CN204295678U - A kind of robot - Google Patents
A kind of robot Download PDFInfo
- Publication number
- CN204295678U CN204295678U CN201420803529.2U CN201420803529U CN204295678U CN 204295678 U CN204295678 U CN 204295678U CN 201420803529 U CN201420803529 U CN 201420803529U CN 204295678 U CN204295678 U CN 204295678U
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- hydraulic motor
- vertical rod
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- motor
- robot
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Abstract
The utility model is a kind of robot, is provided with hollow vertical rod in vertical rod sleeve; Screw mandrel, screw are installed in hollow vertical rod; The gear mechanism and gear transmission motor that are connected with screw mandrel lower end are also installed; First hydraulic motor of inside, large arm termination is connected with fixed axis, and the lower end of fixed axis is fixed in hollow vertical rod; The QL inside that large arm termination connects is provided with the second hydraulic motor, and the first turning cylinder that the second hydraulic motor connects also is connected with turning arm termination; Turning arm termination is connected with LL; 3rd hydraulic motor of inside, turning arm termination is connected with the second turning cylinder; Second turning cylinder is fixedly connected with forearm termination; Forearm termination is connected with robot device.Adapt to requirement that is multi-direction, multi-angle composite move, complicated manual labor can be completed.For in construction, can automatic wall-building, plaster, patch block, improve the efficiency of construction of masonry project and construction quality, reduce labour intensity and construction cost.
Description
Technical field
The utility model relates to a kind of robot, can be used for building a wall, plasters, the CONSTRUCTION OPERATIONS such as patch block, also can be used as industrial robot.
technical background
Building industry is the pillar industry of China, plays leading role in national economy.In the process of building building, when after agent structure completion, enter the construction of masonry project.The method that tradition is built by laying bricks or stones is by manually completing, and is piled up on request by brick wall by operating personnel, and construction speed is slow, and labour intensity is large, poor working environment.And rely on the cost of manual labor more and more higher.Therefore construction industry can replace in the urgent need to a kind of the robot manually implementing masonry project operation.
Due to the inherent shortcoming of structural design, existing industrial robot can only complete more single action, is used in complex labour and there is obvious limitation, cannot adapt to requirement that is multi-direction, multi-angle composite move.
Summary of the invention
Technical problem to be solved by this invention is, provides a kind of robot, adapts to requirement that is multi-direction, multi-angle composite move, can complete complicated manual labor.For in construction, can automatic wall-building, plaster, patch block, improve the efficiency of construction of masonry project and construction quality, reduce labour intensity and construction cost.
It is as follows that the utility model solves the technical scheme that its technical problem adopts:
A kind of robot, is characterized in that: comprise the support being provided with road wheel, support is provided with vertical rod sleeve and in vertical rod sleeve, is provided with the hollow vertical rod of stretching out from vertical rod sleeve upper end; In hollow vertical rod, screw mandrel is installed, coordinates the screw be arranged on screw mandrel to be fixedly connected with described hollow vertical rod; Lifting motor support being also provided with the driven gear be connected with described screw mandrel lower end, the driving gear be meshed with driven gear and being connected with driving gear; Also comprise the large arm termination being arranged on hollow vertical rod upper end; Inside, large arm termination is fixed with the first hydraulic motor, and the housing of the first hydraulic motor is connected with large arm termination; First hydraulic motor is connected with the fixed axis be positioned at below the first hydraulic motor by the first shaft coupling, the lower end of fixed axis directly or be fixed on the upper end of hollow vertical rod by bindiny mechanism; The side of large arm termination is fixedly connected with QL; QL inside is provided with the second hydraulic motor, and the outside of the second hydraulic motor is connected with the first turning cylinder by the second shaft coupling, and the outer end of the first turning cylinder is fixedly connected with turning arm termination; Lower end, turning arm termination is connected with LL; Inside, turning arm termination is provided with the 3rd hydraulic motor, and the 3rd hydraulic motor is connected with the second turning cylinder be positioned at below the 3rd hydraulic motor by the 3rd shaft coupling; Second turning cylinder lower end is fixedly connected with forearm termination; Forearm termination is connected with robot device by forearm.
Described robot device is comprised rotating shaft case and is positioned at the link case also by being connected with rotating shaft case by connecting axle below rotating shaft case; Rotating shaft case inside is provided with the forearm spindle nose be connected with described forearm; Link case inside is provided with hydraulic shunt pump, and hydraulic shunt pump is with each expansion link in left and right, and there is drive rod the outer end of expansion link by pinned connection, and drive rod is connected with gripper by alignment pin; Be provided with electric rotating machine in rotating shaft case, the motor shaft of electric rotating machine is provided with driven wheel, this driven wheel and the fluted disc be fixed on link case intermesh.
Described support is also provided with hinged quadric chain, and hinged quadric chain is connected with pallet.
Also comprise automatic cement applicator, automatic cement applicator comprises shell and is positioned at the cloth ash motor of enclosure; The output shaft end of cloth ash motor is connected with bevel driving gear; Enclosure is also provided with pushing spiral bar, and the rear end of pushing spiral bar is with the umbrella shape driven gear be meshed with bevel driving gear; One end of shell is provided with discharging opening, and discharge outlet establishes hatch door, and hatch door side is arranged in slideway; Hatch door top is connected with connecting rod by steady pin, and the other end of connecting rod is connected with magnetic valve.
Good effect of the present utility model is:
The first, achieve the automated job of masonry project, make building construction safer, quick, improve efficiency of construction and quality, reduce construction cost.The second, adopt turning arm and manipulator work compound, farthest can meet the needs of all kinds masonry project, such as process small size hole.Three, automatically the employing of cement applicator can make building process cloth ash evenly, saves consumption, mortar can in cement applicator Keep agitation, the workability of mortar is good.Four, also can be used as industrial robot, complete complicated manual labor that is multi-direction, multi-angle composite move.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model.
Fig. 2 is the structural representation of the utility model manipulator.
Fig. 3 is the structural representation of the utility model automatic cloth ash machine.
Fig. 4 is the plane of the utility model automatic cloth ash machine discharging opening side.
Detailed description of the invention
The utility model is further illustrated below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, embodiment of the present utility model comprises the support 33 being provided with four universal wheels.In order to adjust the levelness of machine and ground, bottom support 33, corner is also respectively equipped with supporting leg 32, adjusting supporting leg 32 height, determining the flatness of machine by observing the automatic leveling compensator being arranged on robot base by adjusting lever 34.
Support 33 is provided with vertical rod sleeve 35 and the hollow vertical rod 38 of stretching out from vertical rod sleeve 35 upper end is installed in vertical rod sleeve 35.Screw mandrel 37 is installed in hollow vertical rod 38, coordinates the screw 36 be arranged on screw mandrel 37 to be fixedly connected with described hollow vertical rod 38.During the forward and reverse rotation of screw mandrel 37, drive hollow vertical rod 38 along the barrel axially lifting of vertical rod sleeve 35 by screw 36.By the adjustable height of the height gauge determination hollow vertical rod 38 on vertical rod sleeve 35.The lifting motor 29 support 33 being also provided with the driven gear 31 be connected with described screw mandrel 37 lower end, the driving gear 30 be meshed with driven gear 31 and being connected with driving gear 30.
Hollow vertical rod 38 upper end is provided with large arm termination 41.Inside, large arm termination 41 is fixed with the first hydraulic motor 3, the housing of the first hydraulic motor 3 is connected with large arm termination 41, first hydraulic motor 3 top is provided with the first pressure distributor 1, controlled the oil mass of the first oil-in 42 on the first pressure distributor 1 and the first oil-out 2 by high-voltage tube, regulate the rotating speed of the first hydraulic motor 3.First hydraulic motor 3 is connected with the fixed axis 39 be positioned at below the first hydraulic motor 3 by the first shaft coupling 40, the upper end of hollow vertical rod 38 is fixed in the lower end of fixed axis 39 by winning in succession bottom large arm termination 41.The side of large arm termination 41 is fixedly connected with QL 4.When first hydraulic motor 3 works, due to the fixation of fixed axis 39, make the housing rotation of the first hydraulic motor 3, the housing rotation of the first hydraulic motor 3 drives large arm termination 41 to rotate around fixed axis 39, and then drives QL 4 teeter.
The inner side that QL 4 inside is provided with the second hydraulic motor 8, second hydraulic motor 8 is provided with the second pressure distributor 5, is controlled the oil mass of the second oil-in 6 and the second oil-out 7, regulate the rotating speed of the second hydraulic motor 8 by high-voltage tube.The outer end that the outside of the second hydraulic motor 8 is connected with the first turning cylinder 10, first turning cylinder 10 by the second shaft coupling 9 is fixedly connected with turning arm termination 14.Turning arm termination 14 is connected with LL 18.LL 18 longitudinal oscillation is driven by the first turning cylinder 10 and turning arm termination 14 when second hydraulic motor 8 works.
Inside, turning arm termination 14 is provided with the 3rd hydraulic motor the 15, three hydraulic motor 15 top and is provided with the 3rd pressure distributor 12, is controlled the oil mass of the 3rd oil-in 11 and the 3rd oil-out 13, regulate the rotating speed of the 3rd hydraulic motor 15 by high-voltage tube.3rd hydraulic motor 15 is connected with the second turning cylinder 17 be positioned at below the 3rd hydraulic motor 15 by the 3rd shaft coupling 16.Second turning cylinder 17 lower end passes from LL 18 lower end and passes through back of the body cap 20 and is fixedly connected with forearm termination 19.Forearm termination 19 is connected with robot device 22 by forearm 21.Forearm 21 teeter is driven by the second turning cylinder 17 and forearm termination 19 when 3rd hydraulic motor 15 works.
As shown in Figure 2, described robot device 22 is comprised rotating shaft case 22.1 and is positioned at the link case 22.12 also by being connected with rotating shaft case 22.1 by connecting axle 22.6 below rotating shaft case 22.1.Rotating shaft case 22.1 inside is provided with forearm spindle nose 22.2, and forearm spindle nose 22.2 is connected to the end of described forearm 21.Forearm spindle nose 22.2 is connected in rotating shaft case 22.1 by back of the body cap 22.3.
Link case 22.12 inside is provided with hydraulic shunt pump 22.10, and hydraulic shunt pump 22.10 is with each expansion link in left and right, and the outer end of expansion link is connected with drive rod by bearing pin 22.9, and drive rod is connected with gripper 22.13 by alignment pin 22.11.Entering the fluid pressure of hydraulic shunt pump 22.10 and the effect of back-moving spring by changing, realizing the flexible of expansion link, thus implementing pick-and-place action by drive rod driving mechanical pawl 22.13.
Be provided with electric rotating machine 22.4 in rotating shaft case 22.1, the motor shaft 22.5 of electric rotating machine 22.4 is provided with driven wheel 22.7, this driven wheel 22.7 intermeshes with the fluted disc 22.8 be fixed on link case 22.12.Link case 22.12 is driven to rotate by described driven wheel 22.7 and fluted disc 22.8 when electric rotating machine 22.4 works.
Still as Fig. 1, support 33 is also provided with hydraulic cylinder 28 and distributor 26, by the work of hydraulic pump in distributor 26 hydraulic control cylinder 28, control the turnover oil mass of the first pressure distributor 1, second pressure distributor 6 and the 3rd pressure distributor 12, thus control the rotating speed of each self-corresponding hydraulic motor.
The utility model also comprises electrical control mechanism, for the work of hydraulic control system, motor, hydraulic motor.
More than the utility model as a kind of basic structure of robot and operation principle.
During the CONSTRUCTION OPERATIONS such as the utility model is used for building a wall, plaster, patch block, also there is following structure.
As Fig. 1, support 33 is also provided with hinged quadric chain 25, hinged quadric chain 25 is connected with pallet 23 by bearing pin 24.The effect of hinged quadric chain 25 implements lifting to pallet 23, and in lifting process, make pallet 23 be in level all the time.
Support 33 is also provided with the drive motors 27 for driving hinged quadric chain 25.Described drive motors 27 can drive hinged quadric chain 25 to work by screw-nut mechanism, realizes the lifting of pallet 23.Also using described drive motors 27 as driving hydraulic motor, hinged quadric chain 25 can be driven to work by hydraulic driving mode, realizes the lifting of pallet 23.
During the CONSTRUCTION OPERATIONS such as the utility model is used for building a wall, plaster, patch block, embodiment of the present utility model also comprises automatic cement applicator as shown in Figure 3, Figure 4, and automatic cement applicator comprises shell 43 and is positioned at the cloth ash motor 44 of shell 43 inside.The output shaft end of cloth ash motor 44 is connected with bevel driving gear 45.Shell 43 inside is also provided with pushing spiral bar 47 by fixed mount 48, and the rear end of pushing spiral bar 47 is with the umbrella shape driven gear 46 be meshed with bevel driving gear 45.
One end of shell 43 is provided with three place's discharging openings 49, and discharging opening 49 place establishes hatch door 54, and hatch door 54 side is arranged in slideway 52 and also can slides up and down along slideway 52.Hatch door 54 top is connected with connecting rod 51 by steady pin 53, and the other end of connecting rod 51 is connected with magnetic valve 50, and magnetic valve 50 is connected on shell 43.
Claims (5)
1. a robot, is characterized in that: comprise the support (33) being provided with road wheel, support (33) is provided with vertical rod sleeve (35) and in vertical rod sleeve (35), is provided with the hollow vertical rod (38) of stretching out from vertical rod sleeve (35) upper end; Screw mandrel (37) is installed in hollow vertical rod (38), coordinates the screw (36) be arranged on screw mandrel (37) to be fixedly connected with described hollow vertical rod (38); The lifting motor (29) support (33) being also provided with the driven gear (31) be connected with described screw mandrel (37) lower end, the driving gear (30) be meshed with driven gear (31) and being connected with driving gear (30); Also comprise the large arm termination (41) being arranged on hollow vertical rod (38) upper end; Large arm termination (41) inside is fixed with the first hydraulic motor (3), and the housing of the first hydraulic motor (3) is connected with large arm termination (41); First hydraulic motor (3) is connected with the fixed axis (39) being positioned at the first hydraulic motor (3) below by the first shaft coupling (40), the lower end of fixed axis (39) directly or be fixed on the upper end of hollow vertical rod (38) by bindiny mechanism; The side of large arm termination (41) is fixedly connected with QL (4); QL (4) inside is provided with the second hydraulic motor (8), and the outside of the second hydraulic motor (8) is connected with the first turning cylinder (10) by the second shaft coupling (9), and the outer end of the first turning cylinder (10) is fixedly connected with turning arm termination (14); Turning arm termination (14) lower end is connected with LL (18); Turning arm termination (14) inside is provided with the 3rd hydraulic motor the 15, three hydraulic motor (15) and is connected with the second turning cylinder (17) being positioned at the 3rd hydraulic motor (15) below by the 3rd shaft coupling (16); Second turning cylinder (17) lower end is fixedly connected with forearm termination (19); Forearm termination (19) is connected with robot device (22) by forearm (21).
2. robot as claimed in claim 1, is characterized in that: described robot device (22) is comprised rotating shaft case (22.1) and is positioned at the link case (22.12) of rotating shaft case (22.1) below also by being connected with rotating shaft case (22.1) by connecting axle (22.6); Rotating shaft case (22.1) inside is provided with the forearm spindle nose (22.2) be connected with described forearm (21); Link case (22.12) inside is provided with hydraulic shunt pump (22.10), hydraulic shunt pump (22.10) is with each expansion link in left and right, the outer end of expansion link is connected with drive rod by bearing pin (22.9), and drive rod is connected with gripper (22.13) by alignment pin (22.11); Electric rotating machine (22.4) is installed in rotating shaft case (22.1), the motor shaft (22.5) of electric rotating machine (22.4) is provided with driven wheel (22.7), and this driven wheel (22.7) and the fluted disc (22.8) be fixed on link case (22.12) intermesh.
3. robot as claimed in claim 1 or 2, it is characterized in that: described support (33) is also provided with hinged quadric chain (25), hinged quadric chain (25) is connected with pallet (23).
4. robot as claimed in claim 1 or 2, is characterized in that: also comprise automatic cement applicator, and automatic cement applicator comprises shell (43) and is positioned at inner cloth ash motor (44) of shell (43); The output shaft end of cloth ash motor (44) is connected with bevel driving gear (45); Shell (43) inside is also provided with pushing spiral bar (47), and the rear end of pushing spiral bar (47) is with the umbrella shape driven gear (46) be meshed with bevel driving gear (45); One end of shell (43) is provided with discharging opening (49), and discharging opening (49) place establishes hatch door (54), and hatch door (54) side is arranged in slideway (52); Hatch door (54) top is connected with connecting rod (51) by steady pin (53), and the other end of connecting rod (51) is connected with magnetic valve (50).
5. robot as claimed in claim 3, is characterized in that: also comprise automatic cement applicator, and automatic cement applicator comprises shell (43) and is positioned at inner cloth ash motor (44) of shell (43); The output shaft end of cloth ash motor (44) is connected with bevel driving gear (45); Shell (43) inside is also provided with pushing spiral bar (47), and the rear end of pushing spiral bar (47) is with the umbrella shape driven gear (46) be meshed with bevel driving gear (45); One end of shell (43) is provided with discharging opening (49), and discharging opening (49) place establishes hatch door (54), and hatch door (54) side is arranged in slideway (52); Hatch door (54) top is connected with connecting rod (51) by steady pin (53), and the other end of connecting rod (51) is connected with magnetic valve (50).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420803529.2U CN204295678U (en) | 2014-12-18 | 2014-12-18 | A kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420803529.2U CN204295678U (en) | 2014-12-18 | 2014-12-18 | A kind of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204295678U true CN204295678U (en) | 2015-04-29 |
Family
ID=53101256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420803529.2U Withdrawn - After Issue CN204295678U (en) | 2014-12-18 | 2014-12-18 | A kind of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204295678U (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104493810A (en) * | 2014-12-18 | 2015-04-08 | 苗健 | Robot |
| CN104858866A (en) * | 2015-06-09 | 2015-08-26 | 洛阳理工学院 | Improved brick stacking mechanical hand |
| CN105133824A (en) * | 2015-09-16 | 2015-12-09 | 桂林电子科技大学 | Full-automatic tiling device and tiling method thereof |
| CN106499158A (en) * | 2016-10-16 | 2017-03-15 | 来安县木石创意装饰有限公司 | A kind of curtain wall fast brushing application device |
| CN106734696A (en) * | 2016-12-28 | 2017-05-31 | 滁州品之达电器科技有限公司 | A kind of unit multiple site punching machinery hand |
| CN106760434A (en) * | 2016-12-13 | 2017-05-31 | 王伟 | A kind of ceramic tile clamper and clamp method |
| CN106968445A (en) * | 2017-03-11 | 2017-07-21 | 赵子宁 | A kind of concrete hollow brick masonry device for building |
| CN107013043A (en) * | 2017-05-27 | 2017-08-04 | 厦门华蔚物联网科技有限公司 | Mortar is uniformly put on to brick vertical plane and the starching machine and method for sizing of upper surface |
| CN108792658A (en) * | 2018-06-11 | 2018-11-13 | 国网山东省电力公司烟台供电公司 | Convenient cargo gear |
| CN108792659A (en) * | 2018-06-11 | 2018-11-13 | 国网山东省电力公司烟台供电公司 | A kind of convenient cargo gear |
| US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US10865578B2 (en) | 2016-07-15 | 2020-12-15 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US11401115B2 (en) | 2017-10-11 | 2022-08-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
| US11441899B2 (en) | 2017-07-05 | 2022-09-13 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
| US11958193B2 (en) | 2017-08-17 | 2024-04-16 | Fastbrick Ip Pty Ltd | Communication system for an interaction system |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104493810A (en) * | 2014-12-18 | 2015-04-08 | 苗健 | Robot |
| CN104858866A (en) * | 2015-06-09 | 2015-08-26 | 洛阳理工学院 | Improved brick stacking mechanical hand |
| CN105133824A (en) * | 2015-09-16 | 2015-12-09 | 桂林电子科技大学 | Full-automatic tiling device and tiling method thereof |
| US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US12073150B2 (en) | 2016-07-15 | 2024-08-27 | Fastbrick Ip Pty Ltd | Dynamic path for end effector control |
| US12001761B2 (en) | 2016-07-15 | 2024-06-04 | Fastbrick Ip Pty Ltd | Computer aided design for brick and block constructions and control software to control a machine to construct a building |
| US11842124B2 (en) | 2016-07-15 | 2023-12-12 | Fastbrick Ip Pty Ltd | Dynamic compensation of a robot arm mounted on a flexible arm |
| US11687686B2 (en) | 2016-07-15 | 2023-06-27 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US11299894B2 (en) | 2016-07-15 | 2022-04-12 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US10865578B2 (en) | 2016-07-15 | 2020-12-15 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US10876308B2 (en) | 2016-07-15 | 2020-12-29 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US11106836B2 (en) | 2016-07-15 | 2021-08-31 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| CN106499158A (en) * | 2016-10-16 | 2017-03-15 | 来安县木石创意装饰有限公司 | A kind of curtain wall fast brushing application device |
| CN106499158B (en) * | 2016-10-16 | 2019-01-25 | 江苏欧美钢结构幕墙科技有限公司 | A kind of curtain wall fast brushing application device |
| CN106760434A (en) * | 2016-12-13 | 2017-05-31 | 王伟 | A kind of ceramic tile clamper and clamp method |
| CN106734696A (en) * | 2016-12-28 | 2017-05-31 | 滁州品之达电器科技有限公司 | A kind of unit multiple site punching machinery hand |
| CN106968445A (en) * | 2017-03-11 | 2017-07-21 | 赵子宁 | A kind of concrete hollow brick masonry device for building |
| CN106968445B (en) * | 2017-03-11 | 2018-06-29 | 杭州千城建筑设计集团股份有限公司 | A kind of concrete hollow brick masonry device for building |
| CN107013043A (en) * | 2017-05-27 | 2017-08-04 | 厦门华蔚物联网科技有限公司 | Mortar is uniformly put on to brick vertical plane and the starching machine and method for sizing of upper surface |
| US11441899B2 (en) | 2017-07-05 | 2022-09-13 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
| US11958193B2 (en) | 2017-08-17 | 2024-04-16 | Fastbrick Ip Pty Ltd | Communication system for an interaction system |
| US11401115B2 (en) | 2017-10-11 | 2022-08-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
| CN108792659A (en) * | 2018-06-11 | 2018-11-13 | 国网山东省电力公司烟台供电公司 | A kind of convenient cargo gear |
| CN108792658A (en) * | 2018-06-11 | 2018-11-13 | 国网山东省电力公司烟台供电公司 | Convenient cargo gear |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150429 Effective date of abandoning: 20151230 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |