CN110757495B - Ore grabbing manipulator - Google Patents
Ore grabbing manipulator Download PDFInfo
- Publication number
- CN110757495B CN110757495B CN201911153695.6A CN201911153695A CN110757495B CN 110757495 B CN110757495 B CN 110757495B CN 201911153695 A CN201911153695 A CN 201911153695A CN 110757495 B CN110757495 B CN 110757495B
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- Prior art keywords
- clamping jaw
- power distribution
- distribution device
- connecting flange
- horizontal connecting
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- 238000009826 distribution Methods 0.000 claims abstract description 38
- 230000007704 transition Effects 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 19
- 238000009423 ventilation Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
An ore grabbing manipulator comprises a power distribution device, a horizontal connecting flange, a connecting lifting rod, a clamping jaw and a clamping jaw, wherein the horizontal connecting flange is positioned below the power distribution device; the clamping jaw is provided with a horizontal and up-and-down movement action under the action of the power distribution device. According to the ore grabbing manipulator disclosed by the invention, the lifting connecting rod is controlled by the power distribution device to move the horizontal connecting flange in the horizontal direction and the vertical direction, and the clamping jaw connected below the horizontal connecting flange is used for grabbing ores, wherein the lifting rod is driven by the swing arm adopted by the power distribution device to enable the clamping jaw to move rapidly, and the lifting capacity of a lifting structure is strong; in addition, the horizontal connecting flange adopts an air pressure crack measuring mode, and a transition block with an inclination sensor is arranged above the clamping jaw, so that accidental collision can be interrupted or alarmed in time in the clamping process.
Description
Technical Field
The invention relates to the field of ore screening and clamping mechanical equipment, in particular to an ore grabbing mechanical arm.
Background
In the life today, with the development of new moon in science and technology, the maximum difference between the robot arm and the arm with human being is the flexibility and the strength. That is, the maximum advantage of the manipulator can repeatedly do the same action, and the manipulator can never feel tired under normal conditions. The application of mechanical arms is also becoming more and more widespread, and mechanical arms are a high-tech automatic production device developed in recent decades, and the accuracy of operation and the capability of completing operation in the environment. Most of the existing manipulators are programmed to move and grip a workpiece in a fixed path, but are not suitable for moving objects such as ores being transported, have a slow speed and have a limited gripping ability for heavy ores.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the ore grabbing manipulator which adopts the power distribution device to control the lifting connecting rod to move the horizontal connecting flange in the horizontal direction and the vertical direction and adopts the clamping jaw connected below the horizontal connecting flange to grab ore, wherein the swinging arm adopted by the power distribution device drives the lifting rod to enable the clamping jaw to move quickly, and the lifting capacity of the lifting structure is strong; in addition, the horizontal connecting flange adopts an air pressure crack measuring mode, and a transition block with an inclination sensor is arranged above the clamping jaw, so that accidental collision can be interrupted or alarmed in time in the clamping process.
The specific technical scheme of the invention is as follows: an ore grabbing manipulator comprises a power distribution device, a horizontal connecting flange, a connecting lifting rod, a clamping jaw and a clamping jaw, wherein the horizontal connecting flange is positioned below the power distribution device; the clamping jaw is provided with a horizontal and up-and-down movement action under the action of the power distribution device.
Therefore, the connecting lifting rod is operated by the power distribution device to realize rapid movement of the horizontal connecting flange, and the clamping jaw is better and more stable in lifting force of ores in a lifting mode.
Preferably, the power distribution device comprises a triangle flange which is horizontally arranged, three swinging arms which extend outwards are arranged around the triangle flange in a circumferential array mode, and the swinging arms are controlled by a first gear motor which is arranged on the triangle flange to have actions of rotating and swinging up and down.
The first gear motor is connected with the swing arm rotating shaft through a speed reducer, so that the swing arm is ensured to run stably.
Preferably, the horizontal connection flange comprises a circumferential array of three outwardly projecting mounting seats.
As the preferable mode of the invention, the connecting lifting rods are three groups, each group of two lifting rods are respectively connected to two sides of the extending end of the swing arm and two sides of the mounting seat, the upper end of each lifting rod is connected with the extending end of the swing arm through a first joint bearing, and the lower end of each lifting rod is connected with the mounting seat through a second joint bearing.
Therefore, the connecting lifting rod is connected with the swing arm and the mounting seat through the first joint bearing and the second joint bearing, and the movement of the swing arm can be ensured to drive the horizontal connecting flange to freely move; the total number of connecting lifting rods is 6, so that the lifting strength can be enhanced, and the connecting lifting rods are generally carbon drill rods, so that the connecting lifting rods are light in weight, high in strength, capable of moving rapidly and high in stability.
In the invention, preferably, ventilation micropores are formed in the horizontal connecting flange, and the ventilation micropores are communicated with an inner hole of the second joint bearing, which is arranged at the mounting seat.
The horizontal connecting flange is always ventilated through air pipe connection, air pressure is transmitted to the inner hole of the second joint bearing, which is arranged at the installation seat, if the horizontal connecting flange cracks due to collision, the air pressure is reduced, and the controller controls the mechanical arm to pause or provide an alarm.
As the optimization of the invention, a transition block is connected between the horizontal connecting flange and the clamping jaw, an inclination angle sensor is arranged in the transition block, and the transition block is movably connected with the horizontal connecting flange.
Therefore, the transition block can be controlled to pause or provide an alarm when the clamping jaw is subjected to strong collision and is excessively inclined, and the inclination sensor generally provides a feedback signal when the transition block is inclined by more than 10 degrees.
Preferably, the clamping jaw comprises a fixed seat and a clamping jaw disc, wherein at least two clamping jaw discs are symmetrically hinged around the fixed seat, and the fixed seat is fixedly connected with the transition block.
Thereby, the inclination of the clamping jaw is transferred to the transition block.
Preferably, the horizontal connecting flange, the transition block and the fixing seat are provided with clamping jaw operating shafts in a penetrating mode, a first clamping jaw operating chuck and a second clamping jaw operating chuck are arranged below the clamping jaw operating shafts in a penetrating mode, and a clamping action plate extending inwards is arranged at the upper portion of the clamping jaw, and extends between the first clamping jaw operating chuck and the second clamping jaw operating chuck.
Whereby said second jaw actuation chuck pushes said clamping plate downwardly upon downward movement of said jaw actuation shaft, thereby separating said jaw plates; when the clamping jaw operating shaft moves upwards, the first clamping jaw operating chuck pushes the clamping action plate to rotate upwards, so that the clamping jaw plates are clamped; in addition, the clamping jaw can rotate freely relative to the clamping jaw operating shaft, the clamping jaw can adapt to the shape of grabbing ores to grab, and grabbing stability is improved.
Preferably, the power distribution device is provided with a second gear motor at the center, a connecting shaft is connected between the lower part of the second gear motor and the upper end of the clamping jaw operating shaft, and the upper end and the lower end of the connecting shaft are connected with the second gear motor and the clamping jaw operating shaft through universal couplings.
Therefore, the power distribution device is connected with the clamping jaw through four groups of connecting rods which are connected with the lifting rod and the connecting shaft, so that the lifting strength is stronger; the connecting shaft adopts an inner shaft and an outer shaft which are in threaded fit, so that the rotation action of the second gear motor can be converted into the telescopic action of the connecting shaft.
Preferably, a third speed reducing motor for controlling the jaw operating shaft to lift is arranged above the jaw operating shaft, and a tension spring is connected between the third speed reducing motor and the center below the power distribution device.
Therefore, the power distribution device is connected with the clamping jaw through the connecting lifting rod and the tension spring, the tension spring is not required to be controlled, and the reaction speed is higher.
In summary, the invention has the following beneficial effects:
According to the ore grabbing manipulator disclosed by the invention, the lifting connecting rod is controlled by the power distribution device to move the horizontal connecting flange in the horizontal direction and the vertical direction, and the clamping jaw connected below the horizontal connecting flange is used for grabbing ores, wherein the lifting rod is driven by the swing arm adopted by the power distribution device to enable the clamping jaw to move rapidly, and the lifting capacity of a lifting structure is strong; in addition, the horizontal connecting flange adopts an air pressure crack measuring mode, and a transition block with an inclination sensor is arranged above the clamping jaw, so that accidental collision can be interrupted or alarmed in time in the clamping process.
Drawings
FIG. 1 is a perspective view of the ore gripping robot of the present invention, shown in FIG. 1;
FIG. 2 is a perspective view of the power distribution apparatus of the ore gripping robot of the present invention with the top housing removed;
FIG. 3 is a perspective view of the ore gripping robot of the present invention;
FIG. 4 is a cross-sectional view of a horizontal attachment flange of the ore gripping robot of the present invention;
FIG. 5 is a schematic view showing the connection of the connecting shafts of embodiment 1 of the ore gripping robot of the present invention;
FIG. 6 is a schematic diagram showing the connection of a third gear motor and a tension spring of embodiment 2 of the ore gripping robot of the present invention;
in the figure, a 1-power distribution device, a 11-triangle flange, a 12-swing arm, a 13-first speed reducing motor, a 14-second speed reducing motor, a 2-horizontal connecting flange, a 21-mounting seat, a 22-ventilation micropore, a 3-connection lifting rod, a 31-first joint bearing, a 32-second joint bearing, a 4-clamping jaw, a 41-fixing seat, a 42-clamping jaw, a 421-clamping action plate, a 5-transition block, a 6-clamping jaw operating shaft, a 61-first clamping jaw operating chuck, a 62-second clamping jaw operating chuck, a 7-connecting shaft, a 71-universal coupling, a 8-third speed reducing motor and a 9-tension spring.
Detailed Description
The invention will be further illustrated by the following examples in conjunction with the accompanying drawings.
As shown in fig. 1, 2 and 3, the ore grabbing manipulator comprises a power distribution device 1, a horizontal connecting flange 2 positioned below the power distribution device 1, a connecting lifting rod 3 connected between the power distribution device 1 and the horizontal connecting flange 2, and a clamping jaw 4 arranged below the horizontal connecting flange 2; the jaw 4 is provided with a horizontal and vertical movement by the power distribution device 1.
From this, through power distribution device 1 manipulation connection lifting rod 3 can realize quick travel to horizontal flange 2, and clamping jaw 4 adopts the lifting force of hoist and mount's mode to the ore better to more stable.
As shown in fig. 2, the power distribution device 1 comprises a triangle flange 11 which is horizontally installed, three swinging arms 12 which extend outwards are installed on the circumference array around the triangle flange 11, and the swinging arms 12 are controlled by a first gear motor 13 installed on the triangle flange 11 to have the action of rotating and swinging up and down.
The first gear motor 13 is connected with the rotating shaft of the swing arm 12 through a speed reducer, so that the swing arm 12 is ensured to run stably.
As shown in fig. 4, the horizontal attachment flange 2 includes a circumferential array of three outwardly projecting mounting seats 21.
As shown in fig. 1,2 and 3, the lifting rods 3 are connected in three groups, each group is respectively connected to two sides of the extending end of the swing arm 12 and two sides of the mounting seat 21, the upper end of the lifting rod is connected with the extending end of the swing arm 12 through a first joint bearing 31, and the lower end of the lifting rod is connected with the mounting seat 21 through a second joint bearing 32.
Therefore, the connecting lifting rod 3 is connected with the swing arm 12 and the mounting seat 21 through the first joint bearing 31 and the second joint bearing 32, so that the movement of the swing arm 12 can be ensured to drive the horizontal connecting flange 2 to freely move; connect lift bar 3 totally 6, can strengthen the promotion intensity to connect lift bar 3 generally adopts the carbon drill rod, and light in weight intensity is high, can quick travel and stability are strong.
As shown in fig. 4, the horizontal connecting flange 2 is internally provided with ventilation micro holes 22, and the ventilation micro holes 22 are communicated with an inner hole of the second joint bearing 32, which is arranged at the mounting seat 21.
The horizontal connecting flange 2 is always ventilated through the air pipe connection, air pressure is transmitted to the inner hole of the second joint bearing 32 arranged at the mounting seat 21 through the ventilation micro holes 22, if the horizontal connecting flange 2 cracks due to collision, the air pressure can be reduced, and the controller controls the mechanical arm to pause or provide an alarm.
As shown in fig. 1,2 and 3, a transition block 5 is connected between the horizontal connecting flange 2 and the clamping jaw 4, an inclination sensor is installed inside the transition block 5, and the transition block 5 is movably connected with the horizontal connecting flange 2.
Therefore, the transition block 5 can be controlled to pause or provide an alarm when the clamping jaw 4 is excessively inclined due to strong collision, and the inclination sensor provides a feedback signal when the transition block 5 is inclined by more than 10 degrees.
As shown in fig. 1,2 and 3, the clamping jaw 4 comprises a fixed seat 41 and a claw disc 42, at least two claw discs 42 are symmetrically hinged around the fixed seat 41, and the fixed seat 41 is fixedly connected with the transition block 5.
Thereby, the inclination of the clamping jaw 4 is transferred to the transition block 5.
As shown in fig. 3, 5 and 6, the horizontal connecting flange 2, the transition block 5 and the fixing seat 41 are centrally penetrated with a jaw operating shaft 6, a first jaw operating chuck 61 and a second jaw operating chuck 62 are installed below the jaw operating shaft 6 penetrating the fixing seat 41, a clamping action plate 421 extending inwards is arranged at the upper part of the jaw 42, and the clamping action plate 421 extends between the first jaw operating chuck 61 and the second jaw operating chuck 62.
Thereby, the second jaw operating chuck 62 pushes the chuck acting plate 421 to rotate downward when the jaw operating shaft 6 moves downward, thereby separating the jaw plates 42; the first jaw operating chuck 61 pushes the clamping plate 421 to rotate upward when the jaw operating shaft 6 moves upward, thereby clamping the jaw plate 42; in addition, the clamping jaw 4 can rotate freely relative to the clamping jaw operating shaft 6, can adapt to the appearance of grabbing the ore to grab, and improves the grabbing stability.
Example 1:
As shown in fig. 5, a second gear motor 14 is installed in the center of the power distribution device 1, a connecting shaft 7 is connected between the lower part of the second gear motor 14 and the upper end of the jaw operating shaft 6, and the upper end and the lower end of the connecting shaft 7 are connected with the second gear motor 14 and the jaw operating shaft 6 through universal couplings 71.
Therefore, the power distribution device 1 and the clamping jaw 4 are connected through four groups of connecting rods which are used for connecting the lifting rod 3 and the connecting shaft 7, so that the lifting strength is stronger; the connecting shaft 7 can convert the rotation of the second gear motor 14 into the expansion and contraction of the connecting shaft 7 by using the inner shaft and the outer shaft which are screwed together.
Example 2:
As shown in fig. 6, a third gear motor 8 for controlling the jaw operating shaft 6 to lift is installed above the jaw operating shaft 6, and a tension spring 9 is connected between the third gear motor 8 and the center below the power distribution device 1.
From this, connect through connecting lift bar 3 and extension spring 9 between power distribution device 1 and the clamping jaw 4, need not to control extension spring 9, the reaction rate is faster.
The above examples are only illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention. Various modifications and improvements of the technical scheme of the present invention will fall within the protection scope of the present invention without departing from the design concept of the present invention, and the technical content of the present invention is fully described in the claims.
Claims (5)
1. An ore snatchs manipulator, its characterized in that: the device comprises a power distribution device (1), a horizontal connecting flange (2) positioned below the power distribution device (1), a connecting lifting rod (3) connected between the power distribution device (1) and the horizontal connecting flange (2), and clamping jaws (4) arranged below the horizontal connecting flange (2); the clamping jaw (4) has the actions of horizontal movement and up-and-down movement under the action of the power distribution device (1);
the power distribution device (1) comprises a triangle flange (11) which is horizontally arranged, three swinging arms (12) which extend outwards are arranged around the triangle flange (11) in an array manner, and the swinging arms (12) are controlled by a first gear motor (13) which is arranged on the triangle flange (11) to have actions of rotating and swinging up and down;
The horizontal connecting flange (2) comprises three mounting seats (21) protruding outwards in a circumferential array;
The three groups of connecting lifting rods (3) are respectively connected to two sides of the extending end of the swing arm (12) and two sides of the mounting seat (21), the upper end of the connecting lifting rods is connected with the extending end of the swing arm (12) through a first joint bearing (31), and the lower end of the connecting lifting rods is connected with the mounting seat (21) through a second joint bearing (32);
The inside of the horizontal connecting flange (2) is provided with ventilation micropores (22), and the ventilation micropores (22) are communicated with an inner hole of the second joint bearing (32) arranged at the mounting seat (21); the horizontal connecting flange (2) is always ventilated through air pipe connection, and air pressure is transmitted to the inner hole of the second joint bearing (32) arranged at the mounting seat (21) through the ventilation micropore (22); the horizontal connecting flange (2) is connected with a transition block (5) between the clamping jaws (4), an inclination sensor is mounted in the transition block (5), and the transition block (5) is movably connected with the horizontal connecting flange (2).
2. The ore gripping manipulator of claim 1, wherein: the clamping jaw (4) comprises a fixed seat (41) and a jaw disc (42), wherein at least two jaw discs (42) are symmetrically hinged around the fixed seat (41), and the fixed seat (41) and the transition block (5) are fixedly connected.
3. An ore gripping manipulator according to claim 2, wherein: the horizontal connecting flange (2), the transition block (5) and the center of the fixed seat (41) are penetrated with a clamping jaw operating shaft (6), the clamping jaw operating shaft (6) penetrates through the lower part of the fixed seat (41) and is provided with a first clamping jaw operating chuck (61) and a second clamping jaw operating chuck (62), the upper part of the clamping jaw (42) is provided with a clamping action plate (421) extending inwards, and the clamping action plate (421) extends between the first clamping jaw operating chuck (61) and the second clamping jaw operating chuck (62).
4. An ore gripping manipulator according to claim 3, wherein: the power distribution device is characterized in that a second gear motor (14) is arranged in the center of the power distribution device (1), a connecting shaft (7) is connected between the lower part of the second gear motor (14) and the upper end of the clamping jaw operating shaft (6), and the upper end and the lower end of the connecting shaft (7) are connected with the second gear motor (14) and the clamping jaw operating shaft (6) through universal couplings (71).
5. An ore gripping manipulator according to claim 3, wherein: a third gear motor (8) for controlling the lifting of the clamping jaw operating shaft (6) is arranged above the clamping jaw operating shaft (6), and a tension spring (9) is connected between the third gear motor (8) and the center below the power distribution device (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911153695.6A CN110757495B (en) | 2019-11-22 | 2019-11-22 | Ore grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911153695.6A CN110757495B (en) | 2019-11-22 | 2019-11-22 | Ore grabbing manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110757495A CN110757495A (en) | 2020-02-07 |
| CN110757495B true CN110757495B (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911153695.6A Active CN110757495B (en) | 2019-11-22 | 2019-11-22 | Ore grabbing manipulator |
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| CN (1) | CN110757495B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604275A (en) * | 2020-05-21 | 2020-09-01 | 张晓波 | Intelligent robot beneficiation device and beneficiation method thereof |
| CN111558949A (en) * | 2020-05-21 | 2020-08-21 | 张晓波 | Ore snatchs clamping jaw |
| CN111894579B (en) * | 2020-07-16 | 2022-03-01 | 重庆工程职业技术学院 | High-efficiency coal mining machine |
| CN116330337B (en) * | 2023-05-25 | 2023-07-25 | 太原理工大学 | Grabbing manipulator for open-air mining |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101772403A (en) * | 2007-10-09 | 2010-07-07 | Abb技术公司 | An industrial robot device, an industrial robot and a method for manipulating objects |
| CN109108980A (en) * | 2018-09-26 | 2019-01-01 | 广州市渡维科技有限公司 | A kind of intelligent article folds up device and application method automatically |
| CN211362326U (en) * | 2019-11-22 | 2020-08-28 | 会昌县瑞红石英砂矿业有限公司 | Ore snatchs manipulator |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110129323A1 (en) * | 2005-03-18 | 2011-06-02 | Matthias Ehrat | Device for Moving and Positioning an Object in Space |
| DE102014223393A1 (en) * | 2014-11-17 | 2016-05-19 | Krones Aktiengesellschaft | Method for handling and / or manipulating articles such as containers or piece goods |
-
2019
- 2019-11-22 CN CN201911153695.6A patent/CN110757495B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101772403A (en) * | 2007-10-09 | 2010-07-07 | Abb技术公司 | An industrial robot device, an industrial robot and a method for manipulating objects |
| CN109108980A (en) * | 2018-09-26 | 2019-01-01 | 广州市渡维科技有限公司 | A kind of intelligent article folds up device and application method automatically |
| CN211362326U (en) * | 2019-11-22 | 2020-08-28 | 会昌县瑞红石英砂矿业有限公司 | Ore snatchs manipulator |
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| CN110757495A (en) | 2020-02-07 |
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Effective date of registration: 20240425 Address after: 650300 Houjiajing, Xiaoxin Bridge, Mingyi River, Xianjie Town, Anning City, Kunming City, Yunnan Province Applicant after: YUNNAN SANMING XINJIANG MINING Co.,Ltd. Country or region after: China Address before: No. 23, Relief Lane, Dongxi Street, Xiaofeng Town, Anji County, Huzhou City, Zhejiang Province, 313000 Applicant before: Xu Dexing Country or region before: China |
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