CN206406085U - Magic chuck device and robot arm - Google Patents
Magic chuck device and robot arm Download PDFInfo
- Publication number
- CN206406085U CN206406085U CN201720016568.1U CN201720016568U CN206406085U CN 206406085 U CN206406085 U CN 206406085U CN 201720016568 U CN201720016568 U CN 201720016568U CN 206406085 U CN206406085 U CN 206406085U
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- plane
- magic chuck
- quick change
- boss
- connecting portion
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Abstract
The utility model provides a kind of magic chuck device.The magic chuck device includes quick change machine end, magic chuck end and latch segment, the quick change machine end is axially engaged with magic chuck end, the quick change machine end includes the machine connecting portion and quick change connecting portion being stacked, the latch segment is combined between quick change connecting portion and magic chuck end, and the latch segment is with being respectively provided with a mutual cooperation and for the inclined-plane of locking on the contact surface of quick change connecting portion.Compared with correlation technique, the magic chuck device that the utility model is provided can realize the automatic replacing end clamp within the several seconds, add the flexibility of robot, while when end clamp needs repairing, can reduce downtime with quick change replacing clamp.The utility model also provides a kind of robot arm.
Description
Technical field
The utility model is related to robotic arm design field, more particularly to a kind of magic chuck device and robot arm.
Background technology
In recent years, it is more and more as China's manufacturing industry transition and upgrade pressure increases and the continuous of labor cost is risen
Enterprise consider with machine substitute human labor.On the other hand, present consumer personalization's demand is more and more denseer, difference configuration and outward appearance
The elements such as property decide that manufacturing enterprise certainly will use Flexible Manufacturing Technology.Flexible manufacturing is changed the outfit soon with robot and instrument
Put and different products are manufactured on same assembly line.
Robot tool Quick fixture replacing device by the end effector or ancillary equipment different to the automatic replacing of robot,
Make the application of robot more flexible.For ensure robot arm end-of-arm tooling quick-replaceable and higher security, it is necessary to
There is higher requirement to the structure of fast replacing device, therefore, it is necessary to provide a kind of new magic chuck device and robot arm
Meet requirements above.
Utility model content
The purpose of this utility model be to provide it is a kind of can quick-replaceable, good, the safe magic chuck dress of stability
Put and robot arm.
The utility model provides a kind of magic chuck device, including quick change machine end, magic chuck end and latch segment, described
Quick change machine end is axially engaged with magic chuck end, and the machine connecting portion and quick change that the quick change machine end includes being stacked connect
Socket part, the latch segment is combined between quick change connecting portion and magic chuck end, latch segment contact with quick change connecting portion
A mutual cooperation and the inclined-plane for locking are respectively provided with face.
It is preferred that, the quick change connecting portion center depression is formed with boss and the first insertion groove of insertion, the quick change
Clip end corresponding position, which is recessed, is formed with the second insertion groove of card division and insertion, the depression direction of the quick change connecting portion with it is fast
The depression direction for changing clip end is relative, first insertion groove and the second insertion groove location correspondence, the card division and lug boss position
Correspondence, the latch segment screws connection between the first insertion groove, the second insertion groove and card division, boss, and the inclined-plane is located at lock
On tight block and boss contact surface.
It is preferred that, in addition to the electric rotating machine for being connected and driving it to rotate with latch segment, the electric rotating machine is located at described
In machine connecting portion, the center of the machine connecting portion is provided with a rectangular channel, electric rotating machine band in the rectangular channel
Dynamic latch segment upper and lower displacement.
It is preferred that, the boss includes the diagonally positioned first boss and second boss of same circumference, and described first is convex
Platform and second boss are disposed with the first spigot surface, the first cooperation inclined-plane and the first plane counterclockwise；Second spigot surface, second
Coordinate inclined-plane and the second plane, the latch segment includes the first transverse part, the interconnecting part of the second transverse part and connection between the two, described
Center insertion quick change connecting portion and magic chuck end of the interconnecting part in the quick change connecting portion, first transverse part connect in quick change
The recess of socket part is contacted with boss, and recess of second transverse part at magic chuck end is contacted with card division.
It is preferred that, first transverse part includes diagonally positioned left transverse part and right transverse part, the left transverse part and right transverse part
With the 3rd spigot surface, the 3rd cooperation inclined-plane and the 3rd plane are disposed with boss contact surface clockwise；4th spigot surface,
Four coordinate inclined-plane and fourth plane.
It is preferred that, the slope of first spigot surface is more than described first and coordinates inclined-plane, first spigot surface and second
The identical spigot surface oblique angle gradient is all 1/2~1/5, and the 3rd spigot surface, the 4th spigot surface and the first spigot surface, second are oriented to
Face respective outer side edges；Described first coordinates inclined-plane and second to coordinate the oblique angle gradient on inclined-plane identical, and the described 3rd coordinates inclined-plane, the 4th
Inclined-plane and first is coordinated to coordinate inclined-plane, second to coordinate ramp structure to coordinate.
It is preferred that, a length of 90 ° of the circumference of the boss, a length of 40~80 °, preferably 55 ° of the circumference of the latch segment；Institute
The limited block for being provided with the second planar end of second boss and being used for blocking latch segment is stated, it is circumferential that the limited block is located at latch segment
Rotate extreme position.
It is preferred that, the limited block, which is located at along the lateral surface of second spigot surface, plays 90 °~100 ° of rotate counterclockwise
At position.
It is preferred that, the quick change connecting portion also include at least two alignment pins, the magic chuck end also include with it is described
The positioning hole of detent fit, the end of the alignment pin is conical structure.
The utility model also provides a kind of robot arm, including arm end, clip end and magic chuck device, the hand
Arm end is connected with the quick change machine end of magic chuck device, and the clip end is connected with the magic chuck end of magic chuck device.
Compared with correlation technique, the utility model has the advantages that：
Once, robot automatically replaceable end clamp within the several seconds, the flexibility of robot is added, while when end folder
When tool needs repairing, downtime can be reduced with quick change replacing clamp；
2nd, in magic chuck device load lotus transfer route, end clamp load is, by mechanical structure transmission, to improve
The reliability of magic chuck device；
3rd, latch segment is lock onto between quick change connecting portion and magic chuck end, and is locked by inclined-plane, Planar Quadratic, tool
There is power-off protection function, it is to avoid when unexpected power-off occurs for robot, end clamp makes a clean sweep of the phenomenon for falling and being damaged from arm.
Brief description of the drawings
The structural representation for the magic chuck device that Fig. 1 provides for the utility model；
Fig. 2 be Fig. 1 in quick change connecting portion top view；
Fig. 3 be Fig. 1 in magic chuck end top view；
Fig. 4 is the A-A sectional views along Fig. 2；
Fig. 5 is locking block structure schematic diagram in Fig. 1；
Fig. 6 is the B-B sectional views along Fig. 5；
The workflow diagram for the magic chuck device that Fig. 7 provides for the utility model；
The robot arm structural representation that Fig. 8 provides for the utility model.
100 be magic chuck device in each figure, and 1 is quick change machine end, and 11 be machine connecting portion, and 111 be rectangular channel, and 12 are
Quick change connecting portion, 121 be boss, and 122 be the first insertion groove, and 123 be alignment pin, and 124 be limited block, and 1211 be first boss,
1212 be second boss, and 12111 be the first spigot surface, and 12112 be the first cooperation inclined-plane, and 12113 be the first plane, and 12121 are
Second spigot surface, 12122 be second to coordinate inclined-plane, and 12123 be the second plane, and 2 be magic chuck end, and 21 be card division, and 22 be the
Two insertion grooves, 23 be positioning hole, and 3 be latch segment, and 31 be the first transverse part, and 32 be the second transverse part, and 33 be interconnecting part, and 311 be left horizontal stroke
Portion, 312 be right transverse part, and 3111 be the 3rd spigot surface, and 3112 be the 3rd cooperation inclined-plane, and 3113 be the 3rd plane, and 3121 be the 4th
Spigot surface, 3122 be the 4th cooperation inclined-plane, and 3123 be fourth plane, and 4 be electric rotating machine, and 200 be arm end, and 300 be clip end.
Embodiment
Describe the utility model in detail below with reference to accompanying drawing and in conjunction with the embodiments.It should be noted that not conflicting
In the case of, the feature in embodiment and embodiment in the utility model can be mutually combined.For sake of convenience, hereinafter such as
There are " on ", " under ", "left", "right", " clockwise ", " counterclockwise " printed words, only expression and accompanying drawing upper and lower, left and right in itself,
Clockwise, it is counterclockwise consistent, restriction effect is not played to structure.
Refer to the structural representation for the magic chuck device that Fig. 1 provides for the utility model.The magic chuck device
100 include quick change machine end 1, magic chuck end 2, latch segment 3 and electric rotating machine 4.
The quick change machine end 1 is axially engaged with magic chuck end 2, i.e. center superposition.The quick change machine end 1 includes layer
The folded machine connecting portion 11 and quick change connecting portion 12 set.The center of machine connecting portion 11 is provided with the square of a up/down perforation
Shape groove 111.
Please refer to Fig. 1 and Fig. 2, wherein, Fig. 2 be Fig. 1 in quick change connecting portion top view.The quick change connecting portion
12 include boss 121, the first insertion groove 122 and alignment pin 123.Central concave shape of the boss 121 in quick change connecting portion 12
Into.Quick change connecting portion 12 described in the insertion of first insertion groove 122 so that boss 121 is in diagonally to be formed with first boss 1211
With second boss 1212.
Please refer to Fig. 1 and Fig. 3, wherein, Fig. 3 be Fig. 1 in magic chuck end top view.The magic chuck end
2 include card division 21, the second insertion groove 22 and positioning hole 23.Central concave of the card division 21 at the magic chuck end 2 is formed,
Its direction that is recessed is relative with the depression direction of boss 121, i.e. the depression direction of card division 21 is downward, the depression direction of boss 121 to
On.Magic chuck end 2 described in the insertion of second insertion groove 22.
Referring to Fig. 1, the quantity of the alignment pin 123 is at least two, is uniformly arranged in the quick change connecting portion
On 12, and set towards magic chuck end.The insertion magic chuck end 2 of positioning hole 23 coordinates with alignment pin 123, the positioning
The end of pin 123 (one end for closing on magic chuck end 2) is conical structure, and remaining is cylindrical structure, that is, first passes through conical structure
It is oriented to, is positioned by the cylindrical structure of alignment pin 123.
The alignment pin 123 mainly plays the role of positioning, and two-point locating can realize that the position of fast accurate is determined.The quick change
Machine end 1 is covered behind magic chuck end 2 by alignment pin 123, the position pair of 122 and second insertion groove of the first insertion groove 22
Should, the boss 121 is corresponding with the position of card division 21.
Please refer to Fig. 2 and Fig. 4, wherein Fig. 4 is the A-A sectional views along Fig. 2.The diagonally positioned first boss
1211 and second boss 1212 i.e. on same circumference, counterclockwise circular rotation first boss 1211 be disposed with the first guiding
Face 12111, first coordinates the plane 12113 of inclined-plane 12112 and first.Counterclockwise circular rotation second boss 1212 is set gradually again
There is the second spigot surface 12121, second to coordinate the plane 12123 of inclined-plane 12122 and second.
Please refer to Fig. 1, Fig. 5 and Fig. 6, wherein Fig. 5 is locking block structure schematic diagram in Fig. 1, and Fig. 6 is the B-B along Fig. 5
Sectional view.The latch segment 3 include the first transverse part 31, the second transverse part 32 and connect the transverse part 32 of the first transverse part 31 and second it
Between interconnecting part 33.
The recess that first transverse part 31 is located at the quick change connecting portion 12 is contacted with boss 121.First transverse part
31 include diagonally positioned left transverse part 311 and right transverse part 312, and the left transverse part 311 and right transverse part 312 are separated by interconnecting part 33
To be diagonally positioned.Left transverse part 311 is contacted with first boss 1211, and right transverse part 312 is contacted with second boss 1212.The connection
Portion 33 is at the center of quick change connecting portion 12 successively insertion quick change connecting portion 12 and magic chuck end 2.Same second transverse part 32 is all
Separated by interconnecting part 33 in diagonal two pieces.Only locked in diagonal direction, it is to avoid when other directions are also locked
There is stuck phenomenon, be unfavorable for quick change machine end 1 and depart from the requirement that both magic chuck end 2, and same satisfaction are locked.
Please refer to Fig. 2, Fig. 3 and Fig. 6, the projection of shape of the latch segment 3 and the first insertion groove 122 and the second insertion
The projection of shape of groove 22 is similar, and size is less than the size of the first insertion groove 122 and the second insertion groove 22.The size of boss 121 is determined
The size of the first insertion groove 122 is determined, has been specially：A length of 90 ° of the circumference of the boss, it is convenient to there are enough locking faces to enter thereon
Row locking；The size of second insertion groove 122 is equal to or more than the size of the first insertion groove 122, the circumference of the latch segment 3
Between a length of 40 °~80 °, preferably 55 °, it is easy to the second transverse part 32 to enter the second insertion groove 122 from the first insertion groove 122.
Please refer to Fig. 1, Fig. 5 and Fig. 6, the left transverse part 311 with the contact surface of first boss 1211 clockwise according to
Secondary the 3rd spigot surface the 3111, the 3rd that is provided with coordinates the plane 3113 of inclined-plane 3112 and the 3rd.The right transverse part 312 with it is second convex
The 4th spigot surface the 3121, the 4th is disposed with the contact surface of platform 1212 clockwise and coordinates inclined-plane 3122 and fourth plane 3123.
Referring to Fig. 1, Fig. 4, Fig. 5 and Fig. 6, first spigot surface 12111, the second spigot surface the 12121, the 3rd are led
It is the inclined-plane that can be oriented to the spigot surface 3112 of face 3111 and the 4th, wherein, the slope of first spigot surface 12111 is more than described
First coordinates inclined-plane 12112, and first spigot surface 12111 identical with the oblique angle gradient of the second spigot surface 12121 is all 1/2~1/
5, its bevel altitude difference be 0.5~1mm between, latch segment 3 can be made smoothly to screw in magic chuck end 2.Described 3rd is oriented to
Face 3111, the 4th spigot surface 3112 and the first spigot surface 12111, the respective outer side edges of the second spigot surface 12121.Each spigot surface is on the one hand
The effect of guiding is served, the effect of buffering is served when magic chuck end 2 is on the other hand just cut to latch segment 3.
Described first coordinates inclined-plane 12112 to coordinate the oblique angle gradient on inclined-plane 12122 identical with second, and the described 3rd coordinates oblique
Face 3112 coordinates with the first cooperation inclined-plane 12112, and the 4th cooperation inclined-plane 3122 coordinates with the second cooperation inclined-plane 12122.Described
One coordinates inclined-plane 12112, second to coordinate inclined-plane 12122 and the 3rd to coordinate inclined-plane the 3112, the 4th to coordinate inclined-plane 3122 to be quick change
The locking inclined-plane that connecting portion 12 coordinates with latch segment 3.According to frictional force self-locking formula tan (θ)<μ, θ represent the maximum of mating surface
Bevel angle, μ represents the coefficient of friction between mating surface.It is each to coordinate oblique if the coefficient of friction between locking face is 0.1
Face maximum tilt angle is 5.9 °, to reach optimal locking state.
The plane 12123 of first plane 12113 and second is respectively used to enhancing first and coordinates inclined-plane 12112 and second to match somebody with somebody
The intensity of the end of inclined-plane 12122 is closed, the 3rd plane 3113 and fourth plane 3123 are respectively used to enhancing the 3rd and coordinate inclined-plane
3112 and the 4th coordinate the end of inclined-plane 3122 intensity.
Please refer to Fig. 1 and Fig. 4, the end of the second plane 12123 of the second boss 1212 (coordinates away from second
The one end of inclined-plane 12122) limited block 124 provided with the anglec of rotation of the second transverse part 32 for blocking latch segment 3.It is described spacing
Block 124 extends in the end of the second plane 12123 to the magic chuck end 2, at the position that can block the second transverse part 32.
The limited block 124 is located at the lateral surface along second spigot surface 12121 (i.e. away from the second side for coordinating inclined-plane 12122
Face) rise, at the position that 90 °~100 ° of rotate counterclockwise, be preferably：The limited block 124 rotates in a circumferential direction the limit positioned at latch segment 3
At position, rotated in a circumferential direction extreme position to limit latch segment.The position determines the optimal insertion position of the latch segment 3,
Both sides gap is impartial when inserting, and fast and easy enters, and saves a large amount of times for changing fixture.
The electric rotating machine 4 is Purchased Item, is configured with encoder (not shown) in it.The electric rotating machine 4 is located at described
In rectangular channel 111, its output end is connected with latch segment 3.The electric rotating machine 4 can drive latch segment 3 to realize along rectangular channel 111
Upper and lower displacement.On the one hand, upper-lower position realizes that latch segment 3 is inserted at the position of the first insertion groove 122 and the second insertion groove 22
Or depart from magic chuck end 2, on the other hand, the rotation driving latch segment 3 of electric rotating machine 4 is rotated together with, and makes latch segment 3 by inserting
At the evolution of groove to boss 121 and card division 21.The electric rotating machine 4 is power-actuated source.
Refer to the workflow diagram for the magic chuck device that Fig. 7 provides for the utility model.What the utility model was provided
Its method of work of magic chuck device 100 is：
S1：The electric rotating machine 4 turns clockwise under the limitation of rectangular channel 111, while driving latch segment 3 to be connected in quick change
The recess in portion 12 is rotated together with, when the second transverse part 32 of latch segment 3 abuts to limited block 23, motor stalls, coding
Device output speed is zero, and latch segment 3 is stopped at the position of the first insertion groove 122.
S2：Quick change machine end 1 is covered on magic chuck by the mobile quick change machine end 1 to the top at magic chuck end 2
On end 2, realization in the positioning hole 23 is inserted by the alignment pin 123 and axially engaged.
S3：The electric rotating machine 4 drives the rotate counterclockwise of latch segment 3, and the first transverse part 31 of latch segment 3 is threaded into boss
121, the second transverse part 32 is threaded into card division 21.When first transverse part 31 is threaded into boss 121, the face contacted successively is：
First：3rd spigot surface 3111 and the first spigot surface 12111 screw contact, the spigot surface 3121 of opposite side the 4th and
Two spigot surfaces 12121 screw contact.
Then：3rd spigot surface 3111 coordinates inclined-plane 12112 by first again, reaches the first plane 12113；3rd
Inclined-plane 3112 and first is coordinated to coordinate inclined-plane 12112 to lock；
The 4th spigot surface 3121 of opposite side coordinates inclined-plane 12122 by second again, reaches the second plane 12123；
4th cooperation inclined-plane 3122 and second coordinates inclined-plane 12122 to lock.
Finally：3rd plane 3113 is in the top of the first spigot surface 12111, and the first plane 12113 is in the 3rd spigot surface 3111
Lower section；Second plane 12123 is below the 4th guide surface 3121, and the fourth plane 3123 is in the second spigot surface
12121 lower sections.
Until latch segment 3 is lock onto between boss 121 and card division 21, encoder output pulse is zero, and electric rotating machine 4 stops
Only.
During S3 screws locking, such as there is the settling mode of several lower two kinds of situations：
If latch segment 3 screws locking and is not up to design angle (judging by pulse increment), judge that locking process occurs
Abnormal, task termination then points out operator to be detected to it.
During tasks carrying, encoder can continue to monitor the angle of latch segment 3, if it loosens, and can send pulse
Signal, electric rotating machine 4 may proceed to rotation and go directly to locking state, and electric rotating machine 4 stops.
S4：The machine connection end 1 completes to assemble with magic chuck end 2.
Rotated by above step opposite direction, magic chuck end 2 is exited in the machine connection end 1.
The robot arm structural representation that Fig. 8 provides for the utility model, the robot arm includes magic chuck
Device 100, arm end 200 and clip end 300, the arm end 200 are connected with the quick change machine end 1 of magic chuck device 100,
The clip end 300 is connected with the magic chuck end 2 of magic chuck device 100.The driving quick change machine end of arm end 200 1 is moved
To different clip ends 300, by the cooperation at quick change machine end 1 and magic chuck end 2, realize that robot arm end 200 is different
The replacing of fixture, to meet actual demand.
Compared with correlation technique, the utility model has the advantages that：
Once, robot automatically replaceable end clamp within the several seconds, the flexibility of robot is added, while when end folder
When tool needs repairing, downtime can be reduced with quick change replacing clamp；
2nd, in magic chuck device load lotus transfer route, end clamp load is, by mechanical structure transmission, to improve
The reliability of magic chuck device；
3rd, latch segment is lock onto between quick change connecting portion and magic chuck end, and is locked by inclined-plane, Planar Quadratic, tool
There is power-off protection function, it is to avoid when unexpected power-off occurs for robot, end clamp makes a clean sweep of the phenomenon for falling and being damaged from arm.
Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in
Other related technical fields, are similarly included in scope of patent protection of the present utility model.
Claims (10)
1. a kind of magic chuck device, it is characterised in that including quick change machine end, magic chuck end and latch segment, the quick change
Machine end is axially engaged with magic chuck end, and the quick change machine end includes the machine connecting portion being stacked and quick change connection
Portion, the latch segment is combined between quick change connecting portion and magic chuck end, the contact surface of the latch segment and quick change connecting portion
On be respectively provided with a mutual cooperation and for lock inclined-plane.
2. magic chuck device according to claim 1, it is characterised in that the quick change connecting portion center is recessed to be formed
There are boss and the first insertion groove of insertion, magic chuck end corresponding position depression is formed with card division and the second of insertion and inserted
Enter groove, the depression direction of the quick change connecting portion is relative with the depression direction at magic chuck end, first insertion groove and second
Groove location correspondence is inserted, the card division is corresponding with lug boss position, and the latch segment is in the first insertion groove, the second insertion groove and card
Connection is screwed between portion, boss, the inclined-plane is on latch segment and boss contact surface.
3. magic chuck device according to claim 1, it is characterised in that also including being connected with latch segment and driving it to revolve
The electric rotating machine turned, the electric rotating machine is in the machine connecting portion, and the center of the machine connecting portion is provided with a square
Shape groove, the electric rotating machine drives latch segment upper and lower displacement in the rectangular channel.
4. magic chuck device according to claim 2, it is characterised in that it is in diagonally to set that the boss, which includes same circumference,
The first boss and second boss put, the first boss and second boss are disposed with the first spigot surface, first counterclockwise
Coordinate inclined-plane and the first plane；Second spigot surface, second coordinate inclined-plane and the second plane, the latch segment include the first transverse part,
The interconnecting part of second transverse part and connection between the two, the interconnecting part is connected in the center insertion quick change of the quick change connecting portion
Portion and magic chuck end, first transverse part are contacted in the recess of quick change connecting portion with boss, and second transverse part is in quick change
The recess of clip end is contacted with card division.
5. magic chuck device according to claim 4, it is characterised in that first transverse part includes diagonally positioned
The 3rd spigot surface, the are disposed with left transverse part and right transverse part, the left transverse part and right transverse part and boss contact surface clockwise
Three coordinate inclined-plane and the 3rd plane；4th spigot surface, the 4th coordinate inclined-plane and fourth plane.
6. magic chuck device according to claim 5, it is characterised in that the slope of first spigot surface is more than described
First coordinate inclined-plane, first spigot surface and the second spigot surface oblique angle gradient it is identical all be 1/2~1/5, it is described 3rd be oriented to
Face, the 4th spigot surface and the first spigot surface, the second spigot surface respective outer side edges；Described first coordinates inclined-plane and second to coordinate inclined-plane
The oblique angle gradient is identical, and the 3rd cooperation inclined-plane, the 4th cooperation inclined-plane are matched somebody with somebody with the first cooperation inclined-plane, the second cooperation ramp structure
Close.
7. magic chuck device according to claim 5, it is characterised in that a length of 90 ° of the circumference of the boss, the lock
A length of 40~80 °, preferably 55 ° of the circumference of tight block；Being provided with second planar end of the second boss is used to block locking
The limited block of block, the limited block rotates in a circumferential direction extreme position positioned at latch segment.
8. magic chuck device according to claim 7, it is characterised in that the limited block, which is located at along described second, to be oriented to
The lateral surface in face is risen at the position of 90 °~100 ° of rotate counterclockwise.
9. the magic chuck device according to any one of 1~8 claim, it is characterised in that the quick change connecting portion is also wrapped
At least two alignment pins are included, the magic chuck end also includes the positioning hole with the detent fit, the end of the alignment pin
Hold as conical structure.
10. a kind of robot arm, including arm end and clip end, it is characterised in that also any including such as claim 1~8
Magic chuck device described in, the arm end be connected with the quick change machine end of magic chuck device, the clip end and soon
Change the magic chuck end connection of grip device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720016568.1U CN206406085U (en) | 2017-01-06 | 2017-01-06 | Magic chuck device and robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720016568.1U CN206406085U (en) | 2017-01-06 | 2017-01-06 | Magic chuck device and robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206406085U true CN206406085U (en) | 2017-08-15 |
Family
ID=59554796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720016568.1U Expired - Fee Related CN206406085U (en) | 2017-01-06 | 2017-01-06 | Magic chuck device and robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206406085U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737842A (en) * | 2017-01-06 | 2017-05-31 | 湖南瑞森可机器人科技有限公司 | Robot arm, magic chuck device and method of work |
-
2017
- 2017-01-06 CN CN201720016568.1U patent/CN206406085U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737842A (en) * | 2017-01-06 | 2017-05-31 | 湖南瑞森可机器人科技有限公司 | Robot arm, magic chuck device and method of work |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170815 Termination date: 20190106 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |