CN108730294B - Pin shaft for welding robot joint and pin shaft assembling device - Google Patents
Pin shaft for welding robot joint and pin shaft assembling device Download PDFInfo
- Publication number
- CN108730294B CN108730294B CN201810662200.1A CN201810662200A CN108730294B CN 108730294 B CN108730294 B CN 108730294B CN 201810662200 A CN201810662200 A CN 201810662200A CN 108730294 B CN108730294 B CN 108730294B
- Authority
- CN
- China
- Prior art keywords
- mandrel
- shaft sleeve
- pin
- sleeve
- pin shaft
- 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
Links
- 238000003466 welding Methods 0.000 title claims abstract description 33
- 230000005284 excitation Effects 0.000 claims abstract description 31
- 239000002184 metal Substances 0.000 claims abstract description 10
- 229910052751 metal Inorganic materials 0.000 claims abstract description 10
- 239000007769 metal material Substances 0.000 claims abstract description 4
- 229910000807 Ga alloy Inorganic materials 0.000 claims description 5
- 229910045601 alloy Inorganic materials 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 229910020632 Co Mn Inorganic materials 0.000 claims description 2
- 229910020678 Co—Mn Inorganic materials 0.000 claims description 2
- 229910003286 Ni-Mn Inorganic materials 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 14
- 230000008569 process Effects 0.000 abstract description 10
- 230000000149 penetrating effect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- -1 for example Substances 0.000 description 1
- 229910052733 gallium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000001338 self-assembly Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B19/00—Bolts without screw-thread; Pins, including deformable elements; Rivets
- F16B19/002—Resiliently deformable pins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P11/00—Connecting or disconnecting metal parts or objects by metal-working techniques not otherwise provided for
- B23P11/02—Connecting or disconnecting metal parts or objects by metal-working techniques not otherwise provided for by first expanding and then shrinking or vice versa, e.g. by using pressure fluids; by making force fits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B19/00—Bolts without screw-thread; Pins, including deformable elements; Rivets
- F16B19/002—Resiliently deformable pins
- F16B2019/006—Resiliently deformable pins made in a plurality of pieces
Abstract
The invention discloses a pin shaft for welding robot joint and a pin shaft assembling device, wherein the pin shaft comprises: a shaft sleeve made of a metal material having a certain elastic modulus; the mandrel is made of magnetic control shape memory metal and penetrates through the shaft sleeve; the radial dimension of the mandrel is processed into: when the mandrel is in a natural state without being subjected to electromagnetic excitation, the mandrel and the shaft sleeve form interference fit, and when the mandrel is in a state with being subjected to electromagnetic excitation, the mandrel extends in the axial direction to enable the mandrel and the shaft sleeve to form clearance fit. The diameter of the pin shaft is reduced by applying a magnetic field to the mandrel, so that the pin shaft penetrates through the inner ring of the bearing in a state of clearance fit with the inner ring of the bearing, harmful axial force to the bearing in the penetrating process of the pin shaft is avoided, and the influence on the service life of the bearing in the assembling process is reduced to the maximum extent.
Description
Technical Field
The invention relates to the technical field of industrial robot assembly, in particular to a pin shaft for a welding robot joint, an assembly device for assembling the pin shaft, a joint of a welding robot and an assembly device for assembling the joint.
Background
Industrial robots have been widely used in various fields such as machinery, electronic machining, and assembly. Robots (mostly robots) for processing and assembling electronic products belong to precision robots, for example, welding robots for welding computer motherboards. This type of robot is comparatively exquisite, requires the action precision higher, and this type of robot's key feature is: the arm of the robot reciprocates frequently. Due to this feature, the service life of the robot needs to be considered when designing, manufacturing and assembling the robot. In actual use, the requirements on the action precision of the robot are good, so that the replacement of parts (the replacement of the parts requires the disassembly and assembly of the robot, and the disassembly and assembly at each time can affect the precision to a certain extent) is avoided as much as possible, and the disassembly and assembly are avoided as much as possible particularly for the joint part of the robot.
The joints of the robot for rotating the arm comprise two joints, the two joints are connected through the pin shaft penetrating through the two joints, and the bearing is required to be arranged between the pin shaft and the joints so as to enable the two joints to freely rotate.
In the prior art, the method for assembling the joint comprises the following steps: firstly, two bearings are arranged on a joint, then a tool is used for enabling the axes of the two joints to be coaxial (also called to enable the axes of the two bearings to be coaxial), and then a pressure rod is used for enabling a pin shaft to penetrate through the two joints, namely the inner rings of the two bearings.
The above-mentioned joints and assembly methods of the prior art have the following disadvantages:
because the round pin axle needs to adopt interference fit's assembly methods with the inner circle of bearing, consequently, when making the round pin axle wear to establish the bearing inner circle, need exert certain pressure to the round pin axle, however, install the bearing on two joints mostly and be radial bearing, like deep groove bearing etc. its ability of bearing the axial force is very poor, and the process of wearing to establish of round pin axle makes the bearing bear great axial force, this must make the bearing produce great deformation, lead to life to shorten greatly, thereby lead to the joint to need often dismouting in order to change the bearing, the precision has been reduced. In addition, because the pin shaft and the bearing inner ring adopt an interference fit mode, before the bearing is penetrated, the axis of the pin shaft and the axis of the bearing need to be strictly coaxial, which increases the difficulty of the tool, and in addition, higher requirements are provided for the processing precision of the pin shaft, such as coaxiality and straightness, so that the cost for processing the pin shaft and the joint is increased.
Disclosure of Invention
In order to solve the technical problems in the prior art, embodiments of the present invention provide a pin for welding a robot joint and a pin assembling apparatus.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
a pin for welding a robotic joint, comprising:
a shaft sleeve made of a metal material having a certain elastic modulus;
the mandrel is made of magnetic control shape memory metal and penetrates through the shaft sleeve; wherein:
the radial dimension of the mandrel is processed into: when the mandrel is in a natural state without being subjected to electromagnetic excitation, the mandrel and the shaft sleeve form interference fit, and when the mandrel is in a state with being subjected to electromagnetic excitation, the mandrel extends in the axial direction to enable the mandrel and the shaft sleeve to form clearance fit.
Preferably, the mandrel is made of a Ni-Mn alloy, or of a Co-Mn alloy, or of a Ni-Mn-Ga alloy, or of a Ni-Mn-Fo-Ga alloy.
Preferably, the bushing is made of 45 gauge steel.
Preferably, the bushing has a first end and a second end; the pin shaft further comprises a first end cap and a second end cap; the first end cap is removably secured to the first end of the shaft sleeve and the second end cap is removably secured to the second end of the shaft sleeve.
Preferably, the end face of the first end of the shaft sleeve is provided with a first annular groove, the inner groove wall of the first annular groove is provided with threads, the first end cap is provided with a first convex ring, and the first convex ring is screwed into the first annular groove to form threaded connection with the shaft sleeve; the end face of the second end of the shaft sleeve is provided with a second annular groove, the inner groove wall of the second annular groove is provided with threads, the second end cap is provided with a second convex ring, and the second convex ring is screwed into the second annular groove to form threaded connection with the shaft sleeve.
Preferably, the mandrel has a first end on the same side as the first end of the sleeve and a second end on the same side as the second end of the sleeve; first top is worn to be equipped with at the middle part of first end cap female, the second top is worn to be equipped with at the middle part of second end cap female, first top is female to be used for pushing away through the rotation the first end of dabber, second top is female to be used for pushing away through the rotation the second end of dabber, so that the dabber drives the axle sleeve increase radial dimension, so that the dabber with the axle sleeve forms interference fit.
Preferably, when the mandrel is electromagnetically excited, the ratio of the gap between the mandrel and the sleeve to the length of the mandrel is: 0.003-0.005.
The invention also discloses a pin shaft assembling device, which is used for assembling the pin shaft for welding the robot joint and comprises the following components:
a work table;
the first vertical plate is arranged on the workbench and provided with a first tool part, so that the shaft sleeve is horizontally arranged by combining the second end of the shaft sleeve;
the oil cylinder is horizontally arranged on the workbench, and the head of a piston rod of the oil cylinder faces the first vertical plate;
the mounting plate is detachably arranged at the head of the piston rod, and a second tool part is arranged on the surface of the mounting plate opposite to the first vertical plate and is used for combining the second end of the mandrel and enabling the axis of the mandrel to be coaxial with the axis of the shaft sleeve;
a magnetic field application assembly comprising a cylinder having an annular cavity and at least one pair of electromagnetically excited pairs disposed within the annular cavity; the electromagnetic excitation pairs are oppositely arranged; the cylinder body is sleeved outside the mandrel and detachably arranged on the mounting plate; wherein:
the electromagnetic excitation pair is used for applying a magnetic field perpendicular to the axis to the mandrel so as to enable the mandrel to stretch to form a clearance fit state with the shaft sleeve, and the mandrel extends into the shaft sleeve through the piston rod.
Preferably, the pair of electromagnetic excitations comprises a plurality of pairs, the plurality of pairs being circumferentially arranged in the annular space.
Preferably, a second vertical plate is further arranged on the workbench, the piston rod penetrates through the second vertical plate, and a guide sleeve is arranged between the second vertical plate and the piston rod to support the piston rod.
Compared with the prior art, the pin shaft for welding robot joint and the pin shaft assembling device disclosed by the invention have the beneficial effects that:
1. in the process of assembling the pin shaft on the joint, the diameter of the pin shaft is reduced by applying a magnetic field to the mandrel, so that the pin shaft penetrates through the inner ring of the bearing in a state of clearance fit with the inner ring of the bearing, the pin shaft is prevented from generating harmful axial force on the bearing in the process of penetrating, and the influence on the service life of the bearing in the assembling process is reduced to the maximum extent. In the prior art, the diameter of the pin shaft cannot be changed, and the pin shaft can only be provided with the bearing in a penetrating way in an interference fit state, so that harmful axial force is generated on the bearing, and the service life of the bearing is influenced.
2. Because the pin shaft is in clearance fit with the inner ring of the bearing when the bearing is arranged in a penetrating way, the axis of the pin shaft is not required to be strictly coaxial with the axis of the bearing, the requirement on the processing precision of the mandrel and the shaft sleeve is reduced, the processing cost is reduced, in addition, the precision requirement of the assembling device for assembling the pin shaft on the joint is also reduced, and the design, manufacture and maintenance cost of the assembling device is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a mandrel used in a pin of a welding robot joint according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a shaft sleeve used in a pin shaft of a welding robot joint according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram (not provided with an end cap) of a pin for welding a robot joint according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram (provided with an end cap) of a pin for welding a robot joint according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a welding robot joint according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a pin assembling apparatus according to an embodiment of the present invention.
Fig. 7 is a schematic view of a use state of the pin assembling apparatus according to the embodiment of the present invention (a state where the mandrel does not extend into the sleeve).
Fig. 8 is an enlarged view of a portion a of fig. 7.
Fig. 9 is an enlarged view of a portion B of fig. 7.
Fig. 10 is a schematic view of a use state of the pin assembling apparatus according to the embodiment of the present invention (a state in which the mandrel is inserted into the sleeve).
Fig. 11 is a schematic view of the pin assembling apparatus according to the embodiment of the present invention in a use state (the mandrel is extended into the sleeve, and the first piston rod is retracted).
Fig. 12 is a schematic structural diagram of a welding robot joint assembling apparatus according to an embodiment of the present invention.
Fig. 13 is a schematic view of a use state of the welding robot joint assembling apparatus according to the embodiment of the present invention (when the pin does not extend into the joint).
Fig. 14 is a schematic view of a welding robot joint assembling apparatus according to an embodiment of the present invention in a use state (after a pin shaft is not inserted into a joint).
Fig. 15 is a schematic view of a welding robot joint assembling apparatus in a use state (a pin shaft is installed in a joint, and a second piston rod is retracted) according to an embodiment of the present invention.
In the figure:
100-welding robotic joints; 10-a pin shaft; 11-a mandrel; 111-locating holes; 112-an annular groove; 12-a shaft sleeve; 121-a first annular groove; 122-a second annular groove; 123-shaft shoulder; 131-a first end cap; 132-a second end cap; 1311-first male ring; 1321-a second torus; 141-first top mother; 142-a second top mother; 20-a first joint; 21-a first joint body; 22-a first bearing; 23-a first swivel arm; 30-a second joint; 31-a second joint body; 32-a second bearing; 33-a second swivel arm; 40-a thrust bearing; 200-a pin shaft assembling device; 210-a first magnetic field applying assembly; 211-a first cylinder; 212-a first electromagnetic excitation pair; 220-a first oil cylinder; 221-a first piston rod; 230-a first platform; 240-a first riser; 250-a first tooling portion; 251-a first annular projection; 252-a second annular projection; 260-a second tooling part; 261-positioning columns; 262-a third annular projection; 270-a mounting plate; 280-a second vertical plate; 281-a guide sleeve; 300-a welding robot joint assembly device; 310-a second magnetic field applying assembly; 311-a second cylinder; 312 — a second electromagnetic excitation pair; 313-a bushing; 320-a second oil cylinder; 321-a second piston rod; 322-a binding; 330-a second work platform; 340-a mounting seat; 350-bracket.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 15, the embodiment of the present invention discloses a pin 10 for a welding robot joint 100, a pin assembling apparatus 200 for assembling the pin 10, the welding robot joint 100, and a welding robot joint assembling apparatus 300 for assembling a joint of a robot. In the present invention, the pin 10 is configured to generate a radial dimension variation structure, so that when the pin 10 is inserted into the bearing in the joint, no axial force is generated on the inner ring of the bearing, thereby preventing the service life of the bearing from being shortened due to the axial force when the welding robot joint 100 is assembled. In the present invention, the variation of the radial dimension of the pin 10 is characterized by: in a first field environment, the pin 10 is in a first diameter size state; in a second field environment, the pin 10 is in a second diametric dimension. The pin 10 has a diameter dimension in a first diameter dimension that is greater than a diameter dimension in a second diameter dimension. Specifically, as shown in fig. 1 to 3, the pin 10 includes a sleeve 12 and a spindle 11. The pin 10 is made of a metal material having a certain elastic modulus, for example, 45 steel, and the core 11 is made of a magnetic shape memory metal, for example, Ni — Mn, or Co — Mn, or Ni — Mn — Ga, or Ni — Mn — Fo — Ga alloy, and the core 11 is installed in the sleeve 12. As shown in fig. 5, the welding robot joint 100 disclosed in the present invention includes a first joint 20, a second joint 30, a first rotating arm 23, a second rotating arm 33, and the pin 10. The first joint 20 comprises a first joint body 21 and a first bearing 22, the first joint body 21 is provided with a first mounting hole, and the first bearing 22 is arranged in the first mounting hole; the second joint 30 comprises a second joint body 31 in a columnar shape and a second bearing 32, the second joint body 31 is provided with a second mounting hole, and the second bearing 32 is arranged in the second mounting hole; the first rotating arm 23 is detachably mounted on the outer side of the first joint body 21 in the radial direction; the second rotating arm 33 is detachably mounted on the outer side of the second joint body 31 in the radial direction; the pin shaft 10 is inserted into the first bearing 22 and the second bearing 32, the first bearing 22 and the second bearing 32 are bearings of the same type and size series, and a thrust bearing 40 is arranged between the first joint 20 and the second joint 30 to prevent the first joint 20 and the second joint 30 from generating contact friction.
In the case of the pin 10 having the core 11 made of a magnetically controlled shape memory metal, the field environment specifically refers to a magnetic field environment, the first field environment referred to above refers to a natural environment in which no magnetic field is applied, and the second field environment refers to an environment in which a magnetic field perpendicular to the axis of the pin 10 is applied. Since the mandrel 11 is made of a magnetically controlled shape memory metal, when a magnetic field is applied, the mandrel 11 is electromagnetically excited to increase in length and decrease in diameter.
In the present invention, the diameter of the spindle 11 and the outer diameter of the sleeve 12 are set to the following dimensions:
when the mandrel 11 is excited by electromagnetism, the mandrel 11 and the shaft sleeve 12 are in a clearance fit state, and the outer diameter of the shaft sleeve 12 and the inner rings of the first bearing 22 and the second bearing 32 are in a clearance fit state; after the electromagnetic excitation on the mandrel 11 is cancelled and pressure is applied to the pin shaft 10 from both ends of the pin shaft 10 to deform and reset the mandrel 11, the mandrel 11 and the shaft sleeve 12 form an interference fit state, and then the mandrel 11 extrudes the shaft sleeve 12 to increase the outer diameter of the shaft sleeve 12, so that the shaft sleeve 12 and the inner rings of the first bearing 22 and the second bearing 32 form an interference fit state (the interference fit between the shaft sleeve 12 and the inner rings of the bearings is an assembly state of the shaft sleeve 12 and the bearings, that is, the pin shaft 10 and the bearings are in a satisfactory assembly state).
The specific diameter of the mandrel 11 and the inner and outer diameters of the sleeve 12 are determined according to the actual magnetic field strength applied, the specific material of the mandrel 11, the axial dimension of the mandrel 11, and the interference fit requirement.
As can be seen from the above description, when the pin 10 needs to be assembled on the joint of the robot, a magnetic field is first applied to the mandrel 11 to subject the mandrel 11 to electromagnetic excitation so as to increase the length of the mandrel 11 and decrease the diameter, so that the diameter of the pin 10 (i.e., the size of the outer diameter of the sleeve 12) meets the requirement of clearance fit with the inner rings of the two bearings, then the mandrel 11 is passed through the two bearings in a magnetic field environment, then the magnetic field is removed, a certain force is applied to the two ends of the mandrel 11 so as to force the diameter of the mandrel 11 to increase (at least to restore the mandrel 11 to the state before the magnetic field is applied), and the mandrel 11 presses the sleeve 12 so as to increase the outer diameter of the sleeve 12, so that the pin 10 and the inner rings of the bearings achieve.
The advantage of the assembly of the pin shaft 10 to the welding robot joint 100 and the use of the welding robot joint 100 of the above structure is that:
1. in the process of assembling the pin shaft 10 on the joint, the diameter of the pin shaft 10 is reduced by applying a magnetic field to the mandrel 11, so that the pin shaft 10 passes through the inner ring of the bearing in a state of clearance fit with the inner ring of the bearing, and the pin shaft 10 is prevented from generating harmful axial force on the bearing in the process of penetrating, and the influence on the service life of the bearing in the assembling process is reduced to the maximum extent. In the prior art, the diameter of the pin shaft 10 cannot be changed, and the pin shaft 10 can only be provided with a bearing in an interference fit state, so that harmful axial force is generated on the bearing, and the service life of the bearing is influenced.
2. In the invention, the pin shaft 10 is in clearance fit with the inner ring of the bearing when the bearing is inserted, so that the axis of the pin shaft 10 and the axis of the bearing are not strictly coaxial (or called, the two are not required to be accurately coaxial), the requirement on the processing precision of the core shaft 11 and the shaft sleeve 12 is reduced, the processing cost is reduced, in addition, the precision requirement of an assembling device for assembling the pin shaft 10 on the joint is also reduced, and the design, manufacture and maintenance cost of the assembling device is reduced.
The pin 10 of the above structure has the advantages for self assembly:
1. since the mandrel 11 and the sleeve 12 are in a clearance fit state when the mandrel 11 is electromagnetically excited, the mandrel 11 can be conveniently installed in the sleeve 12 by an assembling device by applying a magnetic field to the mandrel 11 during the assembly of the pin 10.
2. Since the mandrel 11 is in clearance fit with the sleeve 12 when the sleeve 12 is inserted, it is not necessary to make the axis of the mandrel 11 and the axis of the sleeve 12 strictly coaxial, which reduces the machining precision requirements for the mandrel 11 and the sleeve 12, thereby reducing the machining cost, and in addition, reduces the precision requirements for an assembling device for assembling the mandrel 11 and the sleeve 12, thereby reducing the design, manufacturing and maintenance costs of the assembling device.
It should be noted that: in the prior art, particularly in the application field of magnetic control shape memory metal, a skilled person mostly uses the memory metal for a driver, and in the invention, the memory metal is creatively used for assembling a mechanical mechanism, thereby expanding the application field of the memory metal.
In a preferred embodiment of the present invention, as shown in fig. 1-4, bushing 12 has a first end and a second end; the pin 10 further comprises a first end cap 131 and a second end cap 131; the first end cap 131 is detachably fixed at the first end of the shaft sleeve 12, the second end cap 131 is detachably fixed at the second end of the shaft sleeve 12, and the first end cap 131 are respectively used for abutting against the first joint body 21 and the first joint body 21 to limit the axial movement of the shaft sleeve 12. Preferably, as shown in fig. 2, the end surface of the first end of the shaft sleeve 12 is provided with a first annular groove 121, the inner groove wall of the first annular groove 121 is provided with a thread, the first end cap 131 is provided with a first convex ring 1311, and the first convex ring 1311 is screwed into the first annular groove 121 to form a threaded connection with the shaft sleeve 12; the end surface of the second end of the shaft sleeve 12 is provided with a second annular groove 122, the inner groove wall of the second annular groove 122 is provided with threads, the second end cap 131 is provided with a second convex ring 1321, and the second convex ring 1321 is screwed into the second annular groove 122 to form threaded connection with the shaft sleeve 12. It should be noted that: as shown in fig. 5, the pin 10 (only the assembled sleeve 12 and the mandrel 11) is first inserted through the first joint 20 and the second joint 30, and then the first end cap 131 and the second end surface are mounted on both ends of the pin 10 to limit play of the pin 10.
In a preferred embodiment of the present invention, as shown in fig. 4, the mandrel 11 has a first end on the same side as the first end of the sleeve 12 and a second end on the same side as the second end of the sleeve 12; first female 141 is worn to be equipped with in the middle part of first end cap 131, and female 142 is worn to be equipped with in the middle part of second end cap 131, and first female 141 of top is used for pushing up the first end of dabber 11 through rotatory, and female 142 of second top is used for pushing up the second end of dabber 11 through rotatory to be used for making dabber 11 drive axle sleeve 12 increase radial dimension, so that dabber 11 and axle sleeve 12 form interference fit. It should be noted that: after the first end cap 131 and the second end cap 131 are installed, the first nut 141 and the second nut 142 are used to push against two ends of the mandrel 11, so that the mandrel 11 is restored to the state before being electromagnetically excited, that is, the length of the mandrel 11 is reset, the diameter is increased, and the shaft sleeve 12 is extruded, so that the shaft sleeve 12 and two bearings form an interference fit.
It should be noted that: after the first ejector nut 141 and the second ejector nut 142 push against the two ends of the mandrel 11 to increase the outer diameters of the mandrel 11 and the shaft sleeve 12, and form an interference fit, as shown in fig. 5, the pin 10 is finally assembled.
In a preferred embodiment of the present invention, when the mandrel 11 is electromagnetically excited, the ratio of the gap between the mandrel 11 and the sleeve 12 to the length of the mandrel 11 is: 0.003-0.005, the advantage of setting the above ratio is that: the mandrel 11 can be conveniently arranged in the shaft sleeve 12, and the length change of the mandrel 11 is not too large. When the spindle 11 located in the sleeve 12 is being electromagnetically excited, the ratio of the clearance between the sleeve 12 and the inner race of the first bearing 22 to the length of the spindle 11 is: 0.002-0.004. the advantage of setting the above ratio is that: the pin shaft 10 can be conveniently installed in the joint, and the rigidity of the end part of the pin shaft 10 is not affected by the large change of the length of the mandrel 11.
The present invention provides a pin assembling apparatus 200, specifically, an apparatus for assembling a mandrel 11 with a sleeve 12, as shown in fig. 6 to 11, the apparatus including: the first working table, the first vertical plate 240, the first oil cylinder 220, the mounting plate 270, and the first magnetic field applying assembly 210. The first vertical plate 240 is disposed on the first workbench and has a first tooling portion 250, so as to combine with the second end of the shaft sleeve 12 to horizontally dispose the shaft sleeve 12; the first oil cylinder 220 is horizontally arranged on the first workbench, and the head of a first piston rod 221 of the first oil cylinder 220 faces the first vertical plate 240; the mounting plate 270 is detachably disposed at the head of the first piston rod 221, and a second tool portion 260 is disposed on a plate surface of the mounting plate 270 opposite to the first vertical plate 240, so as to couple the first end of the mandrel 11 and enable the axis of the mandrel 11 to be coaxial with the axis of the shaft sleeve 12. The first magnetic field application assembly 210 comprises a first cylinder 211 having an annular cavity and at least one pair of first electromagnetic excitation pairs 212 disposed within the annular cavity; the first pair of electromagnetic excitations 212 are oppositely disposed; the first cylinder 211 is sleeved outside the spindle 11 and detachably mounted on the mounting plate 270. The first electromagnetic excitation pair 212 forms a clearance fit state with the sleeve 12 by applying a magnetic field perpendicular to the axis to the spindle 11 to elongate the spindle 11, so that the spindle 11 is extended into the sleeve 12 by the first piston rod 221. Preferably, the first electromagnetic excitation pair 212 comprises a plurality of pairs, the plurality of pairs of first electromagnetic excitation pairs 212 being circumferentially arranged in the annular space.
The working process of the device is as follows:
first, as shown in fig. 7, the first piston rod 221 is retracted, the sleeve 12 is mounted on the first vertical plate 240 in a horizontal state by the first tool portion 250, and the spindle 11 is mounted on the mounting plate 270 by the second tool portion 260 such that the axis of the spindle 11 is coaxial with the axis of the sleeve 12.
Then, the first electromagnetic excitation pair 212 is energized, so that the length increases and the diameter decreases after the spindle 11 is electromagnetically excited, thereby enabling the spindle 11 to be in a clearance fit with the sleeve 12.
Then, the first electromagnetic excitation pair 212 is kept in the energized state, as shown in fig. 10, and the first piston rod 221 is extended, thereby causing the spindle 11 to approach the sleeve 12 and penetrate the sleeve 12.
Then, the first electromagnetic excitation pair 212 is deenergized, as shown in fig. 11, the first piston rod 221 is retracted to separate the second tool portion 260 from the spindle 11, and then the sleeve 12 having the spindle 11 inserted therethrough is removed, thereby completing the assembly of the spindle 11 and the sleeve 12.
It should be noted that: after the electromagnetic excitation is cancelled, the length of the mandrel 11 is retracted to a certain extent (it should be noted that the length of the mandrel 11 after retraction is still greater than the length before electromagnetic excitation), so that the diameter of the mandrel 11 is increased to a certain extent, and the mandrel 11 can be processed into a reasonable diameter size, so that the mandrel 11 cannot automatically fall out of the sleeve 12 after the diameter of the mandrel 11 is increased after the electromagnetic excitation is cancelled, for example, even if the mandrel 11 and the sleeve 12 are still in a clearance fit state, the mandrel 11 can be kept in the sleeve 12 due to inevitable shape tolerance of the mandrel 11 and the sleeve 12.
In a preferred embodiment of the present invention, as shown in fig. 2, the outer circumferential surface of the second end of the sleeve 12 is formed with a shoulder 123, and as shown in fig. 7 and 9, the first tooling portion 250 is embodied as a first annular projection 251 and a second annular projection 252 which are coaxially arranged; when the shaft sleeve 12 needs to be combined with the first tooling portion 250, the first annular protrusion 251 extends into the second annular groove 122, accordingly, the inner side wall of the second annular protrusion 252 naturally covers the shaft shoulder 123, and the outer side of the first annular protrusion 251 and the outer side wall of the second annular groove 122 form a transition fit or an interference fit, so that the shaft sleeve 12 can be better combined with the first tooling portion 250 and has better parallelism relative to the first platform 230. As shown in fig. 1, the end surface of the first end of the mandrel 11 is provided with a central blind hole 111 and an annular groove 112 coaxial with the central blind hole 111, as shown in fig. 7 and 8, the second tooling part 260 includes a positioning column 261 and a third annular protrusion 262 coaxial with the positioning column 261, when the mandrel 11 needs to be combined with the second tooling part 260, the positioning column 261 extends into the central blind hole 111, and correspondingly, the third annular protrusion 262 extends into the annular groove 112, and the positioning column 261 and the central blind hole 111 are in transition fit, so that the third annular protrusion 262 and the annular groove 112 are in clearance fit, and the mandrel 11 is combined with the second tooling part 260.
The advantages of the second tooling part 260 and the assembly method combined with the mandrel 11 with the above structure are that:
the cooperation of center blind hole 111 and reference column 261 can guarantee that dabber 11 and axle sleeve 12 have higher coaxial precision, and it is important: when the first piston rod 221 pushed by the first cylinder 220 pushes the mandrel 11, since a magnetic field is applied to the mandrel 11, the increase in the length of the mandrel 11 makes the proceeding width of the annular groove 112 smaller, thereby shifting the third annular projection 262 from a clearance fit to a transition or even interference fit with the annular recess 112, this engagement limits the spindle 11 from falling off the mounting plate 270 or otherwise being radially shaken during movement, and when the spindle 11 is installed in the sleeve 12, as the magnetic field is withdrawn, there is a degree of shortening of the mandrel 11, which in turn causes a degree of recovery of the width of the annular recess 112, so that the third annular projection 262 and the annular recess 112 are brought back into a clearance fit, so that when the first piston is retracted, the mandrel 11 is conveniently separated from the second tool part 260, so that the first piston does not drag the mandrel 11 and the mandrel 11 remains in the loaded state. The second tool part 260 having the above-described structure can realize a function corresponding to a chuck for automatically clamping and releasing by deformation of the mandrel 11.
In a preferred embodiment of the present invention, as shown in fig. 6, the first working platform is further provided with a second vertical plate 280, the first piston rod 221 is inserted through the second vertical plate 280, and a guide sleeve 281 is disposed between the second vertical plate 280 and the first piston rod 221 to support the first piston rod 221.
Another embodiment of the present invention provides an assembly apparatus for assembling a pin 10 (not including two end caps) with two joints to form a welding robotic joint 100. As shown in fig. 12 to 15, the fitting device includes: a second working platform 330, a mounting seat 340, a second magnetic field applying assembly 310, a bracket 350 and a second oil cylinder 320. The mounting seat 340 is fixed on the first working platform; the second magnetic field applying assembly 310 comprises a second cylinder 311 having an annular cavity and at least one pair of second electromagnetic excitation pairs 312 disposed within the annular cavity; the second electromagnetic excitation pair 312 is oppositely arranged, the second cylinder 311 is vertically placed on (detachably placed on) the mounting seat 340, and the second cylinder 311 is used for receiving the first joint 20 and the second joint 30 which are stacked, so that the first bearing 22 and the second bearing 32 are coaxial; a bushing 313 is embedded in the second cylinder 311, and the bushing 313 is located at the middle lower part in the second cylinder 311. In this embodiment, the length of the second cylinder 311 is at least twice as long as the pin 10, and the bushing 313 functions as: when the first joint 20 and the second joint 30 enter the second cylinder 311, the inner hole of the second cylinder 311 is prevented from being enlarged and the precision is prevented from being deteriorated due to the abrasion caused by frequent contact between the second cylinder 311 and the outside of the joint, and the joint and the bush 313 can be kept in a reasonable matching relationship by replacing the bush 313. It should be noted that: the inner hole of the bushing 313 forms a clearance fit with the knuckle, and the inner hole of the bushing 313 is smaller than the inner hole of the second cylinder 311 above the bushing 313 to facilitate the knuckle to fall into the bushing 313.
The operation of the device is described as follows:
first, as shown in fig. 13, the first joint 20 is dropped into the bottom of the second cylinder 311, the thrust bearing 40 is dropped onto the first joint 20, and then the second joint 30 is dropped onto the thrust bearing 40, so that the first joint 20 and the second joint 30 are overlapped and the thrust bearing 40 is located between the first joint 20 and the second joint 30, and the first joint 20 and the second joint 30 are centered, i.e., substantially coaxial, by the drawing action of the bushing 313.
Then, the second end of the pin 10 is combined with the combining part 322, and the combining part 322 can be a suction cup;
then, the second electromagnetic excitation pair 312 is energized, and at the same time, as shown in fig. 14, the second piston rod 321 is extended downward to drive the pin 10 to extend into the second cylinder 311, when the pin 10 completely extends into the second cylinder 311, the core shaft 11 in the pin 10 is extended by the electromagnetic excitation, according to the above, the outer diameter of the pin 10 becomes smaller (or the outer diameter of the shaft sleeve 12 becomes smaller), the second piston rod 321 is extended downward continuously, and the pin 10 with the reduced diameter passes through the first bearing 22 of the first joint 20 and the second bearing 32 of the second joint 30 once.
Then, as shown in fig. 15, the suction of the pin 10 by the suction cup is released, and the second piston rod 321 is retracted upward.
Finally, the second cylinder 311 is removed, the two joints provided with the pin shaft 10 are removed, then the two end caps are screwed on the two ends of the pin shaft 10 to enable the end caps to abut against the joints to prevent the pin shaft 10 from moving, the two ejector nuts are screwed in from the two ends of the pin shaft 10 to push against the two ends of the mandrel 11, the diameter of the mandrel 11 is enlarged, and the outer diameter of the pin shaft 10 is enlarged to form interference fit with the two bearings, so that the assembly is completed.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (5)
1. A round pin axle for welding robot joint, its characterized in that includes:
a shaft sleeve made of a metal material having a certain elastic modulus;
the mandrel is made of magnetic control shape memory metal and penetrates through the shaft sleeve; wherein:
the radial dimension of the mandrel is processed into: when the mandrel is in a natural state without being subjected to electromagnetic excitation, the mandrel and the shaft sleeve form interference fit, and when the mandrel is in a state with being subjected to electromagnetic excitation, the mandrel extends in the axial direction to enable the mandrel and the shaft sleeve to form clearance fit;
the mandrel is made of Ni-Mn alloy, or Co-Mn alloy, or Ni-Mn-Ga alloy, or Ni-Mn-Fo-Ga alloy;
the shaft sleeve is made of No. 45 steel;
the bushing has a first end and a second end; the pin shaft further comprises a first end cap and a second end cap; the first end cap is detachably fixed at the first end of the shaft sleeve, and the second end cap is detachably fixed at the second end of the shaft sleeve;
the end face of the first end of the shaft sleeve is provided with a first annular groove, the inner groove wall of the first annular groove is provided with threads, the first end cap is provided with a first convex ring, and the first convex ring is screwed into the first annular groove to form threaded connection with the shaft sleeve; a second annular groove is formed in the end face of the second end of the shaft sleeve, threads are formed in the inner groove wall of the second annular groove, a second end cap is provided with a second convex ring, and the second convex ring is screwed into the second annular groove to form threaded connection with the shaft sleeve;
the mandrel is provided with a first end which is at the same side with the first end of the shaft sleeve and a second end which is at the same side with the second end of the shaft sleeve; first top is worn to be equipped with at the middle part of first end cap female, the second top is worn to be equipped with at the middle part of second end cap female, first top is female to be used for pushing away through the rotation the first end of dabber, second top is female to be used for pushing away through the rotation the second end of dabber, so that the dabber drives the axle sleeve increase radial dimension, so that the dabber with the axle sleeve forms interference fit.
2. The pin for welding robotic joints according to claim 1, wherein when the mandrel is electromagnetically excited, a ratio of a gap between the mandrel and the bushing to a length of the mandrel is: 0.003-0.005.
3. A pin assembling apparatus for assembling a pin for welding a robot joint according to any one of claims 1 to 2, comprising:
a work table;
the first vertical plate is arranged on the workbench and provided with a first tool part, so that the shaft sleeve is horizontally arranged by combining the second end of the shaft sleeve;
the oil cylinder is horizontally arranged on the workbench, and the head of a piston rod of the oil cylinder faces the first vertical plate;
the mounting plate is detachably arranged at the head of the piston rod, and a second tool part is arranged on the surface of the mounting plate opposite to the first vertical plate and is used for combining the second end of the mandrel and enabling the axis of the mandrel to be coaxial with the axis of the shaft sleeve;
a magnetic field application assembly comprising a cylinder having an annular cavity and at least one pair of electromagnetically excited pairs disposed within the annular cavity; the electromagnetic excitation pairs are oppositely arranged; the cylinder body is sleeved outside the mandrel and detachably arranged on the mounting plate; wherein:
the electromagnetic excitation pair is used for applying a magnetic field perpendicular to the axis to the mandrel so as to enable the mandrel to stretch to form a clearance fit state with the shaft sleeve, and the mandrel extends into the shaft sleeve through the piston rod.
4. The pin assembling apparatus of claim 3, wherein said pair of electromagnetic excitations comprises a plurality of pairs, said pairs being circumferentially arranged in said annular space.
5. The pin assembling device according to claim 3, wherein a second vertical plate is further disposed on the workbench, the piston rod penetrates through the second vertical plate, and a guide sleeve is disposed between the second vertical plate and the piston rod to support the piston rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810662200.1A CN108730294B (en) | 2018-06-25 | 2018-06-25 | Pin shaft for welding robot joint and pin shaft assembling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810662200.1A CN108730294B (en) | 2018-06-25 | 2018-06-25 | Pin shaft for welding robot joint and pin shaft assembling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108730294A CN108730294A (en) | 2018-11-02 |
| CN108730294B true CN108730294B (en) | 2020-07-17 |
Family
ID=63930483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810662200.1A Active CN108730294B (en) | 2018-06-25 | 2018-06-25 | Pin shaft for welding robot joint and pin shaft assembling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108730294B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112378305B (en) * | 2020-11-02 | 2022-05-24 | 杭州汽轮机股份有限公司 | Cylindrical pin assembling method based on interference magnitude control |
| CN112548531B (en) * | 2020-12-28 | 2022-04-26 | 合肥皖液液压元件有限公司 | Gear pump shaft sleeve press-fitting device |
| CN113894749B (en) * | 2021-10-28 | 2023-01-13 | 广州文冲船厂有限责任公司 | Shaft piece, shaft piece assembly fixture and shaft system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1555298A (en) * | 2001-09-20 | 2004-12-15 | Manufacture of metal tubes | |
| CN103527601A (en) * | 2013-10-29 | 2014-01-22 | 潍柴动力股份有限公司 | Connecting structure and fastening element thereof |
| CN203453261U (en) * | 2013-07-24 | 2014-02-26 | 上海汽车集团股份有限公司 | Combined type spindle |
| DE202015102375U1 (en) * | 2014-05-08 | 2015-07-16 | Norbert Martin | Plug element with at least one body part made of a shape memory alloy |
| CN105449895A (en) * | 2016-01-11 | 2016-03-30 | 珠海格力节能环保制冷技术研究中心有限公司 | Shafting structure for motor, and assembling method |
| CN105471137A (en) * | 2016-01-11 | 2016-04-06 | 珠海格力节能环保制冷技术研究中心有限公司 | Rotating shaft structure of permanent magnet motor and assembling method of the rotating shaft structure |
| CN105666037A (en) * | 2014-11-17 | 2016-06-15 | 昌河飞机工业（集团）有限责任公司 | Assembly method of shape memory alloy pipe connector used for aircraft hydraulic system |
| JP6057584B2 (en) * | 2012-07-24 | 2017-01-11 | 株式会社カネカ | Self-expanding stent delivery system and manufacturing method thereof |
| CN106660092A (en) * | 2014-04-08 | 2017-05-10 | 美国制造公司 | Method for forming a variable wall light weight axle shaft with friction welded flange |
| CN107160427A (en) * | 2017-06-13 | 2017-09-15 | 哈尔滨工业大学（威海） | A kind of multidiameter shaft being self-regulated for space high and low temperature environment |
-
2018
- 2018-06-25 CN CN201810662200.1A patent/CN108730294B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1555298A (en) * | 2001-09-20 | 2004-12-15 | Manufacture of metal tubes | |
| JP6057584B2 (en) * | 2012-07-24 | 2017-01-11 | 株式会社カネカ | Self-expanding stent delivery system and manufacturing method thereof |
| CN203453261U (en) * | 2013-07-24 | 2014-02-26 | 上海汽车集团股份有限公司 | Combined type spindle |
| CN103527601A (en) * | 2013-10-29 | 2014-01-22 | 潍柴动力股份有限公司 | Connecting structure and fastening element thereof |
| CN106660092A (en) * | 2014-04-08 | 2017-05-10 | 美国制造公司 | Method for forming a variable wall light weight axle shaft with friction welded flange |
| DE202015102375U1 (en) * | 2014-05-08 | 2015-07-16 | Norbert Martin | Plug element with at least one body part made of a shape memory alloy |
| CN105666037A (en) * | 2014-11-17 | 2016-06-15 | 昌河飞机工业（集团）有限责任公司 | Assembly method of shape memory alloy pipe connector used for aircraft hydraulic system |
| CN105449895A (en) * | 2016-01-11 | 2016-03-30 | 珠海格力节能环保制冷技术研究中心有限公司 | Shafting structure for motor, and assembling method |
| CN105471137A (en) * | 2016-01-11 | 2016-04-06 | 珠海格力节能环保制冷技术研究中心有限公司 | Rotating shaft structure of permanent magnet motor and assembling method of the rotating shaft structure |
| CN107160427A (en) * | 2017-06-13 | 2017-09-15 | 哈尔滨工业大学（威海） | A kind of multidiameter shaft being self-regulated for space high and low temperature environment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108730294A (en) | 2018-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108730294B (en) | Pin shaft for welding robot joint and pin shaft assembling device | |
| CN104875082B (en) | Grinding finished part obtained by cylindrical grinding technique and thus technique | |
| EP3094428A1 (en) | Linear actuator assembly | |
| DE112007000560T5 (en) | Tool head, machine tool and drilling method for drilling a cylinder block using the machine tool | |
| EP0665392B1 (en) | Methods of making preloaded ball nut and screw assemblies | |
| CN108789478B (en) | Welding robot joint and welding robot joint assembling device | |
| US3332728A (en) | Hardened racewire ball bearing | |
| CN105612017A (en) | Tool spindle having an active magnetic bearing | |
| CN104772633A (en) | Floating tooling | |
| CN104802127A (en) | Differential type bearing removing device | |
| CN110900125A (en) | Machining method of slewing bearing | |
| CN102586556B (en) | Surface strengthening treatment device for actively and rotatablely rolling and planishing head of roll compactor | |
| CN109848359B (en) | Integral joint bearing bidirectional rotary swaging forming method | |
| CN212634170U (en) | Integral type joint bearing finish forge forming device with flange | |
| CN215546501U (en) | Connecting device of split type quick-change pressure head | |
| CN212001356U (en) | Shaft sleeve system with embedded pin type anti-channeling sleeve and excavator | |
| CN210461384U (en) | Super-huge double-row tapered roller slewing bearing with adjusting washer | |
| CN210461440U (en) | Super-huge double-row tapered roller slewing bearing | |
| CN209830147U (en) | Rolling device for three-row cylindrical roller bearing ring forge piece | |
| CN207239592U (en) | A kind of wheel hub knurling machine | |
| CN202264105U (en) | Floating quick-change connector for radial plane | |
| CN111940994A (en) | Inner hole rolling tool | |
| CN110681928A (en) | Part grinding quick-change clamp and grinding method | |
| CN111152049A (en) | Positioning device for machining center hole of precision forging conical gear | |
| CN215805826U (en) | Press mounting device for low-speed full-filling ball bearing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200628 Address after: Wenling city Taizhou town dock root of 317500 cities in Zhejiang province are mechanical industry Applicant after: Zhejiang lawston Technology Co.,Ltd. Address before: 350111 Nantong Town, Minhou County, Fuzhou City, Fujian Province Applicant before: Sun Chunmiao |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |