WO2017001088A1 - Module support de fabrication - Google Patents

Module support de fabrication Download PDF

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Publication number
WO2017001088A1
WO2017001088A1 PCT/EP2016/060198 EP2016060198W WO2017001088A1 WO 2017001088 A1 WO2017001088 A1 WO 2017001088A1 EP 2016060198 W EP2016060198 W EP 2016060198W WO 2017001088 A1 WO2017001088 A1 WO 2017001088A1
Authority
WO
WIPO (PCT)
Prior art keywords
production
manufacturing
carrier module
programmable logic
logic controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2016/060198
Other languages
German (de)
English (en)
Inventor
Jürgen GRUBER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of WO2017001088A1 publication Critical patent/WO2017001088A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/02—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby of table type
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B87/00—Sectional furniture, i.e. combinations of complete furniture units, e.g. assemblies of furniture units of the same kind such as linkable cabinets, tables, racks or shelf units
    • A47B87/002—Combination of tables; Linking or assembling means therefor

Definitions

  • Production carrier module The invention relates to a production carrier module in the field of assembly technology, for example for special purpose machinery.
  • a production carrier module is a table, a Handar ⁇ beitsplatz, a workbench or any other element understood, which is set up individually or in conjunction with other manufacturing carrier modules and allows one or more steps in a simple or complex assembly process. The corresponding steps are fully ⁇ automated, semi-automated or manually performed.
  • Such production support module for example, from the document "Quadro - the workstation for the highest Ansprü ⁇ che" known, available on the Internet on 13/20172011 at http: // www. karlnet. de / site / main-navigation / workstations / quadro. html.
  • the workstation system shown in the document essentially consists of two right-angled desks, which are connected to one another via a connecting element.
  • the right-hand desk has a superstructure with electronic elements.
  • Such a workplace can be used for work steps in assembly technology. In this case everyone is
  • Desk can be made to a production board module on which work ⁇ steps for manufacturing.
  • FR 1465694 A discloses a trapezoidal work table. From DE 9113067 Ul a team workstation is known, which is composed of trapezoidal work tables.
  • a production carrier module in which the outer edges of the production carrier module form a sym ⁇ metric trapezoid, and which is equipped with a work machine, which is mounted on the manufacturing carrier module tiert.
  • the production carrier modules can be arranged in honeycomb form ⁇ .
  • a job for an operator is provided, to which are supplied via conveyor hoses workpieces which are manually entnom ⁇ men and inserted into the machine.
  • conveying means a material transfer opening and a conveyor chute are provided, via which workpieces can be passed on to the next workstation.
  • WO 01/22848 A2 discloses a computer workstation system in which a plurality of trapezoidal workstation units are interconnected with a centrally located server.
  • a trapezoidal Vietnamese Vietnamese toysssträ ⁇ germodul is known with a control unit, which provides a control tion of the manufacturing unit.
  • the control unit has a common interface, so that the same Ferti ⁇ supply carrier module by manufacturing a carrier module having or deviating functionality is directly interchangeable.
  • a connector establishes a connection for electrical power or optical radiation by connecting a male or female
  • Plug connection component is plugged into a female plug ⁇ tion component.
  • the male component is called a plug.
  • the female component a distinction is made between sockets, sockets and couplings.
  • plug-in pins electrical conductors
  • plug-in contacts protrude from the plug as plug-in contacts, which engage in corresponding recesses in the opposite plug connection component.
  • the pins protrude from the opposite ⁇ over-mounted connector component, in which the plug is inserted. Therefore, each movable and insertable Termina ⁇ manure component is referred to as a connector hereinafter.
  • the invention has for its object to provide a Vietnamesessträ- module, which provides an alternative to the prior art.
  • a production carrier module having a mounting platform adapted to receive a production unit, said mounting platform having a me chanical ⁇ interface, which is adapted for an exact alignment of the mounting platform on adjacent production modules carrier,
  • a first connector component having a pneumatic interface with ports for supply and
  • a third connector component which ⁇ be riding provides a control interface with a plurality of contacts, which are suitable for transmission of control signals, and with a programmable logic controller which is mounted above or below the mounting platform and electrically connected to the second connector component and the third connector component.
  • the manufacturing carrier module can be replaced at any time by a manufacturing carrier module with the same or different functionality.
  • the production carrier module thus enables a "plug and produce", which is essentially characterized by the modular design of machines and systems in conjunction with standardized, effort-minimized detachable interfaces.
  • This aspect of a flexible reusability and reusability is further enhanced by the fact that each individual manufacturing carrier module has its own programmable logic controller, which enables flexible and quickly customizable production and assembly sequences.
  • Such a manufacturing system configured from standardized manufacturing carrier modules has a significantly lower investment risk with regard to possible changes in the products, technological processes and quantities.
  • the diverse and relatively easy combinability of the production carrier modules minimizes space ⁇ needs, saves costs and increases the utilization of the existing production units.
  • a manufacturing carrier module is created, where the second connector component is an RJ45 connector or an RJ45 connector, and
  • the common housing makes it possible to produce the three connectors with a single mating process.
  • the housing may additionally comprise a cooling circulation, for example a water cooling.
  • the second plug connection component can be used, for example, for data transmission in accordance with the Ethernet and / or Profinet protocol.
  • a production carrier module is created
  • a trapezoid is a square with two parallel bases and two other sides, which are called legs.
  • the base sides are of different length, and the legs of equal length.
  • This characteristic shape allows the assembly of several manufacturing carrier modules into a production system both in line form and as a round table with honeycomb shape. So can together provide having a much lower investment risk ⁇ ko in terms of possible changes and adjustments with regard to the products to be manufactured, quantities and technological processes a modularly configurable manufacturing system.
  • the production carrier modules with their characteristic trapezoidal shape are much more flexible with regard to the reorganization of production processes and environments. According to one embodiment, a manufacturing carrier module is created,
  • a production unit which is mounted on the mounting platform ⁇ form and adapted for the automated execution of at least one manufacturing step.
  • the production unit is, for example, a welding unit, a Lotbandvorschub or Bohrein ⁇ ness.
  • a production carrier module is created
  • valve block which is mounted on the mounting platform and includes pneumatic valves which are connected by means of hoses to the first connector component and with actuators of the manufacturing unit.
  • a manufacturing carrier module is created
  • the programmable logic controller (3) for controlling the valves of the valve block (20) is set up by means of electrical control lines.
  • a production carrier module is created
  • the programmable logic controller is programmed for an autonomous operation of the production unit and a fully automatic implementation of the at least one manufacturing step with the production unit, as soon as the
  • a manufacturing carrier module is created
  • the programmable logic controller has a first software interface, which in an ongoing operation allows an exchange of status messages between the programmable logic controller and other programmable logic controllers, and
  • the programmable logic controller has a second software interface via which the programmable logic controller can be configured.
  • a production carrier module is created
  • a fourth connector component which provides an electrical interface for connection to a Lastver ⁇ supply, which in particular provides a voltage of 400V.
  • the load supply is provided, for example, to the production unit.
  • the fourth connector component can also be arranged in the common housing.
  • a 50 V load supply can already be provided via the contacts of the third connector component, which is sufficient for many applications, especially since actuators of the manufacturing unit can also be driven pneumatically.
  • a manufacturing carrier module is created
  • a second protection circuit may be provided, to which two further contacts of the third connector component are permanently assigned.
  • a protective housing which is mounted on the Montageplatt ⁇ form and includes a protective door, and
  • a manufacturing carrier module is created
  • the protective housing contains a protective rear wall, which is mounted on the trapezoidal mounting platform at its longest side.
  • the trapezoidal mounting platform is in this case at its longest side with a standardized mechanical
  • Interface for mounting a protective rear wall in Fertigbau ⁇ prepared, for example by holes are provided at predefined ⁇ positions along the longest side of the mounting platform.
  • a production carrier module is created,
  • the protective housing additionally a front
  • Protective wall includes, which is mounted on the trapezoidal Mon ⁇ daily platform at the shortest side.
  • the trapezoidal mounting platform can therefore be prepared on its shortest side for mounting a protective wall in Fertigbauwei ⁇ se with a standardized mechanical interface, for example by holes are provided at predefined positions along the shortest side of the mounting platform.
  • an arrangement is created, with at least one production carrier module, and with a portable operating device, via which the spei ⁇ cherprogrammierbare control is configurable.
  • an arrangement is created,
  • an arrangement is provided, with a plurality of production carrier modules linked to a honeycomb form,
  • the programmable logic controllers of the FER are actuating support modules each programmed to signal the cells ⁇ control as soon as the at least one production step by the respective convincedschimo ⁇ dul is finished, and
  • the cell controller is programmed, a transport by the transport means to cause or finger ⁇ give once signals have been received from all manufacturing carrier modules.
  • the transport is here, for example, a turntable or robot, and the transport rotation of the turntable.
  • an arrangement is created, with several concatenated to a honeycomb form manufacturing carrier modules, which together form the first protective circuit.
  • FIG. 2 shows a production system, consisting of production carrier modules, which are arranged in the shape of a honeycomb,
  • Figure 3 shows a manufacturing system with flexibly arranged
  • FIG. 5 shows a plan view of the complex manufacturing system from FIG. 4,
  • Figure 6 is a schematic side view of a manufacturing ⁇ carrier module
  • Figure 7 is a schematic representation of an arrangement for
  • FIG. 1 shows a production system 10 which is composed of linearly arranged production carrier modules 1.
  • a mechanical ⁇ African interfaces 4 which is adapted for an exact alignment of manufacturing carrier module 1 on adjacent Vietnamesesträ ⁇ germodulen.
  • the mechanical interface 4 consists of drilling ments in a horizontal plate of the Vietnameseslect ⁇ module 1, which serves as a mounting platform.
  • a production unit 2 which is operated by an operator 6, is shown on every second production carrier module 1.
  • FIG. 2 shows a further production system 10, which is composed of honeycomb-arranged production carrier modules 1.
  • These production carrier modules 1 also have a trapezoidal shape and are screwed or connected to one another by means of mechanical interfaces 4, of which only two are shown by way of example.
  • a turntable 5 In the middle of the honeycomb arrangement is a turntable 5, on which workpieces can be used in guides. The turntable 5 is then by an operator 6 in the direction of arrow in
  • FIG. 2 shows arrows on the left and right side of the operator 6. These indicate that the operator 6 receives workpieces from the left for processing and forwards them to the right.
  • any other means of transport such as a robot can be used.
  • FIG. 3 shows a further production system 10, in which the trapezoidal production carrier modules 1 are arranged even more flexibly.
  • An advantageous depth for the production Carrier module 1 is 60 cm, but of course, any other dimensions, for example between 30 and 120 cm can be selected.
  • Figure 4 shows a relatively complex manufacturing system 10, which is composed of eight turntable systems, each ⁇ wells consist of a turntable 5, around which six trapezoidal manufacturing carrier modules are arranged. 1
  • Each turntable 5 is operated by an operator 6, who is standing on a special production carrier module 1, which allows easier access to the turntable 5 through a recess in a table top.
  • Components ⁇ th are provided with reference numerals for clarity.
  • production carrier modules 1 are designated by reference numerals, while a turntable 5, production units 2 and a protective housing 8 are provided by reference only on selected adjacent turntable systems by way of example.
  • the elements mentioned are located on each of the eight turntable systems, even if they are not separately designated.
  • Figure 4 also shows under each production module carrier 1 a supporting structure 7, such as table legs, to which a programmable controller is attached for 3 mounted on the jeweili ⁇ gen production module carrier 1 production units.
  • the production units 2 are, for example, welding units, drilling units or strip feeders.
  • FIG. 4 also shows how flexibly the production carrier modules 1 can also be assembled into complex and large production systems 10.
  • the turntable 5 forms here in conjunction with the surrounding six production carrier modules 1 each a turntable system.
  • the turntable systems shown in Figure 4 eight which are ge ⁇ divided into three functional areas, are operated through the eight operator 6 in a three-layer system, and thereby achieve a high process efficiency.
  • the solution shown in Figure 4 for the manufacturing system 10 makes it possible to minimize a fixed cost per produ ⁇ ed piece. Due to the universality and modularity of the manufacturing carrier modules 1, the configuration shown can continue to be assembled and disassembled in a stepped manner. If the actual capacity requirements exceed the Leis ⁇ processing capability of the manufacturing system shown in Figure 4, in the same way a further manufacturing ⁇ system 10 is established. The production system 10 does not have to be changed, but merely duplicated. Regardless of this, the present toyssys ⁇ tem 10 can be adapted or reconfigured of course, if this is required.
  • FIG. 5 shows the manufacturing system 10 shown in FIG. 4 in a plan view.
  • the comments on Figure 4 apply analogously.
  • any other means of transport such as robots can be used.
  • FIG. 6 shows a schematic side view of a manufacturing unit 1.
  • a mounting platform 9 has a mechanical ⁇ specific interface 4, which is adapted for an exact orientation of the mounting platform 9 on adjacent production modules carrier.
  • the mechanical interface 4 is, for example, holes at predefined positions.
  • the mechanical interface 4 is at both
  • a first connector component 31 provides a pneuma ⁇ diagram interface with ports for the supply and removal of compressed air for a valve block 20th This is mounted on the mounting platform 9 and contains electrical
  • Connector component 31 and are connected to pneumatic actuators of the manufacturing unit 2.
  • a second connector component 32 provides a data ⁇ interface for packet-based data transmission readiness is, for example, according to the Ethernet and / or Profinet protocol.
  • the second connector component 32 is ⁇ example, an RJ45 connector or an RJ45 socket.
  • a third connector component 33 provides a control ⁇ interface with a plurality of contacts, which are suitable for the transmission of control signals.
  • a fourth connector component 34 provides an electrical
  • Interface for connection to a load supply ready which in particular has a voltage of 400V.
  • the connector components are arranged in a common housing 35.
  • the third connector component 33 includes example ⁇ , 25 contacts with 50V / 5A and 24V / 5A, which are suitable for overall Studentstra ⁇ supply of control signals, test signals and protection signals. Individual of the contacts can also serve as Lastver ⁇ supply; In this case, the fourth connector component 34 can be omitted.
  • a memory programmable controller 3 is mounted, which is electrically connected to the second plug connection ⁇ component 32 and the third connector component 33.
  • the programmable logic controller 3 is provided with sensors of the manufacturing unit 2 electrically connected and for controlling the electrical valves of the valve block 20 by means of control lines ⁇ set.
  • the programmable logic controller 3 controls pneumatic cylinders of the production unit by means of the valves.
  • the programmable logic controller 3 is arranged for example in a control box, on the outside of the
  • Connector components in the form of sockets are accessible.
  • the programmable logic controller 3 with its slots and peripheral modules of the switch box includes terminal strips, which are connected to the contacts of the third connector component 33.
  • the programmable logic controller 3 is programmed for an autonomous operation of the production unit 2 and a fully automatic implementation of at least one manufacturing ⁇ tion step with the production unit 2, as soon as a sensor of the manufacturing unit 2 detects a supply of a workpiece or workpiece carrier in a working area of the manufacturing unit 2.
  • the programmable logic controller 3 has a first software interface, which allows an exchange of status messages between the programmable logic controller 3 and other programmable logic controllers in a running operation.
  • the programmable controller ⁇ 3 further includes a second software interface, via which the programmable logic controller 3 is configurable.
  • the production carrier module 1 Due to the mechanical interface 4, the plug connectors 31, 32, 33, 34 as well as the first and the second software interface, the production carrier module 1 has uniform interfaces, so that a production carrier module, which is equipped, for example, with a welding unit, directly by a similar Production carrier module can be exchanged.
  • the uniform interface len also have the advantage that can be replaced by manufacturing carrier modules with other functionality, ie other manufacturing units, without much effort Ferti ⁇ or support modules.
  • the manufacturing carrier module 1 is set up to participate in a first closed protective circuit by hard-wiring two contacts of the third plug-in component 33 as part of the first protective circuit. A first contact acts as input and a second contact as output for the first protection circuit.
  • the first protection circuit extends by means of several cables from the third connector component 33 to a terminal block in a control box, from there through a hole in the mounting platform 9 and then through a groove in one of the aluminum profile spars to a protective switch, such as a circuit breaker of a guard or a Sliding protection, and then back to the terminal block or the connector component 33.
  • the cables here ver ⁇ bind the first contact of the third connector component 33 with the second contact of the third plug connection component 33.
  • An interruption of the first protective circuit by opening the protective door on the production carrier module 1 thus causes an emergency stop or an emergency stop for all Vietnamesestragägermo ⁇ modules.
  • a second protection circuit can be provided for additional security.
  • the trapezoidal mounting platform 9 is in this case at its longest side with a standardized mechanical Interface for mounting a protective rear wall in Fertigbau ⁇ prepared, for example by holes are provided at predefined ⁇ positions along the longest side of the mounting platform 9.
  • This allows a simple and standardized design of a protective housing. If, for example, the production carrier modules (as shown in FIG. 2) are arranged in honeycomb form and equipped on the outside of the assembly platform 9 with a protective rear wall, this results in a closed protective housing for the entire honeycomb structure which, as explained above, is electrically protected by a protective circuit.
  • the trapezoidal mounting platform 9 can continue to be prepared on its shortest side for mounting a protective wall in prefabricated construction with a standardized mechanical interface, for example by holes are provided at pre ⁇ defined positions along the shortest side of the mounting platform 9. If the manufacturing carrier modules now (as shown in Figure 1) arranged in line form, and equipped on the longest side of the mounting platform 9 each with a protective rear panel, can also each ⁇ wells the shortest side of the mounting platform 9 are equipped with a protective wall, in addition, resulting in a closed Protection housing along both sides of the production line results.
  • FIG. 7 shows a production carrier module 1, which can be configured via a portable operating device 40.
  • a host computer 50 for example a programmable logic controller, a router or a computer, maintains a wireless communication link with the portable operator device 40 and a wired communication link with the programmable logic controller 3 of the manufacturing carrier module 1, which is produced via the second connector component 32.
  • the master computer provides a graphical user interface Be ⁇ , for example, based on HTML, for on ⁇ show on the portable operating unit 40 provided that their ⁇ hand access to the second software interface programmable controller 3 for configuring the programmable logic controller 3 based on inputs on the portable control unit 40 allows.
  • a cell controller is provided, which is for example a further programmable controller.
  • the programmable logic controllers 3 of the manufacturing carrier modules 1 are each programmed to signal the cell controller as soon as the at least one production step has been completed by the respective manufacturing carrier module 1.
  • the cell control is in turn programmed, a
  • the programmable logic controllers 3 of the production carrier modules 1 are each programmed to register themselves independently with the cell controller and / or the previously explained master computer 50.
  • the programmable logic controllers 3 of the manufacturing carrier modules 1 can be suitably configured so that all data required for the modular registration is locally encapsulated or stored on the respective manufacturing carrier module 1. This enables a "Plug &Produce", in which a manufacturing carrier module can be put into operation autonomously immediately after its integration.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Programmable Controllers (AREA)

Abstract

L'invention concerne un module support de fabrication (1) équipé d'éléments de raccordement enfichables pour l'air comprimé (31), Ethernet (32) et des signaux de commande (33), de sorte que le module de support de fabrication (1) peut être remplacé à tout moment par un module de support de fabrication présentant une fonctionnalité identique ou différente. Cet aspect d'une possibilité de réutilisation flexible est encore accru par le fait que chaque module de support de fabrication individuel dispose d'un automate programmable (3) propre, de sorte que des séquences de fabrication et de montage flexibles et pouvant être adaptées rapidement sont permises. Le module de support de fabrication (1) est par exemple un établi trapézoïdal et peut être installé linéairement ou en nid d'abeille de manière flexible à l'aide de modules similaires. Cela permet d'assembler un système de fabrication de configuration modulaire, lequel présente un risque d'investissement sensiblement moindre en termes d'éventuelles modifications et adaptations en fonction des produits à fabriquer, du nombre de pièces et des processus technologiques. Dans un mode de réalisation amélioré, les modules sont équipés d'unités de fabrication (2) telles que des têtes à souder, des dispositif d'avance de métal d'apport en ruban ou des unités de perçage et sont disposés en nid d'abeilles. Un plateau tournant central permet alors à un utilisateur d'avoir accès à l'ensemble des unités de production (2).
PCT/EP2016/060198 2015-06-30 2016-05-06 Module support de fabrication Ceased WO2017001088A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015212167.4A DE102015212167A1 (de) 2015-06-30 2015-06-30 Fertigungsträgermodul
DE102015212167.4 2015-06-30

Publications (1)

Publication Number Publication Date
WO2017001088A1 true WO2017001088A1 (fr) 2017-01-05

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/060198 Ceased WO2017001088A1 (fr) 2015-06-30 2016-05-06 Module support de fabrication

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DE (1) DE102015212167A1 (fr)
WO (1) WO2017001088A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107577237A (zh) * 2017-10-10 2018-01-12 深圳市普渡科技有限公司 一种模块化的配送机器人

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US2860404A (en) * 1954-06-22 1958-11-18 Alden Milton Work center
DE2713326A1 (de) * 1977-03-25 1978-09-28 Gregory Wolfram Laboreinheit
EP0192816A2 (fr) * 1985-02-20 1986-09-03 Wolfgang Dipl.-Ing. Priesemuth Arrangement d'atelier
EP2439025A1 (fr) * 2010-10-06 2012-04-11 Siemens Aktiengesellschaft Module de soutien à la production
US20130327569A1 (en) * 2012-06-07 2013-12-12 Doug Mockett & Company, Inc. Power and communications grommet
US20150120238A1 (en) * 2013-10-24 2015-04-30 Fujitsu Limited Monitoring adjustable workstations

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Publication number Priority date Publication date Assignee Title
FR1465694A (fr) 1965-12-03 1967-01-13 Table de manipulations et servante à outils
DE9113067U1 (de) 1991-10-21 1992-02-20 Volkswerft GmbH, O-2300 Stralsund Teamarbeitsplatz für Auszubildende
DE19948643A1 (de) 1999-09-29 2001-04-19 Eberhard Roemer Arbeitsplatzeinheit
DE20001287U1 (de) * 2000-01-26 2000-05-04 Otto Kind Betriebs-und Büroeinrichtungen GmbH, 51709 Marienheide Arbeitstisch
DE102005003564A1 (de) * 2005-01-25 2006-08-03 Rosenthal Ag Verkabelung von Vielzweckmöbeln

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Publication number Priority date Publication date Assignee Title
US2860404A (en) * 1954-06-22 1958-11-18 Alden Milton Work center
DE2713326A1 (de) * 1977-03-25 1978-09-28 Gregory Wolfram Laboreinheit
EP0192816A2 (fr) * 1985-02-20 1986-09-03 Wolfgang Dipl.-Ing. Priesemuth Arrangement d'atelier
EP2439025A1 (fr) * 2010-10-06 2012-04-11 Siemens Aktiengesellschaft Module de soutien à la production
US20130327569A1 (en) * 2012-06-07 2013-12-12 Doug Mockett & Company, Inc. Power and communications grommet
US20150120238A1 (en) * 2013-10-24 2015-04-30 Fujitsu Limited Monitoring adjustable workstations

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107577237A (zh) * 2017-10-10 2018-01-12 深圳市普渡科技有限公司 一种模块化的配送机器人
CN107577237B (zh) * 2017-10-10 2024-02-23 深圳市普渡科技有限公司 一种模块化的配送机器人

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