CN204321004U - Stamping mechanical arm turning device - Google Patents
Stamping mechanical arm turning device Download PDFInfo
- Publication number
- CN204321004U CN204321004U CN201420633578.6U CN201420633578U CN204321004U CN 204321004 U CN204321004 U CN 204321004U CN 201420633578 U CN201420633578 U CN 201420633578U CN 204321004 U CN204321004 U CN 204321004U
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- clamp assemblies
- driving mechanism
- support body
- mechanical arm
- rotating base
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Abstract
The utility model belongs to machining equipment technical field, especially relates to a kind of stamping mechanical arm turning device.This stamping mechanical arm turning device comprises support body, support body is provided with workbench, workbench both sides are respectively equipped with rotating base and rotating base and support body are slidably connected, rotating base is connected in opposite directions or from the separating/closing mechanism moved with driving rotating base, separating/closing mechanism is connected with the first driving mechanism, the both sides of workbench are also provided with and are separately fixed at active clamp assemblies on rotating base and driven clamp assemblies, initiatively clamp assemblies is connected with driving the second driving mechanism that initiatively clamp assemblies rotates by drive mechanism, and active clamp assemblies can drive driven clamp assemblies to overturn when initiatively clamp assemblies and driven clamp assemblies are in clamp position, workbench is connected with the 3rd driving mechanism.Advantage is: reasonable in design, and structure is simple, and operation is less, and mechanism element is few, and structure is simple, and control circui is comparatively easy, and global design is reasonable, and the production efficiency of whole production line is high.
Description
Technical field
The utility model belongs to machining equipment technical field, especially relates to a kind of stamping mechanical arm turning device.
Background technology
Switching mechanism of the prior art is all generally clamped by mechanical finger, then overturn, and for after the blanking of thin plate class stamping when vertical direction feeding and blowing, because retained part is covered, must through a series of flow process, whole flow process be divided into blowing-support-clamp in place-clamping-return support-upset-support-clamp loosens-returns clamp-feeding, these 10 operations need a lot of mechanisms to come, require higher to coordination and mechanism element, control circui aspect is comparatively complicated, and because the complexity of these actions, often constrain the efficiency of whole production line.
In order to improve prior art, people have carried out long-term exploration, propose various solution.Such as, Chinese patent literature discloses a kind of Intelligent manipulator for punch press [application number: CN201010259992.1], form horicontal motion mechanism by rack, distribution box, human-computer interface control case, servomotor, stepper motor, gear, screw mandrel and mother set, flip-flop movement mechanism, swing arm motion mechanism, actuating station rotational motion mechanism, vertical movement mechanism is characterized in that: described manipulator horicontal motion mechanism adopts stepper motor and line style ball leading screw driving, is arranged in line style ball screw mother set by movable for actuating station horizontal direction; Described manipulator flip-flop movement mechanism adopts stepper motor and gear drive, is connected and drive arm to overturn by upset main shaft, and arm is provided with manipulator horicontal motion mechanism together overturns; Described swing arm of manipulator motion structure adopts servomotor and planetary reducer transmission, and all motions to be all arranged on rack by swing arm main shaft and to swing thereupon; Described actuating station rotational motion mechanism adopts stepper motor and synchronizing wheel transmission, and execution unit is vacuum cup, and actuating station rotational motion mechanism is arranged on the arm of horicontal motion mechanism; Described vertical movement mechanism adopts stepper motor, bevel-gear sett, ball screw and the transmission of screw mandrel mother set, and horicontal motion mechanism, flip-flop movement mechanism and actuating station rotational motion mechanism are all arranged in the screw mandrel mother set of vertical movement mechanism.
Although such scheme to some extent solves the deficiencies in the prior art, but operation still needs a lot of mechanisms to come, require higher to coordination and mechanism element, control circui aspect is comparatively complicated, global design is reasonable not, complex structure, the efficiency of whole production line is still lower.
Summary of the invention
The purpose of this utility model is for the problems referred to above, provides a kind of reasonable in design, the simple and stamping mechanical arm turning device that production efficiency is high of structure.
For achieving the above object, the utility model have employed following technical proposal: this stamping mechanical arm turning device, it is characterized in that, comprise support body, described support body is provided with workbench, described workbench both sides are respectively equipped with rotating base and rotating base and support body are slidably connected, described rotating base is connected in opposite directions or from the separating/closing mechanism moved with driving rotating base, described separating/closing mechanism is connected with the first driving mechanism, the both sides of described workbench are also provided with and are separately fixed at active clamp assemblies on rotating base and driven clamp assemblies, described active clamp assemblies is connected with driving the second driving mechanism that initiatively clamp assemblies rotates by drive mechanism, and active clamp assemblies can drive driven clamp assemblies to overturn when initiatively clamp assemblies and driven clamp assemblies are in clamp position, described workbench is connected with the 3rd driving mechanism.The first step, workbench stretches out under the effect of the 3rd driving mechanism, is placed on the table by product; Second step, separating/closing mechanism move toward one another under the effect of the first driving mechanism, drives initiatively clamp assemblies and driven clamp assemblies move toward one another to realize the clamping to product; 3rd step, second driving mechanism drives initiatively clamp assemblies to rotate by drive mechanism, because being in product clamp position, initiatively clamp assemblies can drive driven clamp assemblies to rotate, and namely realizes final upset, operation is less, mechanism element is few, and structure is simple, and control circui is comparatively easy, global design is reasonable, and the production efficiency of whole production line is high.
In above-mentioned stamping mechanical arm turning device, described active clamp assemblies comprises the rotating shaft holder on the rotating base being located at support body side, described driven clamp assemblies comprises the rotating shaft holder on the rotating base being located at support body opposite side, described rotating shaft holder is all rotatably connected to rotating shaft, described rotating shaft is fixedly connected with the clamp be distributed between workbench and rotating shaft.Clamp realizes upset under the drive of rotating shaft.
In above-mentioned stamping mechanical arm turning device; described separating/closing mechanism comprises the rod assembly of middle part for articulated structure; one end of described rod assembly is hinged with the rotating base being positioned at support body side; the other end is hinged with the rotating base being positioned at support body opposite side; described articulated structure to be located in U connector and to be hinged with U connector, and the first described driving mechanism is connected with the other end of U connector and rod assembly can be driven to close up or be separated.When first driving mechanism pulls rod assembly downwards, rod assembly closes up, thus driven rotary base move toward one another, realize initiatively clamp assemblies and driven clamp assemblies to the clamping of product; Otherwise, the first driving mechanism upwardly rod assembly time, rod assembly is separated, thus driven rotary base is from motion, initiatively clamp assemblies and driven clamp assemblies relieving product.
In above-mentioned stamping mechanical arm turning device, described drive mechanism comprises the first synchronizing wheel be connected with the second driving mechanism, and initiatively clamp assemblies is provided with the second synchronizing wheel, and the first described synchronizing wheel is connected by synchromesh gear belt with the second synchronizing wheel.Second driving mechanism drives the first synchronizing wheel to rotate, and the second synchronizing wheel rotates with the rotation of the first synchronizing wheel under the effect of synchromesh gear belt, and the second synchronizing wheel driven rotary axle rotates, thus drives clamp rotation to realize product upset.
In above-mentioned stamping mechanical arm turning device, the upper and lower side of described rotating base is respectively equipped with horizontal slide unit, and described support body is provided with the horizontal slide rail that adapts with horizontal slide unit and horizontal slide unit can slide along horizontal slide rail.Rotating base can laterally slide.
Improve as one, in above-mentioned stamping mechanical arm turning device, the first described driving mechanism is fixed on support body by the first holder, described support body is provided with longitudinal chute, described U connector is hinged by connecting axle and rod assembly and formation external part is stretched out in connecting axle one end, and described external part inserts in longitudinal chute and can vertically move by chute along the longitudinal.
In above-mentioned stamping mechanical arm turning device, described support body has the first opening, described workbench is suspended at the first open front and workbench is connected with the 3rd driving mechanism by the first opening, and the 3rd described driving mechanism is fixed on support body by the second holder.Facilitate stretching out of workbench.
In above-mentioned stamping mechanical arm turning device, described support body comprises the upset platen and upset fixed head that are distributed in front and back end, described upset platen is connected by swivel mount gripper shoe with upset fixed head, described active clamp assemblies is connected with fixed head, the first described synchronizing wheel to be rotationally connected with fixed head by power transmission shaft and the other end of power transmission shaft is connected with the second driving mechanism, described swivel mount gripper shoe is provided with the second opening passed for fixed head and the second driving mechanism, described upset platen is provided with the 3rd opening and the 3rd opening and the second opening in communication that supply fixed head movement.Be convenient to the movement of fixed head and the second driving mechanism, structure is simple, and stability is strong.
In above-mentioned stamping mechanical arm turning device, the first described driving mechanism is single pole cylinder, and the second described driving mechanism is stepper motor, and the 3rd described driving mechanism is two bar cylinders.
Improve as one, in above-mentioned stamping mechanical arm turning device, described driven clamp assemblies is provided with collision bead mechanism, described collision bead mechanism comprises the base be fixed on rotating shaft holder, described base is provided with collision bead, described rotating shaft is provided with for the spacing stopper slot of collision bead circumference, and collision bead can along stopper slot transverse shifting.Need certain drive that driven clamp assemblies can be driven to rotate, collision bead mechanism can prevent any rotation of rotating shaft.
Compared with prior art, the advantage of this stamping mechanical arm turning device is: the first step, and workbench stretches out under the effect of the 3rd driving mechanism, is placed on the table by product; Second step, separating/closing mechanism move toward one another under the effect of the first driving mechanism, drives initiatively clamp assemblies and driven clamp assemblies move toward one another to realize the clamping to product; 3rd step, the second driving mechanism drives initiatively clamp assemblies to rotate, because being in product clamp position by drive mechanism, initiatively clamp assemblies can drive driven clamp assemblies to rotate, namely realize final upset, operation is less, and mechanism element is few, structure is simple, control circui is comparatively easy, and global design is reasonable, and the production efficiency of whole production line is high, need certain drive that driven clamp assemblies can be driven to rotate, collision bead mechanism can prevent any rotation of rotating shaft.
Accompanying drawing explanation
Fig. 1 is the structural representation that the utility model provides.
Fig. 2 is the front view that the utility model provides.
In figure, support body 1, workbench 2, rotating base 3, separating/closing mechanism 4, first driving mechanism 6, initiatively clamp assemblies 7, driven clamp assemblies 8, drive mechanism 9, second driving mechanism 10, 3rd driving mechanism 11, rotating shaft holder 12, rotating shaft 13, clamp 14, rod assembly 15, U connector 16, first synchronizing wheel 17, second synchronizing wheel 18, synchromesh gear belt 19, horizontal slide unit 20, horizontal slide rail 21, first holder 22, longitudinal chute 23, connecting axle 24, first opening 25, second holder 26, upset platen 27, upset fixed head 28, swivel mount gripper shoe 29, fixed head 30, second opening 31, collision bead mechanism 32.
Detailed description of the invention
Embodiment 1
As shown in Figure 1-2, this stamping mechanical arm turning device comprises support body 1, support body 1 is provided with workbench 2, workbench 2 both sides are respectively equipped with rotating base 3 and rotating base 3 and support body 1 are slidably connected, rotating base 3 is connected in opposite directions or from the separating/closing mechanism 4 moved with driving rotating base 3, separating/closing mechanism 4 is connected with the first driving mechanism 6, the both sides of workbench 2 are also provided with and are separately fixed at active clamp assemblies 7 on rotating base 3 and driven clamp assemblies 8, initiatively clamp assemblies 7 is connected with driving the second driving mechanism 10 that initiatively clamp assemblies 7 rotates by drive mechanism 9, and active clamp assemblies 7 can drive driven clamp assemblies 8 to overturn when initiatively clamp assemblies 7 and driven clamp assemblies 8 are in clamp position, workbench 2 is connected with the 3rd driving mechanism 11.The first step, workbench 2 stretches out under the effect of the 3rd driving mechanism 11, is placed on by product on workbench 2; Second step, separating/closing mechanism 4 move toward one another under the effect of the first driving mechanism 6, drives initiatively clamp assemblies 7 and driven clamp assemblies 8 move toward one another to realize the clamping to product; 3rd step, second driving mechanism 10 drives initiatively clamp assemblies 7 to rotate by drive mechanism 9, because being in product clamp position, initiatively clamp assemblies 7 can drive driven clamp assemblies 8 to rotate, and namely realizes final upset, operation is less, mechanism element is few, and structure is simple, and control circui is comparatively easy, global design is reasonable, and the production efficiency of whole production line is high.
Wherein, initiatively clamp assemblies 7 comprises the rotating shaft holder 12 on the rotating base 3 being located at support body 1 side, driven clamp assemblies 8 comprises the rotating shaft holder 12 on the rotating base 3 being located at support body 1 opposite side, rotating shaft holder 12 is all rotatably connected to rotating shaft 13, rotating shaft 13 is fixedly connected with the clamp 14 be distributed between workbench 2 and rotating shaft 13, clamp 14 realizes upset under the drive of rotating shaft 13.Separating/closing mechanism 4 comprises the rod assembly 15 of middle part for articulated structure, one end of rod assembly 15 is hinged with the rotating base 3 being positioned at support body 1 side, the other end is hinged with the rotating base 3 being positioned at support body 1 opposite side, articulated structure to be located in U connector 16 and to be hinged with U connector 16, first driving mechanism 6 is connected with the other end of U connector 16 and rod assembly 15 can be driven to close up or be separated, when first driving mechanism 6 pulls rod assembly 15 downwards, rod assembly 15 closes up, thus driven rotary base 3 move toward one another, realize the clamping of initiatively clamp assemblies 7 and driven clamp assemblies 8 pairs of products, otherwise, the first driving mechanism 6 upwardly rod assembly 15 time, rod assembly 15 is separated, thus driven rotary base 3 is from motion, and initiatively clamp assemblies 7 and driven clamp assemblies 8 decontrol product.Drive mechanism 9 comprises the first synchronizing wheel 17 be connected with the second driving mechanism 10, initiatively clamp assemblies 7 is provided with the second synchronizing wheel 18, first synchronizing wheel 17 is connected by synchromesh gear belt 19 with the second synchronizing wheel 18, second driving mechanism 10 drives the first synchronizing wheel 17 to rotate, second synchronizing wheel 18 rotates with the rotation of the first synchronizing wheel 17 under the effect of synchromesh gear belt 19, second synchronizing wheel 18 driven rotary axle 13 rotates, thus drives clamp 14 rotation to realize product upset.
The upper and lower side of rotating base 3 is respectively equipped with horizontal slide unit 20, and support body 1 is provided with the horizontal slide rail 21 that adapts with horizontal slide unit 20 and horizontal slide unit 20 can slide along horizontal slide rail 21, and rotating base 3 can laterally slide.First driving mechanism 6 is fixed on support body 1 by the first holder 22, support body 1 is provided with longitudinal chute 23, U connector 16 is hinged by connecting axle 24 and rod assembly 15 and formation external part is stretched out in connecting axle 24 one end, and external part inserts in longitudinal chute 23 and can vertically move by chute 23 along the longitudinal.Support body 1 has the first opening 25, workbench 2 is suspended at the first opening 25 front end and workbench 2 is connected with the 3rd driving mechanism 11 by the first opening 25, and the 3rd driving mechanism 11 is fixed on support body 1 by the second holder 26, facilitates stretching out of workbench 2.Support body 1 comprises the upset platen 27 and upset fixed head 28 that are distributed in front and back end, upset platen 27 is connected by swivel mount gripper shoe 29 with upset fixed head 28, initiatively clamp assemblies 7 is connected with fixed head 30, first synchronizing wheel 17 to be rotationally connected with fixed head 30 by power transmission shaft and the other end of power transmission shaft is connected with the second driving mechanism 10, swivel mount gripper shoe 29 is provided with the second opening 31 passed for fixed head 30 and the second driving mechanism 10, upset platen 27 is provided with the 3rd opening for fixed head 30 movement and the 3rd opening is connected with the second opening 31, be convenient to the movement of fixed head 30 and the second driving mechanism 10, structure is simple, stability is strong.First driving mechanism 6 is single pole cylinder, and the second driving mechanism 10 is stepper motor, and the 3rd driving mechanism 11 is two bar cylinders.Driven clamp assemblies 8 is provided with collision bead mechanism 32, collision bead mechanism 32 comprises the base be fixed on rotating shaft holder 12, base is provided with collision bead, rotating shaft 13 is provided with for the spacing stopper slot of collision bead circumference, and collision bead can along stopper slot transverse shifting, need certain drive that driven clamp assemblies 8 can be driven to rotate, collision bead mechanism 32 can prevent any rotation of rotating shaft 13.
Operation principle of the present utility model: the first step, workbench 2 stretches out under the effect of the 3rd driving mechanism 11, is placed on by product on workbench 2; Second step, rod assembly 15 move toward one another under the effect of the first driving mechanism 6, the horizontal slide in opposition of rotating base 3, final initiatively clamp assemblies 7 and driven clamp assemblies 8 move toward one another of driving realizes the clamping to product; 3rd step, second driving mechanism 10 drives the first synchronizing wheel 17 to rotate, second synchronizing wheel 18 rotates with the rotation of the first synchronizing wheel 17 under the effect of synchromesh gear belt 19, second synchronizing wheel 18 driven rotary axle 13 rotates, thus drive clamp 14 to rotate, because being in product clamp position, initiatively clamp assemblies 7 can drive driven clamp assemblies 8 to rotate, thus realizes final upset.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various amendment or supplements or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present utility model or surmount the scope that appended claims defines.
Although more employ support body 1 herein, workbench 2, rotating base 3, separating/closing mechanism 4, first driving mechanism 6, initiatively clamp assemblies 7, driven clamp assemblies 8, drive mechanism 9, second driving mechanism 10, 3rd driving mechanism 11, rotating shaft holder 12, rotating shaft 13, clamp 14, rod assembly 15, U connector 16, first synchronizing wheel 17, second synchronizing wheel 18, synchromesh gear belt 19, horizontal slide unit 20, horizontal slide rail 21, first holder 22, longitudinal chute 23, connecting axle 24, first opening 25, second holder 26, upset platen 27, upset fixed head 28, swivel mount gripper shoe 29, fixed head 30, second opening 31, collision bead mechanism 32 term such as grade, but do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present utility model more easily; The restriction that they are construed to any one additional is all contrary with the utility model spirit.
Claims (10)
1. a stamping mechanical arm turning device, it is characterized in that, comprise support body (1), described support body (1) is provided with workbench (2), described workbench (2) both sides are respectively equipped with rotating base (3) and rotating base (3) and support body (1) are slidably connected, described rotating base (3) is connected in opposite directions or from the separating/closing mechanism moved (4) with driving rotating base (3), described separating/closing mechanism (4) is connected with the first driving mechanism (6), the both sides of described workbench (2) are also provided with and are separately fixed at active clamp assemblies (7) on rotating base (3) and driven clamp assemblies (8), described active clamp assemblies (7) is connected with driving the second driving mechanism (10) that initiatively clamp assemblies (7) rotates by drive mechanism (9), and active clamp assemblies (7) can drive driven clamp assemblies (8) to overturn when initiatively clamp assemblies (7) and driven clamp assemblies (8) are in clamp position, described workbench (2) is connected with the 3rd driving mechanism (11).
2. stamping mechanical arm turning device according to claim 1, it is characterized in that, described active clamp assemblies (7) comprises the rotating shaft holder (12) be located on the rotating base (3) of support body (1) side, described driven clamp assemblies (8) comprises the rotating shaft holder (12) be located on the rotating base (3) of support body (1) opposite side, described rotating shaft holder (12) is all rotatably connected to rotating shaft (13), described rotating shaft (13) is fixedly connected with the clamp (14) be distributed between workbench (2) and rotating shaft (13).
3. stamping mechanical arm turning device according to claim 2, it is characterized in that, described separating/closing mechanism (4) comprises the rod assembly (15) of middle part for articulated structure, one end of described rod assembly (15) is hinged with the rotating base (3) being positioned at support body (1) side, the other end is hinged with the rotating base (3) being positioned at support body (1) opposite side, described articulated structure to be located in U connector (16) and to be hinged with U connector (16), described the first driving mechanism (6) is connected with the other end of U connector (16) and rod assembly (15) can be driven to close up or be separated.
4. stamping mechanical arm turning device according to claim 3, it is characterized in that, described drive mechanism (9) comprises the first synchronizing wheel (17) be connected with the second driving mechanism (10), initiatively clamp assemblies (7) is provided with the second synchronizing wheel (18), and described the first synchronizing wheel (17) is connected by synchromesh gear belt (19) with the second synchronizing wheel (18).
5. according to the stamping mechanical arm turning device in claim 1-4 described in any one, it is characterized in that, the upper and lower side of described rotating base (3) is respectively equipped with horizontal slide unit (20), and described support body (1) is provided with the horizontal slide rail (21) that adapts with horizontal slide unit (20) and horizontal slide unit (20) can slide along horizontal slide rail (21).
6. according to the stamping mechanical arm turning device described in claim 3 or 4, it is characterized in that, described the first driving mechanism (6) is fixed on support body (1) by the first holder (22), described support body (1) is provided with longitudinal chute (23), described U connector (16) is hinged by connecting axle (24) and rod assembly (15) and formation external part is stretched out in connecting axle (24) one end, and described external part inserts in longitudinal chute (23) and can vertically move by chute (23) along the longitudinal.
7. stamping mechanical arm turning device according to claim 6, it is characterized in that, described support body (1) has the first opening (25), described workbench (2) is suspended at the first opening (25) front end and workbench (2) is connected with the 3rd driving mechanism (11) by the first opening (25), and the 3rd described driving mechanism (11) is fixed on support body (1) by the second holder (26).
8. stamping mechanical arm turning device according to claim 7, it is characterized in that, described support body (1) comprises the upset platen (27) and upset fixed head (28) that are distributed in front and back end, described upset platen (27) is connected by swivel mount gripper shoe (29) with upset fixed head (28), described active clamp assemblies (7) is connected with fixed head (30), described the first synchronizing wheel (17) to be rotationally connected with fixed head (30) by power transmission shaft and the other end of power transmission shaft is connected with the second driving mechanism (10), described swivel mount gripper shoe (29) is provided with the second opening (31) passed for fixed head (30) and the second driving mechanism (10), described upset platen (27) is provided with for the 3rd opening of fixed head (30) movement and the 3rd opening is connected with the second opening (31).
9. according to the stamping mechanical arm turning device in claim 1-4 described in any one, it is characterized in that, described the first driving mechanism (6) is single pole cylinder, described the second driving mechanism (10) is stepper motor, and the 3rd described driving mechanism (11) is two bar cylinders.
10. according to the stamping mechanical arm turning device in claim 1-4 described in any one, it is characterized in that, described driven clamp assemblies (8) is provided with collision bead mechanism (32), described collision bead mechanism (32) comprises the base be fixed on rotating shaft holder (12), described base is provided with collision bead, described rotating shaft (13) is provided with for the spacing stopper slot of collision bead circumference, and collision bead can along stopper slot transverse shifting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420633578.6U CN204321004U (en) | 2014-10-29 | 2014-10-29 | Stamping mechanical arm turning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420633578.6U CN204321004U (en) | 2014-10-29 | 2014-10-29 | Stamping mechanical arm turning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204321004U true CN204321004U (en) | 2015-05-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420633578.6U Expired - Fee Related CN204321004U (en) | 2014-10-29 | 2014-10-29 | Stamping mechanical arm turning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204321004U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104338864A (en) * | 2014-10-29 | 2015-02-11 | 宁波新甬城数控自动化设备有限公司 | Turning device of stamping mechanical arm |
-
2014
- 2014-10-29 CN CN201420633578.6U patent/CN204321004U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104338864A (en) * | 2014-10-29 | 2015-02-11 | 宁波新甬城数控自动化设备有限公司 | Turning device of stamping mechanical arm |
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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: 20150513 Termination date: 20211029 |
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| CF01 | Termination of patent right due to non-payment of annual fee |