CN106078775A - A kind of clamp device of easy accessibility - Google Patents
A kind of clamp device of easy accessibility Download PDFInfo
- Publication number
- CN106078775A CN106078775A CN201610531891.2A CN201610531891A CN106078775A CN 106078775 A CN106078775 A CN 106078775A CN 201610531891 A CN201610531891 A CN 201610531891A CN 106078775 A CN106078775 A CN 106078775A
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- CN
- China
- Prior art keywords
- jaw
- hole
- piston
- cylinder
- clamp device
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- 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.)
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The present invention relates to the clamp device of a kind of easy accessibility, including jaw, pawl cavity, jaw installing plate, connecting rod, pushing block and cylinder, the piston rod of described cylinder fixes with the bottom of pushing block, the two ends, left and right of pushing block are hinged with two connecting rods by link pin respectively, the other end of two connecting rods is hinged with two jaws respectively, the middle and lower part of two jaws is hinged between two pieces of jaw installing plates by jaw pin interval respectively, it is fixed with spring leaf also by mounting pin between said two jaw, the upper end of described jaw is additionally provided with chuck, described chuck includes clip-connecting rod and crawl section, described jaw is fixed by the fastening of groove and clip-connecting rod with chuck, chuck of the present invention is easily changed, easy to use, grabbing device work is more stable.
Description
Technical field
The present invention relates to the clamp device of a kind of easy accessibility.
Background technology
Along with popularizing of industrial automation, increasing factory has introduced the streamline of automated production, flows at these
So that parts or semi-finished product can shift smoothly between each procedure in waterline, the most all realized by clamp device
Parts or the transfer of semi-finished product, the most generally use clamp device structure complicated, and dismounting inconvenience is bulky, and for a long time
The frictional force between clamp device and parts or semi-finished product can be caused during use to decline, easily make to be gripped thing and fall
Under, impact gripping efficiency, additionally, due to indefinite by the size shape of gripping thing, the folding amplitude of clamp device controls to be difficult to, especially
It is after being dropped by gripping thing, two easy collision deformations of jaw, therefore is badly in need of a kind of clamp device meeting demand.
Summary of the invention
In order to solve above-mentioned technical problem, it is an object of the invention to provide a kind of easy accessibility, the little easy care of volume and
The clamp device of jaw working stability.
To achieve these goals, present invention employs following technical scheme:
The clamp device of a kind of easy accessibility, including jaw, pawl cavity, jaw installing plate, connecting rod, pushing block and cylinder, described gas
The piston rod of cylinder fixes with the bottom of pushing block, and the two ends, left and right of described pushing block are hinged with two companies by link pin respectively
Bar, the other end of two connecting rods is hinged with two jaws respectively, and described pawl cavity is fixed on the upper end of cylinder, two pieces of jaw peaces
Dress plate is separately fixed at the top of inwall before and after pawl cavity, and jaw installing plate extends the upper end of pawl cavity, two jaws
Middle and lower part respectively by jaw pin interval be hinged between two pieces of jaw installing plates, also by installation between said two jaw
Pin is fixed with spring leaf, and the upper end of described jaw is additionally provided with chuck, and described jaw includes gripping bar and articulated section, two grippings
The upper end of a relative sidewall of bar also offers groove along the width of gripping bar, and the both sides of the lower end of described articulated section are prolonged
Stretching out two piece of first articulated slab, described chuck includes clip-connecting rod and crawl section, and described jaw and chuck are by groove and clip-connecting rod
Fastening fix, described cylinder includes cylinder upper cover, the cylinder cavity gentle cylinder lower cover fixed the most successively, described gas
Being additionally provided with piston in cylinder cavity, the top of described piston is provided with the first through hole, and the bottom of piston is provided with the second through hole, the first through hole
Aperture less than the aperture of the second through hole, the first through hole and the second through hole are interconnected and the first through hole and the transition of the second through hole
Place forms First terrace, and the external diameter on described piston rod inner hollow and piston rod top is more than the external diameter of underpart of the piston rod, and
The middle part of piston rod formed second step face, described piston rod is plugged in the first through hole of piston, and First terrace with
The upper surface of piston offsets, and described piston rod, piston and pushing block are fastened by bolts, and the second of described bolt insertion piston is led to
In hole, and fixing with pushing block after running through piston rod, the upper end of described piston rod offsets with pushing block and bolt and second step face phase
Support.
Preferably: the cross section of described crawl section becomes the V-arrangement of bottom level, and the biside plate of crawl section becomes tooth bar
Shape.
Preferably: the upper end of described jaw installing plate is provided with two stepped tooths, the lower section of two stepped tooths is respectively
Correspondence offers the lower section at the first hinge hole, and the interval of two stepped tooths and offers the second hinge hole, and described jaw pin is worn
After crossing the middle and lower part of the first hinge hole and jaw, jaw is fastened on jaw installing plate by jaw pin nut by jaw pin two ends
On.
Preferably: described spring leaf includes bottom the connection of arc, side plate and the portion that arches upward, bottom described connection
Middle part extend to both sides and be provided with cambered surface through hole, described in the two ends in portion of arching upward fix with the two ends of cambered surface through hole, described installation
Pin is located in bottom connection and arches upward between portion, and two side plates medial surface with two jaws respectively offsets.
Preferably: the both sides of described cylinder upper cover are additionally provided with liner plate, described liner plate and cylinder cavity upper end are solid mutually
Fixed, it is additionally provided with sealing ring and fairlead between described cylinder upper cover and the outer wall of piston rod.
Preferably: the horizontal cross-section ovalisation of described piston, and the upper and lower of piston outer wall is opened respectively
Being provided with the first groove and the second groove, in described first groove, inlay card has sensing bar, and in described second groove, card is embedded with O.
The present invention is by jaw end clamping chuck so that chuck is easily changed, easy to use, and the inside of chuck becomes tooth
Strip, increases the frictional force between grabbing device and crawled thing so that grabbing device work is more stable；The additionally present invention
Cylinder piston rod, piston and pushing block between be bolted dismounting easy to maintenance, and cylinder piston use ellipse, subtract
The little thickness of whole grabbing device.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of clamp device.
Fig. 2 is the cross-sectional view of clamp device.
Fig. 3 is the structural representation of the chuck of clamp device.
Fig. 4 is the structural representation of the jaw of clamp device.
Fig. 5 is the structural representation of the jaw installing plate of clamp device.
Fig. 6 is the structural representation of the spring leaf of clamp device.
Fig. 7 is the structural representation of the connecting rod of clamp device.
Fig. 8 is the structural representation of the pushing block of clamp device.
Fig. 9 is the structural representation of the pawl cavity of clamp device.
Figure 10 is piston and the attachment structure schematic diagram of piston rod of clamp device.
Figure 11 is the structural representation of the cylinder upper cover of clamp device.
Figure 12 is the structural representation of the cylinder cavity of clamp device.
Figure 13 is the structural representation of the piston of clamp device.
Figure 14 is the structural representation of the lower cover of air cylinder of clamp device.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, the most from start to finish
Same or similar label represents same or similar element or has the element of same or like function.Below with reference to attached
The embodiment that figure describes is exemplary, it is intended to is used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention, it is to be understood that term " " center ", " longitudinally ", " laterally ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " clockwise ", " inverse
Hour hands " etc. instruction orientation or position relationship be based on orientation shown in the drawings or position relationship, be for only for ease of description
Invention and simplification describe rather than indicate or imply that the device of indication or element must have specific orientation, with specific square
Position structure and operation, be therefore not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In describing the invention, except as otherwise noted, " multiple " are meant that two
Individual or two or more, unless otherwise clear and definite restriction.
In the present invention, unless otherwise clearly defined and limited, term " install ", " being connected ", " connection ", " fixing " etc.
Term should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or be integrally connected；It can be machine
Tool connects, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two units
Connection within part.For the ordinary skill in the art, can understand that above-mentioned term is at this as the case may be
Concrete meaning in bright.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score
Can include that the first and second features directly contact, it is also possible to include that the first and second features are not directly contact but by it
Other characterisation contact between.And, fisrt feature second feature " on ", " top " and " above " include that first is special
Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " below " include that fisrt feature immediately below second feature and obliquely downward, or is merely representative of
Fisrt feature level height is less than second feature.
A kind of clamp device as described in Fig. 1-Figure 14, including jaw 5, pawl cavity 1, jaw installing plate 10, connecting rod 3, pushes away
Block 2 and cylinder, the piston rod 15 of described cylinder fixes with the bottom of pushing block 2, and the two ends, left and right of described pushing block 2 are passed through respectively
Link pin 4 is hinged with two connecting rods 3, and the other end of two connecting rods 3 is hinged with two jaws 5 respectively, and described pawl cavity 1 is fixed
In the upper end of cylinder, two pieces of jaw installing plates 10 are separately fixed at the top of inwall before and after pawl cavity 1, and jaw installing plate 10
Extending the upper end of pawl cavity 1, the middle and lower part of two jaws 5 is hinged on two pieces of jaw installing plates by jaw pin 6 interval respectively
Between 10, being fixed with spring leaf 9 also by mounting pin 8 between said two jaw 5, the upper end of described jaw 5 is additionally provided with folder
22.
Described jaw 5 includes gripping bar 51 and articulated section 52, the also edge, upper end of a relative sidewall of two gripping bars 51
The width of gripping bar 51 offers groove 53, and two piece of first articulated slab is extended in the both sides of the lower end of described articulated section 52
54, described chuck 22 includes clip-connecting rod 221 and crawl section 222, and described jaw 5 and chuck 221 are by groove 53 and clip-connecting rod 221
Fastening fix.The cross section of described crawl section 222 becomes the V-arrangement of bottom level, and the biside plate of crawl section 222 becomes spline-simulating.
The upper end of described jaw installing plate 10 is provided with two stepped tooths 101, and the lower section of two stepped tooths 101 correspondence respectively is opened
It is provided with the first hinge hole 103, and at the interval of two stepped tooths 101, the lower section of 102 offers the second hinge hole 104, described folder
After pawl pin 6 passes the middle and lower part of the first hinge hole 103 and jaw 5, jaw pin nut 7 is passed through by tight for jaw 5 in jaw pin 6 two ends
Gu on jaw installing plate 10.
Described spring leaf 9 includes 91, side plate 92 and the portion 94 that arches upward bottom the connection of arc, bottom described connection in 91
Portion extends to both sides and is provided with cambered surface through hole 93, described in the two ends in portion 94 of arching upward fix with the two ends of cambered surface through hole 93, described peace
Dress pin 8 is located in bottom connection 91 and arches upward between portion 94, and two side plates 92 medial surface with two jaws 5 respectively offsets.
The side of described connecting rod 3 is provided with arc convex 31, and the arc convex 31 of two pieces of connecting rods 3 is oppositely arranged, described company
The outside of the link pin 4 at bar 3 two ends is also cased with composite bush 19, and described pushing block 2 is two pieces of second articulated slabs being parallel to each other
201, and the bottom of the second articulated slab 201 fixed by horizontal connection block.
Described cylinder includes cylinder upper cover 12, cylinder cavity 11 and the lower cover of air cylinder 13 fixed the most successively, described
Being additionally provided with piston 14 in cylinder cavity 11, the top of described piston 14 is provided with the first through hole 141, and the bottom of piston 14 is provided with second
Through hole 144, the aperture of the first through hole 141 is less than the aperture of the second through hole 144, and the first through hole 141 interconnects mutually with the second through hole 144
Logical and the first through hole 141 and the second through hole 144 transition position forms First terrace, described piston rod 15 inner hollow and piston
The external diameter on bar top 151 is more than the external diameter of underpart of the piston rod 152, and forms second step face at the middle part of piston rod 15, described
Piston rod 15 is plugged in the first through hole 141 of piston 14, and the upper surface of First terrace and piston 14 offsets,
Described piston rod 15, piston 14 and pushing block 2 are fastened by bolt 23, and described bolt 23 inserts the second through hole of piston 14
In 144, and running through and fix with pushing block 2 after piston rod 15, the upper end of described piston rod 15 and pushing block 2 offset and bolt 23 and second
Step surface offsets.
The both sides of described cylinder upper cover 12 are additionally provided with liner plate 16, and described liner plate 16 fixes with cylinder cavity 11 upper end, institute
State and between the outer wall of cylinder upper cover 12 and piston rod 14, be additionally provided with sealing ring 20 and fairlead 21.
The horizontal cross-section ovalisation of described piston 14, and to offer first respectively recessed in the upper and lower of piston 14 outer wall
Groove 142 and the second groove 143, in described first groove 142, inlay card has sensing bar 17, and in described second groove 143, card is embedded with O type
Circle 18.
The upper end of described pawl cavity 1 is provided with recess 1001, and described recess 1001 arranges the installation being easy to jaw pin nut 7,
And make the surface of clamp device more smooth, take conveniently.
It is respectively equipped with on cylinder upper cover lower protruding block 121 and lower cover of air cylinder on 131 on described cylinder upper cover 12 and lower cover of air cylinder
Projection 131, described cylinder upper cover lower protruding block 121 and lower cover of air cylinder upper protruding block 131 are fastened on cylinder cavity 11 respectively for holding
Receiving the two ends up and down of cylinder body through hole 111 of piston 14, on described cylinder upper cover 12 and lower cover of air cylinder, 131 are equipped with and piston rod 15
The through hole being interconnected with piston 14.
It should be pointed out that, that above example is only the representative example of the present invention.The present invention can also have many deformation.Every
Any simple modification, equivalent variations and the modification made above example according to the essence of the present invention, is all considered as belonging to this
The protection domain of invention.
Claims (6)
1. the clamp device of an easy accessibility, it is characterised in that: include jaw (5), pawl cavity (1), jaw installing plate (10),
Connecting rod (3), pushing block (2) and cylinder, the piston rod (15) of described cylinder fixes with the bottom of pushing block (2), described pushing block (2)
Two ends, left and right be hinged with two connecting rods (3) by link pin (4) respectively, the other end of two connecting rods (3) respectively with two folders
Pawl (5) is hinged, and described pawl cavity (1) is fixed on the upper end of cylinder, and two pieces of jaw installing plates (10) are separately fixed at pawl cavity
(1) top of inwall before and after, and jaw installing plate (10) extends the upper end of pawl cavity (1), the middle and lower part of two jaws (5)
It is hinged between two pieces of jaw installing plates (10), also by peace between said two jaw (5) by jaw pin (6) interval respectively
Dress pin (8) is fixed with spring leaf (9), and the upper end of described jaw (5) is additionally provided with chuck (22), and described jaw (5) includes gripping
Bar (51) and articulated section (52), the upper end of a relative sidewall of two grippings bar (51) is also along the width of gripping bar (51)
Offering groove (53), two piece of first articulated slab (54), described chuck are extended in the both sides of the lower end of described articulated section (52)
(22) including clip-connecting rod (221) and crawl section (222), described jaw (5) and chuck (221) are by groove (53) and clip-connecting rod
(221) fastening fixes, and cylinder upper cover (12), cylinder cavity (11) that described cylinder includes fixing the most successively are gentle
Cylinder lower cover (13), is additionally provided with piston (14) in described cylinder cavity (11), the top of described piston (14) is provided with the first through hole
(141), the bottom of piston (14) is provided with the second through hole (144), and the aperture of the first through hole (141) is less than the second through hole (144)
Aperture, the first through hole (141) and the second through hole (144) are interconnected and the first through hole (141) and the transition of the second through hole (144)
Place forms First terrace, and the external diameter of described piston rod (15) inner hollow and piston rod top (151) is more than underpart of the piston rod
(152) external diameter, and second step face is formed at the middle part of piston rod (15), described piston rod (15) is plugged in piston (14)
In first through hole (141), and the upper surface of First terrace and piston (14) offsets, described piston rod (15), piston (14) with
And pushing block (2) is fastened by bolt (23), described bolt (23) inserts in second through hole (144) of piston (14), and runs through alive
Stopper rod (15) is fixed with pushing block (2) afterwards, and the upper end of described piston rod (15) and pushing block (2) offset and bolt (23) and second step
Face offsets.
The clamp device of a kind of easy accessibility the most according to claim 1, it is characterised in that: described crawl section (222)
Cross section becomes the V-arrangement of bottom level, and the biside plate of crawl section (222) becomes spline-simulating.
The clamp device of a kind of easy accessibility the most according to claim 1, it is characterised in that: described jaw installing plate (10)
Upper end be provided with two stepped tooths (101), the lower section correspondence respectively of two stepped tooths (101) offers the first hinge hole (103),
And the lower section of (102) offers the second hinge hole (104) at the interval of two stepped tooths (101), described jaw pin (6) is through the
Behind the middle and lower part of one hinge hole (103) and jaw (5), jaw pin (6) two ends are tight by jaw (5) by jaw pin nut (7)
Gu on jaw installing plate (10).
The clamp device of a kind of easy accessibility the most according to claim 1, it is characterised in that: described spring leaf (9) includes
(91) bottom the connection of arc, side plate (92) and the portion that arches upward (94), bottom described connection, the middle part of (91) extends to both sides and sets
Have cambered surface through hole (93), described in the two ends in portion (94) of arching upward fix with the two ends of cambered surface through hole (93), described mounting pin (8) is worn
Being located at bottom connection between (91) and the portion that arches upward (94), two side plates (92) medial surface with two jaws (5) respectively offsets.
The clamp device of a kind of easy accessibility the most according to claim 1, it is characterised in that: described cylinder upper cover (12)
Both sides are additionally provided with liner plate (16), and described liner plate (16) fixes with cylinder cavity (11) upper end, and described cylinder upper cover (12) is with alive
Sealing ring (20) and fairlead (21) it is additionally provided with between the outer wall of stopper rod (14).
The clamp device of a kind of easy accessibility the most according to claim 1, it is characterised in that: the level of described piston (14)
Cross section ovalisation, and the upper and lower of piston (14) outer wall offers the first groove (142) and the second groove respectively
(143), the interior inlay card of described first groove (142) has sensing bar (17), and in described second groove (143), card is embedded with O (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610531891.2A CN106078775A (en) | 2016-06-30 | 2016-06-30 | A kind of clamp device of easy accessibility |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610531891.2A CN106078775A (en) | 2016-06-30 | 2016-06-30 | A kind of clamp device of easy accessibility |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106078775A true CN106078775A (en) | 2016-11-09 |
Family
ID=57213100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610531891.2A Pending CN106078775A (en) | 2016-06-30 | 2016-06-30 | A kind of clamp device of easy accessibility |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078775A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107731080A (en) * | 2017-10-26 | 2018-02-23 | 苏州大闹天宫机器人科技有限公司 | The theory of mechanics teaching grasping mechanism of fast demountable transform |
| CN108979141A (en) * | 2018-10-15 | 2018-12-11 | 大同泰瑞集团建设有限公司 | A kind of waist rail, collar tie beam and windowsill bear down on one wooden model Easy dismountable bracing means |
| CN109940649A (en) * | 2019-04-09 | 2019-06-28 | 北京京天威科技发展有限公司 | Inside and outside groups of springs grabbing assembly and its grabbing device and grasping system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2592827B1 (en) * | 1986-01-10 | 1988-03-04 | Roudaut Philippe | PNEUMATIC CLIP |
| US4876945A (en) * | 1987-10-13 | 1989-10-31 | Festo Kg | Piston and cylinder unit |
| CN102069461A (en) * | 2010-10-13 | 2011-05-25 | 宁波亚德客自动化工业有限公司 | Pneumatic clamping-jaw device |
| CN202780905U (en) * | 2012-08-24 | 2013-03-13 | 张�雄 | Pneumatic clamping mechanism |
| CN202952270U (en) * | 2012-12-14 | 2013-05-29 | 中国石油大学(华东) | Cylindrical special mechanical hand |
| CN103465268A (en) * | 2013-06-17 | 2013-12-25 | 宁波亚德客自动化工业有限公司 | Split type pneumatic finger |
| CN104528373A (en) * | 2014-12-24 | 2015-04-22 | 重庆勤发食品有限公司 | Mechanical arm for clamping cans |
| CN205799557U (en) * | 2016-06-30 | 2016-12-14 | 浙江博雷重型机床制造有限公司 | A kind of clamp device of easy accessibility |
-
2016
- 2016-06-30 CN CN201610531891.2A patent/CN106078775A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2592827B1 (en) * | 1986-01-10 | 1988-03-04 | Roudaut Philippe | PNEUMATIC CLIP |
| US4876945A (en) * | 1987-10-13 | 1989-10-31 | Festo Kg | Piston and cylinder unit |
| CN102069461A (en) * | 2010-10-13 | 2011-05-25 | 宁波亚德客自动化工业有限公司 | Pneumatic clamping-jaw device |
| CN202780905U (en) * | 2012-08-24 | 2013-03-13 | 张�雄 | Pneumatic clamping mechanism |
| CN202952270U (en) * | 2012-12-14 | 2013-05-29 | 中国石油大学(华东) | Cylindrical special mechanical hand |
| CN103465268A (en) * | 2013-06-17 | 2013-12-25 | 宁波亚德客自动化工业有限公司 | Split type pneumatic finger |
| CN104528373A (en) * | 2014-12-24 | 2015-04-22 | 重庆勤发食品有限公司 | Mechanical arm for clamping cans |
| CN205799557U (en) * | 2016-06-30 | 2016-12-14 | 浙江博雷重型机床制造有限公司 | A kind of clamp device of easy accessibility |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107731080A (en) * | 2017-10-26 | 2018-02-23 | 苏州大闹天宫机器人科技有限公司 | The theory of mechanics teaching grasping mechanism of fast demountable transform |
| CN107731080B (en) * | 2017-10-26 | 2023-12-19 | 苏州大闹天宫机器人科技有限公司 | Grabbing mechanism capable of being disassembled and assembled quickly and used for demonstrating mechanical principle |
| CN108979141A (en) * | 2018-10-15 | 2018-12-11 | 大同泰瑞集团建设有限公司 | A kind of waist rail, collar tie beam and windowsill bear down on one wooden model Easy dismountable bracing means |
| CN109940649A (en) * | 2019-04-09 | 2019-06-28 | 北京京天威科技发展有限公司 | Inside and outside groups of springs grabbing assembly and its grabbing device and grasping system |
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| PB01 | Publication | ||
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Application publication date: 20161109 |