CN116494292A - Translation machinery gripping apparatus and robot - Google Patents
Translation machinery gripping apparatus and robot Download PDFInfo
- Publication number
- CN116494292A CN116494292A CN202210052350.7A CN202210052350A CN116494292A CN 116494292 A CN116494292 A CN 116494292A CN 202210052350 A CN202210052350 A CN 202210052350A CN 116494292 A CN116494292 A CN 116494292A
- Authority
- CN
- China
- Prior art keywords
- driving mechanism
- cylinder driving
- swing arm
- mechanical gripper
- fixed base
- 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
- 238000013519 translation Methods 0.000 title description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 238000004519 manufacturing process Methods 0.000 abstract description 17
- 238000010923 batch production Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a translational mechanical gripper and a robot, wherein the translational mechanical gripper is provided with a connecting disc which can be mechanically connected with the robot, and the translational mechanical gripper further comprises: the device comprises a fixed base, a first cylinder driving mechanism, a first swing arm, a second swing arm, a connecting bracket and at least two clamping mechanisms; the fixed base is mechanically connected with the connecting disc, a piston rod and a fixed ring are arranged on the first cylinder driving mechanism, the first cylinder driving mechanism is hinged with the fixed base through the fixed ring, a connecting shaft is arranged on the second swing arm, and one end of the piston rod is hinged with the connecting shaft; the first swing arm and the second swing arm are respectively hinged with the fixed base and the connecting bracket to realize left-right swing; the clamping mechanism is arranged below the connecting bracket and is used for loosening and grabbing the workpiece by a second cylinder driving mechanism on the connecting bracket. The invention saves the operation space, expands the application of robots and is suitable for the batch production of automatic production lines.
Description
Technical Field
The invention belongs to the technical field of intelligent manufacturing, and relates to a translation mechanical gripping apparatus and a robot.
Background
Along with the development of intelligent manufacturing technology, in the technical field of intelligent manufacturing such as automobiles, ships, aerospace, large machinery and the like, the automation and intelligent level is higher and higher, the production line is continuously and intelligently upgraded, the working efficiency is also continuously improved, and for industrial robots working in an automatic production line or a workstation, the grabbing and placing work is one type of work with more work, such as: workpiece handling, loading and unloading, transfer between stations and the like on a production line, and when workpieces with different specifications need to be grabbed, corresponding mechanical grippers are required to be designed or improved to meet the requirements of an automatic production line, in the existing production line, due to the fact that the operation space of some stations is limited, a robot provided with the mechanical grippers cannot place the workpieces on a specific station due to position interference, and therefore a special mechanical gripper is required to be capable of adapting to a smaller operation space so as to solve the problems.
Disclosure of Invention
The invention aims to provide a translation mechanical gripper and a robot, which realize translation of the mechanical gripper by using a cylinder driving mechanism, are suitable for gripping workpieces with smaller operation space and are suitable for mass production.
To achieve the above object, the present invention provides a translational mechanical gripper provided with a connection pad mechanically connected to a robot, the translational mechanical gripper further comprising: the device comprises a fixed base, a first cylinder driving mechanism, a first swing arm, a second swing arm, a connecting bracket and at least two clamping mechanisms; the fixed base is mechanically connected with the connecting disc, the fixed base is of a cuboid cavity structure, a piston rod and a fixed ring are arranged on the first cylinder driving mechanism, the first cylinder driving mechanism is arranged in the cavity of the fixed base and is hinged with the fixed base through the fixed ring, a connecting shaft is arranged on the second swing arm, and one end of the piston rod is hinged with the connecting shaft; the first swing arm and the second swing arm are hinged with the fixed base and the connecting bracket respectively and are used for realizing left-right swing under the drive of the first cylinder driving mechanism; the clamping mechanism is arranged below the connecting support and is mechanically connected with the connecting support, the clamping mechanism comprises a second cylinder driving mechanism, end blocks and clamping blocks, the front end and the rear end of the second cylinder driving mechanism are respectively in driving connection with one end block, each end block is connected with one clamping block, and the second cylinder driving mechanism can drive the clamping blocks to move to open and clamp the mechanical gripping apparatus through the end blocks.
Further, the clamping block is provided with a protruding portion for achieving positioning of the workpiece.
Optionally, the clamping mechanism further comprises a first connecting block and a second connecting block, and the end block is mechanically connected with the clamping block through the first connecting block and the second connecting block to realize position adjustment of the clamping block.
Preferably, the first cylinder driving mechanism is a single-acting cylinder, and the second cylinder driving mechanism is a double-acting cylinder.
Further, the first swing arm is parallel to the second swing arm and has the same length.
Further, a guide surface is further arranged on the clamping block, and the guide surface is an inclined plane for guiding the workpiece.
The robot with the translation mechanical gripping apparatus comprises the translation mechanical gripping apparatus and a six-axis robot, wherein a mechanical arm is arranged on the six-axis robot, and the tail end of the mechanical arm is mechanically connected with the connecting disc.
The invention relates to a translational mechanical gripping apparatus and a robot, which have the beneficial effects that: the invention has reasonable design and simple structure, the translational mechanical gripping device can be connected with the robot and used in a matched way, and the swinging of the first swing arm and the second swing arm is realized by using the two cylinder driving mechanisms, so that the clamping mechanism can extend into a smaller operation space to grip and place workpieces, the operation space is saved, the automation degree and the intelligent degree are high, the application of the robot is expanded, and the invention is suitable for the requirement of mass production of an automatic production line.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following brief description of the drawings of the embodiments will make it apparent that the drawings in the following description relate only to some embodiments of the present invention and are not limiting of the present invention.
Fig. 1 is a schematic perspective view of a translational mechanical gripper according to a first embodiment of the present invention;
FIG. 2 is a front view of a translational mechanical gripper according to a first embodiment of the present invention;
fig. 3 is a schematic perspective view of a translational mechanical gripper according to a first embodiment of the present invention;
FIG. 4 is a front view of a clamping mechanism according to a first embodiment of the present invention;
fig. 5 is a schematic perspective view of a robot with a translational mechanical gripper according to a second embodiment of the present invention.
In the figure:
1. a connecting disc; 2. a fixed base; 3. a first cylinder driving mechanism; 31. a piston rod; 32. a fixing ring; 4. a first swing arm; 5. a second swing arm; 51. a connecting shaft; 6. a connecting bracket; 7. a clamping mechanism; 71. a second cylinder driving mechanism; 72. an end block; 73. a first connection block; 74. a second connection block; 75. a clamping block; 7501. a boss; 7502. a guide surface; 8. a six-axis robot; 81. and (5) a mechanical arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Unless defined otherwise, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. It should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in the invention will be understood by those of ordinary skill in the art in a specific context.
A translational mechanical gripper and a robot according to embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Example 1
Fig. 1 shows a schematic perspective view of a translational mechanical gripper according to a first embodiment of the present invention; FIG. 2 illustrates a front view of a translational mechanical gripper provided in accordance with a first embodiment of the present invention; fig. 3 is a schematic perspective view of a translational mechanical gripper according to a first embodiment of the present invention; FIG. 4 illustrates a front view of a clamping mechanism provided in accordance with a first embodiment of the present invention; as shown in fig. 1 to 4, a translational mechanical gripper provided in a first embodiment of the present invention includes a connection pad 1, where the connection pad 1 is used to mechanically connect with a robot, and the robot is used to implement automatic gripping of a workpiece by the translational mechanical gripper, where the translational mechanical gripper further includes at least two fixing bases 2, a first cylinder driving mechanism 3, a first swing arm 4, a second swing arm 5, a connection bracket 6, and a clamping mechanism 7; in the first embodiment of the invention, two clamping mechanisms 7 are used, mainly to ensure the precision of grabbing workpieces and prevent the workpieces with longer lengths from tilting, and the grabbing precision is ensured by multi-point positioning grabbing, and the translational mechanical grabbing device provided by the embodiment of the invention is more suitable for grabbing workpieces with slender shapes; of course, if the length of the workpiece to be grasped is relatively short, only one clamping mechanism 7 may be installed. Specifically, the fixed base 2 is mechanically connected with the connecting disc 1, the fixed base 2 is in a cuboid cavity structure, of course, the fixed base 2 can also be in a cuboid frame structure, the first cylinder driving mechanism 3 is provided with a piston rod 31 and a fixed ring 32, wherein the first cylinder driving mechanism 3 is a one-way acting cylinder, the piston rod 31 is positioned at one end of the first cylinder driving mechanism 3, the first cylinder driving mechanism 3 is arranged in the cavity of the fixed base 2 and hinged with the fixed base 2 through the fixed ring 32, the fixed ring 32 is mechanically fixed on the first cylinder driving mechanism 3, and two shaft-shaped protrusions are arranged on the fixed ring 32 and used for hinging with the fixed base 2, so that the rotation of the first cylinder driving mechanism 3 around the hinging point of the first cylinder driving mechanism 3 and the fixed base 2 is realized; the piston rod 31 can extend and retract under the drive of the first cylinder driving mechanism 3, the second swing arm 5 is provided with a connecting shaft 51, the other end of the piston rod 31 is arranged in the first cylinder driving mechanism 3 and is in driving connection with the first cylinder driving mechanism, and the exposed end of the piston rod 31 is hinged with the connecting shaft 51; the first swing arm 4 and the second swing arm 5 are hinged with the fixed base 2 and the connecting support 6 respectively and are used for realizing left and right swinging of the first swing arm 4 and the second swing arm 5 under the drive of the first cylinder driving mechanism 3, so that the first swing arm 4, the second swing arm 5, the connecting support 6 and the fixed base 2 form a double-rocker mechanism, the first swing arm 4 is parallel to the second swing arm 5 and the length is the same, and therefore the hinge points of the first swing arm 4, the second swing arm 5, the connecting support 6 and the fixed base 2, which are hinged in pairs, form a parallelogram from the front view in fig. 2, and the connecting support 6 is ensured to translate, so that the position overturning in the moving process of the connecting support 6 is prevented; the connecting shaft 51 on the second swing arm 5 is driven by the piston rod 31 on the first cylinder driving mechanism 3, so that the second swing arm 5 is driven to swing left and right, the first swing arm 4 is synchronously swung left and right, and particularly as shown in fig. 2, the connecting support 6 is driven by the first swing arm 4 and the second swing arm 5 to realize vertical and horizontal translation, so that the connecting support 6 can go deep into a smaller operation space, and the mechanical arm, the connecting disc 1 and the fixed base 2 of the robot are all positioned outside the operation space, so that the grabbing and placing of workpieces are realized. The clamping mechanism 7 is arranged below the connecting bracket 6 and is mechanically connected with the connecting bracket, the clamping mechanism 7 comprises a second cylinder driving mechanism 71, end blocks 72 and clamping blocks 75, the front end and the rear end of the second cylinder driving mechanism 71 are respectively in driving connection with one end block 72, each end block 72 is connected with one clamping block 75, the second cylinder driving mechanism 71 is a bidirectional cylinder, when the second cylinder driving mechanism 71 acts, the end blocks at the front end and the rear end of the second cylinder driving mechanism 71 can extend or retract simultaneously, so that the corresponding clamping blocks 75 connected with the end blocks 72 are driven to extend or retract, and the second cylinder driving mechanism 71 can drive the clamping blocks 75 to move through the end blocks 72 to realize the opening and clamping actions of the mechanical gripper, so that the workpiece is released and grabbed.
In order to adapt to workpieces with various specifications, the positions and the distances between the two clamping blocks 75 on the same second cylinder driving mechanism 71 need to be adjusted if necessary, specifically, the clamping mechanism 7 further comprises a first connecting block 73 and a second connecting block 74, and the end blocks 72 are mechanically connected with the clamping blocks 75 through the first connecting block 73 and the second connecting block 74 for realizing the position adjustment of the clamping blocks 75. It should be noted that, the first connection block 73 and the second connection block 74 may be selectively configured according to the workpiece, and of course, the first connection block 73 and the second connection block 74 may be combined into one part for use, which is not specifically defined herein, and does not limit the embodiments of the present invention or affect the protection of the embodiments of the present invention. In addition, the structure and shape of the clamping blocks 75 can be correspondingly adjusted, so that the clamping blocks 75 are directly and mechanically connected with the corresponding end blocks 72, and when workpieces with different specifications are required to be adapted, only the clamping blocks 75 with corresponding shapes and specifications need to be replaced.
In the translational mechanical gripping apparatus provided in the first embodiment of the present invention, the clamping block 75 is provided with the protruding portion 7501 for realizing positioning and clamping of the workpiece, and the protruding portion 7501 prevents the workpiece from accidentally falling due to overweight of the workpiece during gripping. The clamping block 75 is further provided with a guide surface 7502, and the guide surface 7502 is inclined so that the workpiece falls into a clamping position on the clamping block 75 when the workpiece is conveniently clamped, so that the consistency of the clamping position is ensured, and the clamping precision of the workpiece is improved.
The translational mechanical gripping apparatus provided by the embodiment of the invention has reasonable design, can be connected with a robot and used in a matched manner, realizes the swinging of the first swing arm 4 and the second swing arm 5 by using the cylinder driving mechanism, enables the clamping mechanism 7 to extend into a smaller operation space to achieve the gripping and placing of workpieces, saves the operation space, has high automation and intelligent degrees, expands the application of the robot and is suitable for the requirement of mass production of an automatic production line.
Example two
Fig. 5 shows a schematic perspective view of a robot with a translational mechanical gripper according to a second embodiment of the present invention. In the second embodiment, the same reference numerals are used for the same parts as those of the first embodiment, and only the differences will be described below, and the robot with a translational mechanical gripper provided in the second embodiment of the present invention includes: the first embodiment provides a translational mechanical gripper and a six-axis robot 8, wherein a mechanical arm 81 is disposed on the six-axis robot 8, the end of the mechanical arm 81 is mechanically connected with the connecting disc 1, and the translational mechanical gripper is driven by the mechanical arm 81 to reach a set position. In addition, by controlling the gas supply of the first cylinder driving mechanism 3 and the second cylinder driving mechanism 71 on the translational mechanical gripper by using the control system, the translational mechanical gripper and the grabbing and loosening actions of the elongated workpiece in fig. 5 can be realized, and the specific application of the existing six-axis robot 8 in the limited operation space in the production line can be realized.
It should be noted that the six-axis robot 8 may be replaced by other types of robots, such as three-axis robots, four-axis robots, five-axis robots, etc., according to the specific conditions of the production line, and is not limited to the six-axis robot 8 and the above-mentioned several robots listed by way of example.
Compared with the prior art, the translational mechanical gripping device and the robot provided by the embodiment of the invention have the advantages that the design is reasonable, the structure is simple, the translational mechanical gripping device can be connected with the robot and used in a matched manner, the swinging of the first swing arm 4 and the second swing arm 5 is realized by using two cylinder driving mechanisms, the clamping mechanism 7 can extend into a smaller operation space to grip and place workpieces, the operation space is saved, the automation degree is high, the application of the robot is expanded, and the requirement of batch production of an automatic production line is met.
The following points need to be described:
(1) Unless otherwise defined, like reference numerals refer to like meanings in the embodiments of the invention and the figures.
(2) The drawings of the embodiments of the present invention relate only to the structures related to the embodiments of the present invention, and other structures may refer to the general designs.
(3) In the drawings for describing embodiments of the present invention, some of the structures in the drawings may be exaggerated or reduced for clarity, i.e., the drawings are not drawn to actual scale.
(4) The embodiments of the invention and the features of the embodiments can be combined with each other to give new embodiments without conflict.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A translational mechanical gripper, comprising a connecting disc (1), said connecting disc (1) being mechanically connected with a robot, characterized in that it further comprises: the device comprises a fixed base (2), a first cylinder driving mechanism (3), a first swing arm (4), a second swing arm (5), a connecting bracket (6) and at least two clamping mechanisms (7); the fixed base (2) is mechanically connected with the connecting disc (1), the fixed base (2) is of a cuboid cavity structure, a piston rod (31) and a fixed ring (32) are arranged on the first cylinder driving mechanism (3), the first cylinder driving mechanism (3) is arranged in the cavity of the fixed base (2) and hinged with the fixed base (2) through the fixed ring (32), a connecting shaft (51) is arranged on the second swing arm (5), and one end of the piston rod (31) is hinged with the connecting shaft (51); the first swing arm (4) and the second swing arm (5) are hinged with the fixed base (2) and the connecting bracket (6) respectively and are used for realizing left-right swing under the drive of the first cylinder driving mechanism (3); the clamping mechanism (7) is arranged below the connecting support (6) and is mechanically connected with the connecting support, the clamping mechanism (7) comprises a second cylinder driving mechanism (71), end blocks (72) and clamping blocks (75), the front end and the rear end of the second cylinder driving mechanism (71) are respectively in driving connection with one end block (72), each end block (72) is connected with one clamping block (75), and the second cylinder driving mechanism (71) can drive the clamping blocks (75) to move to open and clamp the mechanical gripper.
2. A translational mechanical gripper according to claim 1, characterized in that the gripping block (75) is provided with a protrusion (7501) for positioning the workpiece.
3. A translational mechanical gripper according to claim 1, characterized in that the first cylinder driving mechanism (3) is a single acting cylinder and the second cylinder driving mechanism (71) is a double acting cylinder.
4. A translational mechanical gripper according to claim 1, characterized in that the first swing arm (4) is parallel and of equal length to the second swing arm (5).
5. A translational mechanical gripper according to claim 1, characterized in that the gripping block (75) is further provided with a guiding surface (7502), the guiding surface (7502) being an inclined plane for guiding the workpiece.
6. A robot with a translational mechanical gripper, comprising: the translational mechanical gripper, the six-axis robot (8) according to any one of claims 1-5, wherein a mechanical arm (81) is arranged on the six-axis robot (8), and the tail end of the mechanical arm (81) is mechanically connected with the connecting disc (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210052350.7A CN116494292A (en) | 2022-01-18 | 2022-01-18 | Translation machinery gripping apparatus and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210052350.7A CN116494292A (en) | 2022-01-18 | 2022-01-18 | Translation machinery gripping apparatus and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116494292A true CN116494292A (en) | 2023-07-28 |
Family
ID=87323565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210052350.7A Pending CN116494292A (en) | 2022-01-18 | 2022-01-18 | Translation machinery gripping apparatus and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116494292A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206910A (en) * | 2023-10-12 | 2023-12-12 | 泰亿机械工业（江苏）有限公司 | End cutting equipment of moped pipe body and processing technology thereof |
-
2022
- 2022-01-18 CN CN202210052350.7A patent/CN116494292A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206910A (en) * | 2023-10-12 | 2023-12-12 | 泰亿机械工业（江苏）有限公司 | End cutting equipment of moped pipe body and processing technology thereof |
| CN117206910B (en) * | 2023-10-12 | 2024-04-16 | 泰亿机械工业（江苏）有限公司 | End cutting equipment of moped pipe body and processing technology thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5536135A (en) | Material transfer apparatus | |
| CN116494292A (en) | Translation machinery gripping apparatus and robot | |
| CN213320205U (en) | Manipulator capable of changing size of clamping groove | |
| CN218428409U (en) | Bottle snatchs mechanism | |
| CN109278031B (en) | Hollow six-joint industrial robot | |
| CN213034154U (en) | Material taking and placing device of numerical control machine tool manipulator | |
| CN210545844U (en) | Loading and unloading device and spraying system | |
| CN217123233U (en) | Translational mechanical gripping apparatus and robot | |
| CN109454636B (en) | Four-freedom-degree feeding and discharging manipulator | |
| CN111169989A (en) | Finished tire taking-out system | |
| CN217225585U (en) | Pneumatic clamping device of manipulator | |
| KR101296537B1 (en) | Clamping apparatus for automated robot | |
| CN216032092U (en) | Material taking robot | |
| EP0338673B1 (en) | Robot gripper having auxiliary degrees of freedom | |
| CN214561843U (en) | Manipulator with many specifications built-in fitting functions of location and installation | |
| CN211332579U (en) | Grinding mechanism based on series-parallel connection | |
| CN114603536A (en) | Industrial robot with processing combined clamp | |
| CN210081777U (en) | Pneumatic mechanical gripper | |
| CN215755086U (en) | Clamp for barrel | |
| CN216971265U (en) | Mechanism is got to triaxial rotation clamp | |
| CN219294004U (en) | Robot hand grabs and four-axis robot | |
| CN212075607U (en) | Finished tire taking-out system | |
| CN219075717U (en) | Flexible assembling system of robot | |
| CN220364015U (en) | Rectangular article clamping mechanism | |
| CN220074713U (en) | Automatic feeding and discharging grabbing manipulator |
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 |