CN104993654A - Grabbing manipulator assembling rotor core and rotating shaft - Google Patents
Grabbing manipulator assembling rotor core and rotating shaft Download PDFInfo
- Publication number
- CN104993654A CN104993654A CN201510481784.9A CN201510481784A CN104993654A CN 104993654 A CN104993654 A CN 104993654A CN 201510481784 A CN201510481784 A CN 201510481784A CN 104993654 A CN104993654 A CN 104993654A
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- catching robot
- iron core
- robot
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manufacture Of Motors, Generators (AREA)
Abstract
The invention discloses a grabbing manipulator assembling a rotor core and a rotating shaft, comprising an industrial robot, an iron core grabbing manipulator, and a rotating shaft grapping manipulator. The iron core grapping manipulator and the rotating grapping manipulator are installed on the end of the industrial robot, and the relatively position between the iron core grapping manipulator and the rotating shaft grapping manipulator is fixed. The rotor iron core and the shaft assembling grapping manipulator can automatically grab the iron core and the rotation shaft, can bring the grabbed iron core and the rotation shaft to a specific station to insert the rotation shaft into the center hole of the iron core. Besides, by providing vision, the rotor core and rotating shaft assembling grabbing manipulator can operate more efficiently. The rotor core and rotating shaft assembling grabbing manipulator is simple in structure, high in efficiency, low in labor cost.
Description
Technical field
The present invention relates to a kind of industrial robot, especially for the catching robot of rotor production line.
Background technology
Motor, primarily of rotor and stator composition, is realize the important device of electric energy to mechanical energy, is the power source of a lot of automation equipment, is widely used in all trades and professions.Rotor is made up of rotating shaft and rotor core, and its production process mainly comprises rotating shaft press-in iron core, and processing iron core cylindrical and iron core cylindrical roll paint etc.; The outer bowlder of processing iron core, carry out the cylindrical of turning rotor core mainly through numerically controlled lathe, its process time is shorter, generally below 10 seconds, needs workman to complete loading and unloading and the clamping of rotor; And rotor is widely used, China's being in great demand to rotor.
Mainly there is following limitation in current rotor: (1) automaticity is low, and working (machining) efficiency is low in the course of processing.Although there is the equipment for automation loading and unloading and clamping in the market, but most equipment utilizes manipulator to realize loading and unloading and the clamping of rotor, the long clamping time has had a strong impact on rotor working (machining) efficiency, and manipulator cost compare is high, therefore the loading and unloading of rotor and clamping major part are by manually having come, cause course of processing automaticity low, efficiency is not high.(2) labor strength is large, there is potential safety hazard.In the rotor course of processing, because process time is very short, workman needs frequently manually to carry out loading and unloading and clamping, directly contacts with lathe, and labour intensity is comparatively large, in the long course of work, there is serious potential safety hazard.(3) recruitment difficulty, labor shortage.Rotor adds man-hour numerically controlled lathe and needs outfit workman, and the demand of rotor is very big, and therefore the processing of rotor needs a large amount of workman; Constantly there is the situations such as recruitment difficulty, labor shortage along with labour intensive professions such as Chinese labour force cost rise gradually, rotor processing.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of can automatic capturing iron core and rotating shaft the manipulator that it is assembled up.
Technical scheme: for achieving the above object, catching robot is assembled in a kind of rotor core of the present invention and rotating shaft, comprise industrial robot, iron core catching robot and rotating shaft catching robot, described iron core catching robot and rotating shaft catching robot are installed in industrial machine robot end, and the relative position between iron core catching robot and rotating shaft catching robot is fixed.
Further, the central axis of rotating shaft that the central axis of iron core that grabs of described iron core catching robot and rotating shaft catching robot grab is parallel to each other.
Further, comprise a L bracket, described L bracket is connected in industrial machine robot end, and described iron core catching robot and rotating shaft catching robot are arranged on the two ends of L bracket respectively.
Further, described rotating shaft catching robot comprises two finger clamping cylinders and two clamping elements, described two clamping elements are arranged on two jaw fingers of two finger clamping cylinders respectively, two clamping elements all have V-shaped groove, and the V-shaped groove be installed on jaw finger latter two clamping element upper is relative.
Further, described rotating shaft catching robot also comprises beating cylinder, and described beating cylinder is telescopic cylinder, pats cylinder and refers to clamping cylinder fixed installation relative to two; The flap-wise patting cylinder is the axis direction of the rotating shaft that rotating shaft catching robot grabs.
Further, described iron core catching robot comprises finger cylinder and tensioner bar, the quantity of described tensioner bar is equal with the number of the finger of described finger cylinder, and each finger of finger cylinder is all equipped with a tensioner bar, the cross section of described tensioner bar is fan-shaped, when all fingers of finger cylinder close up, it is a cylinder that all tensioner bars close up.
Further, described finger cylinder is fixed with at least two guide shafts, described L bracket is fixed with the guide pin bushing equal with guide shaft quantity, be slidably matched between described guide shaft and guide pin bushing, on every root guide shaft, all cover has back-moving spring.
Further, described tensioner bar arc side has notch, in notch, be fixed with fricting strip, and described fricting strip is connected in after in notch above tensioner bar surface.
Further, also comprise camera and light source, described camera just parallel with the central shaft of the iron core that iron core catching robot grabs to the direction of illumination of direction and light source, described camera and described light source are all fixed on industrial machine robot end.
Further, the job step that described rotor core and axle assemble catching robot is: first, and industrial robot motion is to the some position of getting rotating shaft, and rotating shaft catching robot captures a rotating shaft; Then, industrial robot motion to the some position of getting iron core, the particular location of camera photographic analysis determination core center, iron core catching robot descending crawl iron core; Finally, industrial robot motion, to assembly station, first puts down iron core, then inserts in the centre bore of iron core by rotating shaft, pats cylinder beating rotating shaft and ensures that rotating shaft is seated.
Beneficial effect: rotor core of the present invention and axle assemble catching robot can automatic capturing iron core and rotating shaft, and can the iron core grabbed and rotating shaft be taken to specific station rotating shaft is inserted in the centre bore of iron core, and vision more Effec-tive Function of can arranging in pairs or groups, there is the advantages such as structure is simple, efficient, saving human cost.
Accompanying drawing explanation
Accompanying drawing 1 is the overall vertical view that catching robot is assembled in rotor core and rotating shaft;
Accompanying drawing 2 is the enlarged drawing that the concrete paw section of catching robot is assembled in rotor core and rotating shaft.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
Catching robot is assembled in a kind of rotor core as shown in Figure 1 and rotating shaft, comprise industrial robot 1, iron core catching robot 2, rotating shaft catching robot 3 and L bracket 4, L bracket 4 is connected in industrial robot 1 end, and iron core catching robot 2 and rotating shaft catching robot 3 are arranged on the two ends of L bracket 4 respectively.The central axis of the rotating shaft that the central axis of the iron core that iron core catching robot 2 grabs and rotating shaft catching robot 3 grab is parallel to each other.
As shown in Figure 2, rotating shaft catching robot 3 comprises two finger clamping cylinders 31 and two clamping elements 32, two clamping elements 32 are arranged on two jaw fingers of two finger clamping cylinders 31 respectively, two clamping elements 32 all have V-shaped groove, and the V-shaped groove be installed on jaw finger latter two clamping element 32 upper is relative.Also comprise and pat cylinder 33, patting cylinder 33 is telescopic cylinder, pats cylinder 33 and refers to that relative to two clamping cylinder 31 fixedly mounts; The flap-wise patting cylinder 33 is the axis direction of the rotating shaft that rotating shaft catching robot 3 grabs.Pat under cylinder 33 can prevent rotating shaft to be stuck in core center hole place and do not go.
Iron core catching robot 2 comprises finger cylinder 21 and tensioner bar 22, the quantity of tensioner bar 22 is equal with the number of the finger of finger cylinder 21, and each finger of finger cylinder 21 is all equipped with a tensioner bar 22, the cross section of tensioner bar 22 is fan-shaped, when all fingers of finger cylinder 21 close up, it is a cylinder that all tensioner bars 22 close up.Finger cylinder 21 is fixed with at least two guide shafts 23, L bracket 4 is fixed with the guide pin bushing 24 equal with guide shaft 23 quantity, is slidably matched between guide shaft 23 and guide pin bushing 24, on every root guide shaft 23, all cover has back-moving spring 25.Acting as of guide shaft 23, guide pin bushing 24 and back-moving spring 25 prevents the central point of not finding rotating shaft accurately from avoiding iron core catching robot 2 and iron core very stiff and demanding, and prevents from capturing in iron core process very stiff and demanding to lower feeding excessive correcting iron core catching robot 2 and iron core.Tensioner bar 22 arc side has notch, in notch, be fixed with fricting strip, and fricting strip is connected in after in notch above tensioner bar 22 surface.The friction act as between increase tensioner bar and iron core of fricting strip, prevents iron core from dropping.
Also comprise camera 5 and light source 6, camera 5 just parallel with the central shaft of the iron core that iron core catching robot 2 grabs to the direction of illumination of direction and light source 6, camera 5 and light source 6 are all fixed on industrial robot 1 end.The effect of camera 5 is the particular locations by image processing correction core center hole, avoids manipulator to find less than centre bore.
The job step that rotor core and axle assemble catching robot is: first, and industrial robot 1 moves to the some position of getting rotating shaft, and rotating shaft catching robot 3 captures a rotating shaft; Then, industrial robot 1 moves to the some position of getting iron core, the particular location of camera 5 photographic analysis determination core center, iron core catching robot 2 descending crawl iron core; Finally, industrial robot 1 moves to assembly station, first puts down iron core, then inserts in the centre bore of iron core by rotating shaft, and beating cylinder 33 is patted rotating shaft and ensured that rotating shaft is seated.
Rotor core of the present invention and axle assemble catching robot can automatic capturing iron core and rotating shaft, and can the iron core grabbed and rotating shaft be taken to specific station rotating shaft is inserted in the centre bore of iron core, and vision more Effec-tive Function of can arranging in pairs or groups, there is the advantages such as structure is simple, efficient, saving human cost.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. catching robot is assembled in a rotor core and rotating shaft, it is characterized in that: comprise industrial robot (1), iron core catching robot (2) and rotating shaft catching robot (3), described iron core catching robot (2) and rotating shaft catching robot (3) are installed in industrial robot (1) end, and the relative position between iron core catching robot (2) and rotating shaft catching robot (3) is fixed.
2. catching robot is assembled in a kind of rotor core according to claim 1 and rotating shaft, it is characterized in that: the central axis of the rotating shaft that the central axis of the iron core that described iron core catching robot (2) grabs and rotating shaft catching robot (3) grab is parallel to each other.
3. catching robot is assembled in a kind of rotor core according to claim 2 and rotating shaft, it is characterized in that: comprise a L bracket (4), described L bracket (4) is connected in industrial robot (1) end, and described iron core catching robot (2) and rotating shaft catching robot (3) are arranged on the two ends of L bracket (4) respectively.
4. catching robot is assembled in a kind of rotor core according to claim 3 and rotating shaft, it is characterized in that: described rotating shaft catching robot (3) comprises two finger clamping cylinders (31) and two clamping elements (32), described two clamping elements (32) are arranged on two jaw fingers of two finger clamping cylinders (31) respectively, two clamping elements (32) all have V-shaped groove, and the V-shaped groove be installed on upper latter two clamping element (32) of jaw finger is relative.
5. catching robot is assembled in a kind of rotor core according to claim 3 and rotating shaft, it is characterized in that: described rotating shaft catching robot (3) also comprises pats cylinder (33), described beating cylinder (33) is telescopic cylinder, pats cylinder (33) and refers to clamping cylinder (31) fixed installation relative to two; The flap-wise patting cylinder (33) is the axis direction of the rotating shaft that rotating shaft catching robot (3) grabs.
6. catching robot is assembled in a kind of rotor core according to claim 3 and rotating shaft, it is characterized in that: described iron core catching robot (2) comprises finger cylinder (21) and tensioner bar (22), the quantity of described tensioner bar (22) is equal with the number of the finger of described finger cylinder (21), and a tensioner bar (22) each finger of finger cylinder (21) is all equipped with, the cross section of described tensioner bar (22) is fan-shaped, when all fingers of finger cylinder (21) close up, it is a cylinder that all tensioner bars (22) close up.
7. catching robot is assembled in a kind of rotor core according to claim 5 and rotating shaft, it is characterized in that: described finger cylinder (21) is fixed with at least two guide shafts (23), described L bracket (4) is fixed with the guide pin bushing (24) equal with guide shaft (23) quantity, be slidably matched between described guide shaft (23) and guide pin bushing (24), on every root guide shaft (23), all cover has back-moving spring (25).
8. catching robot is assembled in a kind of rotor core according to claim 5 or 6 and rotating shaft, it is characterized in that: described tensioner bar (22) arc side has notch, in notch, be fixed with fricting strip, described fricting strip is connected in after in notch above tensioner bar (22) surface.
9. catching robot is assembled in a kind of rotor core according to the arbitrary claim of claim 1-6 and rotating shaft, it is characterized in that: also comprise camera (5) and light source (6), described camera (5) just parallel with the central shaft of the iron core that iron core catching robot (2) grabs to the direction of illumination of direction and light source (6), described camera (5) and described light source (6) are all fixed on industrial robot (1) end.
10. a kind of rotor core according to claim 9 and axle assemble catching robot, it is characterized in that: the job step that described rotor core and axle assemble catching robot is: first, industrial robot (1) moves to the some position of getting rotating shaft, and rotating shaft catching robot (3) captures a rotating shaft; Then, industrial robot (1) moves to the some position of getting iron core, the particular location of camera (5) photographic analysis determination core center, iron core catching robot (2) descending crawl iron core; Finally, industrial robot (1) moves to assembly station, first puts down iron core, then inserts in the centre bore of iron core by rotating shaft, pats cylinder (33) beating rotating shaft and ensures that rotating shaft is seated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510481784.9A CN104993654B (en) | 2015-08-07 | 2015-08-07 | A kind of rotor core assembles catching robot with shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510481784.9A CN104993654B (en) | 2015-08-07 | 2015-08-07 | A kind of rotor core assembles catching robot with shaft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104993654A true CN104993654A (en) | 2015-10-21 |
| CN104993654B CN104993654B (en) | 2018-10-23 |
Family
ID=54305423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510481784.9A Active CN104993654B (en) | 2015-08-07 | 2015-08-07 | A kind of rotor core assembles catching robot with shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104993654B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107171513A (en) * | 2017-07-13 | 2017-09-15 | 安徽航大智能科技有限公司 | A kind of multiple target rotor parts grasping mechanism |
| CN107717400A (en) * | 2017-11-27 | 2018-02-23 | 苏州三屹晨光自动化科技有限公司 | A kind of rotor magnet transportation manipulator |
| CN109051751A (en) * | 2018-08-10 | 2018-12-21 | 山东中际智能装备有限公司 | Multifunction manipulator grasping mechanism |
| CN109269826A (en) * | 2018-10-25 | 2019-01-25 | 上海方酋机器人有限公司 | Sampling apparatus and sampling robot suitable for robot |
| CN109262218A (en) * | 2018-10-12 | 2019-01-25 | 高精精密塑胶制品（深圳）有限公司 | Universal screw intelligence kludge |
| CN110695641A (en) * | 2019-10-18 | 2020-01-17 | 张运杰 | Grabbing and assembling manipulator of planetary gear for speed reduction motor |
| WO2021174963A1 (en) * | 2020-03-04 | 2021-09-10 | 莱克电气股份有限公司 | Automated production line and motor rotor production line |
| CN114194810A (en) * | 2021-12-20 | 2022-03-18 | 苏州赛腾菱欧智能科技有限公司 | Device for realizing multi-station equidistant product carrying in production process |
| CN114714379A (en) * | 2022-05-19 | 2022-07-08 | 安徽好运机械有限公司 | Automatic gripper for assembling pneumatic tire of forklift |
| US11557944B2 (en) | 2021-01-28 | 2023-01-17 | Ford Global Technologies, Llc | Rotor assembly method and system employing central multi-tasking robotic system |
| US11826915B2 (en) | 2021-01-28 | 2023-11-28 | Ford Global Technologies, Llc | Method and system for assembling a rotor stack for an electric motor |
| US11996746B2 (en) | 2021-01-28 | 2024-05-28 | Ford Global Technologies, Llc | Method and apparatus for transfer molding of electric motor cores and magnetizable inserts |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6023225A (en) * | 1983-07-15 | 1985-02-05 | Hitachi Ltd | Iron core loading unit |
| CN203141491U (en) * | 2012-12-28 | 2013-08-21 | 西安沃恩机床有限公司 | Practical mechanical arm for micro-motor rotor machining |
| CN203650513U (en) * | 2014-01-10 | 2014-06-18 | 北京机械工业自动化研究所 | Mechanical gripper and industrial robot for mounting circuit for electronic product |
| CN203761217U (en) * | 2014-04-03 | 2014-08-06 | 重庆市灵龙五金有限公司 | Commutator pressed-in iron core assembling machine |
| CN204068601U (en) * | 2014-09-12 | 2014-12-31 | 苏州石丸英合精密机械有限公司 | The armature spindle of rotor automatic assembling machine is transplanted and is inserted mechanism |
| CN104377026A (en) * | 2014-11-21 | 2015-02-25 | 东莞市威元电子科技有限公司 | Full-automatic magnet core assembly production line |
| CN204835853U (en) * | 2015-08-07 | 2015-12-02 | 苏州三体智能科技有限公司 | Rotor core snatchs manipulator with pivot assembly |
-
2015
- 2015-08-07 CN CN201510481784.9A patent/CN104993654B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6023225A (en) * | 1983-07-15 | 1985-02-05 | Hitachi Ltd | Iron core loading unit |
| CN203141491U (en) * | 2012-12-28 | 2013-08-21 | 西安沃恩机床有限公司 | Practical mechanical arm for micro-motor rotor machining |
| CN203650513U (en) * | 2014-01-10 | 2014-06-18 | 北京机械工业自动化研究所 | Mechanical gripper and industrial robot for mounting circuit for electronic product |
| CN203761217U (en) * | 2014-04-03 | 2014-08-06 | 重庆市灵龙五金有限公司 | Commutator pressed-in iron core assembling machine |
| CN204068601U (en) * | 2014-09-12 | 2014-12-31 | 苏州石丸英合精密机械有限公司 | The armature spindle of rotor automatic assembling machine is transplanted and is inserted mechanism |
| CN104377026A (en) * | 2014-11-21 | 2015-02-25 | 东莞市威元电子科技有限公司 | Full-automatic magnet core assembly production line |
| CN204835853U (en) * | 2015-08-07 | 2015-12-02 | 苏州三体智能科技有限公司 | Rotor core snatchs manipulator with pivot assembly |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107171513A (en) * | 2017-07-13 | 2017-09-15 | 安徽航大智能科技有限公司 | A kind of multiple target rotor parts grasping mechanism |
| CN107717400A (en) * | 2017-11-27 | 2018-02-23 | 苏州三屹晨光自动化科技有限公司 | A kind of rotor magnet transportation manipulator |
| CN109051751A (en) * | 2018-08-10 | 2018-12-21 | 山东中际智能装备有限公司 | Multifunction manipulator grasping mechanism |
| CN109262218A (en) * | 2018-10-12 | 2019-01-25 | 高精精密塑胶制品（深圳）有限公司 | Universal screw intelligence kludge |
| CN109262218B (en) * | 2018-10-12 | 2024-05-03 | 高精精密塑胶制品（深圳）有限公司 | Universal screw intelligent assembling machine |
| CN109269826B (en) * | 2018-10-25 | 2023-08-29 | 上海方酋机器人有限公司 | Sampling device and sampling robot suitable for robot |
| CN109269826A (en) * | 2018-10-25 | 2019-01-25 | 上海方酋机器人有限公司 | Sampling apparatus and sampling robot suitable for robot |
| CN110695641A (en) * | 2019-10-18 | 2020-01-17 | 张运杰 | Grabbing and assembling manipulator of planetary gear for speed reduction motor |
| CN110695641B (en) * | 2019-10-18 | 2021-08-10 | 天星自动化(日照)有限公司 | Grabbing and assembling manipulator of planetary gear for speed reduction motor |
| WO2021174963A1 (en) * | 2020-03-04 | 2021-09-10 | 莱克电气股份有限公司 | Automated production line and motor rotor production line |
| US11826915B2 (en) | 2021-01-28 | 2023-11-28 | Ford Global Technologies, Llc | Method and system for assembling a rotor stack for an electric motor |
| US11557944B2 (en) | 2021-01-28 | 2023-01-17 | Ford Global Technologies, Llc | Rotor assembly method and system employing central multi-tasking robotic system |
| US11996746B2 (en) | 2021-01-28 | 2024-05-28 | Ford Global Technologies, Llc | Method and apparatus for transfer molding of electric motor cores and magnetizable inserts |
| CN114194810B (en) * | 2021-12-20 | 2024-02-06 | 苏州赛腾菱欧智能科技有限公司 | Device for carrying products at multiple stations at equal intervals in production process |
| CN114194810A (en) * | 2021-12-20 | 2022-03-18 | 苏州赛腾菱欧智能科技有限公司 | Device for realizing multi-station equidistant product carrying in production process |
| CN114714379A (en) * | 2022-05-19 | 2022-07-08 | 安徽好运机械有限公司 | Automatic gripper for assembling pneumatic tire of forklift |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104993654B (en) | 2018-10-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104993654A (en) | Grabbing manipulator assembling rotor core and rotating shaft | |
| CN204835853U (en) | Rotor core snatchs manipulator with pivot assembly | |
| CN105107691A (en) | Manipulator for coating detection gears in steering wheel power-assisted steering system with oil | |
| CN204933910U (en) | A kind of manipulator for detecting gear oiling in steering wheel servo steering system | |
| CN205043769U (en) | Automatic feeding mechanical arm that goes up of system shell machine | |
| CN105071605B (en) | A kind of rotor automatic assembly line | |
| CN205129848U (en) | Energy -efficient building block splitting machine's manipulator | |
| CN105618650B (en) | A kind of steel production is with the plant equipment for making steel shape function | |
| CN205393551U (en) | Axle type processing double -end lathe | |
| CN104843481A (en) | Beam conveying device | |
| CN205438404U (en) | Portable jaw type pressure gauge device | |
| CN204818922U (en) | Manipulator is snatched in adaptable different diameter electric motor rotor's automation | |
| CN211805903U (en) | Coal mine machinery roller dismounting device | |
| CN203356954U (en) | O-shaped ring separating mechanism for O-shaped ring installation device | |
| CN206578471U (en) | Turning clamping fixture for overlength box beam | |
| CN213796527U (en) | Y-shaped pneumatic clamping jaw | |
| CN205889231U (en) | Pick up anchor clamps mechanism of rubbish robot | |
| CN202212816U (en) | Industrial electrical automation equipment | |
| CN204980358U (en) | Be arranged in power steer a steering system to listen oil -coated feeding mechanism of gear | |
| CN203141490U (en) | Automatic-rotation double-clamping mechanical hand | |
| CN105014101A (en) | Automatic finish turning lathe for motor rotor | |
| CN206032511U (en) | A receiving roller carries assembly and personally experiences sth. part of body that is used for automatic receipts of LED to expect machine | |
| CN207669324U (en) | A kind of robot manipulator structure suitable for unmanned plane | |
| CN221834349U (en) | Grabbing structure of industrial robot | |
| CN216913866U (en) | Novel safe type manipulator fork that stretches out and draws back |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180829 Address after: 322300 B25, small and medium enterprises Incubation Park, new town, Panan, Jinhua, Zhejiang Applicant after: Panan County Chen Xi arts and Crafts Co., Ltd. Address before: 215100 17 Wuzhong District Swan Road 2588, Suzhou, Jiangsu Applicant before: Suzhou three body intelligence Science and Technology Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |