CN109015723A - A kind of multi-purpose machinery hand fixture - Google Patents
A kind of multi-purpose machinery hand fixture Download PDFInfo
- Publication number
- CN109015723A CN109015723A CN201811227597.8A CN201811227597A CN109015723A CN 109015723 A CN109015723 A CN 109015723A CN 201811227597 A CN201811227597 A CN 201811227597A CN 109015723 A CN109015723 A CN 109015723A
- Authority
- CN
- China
- Prior art keywords
- clamp arm
- arm
- left clamp
- driving cylinder
- transverse
- 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
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
-
- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The present invention provides a kind of multi-purpose machinery hand fixture, including left clamp arm, right clamp arm and transverse arm, right clamp arm is fixedly connected with transverse arm, left clamp arm is slidably connected with transverse arm, two opposite fixture blocks are respectively equipped on the inside of left clamp arm and right clamp arm, card slot is respectively equipped in two fixture blocks, the open end of two card slots is oppositely arranged；It further include the second driving cylinder, the second driving cylinder is located at the side on transverse arm far from left clamp arm and right clamp arm, the output shaft connecting cross arm of the second driving cylinder；First driving cylinder and sliding rail are installed, the left clamp arm of output axis connection of the first driving cylinder, be fixedly arranged at the front end with and the matched sliding block of rail structure of left clamp arm, first drives cylinder that left clamp arm can be driven to move along sliding rail on transverse arm.The present invention not only expansible or had closed up clamp arm with grip objects, but also forked the object that there are the seamed edge of protrusion in two sides using the fixture block card slot in clamp arm, the multiple use for having clamping and forking, applied widely.
Description
Technical field
The invention belongs to mechanical equipment technical fields, and in particular to a kind of multi-purpose machinery hand fixture.
Background technique
Manipulator is the power assistive device carried or installed for material.The equilibrium principle of its dexterously application of force, makes object
Body can be in space by the distance and bearing balanced sequence of setting, without laborious, skilled manual operation, so that it may just weight
Really it is put into the setting position in space.Manipulator fixture is the important component of boosting manipulator, is used to grabbing workpiece.
Existing manipulator fixture is provided only with expansible or the clamp arm closed up usually to clamp object, and the two sides of some objects have
The contact area of the seamed edge of protrusion, seamed edge and clamp arm is small, and object is caused to shake between clamp arm, can not grip objects, it is therefore, existing
Some manipulator fixtures have a single function, and the scope of application is limited.In addition, existing manipulator fixture usually by telescopic advance lever come
Change the opening angle of clamp arm to clamp article, clamp arm is directly rigidly connected with telescopic advance lever, and clamp arm easily produces during clamping
Raw rebound and shaking, therefore the stability of clamping effect is reduced, cause article to be easy by falling off in clamp arm.
Summary of the invention
The object of the present invention is to provide a kind of multi-purpose machinery hand fixture, both expansible or clamp arm was closed up with holdfast
Body, and the object that there are the seamed edge of protrusion in two sides is forked using the fixture block card slot in clamp arm, a variety of use that there is clamping and fork
On the way, applied widely.
The present invention provides the following technical solutions:
A kind of multi-purpose machinery hand fixture, including left clamp arm disposed in parallel, right clamp arm and vertically connect left clamp arm and right
The transverse arm of clamp arm, right clamp arm are fixedly connected with transverse arm, and left clamp arm is slidably connected with transverse arm, the inside difference of left clamp arm and right clamp arm
If being respectively equipped with card slot, the opening of two card slots along the direction for being parallel to left clamp arm in two fixture blocks there are two opposite fixture block
End is oppositely arranged；It further include the second driving cylinder, the second driving cylinder is connected on transverse arm one far from left clamp arm and right clamp arm
Side, the output shaft connecting cross arm of the second driving cylinder, the second driving cylinder can drive transverse arm to move along front-rear direction；On transverse arm
Horizontally disposed first driving cylinder and sliding rail is installed, the left clamp arm of output axis connection of the first driving cylinder, before left clamp arm
End is fixed with can drive left clamp arm to move along sliding rail with the matched sliding block of rail structure, the first driving cylinder.
Preferably, the transverse arm is equipped with fixing seat, the fixing seat far from the side of the left clamp arm and the right clamp arm
Boosting manipulator boom outside connection, the second driving cylinder are installed in the fixing seat, the side of the fixing seat
Wall is equipped with axis hole, and the output shaft of the second driving cylinder connects the transverse arm after passing through the axis hole.
Preferably, the left clamp arm includes left clamp arm ontology and connecting plate, the left clamp arm ontology, the connecting plate and institute
Sliding block is stated to be fixedly connected sequentially；The upper end of the connecting plate is equipped with lug boss, and the first driving cylinder is located at the sliding rail
Top, described first drives lug boss described in the output axis connection of cylinder.
Preferably, sliding slot, the sliding block are respectively oppositely provided on the bottom wall of the roof of the sliding rail and the sliding rail
The side connecting with the sliding rail is equipped with the sliding cavity for accommodating the sliding rail, and the sliding cavity is equipped with the knot with the sliding slot
The matched retention bead of structure.
Preferably, the intermediate position of the fixture block is equipped with the clamping waist of indent；The card slot is horizontally disposed, the card slot
Depth be greater than it is described clamp waist indent depth.
Preferably, two fixture blocks are removably installed in respectively in the left clamp arm or the right clamp arm.
Preferably, it is separately installed with bracket below the left clamp arm ontology and the right clamp arm, the bracket resists institute
State the bottom wall of left clamp arm or the bottom wall of the right clamp arm.
Preferably, lightening hole is respectively equipped in the left clamp arm ontology and the right clamp arm.
The beneficial effects of the present invention are:
First driving cylinder of the invention can drive left clamp arm to move along sliding rail relative to right clamp arm, thus open or
Close up two clamp arm, to clamp object；When needing to clamp two sides has the object of fin, the second driving cylinder drives transverse arm band
Dynamic two clamp arm move forward, and so that the card slot of fixture block is directed at fin, fin is inserted into card slot, so that object is steadily forked,
Therefore, the present invention has clamping and forks the multiple use of object, applied widely.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is overlooking structure diagram of the invention；
Fig. 3 is the enlarged diagram at sliding rail and sliding block cooperation of the invention.
In the figure, it is marked as 1. left clamp arm；11. sliding block；111. retention bead；12. left clamp arm ontology；13. connecting plate；131.
Lug boss；14. lightening hole；2. right clamp arm；3. transverse arm；4. fixture block；41. card slot；42. clamping waist；5. the second driving cylinder；6.
First driving cylinder；7. sliding rail；71. sliding slot；8. fixing seat；9. bracket.
Specific embodiment
As shown in Figure 1 to Figure 3, a kind of multi-purpose machinery hand fixture, including left clamp arm 1 disposed in parallel, right clamp arm 2 and hang down
The direct-connected transverse arm 3 for connecing left clamp arm 1 and right clamp arm 2, right clamp arm 2 are fixedly connected with transverse arm 3, and left clamp arm 1 is slidably connected with transverse arm 3,
The inside of left clamp arm 1 and right clamp arm 2 is respectively equipped with two opposite fixture blocks 4, is respectively equipped with card slot 41, card slot in two fixture blocks 4
41 run through fixture block 4 along the direction for being parallel to left clamp arm 1 and right clamp arm 2, and the open end of two card slots 41 is oppositely arranged, card slot 41
It can be used to fork two sides the object with fin；The present embodiment further includes the second driving cylinder 5, and the second driving cylinder 5 is connected to cross
Far from the side of left clamp arm 1 and right clamp arm 2, the output shaft connecting cross arm 3 of the second driving cylinder 5, the second driving cylinder 5 on arm 3
Transverse arm 3 can be driven to move along front-rear direction, to fin is inserted into card slot 41, to fork object.Water is installed on transverse arm 3
The the first driving cylinder 6 and sliding rail 7 of flat setting, the left clamp arm 1 of output axis connection of the first driving cylinder 6, the front end of left clamp arm 1 are solid
Surely there is the sliding block 11 with 7 structure matching of sliding rail, the first driving cylinder 6 can drive left clamp arm 1 to move back and forth along sliding rail 7, thus
Two clamp arm are opened or close up, to clamp object, working in coordination, be oriented to and limiting between sliding block 11 and sliding rail 7 can be prevented
Left clamp arm 1 generates shaking in moving process, keeps clamping motion stability reliable.
As depicted in figs. 1 and 2, transverse arm 3 is equipped with fixing seat 8 far from the side of left clamp arm 1 and right clamp arm 2, and fixing seat 8 passes through
It is bolted external boosting manipulator boom, is installed on this manipulator fixture on boosting manipulator.Second driving cylinder 5 is pacified
Loaded in fixing seat 8, the one side wall of fixing seat 8 is equipped with axis hole, and the output shaft of the second driving cylinder 5 connects cross after passing through axis hole
The fin of object is inserted into the card slot 41 of two clamp arm by arm 3 to push transverse arm 3 forward.
As shown in figure 3, left clamp arm 1 includes left clamp arm ontology 12 and connecting plate 13, left clamp arm ontology 12, connecting plate 13 and cunning
Block 11 passes sequentially through bolt and is fixedly connected；The upper end of connecting plate 13 is equipped with lug boss 131, and the first driving cylinder 6 is located at sliding rail 7
The output shaft of top, the first driving cylinder 6 is fixedly connected with lug boss 131.The output shaft of first driving cylinder 6 is installed on left folder
On the lug boss 131 of the connecting plate of arm, therefore interference will not be generated with the movement of left clamp arm ontology 12 and sliding block 11.
As shown in figure 3, sliding slot 71 is respectively oppositely provided on the roof of sliding rail 7 and the bottom wall of sliding rail 7, sliding block 11 and cunning
The side that rail 7 connects is equipped with the sliding cavity for accommodating sliding rail 7, and sliding cavity is equipped with the retention bead with the structure matching of sliding slot 71
111。
As shown in Figure 1, the intermediate position of fixture block 4 is equipped with the clamping waist 42 of indent；Card slot 41 is horizontally disposed, card slot 41
Horizontal depth is greater than the depth for clamping 42 indent of waist, is stuck in the fin of object in card slot always, therefore contact surface when engaging
Product is big, and object is not fallen out, and it is good to fork stability.
Two fixture blocks 4 are removably installed in respectively in left clamp arm 1 or right clamp arm 2, can be according to article to be held
Shape, size replace matched cramping body, easy to use and flexible.
As shown in figure 3, the lower section of left clamp arm ontology 12 and right clamp arm 2 is separately installed with bracket 9, bracket 9 resists left clamp arm 1
Bottom wall or right clamp arm 2 bottom wall.Bracket 9 can the further steadily left clamp arm of support and right clamp arm, avoid left clamp arm 1 and the right side
Clamp arm 2 teetertotters.
As shown in figure 3, being respectively equipped with lightening hole 14 in left clamp arm ontology 12 and right clamp arm 2, make the present embodiment more light weight
Change, can reduce two driving cylinders be used for overcome left clamp arm 1 and right clamp arm 2 weight and additional work done, reduce power consumption
Amount.
In use, the first driving cylinder 6 and the second driving cylinder 5 to be respectively connected to external boosting manipulator control system
System.When needing to clamp object, make the first driving cylinder 6 that the movement of connecting plate 13, connecting plate 13 be pushed to drive left clamp arm 1 far from right
The distances of 2 one sections of clamp arm settings, sliding rail 7 plays guiding and position-limiting action to sliding block 11 during this, make left clamp arm 1 act it is accurate,
Stablize, shaking will not be generated；Then the first driving 6 break-off of cylinder, left clamp arm 1 and right clamp arm 2 are respectively provided with gap status
In the left and right sides of object to be held, the first driving cylinder 6 inside contracts output shaft again, and connecting plate 13 is made to drive left clamp arm 1 along cunning
The distance of the mobile one section of setting in direction of clamp arm 2 to the right of rail 7, so that left clamp arm 1 and right clamp arm 2 be made to clamp object.Work as needs
When forking object of the two sides with fin, the above method is used first, adjusts left clamp arm 1 and right clamp arm 2 using the first driving cylinder 6
The distance between, it is adapted to it with the fin of object two sides to be forked distance, keeps the card slot 41 in two clamp arm in left and right right simultaneously
Quasi- fin restarts the second driving cylinder 5, and fin is inserted into card slot 41, and realization forks object.First driving cylinder 6 drives
The stroke that the stroke and the second driving cylinder 5 that left clamp arm 1 moves back and forth drive transverse arm 3 mobile, can pass through external control
System processed is arranged by process requirement, this is well-known technique, and details are not described herein.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, although referring to aforementioned reality
Applying example, invention is explained in detail, for those skilled in the art, still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features.It is all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of multi-purpose machinery hand fixture, including left clamp arm disposed in parallel, right clamp arm and vertically connect the left clamp arm with
The transverse arm of the right clamp arm, which is characterized in that the right clamp arm is fixedly connected with the transverse arm, the left clamp arm and the transverse arm
It is slidably connected, two opposite fixture blocks is respectively equipped on the inside of the left clamp arm and the right clamp arm, are divided in two fixture blocks
Not She You card slot, the card slot is along being parallel to the direction of the left clamp arm and the right clamp arm through the fixture block, two
The open end of the card slot is oppositely arranged；It further include the second driving cylinder, the second driving cylinder is located on the transverse arm far
Side from the left clamp arm and the right clamp arm, it is described second driving cylinder output axis connection described in transverse arm, described second
Driving cylinder can drive the transverse arm to move along front-rear direction；Horizontally disposed first driving cylinder is installed on the transverse arm
And sliding rail, described first drives left clamp arm described in the output axis connection of cylinder, and the left clamp arm is fixedly arranged at the front end with and the cunning
The sliding block of the structure matching of rail, the first driving cylinder can drive the left clamp arm to move along the sliding rail.
2. multi-purpose machinery hand fixture according to claim 1, which is characterized in that the transverse arm far from the left clamp arm and
The side of the right clamp arm is equipped with fixing seat, and the second driving cylinder is installed in the fixing seat, and the one of the fixing seat
Side wall is equipped with axis hole, and the output shaft of the second driving cylinder connects the transverse arm after passing through the axis hole.
3. multi-purpose machinery hand fixture according to claim 2, which is characterized in that the left clamp arm includes left clamp arm ontology
And connecting plate, the left clamp arm ontology, the connecting plate and the sliding block are fixedly connected sequentially；The upper end of the connecting plate is equipped with
Lug boss, the first driving cylinder are located at the top of the sliding rail, described first drive it is convex described in the output axis connection of cylinder
The portion of rising.
4. multi-purpose machinery hand fixture according to claim 3, which is characterized in that the roof of the sliding rail and the sliding rail
Bottom wall on be respectively oppositely provided with sliding slot, the side that the sliding block is connect with the sliding rail is equipped with for accommodating the sliding rail
Sliding cavity, the sliding cavity is equipped with retention bead with the structure matching of the sliding slot.
5. multi-purpose machinery hand fixture according to claim 1, which is characterized in that the intermediate position of the fixture block is equipped with interior
Recessed clamping waist；The card slot is horizontally disposed, and the horizontal depth of the card slot is greater than the depth for clamping waist indent.
6. multi-purpose machinery hand fixture according to claim 5, which is characterized in that the fixture block is removably installed in institute
It states in left clamp arm or the right clamp arm.
7. multi-purpose machinery hand fixture according to claim 3, which is characterized in that the left clamp arm ontology and the right folder
Bracket is separately installed with below arm, the bracket resists the bottom wall of the left clamp arm or the bottom wall of the right clamp arm.
8. multi-purpose machinery hand fixture according to claim 3, which is characterized in that the left clamp arm ontology and the right folder
Lightening hole is respectively equipped on arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811227597.8A CN109015723A (en) | 2018-10-22 | 2018-10-22 | A kind of multi-purpose machinery hand fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811227597.8A CN109015723A (en) | 2018-10-22 | 2018-10-22 | A kind of multi-purpose machinery hand fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109015723A true CN109015723A (en) | 2018-12-18 |
Family
ID=64613601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811227597.8A Pending CN109015723A (en) | 2018-10-22 | 2018-10-22 | A kind of multi-purpose machinery hand fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015723A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590995A (en) * | 2018-12-25 | 2019-04-09 | 雷果科技无锡有限公司 | A kind of manipulator |
| CN109664458A (en) * | 2019-01-24 | 2019-04-23 | 珠海星科精密制造有限公司 | A kind of full-automation adapter pin production installation equipment |
| CN110142588A (en) * | 2019-05-07 | 2019-08-20 | 三峡大学 | Electric cabinet component automatic clamping inserts manipulator and control method |
| CN110356836A (en) * | 2019-05-24 | 2019-10-22 | 上海提牛机电设备有限公司 | A kind of transmission overturning carrier of circular piece |
| CN110371649A (en) * | 2019-07-05 | 2019-10-25 | 上海提牛机电设备有限公司 | Ceramic disk overturns transport device |
| CN110407134A (en) * | 2019-08-06 | 2019-11-05 | 安庆联动属具股份有限公司 | Dual-purpose brick clamp |
| CN110421590A (en) * | 2019-08-22 | 2019-11-08 | 大连交通大学 | Manipulator grasping mechanism |
| CN113353536A (en) * | 2021-06-25 | 2021-09-07 | 珠海格力智能装备有限公司 | Feeding device and air conditioner production equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN105082157A (en) * | 2015-08-31 | 2015-11-25 | 广西大学 | Self-locking clamping manipulator |
| CN105459140A (en) * | 2015-12-31 | 2016-04-06 | 上海君屹工业自动化股份有限公司 | Servo grip of cell module |
| CN105583846A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Racing fluid type indirect-linkage self-adaptive robot finger device |
| CN107234612A (en) * | 2017-06-14 | 2017-10-10 | 苏州玻色智能科技有限公司 | A kind of mobile phone screen catching unit and mobile phone screen grip positioner |
-
2018
- 2018-10-22 CN CN201811227597.8A patent/CN109015723A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN105082157A (en) * | 2015-08-31 | 2015-11-25 | 广西大学 | Self-locking clamping manipulator |
| CN105459140A (en) * | 2015-12-31 | 2016-04-06 | 上海君屹工业自动化股份有限公司 | Servo grip of cell module |
| CN105583846A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Racing fluid type indirect-linkage self-adaptive robot finger device |
| CN107234612A (en) * | 2017-06-14 | 2017-10-10 | 苏州玻色智能科技有限公司 | A kind of mobile phone screen catching unit and mobile phone screen grip positioner |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590995A (en) * | 2018-12-25 | 2019-04-09 | 雷果科技无锡有限公司 | A kind of manipulator |
| CN109664458A (en) * | 2019-01-24 | 2019-04-23 | 珠海星科精密制造有限公司 | A kind of full-automation adapter pin production installation equipment |
| CN110142588A (en) * | 2019-05-07 | 2019-08-20 | 三峡大学 | Electric cabinet component automatic clamping inserts manipulator and control method |
| CN110356836A (en) * | 2019-05-24 | 2019-10-22 | 上海提牛机电设备有限公司 | A kind of transmission overturning carrier of circular piece |
| CN110371649A (en) * | 2019-07-05 | 2019-10-25 | 上海提牛机电设备有限公司 | Ceramic disk overturns transport device |
| CN110407134A (en) * | 2019-08-06 | 2019-11-05 | 安庆联动属具股份有限公司 | Dual-purpose brick clamp |
| CN110421590A (en) * | 2019-08-22 | 2019-11-08 | 大连交通大学 | Manipulator grasping mechanism |
| CN113353536A (en) * | 2021-06-25 | 2021-09-07 | 珠海格力智能装备有限公司 | Feeding device and air conditioner production equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109015723A (en) | A kind of multi-purpose machinery hand fixture | |
| CN204036462U (en) | A kind of stack robot manipulator | |
| CN204471393U (en) | A kind of multi-purpose robot's grabbing device | |
| CN104128927B (en) | A kind of robotic gripping device | |
| CN104781599B (en) | Vacuum valve | |
| CN203697019U (en) | Magnetic mechanical arm for grabbing can cover | |
| EP2679344A3 (en) | Cordless carton closing tool and method of replacing a carton closer clinching member | |
| RU2014139023A (en) | BUCKET HINGED BOTTOM AND BUCKET HANDLING UNIT ASSEMBLY | |
| CN202702240U (en) | Mechanical arm device | |
| CN204772581U (en) | Hack lever automatic drilling machine working of plastics snatchs mechanism | |
| CN105563503A (en) | Pre-tightening type clamping device | |
| CN102848173B (en) | Core pulling mechanism | |
| CN204893974U (en) | Gas claw | |
| CN105711901A (en) | Bag pulling mechanism of automatic electrical appliance bagging equipment | |
| CN102730550A (en) | Lifting tool and engineering machine having the same | |
| FR3021890B1 (en) | MOTORIZED SECURED JOINT FOR EQUIPING A HUMANOID ROBOT | |
| CN204525453U (en) | Parallel same dynamic formula mechanical grip drive mechanism | |
| RU2397857C2 (en) | Gripping module | |
| CN206764814U (en) | A kind of manipulator | |
| CN205835382U (en) | Catching robot | |
| CN205835386U (en) | Vacuum adsorption type mechanical hand | |
| CN211115335U (en) | Mechanical equipment door hinge with buffering effect | |
| CN207807067U (en) | Automatic cover closing mechanism | |
| CN203626974U (en) | Bidirectional accelerator control mechanism for engine bench test | |
| CN215149220U (en) | Clamping device based on industrial robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181218 |