CN204035576U - A kind of rotary pneumatic jaw arrangement - Google Patents
A kind of rotary pneumatic jaw arrangement Download PDFInfo
- Publication number
- CN204035576U CN204035576U CN201420499091.3U CN201420499091U CN204035576U CN 204035576 U CN204035576 U CN 204035576U CN 201420499091 U CN201420499091 U CN 201420499091U CN 204035576 U CN204035576 U CN 204035576U
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- swivel mount
- hole
- gas pawl
- jaw arrangement
- side faces
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Abstract
The utility model provides a kind of rotary pneumatic jaw arrangement, belongs to field of mechanical technique.The two gas pawls it solving existing rotary pneumatic jaw arrangement replace the inconsistent problem in position because alignment error causes in rotation replacement process.This rotary pneumatic jaw arrangement comprises the swivel mount of rotary cylinder and rectangular triangular prism shape, rotary cylinder is fixedly arranged on the prism of swivel mount, two right-angled side faces of swivel mount are separately installed with the first gas pawl and the second gas pawl, a wherein right-angled side faces of swivel mount is provided with the regulating block that can vertically move in this right-angled side faces, second gas pawl is installed on regulating block, described rotary cylinder has fastened and has horizontally turned axle, horizontal axle one end of turning to be interted on swivel mount and swivel mount can move along horizontal Axial and radial of turning.The utility model has easy for installation, that accuracy is high advantage.
Description
Technical field
The utility model belongs to field of mechanical technique, particularly a kind of rotary pneumatic jaw arrangement.
Background technology
Along with the development of machine building industry, numerically controlled lathe is increasing, in order to the requirement adapting to Multi-varieties and Small-batch Production and increase productivity, numerically controlled lathe is equipped with axial workpiece loading and unloading system, requirement can carry bar, and can unload size not wait axle class and flat parts, people adopt machine cut automation equipment to process metal works, which enhance working (machining) efficiency, and security performance is higher.
At present, in machine cut process automation equipment, most widely used handling equipment is rotary pneumatic jaw arrangement, this device comprises the swivel mount of rotary cylinder and rectangular triangular prism shape, rotary cylinder is fixedly arranged on the prism of swivel mount, two right-angled side faces of swivel mount are all provided with gas pawl, that is wherein a gas pawl is in and is horizontally disposed with, and another gas pawl is in vertical setting.The crawl of gas pawl realization to blank workpiece, another gas pawl realizes the release to finished work-piece, and both are used alternatingly.Horizontally disposed gas pawl is convenient to be coordinated with main shaft, the workpiece on convenience crawl main shaft and by blank trade union college on main shaft; Vertical gas pawl is convenient captures blank workpiece and release finished work-piece.
Although this rotary pneumatic jaw arrangement can realize the object of automatic pick-and-place workpiece, increase work efficiency, but because gas pawl is directly installed on swivel mount, therefore the position that is arranged on rotary cylinder two gas pawls of two gas pawl rotary motion actions is exquisite especially, if the axis of two gas pawls and the rotation centerline of rotary cylinder non-intersect, the stage aims at the alignment of shafts in the early stage just to there will be a wherein gas pawl, and in rotary motion process, there is the problem of deviation in another gas pawl and the alignment of shafts, this just asks that the axis of two gas pawls is crossing with the rotation centerline of rotary cylinder just can to workman two gas pawls being mounted on rotary cylinder current situation necessity, thus add assembly difficulty.
Utility model content
The purpose of this utility model there are the problems referred to above for existing technology, propose a kind of easy for installation, accuracy is high, can ensure two gas pawls rotary pneumatic jaw arrangement of being consistent of position in conversion alternation procedure.
The purpose of this utility model realizes by following technical proposal: a kind of rotary pneumatic jaw arrangement, comprise the swivel mount of rotary cylinder and rectangular triangular prism shape, rotary cylinder is fixedly arranged on the prism of swivel mount, two right-angled side faces of swivel mount are separately installed with the first gas pawl and the second gas pawl, it is characterized in that, a wherein right-angled side faces of swivel mount is provided with the regulating block that can vertically move in this right-angled side faces, second gas pawl is installed on regulating block, described rotary cylinder fastens and has horizontally turned axle, horizontal axle one end of turning to be interted on swivel mount and swivel mount can move along horizontal Axial and radial of turning.
In above-mentioned rotary pneumatic jaw arrangement, regulating block offers bar shaped adjustment hole along the longitudinal direction, described regulating block is connected through bar shaped adjustment hole and swivel mount by adjustment pin, regulating block offers the locking hole communicated with bar shaped adjustment hole, the axial line of locking hole is vertical with the axial line of bar shaped adjustment hole to be arranged, and has fastened locking pin and locking pin the inner is tight against and leans against in adjustment pin in locking hole.
In above-mentioned rotary pneumatic jaw arrangement, swivel mount right-angled side faces offers regulating tank, described regulating tank is made up of with rising as high as the banks the dovetail groove connected from inside to outside, described regulating block is by the partes glabra in tabular be connected as a single entity and form in swallow-tailed dovetail part, and dovetail part to be located in dovetail groove and can to vertically move in dovetail groove.
In above-mentioned rotary pneumatic jaw arrangement, swivel mount two right-angled side faces offers and is symmetrical arranged and the locating hole communicated with regulating tank, in locating hole, be equipped with alignment pin and alignment pin the inner is resisted against in dovetail part.
In above-mentioned rotary pneumatic jaw arrangement, swivel mount offers installing hole and there is a limited block in installing hole, described limited block offers the bar hole communicated with installing hole, horizontal axle one end of turning is positioned at installing hole and is connected through bar hole and swivel mount by screw, swivel mount two right-angled side faces also offers and is symmetrical arranged and the cross-drilled hole communicated with installing hole, in cross-drilled hole, be equipped with lateral pin and lateral pin the inner is tight against and leans against horizontal turning on axle.
In above-mentioned rotary pneumatic jaw arrangement, regulating block offers the through hole connected with installing hole.
In above-mentioned rotary pneumatic jaw arrangement, rotary cylinder has in circular rotating part, and rotating part outer face radially offers the stopper slot running through rotating part, the prism of swivel mount has limiting section and limiting section is plugged in stopper slot.
In above-mentioned rotary pneumatic jaw arrangement, rotary cylinder is provided with two limit bases, swivel mount is provided with block, and block can be resisted against on limit base when swivel mount circumference is rotated.
Compared with prior art, this rotary pneumatic jaw arrangement by being provided with the regulating block that can vertically move in this right-angled side faces in a wherein right-angled side faces of swivel mount, and swivel mount moves along horizontal Axial and radial of turning, according to different situations respectively by adjustment regulating block on swivel mount and the position of swivel mount on rotary cylinder, make swivel mount can make to be in horizontally disposed first gas pawl in rotary course and just can be positioned at the position being originally in the second gas pawl vertically arranged after rotation, and the second gas pawl being originally in vertically setting just can be positioned at the position being originally in horizontally disposed first gas pawl after rotation, that is the first gas pawl and the second gas pawl can replace respective position in rotation alternation procedure, so just can ensure that two gas pawls are in conversion alternation procedure, be converted to the axial line being in horizontally disposed gas pawl superimposed with the axial line of main shaft all the time, easy to operate, accurate positioning.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is sectional structure schematic diagram of the present utility model.
Fig. 3 is detonation configuration schematic diagram of the present utility model.
Fig. 4 is the structural representation of swivel mount in the utility model.
Fig. 5 is the structural representation at another visual angle of swivel mount in the utility model.
Fig. 6 is the sectional structure schematic diagram of swivel mount in the utility model.
Fig. 7 is the sectional structure schematic diagram at another visual angle of swivel mount in the utility model.
Fig. 8 is the structural representation of regulating block in the utility model.
Fig. 9 is using state figure of the present utility model.
In figure, 1, rotary cylinder; 1a, rotating part; 1b, stopper slot; 2, swivel mount; 21, regulating tank; 21a, dovetail groove; 21b, to rise as high as the banks; 22, locating hole; 23, installing hole; 24, limited block; 25, bar hole; 26, cross-drilled hole; 27, limiting section; 3, regulating block; 31, dovetail part; 32, partes glabra; 33, bar shaped adjustment hole; 34, locking hole; 35, through hole; 4, the first gas pawl; 5, the second gas pawl; 6, limit base; 7, block; 8, adjustment pin; 9, locking pin; 10, alignment pin; 11, horizontally axle is turned; 12, lateral pin.
Detailed description of the invention
Be below specific embodiment of the utility model and by reference to the accompanying drawings, the technical solution of the utility model is further described, but the utility model be not limited to these embodiments.
As shown in Figures 1 to 9, this rotary pneumatic jaw arrangement comprises the swivel mount 2 of rotary cylinder 1 and rectangular triangular prism shape, wherein rotary cylinder 1 is fixedly arranged on the prism of swivel mount 2, two right-angled side faces of swivel mount 2 are separately installed with the first gas pawl 4 and the second gas pawl 5, a wherein right-angled side faces of swivel mount 2 is provided with the regulating block 3 that can vertically move in this right-angled side faces, second gas pawl 5 is installed on regulating block 3, rotary cylinder 1 has fastened and has horizontally turned axle 11, horizontal axle 11 one end of turning to be interted on swivel mount 2 and swivel mount 2 can move radially along horizontal axle 11 of turning.
When using this rotary pneumatic jaw arrangement, need guarantee two gas pawl in rotation, namely be in horizontally disposed first gas pawl 4 and just can be positioned at the position being originally in the second gas pawl 5 vertically arranged after rotation, and the second gas pawl 5 being originally in vertically setting just can be positioned at the position being originally in horizontally disposed first gas pawl 4 after rotation, that is the first gas pawl 4 and the second gas pawl 5 can replace respective position in rotation alternation procedure, so just can ensure that two gas pawls are in conversion alternation procedure, be converted to the axial line being in horizontally disposed gas pawl superimposed with the axial line of main shaft all the time.
And in use, owing to there is mismachining tolerance and alignment error, being difficult to guarantee first gas pawl 4 and the second gas pawl 5 in rotation alternation procedure can replace respective position, that causes this problem is mainly present in following several situation:
Joining between the axial line of situation one: the first gas pawl 4 and the rotation centerline of swivel mount 2 and the joining between the axial line of the second gas pawl 5 and the rotation centerline joining of swivel mount 2 are not same points, this will cause the second gas pawl 5 to be in horizontally disposed position higher or lower than originally the first gas pawl 4 turning to position when being horizontally disposed with, thus make the axial line of the second gas pawl 5 and spindle axis line not on the same line, cause the second gas pawl 5 workpiece cannot be fed through main shaft place accurately;
Spacing between the axial line of situation two: the second gas pawl 5 and the rotation centerline of swivel mount 2 is greater than or less than the spacing between the axial line of the first gas pawl 4 and the rotation centerline of swivel mount 2, this will cause the second gas pawl 5 to offset originally the first gas pawl 4 to the left or to the right and be in horizontally disposed position turning to position when being horizontally disposed with, thus make the axial line of the second gas pawl 5 and spindle axis line not on the same line, cause the second gas pawl 5 workpiece cannot be fed through main shaft place accurately;
When occurring that situation for the moment, do not need to adjust the installation site of swivel mount 2 on rotary cylinder 1, by be provided with in a wherein right-angled side faces of swivel mount 2 can in this right-angled side faces the regulating block 3 of horizontal and vertical movement, second gas pawl 5 is installed on regulating block 3, that is the second gas pawl 5 is for being movably arranged on swivel mount 2, because the first gas pawl 4 is fixedly mounted on swivel mount 2, therefore the second position of gas pawl 5 on swivel mount 2 determine two gas pawls conversion alternation procedure in position whether can be consistent, and the second gas pawl 5 can relatively do laterally and longitudinally adjustment by swivel mount 2 under the effect of regulating block 3, therefore two gas pawls position consistency in conversion alternation procedure can be ensured.
During adjustment, first the first gas pawl 4 is rotated to horizontal level and the axial line of the first gas pawl 4 is overlapped with the axial line of main shaft, and then swivel mount 2 starts circumference rotation under the effect of rotary cylinder 1, and make originally to be in the second rotational cylinder extremely horizontally disposed position vertically arranged, adjustment regulating block 3 makes it longitudinally move up and down in corresponding swivel mount 2 right-angled side faces, make the axial line of the first gas pawl 4, the rotation centerline of swivel mount 2, the axial line of the second gas pawl 5 intersects in same point, thus the axial line of the second gas pawl 5 turning to horizontal level is overlapped with the axial line of main shaft, like this when the first gas pawl 4 and the second gas pawl 5 are when changing alternately, first gas pawl 4 and the second gas pawl 5 level and vertical position superimposed all the time.
When the situation two of appearance, now do not need to adjust adjustment block, by adjustment swivel mount 2 along horizontal radial direction of turning axle 11, the spacing between the axial line of the second gas pawl 5 and the rotation centerline of swivel mount 2 is made to be equal to spacing between the axial line of the first gas pawl 4 and the rotation centerline of swivel mount 2, thus the axial line of the second gas pawl 5 turning to horizontal level is overlapped with the axial line of main shaft, like this when the first gas pawl 4 and the second gas pawl 5 are when changing alternately, the first gas pawl 4 and the second gas pawl 5 level and vertical position superimposed all the time.
Further, regulating block 3 offers bar shaped adjustment hole 33 along the longitudinal direction, regulating block 3 is connected through bar shaped adjustment hole 33 and swivel mount 2 by adjustment pin 8, regulating block 3 offers the locking hole 34 communicated with bar shaped adjustment hole 33, the axial line of locking hole 34 is vertical with the axial line of bar shaped adjustment hole 33 to be arranged, and has fastened locking pin 9 and locking pin 9 the inner is tight against and leans against in adjustment pin 8 in locking hole 34.The quantity of bar shaped adjustment hole 33 has two and along regulating block 3 axially-aligned in line, the quantity of locking hole 34 also has two and communicates with corresponding bar shaped regulating block 3 respectively, in an initial condition, adjustment pin 8 is connected through bar shaped adjustment hole 33 and swivel mount 2, the inner of two locking pins 9 is tight against respectively and leans against in corresponding adjustment pin 8, can ensure that swivel mount 2 regulating block 3 in rotary course there will not be shaking phenomenon like this.When needs regulating block 3 vertically moves in swivel mount 2 right-angled side faces, such as, when the horizontal level of the second gas pawl 5 on swivel mount 2 is higher than horizontal level on swivel mount 2 of originally the first gas pawl 4, cannot move because adjustment pin 8 is fixed on swivel mount 2, therefore the locking pin 9 being positioned at top is outwards screwed out and disengages with adjustment pin 8, now regulating block 3 can be moved down and finally make the horizontal level of the second gas pawl 5 on swivel mount 2 be equal to the horizontal level of the first gas pawl 4 on swivel mount 2 originally, in the process lowering regulating block 3, the locking pin 9 being positioned at below also disengages with adjustment pin 8, therefore after adjustment, again screwing two locking pins 9 and two locking pins 9 are tight against again leans against in adjustment pin 8, thus again regulating block 3 is longitudinally locked on swivel mount 2, vice versa.
Further, swivel mount 2 right-angled side faces offers regulating tank 21, regulating tank 21 is made up of the dovetail groove 21a connected and the 21b that rises as high as the banks from inside to outside, regulating block 3 is by the partes glabra 32 in tabular be connected as a single entity and form in swallow-tailed dovetail part 31, and dovetail part 31 to be located in dovetail groove 21a and can to vertically move in dovetail groove 21a.Regulating tank 21 entirety runs through swivel mount 2 right-angled side faces, the regulating block 3 that this structural design is mainly conveniently placed in regulating tank 21 can vertically move in the right-angled side faces of swivel mount 2 along regulating tank 21, simultaneously the thickness of partes glabra 32 equals to rise as high as the banks the degree of depth of 21b, can ensure that the outer face of regulating block 3 flushes with the right-angled side faces of swivel mount 2 like this, make regulating block 3 can not outwardly swivel mount 2, do not affect the normal use of this device.Simultaneously, when the second gas pawl 5 turns to vertical position, by coordinating between dovetail part 31 with dovetail groove 21a, regulating block 3 can not be dropped out from swivel mount 2, and when the second gas pawl 5 turns to horizontal level, being resisted against in adjustment pin 8 by locking pin 9 makes regulating block 3 can not fall down from swivel mount 2, therefore eliminates the parts be fixedly arranged on by regulating block 3 on swivel mount 2, and is convenient to regulating block 3 adjustment longitudinal on swivel mount 2.
Further, swivel mount 2 liang of right-angled side faces offer and is symmetrical arranged and the locating hole 22 communicated with regulating tank 21, be equipped with alignment pin 10 in locating hole 22 and alignment pin 10 the inner is resisted against in dovetail part 31.The quantity of locating hole 22 has two, and the quantity of corresponding alignment pin 10 is also two, and two alignment pins 10 are tight against the both sides leaned against in regulating block 3 dovetail part 31, avoids swivel mount 2 regulating block 3 in rotation process to occur the phenomenon of rocking.
Further, swivel mount 2 offers installing hole 23 and there is a limited block 24 in installing hole 23, limited block 24 offers the bar hole 25 communicated with installing hole 23, horizontal axle 11 one end of turning is positioned at installing hole 23 and is connected through bar hole 25 and swivel mount 2 by screw, swivel mount 2 liang of right-angled side faces also offer and is symmetrical arranged and the cross-drilled hole 26 communicated with installing hole 23, in cross-drilled hole 26, be equipped with lateral pin 12 and lateral pin 12 the inner is tight against to lean against and horizontally turns on axle 11, wherein the axial line of cross-drilled hole 26 is perpendicular to the axial line of installing hole 23.Before adjusting the position of regulating block 3 on swivel mount 2, first need ensure that the first gas pawl 4 rotates to the axial line of the first gas pawl 4 during horizontal level to overlap with the axial line of main shaft, and in actual use, owing to there is mismachining tolerance and alignment error, the rotation centerline of swivel mount 2 and the rotation centerline of rotary cylinder 1 there will be nonoverlapping situation, the axial line of the first gas pawl 4 is caused not overlap with the axial line of main shaft, because horizontal axle 11 of turning is fixedly arranged on rotary cylinder 1, therefore the horizontal axial line turning axle 11 is the rotation centerline of rotary cylinder 1, by adjusting the horizontal lateral pin 12 turning axle 11 both sides, swivel mount 2 can be made to move along transverse axis axial direction, thus make the rotation centerline of swivel mount 2 and the horizontal axial line turning axle 11, ensure that and to overlap with the axial line of main shaft at the axial line of first timing first gas pawl 4.
Further, regulating block 3 offers the through hole 35 connected with installing hole 23.Due to by swivel mount 2 with horizontally turn the screw that axle 11 is fixed together and be positioned at swivel mount 2, conveniently load and unload screw, communicated with installing hole 23 by through hole 35, extracting tool can be made to be inserted in installing hole 23 and screw disassembling is got off, thus operative convenient for assembly.
Further, rotary cylinder 1 has in circular rotating part 1a, and rotating part 1a outer face radially offers the stopper slot 1b running through rotating part 1a, the prism of swivel mount 2 has limiting section 27 and limiting section 27 is plugged in stopper slot 1b.This structural design makes when adjusting the position of swivel mount 2 on rotary cylinder 1, and swivel mount 2 can only move linearly along stopper slot 1b.
Further, rotary cylinder 1 is provided with two limit bases 6, swivel mount 2 is provided with block 7, and block 7 can be resisted against on limit base 6 when swivel mount 2 circumference is rotated.Because two gas pawls are mounted in two right-angled side faces of swivel mount 2, in each conversion alternation procedure, must ensure that two gas pawls can be in level and vertical state respectively relative to swivel mount 2, that is must ensure that the gas pawl being in level aligns with spindle axis, otherwise there will be swivel mount 2 rotate the gas pawl that excessively makes to be in level and spindle axis unjustified, cause the problem that workpiece accurately cannot be fed through main shaft place.By coordinating between two limit bases 6 on rotary cylinder 1 and the block 7 on swivel mount 2, rotational angle when swivel mount 2 circumference is rotated can be controlled, namely all 90 degree can only be rotated when the positive and negative rotation of swivel mount 2, thus ensure that two gas pawls can be in level and vertical state respectively after swivel mount 2 rotates, the gas pawl being wherein in level can align with spindle axis.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various amendment or supplements or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present utility model or surmount the scope that appended claims defines.
Claims (8)
1. a rotary pneumatic jaw arrangement, comprise the swivel mount of rotary cylinder and rectangular triangular prism shape, rotary cylinder is fixedly arranged on the prism of swivel mount, two right-angled side faces of swivel mount are separately installed with the first gas pawl and the second gas pawl, it is characterized in that, a wherein right-angled side faces of swivel mount is provided with the regulating block that can vertically move in this right-angled side faces, second gas pawl is installed on regulating block, described rotary cylinder has fastened and has horizontally turned axle, horizontal axle one end of turning to be interted on swivel mount and swivel mount can move along horizontal Axial and radial of turning.
2. rotary pneumatic jaw arrangement according to claim 1, it is characterized in that, regulating block offers bar shaped adjustment hole along the longitudinal direction, described regulating block is connected through bar shaped adjustment hole and swivel mount by adjustment pin, regulating block offers the locking hole communicated with bar shaped adjustment hole, the axial line of locking hole is vertical with the axial line of bar shaped adjustment hole to be arranged, and has fastened locking pin and locking pin the inner is tight against and leans against in adjustment pin in locking hole.
3. rotary pneumatic jaw arrangement according to claim 1 and 2, it is characterized in that, swivel mount right-angled side faces offers regulating tank, described regulating tank is made up of with rising as high as the banks the dovetail groove connected from inside to outside, described regulating block is by the partes glabra in tabular be connected as a single entity and form in swallow-tailed dovetail part, and dovetail part to be located in dovetail groove and can to vertically move in dovetail groove.
4. rotary pneumatic jaw arrangement according to claim 3, is characterized in that, swivel mount two right-angled side faces offers and is symmetrical arranged and the locating hole communicated with regulating tank, is equipped with alignment pin and alignment pin the inner is resisted against in dovetail part in locating hole.
5. rotary pneumatic jaw arrangement according to claim 1 and 2, it is characterized in that, swivel mount offers installing hole and there is a limited block in installing hole, described limited block offers the bar hole communicated with installing hole, horizontal axle one end of turning is positioned at installing hole and is connected through bar hole and swivel mount by screw, swivel mount two right-angled side faces also offers and is symmetrical arranged and the cross-drilled hole communicated with installing hole, in cross-drilled hole, be equipped with lateral pin and lateral pin the inner is tight against and leans against horizontal turning on axle.
6. rotary pneumatic jaw arrangement according to claim 5, is characterized in that, regulating block offers the through hole connected with installing hole.
7. rotary pneumatic jaw arrangement according to claim 1 and 2, it is characterized in that, rotary cylinder has in circular rotating part, rotating part outer face radially offers the stopper slot running through rotating part, the prism of swivel mount has limiting section and limiting section is plugged in stopper slot.
8. rotary pneumatic jaw arrangement according to claim 1 and 2, is characterized in that, rotary cylinder is provided with two limit bases, swivel mount is provided with block, and block can be resisted against on limit base when swivel mount circumference is rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420499091.3U CN204035576U (en) | 2014-09-01 | 2014-09-01 | A kind of rotary pneumatic jaw arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420499091.3U CN204035576U (en) | 2014-09-01 | 2014-09-01 | A kind of rotary pneumatic jaw arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204035576U true CN204035576U (en) | 2014-12-24 |
Family
ID=52236286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420499091.3U Expired - Fee Related CN204035576U (en) | 2014-09-01 | 2014-09-01 | A kind of rotary pneumatic jaw arrangement |
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| Country | Link |
|---|---|
| CN (1) | CN204035576U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227030A (en) * | 2014-09-01 | 2014-12-24 | 宁波宫铁精机有限公司 | Rotary pneumatic gripper device |
-
2014
- 2014-09-01 CN CN201420499091.3U patent/CN204035576U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227030A (en) * | 2014-09-01 | 2014-12-24 | 宁波宫铁精机有限公司 | Rotary pneumatic gripper device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141224 Termination date: 20160901 |