CN203726480U - Intelligent correction vacuum manipulator - Google Patents
Intelligent correction vacuum manipulator Download PDFInfo
- Publication number
- CN203726480U CN203726480U CN201320885294.1U CN201320885294U CN203726480U CN 203726480 U CN203726480 U CN 203726480U CN 201320885294 U CN201320885294 U CN 201320885294U CN 203726480 U CN203726480 U CN 203726480U
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- Prior art keywords
- rolling disc
- assembly
- arm
- mechanical
- motor
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Abstract
The utility model provides an intelligent correction vacuum manipulator. The intelligent correction vacuum manipulator comprises a vacuum generator, a visual recognition system, a workbench, a rotating disk assembly, a manipulator bracket, a motion assembly and a manipulator assembly, wherein the rotating disk assembly is arranged on the workbench; the manipulator bracket is arranged on the workbench; the motion assembly is arranged on the manipulator bracket; the manipulator assembly is arranged on the motion assembly; the vacuum generator is connected with the manipulator assembly; the visual recognition system is arranged above the rotating disk assembly. The intelligent correction vacuum manipulator has intelligent recognition and automatic correction functions; meanwhile, workpieces are adsorbed by adopting a vacuum adsorption method, thereby realizing adsorption reliability and preventing damages to the workpieces.
Description
Technical field
The utility model relates to industrial production automation field, and specifically a kind of intelligence is revised vacuum mechanical-arm.
Background technology
Industry in automatically producing needs workpiece to move or assemble often.For many workpiece, in the time of mobile or assembling, there is to specific requirement in the orientation of putting.Especially for the workpiece such as circuit board one class, in feeding process, putting of circuit board is all rambling, needs to adjust the orientation of putting when moving or assembling.Meanwhile, circuit board shaped flat, comparatively accurate, be generally easier to damage.
In prior art, the general manipulator that adopts of the movement of workpiece or assembling completes.But general manipulator does not possess Intelligent Recognition, self-adjusting function, workpiece cannot be moved or assembles in strict accordance with the predetermined orientation of putting.Meanwhile, for the workpiece such as circuit board one class, capture comparatively difficulty, and general manipulator easily damages circuit board workpiece while capturing.
Being not difficult to find out, also there is certain defect in prior art.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of intelligence and revises vacuum mechanical-arm, possesses Intelligent Recognition, the automatic function of revising; Meanwhile, adopt the method absorption workpiece of vacuum suction, adsorption reliability, is difficult for defective work piece.
For achieving the above object, the utility model provides following technical scheme:
A kind of intelligence is revised vacuum mechanical-arm, comprises vacuum generator and video recognition system, also comprises: workbench, rolling disc assembly, manipulator support, motion assembly and mechanical arm assembly; Rolling disc assembly is arranged on workbench; Manipulator support is arranged on workbench; Motion assembly is arranged on manipulator support; Mechanical arm assembly is arranged on motion assembly; Vacuum generator is connected with mechanical arm assembly; Video recognition system is arranged on rolling disc assembly top.
Further, described rolling disc assembly comprises: rolling disc, rolling disc axle, bearing, flange seat and rolling disc motor; Rolling disc is arranged on the upper end of rolling disc axle; On rolling disc axle, bearing is housed; Flange seat is enclosed within rolling disc axle periphery, is vertically supporting rolling disc axle; Rotary electric machine is arranged on workbench below.
Further, between described rolling disc axle and rolling disc motor, adopt gear drive.
Further, between described rolling disc axle and rolling disc motor, adopt band transmission.
Further, described rolling disc is provided with hopper.
Further, described rolling disc motor is servomotor.
Further, described motion assembly comprises: Pneumatic slid platform, horizontal guide rail slide block, horizontal movement plate, cylinder, upright guide rail slide block and vertical motion plate; Pneumatic slid platform level is arranged on manipulator support; Horizontal guide rail slide block is arranged on manipulator support, and horizontal guide rail slide block and Pneumatic slid platform are arranged in parallel; Between Pneumatic slid platform and horizontal guide rail slide block, be connected by horizontal movement plate; Cylinder is arranged on horizontal movement plate; Upright guide rail slide block is arranged on horizontal movement plate; Vertical motion plate is arranged on vertical motion slide block, and is connected with cylinder.
Further, described motion assembly also comprises two inductive switches; Inductive switch is arranged on manipulator support.
Further, described motion assembly also comprises two bolts; Bolt is arranged on manipulator support, is positioned at the Origin And Destination of Pneumatic slid platform stroke.
Further, described mechanical arm assembly comprises: revise motor, rotating shaft, gas dish, base plate and suction nozzle; Revising motor is vertically arranged on vertical motion plate; Rotating shaft is connected with manipulator motor; Gas dish is arranged in rotating shaft, and gas dish is connected with vacuum generator; Chassis is arranged on the bottom of rotating shaft; Suction nozzle is arranged on below base plate, and suction nozzle is connected by pipeline with gas dish.
Further, described correction motor is servomotor, revises motor and is provided with decelerator.
Further, the quantity of described suction nozzle is no less than 3.
Further, described mechanical arm assembly also comprises inductive switch; Inductive switch is arranged on vertical motion plate.
A kind of intelligence provided by the utility model is revised vacuum mechanical-arm, adopts the orientation of putting of video recognition system Intelligent Recognition workpiece, and revises the orientation of putting of workpiece by identifying information intelligence; , by suction nozzle and vacuum generator, workpiece is adsorbed, absorption is steadily reliable, prevents defective work piece meanwhile.
Brief description of the drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
A kind of intelligence that Fig. 1 provides for the utility model embodiment is revised the structural representation of vacuum mechanical-arm;
Fig. 2 is the structural representation of motion assembly and mechanical arm assembly.
Description of reference numerals:
1, workbench 2, rolling disc assembly
3, manipulator support 4, motion assembly
5, mechanical arm assembly 6, video recognition system
7, rolling disc 8, flange seat
9, Pneumatic slid platform 10, horizontal guide rail slide block
11, horizontal movement plate 12, cylinder
13, upright guide rail slide block 14, vertical motion plate
15, revise motor 16, gas dish
17, rotating shaft 18, base plate
19, suction nozzle
Detailed description of the invention
For making object, technical scheme and the advantage of the utility model embodiment clearer, below in conjunction with the utility model embodiment and accompanying drawing, the technical scheme in the utility model embodiment is clearly and completely described.It should be noted that, described embodiment is only the utility model part embodiment, instead of whole embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of the utility model protection.
Embodiment
It should be noted that, the present embodiment is preferably applied to the manufacturing of LED light fixture.
Refer to Fig. 1, a kind of intelligence is revised vacuum mechanical-arm, comprises vacuum generator (not shown) and video recognition system 6, also comprises: workbench 1, rolling disc assembly 2, manipulator support 3, motion assembly 4 and mechanical arm assembly 5.
Workbench 1 is for working face is provided, and all the other members of erection unit.
Rolling disc assembly 2, for the workpiece of sending into is carried one by one, and provides space to give video recognition system 6 to carry out imaging identification work; Rolling disc assembly 2 is arranged on workbench 1.
Rolling disc assembly 2 comprises: rolling disc 7, rolling disc axle (not shown), bearing (not shown), flange seat 8 and rolling disc motor (not shown); Rolling disc 7 is arranged on the upper end of rolling disc axle; On rolling disc axle, bearing is housed; Flange seat 8 is enclosed within rolling disc axle periphery, is vertically supporting rolling disc axle; Rotary electric machine is arranged on workbench 1 below.Rolling disc 7 is provided with hopper.Rolling disc motor is servomotor.
As preferably, in the present embodiment, between rolling disc axle and rolling disc motor, adopt gear drive.
When rolling disc assembly 2 is worked, workpiece is sent into from a side of rolling disc 7, and is stuck on the hopper on rolling disc 7.Then rolling disc motor rotation, drives rolling disc axle to rotate corresponding angle by gear drive.Rolling disc 7, under the drive of rolling disc axle, rotates corresponding angle.When rolling disc 7 rotates after predetermined angle, rolling disc motor stops, and mechanical arm assembly 5 and video recognition system 6 are utilized this section of dead time work, and external equipment utilizes this period of dead time to carry out sending into of next workpiece simultaneously.The working method of mechanical arm assembly 5 and video recognition system 6 will below describe in detail.
Locate the above-described kind of drive, between rolling disc axle and rolling disc motor, can adopt band transmission.
With respect to the gear-driven kind of drive, be with unique difference of transmission: band transmission adopts belt to replace gear to carry out transmission.Working method when rolling disc assembly 2 adopts this scheme, in full accord during with employing gear drive, do not repeat them here.
Manipulator support 3, for mounted movable assembly 4 and mechanical arm assembly 5; Manipulator support 3 is arranged on workbench 1.
Refer to Fig. 2, motion assembly 4, does the motion on level, vertical both direction for carrying mechanical arm assembly 5; Motion assembly 4 is arranged on manipulator support 3.
Motion assembly 4 comprises: Pneumatic slid platform 9, horizontal guide rail slide block 10, horizontal movement plate 11, cylinder 12, upright guide rail slide block 13 and vertical motion plate 14; Pneumatic slid platform 9 levels are arranged on manipulator support 3; Horizontal guide rail slide block 10 is arranged on manipulator support 3, and horizontal guide rail slide block 10 is arranged in parallel with Pneumatic slid platform 9; Between Pneumatic slid platform 9 and horizontal guide rail slide block 10, be connected by horizontal movement plate 11; Cylinder 12 is arranged on horizontal movement plate 11; Upright guide rail slide block 13 is arranged on horizontal movement plate 11; Vertical motion plate 14 is arranged on vertical motion slide block, and is connected with cylinder 12.
Motion assembly 4 also comprises two inductive switches (not shown); Inductive switch is arranged on manipulator support 3.Inductive switch sends induced signal at the Origin And Destination of Pneumatic slid platform 9 strokes respectively.The induced signal that inductive switch sends is the feedback to equipment working state, can help to control the cooperating of all the other members.
Motion assembly 4 also comprises two bolts (not shown); Bolt is arranged on manipulator support 3, is positioned at the Origin And Destination of Pneumatic slid platform 9 strokes.Because Pneumatic slid platform 9 is one of pneumatic element, stroke location is difficult to control, and bolt plays good position-limiting action, helps Pneumatic slid platform 9 to carry out the location of stroke.
Horizontal movement plate 11 is taking Pneumatic slid platform 9 as driving, and under the guiding of horizontal guide rail slide block 10, along continuous straight runs moves.In the time of the start position of Pneumatic slid platform 9 at stroke, horizontal movement plate 11 is collided with the bolt that is positioned at start of a run, and the inductive switch that is positioned at start of a run can send induced signal.When Pneumatic slid platform 9 moves to the terminal of stroke, horizontal movement plate 11 is collided with the bolt that is positioned at stroke end, and bolt restriction Pneumatic slid platform 9 is moved further.The inductive switch that is now positioned at stroke end can send induced signal.By regulating the length of bolt and the position of inductive switch, the i.e. starting point of capable of regulating Pneumatic slid platform 9 strokes and the position of terminal.
Be mounted in vertical motion plate 14 and cylinder 12 on horizontal movement plate 11, move horizontally with horizontal movement plate 11.In the time that cylinder 12 stretches out, vertical motion plate 14 moves upward under the guiding of upright guide rail slide block 13; Otherwise in the time that cylinder 12 shrinks, vertical motion plate 14 moves downward under the guiding of upright guide rail slide block 13.
Thus, the mechanical arm assembly 5 being arranged on vertical motion plate 14 can freely-movable on level, vertical both direction.
Mechanical arm assembly 5, for adsorbing workpiece, puts orientation according to the information of video recognition system 6 to workpiece simultaneously and carries out intelligence correction; Mechanical arm assembly 5 is arranged on motion assembly 4.
Mechanical arm assembly 5 comprises: revise motor 15, rotating shaft 17, gas dish 16, base plate 18 and suction nozzle 19; Revising motor 15 is vertically arranged on vertical motion plate 14; Rotating shaft 17 is connected with manipulator motor; Gas dish 16 is arranged in rotating shaft 17, and gas dish 16 is connected with vacuum generator; Chassis is arranged on the bottom of rotating shaft 17; Suction nozzle 19 is arranged on below base plate 18, and suction nozzle 19 is connected by pipeline with gas dish 16.
Revising motor 15 is servomotor, revises motor 15 and is provided with decelerator (not shown).Owing to revising, motor 15 rotating speeds are very fast, and need to rotate specific angle according to the needs of angle correction, and in order to make rotation more steady, rotational angle is more accurate, revise motor 15 and are provided with decelerator.
The quantity of suction nozzle 19 is no less than three.According to geometrical principle, determine a plane at 3.Suction nozzle 19 volumes are tiny, less with the application point of workpiece.Steadily reliable in order to ensure absorption of workpieces, therefore the quantity of suction nozzle 19 is no less than three.
Mechanical arm assembly 5 also comprises inductive switch; Inductive switch is arranged on vertical motion plate 14.Revising after the specific angle of motor 15 each rotation, all need to carry out homing action.The initial angle of inductive switch energy mark correction motor 15, when reset, is reset to initial angle as long as revise motor 15, and inductive switch can feedback-induced signal, and order is revised motor 15 and stopped operating.
Vacuum generator, is used to the suction nozzle 19 of mechanical arm assembly 5 to manufacture certain vacuum, makes suction nozzle 19 produce absorption affinity to workpiece; Vacuum generator is connected with mechanical arm assembly 5.
Video recognition system 6, carries out imaging identification for the orientation that workpiece is put, and feeds back identifying information; Video recognition system 6 is arranged on rolling disc assembly 2 tops.
When mechanical arm assembly 5 is worked, imaging identification is carried out in the orientation that video recognition system 6 is first put workpiece.Mechanical arm assembly 5 moves to workpiece top, according to the identifying information of video recognition system 6, revises motor 15 and rotates corresponding angle.Then suction nozzle 19 and surface of the work laminating, vacuum generator is started working, and makes suction nozzle 19 produce certain vacuum, and suction nozzle 19 produces absorption affinity to workpiece, absorption workpiece.Revise subsequently motor 15 reset rotations, until rotate to the initial angle of inductive switch institute mark, inductive switch feeds back induced signal, and order is revised motor 15 and stopped operating.
The job step that a kind of intelligence of the utility model is revised vacuum mechanical-arm is as follows:
First, external equipment is sent into unit one from a side of rolling disc 7, and unit one is stuck in the hopper of rolling disc 7.Rolling disc 7, under the driving of rolling disc motor, rotates a certain angle and then pauses, and makes the next hopper of rolling disc 7 aim at outside feeder equipment.
Now, first workpiece being admitted under the rotation of rolling disc 7, be carried to video recognition system 6 under.Video recognition system 6 is worked, and unit one is carried out to imaging identification, and feedback identifying information is to system.System is carried out computing by identifying information, calculates the anglec of rotation that needs correction.Meanwhile, outside feeder equipment is sent into second workpiece in the hopper of rolling disc 7.
Then, rolling disc 7 continues under the driving of rolling disc motor, after rotating a certain angle, pauses.Now first workpiece being admitted to be moved to mechanical arm assembly 5 under; Second workpiece being admitted to be moved to video recognition system 6 under.Mechanical arm assembly 5 starts action, revises motor 15 by the operation result of system, rotates corresponding angle correction.Then motion assembly 4 starts action, and cylinder 12 shrinks, and vertical motion plate 14 moves down, and carries mechanical arm assembly 5 and moves downward, and suction nozzle 19 and workpiece are fitted tightly.Vacuum generator starts action, manufactures certain vacuum for suction nozzle 19, makes suction nozzle 19 produce absorption affinity to workpiece.Hold after workpiece, the cylinder 12 of motion assembly 4 stretches out, and driving mechanical hand assembly 5 moves upward, and workpiece is mentioned.Then revise motor 15 reset rotations, until the inductive switch on mechanical arm assembly 5 sends induced signal, order is revised motor 15 and is stopped operating, and completes homing action.Meanwhile, video recognition system 6 is carried out imaging identification to second workpiece being admitted to, and feedback identifying information is carried out computing to system.Outside feeder equipment is sent into the 3rd workpiece in the hopper of rolling disc 7.
Subsequently, motion assembly 4 moves, and Pneumatic slid platform 9 moves to the terminal direction of stroke from the starting point of stroke.Horizontal movement plate 11, using Pneumatic slid platform 9 as driving, moves horizontally under the guiding of horizontal guide rail slide block 10, carries mechanical arm assembly 5 and moves to follow-up equipment.Until horizontal movement plate 11 is collided with the bolt that is positioned at stroke end, the inductive switch that is positioned at stroke end feeds back after induced signal, and cylinder 12 shrinks once again, drives vertical motion plate 14 to move down, and carries mechanical arm assembly 5 and moves downward, and puts down workpiece.Then vacuum generator quits work, and suction nozzle 19 no longer produces absorption affinity to workpiece, thereby unclamps workpiece.
Finally, motion assembly 4 moves, and cylinder 12 stretches out, and mechanical arm assembly 5 is upwards mentioned, and Pneumatic slid platform 9 does reseting movement from stroke end to start of a run direction.Until horizontal movement plate 11 is collided with the bolt that is positioned at start of a run, the inductive switch that is positioned at start of a run feeds back after induced signal, and homing action completes.Rolling disc 7 by second workpiece movable of sending into mechanical arm assembly 5 belows, and by the 3rd workpiece movable of sending into video recognition system 6 belows, simultaneously outside feeder equipment is sent into the 4th workpiece in the hopper of rolling disc 7.
A kind of intelligence provided by the utility model is revised vacuum mechanical-arm, adopts video recognition system 6 to carry out imaging identification to workpiece, and goes out identification signal to system feedback.System calculates by identification signal the angle that workpiece need to be revised, and the correction motor 15 of controlling mechanical arm assembly 5 rotates corresponding angle correction, reaches workpiece and put the object of orientation correction.
Meanwhile, the utility model adopts the method for vacuum suction, is that suction nozzle 19 is manufactured certain vacuum by vacuum generator, when suction nozzle 19 is contacted with surface of the work, workpiece is produced to absorption affinity, thus absorption workpiece.Adopt the mode of absorption to replace the crawl of workpiece, without surface of the work being applied to crawl pressure, avoid the scratch to precise part.Accurate for structure, volume is tiny, the workpiece that weight is light and handy, and protection effect is particularly outstanding.
The above embodiment has only expressed a kind of embodiment of the present utility model, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (13)
1. intelligence is revised a vacuum mechanical-arm, comprises vacuum generator and video recognition system, it is characterized in that, also comprises: workbench, rolling disc assembly, manipulator support, motion assembly and mechanical arm assembly; Rolling disc assembly is arranged on workbench; Manipulator support is arranged on workbench; Motion assembly is arranged on manipulator support; Mechanical arm assembly is arranged on motion assembly; Vacuum generator is connected with mechanical arm assembly; Video recognition system is arranged on rolling disc assembly top.
2. intelligence according to claim 1 is revised vacuum mechanical-arm, it is characterized in that, described rolling disc assembly comprises: rolling disc, rolling disc axle, bearing, flange seat and rolling disc motor; Rolling disc is arranged on the upper end of rolling disc axle; On rolling disc axle, bearing is housed; Flange seat is enclosed within rolling disc axle periphery, is vertically supporting rolling disc axle; Rotary electric machine is arranged on workbench below.
3. intelligence according to claim 2 is revised vacuum mechanical-arm, it is characterized in that: between described rolling disc axle and rolling disc motor, adopt gear drive.
4. intelligence according to claim 2 is revised vacuum mechanical-arm, it is characterized in that: between described rolling disc axle and rolling disc motor, adopt band transmission.
5. intelligence according to claim 2 is revised vacuum mechanical-arm, it is characterized in that: described rolling disc is provided with hopper.
6. intelligence according to claim 2 is revised vacuum mechanical-arm, it is characterized in that: described rolling disc motor is servomotor.
7. intelligence according to claim 1 is revised vacuum mechanical-arm, it is characterized in that, described motion assembly comprises: Pneumatic slid platform, horizontal guide rail slide block, horizontal movement plate, cylinder, upright guide rail slide block and vertical motion plate; Pneumatic slid platform level is arranged on manipulator support; Horizontal guide rail slide block is arranged on manipulator support, and horizontal guide rail slide block and Pneumatic slid platform are arranged in parallel; Between Pneumatic slid platform and horizontal guide rail slide block, be connected by horizontal movement plate; Cylinder is arranged on horizontal movement plate; Upright guide rail slide block is arranged on horizontal movement plate; Vertical motion plate is arranged on vertical motion slide block, and is connected with cylinder.
8. intelligence according to claim 7 is revised vacuum mechanical-arm, it is characterized in that: described motion assembly also comprises two inductive switches; Inductive switch is arranged on manipulator support.
9. intelligence according to claim 7 is revised vacuum mechanical-arm, it is characterized in that: described motion assembly also comprises two bolts; Bolt is arranged on manipulator support, is positioned at the Origin And Destination of Pneumatic slid platform stroke.
10. intelligence according to claim 7 is revised vacuum mechanical-arm, it is characterized in that, described mechanical arm assembly comprises: revise motor, rotating shaft, gas dish, base plate and suction nozzle; Revising motor is vertically arranged on vertical motion plate; Rotating shaft is connected with manipulator motor; Gas dish is arranged in rotating shaft, and gas dish is connected with vacuum generator; Chassis is arranged on the bottom of rotating shaft; Suction nozzle is arranged on below base plate, and suction nozzle is connected by pipeline with gas dish.
11. intelligence according to claim 10 are revised vacuum mechanical-arm, it is characterized in that: described correction motor is servomotor, revise motor and are provided with decelerator.
12. intelligence according to claim 10 are revised vacuum mechanical-arm, it is characterized in that: the quantity of described suction nozzle is no less than 3.
13. intelligence according to claim 10 are revised vacuum mechanical-arm, it is characterized in that: described mechanical arm assembly also comprises inductive switch; Inductive switch is arranged on vertical motion plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320885294.1U CN203726480U (en) | 2013-12-27 | 2013-12-27 | Intelligent correction vacuum manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320885294.1U CN203726480U (en) | 2013-12-27 | 2013-12-27 | Intelligent correction vacuum manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203726480U true CN203726480U (en) | 2014-07-23 |
Family
ID=51196586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320885294.1U Expired - Fee Related CN203726480U (en) | 2013-12-27 | 2013-12-27 | Intelligent correction vacuum manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203726480U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002294A (en) * | 2013-12-27 | 2014-08-27 | 广州奥迪通用照明有限公司 | Vacuum intelligent correction manipulator |
| CN108956977A (en) * | 2018-08-15 | 2018-12-07 | 烟台艾德康生物科技有限公司 | A kind of enzyme linked immunological transfer device and enzyme-linked immunologic workstation |
| CN111496519A (en) * | 2019-01-31 | 2020-08-07 | 浙江巨力电机成套设备有限公司 | Automatic material taking and assembling mechanical device for planet gear carrier |
-
2013
- 2013-12-27 CN CN201320885294.1U patent/CN203726480U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002294A (en) * | 2013-12-27 | 2014-08-27 | 广州奥迪通用照明有限公司 | Vacuum intelligent correction manipulator |
| CN108956977A (en) * | 2018-08-15 | 2018-12-07 | 烟台艾德康生物科技有限公司 | A kind of enzyme linked immunological transfer device and enzyme-linked immunologic workstation |
| CN111496519A (en) * | 2019-01-31 | 2020-08-07 | 浙江巨力电机成套设备有限公司 | Automatic material taking and assembling mechanical device for planet gear carrier |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20140723 Termination date: 20151227 |
|
| EXPY | Termination of patent right or utility model |