CN106938466A - A kind of manipulator for being used to capture disk-like accessory - Google Patents
A kind of manipulator for being used to capture disk-like accessory Download PDFInfo
- Publication number
- CN106938466A CN106938466A CN201710301169.4A CN201710301169A CN106938466A CN 106938466 A CN106938466 A CN 106938466A CN 201710301169 A CN201710301169 A CN 201710301169A CN 106938466 A CN106938466 A CN 106938466A
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- Prior art keywords
- cylinder barrel
- magnetic valve
- manipulator
- accessory
- support meanss
- Prior art date
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Links
- 239000003463 adsorbent Substances 0.000 claims abstract description 9
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 238000010276 construction Methods 0.000 abstract description 4
- 239000000047 product Substances 0.000 description 13
- 239000007789 gas Substances 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 238000004513 sizing Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035772 mutation Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 241000345998 Calamus manan Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 235000012950 rattan cane Nutrition 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator for being used to capture disk-like accessory, it is related to manipulator field, manipulator is installed on mechanical arm, and manipulator includes：Support meanss, mould, drive device, adsorbent equipment and controller, support means bottom portion is provided with a groove, and mould is in support meanss, and drive device top is connected with mechanical arm, drive device bottom is connected with support meanss, and drive device driving support meanss move up and down；Adsorbent equipment includes vavuum pump and exhaust outlet, and vavuum pump, exhaust outlet are connected with groove, and the first magnetic valve is provided between vavuum pump and groove, and the second magnetic valve is provided between exhaust outlet and groove；Controller connects the first magnetic valve and the second magnetic valve.Stamping forming, crawl and the operation of release part can be completed provided by the present invention for capturing the manipulator of disk-like accessory, high degree of automation is simple in construction, easy to use.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of manipulator for being used to capture disk-like accessory.
Background technology
The processing of the products such as stamping forming plastic lunch box, bowl, cup, phone housing be all by it is artificial take out finished product and
Semi-finished product, and these Product processings are the characteristics of have short punch forming time, low value of the product and the huge market demand.
However, manually taking out the mode of converted products, labor strength is not only resulted in greatly, human cost is larger, and
And, mechanical repeated manual labor easily makes workman produce fatigue, causes industrial accident, there is larger potential safety hazard,
Furthermore, artificial operation is random larger, it is impossible to management and control product quality.
The content of the invention
For defect present in prior art, it is an object of the invention to provide a kind of machine for being used to capture disk-like accessory
Tool hand, can complete stamping forming, crawl and the operation of release part, and high degree of automation is simple in construction, easy to use.
To achieve the above objectives, the present invention is adopted the technical scheme that：
A kind of manipulator for being used to capture disk-like accessory, the manipulator is installed on mechanical arm, the mechanical handbag
Include：
Support meanss, the support means bottom portion is provided with a groove, and the groove can be inhaled with the vacuum of part formation sealing
Attached area；
Mould, the mould is in the support meanss, and the bottom surface of the mould and the bottom surface of support meanss are located at
In same level；
Drive device, the drive device top is connected with mechanical arm, the drive device bottom and support dress
Put connected, the drive device drives the support meanss to move up and down；
Adsorbent equipment, the adsorbent equipment include vavuum pump and exhaust outlet, the vavuum pump, exhaust outlet with the groove
It is connected, and the first magnetic valve is provided between the vavuum pump and groove, the second electromagnetism is provided between the exhaust outlet and groove
Valve；
Controller, the controller connects first magnetic valve and the second magnetic valve, the controller control described the
One magnetic valve and the second magnetic valve folding.
On the basis of above-mentioned technical proposal, the drive device includes inlet duct, connected with the inlet duct
Cylinder, the cylinder includes the first cylinder barrel, piston and piston rod, and the piston is in first cylinder barrel, the piston rod
Top is connected with the piston bottom surface, and the piston rod passes through the bottom surface of first cylinder barrel, and the piston rod bottom and institute
Support meanss are stated to be connected；
The piston bottom surface is provided with least two springs, and the spring is placed on the bottom surface of first cylinder barrel, described
Spring can be moved along the radial expansion of the piston, and the first cylinder barrel outer wall is radially arranged provided with one along first cylinder barrel
Guide pad.
On the basis of above-mentioned technical proposal, the inlet duct includes air pump and leakage port, and the air pump, leakage port are equal
It is connected with the top of first cylinder barrel, and the 3rd magnetic valve, the leakage port is provided between the air pump and the first cylinder barrel
And first be provided with the 4th magnetic valve between cylinder barrel, the 3rd magnetic valve, the 4th magnetic valve are connected with the controller.
On the basis of above-mentioned technical proposal, the underpart of the piston rod is provided with a tooth bar, and the bottom of first cylinder barrel is set
There is a rotatable displacement transducer, institute's displacement sensors one end is connected with the bottom of first cylinder barrel, and the other end is placed in
In the slot of the tooth bar, institute's displacement sensors are connected with controller.
On the basis of above-mentioned technical proposal, first magnetic valve, the second magnetic valve, the 3rd magnetic valve and the 4th electromagnetism
Valve is duty solenoids.
On the basis of above-mentioned technical proposal, the support meanss include the second cylinder barrel and the 3rd cylinder barrel, second cylinder
Cylinder open top, second inner wall of cylinder is provided with the gathering sill coordinated with the guide pad, and first cylinder barrel is sheathed on
In second cylinder barrel, the piston rod connects second cylinder barrel and the 3rd cylinder barrel, and the groove is located at the 3rd cylinder barrel
Bottom, and the mould is on the outside of the 3rd cylinder barrel, and the mould bottom surface and the bottom surface of the 3rd cylinder barrel are located at same water
In plane.
On the basis of above-mentioned technical proposal, the piston rod sequentially passes through the bottom surface of the second cylinder barrel and the top of the 3rd cylinder barrel
Face, and the piston rod and the second cylinder barrel and the 3rd cylinder barrel bolt connection.
On the basis of above-mentioned technical proposal, the mould and the 3rd cylinder barrel bolt connection.
On the basis of above-mentioned technical proposal, the groove is provided with vacuum sensor and infrared distance sensor, institute
Vacuum sensor, infrared distance sensor is stated with the controller to be connected.
On the basis of above-mentioned technical proposal, the manipulator also includes a display unit, the display unit and control
Device is connected.
Compared with prior art, the advantage of the invention is that：
(1) manipulator of the invention can complete stamping forming, capture and discharge the operation of part, high degree of automation,
It is simple in construction, it is easy to use.
(2) guide pad and gathering sill of the invention are used cooperatively so that relatively moved above and below the first cylinder barrel and the second cylinder barrel,
Without relatively rotating.
Brief description of the drawings
Fig. 1 is the structural representation of manipulator in the embodiment of the present invention；
Fig. 2 is the structural representation of cylinder in the embodiment of the present invention.
In figure：1- mechanical arms, 2- support meanss, 20- grooves, the cylinder barrels of 21- second, the cylinder barrels of 22- the 3rd, 23- vacuums
Sensor, 24- infrared distance sensors, 3- moulds, 4- drive devices, 40- inlet ducts, 401- air pumps, 402- leakage ports,
The magnetic valves of 403- the 3rd, the magnetic valves of 404- the 4th, 41- cylinders, the cylinder barrels of 410- first, 411- pistons, 412- piston rods, 413- bullets
Spring, 414- guide pads, 415- tooth bars, 416- displacement transducers, 5- adsorbent equipments, 50- vavuum pumps, 51- exhaust outlets, 52- first
Magnetic valve, the magnetic valves of 53- second, 6- controllers.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Referring to shown in Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of manipulator for being used to capture disk-like accessory, manipulator
It is installed on mechanical arm 1, manipulator includes：Support meanss 2, mould 3, drive device 4, adsorbent equipment 5 and controller 6.
The bottom of support meanss 2 is provided with a groove 20, the vacuum suction area that groove 20 can be with part formation sealing.Mould 3 is set
In in support meanss 2, and the bottom surface of mould 3 and the bottom surface of support meanss 2 are located in same level.
The top of drive device 4 is connected with mechanical arm 1, and the bottom of drive device 4 is connected with support meanss 2, and drive device 4 is driven
Dynamic support meanss 2 move up and down.
Adsorbent equipment 5 includes vavuum pump 50 and exhaust outlet 51, and vavuum pump 50, exhaust outlet 51 are connected with groove 20, and
The first magnetic valve 52 is provided between vavuum pump 50 and groove 20, the second magnetic valve 53 is provided between exhaust outlet 51 and groove 20.Very
A vacuum tank is additionally provided between the empty magnetic valve 52 of pump 50 and first.
Controller 6 connects the first magnetic valve 52 and the second magnetic valve 53, the control of controller 6 first magnetic valve 52 and the second electricity
The folding of magnet valve 53.
The cylinder 41 that drive device 4 includes inlet duct 40, connected with inlet duct 40, cylinder 41 includes the first cylinder barrel
410th, piston 411 and piston rod 412, piston 411 is in the first cylinder barrel 410, the top of piston rod 412 and the bottom surface phase of piston 411
Even, piston rod 412 passes through the bottom surface of the first cylinder barrel 410, and piston rod 412 also sequentially passes through bottom surface and the 3rd cylinder of the second cylinder barrel 21
The top surface of cylinder 22, the cylinder barrel 21 of piston rod 412 and second and the bolt connection of the 3rd cylinder barrel 22, so that the bottom of piston rod 412 and branch
Support arrangement 2 is connected.
The bottom surface of piston 411 is placed on the bottom surface of the first cylinder barrel 410 provided with two springs 413, and spring 413, and spring 413 can
Moved along the radial expansion of piston 411.All springs 413 are uniformly distributed on piston 411.The outer wall of first cylinder barrel 410 is provided with
One guide pad 414 being radially arranged along the first cylinder barrel 410.
Inlet duct 40 includes air pump 401 and leakage port 402, the top of air pump 401, leakage port 402 with the first cylinder barrel 410
Portion is connected, and between the cylinder barrel 410 of air pump 401 and first be provided with the 3rd magnetic valve 403, the cylinder barrel 410 of leakage port 402 and first it
Between be provided with the 4th magnetic valve 404, the 3rd magnetic valve 403, the 4th magnetic valve 404 are connected with controller 6.3rd magnetic valve 403
An air accumulator is additionally provided between air pump 401.
The bottom of piston rod 412 is provided with a tooth bar 415, and the bottom of the first cylinder barrel 410 is provided with a rotatable displacement transducer
416, the one end of displacement transducer 416 is connected with the bottom of the first cylinder barrel 410, and the other end is placed in the slot of tooth bar 415, and displacement is passed
Sensor 416 is connected with controller 6.
When piston rod 412 is moved down with respect to the first cylinder barrel 410, tooth bar 415 is moved down, and drives displacement transducer
416 one end being placed on tooth bar 415 are moved down so that displacement transducer 416 rotates, can be according to the width of tooth bar 415
And the corner amount of displacement transducer 416, calculate displacement of the piston rod about 412.
First magnetic valve 52, the second magnetic valve 53, the 3rd magnetic valve 403 and the 4th magnetic valve 404 are dutycycle electromagnetism
Valve.
Support meanss 2 include the second cylinder barrel 21 and the 3rd cylinder barrel 22, the open top of the second cylinder barrel 21, the inwall of the second cylinder barrel 21
The gathering sill coordinated with guide pad 414 is provided with, the first cylinder barrel 410 is sheathed in the second cylinder barrel 21, the connection of piston rod 412 second
The cylinder barrel 22 of cylinder barrel 21 and the 3rd, groove 20 is located at the bottom of the 3rd cylinder barrel 22, and mould 3 is on the outside of the 3rd cylinder barrel 22, and mould 3
Bottom surface and the bottom surface of the 3rd cylinder barrel 22 are located in same level.Mould 3 and the bolt connection of the 3rd cylinder barrel 22, dismounting and change side
Just.In the embodiment of the present invention, guide pad 414 and gathering sill are used cooperatively so that the first cylinder barrel 410 and the second cylinder barrel phase about 21
To movement, without relatively rotating.
Groove 20 is provided with vacuum sensor 23 and infrared distance sensor 24, vacuum sensor 23, infrared distance
Sensor 24 is connected with controller 6.Vacuum sensor 23 can detect the size of pull of vacuum in vacuum suction area, from
And better control over the folding of the magnetic valve 53 of the first magnetic valve 52 second.Infrared distance sensor 24 can detect manipulator away from
With a distance from disk-like accessory, so as to better control over the folding of the magnetic valve 404 of the 3rd magnetic valve 403 the 4th.
Manipulator also includes a display unit, and display unit is connected with controller 6.Display unit can set manipulator manually
Displacement, when the displacement of manipulator reaches arranges value, the control magnetic valve 404 of the 3rd magnetic valve 403 the 4th of controller 6
Folding, makes manipulator stop up and down motion.Display unit may also display the running status of manipulator, when manipulator is moving up and down
During failure, alarm is carried out to failure in time.
Manipulator in the embodiment of the present invention can complete stamping forming, crawl and the operation of release part, automate journey
Degree is high, simple in construction, easy to use.
The use process of manipulator in the embodiment of the present invention is as follows：
First, air pump 401 is started working, and gases at high pressure are pressed into air accumulator by air pump 401, and controller 6 detects height
Press after signal, displacement transducer 416 is started working, detect the initial position of piston rod 412, and by the mould 3 on manipulator
With the part registration of sizing to be punched, controller 6 controls the 3rd magnetic valve 403 to open, and the 4th magnetic valve 404 is closed, high pressure gas
Body enters the first cylinder barrel 410 by tracheae, and then promotes piston 411 and piston rod 412 to move down, and spring 413 compresses, so that band
Move whole support meanss 2 to move downward, be placed on the part punching of sizing to be punched below manipulator into disk class product, complete punching
The vacuum suction area of pressure sizing, now groove 20 and the sealing of disk class product formation；
Then, controller 6 controls the first magnetic valve 52 to open, and the second magnetic valve 53 is closed, and vavuum pump 50 makes vacuum suction
Area produces negative pressure of vacuum, and disk class product is adsorbed on a robotic arm, when vacuum sensor 23 detects vacuum in vacuum suction area
When the size of suction is suitable, controller 6 controls the 3rd magnetic valve 403 to close, and the 4th magnetic valve 404 is opened, in the first cylinder barrel 410
Gases at high pressure discharged from leakage port 402, spring 413 gradually recovers elastic deformation, promotes on piston 411 and piston rod 412
Move, when displacement transducer 416 detects that piston rod 412 returns to initial position, controller 6 controls the 4th magnetic valve 404 to close,
Stop the gases at high pressure in the first cylinder barrel 410 of release, manipulator is moved to receiving section by mechanical arm 1, completes grabbing for disk class product
Take；
Finally, controller 6 controls the second magnetic valve 53 to open, and the first magnetic valve 52 is closed, and eliminates in vacuum suction area
Negative-pressure sucking, departs from disk class product and mould 3.
During manipulator use, if gases at high pressure can not promote piston 411 to move downward, displacement transducer 416 is examined
Do not detect piston rod 412 to move down, show robotic failure, or, manipulator is during crawl disk class product is moved up, vacuum
Sensor 23 detects that the size of pull of vacuum in vacuum suction area is undergone mutation, and infrared distance sensor 24 detects manipulator
Distance apart from disk-like accessory is undergone mutation, and shows to be likely to occur the situation that disk class product comes off, manipulator can be automatically stopped
Work, display unit sends alarm signal, so as to maintenance in time.
In the embodiment of the present invention, air pump 401 is from industrial high-pressure pump, and vavuum pump 50 is from the former one-level of Fujiwara/ rattans
750D vavuum pump heads, displacement transducer 416 is from the sky 0~360o of perseverance wound MCJS series displacement transducer, infrared distance
Sensor 24 interrogates infrared distance sensor GP2Y0A02YK0F sensors from generation, and vacuum sensor 23 is passed from new weighing apparatus negative pressure
Sensor.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
On the premise of the principle of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as the protection of the present invention
Within the scope of.The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (10)
1. a kind of manipulator for being used to capture disk-like accessory, the manipulator is installed on mechanical arm (1), it is characterised in that
The manipulator includes：
Support meanss (2), support meanss (2) bottom is provided with a groove (20), and the groove (20) can form close with part
The vacuum suction area of envelope；
Mould (3), the mould (3) is in the support meanss (2), and bottom surface and the support meanss (2) of the mould (3)
Bottom surface be located at same level on；
Drive device (4), drive device (4) top is connected with mechanical arm (1), drive device (4) bottom and institute
State support meanss (2) to be connected, the drive device (4) drives the support meanss (2) to move up and down；
Adsorbent equipment (5), the adsorbent equipment (5) includes vavuum pump (50) and exhaust outlet (51), the vavuum pump (50), exhaust
Mouth (51) is connected with the groove (20), and the first magnetic valve is provided between the vavuum pump (50) and groove (20)
(52) the second magnetic valve (53), is provided between the exhaust outlet (51) and groove (20)；
Controller (6), the controller (6) connects first magnetic valve (52) and the second magnetic valve (53), the controller
(6) first magnetic valve (52) and the second magnetic valve (53) folding are controlled.
2. the manipulator as claimed in claim 1 for being used to capture disk-like accessory, it is characterised in that：Drive device (4) bag
Inlet duct (40), the cylinder (41) connected with the inlet duct (40) are included, the cylinder (41) includes the first cylinder barrel
(410), piston (411) and piston rod (412), the piston (411) is in first cylinder barrel (410), the piston rod
(412) top is connected with the piston (411) bottom surface, and the piston rod (412) passes through the bottom surface of first cylinder barrel (410),
And piston rod (412) bottom is connected with the support meanss (2)；
Piston (411) bottom surface is provided with least two springs (413), and the spring (413) is placed in first cylinder barrel
(410) on bottom surface, the spring (413) can be moved along the radial expansion of the piston (411), first cylinder barrel (410)
Outer wall is provided with a guide pad (414) being radially arranged along first cylinder barrel (410).
3. the manipulator as claimed in claim 2 for being used to capture disk-like accessory, it is characterised in that：Inlet duct (40) bag
Include air pump (401) and leakage port (402), the top of the air pump (401), leakage port (402) with first cylinder barrel (410)
It is connected, and the 3rd magnetic valve (403), the leakage port (402) is provided between the air pump (401) and the first cylinder barrel (410)
And first be provided with the 4th magnetic valve (404) between cylinder barrel (410), the 3rd magnetic valve (403), the 4th magnetic valve (404) are
It is connected with the controller (6).
4. the manipulator as claimed in claim 3 for being used to capture disk-like accessory, it is characterised in that：Under the piston rod (412)
Portion is provided with a tooth bar (415), and the bottom of first cylinder barrel (410) is provided with a rotatable displacement transducer (416), institute's rheme
Displacement sensor (416) one end is connected with the bottom of first cylinder barrel (410), and the other end is placed in the slot of the tooth bar (415)
In, institute's displacement sensors (416) are connected with controller (6).
5. the manipulator as claimed in claim 3 for being used to capture disk-like accessory, it is characterised in that：First magnetic valve
(52), the second magnetic valve (53), the 3rd magnetic valve (403) and the 4th magnetic valve (404) are duty solenoids.
6. the manipulator as claimed in claim 2 for being used to capture disk-like accessory, it is characterised in that：Support meanss (2) bag
Include on the second cylinder barrel (21) and the 3rd cylinder barrel (22), the second cylinder barrel (21) open top, the second cylinder barrel (21) inwall
Provided with the gathering sill coordinated with the guide pad (414), first cylinder barrel (410) is sheathed in second cylinder barrel (21),
The piston rod (412) connects second cylinder barrel (21) and the 3rd cylinder barrel (22), and the groove (20) is located at the 3rd cylinder
Cylinder (22) bottom, and the mould (3) is on the outside of the 3rd cylinder barrel (22), and the mould (3) bottom surface and the 3rd cylinder barrel
(22) bottom surface is located in same level.
7. the manipulator as claimed in claim 6 for being used to capture disk-like accessory, it is characterised in that：The piston rod (412) according to
The top surface of the secondary bottom surface and the 3rd cylinder barrel (22) for passing through the second cylinder barrel (21), and the piston rod (412) and the second cylinder barrel (21)
With the 3rd cylinder barrel (22) bolt connection.
8. the manipulator as claimed in claim 6 for being used to capture disk-like accessory, it is characterised in that：The mould (3) and the 3rd
Cylinder barrel (22) bolt connection.
9. the manipulator as claimed in claim 1 for being used to capture disk-like accessory, it is characterised in that：The groove (20) is provided with
Vacuum sensor (23) and infrared distance sensor (24), the vacuum sensor (23), infrared distance sensor (24)
It is connected with the controller (6).
10. the manipulator as claimed in claim 1 for being used to capture disk-like accessory, it is characterised in that：The manipulator also includes
One display unit, the display unit is connected with controller (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710301169.4A CN106938466A (en) | 2017-05-02 | 2017-05-02 | A kind of manipulator for being used to capture disk-like accessory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710301169.4A CN106938466A (en) | 2017-05-02 | 2017-05-02 | A kind of manipulator for being used to capture disk-like accessory |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106938466A true CN106938466A (en) | 2017-07-11 |
Family
ID=59464783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710301169.4A Pending CN106938466A (en) | 2017-05-02 | 2017-05-02 | A kind of manipulator for being used to capture disk-like accessory |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106938466A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107642608A (en) * | 2017-08-16 | 2018-01-30 | 广东欧珀移动通信有限公司 | The mounting structure and its separation method of tool, seal assembly |
| CN112223334A (en) * | 2019-08-27 | 2021-01-15 | 北京戴纳实验科技有限公司 | Hanger rail taking manipulator for laboratory equipment |
| CN114775377A (en) * | 2022-04-01 | 2022-07-22 | 宁波汇洲生态建设有限公司 | Green recyclable assembly type road intelligent pavement construction method and construction equipment |
| CN114955535A (en) * | 2022-05-24 | 2022-08-30 | 无锡帝朗光学材料科技有限公司 | A sucking disc device for endurance plate material loading |
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| CN114775377A (en) * | 2022-04-01 | 2022-07-22 | 宁波汇洲生态建设有限公司 | Green recyclable assembly type road intelligent pavement construction method and construction equipment |
| CN114955535A (en) * | 2022-05-24 | 2022-08-30 | 无锡帝朗光学材料科技有限公司 | A sucking disc device for endurance plate material loading |
| CN114955535B (en) * | 2022-05-24 | 2024-10-01 | 无锡帝朗光学材料科技有限公司 | Sucking disc device for loading endurance plate |
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Application publication date: 20170711 |