TWI391189B - 金屬板之操縱器 - Google Patents
金屬板之操縱器 Download PDFInfo
- Publication number
- TWI391189B TWI391189B TW096144324A TW96144324A TWI391189B TW I391189 B TWI391189 B TW I391189B TW 096144324 A TW096144324 A TW 096144324A TW 96144324 A TW96144324 A TW 96144324A TW I391189 B TWI391189 B TW I391189B
- Authority
- TW
- Taiwan
- Prior art keywords
- rack
- pinion
- metal plate
- manipulator
- working head
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
- B23Q5/46—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously with variable speed ratio
- B23Q5/48—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously with variable speed ratio by use of toothed gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D28/00—Shaping by press-cutting; Perforating
- B21D28/24—Perforating, i.e. punching holes
- B21D28/26—Perforating, i.e. punching holes in sheets or flat parts
- B21D28/265—Perforating, i.e. punching holes in sheets or flat parts with relative movement of sheet and tools enabling the punching of holes in predetermined locations of the sheet, e.g. holes punching with template
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D27/00—Machines or devices for cutting by a nibbling action
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/10—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/54—Arrangements or details not restricted to group B23Q5/02 or group B23Q5/22 respectively, e.g. control handles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
- Feeding Of Workpieces (AREA)
- Unwinding Webs (AREA)
- Non-Silver Salt Photosensitive Materials And Non-Silver Salt Photography (AREA)
- Registering, Tensioning, Guiding Webs, And Rollers Therefor (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Description
本發明係有關於一種金屬板之操縱器。
眾所周知的金屬板之操縱器,包含一用以加工該各金屬板之工作頭,多數用以抓起該各金屬板之抓起裝置,以及用以將該各金屬板移動及供應該各金屬板至該工作頭的裝置。
傳統的操縱器包含一獨立小齒輪及一與金屬板抓起裝置相結合的齒條。該小齒輪-齒條包含一具有一定長度的齒條及一用以移動該齒條的被動小齒輪,以及一金屬板的抓起裝置與該齒條相結合。
鑒於先前技術,本發明之主要目的係在於提供一種比已知操縱器更有效的金屬板之操縱器,特別是該金屬板之操縱器可允許同樣長度齒條的較長工作行程或使用較短的、硬的且不重的齒條來進行同樣的工作行程。
根據本發明,上述目的由一金屬板之操縱器而達成,該金屬板之操縱器包含一抓起與一齒條連接的金屬板的抓起裝置,該齒條可與一第一小齒輪和一工作頭相連結,其特徵係在於,該金屬板之操縱器包含至少一第二小齒輪,該第一及第二小齒輪係沿著該金屬板的移動路徑設置,至少其中一個小齒輪係在各別時間與該齒條相嚙合,以將該齒條從該工作頭的一端移動到另一端。
請參閱第1圖,係顯示一種習知裝置之示意圖,其包含一具有長度為A的齒條3之獨立小齒輪1,其可執行同樣長度的工作行程。
請參閱第2圖,係顯示一種具有本發明操縱器之小齒輪及齒條裝置之示意圖,該裝置包含一第一小齒輪1及一第二小齒輪2,該第一小齒輪1及第二小齒輪2之間有一距離C,且均可與一齒條3相嚙合,該齒條3具有比第1圖中齒條3的長度A為短的長度B。在第一工作步驟中,該齒條3係由該第一小齒輪1所移動,而在下一個工作步驟中,該齒條3則係由該第一小齒輪1和該第二齒輪2所共同移動,最後的工作步驟中,該齒條3則只由該第二小齒輪2所移動。
第3-5圖所示係為本發明操縱器移動一金屬板4之各個步驟示意圖,該操縱器包含有第2圖中所示之小齒輪-齒條裝置。
一桿體5係沿水平方向可滑動的在與該操縱器一體裝設的一導件7上,該操縱器具有用以抓起該金屬板4及該齒條3的抓起裝置8。該第一小齒輪1和第二小齒輪2在金屬板4的移動路徑中最好是被一工作頭9所阻礙,如此至少其中有一小齒輪是與該齒條3相嚙合。該第一小齒輪1和第二小齒輪2相對於工作頭9最好是對稱設置。請進一步參閱第6圖可以清楚地看出,該第一小齒輪1和第二小齒輪2係分別由適當的電動馬達11和12所驅動。
在供應金屬板4的第一工作步驟中(第3圖),該齒條3係由該第一小齒輪1所移動,僅只使該金屬板4獲得一水平的位移至該工作頭9。
在加工金屬板4的第二工作步驟中(第4圖),該齒條3係由該第一小齒輪1和第二小齒輪2所共同移動,使該金屬板4位於該工作頭9的下面。
在吐出金屬板4的第三工作步驟中(第5圖),該齒條3係由該第二小齒輪2所移動,僅只使該金屬板4獲得一水平的位移離開該工作頭9。
藉由上述操縱器,如果有適當的轉矩,可在保持同樣的工作行程的同時,縮短該齒條3的長度並減輕其重量,或可在保持該齒條3同樣的長度、硬度及重量的同時,增加對該齒條3的工作行程。
雖然圖式所示的實施例包含有兩個小齒輪1、2,但是小齒輪的數量也可以更多,此仍屬於本發明的保護範圍內。基本上,小齒輪的數量可從2至n不等。
1‧‧‧第一小齒輪
2‧‧‧第二小齒輪
3‧‧‧齒條
4‧‧‧金屬板
5‧‧‧桿體
7‧‧‧導件
8‧‧‧抓起裝置
9‧‧‧工作頭
11‧‧‧電動馬達
12‧‧‧電動馬達
第1圖 係一種裝置具有習知操縱器之小齒輪及齒條之示意圖;第2圖 係一種裝置具有本發明操縱器之小齒輪及齒條之示意圖;
第3-5圖 係顯示本發明操縱器移動金屬板各個步驟之示意圖;第6圖 係顯示本發明第4圖之操縱器其小齒輪及齒條裝置部分之示意圖。
1...第一小齒輪
2...第二小齒輪
3...齒條
Claims (3)
- 一種金屬板之操縱器,包含有多個抓起裝置供用以抓起該金屬板,該抓起裝置係與一齒條相連接,而該齒條又與一第一小齒輪及一工作頭相連結,其特徵係在於:該金屬板之操縱器包含至少一第二小齒輪,該第一、第二小齒輪係沿著該金屬板的移動路徑設置,該第一、二小齒輪將動力傳輸至該齒條,且該齒條與該第一小齒輪或第二小齒輪或該第一及第二小齒輪相嚙合,以將該齒條從該工作頭的一端移動到另一端。
- 如申請專利範圍第1項所述之金屬板之操縱器,其特徵係在於,該第一小齒輪及第二小齒輪在該金屬板的移動路徑中係被該工作頭所阻礙。
- 如申請專利範圍第2項所述之金屬板之操縱器,其特徵係在於,該第一小齒輪及第二小齒輪在該金屬板的移動路徑中係相對於該工作頭對稱設置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT002240A ITMI20062240A1 (it) | 2006-11-23 | 2006-11-23 | Manipolatore di fogli di lamiera |
Publications (2)
Publication Number | Publication Date |
---|---|
TW200831209A TW200831209A (en) | 2008-08-01 |
TWI391189B true TWI391189B (zh) | 2013-04-01 |
Family
ID=39201374
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW096144324A TWI391189B (zh) | 2006-11-23 | 2007-11-22 | 金屬板之操縱器 |
Country Status (20)
Country | Link |
---|---|
US (1) | US7913532B2 (zh) |
EP (1) | EP1925380B1 (zh) |
JP (1) | JP5550807B2 (zh) |
KR (1) | KR101536746B1 (zh) |
CN (1) | CN101200040B (zh) |
AT (1) | ATE473815T1 (zh) |
AU (1) | AU2007234559B2 (zh) |
BR (1) | BRPI0704174B1 (zh) |
CA (1) | CA2610323C (zh) |
DE (1) | DE602007007711D1 (zh) |
DK (1) | DK1925380T3 (zh) |
ES (1) | ES2348749T3 (zh) |
IT (1) | ITMI20062240A1 (zh) |
MX (1) | MX2007014676A (zh) |
MY (1) | MY152521A (zh) |
PL (1) | PL1925380T3 (zh) |
PT (1) | PT1925380E (zh) |
RU (1) | RU2443544C2 (zh) |
SI (1) | SI1925380T1 (zh) |
TW (1) | TWI391189B (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5635983B2 (ja) * | 2009-06-25 | 2014-12-03 | タナシン電機株式会社 | 2次元移動機構 |
EP2829334B1 (de) * | 2013-07-25 | 2015-12-30 | TRUMPF Werkzeugmaschinen GmbH + Co. KG | Antriebsvorrichtung für eine Bewegungseinheit einer Werkzeugmaschine sowie Werkzeugmaschine mit einer derartigen Antriebsvorrichtung |
CN107350375A (zh) * | 2017-07-13 | 2017-11-17 | 深圳市嘉熠精密自动化科技有限公司 | 一种多台冲压设备连线自动上下料*** |
CN108994149A (zh) * | 2018-07-25 | 2018-12-14 | 合肥仨力机械制造有限公司 | 一种用于生产叉车配件的设备 |
CN111390586A (zh) * | 2020-04-01 | 2020-07-10 | 江苏贵钰航空工业有限公司 | 一种数控机床的工件夹紧装置 |
CN113414287B (zh) * | 2021-07-14 | 2022-09-20 | 苏州万喜达精密钢带有限公司 | 一种钢带及其制造工艺 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4658626A (en) * | 1984-01-20 | 1987-04-21 | Honda Giken Kogyo Kabushiki Kaisha | Conveyor in plastic working machine |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3259929A (en) * | 1963-02-26 | 1966-07-12 | Nedschroef Octrooi Maats | Nut transfer mechanism in machine for making nuts and similar articles |
US3358490A (en) * | 1964-12-11 | 1967-12-19 | United States Steel Corp | Steadier for mandrel bar and tube shell |
SU440176A1 (ru) * | 1973-06-27 | 1974-08-25 | Предприятие П/Я В-2120 | Манипул тор листового прокатного стана |
DE2530056C3 (de) * | 1975-07-05 | 1978-06-08 | Trumpf Maschinen Ag, Zug (Schweiz) | Vorrichtung an einer Nibbelmaschine zum schrittweise selbsttätigen Vorschub des Werkstückträgers |
US4068519A (en) * | 1976-01-05 | 1978-01-17 | Kasle Steel Corporation | Unloader for press |
DE2805532A1 (de) * | 1978-02-10 | 1979-08-16 | Trumpf Maschinen Ag | Werkzeugmaschine mit einer einstellbaren vorrichtung zum festhalten und verschieben eines werkstuecks gegenueber einem werkzeug |
US4373648A (en) * | 1980-05-08 | 1983-02-15 | Teepak, Inc. | Controlled rate linear motion drive |
US4516663A (en) * | 1982-03-15 | 1985-05-14 | Harsco Corporation | Safety device |
DE3218712C2 (de) * | 1982-05-18 | 1985-05-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München | Zweiachsiges Handhabungsgerät zum Bewegen von Werkstücken zwischen zwei beliebigen Punkten in einer Ebene |
US4621516A (en) * | 1982-09-03 | 1986-11-11 | Avondale Industries, Inc. | Transfer feed press with transfer feed system |
DE3314748A1 (de) | 1983-04-23 | 1984-10-25 | Trumpf GmbH & Co, 7257 Ditzingen | Bearbeitungsmaschine, vorzugsweise maschine zum stanzen, nibbeln, brennschneiden und dgl. |
US4879894A (en) * | 1988-06-06 | 1989-11-14 | Roper Whitney Company | Press with movable workpiece support carrier |
US5881601A (en) * | 1992-07-13 | 1999-03-16 | Hammer; Mordechai | Extendible and retractable reaching tool |
DE9415514U1 (de) * | 1994-09-24 | 1994-11-17 | Trumpf Gmbh & Co, 71254 Ditzingen | Bearbeitungsmaschine mit bewegbaren Werkstückhaltevorrichtungen |
CA2138591C (en) * | 1994-12-20 | 1999-06-15 | Herman Ophardt | Modular shuttle conveyor |
CN2230201Y (zh) * | 1995-07-03 | 1996-07-03 | 黄坚庭 | 抛光机的输送装置 |
JPH09156811A (ja) * | 1995-12-12 | 1997-06-17 | Murata Mach Ltd | 板材製品置換装置 |
JP3106237B2 (ja) * | 1996-02-27 | 2000-11-06 | 株式会社アマダ | 板材加工機用搬入出装置 |
JPH1086028A (ja) * | 1996-09-18 | 1998-04-07 | Toyota Motor Corp | ワーク搬送装置 |
IT250391Y1 (it) * | 2000-12-15 | 2003-09-10 | I M Parpas S R L | Gruppo di movimentazione per una slitta traslabile in modo controllato |
JP2003001542A (ja) * | 2001-06-22 | 2003-01-08 | Kitamura Mach Co Ltd | Nc工作機械 |
US7040133B2 (en) * | 2002-11-22 | 2006-05-09 | Ying Lin Machine Industrial Co., Ltd. | Transmission device for a tube bending machine |
ITMI20030242A1 (it) * | 2003-02-11 | 2004-08-12 | Salvagnini Italia Spa | Manipolatore per la movimentazione di fogli di lamiera su un piano di lavoro in una macchina punzonatrice |
AT8674U1 (de) * | 2005-02-17 | 2006-11-15 | Trumpf Maschinen Austria Gmbh | Blechbiegeeinrichtung mit einer ablagevorrichtung |
-
2006
- 2006-11-23 IT IT002240A patent/ITMI20062240A1/it unknown
-
2007
- 2007-11-07 EP EP07120206A patent/EP1925380B1/en active Active
- 2007-11-07 PT PT07120206T patent/PT1925380E/pt unknown
- 2007-11-07 AT AT07120206T patent/ATE473815T1/de active
- 2007-11-07 DK DK07120206.3T patent/DK1925380T3/da active
- 2007-11-07 PL PL07120206T patent/PL1925380T3/pl unknown
- 2007-11-07 SI SI200730355T patent/SI1925380T1/sl unknown
- 2007-11-07 ES ES07120206T patent/ES2348749T3/es active Active
- 2007-11-07 DE DE602007007711T patent/DE602007007711D1/de active Active
- 2007-11-13 CA CA2610323A patent/CA2610323C/en not_active Expired - Fee Related
- 2007-11-14 US US11/939,988 patent/US7913532B2/en active Active
- 2007-11-16 AU AU2007234559A patent/AU2007234559B2/en not_active Ceased
- 2007-11-20 MY MYPI20072049 patent/MY152521A/en unknown
- 2007-11-21 KR KR1020070118870A patent/KR101536746B1/ko active IP Right Grant
- 2007-11-21 JP JP2007302166A patent/JP5550807B2/ja active Active
- 2007-11-22 CN CN2007103081763A patent/CN101200040B/zh active Active
- 2007-11-22 RU RU2007143385/02A patent/RU2443544C2/ru active
- 2007-11-22 TW TW096144324A patent/TWI391189B/zh not_active IP Right Cessation
- 2007-11-22 MX MX2007014676A patent/MX2007014676A/es active IP Right Grant
- 2007-11-22 BR BRPI0704174A patent/BRPI0704174B1/pt active IP Right Grant
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4658626A (en) * | 1984-01-20 | 1987-04-21 | Honda Giken Kogyo Kabushiki Kaisha | Conveyor in plastic working machine |
Also Published As
Publication number | Publication date |
---|---|
CN101200040B (zh) | 2012-03-07 |
BRPI0704174A (pt) | 2008-07-08 |
US7913532B2 (en) | 2011-03-29 |
CA2610323A1 (en) | 2008-05-23 |
KR101536746B1 (ko) | 2015-07-14 |
EP1925380A1 (en) | 2008-05-28 |
US20080121010A1 (en) | 2008-05-29 |
MX2007014676A (es) | 2009-02-12 |
AU2007234559A1 (en) | 2008-06-12 |
DK1925380T3 (da) | 2010-09-27 |
ITMI20062240A1 (it) | 2008-05-24 |
DE602007007711D1 (de) | 2010-08-26 |
ES2348749T3 (es) | 2010-12-13 |
EP1925380B1 (en) | 2010-07-14 |
ATE473815T1 (de) | 2010-07-15 |
KR20080047277A (ko) | 2008-05-28 |
TW200831209A (en) | 2008-08-01 |
CN101200040A (zh) | 2008-06-18 |
PT1925380E (pt) | 2010-09-16 |
SI1925380T1 (sl) | 2010-12-31 |
CA2610323C (en) | 2015-01-13 |
JP2008126404A (ja) | 2008-06-05 |
RU2007143385A (ru) | 2009-06-10 |
BRPI0704174B1 (pt) | 2018-11-06 |
RU2443544C2 (ru) | 2012-02-27 |
PL1925380T3 (pl) | 2010-12-31 |
MY152521A (en) | 2014-10-15 |
JP5550807B2 (ja) | 2014-07-16 |
AU2007234559B2 (en) | 2013-10-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
TWI391189B (zh) | 金屬板之操縱器 | |
US8752874B2 (en) | Robot hand | |
JP5006050B2 (ja) | プレスにおけるワークピース移動装置 | |
CN105014661B (zh) | 一种新型连杆式机械手 | |
KR20160042876A (ko) | 피가공물용 이송 장치 | |
CN110744531A (zh) | 轻便紧凑型物料抓取机器人 | |
CN206527252U (zh) | 独立式数控冲压机械手 | |
JP2011125958A (ja) | チャック装置およびロボットアーム | |
JP3119571B2 (ja) | トランスファプレスのワーク搬送装置 | |
US20220176518A1 (en) | Clamping or gripping device with extended stroke | |
CN205466288U (zh) | 抓取工件的机械手结构 | |
CN106624964A (zh) | 一种车床用高效机械手装置 | |
CN106425223B (zh) | 一种机器人焊接工作站 | |
JP2010036246A (ja) | 曲げ加工用押圧装置 | |
KR101116636B1 (ko) | 곡률 성형기용 동력보조장치 | |
JP4665001B2 (ja) | テレスコピック構造 | |
JP2006150105A5 (zh) | ||
JP6299454B2 (ja) | 搬送アーム | |
CN205521460U (zh) | 一种工业机器人 | |
CN110053996B (zh) | 模切机送取纸机械手 | |
KR100593411B1 (ko) | 휠 이송로봇용 더블 그리퍼 | |
CN215511051U (zh) | 全自动机械手 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
MM4A | Annulment or lapse of patent due to non-payment of fees |