CN202781152U - Machine arm mechanism capable of translating and lifting - Google Patents
Machine arm mechanism capable of translating and lifting Download PDFInfo
- Publication number
- CN202781152U CN202781152U CN 201220306800 CN201220306800U CN202781152U CN 202781152 U CN202781152 U CN 202781152U CN 201220306800 CN201220306800 CN 201220306800 CN 201220306800 U CN201220306800 U CN 201220306800U CN 202781152 U CN202781152 U CN 202781152U
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- arm
- lifting
- screw rod
- slide block
- lowering
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Abstract
Disclosed is a machine arm mechanism capable of translating and lifting. The machine arm mechanism capable of translating and lifting comprises a first arm. A second arm is movably placed on the first arm. A third arm is movably placed on the second arm. A lifting device is connected with a third arm and can translate along the third arm and can conduct lifting displacements relative to the third arm. A material clamping device is placed on the lifting device. After the displacements of the second arm, the third arm and the lifting device extend, the lifting device conducts lifting movements and takes and places work pieces matching with the material clamping device. In addition, the machine arm can be placed on one side of a processing machine and provides a work module by going into and going out to take and place the work pieces, and thereby effect of saving space, fast displacement speed, and short displacement time is achieved.
Description
Technical field
The utility model relates to the mechanical arm structure, particularly can make the mechanical arm structure of linear displacement, lifting displacement and holding workpiece rotation transposition.
Background technology
Mechanical arm is because having the system can controlled and mobility, so be widely used in the equipment in various fields.For example be applied to field of machining, desirable mechanical arm collocation processing machine, wherein mechanical arm can the automatic clamping and placing material; Be applied to again the Entertainment field, mechanical arm can controlled movement to carry out the function of gripping objects.
The design meeting of common mechanical arm has difference according to the field of its application and the equipment of collocation; For example fixed in the lathe internal configurations and have a mechanical arm of three axle joint types.Rotation by each joint of mechanical arm and extend the action that to carry out feeding and to put material.Yet lathe adds man-hour, and mechanical arm does not withdraw from the lathe casing, thus cutting swarf, cooling fluid all can splash at mechanical arm, and then cause the action of mechanical arm to be affected and can improve the damage probability of mechanical arm.
The composite set of known a kind of lathe and mechanical arm again is for the mechanical arm pack support of arranging in pairs or groups is assembled in the lathe top.This mechanical arm can move horizontally, and passes in and out lathe inside by lifting, workpiece to be processed can be placed in the lathe accordingly, or the workpiece after will processing takes out.
Above-mentioned design is configured on the lathe because of mechanical arm, so entire combination shows very large height, relatively, the assembly of lathe and mechanical arm put the larger height of space requirement.
TaiWan, China patent M384726 discloses a kind of lathe automatic material taking and feed supplement structure again, it mainly is can make two sections flexible mechanical arms in lathe one side configuration one, the end of this mechanical arm disposes a pair of rotating materials and parts jaw, and this mechanical arm overall co-ordination one elevating mechanism, so that this mechanical arm integral body can be done the lifting displacement.
Yet take, put materials and parts, mechanical arm is whole to need to do a lifting displacement at every turn, so this Patent design needs larger power output driving device arm integral body to do the lifting displacement, and because load is large, velocity of displacement should not be too fast.
The utility model content
But main purpose of the present utility model is to provide the mechanical arm structure of a kind of translation and lifting, this mechanical arm structure is configurable in processing machine one side, provide side to advance the mode of operation that side goes out to pick and place workpiece, integral body is possessed do not take up space, velocity of displacement reaches the effects such as the displacement time is short soon.
For achieving the above object, the utility model is by the following technical solutions:
But the mechanical arm structure of a kind of translation and lifting can in order to be configured in a processing machine one side, comprise:
One first arm;
One second arm is configured on this first arm movably;
One the 3rd arm is configured on this second arm movably;
One lowering or hoisting gear connects the 3rd arm, its can along the 3rd arm translation and relatively the 3rd arm do the lifting displacement;
One clamping device is installed on this lowering or hoisting gear.
But the mechanical arm structure of described translation and lifting also comprises First Line rail combination, and this First Line rail is combined as the first track and the first slide block is connected to each other, and this first track and the first slide block are respectively in conjunction with the first arm and the second arm.
But the mechanical arm structure of described translation and lifting, also comprise one first driving mechanism and produce displacement in order to drive described the second arm, this first driving mechanism has a motor, and the combination of screw rod and a screw rod slide block, wherein the combination of this screw rod and screw rod slide block is configured on described the first arm, and this screw rod slide block connects described the second arm, and this motor connects an end of this screw rod.
But the mechanical arm structure of described translation and lifting also comprises one second line rail combination, and this second line rail is combined as the second track and the second slide block is connected to each other, and this second track and the second slide block are respectively in conjunction with the second arm and the 3rd arm.
But the mechanical arm structure of described translation and lifting, also comprise one second driving mechanism and produce displacement in order to drive described the 3rd arm, this second driving mechanism has a chain and two gears, and two gears are engaged on the two ends of chain, and described the 3rd arm is in conjunction with this chain.
But the mechanical arm structure of described translation and lifting also comprises one the 3rd line rail combination, and the 3rd line rail is combined as the 3rd track and the 3rd slide block is connected to each other, and the 3rd track and the 3rd slide block are respectively in conjunction with the 3rd arm and lowering or hoisting gear.
But the mechanical arm structure of described translation and lifting, also comprise one the 3rd driving mechanism in order to drive described lowering or hoisting gear along the 3rd arm displacement, the 3rd driving mechanism has a motor, and the combination of screw rod and a screw rod slide block, the combination of this screw rod and screw rod slide block is configured on described the 3rd arm, and this screw rod slide block connects described lowering or hoisting gear, and this motor connects an end of this screw rod.
Described lowering or hoisting gear comprises the combination of a driving group and a lifting arm, and this driving group comprises a tooth bar and a geared system, and wherein this tooth bar is installed on this lifting arm, and this geared system meshes this tooth bar; Lifting arm is subjected to the reciprocation of geared system and tooth bar can do the lifting displacement in addition, and described clamping device is configured in the end of lifting arm.
Described the 3rd arm comprises a base and a slide unit, and this slide unit is combined on this base slidably, and this slide unit links described lowering or hoisting gear, and the combination of this slide unit and this base can be driven and do horizontal displacement along the second arm again.
Movable and then the side of the combination of the first arm, the second arm, the 3rd arm, lowering or hoisting gear and clamping device is advanced side and is gone out described processing machine; Described lowering or hoisting gear and described clamping device also can be along the 3rd arm horizontal displacements, and described clamping device can be done the lifting displacement by relative the 3rd arm.
Thus, after displacement was stretched separately, lowering or hoisting gear carried out lifting action again, and the collocation clamping device carries out picking and placeing of workpiece at the second arm, the 3rd arm and lowering or hoisting gear.
The utility model has the advantage of:
The utility model possesses the folding form, so the mechanical arm of collapse state takies less horizontal space; The combination that has in addition a lowering or hoisting gear and clamping device on the mechanical arm, present at mechanical arm under the state of stretching, extension, the combination of lowering or hoisting gear and clamping device can be done the lifting displacement to pick and place materials and parts, therefore have less lifting travel, and load is little, translational speed is fast.
Mechanical arm structure provided by the utility model can arrange in pairs or groups suitable processing machine, for example lathe; Mechanical arm is configured in processing machine one side provides side to advance the pattern of changing workpiece of getting that side goes out, and so process possesses the effect of quick fetching workpiece; The utility model integral device does not take excessive space in addition, and can deduct the interference that the configuration support produces on traditional lathe, reaches by this effect of optimizing space availability ratio.
Below namely according to the purpose of this utility model, effect and structural configuration, enumerate preferred embodiment, and cooperate graphic detailed description.
Description of drawings
Fig. 1 is combination schematic diagram of the present utility model.
Fig. 2 is combination schematic diagram of the present utility model.
Fig. 3 is stretching schematic diagram of the present utility model.
Fig. 4 is the downward displacement action schematic diagram of lowering or hoisting gear of the present utility model.
Fig. 5 is the downward displacement action schematic diagram of lowering or hoisting gear of the present utility model.
Fig. 6 is the combining structure schematic diagram of another embodiment of the utility model.
Fig. 7 is the combining structure schematic diagram of another embodiment of the utility model.
Fig. 8 is the configuration schematic diagram of the utility model collocation processing machine.
Fig. 9 is the use view of the utility model collocation processing machine.
Reference numeral
10 first arms, 12 first driving mechanisms, 122 motors, 124 screw rods, 126 screw rod slide blocks
20 second arms, 22 second driving mechanisms, 222 chains, 224 gears, 226 chain combined blocks
30 the 3rd arms 32 the 3rd driving mechanism, 322 motors, 324 screw rods, 326 screw rod slide blocks
422 tooth bars are organized in 42 drivings of 34 bases, 36 slide units, 38 fixed heads, 40 lowering or hoisting gears
424 geared systems, 44 lifting arms, 50 clamping devices, 52 first jig arm, 54 second jig arm
60 First Line rails make up the combination of 62 first tracks, 64 first slide blocks, 70 second line rails
72 second tracks, 74 second slide blocks 80 the 3rd line rail makes up 82 the 3rd tracks
84 the 3rd slide blocks, 90 advance decline line rails make up 92 fluctuating orbits, 94 lifting sliders, 100 workpiece
102 workpiece, 104 processing machines
The specific embodiment
See also Fig. 1,2, the disclosed mechanical arm of the utility model is for possessing foldable form, and it comprises one first arm 10, one second arm 20, one the 3rd arm 30, a lowering or hoisting gear 40 and a clamping device 50 (seeing Fig. 2).
This first arm 10 can be installed into the fixed arm structure; The second arm 20 is configured on the first arm 10, and the second arm 20 can be done the horizontal direction displacement by relative the first arm 10.The 3rd arm 30 is configured on the second arm 20, and the 3rd arm 30 can be done the horizontal direction displacement by relative the second arm 20.Lowering or hoisting gear 40 is configured in the 3rd arm 30, and lowering or hoisting gear 40 can do the horizontal direction displacement by relative the 3rd arm 30, and lowering or hoisting gear 40 also can relative the 3rd arm 30 be done the lifting displacement of vertical direction in addition.Clamping device 50 is configured in the end of lowering or hoisting gear 40, and can do horizontal displacement with lowering or hoisting gear 40, and drive that can hard to bear lowering or hoisting gear 40 and do the lifting displacement.
Please consult again Fig. 1, dispose one first driving mechanism 12 on the first arm 10 and connect the second arm 20, and utilize the first driving mechanism 12 to drive the 20 generation horizontal displacements of the second arm.
Further, the first driving mechanism 12 has a motor 122, and the combination of a screw rod 124 and a screw rod slide block 126.The combination of this screw rod 124 and screw rod slide block 126 is configured on the first arm 10, and screw rod slide block 126 connections the second arm 20, as for 122 ends that connect this screw rod 124 of motor.So motor 122 drives screw rod 124 rotations, then can drive screw slide block 126 and the 20 generation horizontal displacements of the second arm.
Dispose one second driving mechanism 22 on the second arm 20 and connect the 3rd arm 30, and utilize the second driving mechanism 22 to drive the 30 generation displacements of the second arm.
Further, the second driving mechanism 22 has a chain 222 and two gears 224.Two gears 224 are engaged on the two ends of chain 222, and the 3rd arm 30 collocation one chain combined block 226 is in conjunction with chain 222.Chain 222 rotates with the driving of the hard to bear CD-ROM drive motor (not shown) of combination energy of gear 224 in addition, by this so that the 3rd arm 30 relative the second arms 20 are done horizontal displacement.
Dispose one the 3rd driving mechanism 32 on the 3rd arm 30 and connect lowering or hoisting gear 40, and utilize the 3rd driving mechanism 32 to drive lowering or hoisting gear 40 generation horizontal displacements.
Further, the 3rd driving mechanism 32 has a motor 322, and a screw rod 324 and a screw rod slide block 326.The combination of screw rod 324 and screw rod slide block 326 is configured on the 3rd arm 30, and screw rod slide block 326 connection lowering or hoisting gears 40, as for an end of 322 connecting screw rods 324 of motor.So motor 322 drives screw rod 324 rotations, then can drive screw slide block 326 and lowering or hoisting gear 40 generation horizontal displacements.
See also Fig. 2, for making the second arm 20, the 3rd arm 30 and the lowering or hoisting gear 40 can be smooth and easy and stably do horizontal displacement, in the first arm 10 and the second arm 20 configurations one First Line rail combination 60, configuration one second line rail combination 70 between the second arm 20 and the 3rd arm 30, configuration one the 3rd line rail combination 80 between the 3rd arm 30 and lowering or hoisting gear 40.
Further, First Line rail combination 60 has the first track 62 and the first slide block 64 is connected to each other, and the first track 62 and the first slide block 64 are respectively in conjunction with the first arm 10 and the second arm 20.
The second line rail combination 70 has the second track 72 and the second slide block 74 is connected to each other, and the second track 72 and the second slide block 74 are respectively in conjunction with the second arm 20 and the 3rd arm 30.
The 3rd line rail combination 80 has the 3rd track 82 and the 3rd slide block 84 is connected to each other, and the 3rd track 82 and the 3rd slide block 84 are respectively in conjunction with the 3rd arm 30 and lowering or hoisting gear 40.
See also Fig. 2, lowering or hoisting gear 40 comprises the combination of a driving group 42 and a lifting arm 44 again.Driving group 42 comprises a tooth bar 422 and a geared system 424, and its middle rack 422 is installed on the lifting arm 44, and this geared system 424 can comprise the combination of a gear and CD-ROM drive motor, and geared system 424 is with gear pinion rack 422.Again driving group 42 connects the 3rd arm 30, and driving group 42 can be done horizontal displacement along the 3rd arm 30 with lifting arm 44; Moreover lifting arm 44 can be subjected to the reciprocation of geared system 424 and tooth bar 422 and do the lifting displacement.
Clamping device 50 is configured in the end of lifting arm 44.This clamping device 50 comprises one first jig arm 52 and one second jig arm 54, and this first jig arm 52 and this second jig arm 54 are rotatably with transposition.
In order to make the lifting displacement that lifting arm 44 can be smooth and easy and stable, it is 90 configurable on lifting arm 44 that an advance decline line rail makes up.Further, advance decline line rail combination 90 comprises the combination of a fluctuating orbit 92 and lifting slider 94, this lifting slider 94 is installed on the lifting arm 44, and fluctuating orbit 92 then is installed in a predetermined fixed surface, for example extends a stationary plane for self-driven group 42 and for fluctuating orbit 92 location is installed.
See also Fig. 3, under the effect of the first driving mechanism 12, the second driving mechanism 22 and the 3rd driving mechanism 32, the second arm 20, the 3rd arm 30 and lowering or hoisting gear 40 can be done horizontal displacement and present extended configuration.
Otherwise under the effect of the first driving mechanism 12, the second driving mechanism 22 and the 3rd driving mechanism 32, the second arm 20, the 3rd arm 30 and lowering or hoisting gear 40 can be done horizontal displacement, and are transformed into the folding state that shrinks from extended configuration.
See also Fig. 4,5, can force in tooth bar 422 after geared system 424 (the seeing Fig. 5) start of the driving group 42 of lowering or hoisting gear 40, by this so that lifting arm 44 and clamping device 50 to bottom offset.
Otherwise, lifting arm 44 and clamping device 50 also can be subjected to driving group 42 driving and to top offset.
Please consult Fig. 5 again, make clamping device 50 starts again, then the first jig arm 52 and the second jig arm 54 can relatively rotate and exchange each other position.In other words, if workpiece 100, the second jig arm 54 clampings workpiece 102 to be processed of processing has been finished in 52 clampings of the first jig arm, then each other behind the switch, workpiece to be processed 102 can be put the precalculated position.
See also Fig. 6,7, the 3rd arm 30 of the present utility model can be slide unit cylinder structure, it has a base 34 and a slide unit 36, and wherein slide unit 36 is configured in slidably on the base 34 and connects lowering or hoisting gear 40, for example connects slide unit 36 and lowering or hoisting gear 40 by a fixed head 38.So slide unit 36 can produce horizontal displacement after driven by suitable drive unit.As for base 34, it can be subjected to the driving of the second driving mechanism 22 and produce horizontal displacement (as shown in Figure 6).Above-mentioned suitable drive unit can be gas and oil pressure device or screw device.
In addition, above-mentioned fixed head 38 also can be used among the disclosed embodiment of Fig. 1 to Fig. 5.
See also Fig. 8, the utility model processing machine 104 of can arranging in pairs or groups uses the lathe of for example arranging in pairs or groups.Further, the mechanical arm that the first arm 10, the second arm 20, the 3rd arm 30, lowering or hoisting gear 40 and clamping device (not shown) are consisted of is installed in processing machine 104 1 sides, and an opening can be offered for the flexible turnover of mechanical arm in the side of processing machine 104.
See also Fig. 9, the use state of the disclosed mechanical arm of the utility model is as aforesaid explanation, namely the second arm 20, the 3rd arm 30 and lowering or hoisting gear 40 stretch and enter in the processing machine 104, and lifting arm 44 and clamping device 50 can be got the work of changing workpiece to bottom offset again with execution.
After finishing the picking and placeing of workpiece, lifting arm 44 and clamping device 50 can be to top offsets, and the second arm 20, the 3rd arm 30 and lowering or hoisting gear 40 are shrunk to the folding shape.
Therefore the relative processing machine 104 of the disclosed mechanical arm of the utility model advances side for side and goes out, so integral body has less height; The utility model only makes lowering or hoisting gear 40 and clamping device 50 do the lifting displacement in addition, so load is little and displacement is little, can improve velocity of displacement and reduction displacement time, with realistic process requirements.
Above-described embodiment only is illustrative technology of the present utility model and effect thereof, but not is used for restriction the utility model.Any ripe all can be in the situation of know-why of the present utility model and spirit in the technique personage, above-described embodiment is made amendment and is changed, the claim that therefore rights protection scope of the present utility model should be as described later is listed.
Claims (10)
1. but the mechanical arm structure of a translation and lifting can in order to be configured in a processing machine one side, is characterized in that: comprising:
One first arm;
One second arm is configured on this first arm movably;
One the 3rd arm is configured on this second arm movably;
One lowering or hoisting gear connects the 3rd arm, its can along the 3rd arm translation and relatively the 3rd arm do the lifting displacement;
One clamping device is installed on this lowering or hoisting gear.
2. but the mechanical arm structure of translation as claimed in claim 1 and lifting, it is characterized in that: also comprise First Line rail combination, this First Line rail is combined as the first track and the first slide block is connected to each other, and this first track and the first slide block are respectively in conjunction with the first arm and the second arm.
3. but the mechanical arm structure of translation as claimed in claim 1 and lifting, it is characterized in that: also comprise one first driving mechanism and produce displacement in order to drive described the second arm, this first driving mechanism has a motor, and the combination of screw rod and a screw rod slide block, wherein the combination of this screw rod and screw rod slide block is configured on described the first arm, and this screw rod slide block connects described the second arm, and this motor connects an end of this screw rod.
4. but the mechanical arm structure of translation as claimed in claim 1 and lifting, it is characterized in that: also comprise the combination of one second line rail, this the second line rail is combined as the second track and the second slide block is connected to each other, and this second track and the second slide block are respectively in conjunction with the second arm and the 3rd arm.
5. but the mechanical arm structure of translation as claimed in claim 1 and lifting, it is characterized in that: also comprise one second driving mechanism and produce displacement in order to drive described the 3rd arm, this second driving mechanism has a chain and two gears, two gears are engaged on the two ends of chain, and described the 3rd arm is in conjunction with this chain.
6. but the mechanical arm structure of translation as claimed in claim 1 and lifting, it is characterized in that: also comprise the combination of one the 3rd line rail, the 3rd line rail is combined as the 3rd track and the 3rd slide block is connected to each other, and the 3rd track and the 3rd slide block are respectively in conjunction with the 3rd arm and lowering or hoisting gear.
7. but the mechanical arm structure of translation as claimed in claim 1 and lifting, it is characterized in that: also comprise one the 3rd driving mechanism in order to drive described lowering or hoisting gear along the 3rd arm displacement, the 3rd driving mechanism has a motor, and the combination of screw rod and a screw rod slide block, the combination of this screw rod and screw rod slide block is configured on described the 3rd arm, and this screw rod slide block connects described lowering or hoisting gear, and this motor connects an end of this screw rod.
8. but the mechanical arm structure of translation as claimed in claim 1 and lifting, it is characterized in that: described lowering or hoisting gear comprises the combination of a driving group and a lifting arm, this driving group comprises a tooth bar and a geared system, and wherein this tooth bar is installed on this lifting arm, and this geared system meshes this tooth bar; Lifting arm is subjected to the reciprocation of geared system and tooth bar can do the lifting displacement in addition, and described clamping device is configured in the end of lifting arm.
9. but the mechanical arm structure of translation as claimed in claim 1 and lifting, it is characterized in that: described the 3rd arm comprises a base and a slide unit, this slide unit is combined on this base slidably, and this slide unit links described lowering or hoisting gear, and the combination of this slide unit and this base can be driven and do horizontal displacement along the second arm again.
10. but the mechanical arm structure of translation as claimed in claim 1 and lifting is characterized in that: the movable and then side of the combination of the first arm, the second arm, the 3rd arm, lowering or hoisting gear and clamping device is advanced side and is gone out described processing machine; Described lowering or hoisting gear and described clamping device also can be along the 3rd arm horizontal displacements, and described clamping device can be done the lifting displacement by relative the 3rd arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220306800 CN202781152U (en) | 2012-06-27 | 2012-06-27 | Machine arm mechanism capable of translating and lifting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220306800 CN202781152U (en) | 2012-06-27 | 2012-06-27 | Machine arm mechanism capable of translating and lifting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202781152U true CN202781152U (en) | 2013-03-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220306800 Expired - Fee Related CN202781152U (en) | 2012-06-27 | 2012-06-27 | Machine arm mechanism capable of translating and lifting |
Country Status (1)
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|---|---|
| CN (1) | CN202781152U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203736A (en) * | 2013-05-02 | 2013-07-17 | 宁夏巨能机器人***有限公司 | Folding retractable vertical beam for trussed mechanical arm |
| CN105150066A (en) * | 2015-10-20 | 2015-12-16 | 广东豪特曼智能机器有限公司 | Segment difference grinding machine |
| CN105983873A (en) * | 2015-01-28 | 2016-10-05 | 上银科技股份有限公司 | System and method used for convening workpieces |
| CN106002220A (en) * | 2016-07-07 | 2016-10-12 | 浙江鼎盛汽车紧固件有限公司 | Automatic manipulator assembly device of vehicle fastening pieces |
| CN106041605A (en) * | 2016-07-28 | 2016-10-26 | 无锡市博阳超声电器有限公司 | Cutting machine with positioning cutting function |
| CN106232306A (en) * | 2014-03-14 | 2016-12-14 | 生活机器人学股份有限公司 | Telescopic boom mechanism and mechanical arm |
| CN107160378A (en) * | 2017-07-24 | 2017-09-15 | 重庆市臻憬科技开发有限公司 | Table service device for intelligent restaurant |
| CN113059385A (en) * | 2021-03-30 | 2021-07-02 | 浙江轩通机械有限公司 | Manipulator for numerical control machine tool |
-
2012
- 2012-06-27 CN CN 201220306800 patent/CN202781152U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203736A (en) * | 2013-05-02 | 2013-07-17 | 宁夏巨能机器人***有限公司 | Folding retractable vertical beam for trussed mechanical arm |
| CN106232306A (en) * | 2014-03-14 | 2016-12-14 | 生活机器人学股份有限公司 | Telescopic boom mechanism and mechanical arm |
| CN105983873A (en) * | 2015-01-28 | 2016-10-05 | 上银科技股份有限公司 | System and method used for convening workpieces |
| CN105983873B (en) * | 2015-01-28 | 2018-07-10 | 上银科技股份有限公司 | For the system and method for conveying workpieces |
| CN105150066A (en) * | 2015-10-20 | 2015-12-16 | 广东豪特曼智能机器有限公司 | Segment difference grinding machine |
| CN106002220A (en) * | 2016-07-07 | 2016-10-12 | 浙江鼎盛汽车紧固件有限公司 | Automatic manipulator assembly device of vehicle fastening pieces |
| CN106041605A (en) * | 2016-07-28 | 2016-10-26 | 无锡市博阳超声电器有限公司 | Cutting machine with positioning cutting function |
| CN107160378A (en) * | 2017-07-24 | 2017-09-15 | 重庆市臻憬科技开发有限公司 | Table service device for intelligent restaurant |
| CN113059385A (en) * | 2021-03-30 | 2021-07-02 | 浙江轩通机械有限公司 | Manipulator for numerical control machine tool |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130313 Termination date: 20170627 |
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| CF01 | Termination of patent right due to non-payment of annual fee |