CN203527456U - Loading and unloading manipulator - Google Patents
Loading and unloading manipulator Download PDFInfo
- Publication number
- CN203527456U CN203527456U CN201320725423.0U CN201320725423U CN203527456U CN 203527456 U CN203527456 U CN 203527456U CN 201320725423 U CN201320725423 U CN 201320725423U CN 203527456 U CN203527456 U CN 203527456U
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- transmission arm
- assembling
- gripper shoe
- disassembling manipulator
- underframe
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Abstract
The utility model provides a loading and unloading manipulator which comprises a picking and placing component for picking and placing a detected workpiece, a transmission arm, a supporting component and a driving part, wherein the picking and placing component is arranged at the first end of the transmission arm; the transmission arm is movably connected with the supporting component; the driving part is connected with the transmission arm in a driving manner. By virtue of the arrangement of the driving part, the driving part drives the picking and placing component to run, so that the detected workpiece (such as a steam valve cover) can be repeatedly assembled and disassembled. Therefore, the labor intensity of a worker is relieved, the working efficiency is improved, the automation degree of the loading and unloading manipulator is increased, and the economical benefits of an enterprise are improved. The transmission arm is movably connected with the supporting component, so that the motion reliability of the transmission arm is guaranteed, and the use reliability of the loading and unloading manipulator is guaranteed; meanwhile, the loading and unloading manipulator disclosed by the utility model has the characteristics of simple structure and low manufacturing cost.
Description
Technical field
The utility model relates to workpiece sensing technical field, more specifically, relates to a kind of assembling and disassembling manipulator.
Background technology
In prior art, carry out steam valve cap (detected workpiece) service life while detecting, need to carry out artificial free-hand operation of repeatedly loading and unloading steam valve cap to rice cooker series products, to complete detection, thereby cause that intensity of workers is large, operating efficiency, automaticity be low, had a strong impact on the economic benefit of enterprise.
Utility model content
The utility model aims to provide a kind of assembling and disassembling manipulator, to solve the detected workpiece of artificial free-hand handling repeatedly in prior art, causes large, the ineffective problem of intensity of workers.
For solving the problems of the technologies described above, the utility model provides a kind of assembling and disassembling manipulator, comprising: for picking and placeing the assembly that picks and places of detected workpiece; Transmission arm, picks and places the first end that assembly is arranged on transmission arm; Supporting component, transmission arm is flexibly connected with supporting component; Drive division, drive division drives and is connected with transmission arm.
Further, picking and placeing assembly comprises: press section; Extraction unit, the extraction end of extraction unit and the press-side interval of press section arrange.
Further, press section is briquetting, and briquetting is arranged on the end of the first end of transmission arm along the bearing of trend of transmission arm.
Further, extraction unit is hook, and hook is arranged on the end of the first end of transmission arm along the bearing of trend of transmission arm, and the hooking end of hook stretches out towards a side at briquetting place.
Further, transmission arm is slidably arranged on supporting component.
Further, supporting component comprises: supporting plate; Guide part, guide part is arranged on supporting plate, and transmission arm is slidably connected by guide part and supporting plate.
Further, guide part comprises a plurality of spaced leads, between a plurality of leads, forms guide space, and the second end of transmission arm is slidably arranged in guide space.
Further, transmission arm is arc transmission arm.
Further, assembling and disassembling manipulator also comprises underframe, and supporting plate is arranged on underframe position-movablely, and picks and places the direction of motion of assembly and the upper surface of underframe is vertical arranges.
Further, supporting component also comprises support sloping platform, and supporting plate is slidably arranged on underframe by supporting sloping platform.
Further, support sloping platform and comprise: the first gripper shoe, supporting plate is arranged in the first gripper shoe; The second gripper shoe, the first end of the first gripper shoe is connected with the first end of the second gripper shoe, and the second gripper shoe is slidably arranged on underframe, and has angle between the first gripper shoe and the second gripper shoe; For regulating the regulating connecting rod of angle, the second end of the first gripper shoe is connected with the second end of the second gripper shoe by regulating connecting rod.
Further, assembling and disassembling manipulator also comprises locking member, and the upper surface of underframe has slippage slotted hole, supports in sloping platform is slidably arranged in underframe slippage slotted hole by locking member and locking.
In the utility model, pick and place assembly for picking and placeing detected workpiece, pick and place the first end that assembly is arranged on transmission arm, transmission arm is flexibly connected with supporting component, and drive division drives and is connected with transmission arm.Owing to being provided with drive division, thereby drive division driving picks and places assembly action, thereby to detected workpiece (for example: steam valve cap) realize repeated disassembled and assembled, and then alleviated staff labour intensity, improved operating efficiency, improved assembling and disassembling manipulator automaticity, improved the economic benefit of enterprise.Because transmission arm is flexibly connected with supporting component, thereby guarantee the motion credibility of transmission arm, thereby guaranteed the dependability of assembling and disassembling manipulator.Meanwhile, the assembling and disassembling manipulator in the utility model has feature simple in structure, low cost of manufacture.
Accompanying drawing explanation
The accompanying drawing that forms the application's a part is used to provide further understanding of the present utility model, and schematic description and description of the present utility model is used for explaining the utility model, does not form improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 has schematically shown the structural representation of the assembling and disassembling manipulator in the utility model;
Fig. 2 has schematically shown the structural representation of the assembling and disassembling manipulator of another angle in the utility model; And
Fig. 3 has schematically shown the supporting plate in the utility model, transmission arm, has picked and placeed the annexation schematic diagram of assembly.
Reference numeral in figure: 10, pick and place assembly; 11, press section; 12, extraction unit; 20, transmission arm; 30, supporting component; 31, supporting plate; 32, guide part; 32a, lead; 33, support sloping platform; 33a, the first gripper shoe; 33b, the second gripper shoe; 33c, regulating connecting rod; 33d, adjusting support; 34, containment vessel; 40, drive division; 50, underframe; 51, slippage slotted hole; 60, locking member.
The specific embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is elaborated, but the multitude of different ways that the utility model can be defined by the claims and cover is implemented.
The utility model provides a kind of assembling and disassembling manipulator.In embodiment as shown in Figure 1 to Figure 3, assembling and disassembling manipulator comprises and picks and places assembly 10, transmission arm 20, supporting component 30 and drive division 40, pick and place assembly 10 for picking and placeing detected workpiece, pick and place the first end that assembly 10 is arranged on transmission arm 20, transmission arm 20 is flexibly connected with supporting component 30, and drive division 40 drives and is connected with transmission arm 20.Owing to being provided with drive division 40, thereby drive division 40 drivings pick and place assembly 10 actions, thereby to detected workpiece (for example: steam valve cap) realize repeated disassembled and assembled, and then alleviated staff labour intensity, improved operating efficiency, improved assembling and disassembling manipulator automaticity, improved the economic benefit of enterprise.Because transmission arm 20 is flexibly connected with supporting component 30, thereby guarantee the motion credibility of transmission arm 20, thereby guaranteed the dependability of assembling and disassembling manipulator.Meanwhile, the assembling and disassembling manipulator in the utility model has feature simple in structure, low cost of manufacture.
The assembly 10 that picks and places in the utility model comprises press section 11 and extraction unit 12, and the extraction end of extraction unit 12 and the press-side interval of press section 11 arrange.Owing to being provided with press section 11, thereby when detected workpiece is placed on installed position, press section 11 presses down and can be pressed into installation site by being detected workpiece, thereby realizes fitting operation; Owing to being provided with extraction unit 12, thereby in extraction unit 12, move detected workpiece is mentioned, thereby realize dismounting operation.
In embodiment as shown in figures 1 and 3, press section 11 is briquetting, and briquetting is arranged on the end of the first end of transmission arm 20 along the bearing of trend of transmission arm 20.Because briquetting is arranged on the end of the first end of transmission arm 20 along the bearing of trend of transmission arm 20, thereby when transmission arm 20 motion, briquetting can move along with the motion of transmission arm 20, and the direction of motion of briquetting is the bearing of trend of transmission arm 20, thereby the application of force stability that has guaranteed briquetting, has improved the dependability that picks and places assembly 10.In the example of steam valve cap detection in service life, the end of exerting pressure of briquetting contacts with the caping of steam valve cap, steam valve cap is pressed in the steam valve opening of rice cooker lid.
In embodiment as shown in figures 1 and 3, extraction unit 12 is hook, and hook is arranged on the end of the first end of transmission arm 20 along the bearing of trend of transmission arm 20, and the hooking end of hook stretches out towards a side at briquetting place.Because the hooking end of linking up with stretches out towards a side at briquetting place, thereby the hooking end of hook can contact with detected workpiece, when transmission arm 20 moves to the direction away from detected workpiece, hook can be mentioned being detected workpiece, thereby has guaranteed to pick and place the dependability of assembly 10.Because hook is arranged on the end of the first end of transmission arm 20 along the bearing of trend of transmission arm 20, thereby the application of force direction of hook when extracting detected workpiece is consistent with the direction of motion of transmission arm 20, thereby the application of force stability that has guaranteed hook, has further improved the dependability that picks and places assembly 10.
In embodiment as shown in figures 1 and 3, supporting component 30 comprises supporting plate 31 and guide part 32, and guide part 32 is arranged on supporting plate 31, and transmission arm 20 is slidably connected by guide part 32 and supporting plate 31.Because transmission arm 20 is slidably connected by guide part 32 and supporting plate 31, thereby guarantee the motion credibility of transmission arm 20, thereby guaranteed the operational stability of assembling and disassembling manipulator.
In embodiment as shown in Figure 3, guide part 32 comprises a plurality of spaced lead 32a, between a plurality of lead 32a, forms guide space, and the second end of transmission arm 20 is slidably arranged in guide space.By regulating the position relationship between a plurality of lead 32a, can change shape and the position of guide space, thereby change the direction of motion of transmission arm 20, make the assembling and disassembling manipulator in the utility model have the advantages that adjustability is good.Owing to using a plurality of lead 32a as guide part, thereby reduce the contact area of transmission arm 20 with guide part, thereby reduced frictional resistance, the transmission arm 20 of avoiding wearing and tearing, and guaranteed the motion credibility of transmission arm 20.Certainly, guide part 32 can also be guide slide, and transmission arm 20 is slidably arranged in guide slide.
In embodiment as shown in Figure 1, supporting component 30 also comprises containment vessel 34, and containment vessel 34 is located on supporting plate 31, and forms motion cavity between containment vessel 34 and supporting plate 31, and the second end of guide part 32, transmission arm 20 is all positioned at this motion cavity.Owing to being provided with containment vessel 34; thereby guide part 32 and transmission arm 20 are protected; thereby avoid guide part 32 and transmission arm 20 to be subject to external force collision and damage or foreign matter is attached to and on guide part 32 and transmission arm 20, causes motion to be obstructed, thereby improved the dependability of assembling and disassembling manipulator.
In embodiment as shown in Figure 1 to Figure 3, transmission arm 20 is arc transmission arm.Because transmission arm 20 is arc transmission arm, thereby pick and place assembly 10 when vertical direction moves, arc transmission arm can be inclined in space, thereby has reduced the whole height of assembling and disassembling manipulator, makes the topology layout of assembling and disassembling manipulator more reasonable.
In embodiment as shown in Figure 1, assembling and disassembling manipulator also comprises underframe 50, and supporting plate 31 is arranged on underframe 50 position-movablely, and picks and places the direction of motion of assembly 10 and vertical setting the in upper surface of underframe 50.Owing to being provided with underframe 50, thereby guaranteed the installation stability of supporting plate 31, and then guaranteed transmission arm 20 and picked and placeed the motion credibility of assembly 10.Due to supporting plate 31 position-movable be arranged on underframe 50, thereby make transmission arm 20 and pick and place assembly 10 position-movable in horizontal plane, thereby facilitate staff to regulate the position of supporting plate 31, so that pick and place assembly 10, better detected workpiece is operated, and then improved the dependability of assembling and disassembling manipulator.Preferably, the lower end of underframe 50 has spatial accommodation, such as products such as rice cookers, can be placed in this spatial accommodation.
Preferably, supporting plate 31 is a plurality of, is provided with corresponding transmission arm 20 and picks and places assembly 10 on a plurality of supporting plates 31.In embodiment as depicted in figs. 1 and 2, supporting plate 31, transmission arm 20 and pick and place assembly 10 and be two, the namely assembling and disassembling manipulator of double.Because the assembling and disassembling manipulator in the utility model can be arranged to multistation, thereby can to a plurality of detected workpiece, carry out charge and discharge operations simultaneously, and then improve detection efficiency.
Supporting component 30 in the utility model also comprises support sloping platform 33, and supporting plate 31 is slidably arranged on underframe 50 by supporting sloping platform 33.Owing to being provided with, support sloping platform 33, thereby can change the connection angle of supporting plate 31 and underframe 50, thereby change the direction of motion of transmission arm 20.Because supporting plate 31 is slidably arranged on underframe 50 by supporting sloping platform 33, thereby while a plurality of supporting plate 31 being set on supporting sloping platform 33, staff only needs the position of adjusting support sloping platform 33 to unify to regulate to the position of a plurality of supporting plates 31, thereby has improved operating efficiency.
In embodiment as depicted in figs. 1 and 2, support sloping platform 33 and comprise the first gripper shoe 33a, the second gripper shoe 33b and regulating connecting rod 33c, supporting plate 31 is arranged on the first gripper shoe 33a, the first end of the first gripper shoe 33a is connected with the first end of the second gripper shoe 33b, the second gripper shoe 33b is slidably arranged on underframe 50, and there is angle between the first gripper shoe 33a and the second gripper shoe 33b, the second end of the first gripper shoe 33a is connected with the second end of the second gripper shoe 33b by regulating connecting rod 33c, and regulating connecting rod 33c is for regulating the size of angle.Due to the connection angle that can change by regulating connecting rod 33c between the first gripper shoe 33a and the second gripper shoe 33b, thereby can change the angle of inclination of support sloping platform 33 and height is set, thereby change supporting plate disposed thereon 31 angle of inclination, change transmission arm 20 and pick and place the direction of motion of assembly 10, and then make the assembling and disassembling manipulator in the utility model have the advantages that adjustability is good, dependability is high, can meet the instructions for use of different detected workpiece.
Preferably, regulating connecting rod 33c is the assembly that screw rod coordinates with nut.The first gripper shoe 33a is connected with the two ends of screw rod respectively with the second gripper shoe 33b, by adjusting nut, is screwed in the position on screw rod, can change the size of the angle between the first gripper shoe 33a and the second gripper shoe 33b.Because the first gripper shoe 33a and the second gripper shoe 33b are connected by screw rod and nut, thereby not only guaranteed the connection reliability of the two, also made to support sloping platform 33 and have the advantages that adjustability is good, dependability is high.
In embodiment as shown in Figure 2, support sloping platform 33 and also comprise adjusting support 33d, regulate support 33d to be connected with the first gripper shoe 33a, the second gripper shoe 33b is connected with regulating support 33d by regulating connecting rod 33c.Owing to being provided with, regulate support 33d, thereby guaranteed the dependability of regulating connecting rod 33c.
Assembling and disassembling manipulator in the utility model also comprises locking member 60, and the upper surface of underframe 50 has slippage slotted hole 51, supports sloping platform 33 and by locking member 60, is slidably arranged in the interior also locking of slippage slotted hole 51 of underframe 50.In embodiment as shown in Figure 1, the second gripper shoe 33b that supports sloping platform 33 is slidably arranged in the interior also locking of slippage slotted hole 51 of underframe 50 by locking member 60.Preferably, the assembly that locking member 60 coordinates for bolts and nuts.Bolt is located in slippage slotted hole 51 and the second gripper shoe 33b is connected with underframe 50.Staff passes through fastening nut, underframe 50 can be locked with supporting sloping platform 33, thereby guarantee transmission arm 20 and the motion credibility that picks and places assembly 10.
Preferably, drive division 40 is motor.Further, drive division 40 is torque motor.
In embodiment as shown in Figure 3, the second end of transmission arm 20 has rack segments, and assembling and disassembling manipulator also comprises and above-mentioned tooth bar meshed gears; gear is arranged on supporting plate 31 pivotly; and be positioned at motion cavity, drive division 40 driven wheels rotate, and drive division 40 is arranged on containment vessel 34.Because gear, tooth bar coordinate power transmission stable, thereby guaranteed the motion credibility of assembling and disassembling manipulator.
Assembling and disassembling manipulator in the utility model also comprises controller, switch element and power supply, and power supply, switch element and motor series connection arrange; Controller is connected with switch element, the closed or disconnection for gauge tap element.Owing to being provided with controller, assembling and disassembling manipulator is carried out to motion control, thus guaranteed assembling and disassembling manipulator functional reliability, improved the automaticity of assembling and disassembling manipulator.Because power supply, switch element and motor series connection arrange, thereby when the on off state of switch element changes, motor drives transmission arm 20 to carry out stretching motion, thereby makes to pick and place the operation that 10 pairs of detected workpiece of assembly load and unload repeatedly, and then has guaranteed the dependability of assembling and disassembling manipulator.Preferably, controller is control chip.Controller is connected with motor, for controlling motor forward or reverse.
Assembling and disassembling manipulator in the utility model also comprises input block and counting element, and input block is connected with controller, for the closed number of times of configuration switch element, forward time and the reversing time of motor; Counting element is connected with controller, sends a signal to controller, so that controller gauge tap element is in normally open while reaching setting value for the closed number of times when switch element.Owing to being provided with input block, thereby can set forward time and the reversing time of the closed number of times of switch element, motor, thereby improve the dependability of assembling and disassembling manipulator.Certainly, the parameters such as closing time interval of input block configuration switch element be can also pass through, thereby Man machine interaction and the dependability of assembling and disassembling manipulator further improved.Preferably, input block is for setting button.Preferably, counting element is counter.
Assembling and disassembling manipulator in the utility model also comprises display unit, and display unit is connected with controller, for the closed number of times of switch element of display setting and/or the closed number of times of the switch element of counting element physical record.Owing to being provided with display unit, thereby staff can inquire about by display unit the duty of assembling and disassembling manipulator, thereby improved Man machine interaction and the dependability of assembling and disassembling manipulator.The information such as the forward time of the motor that certainly, display unit can also display setting and reversing time.Preferably, display unit is charactron.
Assembling and disassembling manipulator in the utility model also wraps buzzer, for input block is operated, display unit shows that information, motor forward put in place, motor reversal puts in place, when motor power on/off etc., sound production prompt.
Preferably, switch element is relay.Because relay has regularly the function on break-make road, thereby can control the running status of motor, thereby realize repeatedly the operation of workpiece loading and unloading.Staff realizes the control to relay by controller.
Assembling and disassembling manipulator in the utility model also comprises emergency stop switch, and emergency stop switch is connected with controller, for cutoff circuit and power supply.When assembling and disassembling manipulator fault or while meeting accident accident, staff is by triggering emergency stop switch, to realize the manual intervention to assembling and disassembling manipulator, thereby reduces accident rate, improved the dependability of assembling and disassembling manipulator.
Assembling and disassembling manipulator in the utility model also comprises memory cell, and memory cell is connected with controller.Owing to being provided with memory cell, thereby the running state information such as real time data of the closed number of times of setting, closing time interval, counting element all can be stored in memory cell, so that staff's inquiry, thereby have guaranteed the dependability of assembling and disassembling manipulator.And when the anxious stopping time of assembling and disassembling manipulator, memory cell also can be preserved the running state information in anxious stopping time, so that device can recover the running status before power-off while reruning, thereby improved the operational reliability of assembling and disassembling manipulator, reduced manual intervention.
That assembling and disassembling manipulator in the utility model has is easy for installation, it is simple to control, power-fail memory function, automaticity are high, the feature of low cost of manufacture.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (12)
1. an assembling and disassembling manipulator, is characterized in that, comprising:
For what pick and place detected workpiece, pick and place assembly (10);
Transmission arm (20), described in pick and place the first end that assembly (10) is arranged on described transmission arm (20);
Supporting component (30), described transmission arm (20) is flexibly connected with described supporting component (30);
Drive division (40), described drive division (40) drives and is connected with described transmission arm (20).
2. assembling and disassembling manipulator according to claim 1, is characterized in that, described in pick and place assembly (10) and comprising:
Press section (11);
Extraction unit (12), the press-side interval of the extraction end of described extraction unit (12) and described press section (11) arranges.
3. assembling and disassembling manipulator according to claim 2, is characterized in that, described press section (11) are briquetting, and described briquetting is arranged on the end of the first end of described transmission arm (20) along the bearing of trend of described transmission arm (20).
4. assembling and disassembling manipulator according to claim 3, it is characterized in that, described extraction unit (12) is hook, described hook is arranged on the end of the first end of described transmission arm (20) along the bearing of trend of described transmission arm (20), and the hooking end of described hook stretches out towards a side at described briquetting place.
5. assembling and disassembling manipulator according to claim 1, is characterized in that, described transmission arm (20) is slidably arranged on described supporting component (30).
6. assembling and disassembling manipulator according to claim 5, is characterized in that, described supporting component (30) comprising:
Supporting plate (31);
Guide part (32), it is upper that described guide part (32) is arranged on described supporting plate (31), and described transmission arm (20) is slidably connected by described guide part (32) and described supporting plate (31).
7. assembling and disassembling manipulator according to claim 6, it is characterized in that, described guide part (32) comprises a plurality of spaced leads (32a), between a plurality of described leads (32a), forms guide space, and the second end of described transmission arm (20) is slidably arranged in described guide space.
8. assembling and disassembling manipulator according to claim 1, is characterized in that, described transmission arm (20) is arc transmission arm.
9. assembling and disassembling manipulator according to claim 6, it is characterized in that, described assembling and disassembling manipulator also comprises underframe (50), it is upper that described supporting plate (31) is arranged on described underframe (50) position-movablely, and described in pick and place the direction of motion of assembly (10) and vertical setting the in upper surface of described underframe (50).
10. assembling and disassembling manipulator according to claim 9, is characterized in that, described supporting component (30) also comprises support sloping platform (33), and described supporting plate (31) is slidably arranged on described underframe (50) by described support sloping platform (33).
11. assembling and disassembling manipulators according to claim 10, is characterized in that, described support sloping platform (33) comprising:
The first gripper shoe (33a), described supporting plate (31) is arranged in described the first gripper shoe (33a);
The second gripper shoe (33b), the first end of described the first gripper shoe (33a) is connected with the first end of described the second gripper shoe (33b), it is upper that described the second gripper shoe (33b) is slidably arranged in described underframe (50), and have angle between described the first gripper shoe (33a) and described the second gripper shoe (33b);
For regulating the regulating connecting rod (33c) of described angle, the second end of described the first gripper shoe (33a) is connected with the second end of described the second gripper shoe (33b) by described regulating connecting rod (33c).
12. assembling and disassembling manipulators according to claim 10, it is characterized in that, described assembling and disassembling manipulator also comprises locking member (60), the upper surface of described underframe (50) has slippage slotted hole (51), and described support sloping platform (33) is slidably arranged in the interior also locking of described slippage slotted hole (51) of described underframe (50) by described locking member (60).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320725423.0U CN203527456U (en) | 2013-11-15 | 2013-11-15 | Loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320725423.0U CN203527456U (en) | 2013-11-15 | 2013-11-15 | Loading and unloading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203527456U true CN203527456U (en) | 2014-04-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320725423.0U Expired - Fee Related CN203527456U (en) | 2013-11-15 | 2013-11-15 | Loading and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203527456U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626097A (en) * | 2013-11-15 | 2015-05-20 | 珠海格力电器股份有限公司 | Loading and unloading mechanical hand |
-
2013
- 2013-11-15 CN CN201320725423.0U patent/CN203527456U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626097A (en) * | 2013-11-15 | 2015-05-20 | 珠海格力电器股份有限公司 | Loading and unloading mechanical hand |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140409 Termination date: 20211115 |
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| CF01 | Termination of patent right due to non-payment of annual fee |