CN105382848A - gripping device - Google Patents
gripping device Download PDFInfo
- Publication number
- CN105382848A CN105382848A CN201510538385.1A CN201510538385A CN105382848A CN 105382848 A CN105382848 A CN 105382848A CN 201510538385 A CN201510538385 A CN 201510538385A CN 105382848 A CN105382848 A CN 105382848A
- Authority
- CN
- China
- Prior art keywords
- grabber
- shell
- grabbing
- slide unit
- grabbing device
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a gripping device with a gripper (1), which at least two elastically deformable gripping arms (2) for gripping of articles or objects and is adjustable between a clamping position and a loosening position. An operating device (3) is provided for relative adjustments of the gripper (1) with respect to a rigid gripper housing (4) interacting with the gripper arms (2).
Description
Technical field
The present invention relates to a grabbing device, there is grabber, this grabber comprise at least two elastically deformables, for holding the crawl arm of object or object, and grabber can adjust between clamped position and released position.
Background technology
Such as by the known this grabbing device of DE4432253A1.The grabber formed in this one can elastic deformation by corresponding structure.When applying power is on transverse arm, crawl arm opens or closes.This system verified when miniaturized application, be especially reliable in minimum part extent.But in this defect be, by this grabbing device or enough securely or delocalization reliably hold the workpiece of large gauge.
Summary of the invention
Proposed the object of the invention is by prior art, the grabbing device of above-mentioned form is provided, also can locates by it the object or object that reliably clamp special large gauge.
This object realizes thus in the grabbing device of above-mentioned form, is provided with manipulation device, for relative to rigidity and relatively with crawl arm interactional grabber shell adjust grabber.
Said grabber shell can move and closed grabber on grabber, and in other words according to another embodiment, described shell is positioned between crawl arm wherein, expanding grabber.By using grabbing device described in rigidity grabber shell to have advantage, this grabbing device additionally provides centering function, namely, the center of workpiece when the process of crawl.Therefore when holding workpiece because centering workpiece is always clamped in same place, same position (location reliable) in other words.This is easy to the automation processing of workpiece.
Real grabber is also guided by grabber shell.By guiding real grabber and the jump demonstrated compared with the known grabbing device of prior art when holding object or object in grabber housings or through grabber shell.In addition because center or centering can realize the repeatable accuracy of increase, that is, position reliably grip objects or object.
Said clamped position is that position, arranges like this at this position crawl arm, clamps the workpiece that will process; When Workpiece clamping therein position time, this is expanding position, or when Workpiece clamping is in its outer portion, this is the position that crawl arm closes at least partly.The position of release workpiece is positioned at released position crawl arm.
Advantageously verified, described manipulation device comprises pull bar and/or depression bar to relatively adjust grabber shell relative to grabber.Can move to by this pull bar and/or depression bar grabber shell or be pressed onto grabber; Otherwise or also can, grabber is pressed onto or moves housings to.That is, what the present invention was important is realize the relative adjustment that two parts are mutual.
In a preferred embodiment, described pull bar and/or depression bar are made up of armature, are provided with electromagnet to relatively adjust grabber shell relative to grabber.The tractive magnet formed thus provides simple by its tractive armature and the main method often used in the robot, relatively adjusts for two objects.If clamp the workpiece be made up of the material of magnetic or object or object, then, before electromagnet runs with higher-wattage, first electromagnet also can pre-fix workpiece magnetic, and is caused by tractive armature and relatively adjust grabber shell relative to real grabber.In another embodiment in order to adjust pull bar and/or depression bar is provided with line motor, i.e. motor.
In another particularly advantageous embodiment of the present invention, be provided with utilize piston system that is that pressure medium loads and that be arranged on inside cylinder shell to adjust pull bar and/or depression bar.This piston system or cylinder shell preferably have at least one pressure medium connector for pressure medium.Said pressure medium or can be gas, provides pneumatic manipulation device thus, or liquid, provides the manipulation device surged thus.
In order to form grabbing device compactly especially, the chamber holding manipulation device is configured in grabber housings, this manipulation device is at one end coupled with in grabber shell and grabber at least indirectly, and described manipulation device is coupled with another in grabber shell and grabber at least indirectly at the other end.In other words, it is not important which end of manipulation device is connected with grabber shell or grabber, because the relative adjustment of two parts only causes desired result, that is, first workpiece is felt relieved when holding and then clamped.
Advantageously verified, described grabber has the flexible space of at least one crawl arm of at least one increase.Rotation or oscillation center displacement can be made by corresponding space, swing around this center crawl arm.According to clamp maybe to hold workpiece kind, namely especially in the shape and stability of workpiece, the space inside grabber or crawl arm can be larger on cross section, if expect more high resiliency, or less, if expect less elasticity.Related to this also advantageously, grabber forms and additionally comprises fixed flat planar.
In order to make the grabber shell rigidity more of manipulation crawl arm, according to another favourable embodiment regulation, described grabber shell has the reinforcing body of gaining in strength.
In order to the oscillating motion of true grabber can be affected, specify according to another favourable embodiment, at least one crawl arm arranged at it on the side of grabber shell or forms control assembly, and there is control surface in the face of the shell arm of the crawl arm of being furnished with control assembly.The control assembly of true grabber can along slip on the chain of command of grabber shell, the wherein profile in control assembly model-following control face.This profile still can adapt at this workpiece shapes that will hold.
In order to provide as far as possible without impacting, namely, smooth as far as possible grabber motion is advantageously verified, described grabber its grabber in the face of grabber shell on the surface and/or described grabber shell at it, there is in the case surface of grabber structure at least in part that reduce friction.This structure reducing friction realizes by being coated in grabber surface and/or case surface, to reduce friction layer at least partly according to another embodiment.Known corresponding slip enamelled coating for this reason.
In addition advantageously verified, the described structure reducing friction is formed by grabber shell and/or the slide unit that is attached to grabber.They can be fixed on by common mode grabber surface and/or case surface on, particularly by bonding, riveted joint or bolt connect.But specify according to another preferred embodiment, at least one crawl arm and/or grabber shell have at least one slide unit housing for holding slide unit.Slide unit can be arranged on inside slide unit housing thus, connect them without the need to additionally bolt or otherwise fix.Said slide unit is pressed into inside slide unit housing.Described slide unit housing is formed with the size slightly less than slide unit for this reason.
Particularly advantageously verified within the scope of the invention, described slide unit is formed by cylindrical sliding pin, they be squeezed into elasticity form slide unit housing inside.Cylindrical shape due to sliding pin can realize being arranged on the linear contact lay between grabber and grabber shell.Advantage compared with linear contact lay contacts with face is, linear contact lay has small adhesion and sliding friction between grabber shell and true grabber.According to particularly preferred embodiment, described slide unit is by steel, namely formed by steel pin.
In order to form grabbing device easily and especially also can treasure the workpiece held outwardly and will clamp, preferably verified, described grabber shell and/or grabber are formed by plastics.Said grabber shell and/or grabber can be made in generation processing technology (such as sintering, 3D extruding etc.), but also can select combined shaping (such as injection moulding).In addition also can, described grabber shell and/or grabber are made in chip-forming process.Meaningfully verified, use PA6 as plastics.
In order to assemble grabbing device regularly in position, according to another embodiment, be provided with analog bracket, described grabber is connected with analog bracket with the first end of manipulation device, and the second end of described manipulation device and grabber shell are coupled.In order to can successfully hold or clamping work pieces, according to another favourable embodiment regulation, described analog bracket has workpiece housing and/or workpiece guide way.They can be made up of magnetic material, can pre-fix the magnetized equally object that will clamp thus by analog bracket.
But embodiments of the invention also comprise, grabbing device itself comprises fixture, i.e. fixing means, does not necessarily use analog bracket thus.
Accompanying drawing explanation
The present invention is explained in detail below by means of embodiment shown in the accompanying drawings.Accompanying drawing illustrates:
Fig. 1 according to grabbing device side view of the present invention,
The profile II-II of Fig. 2 Fig. 1,
Fig. 3 according to grabbing device of the present invention top view and
The profile IV-IV of Fig. 4 Fig. 3.
Detailed description of the invention
Grabbing device illustrated in the accompanying drawings has grabber 1, and it can adjust between clamped position and released position.Accompanying drawing illustrates the released position of grabbing device.Grabbing device has manipulation device 3, by it can cause grabber 1 relative to rigidity and relatively with the crawl arm 2 interactional grabber shell 4 of grabber 1 to adjust.
As seen especially in fig. 2, manipulation device 3 has pull bar and/or depression bar 5, and has two pressure medium connectors 20.Wherein capture joint 33 for capturing, releasable joint 34 is for unclamping grabbing device.In order to adjust pull bar and/or depression bar 5 is provided with piston system 21, it is arranged on inside cylinder shell 6.Cylinder shell 6 is contained in inside the chamber 7 of grabber shell 4.Pull bar and/or depression bar body more than 5 ground forms and comprises fixation 22(set bolt in the present embodiment), it is connected on the drawing part 23 of pull bar and/or depression bar 5.Drawing part 23 is connected with the piston 35 of piston system 21.Therefore piston system 21 is also connected with grabber shell 4.Also only can be provided with unique pressure medium connector 20 according to selectable embodiment, can be inputted and discharge pressure medium by it, wherein pressure medium connector applies suction and also draw piston 35 thus on piston system when discharge pressure medium.In addition also can select to be provided with multiple piston system 21, wherein preferably be provided with the pressure medium connector 20 more than two.
Grabber shell 4 has the interactional shell arm 11 with crawl arm 2, its housing arm 11 preferably with 20 ° to 50 °, preferably in addition to arrange with the longitudinal axis 24 of the angle [alpha] of 35 ° relative to shell according to particularly preferred embodiment with the angle of 30 ° to 40 °.The crawl arm longitudinal axis of crawl arm 2 is arranged relative to longitudinal axis 24 with the angle that the angle [alpha] formed than shell arm longitudinal axis 25 and longitudinal axis 24 is larger in unassembled and pressure release state in an illustrated embodiment.Crawl arm 2 is made reliably to lean on shell arm 11 at confined state thus.
Grabber 1 forms and comprises fixed flat planar 26.In this fixed flat planar 26, multiple through hole is arranged in the form of a hole, and they are for fixing grabber 1.Be provided with space 8 inside this external each crawl arm 2, they shrink on the free end direction of each crawl arm 2.Improve the elasticity of crawl arm 2 thus.Space 8 is formed respectively around the swingable hinge 36 of axis of oscillation on crawl arm 2.This hinge 36 is made up of arm section, and it is arranged on and deviates from the side, space 8 of grabber shell 4.Opposed with this arm section and the arm section be arranged on the side, space 8 of grabber shell 4 forms reset components 37.This reset components 37 has elastic reaction, thus when crawl arm around or another hinge 36 swings time, apply reset force on each crawl arm 2.The free end of this external crawl arm 2 is configured for the overstriking 27 of holding object.
As provided by Fig. 1 and Fig. 3, inside crawl arm 2 and shell wall 11, form slide unit housing 16.Inside this slide unit housing 16, be pressed into cylindrical sliding pin 17, they are formed in point between crawl arm 2 and the shell arm 11 respectively belonged to or linear contact lay.Because the slide unit 15 of shell arm 11 is formed by straight pin, obtain outline of straight line, along the straight pin of its slip crawl arm 2.At the straight pin also formation control parts of this crawl arm 2, and the straight pin of shell arm 11 also formation control face.The oscillating motion of crawl arm 2 can be changed by changing chain of command.The entrance of slide unit housing 16 forms laminated structure 28, and have sheet that radially-inwardly give prominence to, that namely stretch out in the longitudinal axis of slide unit housing 16, they additionally fix slide unit 15 or straight pin.
In order to strengthen grabber shell 4, be provided with the reinforcing body 9 of the reinforcement form improving intensity.Reinforcement makes shell arm 11 be interconnected and reinforces grabber shell 4 thus.
Especially provided by Fig. 2 and 3, grabbing device comprises analog bracket 18 according to illustrated embodiment, fixes the cylinder shell 6 of grabber 1 and manipulation device 3 thereon.The through hole of grabber 1 comprises two dull and stereotyped through holes 29, and analog bracket 1 comprises the bracket through hole that two and axial alignments corresponding with it adjust on carrier frame plate 30.The fixation be provided with through dull and stereotyped through hole 29 and bracket through hole is coupled, such as, respectively with bolted form with analog bracket 18 in order to make grabber 1 or its fixed flat planar 26.Connect grabber 1 by these bolts to be coupled with analog bracket 18.This outer shell shell 6 is with analog bracket 18, be especially connected with carrier frame plate 30.Inside carrier frame plate 30, be provided with dull and stereotyped through hole, their cylinder shell through holes 31 corresponding with it are connected by fixation, such as, with bolted form for this reason.Cylinder shell 6 is deviated from the side of grabber 1 or carrier frame plate 30 at it and is coupled with grabber shell 4 by pull bar and/or depression bar 5.
The basic V-arrangement ground of both grabber 1 and grabber shell 4 is formed, wherein because the length of grabbing device to be provided for locating surface 32(Fig. 3 of object by fixed flat planar 26).Grabber shell 4 is arranged on grabber 1 opposite like this, and workpiece can be projected upwards in the side of analog bracket 18 on the direction of pressure medium connector 20 and from behind, namely from above, namely.Especially also can hold and/or clamp long and/or large-area workpiece thus.Analog bracket 18 also has workpiece housing 19, for holding or locate the object that will hold of large gauge.
How explained later, utilize and shown to hold or feel relieved object or object according to grabbing device of the present invention.
Workpiece is first relative to magnet location (such as by manipulator or pass through straight line units) be not shown specifically in the accompanying drawings or be placed on magnet.This magnet is with analog bracket 18, be especially connected with its workpiece housing 19; Analog bracket 18 has axial air gap (Fig. 2) for this reason.The workpiece be made up of magnetizable material is at least in part fixed at this magnet.Workpiece is also only placed on fixed flat planar 26 in an alternative embodiment, or utilizes manipulator to locate.Then pressure medium is imported to inside cylinder shell 6 by grabber joint 33, thus application piston system 35.This piston system 35 is connected with pull bar and/or depression bar 5, and pull bar and/depression bar itself are coupled with grabber shell 4.Realize the pulling motion of grabber shell 4 on cylinder shell 6 direction of manipulation device 3 in the embodiment shown thus.As especially provided by Fig. 4, shell arm 11 and crawl arm 2 interact on grabber 1 direction when grabber shell 4 moves.This slide unit 15 each other relatively along one, slided along multiple straight line or along another by control assembly 10 and the given profile of chain of command 12 in the embodiment shown.Compress into center on this crawl arm 2 top or push up pressure, workpiece of feeling relieved thus (clamped position or centered positions) towards longitudinal axis 24.But the true clamping of workpiece is realized by the magnet be placed on analog bracket 18.But can select, if object is formed by unmagnetized material, grabber 1 is Automatic-clamping workpiece also.Can not only be realized the crawl of workpiece thus by grabbing device, and mainly also centering or center are aimed at.In order to workpiece can be taken out again, adjust grabber 1 relative to grabber shell 4 more now, make crawl arm 2 radially outward swing again thus.Can take out workpiece (released position) from grabber 1 now.
Specify in another embodiment of the invention, use the system be made up of many grabbing devices, for feeling relieved and/or clamping object long especially.
List of numerals
1 grabber
2 crawl arms
3 manipulation devices
4 grabber shells
5 pull bars and/or depression bar
6 cylinder shells
Room 7
8 spaces
9 reinforcing bodies
10 control assemblies
11 shell arms
12 chains of command
13 grabber surfaces
14 case surface
15 slide units
16 slide unit housings
17 sliding pins
18 analog brackets
19 workpiece housings
20 pressure medium connectors
21 piston systems
22 fixation
23 traction elements
24 longitudinal axis
25 shell longitudinal axis
26 fixed flat planars
27 overstrikings
28 laminated structures
29 dull and stereotyped through holes
30 carrier frame plates
31 cylindrical shell through holes
32 locating surfaces
33 capture joint
34 releasable joint
35 pistons
36 hinges
37 reset components
Claims (16)
1. a grabbing device has grabber (1), this grabber comprise at least two elastically deformables, for holding the crawl arm (2) of object or object, and this grabber can adjust between clamped position and released position, it is characterized in that, be provided with manipulation device (3), for relative to rigidity and relatively with crawl arm (2) interactional grabber shell (4) adjust grabber (1).
2. grabbing device as claimed in claim 1, is characterized in that, described manipulation device (3) comprises pull bar and/or depression bar (5) to relatively adjust grabber shell (4) relative to grabber (2).
3. grabbing device as claimed in claim 2, it is characterized in that, described pull bar and/or depression bar (5) are made up of armature, are provided with electromagnet to relatively adjust grabber shell (4) relative to grabber (1).
4. grabbing device as claimed in claim 2, is characterized in that, is provided with utilizes piston system that is that pressure medium loads and that be arranged on inside cylinder shell (6) to adjust pull bar and/or depression bar (5).
5. the grabbing device according to any one of Claims 1-4, it is characterized in that, the chamber (7) holding manipulation device (3) is configured in grabber shell (4) the inside, this manipulation device (3) is at one end coupled with in grabber shell (4) and grabber (1) at least indirectly, and described manipulation device (3) is coupled with another in grabber shell (4) and grabber (1) at least indirectly at the other end.
6. the grabbing device according to any one of claim 1 to 5, is characterized in that, described grabber (1) has at least one crawl arm of at least one increase (2) flexible space (8).
7. the grabbing device according to any one of claim 1 to 6, is characterized in that, described grabber shell (4) has the reinforcing body (9) of gaining in strength.
8. the grabbing device according to any one of claim 1 to 7, it is characterized in that, at least one crawl arm (2) arranges control assembly (10) at it on the side of grabber shell (4), and there is control surface (10) in the face of the shell arm (11) of the crawl arm (2) of being furnished with control assembly (10).
9. the grabbing device according to any one of claim 1 to 8, it is characterized in that, described grabber (1) above and/or in the case surface (14) of described grabber shell (4) grabber (1) faced by it has the structure reducing friction at least in part on its grabber surface (13) in the face of grabber shell (4).
10. grabbing device as claimed in claim 9, is characterized in that, the described structure reducing friction is formed by grabber shell (4) and/or the slide unit (15) that is attached to grabber (1).
11. grabbing devices as claimed in claim 10, is characterized in that, at least one crawl arm (2) and/or grabber shell (4) have at least one slide unit housing (16) for holding slide unit (15).
12. grabbing devices as claimed in claim 11, is characterized in that, described slide unit (15) is formed by cylindrical sliding pin (17) and is squeezed into slide unit housing (16) the inside that elasticity forms.
13. grabbing devices according to any one of claim 10 to 12, it is characterized in that, described slide unit (15) is formed by steel pin.
14. grabbing devices according to any one of claim 1 to 13, it is characterized in that, described grabber shell (4) and/or grabber (1) are formed by plastics.
15. grabbing devices according to any one of claim 1 to 14, it is characterized in that, be provided with analog bracket (18), grabber (1) is connected with analog bracket with the first end of manipulation device (3), and the second end of described manipulation device (3) and grabber shell (4) are coupled.
16. grabbing devices as described in claims 14 or 15, it is characterized in that, described analog bracket (18) has workpiece housing (19) and/or workpiece guide way.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014112337.9A DE102014112337A1 (en) | 2014-08-28 | 2014-08-28 | gripping device |
| DE102014112337.9 | 2014-08-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105382848A true CN105382848A (en) | 2016-03-09 |
Family
ID=55311798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510538385.1A Pending CN105382848A (en) | 2014-08-28 | 2015-08-28 | gripping device |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN105382848A (en) |
| DE (1) | DE102014112337A1 (en) |
| FR (1) | FR3025129A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203688A (en) * | 2019-07-08 | 2019-09-06 | 广东粤盛达自动化科技有限公司 | One kind is lower to arrange production line |
| CN110316550A (en) * | 2019-07-04 | 2019-10-11 | 广东粤盛达自动化科技有限公司 | A kind of aluminium section bar production line unloads clamp device |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426942A (en) * | 2016-11-18 | 2017-02-22 | 梁钗萍 | 3D printing machine working table capable of facilitating workpiece clamping |
| DE102017005191A1 (en) | 2017-05-31 | 2018-12-06 | Audi Ag | Gripping robot and method for operating a gripper robot |
| CN107553524A (en) * | 2017-10-18 | 2018-01-09 | 甄旭蕾 | A kind of clamp system for following workpiece position error |
| CN107879096B (en) * | 2017-12-01 | 2023-12-19 | 北京电子科技职业学院 | Electrode opening clamp and feeding device |
| CN110587525B (en) * | 2019-10-23 | 2024-06-21 | 广州金燃智能系统有限公司 | Auxiliary tool for replacing auxiliary meter |
| CN117921747B (en) * | 2024-03-25 | 2024-08-23 | 中国科学院长春光学精密机械与物理研究所 | Spring-based flexible base with controllable time-varying stiffness |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US437647A (en) * | 1890-09-30 | Rhodolph h | ||
| SE323340B (en) * | 1968-08-30 | 1970-04-27 | Gustavsbergs Fabriker Ab | |
| US3788692A (en) * | 1971-08-23 | 1974-01-29 | Raychem Corp | Universally jointed chilling tool |
| DE3011837A1 (en) * | 1980-03-27 | 1981-10-01 | Sommer, Friedhelm, 7530 Pforzheim | Tool grip for industrial robots - has rigidly mounted leaf spring grip arms, with pressure elements |
| DD218304A1 (en) * | 1983-05-05 | 1985-02-06 | Wismar Ing Hochschule | SELF-CONTAINING GRIPPING DEVICE |
| US4671553A (en) * | 1986-05-15 | 1987-06-09 | Millo Bertini | Gripper device |
| DE4432253A1 (en) | 1994-09-10 | 1996-03-14 | Gerhard Prof Dr Ing Boegelsack | Motion and power transmission mechanism esp. for miniaturisation |
| JP2006150517A (en) * | 2004-11-30 | 2006-06-15 | Toyo Glass Kikai Kk | Gripping device of container |
-
2014
- 2014-08-28 DE DE102014112337.9A patent/DE102014112337A1/en not_active Withdrawn
-
2015
- 2015-08-28 CN CN201510538385.1A patent/CN105382848A/en active Pending
- 2015-08-28 FR FR1558028A patent/FR3025129A1/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316550A (en) * | 2019-07-04 | 2019-10-11 | 广东粤盛达自动化科技有限公司 | A kind of aluminium section bar production line unloads clamp device |
| CN110316550B (en) * | 2019-07-04 | 2024-05-14 | 广东粤盛达自动化科技有限公司 | Clip removing device for aluminum profile production line |
| CN110203688A (en) * | 2019-07-08 | 2019-09-06 | 广东粤盛达自动化科技有限公司 | One kind is lower to arrange production line |
| CN110203688B (en) * | 2019-07-08 | 2024-02-13 | 广东粤盛达自动化科技有限公司 | Lower row production line |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102014112337A1 (en) | 2016-03-03 |
| FR3025129A1 (en) | 2016-03-04 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160309 |
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| WD01 | Invention patent application deemed withdrawn after publication |