CN105856206B - Intelligent linkage formula manipulator - Google Patents

Intelligent linkage formula manipulator Download PDF

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Publication number
CN105856206B
CN105856206B CN201610455961.0A CN201610455961A CN105856206B CN 105856206 B CN105856206 B CN 105856206B CN 201610455961 A CN201610455961 A CN 201610455961A CN 105856206 B CN105856206 B CN 105856206B
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CN
China
Prior art keywords
gear
horizontal
lifting
transmission
speed reducer
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.)
Active
Application number
CN201610455961.0A
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Chinese (zh)
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CN105856206A (en
Inventor
谢传海
钟吉民
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GUANGDONG JEHSON ROBOT CO., LTD.
Triumphant large precision die automation Science and Technology Ltd. of Shunde District of Foshan City
Original Assignee
Triumphant Large Precision Die Automation Science And Technology Ltd Of Shunde District Of Foshan City
Guangdong Jehson Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Triumphant Large Precision Die Automation Science And Technology Ltd Of Shunde District Of Foshan City, Guangdong Jehson Robot Co Ltd filed Critical Triumphant Large Precision Die Automation Science And Technology Ltd Of Shunde District Of Foshan City
Priority to CN201610455961.0A priority Critical patent/CN105856206B/en
Publication of CN105856206A publication Critical patent/CN105856206A/en
Application granted granted Critical
Publication of CN105856206B publication Critical patent/CN105856206B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, 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
    • B21D43/02Advancing work in relation to the stroke of the die or tool
    • B21D43/18Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123Linear actuators

Abstract

The present invention relates to intelligent linkage formula manipulators.It includes base, the base is equipped with horizontal transfer mechanism and elevating mechanism, the elevating mechanism includes left lifting seat, right lifting seat and gear-box, horizontal transfer mechanism includes transmission shaft, transmission gear, horizontal guide rail, arm mobile bar and suction arm, horizontal feeding motor driving transmission shaft rotation, transmission gear and transmission shaft socket and engaged transmission, the arm mobile bar is slidably arranged in a left side, on right lifting seat, arm mobile bar is equipped with rack gear in the horizontal direction, transmission is engaged with rack in the transmission gear, intelligent linkage formula stamping mechanical arm of the invention, cooperated by elevating mechanism and horizontal transfer mechanism, elevating mechanism and horizontal transfer mechanism can operate simultaneously, realize feeding, feeding and it is discharged to one, to realize the conveying transferring work piece between two workbench, and without pausing, workpiece transmission efficiency It is high, to improve complete machine production efficiency, realize full-automatic continuous high speed production.

Description

Intelligent linkage formula manipulator
Technical field
The present invention relates to a kind of stamping mechanical arm, especially a kind of intelligent linkage formula manipulator.
Background technique
Currently, the workpiece (such as: mold) between two stamping equipments transmits, and it is mostly hand-manipulated, both constrain enterprise Production efficiency, and hidden danger is brought to the production of industry labor safety, moreover, the production method of this heavy dependence labour intensive, Enterprise lacks recruitment elasticity, it is difficult to recruitment and adjustment rhythm of production are organized in time according to order dull and rush season, so, punching press industry Enterprise is in the critical point changed from manual machinery punch line to automatic production line.
Although manipulator is already present on the transmission of the workpiece between two production equipments, such as: electric cooker row in certain industries Industry, is shown in Chinese invention patent number: 201420652041.1, a kind of title are as follows: stand alone type line manipulator comprising base, in Turntable, electric cabinet, elevating mechanism, horizontal mobile mechanism and mechanical arm, this manipulator by elevating mechanism and move horizontally machine Structure, the intermediate station for making mechanical arm realize lifting and move horizontally, and be arranged by its own, as workpiece in two production equipments Between transmit temporarily park, or even can be overturn on intermediate station, workpiece is made to be suitble to subsequent processing;Above-mentioned manipulator, Two production equipments are together in series to a certain extent, realize certain automation line production, still, this manipulator is still deposited In following shortcoming: (1) workpiece need by way of intermediate station transmission, centre will pause, and punching machine cannot achieve continuous punching, Workpiece transmission efficiency is lower, not can meet mass production requirement.
Summary of the invention
It is an object of the invention to overcome above-mentioned the shortcomings of the prior art, and provide it is a kind of simple and reasonable for structure, can Workpiece transmission efficiency is significantly improved, and high production efficiency is, it can be achieved that the intelligent linkage formula manipulator that full-automatic continuous high speed produces.
The object of the present invention is achieved like this:
A kind of intelligent linkage formula manipulator, including base, the base are equipped with horizontal transfer mechanism and elevating mechanism, institute Stating elevating mechanism includes lifting motor, left speed reducer, right speed reducer, left lifting seat, right lifting seat and gear-box, left and right to subtract Fast one the first from left of machine is right to be arranged on base, and lifting motor drives left and right speed reducer rotation, the output end of the left and right speed reducer It is connected with lifter cam, left and right two lifting seat, which slides up and down, to be arranged on base, and lifter cam respectively drives respective liter Drop seat slides up and down, and the gear-box is arranged between left and right two lifting seat and is fixedly connected with left and right two lifting seat, horizontal Transfer mechanism include horizontal feeding motor, move horizontally speed reducer, transmission shaft, transmission gear, horizontal guide rail, arm mobile bar with And suction arm, horizontal feeding motor are connect by moving horizontally speed reducer with transmission shaft driven, transmission gear and driving sleeve It connecing and engaged transmission, the transmission gear is rotatably arranged in gear-box, horizontal guide rail is horizontally set on left and right lifting seat, The arm mobile bar is slidably arranged on horizontal guide rail, and arm mobile bar is equipped with rack gear, the transmission gear in the horizontal direction Connection is engaged with rack, the suction arm is set in arm mobile bar.
The present invention can also improve further below.
The outer wall of the transmission shaft is equipped with straight raised line, the axis of the inner wall of the transmission gear along transmission shaft along its axial direction Straight groove, straight raised line and the intermeshing of straight groove are equipped with to direction.
The outer wall of the transmission shaft is equipped with external splines, and the inner wall of the transmission gear is equipped with internal spline, the external splines and Internal spline intermeshing, since transmission shaft and transmission gear are using external splines and the intermeshing mode of internal spline, thus real Arm mobile bar of the present invention is showed while making elevating movement, can also move horizontally.
The lifting motor drives left speed reducer or right speed reducer to rotate by belt component, left speed reducer and right speed reducer Between by shaft coupling be sequentially connected, belt component includes belt pulley and belt.
The left and right lifting seat is equipped with guide supporting seat, and two guide supporting seats are arranged in parallel, and horizontal guide rail is horizontal It is arranged on two guide supporting seats, the two sides up and down of the arm mobile bar are equipped with horizontal guide sheave, and horizontal guide sheave is set to On guide supporting seat.
The base is equipped with up and down balance system cylinder, and up and down balance system cylinder is located at the lower section of gear-box, up and down balance system cylinder Cylinder rod be fixedly connected with gear-box, up and down balance system cylinder drives gearbox hi/local, and up and down balance system cylinder plays assistance for lifting The effect of mechanism lifting, mitigates the load of elevating mechanism, extends service life of the invention.
The base is provided with left and right sliding rail along the vertical direction, and left and right lifting seat is slidably arranged in respective sliding rail respectively On.
The transmission gear is rotatably arranged in gear-box by bearing.
The gear-box two sides each extend over out left and right linking arm outward, and left and right lifting seat is fixed with corresponding linking arm Connection.
Lifting sliding slot is equipped on the left and right lifting seat in the horizontal direction, lifting driving is provided on the lifter cam Block, lifting drive block level are slideably positioned in lifting sliding slot.
The horizontal feeding motor is vertically arranged in base bottom.
Suction arm is equipped with sucker.
The transmission shaft is rotatably arranged on base by bearing.
Beneficial effects of the present invention are as follows:
(1) intelligent linkage formula manipulator of the invention is cooperated by elevating mechanism and horizontal transfer mechanism, realization feeding, Feeding and it is discharged to one, thus realize the conveying transferring work piece between two workbench, and without pausing, workpiece transmitting effect Rate is high, to improve complete machine production efficiency, realizes full-automatic continuous high speed production.
(2) in addition, intelligent linkage formula manipulator of the invention during the work time, arm mobile bar of the invention can be simultaneously It moves up and down and horizontal movement, gear-box band nutating gear raising and lowering together, transmission gear is along the straight of transmission shaft While raised line raising and lowering, the straight groove and gear of transmission gear respectively with the straight raised line of transmission shaft and arm mobile bar Rack gear is always maintained at engaged transmission, to realize that arm mobile bar of the invention can move horizontally the mesh with elevating movement simultaneously 's.Compared to existing manipulator, the present invention can make to go up and down feeding and straight feeding movement simultaneously, and without pausing, workpiece transmitting effect Rate is high, to further increase complete machine production efficiency, realizes full-automatic continuous high speed production.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of intelligent linkage formula manipulator of the present invention.
Fig. 2 is the structural schematic diagram that Fig. 1 omits base.
Fig. 3 is the main view of Fig. 2.
Fig. 4 is the schematic cross-sectional view in Fig. 3 at A-A.
Fig. 5 is the decomposition texture schematic diagram of Fig. 2.
Fig. 6 is the structural schematic diagram of elevating mechanism of the invention.
Fig. 7 is the structural schematic diagram of another angle of Fig. 6.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments.
As shown in Fig. 1 to Fig. 7, a kind of intelligent linkage formula manipulator, including base 1, the base 1 are equipped with horizontal transfer Mechanism 2 and elevating mechanism 3, the elevating mechanism 3 include lifting motor 31, left speed reducer 33, right speed reducer 34, left lifting seat 35, right lifting seat 36 and gear-box 37, left and right speed reducer 33,34 1 the first from left are right to be arranged on base 1, and lifting motor 31 drives Left and right speed reducer 33,34 is moved to rotate, the output end of the left and right speed reducer 33,34 is connected with lifter cam 341, it is described it is left, Right lifting seat 35,36, which slides up and down, to be arranged on base 1, and lifter cam 341 respectively drives respective lifting seat and slides up and down, institute Gear-box 37 is stated to be arranged between left and right lifting seat 35,36 and be fixedly connected with left and right lifting seat 35,36, horizontal transfer mechanism 2 include horizontal feeding motor 21, horizontal transfer speed reducer 22, transmission shaft 23, transmission gear 24, horizontal guide rail 26, arm movement Bar 25 and suction arm 27, horizontal feeding motor 21 transfer speed reducer 22 and the transmission connection of transmission shaft 23, transmission by horizontal Simultaneously engaged transmission, the transmission gear 24 are rotatably arranged in gear-box 37 for gear 24 and the socket of transmission shaft 23, horizontal guide rail 26 It is horizontally set on left and right lifting seat 35,36, the arm mobile bar 25 is slidably arranged on horizontal guide rail 26, and arm is mobile Bar 25 is equipped with rack gear 251 in the horizontal direction, and the transmission gear 24 engages connection with rack gear 251, and the suction arm 27 is set to In arm mobile bar 25.
The purpose of the present invention can also be solved using following technical measures:
As more specific scheme, the outer wall of the transmission shaft 23 is equipped with straight raised line 231, the transmission along its axial direction The inner wall of gear 24 is equipped with straight groove 241 along the axial direction of transmission shaft 23, and straight raised line 231 and straight groove 241 are intermeshed.
As further embodiment, the outer wall of the transmission shaft 23 is equipped with external splines 232, the inner wall of the transmission gear 24 Equipped with internal spline 242, the external splines 232 and internal spline 242 are intermeshed.
As more specific scheme, the lifting motor 31 drives left speed reducer 33 or right speed reducer by belt component 32 34 rotations, are sequentially connected between left speed reducer 33 and right speed reducer 34 by shaft coupling 38, belt component 32 include belt pulley and Belt.
As more specific scheme, the left and right lifting seat 35,36 is equipped with guide supporting seat 362, two guide supporting seats 362 is arranged in parallel, and horizontal guide rail 26 is horizontally set on two guide supporting seats 362, above and below the arm mobile bar 25 Two sides are equipped with horizontal guide sheave 361, and horizontal guide sheave 361 is set on guide supporting seat 362.
As more specific scheme, the base 1 is equipped with up and down balance system cylinder 39, and up and down balance system cylinder 39 is located at gear The cylinder rod of the lower section of case 37, up and down balance system cylinder 39 is fixedly connected with gear-box 37, and up and down balance system cylinder 39 drives gear-box 37 liftings.
As more specific scheme, the base 1 is provided with left and right sliding rail 353,363, left and right lifting along the vertical direction Seat 35,36 is slidably arranged in respectively on respective sliding rail 353,363.
As more specific scheme, the transmission gear 24 is rotatably arranged in gear-box 37 by bearing.
As more specific scheme, 37 two sides of gear-box each extend over out left and right linking arm 371,372 outward, left, Right lifting seat 35,36 is fixedly connected with corresponding linking arm 371,372.
Lifting sliding slot 363 is equipped on the left and right lifting seat 35,36 in the horizontal direction, is arranged on the lifter cam 341 There is lifting drive block 342, lifting 342 level of drive block is slideably positioned in lifting sliding slot 363, goes up and down drive block 342 with liter Cam 341 is dropped to rotate, meanwhile, lifting drive block 342 drives left and right lifting seat 35,36 lifting seat liters by going up and down sliding slot 363 Drop, lifting drive block 342 are also the lifting with lifting seat, and left and right slidably reciprocates on lifting sliding slot 363.
The horizontal feeding motor is vertically arranged in base bottom.
The suction arm 27 is equipped with sucker 271.
The transmission shaft is rotatably arranged on base by bearing.
The working principle of the invention is:
When the invention works, elevating mechanism of the invention and horizontal transfer mechanism can also can successively be opened with synchronous averaging It is dynamic.
For example, when the invention works, elevating mechanism and horizontal transfer mechanism synchronous averaging, lifting motor 31 pass through belt group Part 32 drives left speed reducer 33 and right speed reducer 34 to rotate synchronously, and the output end of left speed reducer 33 and right speed reducer 34 drives respective Lifter cam rotation, lifter cam drives left and right lifting seat 35,36 raising and lowerings, left and right lifting seat 35,36 band simultaneously Start arm mobile bar 25, suction arm 27 and gear-box 37 declines, and then the sucker on suction arm 27 draws the first workbench On workpiece then rise, at the same time, horizontal feeding motor 21 transfers speed reducer 22, the driving transmission of transmission shaft 23 by horizontal Gear 2 rotates forward or backwards, and transmission gear 24 drives arm mobile bar 25 to slidably reciprocate on the horizontal guide rail, suction arm 27 On sucker by Workpiece transfer to the second workbench, then suction arm 27 returns again to the first workbench and draws next work Part, in the process, arm mobile bar 25 of the invention can move up and down simultaneously and horizontal movement, and gear-box 37 drives transmission Gear raising and lowering together, transmission gear along transmission shaft straight raised line raising and lowering while, transmission gear it is straight recessed Slot 241 and gear 241 are always maintained at engaged transmission with the rack gear 251 of the straight raised line of transmission shaft 23 and arm mobile bar 25 respectively, To realize that arm mobile bar 25 of the invention can move horizontally the purpose with elevating movement simultaneously.Certainly, hand of the invention Arm mobile bar 25 can also individually move horizontally or elevating movement.
Intelligent linkage formula manipulator of the invention is cooperated by elevating mechanism and horizontal transfer mechanism, realizes feeding, feeding Be discharged to one, to realize conveying transferring work piece between two workbench, and without pausing, workpiece transmission efficiency It is high, to improve complete machine production efficiency, realize full-automatic continuous high speed production.

Claims (6)

1. intelligent linkage formula manipulator, characterized in that including base (1), the base (1) is equipped with horizontal transfer mechanism (2) With elevating mechanism (3), the elevating mechanism (3) includes lifting motor (31), left speed reducer (33), right speed reducer (34), Zuo Sheng Seat (35), right lifting seat (36) and gear-box (37) drop, and left and right speed reducer (33,34) the first from left is right to be arranged in base (1) On, the lifting motor (31) drives left speed reducer (33) or right speed reducer (34) rotation, left deceleration by belt component (32) It is sequentially connected between machine (33) and right speed reducer (34) by shaft coupling (38), the output end of the left and right speed reducer (33,34) It is connected with lifter cam (341), the left and right lifting seat (35,36), which slides up and down, to be arranged on base (1), lifter cam (341) it respectively drives respective lifting seat to slide up and down, is equipped with lifting on the left and right lifting seat (35,36) in the horizontal direction Sliding slot (363), lifting drive block (342) is provided on the lifter cam (341), and the horizontal sliding of lifting drive block (342) is set Be placed in lifting sliding slot (363), the gear-box (37) be arranged between left and right lifting seat (35,36) and with left and right lifting seat (35,36) are fixedly connected, and horizontal transfer mechanism (2) includes horizontal feeding motor (21), horizontal transfer speed reducer (22), transmission shaft (23), transmission gear (24), horizontal guide rail (26), arm mobile bar (25) and suction arm (27), horizontal feeding motor (21) it is sequentially connected by horizontal transfer speed reducer (22) and transmission shaft (23), transmission gear (24) and transmission shaft (23) are socketed simultaneously The outer wall of engaged transmission, the transmission shaft (23) is equipped with external splines (232), and the inner wall of the transmission gear (24) is equipped with internal spline (242), the external splines (232) and internal spline (242) intermeshing, the transmission gear (24) are rotatably arranged on gear-box (37) in, horizontal guide rail (26) is horizontally set on left and right lifting seat (35,36), arm mobile bar (25) the sliding setting On horizontal guide rail (26), arm mobile bar (25) is equipped with rack gear (251), the transmission gear (24) and rack gear in the horizontal direction (251) engagement connection, the suction arm (27) are set on arm mobile bar (25).
2. intelligent linkage formula manipulator according to claim 1, characterized in that the left and right lifting seat (35,36) is equipped with Guide supporting seat (362), two guide supporting seats (362) are arranged in parallel, and horizontal guide rail (26) is horizontally set on two guide rail branch It supports on seat (362), the two sides up and down of the arm mobile bar (25) are equipped with horizontal guide sheave (361), and horizontal guide sheave (361) is set It is placed on guide supporting seat (362).
3. intelligent linkage formula manipulator according to claim 2, characterized in that the base (1) is equipped with up and down balance system gas The cylinder rod of cylinder (39), up and down balance system cylinder (39) is fixedly connected with gear-box (37), and up and down balance system cylinder (39) drives gear Case (37) lifting.
4. intelligent linkage formula manipulator according to claim 3, characterized in that the base (1) is provided with along the vertical direction Left and right sliding rail (353,363), left and right lifting seat (35,36) are slidably arranged in respectively on respective sliding rail (353,363).
5. intelligent linkage formula manipulator according to claim 4, characterized in that the transmission gear (24) is rotated by bearing Setting is in gear-box (37).
6. intelligent linkage formula manipulator according to claim 5, characterized in that prolong respectively outward gear-box (37) two sides It stretches out left and right linking arm (371,372), left and right lifting seat (35,36) is fixed with corresponding left and right linking arm (371,372) to be connected It connects.
CN201610455961.0A 2016-06-22 2016-06-22 Intelligent linkage formula manipulator Active CN105856206B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN105856206B true CN105856206B (en) 2018-12-28

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106514621A (en) * 2016-11-30 2017-03-22 惠州金源精密自动化设备有限公司 Shell body transfer manipulator
CN106629517A (en) * 2016-12-30 2017-05-10 湖南先步信息股份有限公司 Cam-driven lifting detection mechanism

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Publication number Priority date Publication date Assignee Title
CN203779491U (en) * 2014-01-14 2014-08-20 东莞市井田自动化设备有限公司 Independent type transmission mechanical hand equipment
CN104526693A (en) * 2014-11-05 2015-04-22 东莞市承恩自动化设备有限公司 Single-machine multi-station stamping manipulator
CN204953724U (en) * 2015-09-23 2016-01-13 佛山市顺德区凯硕精密模具自动化科技有限公司 Punching press lathe continuous production line
CN105251902A (en) * 2015-11-11 2016-01-20 广东捷瞬机器人有限公司 Independent type line connecting mechanical hand
CN105328694A (en) * 2015-11-03 2016-02-17 东莞市禹瑞机电设备有限公司 Efficient cam mechanical hand
CN205685326U (en) * 2016-06-22 2016-11-16 广东捷瞬机器人有限公司 Intelligent linkage formula mechanical hand

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JPH10249771A (en) * 1997-03-05 1998-09-22 Kanto Auto Works Ltd Work carrying device for press machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203779491U (en) * 2014-01-14 2014-08-20 东莞市井田自动化设备有限公司 Independent type transmission mechanical hand equipment
CN104526693A (en) * 2014-11-05 2015-04-22 东莞市承恩自动化设备有限公司 Single-machine multi-station stamping manipulator
CN204953724U (en) * 2015-09-23 2016-01-13 佛山市顺德区凯硕精密模具自动化科技有限公司 Punching press lathe continuous production line
CN105328694A (en) * 2015-11-03 2016-02-17 东莞市禹瑞机电设备有限公司 Efficient cam mechanical hand
CN105251902A (en) * 2015-11-11 2016-01-20 广东捷瞬机器人有限公司 Independent type line connecting mechanical hand
CN205685326U (en) * 2016-06-22 2016-11-16 广东捷瞬机器人有限公司 Intelligent linkage formula mechanical hand

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Effective date of registration: 20181113

Address after: 528300 No.5 Tuoye Road, Lintou Residential Committee, Beijiao Town, Shunde District, Foshan City, Guangdong Province

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Applicant after: Triumphant large precision die automation Science and Technology Ltd. of Shunde District of Foshan City

Address before: 528300 No.5 Tuoye Road, Lintou Residential Committee, Beijiao Town, Shunde District, Foshan City, Guangdong Province

Applicant before: GUANGDONG JEHSON ROBOT CO., LTD.

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