CN204308948U - Light-duty single adobe handgrip - Google Patents
Light-duty single adobe handgrip Download PDFInfo
- Publication number
- CN204308948U CN204308948U CN201420752063.8U CN201420752063U CN204308948U CN 204308948 U CN204308948 U CN 204308948U CN 201420752063 U CN201420752063 U CN 201420752063U CN 204308948 U CN204308948 U CN 204308948U
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- clamping plate
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- clamp plate
- clamping
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- 230000007246 mechanism Effects 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 10
- 244000062793 Sorghum vulgare Species 0.000 abstract 1
- 235000019713 millet Nutrition 0.000 abstract 1
- 239000011449 brick Substances 0.000 description 13
- 239000004927 clay Substances 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 239000002969 artificial stone Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010881 fly ash Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
Landscapes
- Supply, Installation And Extraction Of Printed Sheets Or Plates (AREA)
Abstract
The utility model relates to a kind of light-duty single adobe handgrip, comprise the clamp plate built-in beam of front and back horizontally set and dynamic Boards wall beam, be arranged in rows in the clamp plate on clamp plate built-in beam, be arranged in rows in the dynamic clamping plate on dynamic Boards wall fine strain of millet, the clamp plate of front and back correspondence is connected by clamping plate longitudinal linkage connecting plate with between dynamic clamping plate, form a clamping plate group, dynamic Boards wall beam is provided with longitudinal clamping cylinder, this longitudinal clamping cylinder drive dynamic Boards wall beam and on dynamic clamping plate move forward and backward, clamping plate and clamp plate is made to form folding, realize the clamping to adobe, clamp plate built-in beam is provided with horizontal deciliter cylinder, this horizontal deciliter cylinder drives the transverse shifting of clamping plate group, gap between adjustment adjacent cleats group.Compared with prior art, the utility model have structure simple, be easy to advantages such as controlling, lightweight, use handgrip of the present utility model to enhance productivity, can power consumption be reduced again.
Description
Technical field
The utility model relates to a kind of adobe grabbing device, especially relates to a kind of light-duty single adobe handgrip.
Background technology
Steam-pressing brisk is with dust and sand or industrial residue (flyash, ore dressing powder, slag, spoil) for primary raw material, compressing by brick machine.The multinomial performance such as frost resistance, corrosion resistance, compression strength of steam-pressing brisk is all better than the artificial stone material of solid clay brick.Specification and the solid plain clay brick of steam-pressing brisk are completely the same, are 240mm × 115mm × 53mm, so directly can replace solid clay brick with steam-pressing brisk.It has the features such as lightweight, insulation, sound insulation, heat insulation, scientific structure, handsome in appearance, apparent size standard, and Economization on land, preserve the ecological environment significant.It is the novel wall material that country greatly develops, applies.
Steam pressure adobe adopts brick machine compressing, conventional brick machine shaping 32 pieces at every turn, and the adobe of forming is piled up on maintenance dolly, and process of piling up originally is by artificial, and labour intensity is large, inefficiency.Applied SKALA robot afterwards to pile up.But the brick gripping structure of SKALA robot adapted is complicated, and weight is greater than more than 300kg, and work limitation rate is low, and power consumption is high.This kind of handgrip is due to too heavy and can not be used for 4 axle serial manipulator.
Chinese patent CN 102152973 A discloses a kind of brick grasping two-way closing device of unburned brick stacking machine, each gripper beam is installed the horizontal collecting device of adobe respectively, this horizontal collecting device is primarily of gripper beam, cross slide way, transverse slider, laterally draw cylinder in, fixed head, towing plate, cross spacing plate, alignment pin and monodactyle fixed mount composition, in the groove bottom of each gripper beam, corresponding installation laterally draws cylinder in respectively, each piston rod right side is made to stretch and be connected with the right angle towing plate on monodactyle fixed mount respectively, each gripper beam installs cross slide way respectively, each cross slide way installs transverse slider respectively, each transverse slider fixedly mounts monodactyle fixed mount respectively, each adjacent between two monodactyle fixed mount installs cross spacing plate respectively, compressed gas enters transverse direction and draws cylinder in, drive each monodactyle fixed mount to complete and grab brick gathering action transversely.But said apparatus structure is too complicated, and control operation is loaded down with trivial details.
Utility model content
The purpose of this utility model be exactly provide to overcome defect that above-mentioned prior art exists a kind of lightweight, structure simple, control to be easy to light-duty single adobe handgrip.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of light-duty single adobe handgrip, comprise the clamp plate built-in beam of front and back horizontally set and dynamic Boards wall beam, be arranged in rows in the clamp plate on clamp plate built-in beam, be arranged in rows in the dynamic clamping plate on dynamic Boards wall beam, the clamp plate of front and back correspondence is connected by clamping plate longitudinal linkage connecting plate with between dynamic clamping plate, form a clamping plate group, described dynamic Boards wall beam is provided with longitudinal clamping cylinder, this longitudinal clamping cylinder drive dynamic Boards wall beam and on dynamic clamping plate move forward and backward, clamping plate and clamp plate is made to form folding, realize the clamping to adobe, described clamp plate built-in beam is provided with horizontal deciliter cylinder, this horizontal deciliter cylinder drives the transverse shifting of clamping plate group, gap between adjustment adjacent cleats group.
Described dynamic clamping plate are arranged on dynamic splint holder, described dynamic splint holder upper end is provided with followup cam, described clamping plate longitudinal linkage connecting plate center line offers a logical straight trough, described followup cam is embedded in described logical straight trough, dynamic splint holder and clamping plate longitudinal linkage connecting plate are slidably connected, and described clamping plate longitudinal linkage connecting plate is fixedly connected with clamp plate.
Described clamp plate built-in beam is provided with horizontal deciliter of the clamp plate side slide rail of horizontally set, described clamp plate is fixed with horizontal deciliter of clamp plate side slide block, described horizontal deciliter of clamp plate side slide block and horizontal deciliter of clamp plate side slide rail are slidably matched, and form clamp plate Slideslip mechanism; Described dynamic Boards wall beam is provided with horizontal deciliter of the dynamic clamping plate side slide rail of horizontally set, described dynamic splint holder is fixed with horizontal deciliter of dynamic clamping plate side slide block, described horizontal deciliter of dynamic clamping plate side slide block and horizontal deciliter of dynamic clamping plate side slide rail are slidably matched, and form dynamic clamping plate Slideslip mechanism.
Connected by horizontal deciliter linkage block between the clamping plate longitudinal linkage connecting plate of adjacent two clamping plate groups, horizontal deciliter described cylinder is provided with two, the afterbody of two horizontal deciliter cylinders is near setting, the expansion link of two horizontal deciliter cylinders is connected to outermost two clamping plate longitudinal linkage connecting plates with left and right respectively, outermost two the clamping plate longitudinal linkage connecting plates of flexible drive of horizontal deciliter described cylinder adjacent to each other or away from, the horizontal deciliter linkage block that move through of outermost two clamping plate longitudinal linkage connecting plates makes remaining clamping plate longitudinal linkage connecting plate move thereupon, the dynamic splint holder be connected with clamping plate longitudinal linkage connecting plate and clamp plate are dividing under other slide mechanism with clamping plate longitudinal linkage connecting plate transverse shifting, gap between adjacent clamping plate group is changed.
Equal pressing spring is provided with, each base uniform force when the object of equal pressing spring is adobe is clamped between described dynamic splint holder and dynamic clamping plate.
Described dynamic Boards wall beam is arranged on longitudinal slide rail, and it is movable on longitudinal slide rail that longitudinal clamping cylinder promotes dynamic Boards wall beam.
Described dynamic clamping plate and the inner side of clamp plate are respectively equipped with rubber blanket, and rubber blanket is for increasing the frictional force between adobe.
Described clamping plate group is provided with 5 ~ 50 groups altogether, and as preferably, described clamping plate group is provided with 16 groups altogether.
When light-duty single adobe handgrip of the present utility model uses, can be configured on 4 axle serial manipulator and use.First according to the adobe spacing in the horizontal extruded from brick machine, by outermost two the clamping plate longitudinal linkage connecting plates of the flexible drive of horizontal deciliter cylinder adjacent to each other or away from, the horizontal deciliter linkage block that move through of outermost two clamping plate longitudinal linkage connecting plates makes remaining clamping plate longitudinal linkage connecting plate move thereupon, the dynamic splint holder be connected with clamping plate longitudinal linkage connecting plate and clamp plate are dividing under other slide mechanism with clamping plate longitudinal linkage connecting plate transverse shifting, gap between adjacent clamping plate group is changed, is adapted to the gap between adobe.
Then, longitudinal clamping cylinder drive dynamic Boards wall beam and on dynamic splint holder move forward and backward, followup cam on dynamic splint holder slides at the logical straight trough of longitudinal linkage connecting plate, make dynamic splint holder and on dynamic clamping plate move forward, clamping plate and clamp plate is made to form closed trend, realize the clamping to adobe, owing to being connected to form clamping plate group by clamping plate longitudinal linkage connecting plate between dynamic clamping plate and clamp plate, each clamping plate group clamps one piece of adobe, simultaneously because all clamping plate groups are all synchronized with the movement, therefore, once can clamp the adobe identical with clamping plate group quantity.Then robot passes through the utility model handgrip by adobe piling.Then repeat above-mentioned steps and carry out piling up of other adobes.
Compared with prior art, the utility model has the following advantages and beneficial effect:
(1) the utility model is light-duty single adobe handgrip, and structure is simple, and be easy to control, once can capture the adobe of a row, efficiency improves greatly.
(2) the utility model arranges the slide mechanism of dynamic clamping plate side, the slide mechanism of clamp plate side and horizontal deciliter linkage block, and adjust the gap between clamping plate group by horizontal deciliter cylinder, make it possible to match with the adobe spacing in the horizontal extruded from brick machine.
(3) all dynamic clamping plate of the present utility model are all arranged on same dynamic Boards wall beam, and this dynamic Boards wall beam controls by a longitudinal clamping cylinder, therefore, the action of all dynamic clamping plate in the utility model is that Complete Synchronization carries out, and is easy to control.
(4) the utility model is lightweight, gross weight together with 16 pieces of adobes is about 180kg, and existing handgrip is only conducted oneself with dignity and is just reached more than 300kg, beyond the working range of 4 conventional axle serial manipulator, weight of the present utility model only has about 30% of existing handgrip weight, can be configured on 4 axle serial manipulator and use, the production efficiency both improved, again reduces power consumption.
Accompanying drawing explanation
Fig. 1 is that the master of the utility model handgrip is depending on partly cuing open structural representation;
Fig. 2 is that overlooking of the utility model handgrip partly cuts open structural representation;
Fig. 3 is the left TV structure schematic diagram of the utility model handgrip.
Number in the figure: 1 is horizontal deciliter cylinder, 2 is horizontal deciliter linkage block, 3 is longitudinal clamping cylinder, 4 is longitudinal slide rail, and 5 is clamping plate longitudinal linkage connecting plate, and 6 is dynamic horizontal deciliter of clamping plate side slide rail, 7 is dynamic horizontal deciliter of clamping plate side slide block, 8 is equal pressing spring, and 9 is dynamic splint holder, and 10 is dynamic clamping plate, 11 is horizontal deciliter of clamp plate side slide block, 12 is horizontal deciliter of clamp plate side slide rail, and 13 is clamp plate, and 14 is adobe, 15 is clamp plate built-in beam, 16 is dynamic Boards wall beam, and 17 is followup cam, and 18 is rubber blanket.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Embodiment
A kind of light-duty single adobe handgrip, as shown in FIG. 1 to 3, comprise the clamp plate built-in beam 15 of front and back horizontally set and dynamic Boards wall beam 16, be arranged in rows in the clamp plate 13 on clamp plate built-in beam 15, the dynamic clamping plate 10 be arranged in rows on dynamic Boards wall beam 16, wherein, dynamic clamping plate 10 are arranged on dynamic splint holder 9, move and are provided with equal pressing spring 8 between splint holder 9 and dynamic clamping plate 10, each base uniform force when the object of equal pressing spring 8 is adobe is clamped.Dynamic splint holder 9 upper end is provided with followup cam 17, clamping plate longitudinal linkage connecting plate 5 center line offers a logical straight trough, followup cam 17 is embedded in logical straight trough, and dynamic splint holder 9 is slidably connected with clamping plate longitudinal linkage connecting plate 5, and clamping plate longitudinal linkage connecting plate 5 is fixedly connected with clamp plate 13.The clamp plate 13 of front and back correspondence is connected by clamping plate longitudinal linkage connecting plate 5 with between dynamic clamping plate 1, forms a clamping plate group.Dynamic clamping plate 10 are respectively equipped with rubber blanket 18 with the inner side of clamp plate 13, and rubber blanket 18 is for increasing the frictional force between adobe.
Dynamic Boards wall beam 16 is provided with longitudinal clamping cylinder 3, and dynamic Boards wall beam 16 is arranged on longitudinal slide rail 4, and it is movable on longitudinal slide rail 4 that longitudinal clamping cylinder 3 promotes dynamic Boards wall beam 16.This longitudinal clamping cylinder 3 drive dynamic Boards wall beam 16 and on dynamic clamping plate 10 move forward and backward, make clamping plate 10 and clamp plate 13 form folding, realize the clamping to adobe 14.
Clamp plate built-in beam 15 is provided with horizontal deciliter of the clamp plate side slide rail 12 of horizontally set, clamp plate 13 is fixed with horizontal deciliter of clamp plate side slide block 11, horizontal deciliter of clamp plate side slide block 11 and horizontal deciliter of clamp plate side slide rail 12 are slidably matched, and form clamp plate Slideslip mechanism; Dynamic Boards wall beam 16 is provided with horizontal deciliter of the dynamic clamping plate side slide rail 6 of horizontally set, dynamic splint holder 9 is fixed with horizontal deciliter of dynamic clamping plate side slide block 7, dynamic horizontal deciliter of clamping plate side slide block 7 is slidably matched with horizontal deciliter of dynamic clamping plate side slide rail 6, forms dynamic clamping plate Slideslip mechanism.
Connected by horizontal deciliter linkage block 2 between the clamping plate longitudinal linkage connecting plate 5 of adjacent two clamping plate groups, horizontal deciliter cylinder 1 is provided with two, the afterbody of two horizontal deciliter cylinders 1 is near setting, the expansion link of two horizontal deciliter cylinders 1 is connected to outermost two clamping plate longitudinal linkage connecting plates 5 with left and right respectively, outermost two the clamping plate longitudinal linkage connecting plates 5 of flexible drive of horizontal deciliter cylinder 1 adjacent to each other or away from, the horizontal deciliter linkage block 2 that move through of outermost two clamping plate longitudinal linkage connecting plates 5 makes remaining clamping plate longitudinal linkage connecting plate 5 move thereupon, the dynamic splint holder 9 be connected with clamping plate longitudinal linkage connecting plate 5 is dividing under other slide mechanism with clamping plate longitudinal linkage connecting plate 5 transverse shifting with clamp plate 13, gap between adjacent clamping plate group is changed.
In the present embodiment, clamping plate group is provided with 16 groups altogether.
When light-duty single adobe handgrip uses, can be configured on 4 axle serial manipulator and use.First according to the adobe spacing in the horizontal extruded from brick machine, by outermost two the clamping plate longitudinal linkage connecting plates 5 of the flexible drive of horizontal deciliter cylinder 1 adjacent to each other or away from, the horizontal deciliter linkage block 2 that move through of outermost two clamping plate longitudinal linkage connecting plates 5 makes remaining clamping plate longitudinal linkage connecting plate 5 move thereupon, the dynamic splint holder 9 be connected with clamping plate longitudinal linkage connecting plate 5 is dividing under other slide mechanism with clamping plate longitudinal linkage connecting plate 5 transverse shifting with clamp plate 13, gap between adjacent clamping plate group is changed, be adapted to the gap between adobe.
Then, longitudinal clamping cylinder 3 drive dynamic Boards wall beam 16 and on dynamic splint holder 9 move forward and backward, followup cam 17 on dynamic splint holder 9 slides at the logical straight trough of longitudinal linkage connecting plate 5, make dynamic splint holder 9 and on dynamic clamping plate 10 move forward, clamping plate 10 and clamp plate 13 is made to form closed trend, realize the clamping to adobe 14, owing to being connected to form clamping plate group by clamping plate longitudinal linkage connecting plate 5 between dynamic clamping plate 10 and clamp plate 13, each clamping plate group clamps one piece of adobe 14, simultaneously because all clamping plate groups are all synchronized with the movement, therefore, once can clamp the adobe 14 identical with clamping plate group quantity.Then robot passes through the utility model handgrip by adobe piling.Then repeat above-mentioned steps and carry out piling up of other adobes.
Above-mentioned is can understand for ease of those skilled in the art and use utility model to the description of embodiment.Person skilled in the art obviously easily can make various amendment to these embodiments, and General Principle described herein is applied in other embodiments and need not through performing creative labour.Therefore, the utility model is not limited to above-described embodiment, and those skilled in the art, according to announcement of the present utility model, do not depart from improvement that the utility model category makes and amendment all should within protection domain of the present utility model.
Claims (9)
1. a light-duty single adobe handgrip, it is characterized in that, comprise the clamp plate built-in beam (15) of front and back horizontally set and dynamic Boards wall beam (16), be arranged in rows in the clamp plate (13) on clamp plate built-in beam (15), be arranged in rows in the dynamic clamping plate (10) on dynamic Boards wall beam (16), the clamp plate (13) of front and back correspondence is connected by clamping plate longitudinal linkage connecting plate (5) with between dynamic clamping plate (1), form a clamping plate group, described dynamic Boards wall beam (16) is provided with longitudinal clamping cylinder (3), this longitudinal clamping cylinder (3) drive dynamic Boards wall beam (16) and on dynamic clamping plate (10) move forward and backward, clamping plate (10) and clamp plate (13) is made to form folding, realize the clamping to adobe (14), described clamp plate built-in beam (15) is provided with horizontal deciliter cylinder (1), this horizontal deciliter cylinder (1) drives the transverse shifting of clamping plate group, gap between adjustment adjacent cleats group.
2. the light-duty single adobe handgrip of one according to claim 1, it is characterized in that, described dynamic clamping plate (10) are arranged on dynamic splint holder (9), described dynamic splint holder (9) upper end is provided with followup cam (17), described clamping plate longitudinal linkage connecting plate (5) center line offers a logical straight trough, described followup cam (17) is embedded in described logical straight trough, dynamic splint holder (9) and clamping plate longitudinal linkage connecting plate (5) are slidably connected, described clamping plate longitudinal linkage connecting plate (5) is fixedly connected with clamp plate (13).
3. the light-duty single adobe handgrip of one according to claim 2, it is characterized in that, described clamp plate built-in beam (15) is provided with horizontal deciliter of the clamp plate side slide rail (12) of horizontally set, described clamp plate (13) is fixed with horizontal deciliter of clamp plate side slide block (11), horizontal deciliter of described clamp plate side slide block (11) and horizontal deciliter of clamp plate side slide rail (12) are slidably matched, and form clamp plate Slideslip mechanism;
Described dynamic Boards wall beam (16) is provided with horizontal deciliter of the dynamic clamping plate side slide rail (6) of horizontally set, described dynamic splint holder (9) is fixed with horizontal deciliter of dynamic clamping plate side slide block (7), horizontal deciliter of described dynamic clamping plate side slide block (7) and horizontal deciliter of dynamic clamping plate side slide rail (6) are slidably matched, and form dynamic clamping plate Slideslip mechanism.
4. the light-duty single adobe handgrip of one according to claim 3, it is characterized in that, connected by horizontal deciliter linkage block (2) between the clamping plate longitudinal linkage connecting plate (5) of adjacent two clamping plate groups, horizontal deciliter described cylinder (1) is provided with two, the afterbody of two horizontal deciliter cylinder (1) is near setting, the expansion link of two horizontal deciliter cylinder (1) is connected to outermost two clamping plate longitudinal linkage connecting plates (5) with left and right respectively
Outermost two the clamping plate longitudinal linkage connecting plates (5) of flexible drive of horizontal deciliter described cylinder (1) adjacent to each other or away from, the horizontal deciliter linkage block (2) that move through of outermost two clamping plate longitudinal linkage connecting plates (5) makes remaining clamping plate longitudinal linkage connecting plate (5) move thereupon, the dynamic splint holder (9) be connected with clamping plate longitudinal linkage connecting plate (5) is dividing under other slide mechanism with clamping plate longitudinal linkage connecting plate (5) transverse shifting with clamp plate (13), gap between adjacent clamping plate group is changed.
5. the light-duty single adobe handgrip of one according to claim 2, is characterized in that, is provided with equal pressing spring (8) between described dynamic splint holder (9) and dynamic clamping plate (10).
6. the light-duty single adobe handgrip of one according to claim 1, it is characterized in that, described dynamic Boards wall beam (16) is arranged on longitudinal slide rail (4), and it is upper movable at longitudinal slide rail (4) that longitudinal clamping cylinder (3) promotes dynamic Boards wall beam (16).
7. the light-duty single adobe handgrip of one according to claim 1, is characterized in that, described dynamic clamping plate (10) are respectively equipped with rubber blanket (18) with the inner side of clamp plate (13).
8. the light-duty single adobe handgrip of one according to claim 1, it is characterized in that, described clamping plate group is provided with 5 ~ 50 groups altogether.
9. the light-duty single adobe handgrip of one according to claim 8, it is characterized in that, described clamping plate group is provided with 16 groups altogether.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420752063.8U CN204308948U (en) | 2014-12-03 | 2014-12-03 | Light-duty single adobe handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420752063.8U CN204308948U (en) | 2014-12-03 | 2014-12-03 | Light-duty single adobe handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204308948U true CN204308948U (en) | 2015-05-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420752063.8U Expired - Fee Related CN204308948U (en) | 2014-12-03 | 2014-12-03 | Light-duty single adobe handgrip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204308948U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710859A (en) * | 2014-12-03 | 2016-06-29 | 上海沃迪自动化装备股份有限公司 | Light single-row green brick gripper |
| CN111252534A (en) * | 2020-01-15 | 2020-06-09 | 广东博智林机器人有限公司 | Carrying manipulator and carrying robot |
-
2014
- 2014-12-03 CN CN201420752063.8U patent/CN204308948U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710859A (en) * | 2014-12-03 | 2016-06-29 | 上海沃迪自动化装备股份有限公司 | Light single-row green brick gripper |
| CN111252534A (en) * | 2020-01-15 | 2020-06-09 | 广东博智林机器人有限公司 | Carrying manipulator and carrying robot |
| CN111252534B (en) * | 2020-01-15 | 2022-07-26 | 广东博智林机器人有限公司 | Carrying manipulator and carrying robot |
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| 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: 20150506 |