CN107378573A - Secondary detent mechanism - Google Patents
Secondary detent mechanism Download PDFInfo
- Publication number
- CN107378573A CN107378573A CN201710668439.5A CN201710668439A CN107378573A CN 107378573 A CN107378573 A CN 107378573A CN 201710668439 A CN201710668439 A CN 201710668439A CN 107378573 A CN107378573 A CN 107378573A
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- China
- Prior art keywords
- cylinder
- worm gear
- seat
- thimble
- detent mechanism
- 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
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 4
- 241000237858 Gastropoda Species 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D41/00—Broaching machines or broaching devices characterised only by constructional features of particular parts
- B23D41/06—Broaching machines or broaching devices characterised only by constructional features of particular parts of devices for feeding, clamping, or ejecting workpieces
Abstract
The invention provides a kind of secondary detent mechanism, including worm gear line base, the detent mechanism seat on the worm gear line base and the column on the detent mechanism seat, the column includes two be oppositely arranged；Also include worm gear seat, guide seat and the cylinder block being sequentially sleeved at from bottom to up on the column；Wherein, the cylinder block is provided with cylinder, and the piston rod of the cylinder is provided with thimble towards the guide seat and the piston rod outer cover of the cylinder, the thimble through the guide seat and by cylinder driving can relatively described guide seat it is downward；Wherein, the worm gear seat is provided with the alignment pin for the endoporus for coordinating worm gear, and the alignment pin is located at the underface of the thimble, and the alignment pin and the thimble are coaxially set.A kind of secondary detent mechanism provided by the invention, while being positioned to the axle center of worm gear, also end face where the endoporus of worm gear is positioned.
Description
Technical field
The present invention relates to a kind of spiral case making equipment, more particularly to a kind of secondary positioning for machining worm wheel
Mechanism.
Background technology
Worm gear is used in the driving member on large scale equipment, just as gear.But the structure of worm gear is compared to gear more
Add the concave tooth of complexity, especially worm gear, its difficulty of processing is higher compared to gear.Generally, the processing of worm gear include with
Lower process：1st, turning, endoporus, chamfering；2nd, transfer；3rd, artificial detection；4th, transfer；5th, gear hobbing；6th, transfer；7th, steel ball detection is public
Normal；8th, transfer；9th, keyway is drawn；10th, transfer；11st, chamfered edge deburring；12nd, transfer；13rd, fine grinding cylinder；14th, transfer；15th, people
Work detects；16th, vanning transfer；17th, clean；18th, transfer；19th, antirust oil is applied；20th, stock.
But, it is necessary to be positioned to worm gear in this process of keyway is drawn.Also, because keyway is to be pulled in endoporus side
Wall, therefore not only axle center is positioned in position fixing process, also end face where endoporus is positioned.But mesh
It is preceding without a equipment for being specially adapted for both situations above.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the invention to provide a kind of secondary detent mechanism, can be to snail
While the axle center of wheel is positioned, also end face where the endoporus of worm gear is positioned.
To achieve the above object, the invention provides following technical scheme：
Secondary detent mechanism, including worm gear line base, the detent mechanism seat on the worm gear line base and be located at
Column on the detent mechanism seat, the column include two be oppositely arranged；
Also include worm gear seat, guide seat and the cylinder block being sequentially sleeved at from bottom to up on the column；
Wherein, the cylinder block is provided with cylinder, and the piston rod of the cylinder is towards the guide seat and the cylinder
Piston rod outer cover be provided with thimble, the thimble relatively described can draw through the guide seat and by cylinder driving
Guide bracket is downward；
Wherein, the worm gear seat is provided with the alignment pin for the endoporus for coordinating worm gear, and the alignment pin is located at the thimble
Underface, and the alignment pin and the thimble are coaxially set.
As a kind of embodiment, the guide seat is provided with flange bushing, and the mounting seat of the flange bushing is located at
The upper surface of the guide seat, the sleeve of the flange bushing are through under the guide seat from the upper surface of the guide seat
Surface.
As a kind of embodiment, the end of the thimble is circular conical surface, and the external diameter of the thimble is more than described
The external diameter of alignment pin.
As a kind of embodiment, forward flange is additionally provided with the cylinder block, the cylinder body of the cylinder is by before described
Flange is fixedly connected with the cylinder block, and the piston rod of the cylinder runs through the forward flange and the cylinder block.
As a kind of embodiment, the alignment pin includes column body, disk body and the lower prop set gradually, institute
Column body, the disk body and the lower prop is stated to be coaxially set；
Wherein, the lower prop is used to inserting the positioning hole on the worm gear seat, the end face of the disk body against
On the surface of the worm gear seat, the other end of the disk body provides the worm gear against the column body provides the worm gear
Inner hole.
As a kind of embodiment, the external diameter of the thimble is more than the external diameter of the column body.
As a kind of embodiment, the column is provided with anchor ear, and the anchor ear includes up and down dividing along the column
Two of cloth；The anchor ear positioned at upside is against the lower surface of the guide seat, and the anchor ear positioned at downside is against described
The upper surface of worm gear seat.
As a kind of embodiment, the column includes external diameter from top to bottom successively increased first cylinder, the second post
Body and the 3rd cylinder, first cylinder, second cylinder and the 3rd cylinder are coaxially set；
The worm gear cover for seat is located on second cylinder and its lower surface is against the end of the 3rd cylinder, described
Cylinder block is located on first cylinder and its lower surface is against the end of second cylinder.
As a kind of embodiment, detent mechanism seat is provided with the cable hole of longitudinal direction, and the cable hole is provided with cabling
Flange.
The present invention is compared to the beneficial effect of prior art：
The invention provides a kind of secondary detent mechanism, while being positioned to the axle center of worm gear, also to worm gear
Endoporus where end face positioned.Specifically, extension side of the thimble along column is made by the cylinder being arranged on cylinder block
To downward, pressing action is produced to the worm gear being placed on worm gear seat.In above process, can be true due to the action pushed
The position of end face where determining the endoporus of worm gear, due to the circular conical surface of thimble itself, it may be determined that the position in the axle center of worm gear.It is based on
This, manipulator can obtain more accurate position when gripping worm gear, be advantageous to improve the machining accuracy of worm gear.
Brief description of the drawings
Fig. 1 is the stereogram for the secondary detent mechanism that one embodiment of the invention provides；
Fig. 2 is the stereogram for the flange bushing that one embodiment of the invention provides；
Fig. 3 is the stereogram for the forward flange that one embodiment of the invention provides；
Fig. 4 is the stereogram for the alignment pin that one embodiment of the invention provides；
Fig. 5 is the stereogram for the secondary detent mechanism that another embodiment of the present invention provides；
Fig. 6 is the stereogram for the column that one embodiment of the invention provides.
In figure：1st, worm gear line base；2nd, detent mechanism seat；3rd, column；301st, the first cylinder；302nd, the second cylinder；303、
3rd cylinder；4th, worm gear seat；5th, guide seat；6th, cylinder block；7th, cylinder；8th, thimble；10th, alignment pin；1001st, column body；1002、
Disk body；1003rd, lower prop；11st, flange bushing；1101st, mounting seat；1102nd, sleeve；12nd, forward flange；13rd, anchor ear；14th, cabling
Flange.
Embodiment
Below in conjunction with accompanying drawing, the technical characteristic above-mentioned and other to the present invention and advantage are clearly and completely described,
Obviously, described embodiment is only the section Example of the present invention, rather than whole embodiments.
Reference picture 1, a kind of secondary detent mechanism is present embodiments provided, drawn for worm gear in keyway process and worm gear is determined
Position, and the secondary detent mechanism that the present embodiment provides, while being positioned to the axle center of worm gear, also in worm gear
End face where hole is positioned.Here secondary detent mechanism includes worm gear line base 1, the positioning on worm gear line base 1
Mechanism seat 2 and the column 3 on detent mechanism seat 2, column 3 include two be oppositely arranged.Two shown in figure are vertical
Post 3, it is arranged on vertically and abreast on detent mechanism seat 2, based on this, the secondary detent mechanism that the present embodiment provides also includes
Worm gear seat 4, guide seat 5 and the cylinder block 6 being sequentially sleeved at from bottom to up on column 3.Deploy snail successively from bottom to up below
The effect of wheel seat 4, guide seat 5 and cylinder block 6.Here, worm gear seat 4 is for carrying worm gear (show in figure but do not mark)
, during use state, worm gear is captured by manipulator and is placed on worm gear seat 4, and the endoporus institute of worm gear is determined on worm gear seat 4
In end face and axle center.Here, cylinder block 6 is provided with cylinder 7, and the piston rod of cylinder 7 is towards guide seat 5 and the piston of cylinder 7
Bar outer cover is provided with thimble 8, and thimble 8 runs through guide seat 5 and can be downward with respect to guide seat 5 by the driving of cylinder 7.Since need
End face where determining the endoporus of worm gear, necessarily has the process that an exterior object pushes.Because worm gear in this state can
Also it can determine a face by manipulator when ensuring the accuracy of position, therefore finally being captured.Here cylinder block 6 is fixed
One carrier of cylinder, it is a kind of conventional mode to be pushed thimble 8 by cylinder, does not deploy to describe herein.Here, worm gear seat
4 are provided with the alignment pin 10 for the endoporus for coordinating worm gear, and alignment pin 10 is located at the underface of thimble 8, and alignment pin 10 and thimble 8
It is coaxially set.It is determined that during end face where the endoporus of worm gear and axle center, alignment pin 10 serves key effect.One side
Face, the presence of alignment pin can make worm gear have a preliminary placement location, and it is coordinated existing for thimble 8 above.And this
In thimble 8 and alignment pin 10 combination, make the specific use for worm gear.
In the present embodiment, secondary detent mechanism makes thimble 8 along column 3 by the cylinder 7 being arranged on cylinder block 6
Bearing of trend is downward, and pressing action is produced to the worm gear being placed on worm gear seat 4.In above process, due to the action pushed,
The position of end face where the endoporus of worm gear can be determined, due to the circular conical surface of itself of thimble 8, it may be determined that the position in the axle center of worm gear
Put.And in above process, guide seat 5 can guide thimble 8 downward.
Referring to Figures 1 and 2, in one embodiment, guide seat 5 is provided with flange bushing 11, the installation of flange bushing 11
Seat 1101 is located at the upper surface of guide seat 5, and the sleeve 11102 of flange bushing 11 is through to guide seat 5 from the upper surface of guide seat 5
Lower surface.
In the present embodiment, special requirement is provided with to flange bushing 11.As can be known from Fig. 1, flange bushing 11
Sleeve 1102 be towards alignment pin 10, in fact, during bearing of trend of the thimble 8 along column 3 is downward, flange bushing
11 sleeve 1102 has the guiding of a relatively long distance to thimble 8.Also, the distance of this section of guiding is proximate to alignment pin 10
, therefore the effect guided is preferable.
In one embodiment, the end of thimble 8 is circular conical surface, and the external diameter of thimble 8 is more than the external diameter of alignment pin 10.
In the present embodiment, when thimble 8 produces pressing action to worm gear, endoporus of the thimble 8 against worm gear.Therefore, pressing
In the state of tight, the axis of thimble 8 and the axis of worm gear are overlapping.Therefore, the axle center of worm gear can be default by determining
The axis of thimble 8 determines.In addition, the external diameter of thimble 8 is more than the external diameter of alignment pin 10, is beneficial to determine worm gear
Position.
Reference picture 3, in one embodiment, forward flange 12 is additionally provided with cylinder block 6, the cylinder body of cylinder 7 passes through forward flange
12 are fixedly connected with cylinder block 6, and the piston rod (not shown) of cylinder 7 runs through forward flange 12 and cylinder block 6.
The present embodiment is a mounting structure of the cylinder 7 on cylinder block 6.Can be to cylinder block by this mounting structure
6 upper cylinders 7 are fixed.It is corresponding to need preferably to fix because cylinder 7 is the part of an output power, and this implementation
Forward flange 12 in example can provide more preferable fixation.
Reference picture 3 and Fig. 4, in one embodiment, alignment pin 10 include column body 1001, the disk body set gradually
1002 and lower prop 1003, column body 1001, disk body 1002 and lower prop 1003 be coaxially set；Wherein, lower prop
1003 are used to insert the positioning hole (not shown) being located on worm gear seat 4, and the end face of disk body 1002 is resisted against worm gear seat 4
Surface, the other end of disk body 1002 provide worm gear against column body 1001 provides the inner hole of worm gear.
In the present embodiment, by using the alignment pin 10 that may be inserted into positioning hole, it is tentatively fixed that worm gear can be carried out
Position.In fact, the endoporus of worm gear is different because of specification, pluggable alignment pin 10 is set to coordinate the different snail of plurality of specifications
Wheel.Also, the lower prop 1003 in the present embodiment is through worm gear seat 4 and extended under worm gear seat 4 after completion of installation
Side.Therefore, by lower prop 1003 can position alignment pin 10, column body 1001 can be relied on to carry out just worm gear
Step positioning, disk body 1002 can be relied on to position end face where the endoporus of worm gear.
In one embodiment, the external diameter of thimble 8 is more than the external diameter of column body 1001.
In the present embodiment, the external diameter of thimble 8 is more than the external diameter of column body 1001, is beneficial to position worm gear.
Reference picture 5, in one embodiment, column 3 are provided with anchor ear 13, and anchor ear 13 includes being distributed about 3 along column
Two；Anchor ear 13 positioned at upside against the lower surface of guide seat 5, positioned at downside anchor ear 13 against worm gear seat 4 upper table
Face.
In the present embodiment, thimble 8 is downward through flange bushing 11, therefore sets anchor ear 13 to carry in the lower section of guide seat 5
For support.Because thimble 8 has an action when pushing worm gear, therefore it is spacing in the top of worm gear seat 4 to set anchor ear 13 to provide.
Reference picture 6, in one embodiment, column 3 include external diameter increased first cylinder 301, the successively from top to bottom
Two cylinders 302 and the 3rd cylinder 303, the first cylinder 301, the second cylinder 302 and the 3rd cylinder 303 are coaxially set；
Worm gear seat 4 is set on the second cylinder 302 and its lower surface is located at the first post against the end of the 3rd cylinder 303, cylinder block 6
On body 301 and its lower surface is against the end of the second cylinder 302.
In the present embodiment, the setting of column 3 also depend on thimble 8 have one push action this special feelings
Condition.In fact, thimble 8 during pushing, as the cylinder 7 of output power, can make its stress of carrier cylinder block 6, make
To carry the worm gear of pressure, it can also make its stress of carrier worm gear seat 4.Therefore, cylinder block 6 and needs preferably support.This reality
Apply in example, the use of the 3rd cylinder 303 and the second cylinder 302 is respectively that worm gear seat 4 and cylinder block 6 provide support.
Reference picture 1, in one embodiment, detent mechanism seat 2 are provided with the cable hole of longitudinal direction, and cable hole is provided with cabling
Flange 14.
Specific embodiment above, the purpose of the present invention, technical scheme and beneficial effect are carried out further detailed
Explanation, it will be appreciated that these are only the specific embodiment of the present invention, the protection domain being not intended to limit the present invention.It is special
Do not point out, it is to those skilled in the art, within the spirit and principles of the invention, any modification for being made, equivalent
Replace, improve etc., it should be included in the scope of the protection.
Claims (9)
1. No. two detent mechanisms, it is characterised in that the positioning including worm gear line base (1), on the worm gear line base (1)
Mechanism seat (2) and the column (3) on the detent mechanism seat (2), the column (3) include two be oppositely arranged；
Also include worm gear seat (4), guide seat (5) and the cylinder block (6) being sequentially sleeved at from bottom to up on the column (3)；
Wherein, the cylinder block (6) is provided with cylinder (7), the piston rod of the cylinder (7) towards the guide seat (5) and
The piston rod outer cover of the cylinder (7) is provided with thimble (8), and the thimble (8) is through the guide seat (5) and by the gas
Cylinder (7) driving can relatively described guide seat (5) it is downward；
Wherein, the worm gear seat (4) is provided with the alignment pin (10) for the endoporus for coordinating worm gear, and the alignment pin (10) is positioned at described
The underface of thimble (8), and the alignment pin (10) and the thimble (8) are coaxially set.
2. secondary detent mechanism according to claim 1, it is characterised in that the guide seat (5) is provided with flange bushing
(11), the mounting seat (1101) of the flange bushing (11) is located at the upper surface of the guide seat (5), the flange bushing (11)
Sleeve (1102) lower surfaces of the guide seat (5) is through to from the upper surface of the guide seat (5).
3. secondary detent mechanism according to claim 1, it is characterised in that the end of the thimble (8) is circular conical surface, and
And the external diameter of the thimble (8) is more than the external diameter of the alignment pin (10).
4. secondary detent mechanism according to claim 1, it is characterised in that be additionally provided with forward flange on the cylinder block (6)
(12), the cylinder body of the cylinder (7) is fixedly connected with the cylinder block (6), the work of the cylinder (7) by the forward flange (12)
Stopper rod runs through the forward flange (12) and the cylinder block (6).
5. secondary detent mechanism according to claim 1, it is characterised in that the alignment pin (10) includes what is set gradually
Column body (1001), disk body (1002) and lower prop (1003), the column body (1001), the disk body (1002) and
The lower prop (1003) is coaxially set；
Wherein, the lower prop (1003) is used for the positioning hole inserted on the worm gear seat (4), the disk body (1002)
End face is resisted against the surface of the worm gear seat (4), and the other end of the disk body (1002) provides the worm gear against described
Column body (1001) provides the inner hole of the worm gear.
6. secondary detent mechanism according to claim 5, it is characterised in that the external diameter of the thimble (8) is more than on described
The external diameter of cylinder (1001).
7. secondary detent mechanism according to claim 1, it is characterised in that the column (3) is provided with anchor ear (13), institute
State two that anchor ear (13) includes being distributed up and down along the column (3)；The anchor ear (13) positioned at upside draws against described
The lower surface of guide bracket (5), the anchor ear (13) positioned at downside is against the upper surface of the worm gear seat (4).
8. secondary detent mechanism according to claim 7, it is characterised in that the column (3) includes external diameter from top to bottom
Increased first cylinder (301), the second cylinder (302) and the 3rd cylinder (303) successively, first cylinder (301), institute
State the second cylinder (302) and the 3rd cylinder (303) is coaxially set；
The worm gear seat (4) is set on second cylinder (302) and its lower surface is against the 3rd cylinder (303)
End, the cylinder block (6) is located on first cylinder (301) and its lower surface is against second cylinder (302)
End.
9. secondary detent mechanism according to claim 1, it is characterised in that detent mechanism seat (2) is provided with walking for longitudinal direction
String holes, the cable hole are provided with cabling flange (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710668439.5A CN107378573A (en) | 2017-08-07 | 2017-08-07 | Secondary detent mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710668439.5A CN107378573A (en) | 2017-08-07 | 2017-08-07 | Secondary detent mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107378573A true CN107378573A (en) | 2017-11-24 |
Family
ID=60354494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710668439.5A Pending CN107378573A (en) | 2017-08-07 | 2017-08-07 | Secondary detent mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107378573A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040256780A1 (en) * | 2001-11-09 | 2004-12-23 | Gunter Lang | Jig, which can be precisely repositioned |
| CN101670526A (en) * | 2008-09-12 | 2010-03-17 | 天润曲轴股份有限公司 | Jig for drilling flange hole of crankshaft |
| CN201645121U (en) * | 2010-02-10 | 2010-11-24 | 辽宁太克液压机械集团有限公司 | Steel wire retainer ring pressing device for steering pump body |
| CN103990991A (en) * | 2014-04-30 | 2014-08-20 | 曲勇 | Clamp special for milling center hole in tail of turbine shaft |
| CN204075831U (en) * | 2014-08-29 | 2015-01-07 | 江苏瑞洁塑料管材管件有限公司 | A kind of frock clamp of automatic centering |
| CN104493589A (en) * | 2014-12-19 | 2015-04-08 | 苏州莱测检测科技有限公司 | Special-purpose perforation clamping jig for columns |
| CN106428296A (en) * | 2016-11-01 | 2017-02-22 | 北京汽车研究总院有限公司 | Torsion bar spring front connecting bracket marking-off tool and marking-off method |
| CN207027065U (en) * | 2017-08-07 | 2018-02-23 | 浙江硕和机器人科技有限公司 | Secondary detent mechanism |
-
2017
- 2017-08-07 CN CN201710668439.5A patent/CN107378573A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040256780A1 (en) * | 2001-11-09 | 2004-12-23 | Gunter Lang | Jig, which can be precisely repositioned |
| CN101670526A (en) * | 2008-09-12 | 2010-03-17 | 天润曲轴股份有限公司 | Jig for drilling flange hole of crankshaft |
| CN201645121U (en) * | 2010-02-10 | 2010-11-24 | 辽宁太克液压机械集团有限公司 | Steel wire retainer ring pressing device for steering pump body |
| CN103990991A (en) * | 2014-04-30 | 2014-08-20 | 曲勇 | Clamp special for milling center hole in tail of turbine shaft |
| CN204075831U (en) * | 2014-08-29 | 2015-01-07 | 江苏瑞洁塑料管材管件有限公司 | A kind of frock clamp of automatic centering |
| CN104493589A (en) * | 2014-12-19 | 2015-04-08 | 苏州莱测检测科技有限公司 | Special-purpose perforation clamping jig for columns |
| CN106428296A (en) * | 2016-11-01 | 2017-02-22 | 北京汽车研究总院有限公司 | Torsion bar spring front connecting bracket marking-off tool and marking-off method |
| CN207027065U (en) * | 2017-08-07 | 2018-02-23 | 浙江硕和机器人科技有限公司 | Secondary detent mechanism |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171124 |