CN111571575B - Single-arm double-manipulator for long rod thread rolling feeding - Google Patents
Single-arm double-manipulator for long rod thread rolling feeding Download PDFInfo
- Publication number
- CN111571575B CN111571575B CN202010480832.3A CN202010480832A CN111571575B CN 111571575 B CN111571575 B CN 111571575B CN 202010480832 A CN202010480832 A CN 202010480832A CN 111571575 B CN111571575 B CN 111571575B
- Authority
- CN
- China
- Prior art keywords
- longitudinal
- guide rail
- servo motor
- plate
- lifting
- 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.)
- Active
Links
- 238000005096 rolling process Methods 0.000 title claims abstract description 10
- 238000013519 translation Methods 0.000 claims abstract description 27
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 21
- 230000001360 synchronised effect Effects 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 4
- 210000000056 organ Anatomy 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 6
- 238000007599 discharging Methods 0.000 abstract description 4
- 206010000372 Accident at work Diseases 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 6
- 238000003754 machining Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005272 metallurgy 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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a single-arm double manipulator for long-rod thread rolling feeding, which comprises two bases, wherein a bottom plate is arranged at the top ends of the two bases, a transverse translation guide rail is arranged at one end of the bottom plate, a sliding block is embedded and movably arranged in the transverse translation guide rail, a smooth plate is arranged above the sliding block, a speed reducer is embedded and arranged in the smooth plate, and a gear is sleeved on an output shaft of the speed reducer; a rack is arranged on the side surface of the middle of the transverse translation guide rail, and the rack is meshed with the gear; the invention has the advantages of scientific and reasonable structure, safe and convenient use, reasonable structural design, convenient use and high automation degree, can replace the manual feeding and discharging processes, improves the processing efficiency and reduces the industrial accidents.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a single-arm double-manipulator for feeding long rod thread rolling.
Background
A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, the structure and the performance of the method have the advantages of both people and a mechanical hand device, and the mechanical hand is an industrial robot which appears earliest and a modern robot which appears earliest, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environments to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like;
When the part is machined, a workpiece is sent to a designated position for machining in a manual mode, such as machining a long screw rod, a bolt and the like, in a machining process, unprocessed blank materials are usually conveyed to the designated position, and a manual mode is used for carrying out feeding and discharging procedures, so that on one hand, the precision of workpiece placement is reduced by a manual factor, on the other hand, a plurality of workers are required to finish the operation of a machine table, the personnel cost is increased, the machining speed is influenced, and the life safety of the workers is greatly dangerous due to the fact that key workpieces are long.
Disclosure of Invention
The invention provides a single-arm double-manipulator for feeding long rod thread rolling, which can effectively solve the problems that in the background technology, human factors are put forward, on one hand, the precision of workpiece placement is reduced, and on the other hand, a plurality of workers are needed to finish the operation of a machine table, so that the personnel cost is increased, the processing speed is influenced, and the critical workpieces are longer and have great danger to the life safety of the workers.
In order to achieve the above purpose, the present invention provides the following technical solutions: the long rod thread rolling feeding single-arm double-manipulator comprises two bases, wherein a bottom plate is arranged at the top ends of the two bases, a transverse translation guide rail is arranged at one end of the bottom plate, a sliding block is movably embedded in the transverse translation guide rail, a smooth plate is arranged above the sliding block, a speed reducer is embedded in the smooth plate, and a gear is sleeved on an output shaft of the speed reducer;
A rack is arranged on the side surface of the middle of the transverse translation guide rail, and the rack is meshed with the gear;
the front part, the back part and the upper part of the side end face of the bottom plate are respectively provided with a large arm, the surface of each large arm is provided with a longitudinal guide rail, one end of each longitudinal guide rail, which is far away from the transverse translation guide rail, is provided with a longitudinal bearing seat, the outer side of each longitudinal bearing seat is sleeved with a synchronous wheel, the outer side of each synchronous wheel is sleeved with a first synchronous belt, and the other end of each first synchronous belt is sleeved with an output shaft of a second longitudinal servo motor;
The longitudinal guide rail is connected with the longitudinal sliding plate in a sliding way, a vertical plate is arranged at the bottom end of the longitudinal sliding plate, and the surface of the longitudinal guide rail is connected with a vertical guide rail;
the lifting slide plate is installed on the top end of the longitudinal slide plate, the motor base is installed at one end of the lifting slide plate, the lifting servo motor is installed at one end of the motor base, and the lifting servo motor is movably connected with the lifting slide plate through a second synchronous belt.
According to the technical scheme, the two sides of the transverse translation guide rail are embedded with the installation sliding blocks, and the rack of the transverse translation guide rail is provided with the groove.
According to the technical scheme, the first longitudinal servo motor is installed and connected at the top end of the speed reducer, and an output shaft of the first longitudinal servo motor is connected with a transmission shaft of the speed reducer.
According to the technical scheme, the second longitudinal servo motor is arranged at one end of the first longitudinal servo motor, and the output shaft of the second longitudinal servo motor is sleeved with the synchronous wheel, so that the first synchronous belt is driven to rotate.
According to the technical scheme, the organ shield is sleeved on the outer side of the longitudinal guide rail.
According to the technical scheme, the bottom plate surface on one side of the transverse translation guide rail is provided with the drag chain groove, and the drag chain is sleeved on the outer side of the drag chain groove.
According to the technical scheme, the small drag chains are arranged at the tops of the longitudinal sliding plates.
According to the technical scheme, the fixed base is arranged on the surface of the lifting sliding plate, the lifting arm is arranged at the bottom end of the fixed base, the clamping jaw cylinder is arranged at the bottom end of the lifting arm, and the clamping jaw is connected with the bottom end of the clamping jaw cylinder.
According to the technical scheme, the first longitudinal servo motor, the second longitudinal servo motor, the lifting arm and the clamping jaw cylinder are connected with the PLC.
According to the technical scheme, the first synchronous belt is meshed and connected with the inside of the longitudinal sliding plate through belt lines.
Compared with the prior art, the invention has the beneficial effects that: the invention has scientific and reasonable structure and safe and convenient use, provides a device which has reasonable structural design, convenient use and high degree of automation, can replace the manual feeding and discharging processes, improves the processing efficiency and reduces the industrial accidents;
1. the first longitudinal servo motor of the cutter drives the speed reducer to move, the speed reducer drives the gear to rotate, the speed reducer is meshed with the rack, and the smooth plate is driven to move with the transverse translation guide rail through the sliding block to finish transverse movement.
2. The first synchronous belt is driven to rotate by the second longitudinal servo motor, the first synchronous belt drives the longitudinal sliding plate to move on the surface of the longitudinal guide rail, and friction force is reduced in the rotation of the longitudinal bearing seat and the synchronous wheel, so that normal longitudinal movement is facilitated.
3. And drive second synchronous belt through lift servo motor and carry out normal removal to second synchronous belt links to each other with the lift slide activity, thereby drives the removal from top to bottom of lift slide, and goes up and down through the lifting arm, and control the shrink and the extension of clamping jaw cylinder, drives the clamp of clamping jaw and gets, has made things convenient for normal clamp greatly.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
In the drawings:
FIG. 1 is a schematic diagram of the front view of the present invention;
FIG. 2 is a right side view of the present invention;
FIG. 3 is a right side view of the present invention;
FIG. 4 is a schematic rear view of the present invention;
Reference numerals in the drawings: 1. a base; 2. a bottom plate; 3. a transverse translation guide rail; 4. a slide block; 5. a rack; 6. a gear; 7. a smooth plate; 8. a speed reducer; 9. a first longitudinal servo motor; 10. a large arm; 11. a longitudinal guide rail; 12. a longitudinal bearing seat; 13. a synchronizing wheel; 14. a first timing belt; 15. a second longitudinal servo motor; 16. a longitudinal slide plate; 17. a vertical plate; 18. a vertical guide rail; 19. a lifting slide plate; 20. a lifting servo motor; 21. a motor base; 22. a second timing belt; 23. fixing the stand; 24. lifting the arm; 25. a clamping jaw cylinder; 26. a clamping jaw; 27. a drag chain; 28. an organ shield; 29. a drag chain groove; 30. a small drag chain.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Examples: as shown in fig. 1-4, the invention provides a technical scheme, and the single-arm double-manipulator for feeding long-rod rolling threads comprises two bases 1, wherein a bottom plate 2 is arranged at the top ends of the two bases 1, a transverse translation guide rail 3 is arranged at one end of the bottom plate 2, a sliding block 4 is movably embedded in the transverse translation guide rail 3, a smooth plate 7 is arranged above the sliding block 4, a speed reducer 8 is embedded in the smooth plate 7, a first longitudinal servo motor 9 is arranged at the top end of the speed reducer 8, an output shaft of the first longitudinal servo motor 9 is connected with a transmission shaft of the speed reducer 8, so that power transmission is formed, and a gear 6 is sleeved on an output shaft of the speed reducer 8;
a rack 5 is arranged on the side surface of the middle of the transverse translation guide rail 3, the rack 5 is meshed with the gear 6, the two sides of the transverse translation guide rail 3 are embedded into the installation slide blocks 4, and the rack 5 of the transverse translation guide rail 3 is provided with a groove, so that the installation of the rack 5 and the gear 6 is facilitated;
The front and back of the side end surface of the bottom plate 2 are provided with large arms 10, the surface of each large arm 10 is provided with a longitudinal guide rail 11, one end of each longitudinal guide rail 11 far away from the transverse translation guide rail 3 is provided with a longitudinal bearing seat 12, the outer side of each longitudinal bearing seat 12 is sleeved with a synchronous wheel 13, the outer side of each synchronous wheel 13 is sleeved with a first synchronous belt 14, the other end of each first synchronous belt 14 is sleeved with an output shaft of a second longitudinal servo motor 15, the second longitudinal servo motors 15 are arranged at one ends of the first longitudinal servo motors 9, and the output shafts of the second longitudinal servo motors 15 are sleeved with the synchronous wheels 13, so that the first synchronous belts 14 are driven to rotate, and the first synchronous belts 14 are meshed with the inner parts of the longitudinal sliding plates 16 through belt lines, so that normal movement is facilitated;
The outer side of the longitudinal guide rail 11 is sleeved with an organ shield 28 so as to prevent dust interference, the longitudinal guide rail 11 is connected with the longitudinal slide plate 16 in a sliding way, the bottom end of the longitudinal slide plate 16 is provided with a vertical plate 17, and the surface of the longitudinal guide rail 11 is connected with a vertical guide rail 18;
the lifting slide plate 19 is installed on the top of the longitudinal slide plate 16, the motor base 21 is installed to lifting slide plate 19 one end, and the lifting servo motor 20 is installed to motor base 21 one end, and lifting servo motor 20 passes through second synchronous belt 22 and lifting slide plate 19 activity link to each other.
The bottom plate 2 surface of horizontal translation guide rail 3 one side has seted up tow chain groove 29, and the tow chain 27 has been cup jointed to the tow chain groove 29 outside to be convenient for normal cable is placed, and the little tow chain 30 is all installed at vertical slide 16 top.
The fixed frame 23 is installed to lift slide 19 surface mounting, and lift arm 24 is installed to fixed frame 23 bottom, and clamping jaw cylinder 25 is installed to lift arm 24 bottom, and clamping jaw cylinder 25 bottom is connected with clamping jaw 26, and first vertical servo motor 9, second vertical servo motor 15, lift servo motor 20, lift arm 24 and clamping jaw cylinder 25 link to each other with the PLC control.
The working principle and the using flow of the invention are as follows: in operation, through external program control or manual control, in use, the first longitudinal servo motor 9 of the cutter drives the speed reducer 8 to move, so that the speed reducer 8 drives the gear 6 to rotate, the speed reducer 8 is meshed with the rack 5, and the smooth plate 7 is driven to move with the transverse translation guide rail 3 through the sliding block 4 to finish transverse movement;
The first synchronous belt 14 is driven to rotate by the second longitudinal servo motor 15, the first synchronous belt 14 drives the longitudinal sliding plate 16 to move on the surface of the longitudinal guide rail 11, and friction force is reduced in the rotation of the longitudinal bearing seat 12 and the synchronous wheel 23, so that normal longitudinal movement is facilitated;
The second synchronous belt 22 is driven to normally move through the lifting servo motor 20, and the second synchronous belt 22 is movably connected with the lifting slide plate 19, so that the lifting slide plate 19 is driven to move up and down, the lifting arm 24 is lifted, the shrinkage and the extension of the clamping jaw air cylinder 25 are controlled, the clamping jaw 26 is driven to clamp, the normal clamping is greatly facilitated, the structure design is reasonable, the use is convenient, the automation degree is high, the manual feeding and discharging processes can be replaced, the machining efficiency is improved, and the industrial accident is reduced.
Finally, it should be noted that: the foregoing is merely a preferred example of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. The utility model provides a two manipulators of long rod thread rolling pay-off single arm, includes two bases (1), its characterized in that: a bottom plate (2) is arranged at the top ends of the two bases (1), a transverse translation guide rail (3) is arranged at one end of the bottom plate (2), a sliding block (4) is movably arranged in the transverse translation guide rail (3), a smooth plate (7) is arranged above the sliding block (4), a speed reducer (8) is arranged in the smooth plate (7) in an embedded mode, and a gear (6) is sleeved on an output shaft of the speed reducer (8);
a rack (5) is arranged on the side surface of the middle of the transverse translation guide rail (3), and the rack (5) is meshed with the gear (6);
The front and back of the side end surface of the bottom plate (2) are provided with large arms (10), the surface of each large arm (10) is provided with a longitudinal guide rail (11), one end, far away from the transverse translation guide rail (3), of each longitudinal guide rail (11) is provided with a longitudinal bearing seat (12), the outer side of each longitudinal bearing seat (12) is sleeved with a synchronous wheel (13), the outer side of each synchronous wheel (13) is sleeved with a first synchronous belt (14), and the other end of each first synchronous belt (14) is sleeved with an output shaft of a second longitudinal servo motor (15);
The longitudinal guide rail (11) is connected with the longitudinal sliding plate (16) in a sliding way, a vertical plate (17) is arranged at the bottom end of the longitudinal sliding plate (16), and a vertical guide rail (18) is connected to the surface of the longitudinal guide rail (11);
The lifting slide plate (19) is arranged at the top end of the longitudinal slide plate (16), a motor seat (21) is arranged at one end of the lifting slide plate (19), a lifting servo motor (20) is arranged at one end of the motor seat (21), and the lifting servo motor (20) is movably connected with the lifting slide plate (19) through a second synchronous belt (22);
two sides of the transverse translation guide rail (3) are embedded with mounting sliding blocks (4), and a groove is formed in a rack (5) of the transverse translation guide rail (3);
The second longitudinal servo motor (15) is arranged at one end of the first longitudinal servo motor (9), and the output shaft of the second longitudinal servo motor (15) is sleeved with the synchronous wheel (13), so that the first synchronous belt (14) is driven to rotate;
An organ shield (28) is sleeved on the outer side of the longitudinal guide rail (11);
A drag chain groove (29) is formed in the surface of the bottom plate (2) at one side of the transverse translation guide rail (3), and a drag chain (27) is sleeved outside the drag chain groove (29);
the tops of the longitudinal sliding plates (16) are respectively provided with a small drag chain (30);
The lifting sliding plate (19) is provided with a fixed base (23) on the surface, the bottom end of the fixed base (23) is provided with a lifting arm (24), the bottom end of the lifting arm (24) is provided with a clamping jaw cylinder (25), and the bottom end of the clamping jaw cylinder (25) is connected with a clamping jaw (26);
The first longitudinal servo motor (9), the second longitudinal servo motor (15), the lifting servo motor (20), the lifting arm (24) and the clamping jaw cylinder (25) are connected with the PLC.
2. The single-arm double-manipulator for feeding long rod rolling threads according to claim 1 is characterized in that a first longitudinal servo motor (9) is installed and connected to the top end of the speed reducer (8), and an output shaft of the first longitudinal servo motor (9) is connected with a transmission shaft of the speed reducer (8).
3. A single arm twin robot for long rod thread rolling feed as claimed in claim 1, wherein the first timing belt (14) is connected to the inside of the longitudinal slide (16) by a belt pattern engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010480832.3A CN111571575B (en) | 2020-05-30 | 2020-05-30 | Single-arm double-manipulator for long rod thread rolling feeding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010480832.3A CN111571575B (en) | 2020-05-30 | 2020-05-30 | Single-arm double-manipulator for long rod thread rolling feeding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111571575A CN111571575A (en) | 2020-08-25 |
| CN111571575B true CN111571575B (en) | 2024-05-24 |
Family
ID=72122092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010480832.3A Active CN111571575B (en) | 2020-05-30 | 2020-05-30 | Single-arm double-manipulator for long rod thread rolling feeding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111571575B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954059B (en) * | 2021-11-22 | 2023-11-03 | 浙江精工集成科技股份有限公司 | Multidirectional electric transfer arm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160003443U (en) * | 2015-03-28 | 2016-10-06 | 쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디. | A two-way transfer robot with two rods by parallel principle |
| CN205817845U (en) * | 2016-07-05 | 2016-12-21 | 中山市德城电器有限公司 | A kind of Special manipulator for injection molding machine |
| CN207290130U (en) * | 2017-04-05 | 2018-05-01 | 天津中环半导体股份有限公司 | A kind of fractionation manipulator for disassembling monocrystalline |
| CN212653445U (en) * | 2020-05-30 | 2021-03-05 | 晋江市阳光汽车配件有限公司 | Long-rod thread rolling and feeding single-arm double-manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL1982799T3 (en) * | 2007-04-10 | 2010-10-29 | Erowa Ag | Handling device |
-
2020
- 2020-05-30 CN CN202010480832.3A patent/CN111571575B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160003443U (en) * | 2015-03-28 | 2016-10-06 | 쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디. | A two-way transfer robot with two rods by parallel principle |
| CN205817845U (en) * | 2016-07-05 | 2016-12-21 | 中山市德城电器有限公司 | A kind of Special manipulator for injection molding machine |
| CN207290130U (en) * | 2017-04-05 | 2018-05-01 | 天津中环半导体股份有限公司 | A kind of fractionation manipulator for disassembling monocrystalline |
| CN212653445U (en) * | 2020-05-30 | 2021-03-05 | 晋江市阳光汽车配件有限公司 | Long-rod thread rolling and feeding single-arm double-manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111571575A (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113878398B (en) | Automatic feeding and discharging truss robot of numerical control lathe | |
| CN108942909B (en) | Snatch and transport manipulator structure | |
| CN111571575B (en) | Single-arm double-manipulator for long rod thread rolling feeding | |
| CN202180264U (en) | Large numerical control gear chamfering machine | |
| CN211193887U (en) | Gantry type mechanical arm of lathe | |
| CN212653445U (en) | Long-rod thread rolling and feeding single-arm double-manipulator | |
| CN212398381U (en) | Automatic feeding device for tapping machine | |
| CN213795015U (en) | Multi-axis linkage automatic centering clamping welding displacement system | |
| CN207387238U (en) | Convenient for the numerically-controlled machine tool of aniseed cutting | |
| CN210305442U (en) | Material taking manipulator device | |
| CN219131629U (en) | Telescopic transport vehicle for workpiece to be machined of machine tool | |
| CN205187198U (en) | Bearing roller line manipulator | |
| CN219006109U (en) | Novel unloading equipment on multiaxis manipulator | |
| CN208117839U (en) | A kind of manipulator of carrier vehicle tire | |
| CN217529848U (en) | Automatic clamping mechanism for industrial robot welding | |
| CN115302073A (en) | Automobile aluminum casting machining system | |
| CN213592609U (en) | Horizontal double-end hole grinding automation equipment | |
| CN213731755U (en) | Machine tool feeding manipulator | |
| CN210756664U (en) | Feeding and discharging manipulator of parallel double-spindle machine tool | |
| CN210500250U (en) | Truss robot for feeding and discharging materials on automatic processing line | |
| CN210452060U (en) | Two main shaft double-turret combined machine tool of opposition with work piece detects function | |
| CN208179278U (en) | A kind of grinding machine charging and discharging manipulator | |
| CN206066449U (en) | A kind of high-speed flexible pressing robot | |
| CN206126284U (en) | Dull and stereotyped handling device of flexible punching press | |
| CN216882892U (en) | Truss manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |