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Publication numberCN202097734 U
Publication typeGrant
Application numberCN 201120149293
Publication date4 Jan 2012
Filing date12 May 2011
Priority date12 May 2011
Publication number201120149293.1, CN 201120149293, CN 202097734 U, CN 202097734U, CN-U-202097734, CN201120149293, CN201120149293.1, CN202097734 U, CN202097734U
Inventors龚仲华
Applicant常州机电职业技术学院
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
Automatic loosening/clamping manipulator
CN 202097734 U
Abstract
The utility model relates to an automatic loosening/clamping manipulator which comprises two claws and an arm, wherein the claws are rotationally connected with the left end of the arm, the automatic loosening/clamping manipulator also comprises a sliding block, a locking block, a roller wheel, a connecting block, a first spring and a mandril; a notch is arranged in the middle of the locking block, and a limit bayonet is arranged at the lower end of the locking block in the vertical direction; the sliding block capable of sliding left and right is sleeved on the locking block; the roller wheel is rotationally connected with the inside of a groove of the sliding block on the claws; the connecting block runs through the arm to be fixedly connected to the lower side of the sliding block; the first spring and the mandril are sealed in a blind hole of the arm by the claws, and the other end of the mandril reaches against the claws. The structural design of the manipulator is very simple, the automatic loosening/clamping manipulator can be conveniently machined by conventional equipment, the machining and manufacturing cost is low, the action of the manipulator is very reliable, and the manipulator is very easy to adjust and maintain.
Claims(3)  translated from Chinese
1. 一种自动松/夹机械手,包括两个手爪(3)、手臂、手爪(3)转动联接于手臂(4) 的左端,其特征在于:所述的自动松/夹机械手还包括滑块(6)、锁定块(5)、滚轮(9)、联接块(13)、第一弹簧(7)和顶杆(8);锁定块(5)的中部有一槽口,下端设有垂直方向的限位卡口;在锁定块(上套装一个可以左右滑动的滑块(6);滚轮(9)转动联接于手爪(3)上置于滑块(6)的凹槽内部;贯穿手臂的联接块(13)固定联接于滑块(6)的下方;手爪⑶把第一弹簧(7)和顶杆⑶封闭在手臂⑷的盲孔内,顶杆⑶的另一端顶在手爪(3) 上。 An automatic song / clip manipulator, including two gripper (3), arm, gripper (3) is coupled to the arm rotation (4) of the left end, characterized in that: the automatic release / folder robot also includes the slider (6), the locking block (5), the roller (9), the coupling block (13), a first spring (7) and the mandrel (8); locking block (5) has a central slot, with the lower end (Set on a sliding around slider (6) in the locking block;; roller (9) rotating coupling (3) placed on the slider (6) in a recess inside the gripper limit bayonet vertical ; through the arms of the coupling block (13) is fixedly connected to the bottom of the slider (6); gripper ⑶ the first spring (7) and jack ⑶ ⑷ closed blind hole in the arm, the other end of the top ram ⑶ In the gripper (3).
2.根据权利要求1所述的自动松/夹机械手,其特征在于:所述自动松/夹机械手,还包括上盖板(11)和第二弹簧(12),上盖板(11)固定联接在手臂(4)将第二弹簧(1封闭在锁定块(5)内部。 According to claim 1, wherein the automatic song / clip manipulator, characterized in that: the automatic release / folder robot, including the cover (11) and a second spring (12), the cover (11) fixed coupled to the arm (4) of the second spring (1 enclosed in (5) internal locking block.
3.根据权利要求1或2所述的自动松/夹机械手,其特征在于:所述自动松/夹机械手,还包括碰珠(14),下盖板(15)和压块(10);碰珠(14)固定联接于联接块(13)的下端; 套装在锁定块(5)底部的下盖板(15)固定联接于手臂的底端;压块(10)固定联接于手臂的上端面。 3. The automatic release 1 or 2 claims / clip manipulator, characterized in that: the automatic release / folder manipulator, also includes touch beads (14) and lower cover (15) and compact (10); lower touch beads (14) fixedly connected to the coupling block (13); Set the locking block (5) at the bottom of the cover plate (15) fixedly connected to the bottom end of the arm; compact (10) fixedly connected to the arm end face.
Description  translated from Chinese

自动松/夹机械手 Auto Song / folder manipulator

技术领域 Technical Field

[0001] 本实用新型涉及一种机械手,尤其涉及一种可广泛用于数控机床、机器人、自动生产线的无需动力与控制的多用途自动松/夹机械手。 [0001] The invention relates to a manipulator, in particular, relates to a widely used without power and control of CNC machine tools, robots, automated production line of multi-purpose automatic song / folder manipulator.

背景技术 Background

[0002] 机械手是广泛用于数控机床、机器人、自动生产线的物体自动装卸装置,动作快捷可靠、控制简单容易是各行各业对机械手的共性要求。 [0002] The robot is widely used for automatic object handling device CNC machine tools, robots, automated production lines, act fast, reliable, simple and easy control of all walks of life the common requirements for the robot. 机械手通常包括手臂运动(输送)与手爪运动(松/夹)两部分运动,前者可通过气动、液压、伺服驱动、皮带等标准结构实现; 后者的结构与需要装卸的物体有关,但都必须有抓取物体时的夹紧和安放物体时的松开动作。 Robot typically includes arm movements (transport) and gripper movement (pine / folder) in two parts movement, the former can be achieved by a pneumatic, hydraulic, servo drives, belts and other standard structure; the latter structure and handling objects related needs, but all There must be action clamp and release when placed object when gripping objects.

[0003] 目前,绝大部分机械手的手爪松开/夹紧都是采用气动、液压或电磁铁等进行控制,这样的手爪不但控制复杂、松/夹范围与夹持力调整困难、生产成本高,而且一旦动力部件发生故障,其物体就有可能跌落;此外,气动、液压或电磁铁等装置的动作都需要有一定的时间,故其动作速度相对较慢。 [0003] Currently, most of the robot gripper release / clamping are based on pneumatic, hydraulic or electro-magnet to control not only control this complex gripper, pine / clip with a clamping force range adjustment difficulties, production high cost, and once power unit fails, its object is likely to fall; in addition, operation of the apparatus of pneumatic, hydraulic or electro-magnet needs to have a certain amount of time, so the action is relatively slow.

实用新型内容 Utility Model Content

[0004] 本实用新型要解决的技术问题是:提供一种无需动力与控制的、多用途自动松/ 夹机械手,它利用了机械手在前后、上下移动时所产生的距离变化与动作顺序区别,自动实现了手爪对物体的夹持与松开动作。 [0004] The technical problem to be solved by the utility model is: no need to provide a power and control, multi-purpose automatic song / folder robot, which uses the difference between the change in distance order with the action the robot around, move up and down when generated, automatically the gripper holding the object and release action. 这种机械手的手爪夹持与松开不需要气动、液压、电磁铁等动力部件,无需电气控制;手爪的松/夹范围可变;夹持力可调;夹持与松开动作没有任何延时,其“夹紧”和“松开”动作十分简单、快捷、可靠。 This robot gripper clamping and release does not require pneumatic, hydraulic, electro-magnet and other power components without electrical control; gripper song / folder variable range; adjustable clamping force; clamping and release action is not Any delay, its "grip" and "release" action is very simple, fast and reliable.

[0005] 本实用新型解决其技术问题所采用的技术方案是:一种自动松/夹机械手,包括两个手爪、手臂、手爪转动联接于手臂的左端,所述的自动松/夹机械手还包括滑块、锁定块、滚轮、联接块、第一弹簧和顶杆;锁定块的中部有一槽口,下端设有垂直方向的限位卡口;在锁定块上套装一个可以左右滑动的滑块;滚轮转动联接于手爪上置于滑块的凹槽内部;贯穿手臂的联接块固定联接于滑块的下方;手爪把第一弹簧和顶杆封闭在手臂的盲孔内,顶杆的另一端顶在手爪上。 [0005] The technical scheme of the utility model for solving the technical problem is used: an automatic song / clip manipulator includes two gripper arm, gripper arm coupled to the left end of the rotation, the automatic song / clip manipulator also includes a slider, the locking block, wheel, connecting pieces, the first spring and jack; central locking block has a notch lower end with a vertical limit bayonet; on the locking block suit can slide in a slide block; rotation of the roller is placed inside the recess slider is coupled to the gripper; downward through the arms of the coupling block fixedly coupled to the slider; gripper of the first spring and push rod enclosed in the arms of a blind hole, jack The other end of the top in the gripper.

[0006] 本实用新型所述自动松/夹机械手,还包括上盖板和第二弹簧,上盖板固定联接在手臂将第二弹簧封闭在锁定块内部。 [0006] The utility model is the automatic song / clip manipulator, but also on the cover and a second spring, the cover plate coupled to the second spring arm locking block enclosed inside. 所述自动松/夹机械手,还包括碰珠,下盖板和压块;碰珠固定联接于联接块的下端;套装在锁定块底部的下盖板固定联接于手臂的底端; 压块固定联接于手臂的上端面。 The automatic release / folder manipulator, also includes touch beads, under cover and compact; the lower end coupled to the coupling touch beads fixed block; the bottom of the package in the locking block under the bottom cover plate is coupled to the arm; compact fixed coupled to the upper end of the arm.

[0007] 取出物体时,可利用机械手在水平方向接近物体过程中支架对机械手的反作用力,通过机械联锁机构,保证机械手运动到物体安放位置时手爪能够自动夹持物体;此后, 只要机械手向上运动取出物体,手爪将始终保持在夹持状态,以取出物体。 [0007] When removing objects, you can use the robot close to the body during stent robot reaction force in the horizontal direction, by mechanical interlocking mechanism, to ensure that the robot moves to the object placement when the gripper automatically clamped object; thereafter, as long as the robot Remove the upward movement of the object, the gripper will remain in the clamped state, in order to remove the object. 放置物体时,可利用机械手在上下方向接近物体过程中支架对机械手的反作用力,通过机械联锁机构,保证机械手运动到物体安放位置后,只要机械手在水平方向离开物体,手爪就能够自动松开物体并保持松开状态,完成物体的安放动作。 When placing an object, you can use the robot approaching object during stent robot reaction force in the vertical direction, by mechanical interlocking mechanism, ensure after robot motion to object placement, as long as the robot to leave the object in the horizontal direction, the gripper can automatically loose open and maintain release status of objects, object placement completed action.

[0008] 上述技术方案所涉及的所有零部件的结构设计均十分简单,其加工可以利用常规设备方便地完成,加工制造成本低,机械手的动作非常可靠,安装调整与维修十分容易。 Structural design of all parts of [0008] the technical scheme involved are very simple, the processing equipment can be conveniently accomplished by conventional, low manufacturing costs, the robot moves very reliable, very easy installation and adjustment and maintenance.

[0009] 采用上述技术方案后,机械手的手爪夹紧与松开将不再需要气动、液压、电磁铁等动力部件与控制,做到了无动力、无延时自动松/夹;机械手的手爪夹紧和松开十分简单、 快捷与可靠。 [0009] With the technical scheme, the robot gripper clamping and release will not need pneumatic, hydraulic, electro-magnet and other power components and control, so that no power, no delay automatic song / folder; robot hand claw clamp and release is very simple, fast and reliable.

[0010] 本实用新型的有益效果是,解决了背景技术中存在的缺陷,机械手的手爪松/夹范围、夹持力调整不需要改变任何机构,其调整十分方便;此外,物体一旦被夹持,可以通过机械联锁机构始终将其保持在夹紧锁定状态,因此也不会因为断电或气动、液压故障导致物体的跌落与损坏。 [0010] The invention has the advantages that solve the drawbacks in the background art, the robot gripper song / clip range, the clamping force adjustment without changing any mechanism to adjust very convenient; In addition, the object once caught who, by a mechanical interlock mechanism always to keep it locked in the clamping state, not because of a power outage or pneumatic, hydraulic failure causes dropped and damaged objects.

附图说明 Brief Description

[0011] 下面结合附图和实施例对本实用新型进一步说明。 [0011] The utility model further below in conjunction with the accompanying drawings and the description of embodiments.

[0012] 图1-1至图1-2为无需动力与控制的多用途自动松/夹机械手结构总图; [0012] FIG. 1-1 to 1-2 is without power and control of multi-purpose automatic song / folder structure of the total mechanical hand;

[0013] 图2-1至图2-3为机械手手爪自动夹紧与锁定的动作原理与过程图; [0013] FIG. 2-1 to 2-3 for the robot gripper automatic clamping and locking the operating principle and process diagram;

[0014] 图3-1至图3-3为机械手手爪自动松开与保持的动作原理与过程图; [0014] FIG. 3-1 to 3-3 to keep the automatic release and movement of the robot gripper principle and process diagram;

[0015] 图中:1.物体,2.钳口,3.手爪,4.手臂,5.锁定块,6.滑块,7.第一弹簧,8.顶杆,9.滚轮,10.压块,11.上盖板,12.第二弹簧,13.联接块,14.碰珠,15.下盖板,16.支架。 [0015] in which:.... 1 body, 2 jaw gripper 3, 4 arm, locking block 5, 6 sliders, 7 first spring mandrel 8, 9 wheel, 10.... - Block, 11 on the cover 12. The second spring 13 junction block, 14 touch beads, 15 under cover, 16 bracket.

具体实施方式 DETAILED DESCRIPTION

[0016] 现在结合附图和优选实施例对本实用新型作进一步详细的说明。 [0016] will now be described in more detail in the drawings and the preferred embodiment of the present utility model to make. 这些附图均为简化的示意图,仅以示意方式说明本实用新型的基本结构,因此其仅显示与本实用新型有关的构成。 The figures are simplified schematic, only schematically illustrate the basic structure of the utility model, so it displays only the constitution and the utility model-related.

[0017] 无需动力与控制的多用途自动松/夹机械手的总体结构见图1-1至图1-2所示。 [0017] without power and control of multi-purpose automatic song / clip manipulator general structure shown in Figure 1-1 to Figure 1-2.

[0018] 本实用新型中的机械手主要包括了钳口2、手爪3、手臂4、锁定块5、滑块6、松开第一弹簧7、顶杆8、滚轮9、压块10、上盖板11、锁定第二弹簧12、联接块13、碰珠14、下盖板15等零件,它通过物体装卸时支架16对机械手产生的反作用力,通过机械联锁机构,实现了手爪3对物体1的自动松/夹以及夹紧锁定与松开保持动作。 [0018] This utility model the robot includes a jaw 2, 3 gripper arm 4, the locking block 5, block 6, the release of the first spring 7, the mandrel 8, rollers 9, 10 briquettes on cover 11, locking the second spring 12, the coupling block 13, a touch beads 14 and lower cover 15 and other parts, which stand 16 pairs of reaction force generated when the robot through the object handling by mechanical interlocking mechanism, to achieve the gripper 3 automatic release of the object 1 / folder and keep the action and release the clamp lock.

[0019] 机械手的手臂4可与任何能够同时作水平与上下运动的输送装置连接,通过调整机械手的水平移动距离,可随时改变手爪的松/夹范围;通过调整机械手的水平运动力,可直接改变物体的夹持力;而改变钳口(则可适应不同材料、不同形状的物体的松/夹要求。 [0019] robot arm 4 can be connected to any delivery device capable of simultaneously horizontally and up and down movement, by adjusting the robot horizontal moving distance, you can always change the gripper pine / Clip range; by adjusting the robot horizontal motion force, can clamping force directly change the object; and change jaw ( can be adapted to different materials, different shapes of loose objects / folders requirements.

[0020] 机械手的手爪3松/夹动作通过绕支点0的回转实现,改变其回转角度,便可调整松/夹范围。 [0020] The robot gripper 3 loose / folder action by rotation around the fulcrum 0 of realization, change its rotation angle can be adjusted pine / clip range. 手爪的夹紧动力来自滑块6的运动,当滑块6向右运动时,可通过滚轮9推动手爪向内回转,夹持物体。 Clamping force from the slide movement gripper 6, when the slider 6 moves to the right, you can promote inward rotation gripper, gripping an object through rollers 9. 手爪的松开动力来自松开第一弹簧7,当滑块6自由时,松开第一弹簧7可通过顶杆8推动手爪3向外回转,松开物体。 Loosen the power from the release of the first spring gripper 7, when the slider 6 free, release of the first spring 7 can paw through the mandrel 8 3 outward rotation driven release objects.

[0021] 滑块6的右移动力来自支架16的反作用力;当机械手靠近物体时,它可在碰珠14、联接块13的推动下右移,实现夹紧动作。 Right power [0021] The slider 6 from the reaction bracket 16; when the robot close to the object, it can be at 14, pushing touch beads coupling block 13 to the right, to achieve the clamping action. 滑块6的左移动力来自松开第一弹簧7 ;当机械手离开物体时,松开第一弹簧7、顶杆8将推动手爪3向外旋转,实现松开动作;而固定于手爪上的滚轮9将带动滑块左移。 6 power slider to the left from the release of the first spring 7; when the robot to leave the body to release a first spring 7, the mandrel 8 will drive the gripper 3 is rotated outward to achieve release action; fixed to the gripper 9 on the wheel will drive the slider to the left.

[0022] 锁定块5是实现夹紧锁定与松开保持的关键零件。 [0022] The locking block 5 is to achieve locking and release the clamp holding the key parts. 夹紧锁定时,它由锁定第二弹簧12推动下移,此时其中的槽口将与滑块6错位,从而阻止了滑块6的左移运动,物体1将被锁定在夹紧状态。 When the clamp is locked, it pushes down the locking of the second spring 12, which at this time slot will work with the slider 6 dislocation, thus preventing the slider left movement 6, the object 1 will be locked in the clamped state. 当机械手向下运动时,锁定块5在支架16反作用力的推动下上移,使其中的槽口与滑块6平移位置对齐,此时只要机械手水平离开物体,滑块6将左移松开物体, 同时,其平移将禁止锁定块5的向下运动,物体1将被保持在松开状态。 When the robot moves downward, the locking block 5 shift driven by the reaction force of the holder 16, so that one of the slots is aligned with the slider 6 translational position, then just leave the object manipulator level, the slider 6 left release objects, while its translation will be banned downward movement of the locking block 5, the object 1 will be held in the disengaged state.

[0023] 上盖板11用于锁定第二弹簧12固定和锁定块5的上移限位;下盖板15用于锁定块5的下移限位;压块10用于滑块6的左右运动导向和上下定位。 [0023] 11 for locking the lid on the second spring 12 is fixed and locking block 5 shift limit; lower cover 15 for locking block down the limit 5; compact slider 10 for about 6 sports-oriented and vertically positioned.

[0024] 机械手的手爪自动夹紧与锁定动作原理与过程如图2-1至图2-3所示。 [0024] The robot gripper automatic clamping and locking operation principle and process shown in Figure 2-1 to Figure 2-3.

[0025] 当机械手水平方向接近物体时,支架16通过碰珠14和联接块13推动滑块6右移; 滑块6通过滚轮9带动手爪向内回转,夹持物体。 [0025] When the robot approaching object horizontally, the bracket 16 by touching the beads 14 and the coupling block 13 by pushing the slide 6 to the right; the slider 6 by the roller 9 driven gripper inward rotation, gripping objects. 当机械手向上运动取出物体时,锁定块5 由锁定第二弹簧12推动下移,并到达下盖板15的限位位置,其中的槽口与滑块6错位,从而阻止滑块6的左移运动,将手爪3锁定在夹紧状态。 When the object removed by robot movement upwards, pushing down the locking block 5 by the locking of the second spring 12 and reaches the lower limit position plate 15, wherein the notch and the slider 6 dislocation, thus preventing slider left 6 movement, the gripper 3 is locked in the clamped state.

[0026] 机械手的手爪自动松开与保持动作原理与过程如图3-1至图3-3所示。 [0026] The robot gripper automatic release and hold operation principle and process as shown in Figure 3-1 to Figure 3-3.

[0027] 当夹持有物体的机械手向下运动到安装位置时,支架16将推动锁定块5上移,并到达上盖板11的限位位置,使其中的槽口与滑块6的平移位置对齐,允许滑块6进入槽口。 [0027] When the clip holding the object manipulator downward movement to the mounting position, the bracket 16 will push the shift lock block 5 and reaches the limit position of the cover plate 11, so that one of the slots and slide pan 6 an alignment that allows the slider 6 into the slot. 当机械手水平方向离开物体的开始阶段,锁定块5被支架16保持在上位,而滑块6及与之连接的联接块13、碰珠14都可以在松开第一弹簧7、顶杆8与手爪3、滚轮9的推动下向左复位;手爪向外回转,物体被自动松开。 When the robot horizontal direction away from the beginning of the object, the lock block 5 is held in the upper bracket 16, and the slider 6 and the coupling block 13 connected thereto, touch beads 14 can be in the first release of the spring 7, the mandrel 8 Gripper 3, reset the left driven roller 9; gripper outward rotation, the object is automatically released. 滑块6的左移将进入锁定块5的槽口,并禁止其向上的运动,故手爪3可始终保持在松开状态。 Slider to the left will enter the locking block 6 slot 5 and prohibits its upward movement, gripper 3 may remain in the release state.

[0028] 本实用新型的原理为:利用上述机械联锁机构,取出物体时,可利用机械手在水平接近物体过程中支架所产生的反作用力,保证机械手运动到物体安放位置时手爪能够自动夹持物体,并始终保持在夹紧锁定状态;放置物体时,可利用机械手在向下接近物体过程中支架对机械手的反作用力,保证机械手运动到物体安放位置后,在机械手水平离开物体时能自动松开物体,并始终保持在松开保持状态。 [0028] The utility model works as follows: With the above mechanical interlocking mechanism, when removing an object, the robot can be used in a horizontal reaction force during the stand near the object generated by the robot motion to ensure the placement of the object when the gripper folder automatically holding an object, and always keep the clamp locked state; when placing an object, you can use the robot stand for robot reaction force down an approaching object process, to ensure that the robot moves to the rear object placement, the robot level leave objects automatically Release the object, and remain at the release on hold.

[0029] 采用上述技术方案的机械手,其手爪的夹紧与松开不需要气动、液压、电磁铁等动力部件控制,便可实现物体的无延时自动松/夹;而可通过调整水平移动距离与移动力, 就能灵活改变手爪的松/夹范围与夹持力;且其夹紧与松开状态能够自动锁定与保持,故还可防止断电或气动、液压系统故障导致物体的跌落与损坏。 [0029] By adopting the technical scheme of the robot, the gripper clamping and release does not require pneumatic, hydraulic, electro-magnet power unit control, you can achieve the object without delay automatic song / folder; and by adjusting the level the moving distance and the moving force, the gripper can be changed flexibly pine / folder and clamping force range; and its clamping and releasing the status can be automatically locked and maintained, it can also prevent power outages or pneumatic, hydraulic system failure Objects It drops and damage.

[0030] 上述技术方案所涉及的所有零部件的结构设计均十分简单,其加工可以利用常规设备方便地完成,加工制造成本低,机械手的动作非常可靠,安装调整与维修十分容易。 Structural design of all parts of [0030] the technical scheme involved are very simple, the processing equipment can be conveniently accomplished by conventional, low manufacturing costs, the robot moves very reliable, very easy installation and adjustment and maintenance.

[0031] 以上说明书中描述的只是本实用新型的具体实施方式,各种举例说明不对本实用新型的实质内容构成限制,所属技术领域的普通技术人员在阅读了说明书后可以对以前所述的具体实施方式做修改或变形,而不背离实用新型的实质和范围。 [0031] The above described in the specification of the utility model only specific embodiments, various examples of the utility model not be construed to limit the substance of ordinary skill in the art can be said before reading the manual after the concrete Embodiment make modifications and variations, without departing from the spirit and scope of the utility model.

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Classifications
International ClassificationB25J15/00, B25J9/08
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DateCodeEventDescription
4 Jan 2012C14Grant of patent or utility model
29 Jun 2016EXPYTermination of patent right or utility model