLC driving scraper (43) is in the steel
Net mold carries out frictioning, and after the completion of module gluing, the six-joint robot (1) moves down demoulding.
8. coating technique according to claim 3, which is characterized in that further include step (5): institute after the step (4)
It states six-joint robot (1) and turns to gluing intermediate station (5), the gluing intermediate station (5) drives the clamp hand (51) to clamp the mould
Block, the module turn clamp mechanism and complete the adjustment set to module clip fetch bit, clamp the module, and the six-joint robot (1) turns
Above to pipeline (6), the module turns clamp mechanism and places the module on the belt of the pipeline (6).
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| CN110328114A (en) * | 2019-07-16 | 2019-10-15 | 延锋伟世通汽车电子有限公司 | Robot automatic glue painting device and its glue spreading method |
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| CN110624781A (en) * | 2019-10-07 | 2019-12-31 | 南理工泰兴智能制造研究院有限公司 | Automatic gluing and sealing ring mounting workstation of disc robot |
| CN114536968B (en) * | 2022-01-21 | 2024-04-26 | 深圳市世豪机电设备有限公司 | Automatic steel mesh cleaning room and cleaning method |
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| CN205075066U (en) * | 2015-10-09 | 2016-03-09 | 江苏天艾美自动化科技有限公司 | Robot rubber coating workstation |
| CN205436202U (en) * | 2015-12-31 | 2016-08-10 | 苏州猎奇智能设备有限公司 | Gluing from moving point of optical module is quick -witted |
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| CN106391408A (en) | 2017-02-15 |
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