CN205184811U - Robot cable tow chain - Google Patents
Robot cable tow chain Download PDFInfo
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- CN205184811U CN205184811U CN201521018765.4U CN201521018765U CN205184811U CN 205184811 U CN205184811 U CN 205184811U CN 201521018765 U CN201521018765 U CN 201521018765U CN 205184811 U CN205184811 U CN 205184811U
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- joint
- strand
- drag chain
- chain link
- buckle
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Abstract
The utility model discloses a robot cable tow chain belongs to the robot field, including three -dimensional tow chain unit, fixing base unit and tip connector unit, still including the fixed unit that slides, the utility model discloses cable simple to operate, maintenance have good leakproofness easily, have prevented that robot inside cable of tow chain when the operation from receiving external pollution, three -dimensional tow chain can carry out bending, rotation, action such as flexible in that the sliding seat is inside, and it carries out the motion of the high degree of freedom to have satisfied the robot tow chain, the cable that can prevent the robot damages at long -time work back premature aging, makes the robot production operation safer simultaneously.
Description
Technical field
The utility model relates to robot field, particularly relates to a kind of robot cable drag chain..
Background technology
Along with the rise of industry 4.0, the research and development of robot also get more and more.The wiring of R&D and production enterprise of present robot is multifarious, payes attention to control system and MECHANISM PRECISION, often ignores the nerve of robot motion---the transmission of power and signal.
Existing robot drag chain is owing to designing evenly in the face, outer ring in single link configuration, not flexible, when cable is installed in drag chain, not easily easily cable is arranged on wherein, cause the increase of cost of labor and installation difficulty, the problem of the maintenance drag chain Internal cable that simultaneously also brings inconvenience.In addition, robot drag chain in the problem of sealing, do not do too much consideration.Often due to the poor sealing of drag chain, the problem causing inner cable to be subject to extraneous pollution produces.
After robot work certain hour, because cable directly penetrates robot arm, often there is misoperation in aging and well damage, cause very large loss, and its reason majority is that transmission fault causes.Also have and cable is penetrated in drag chain, again drag chain and robot arm are fixed, the program serves protective action really to cable, but due to adopt drag chain realize bidimensional action only, and the action of robot is three dimensions substantially, there is the nonsynchronous problem of the action of the action of cable and robot arm equally.
Summary of the invention
The purpose of this utility model is just to provide a kind of A, to solve the problem.
To achieve these goals, the technical solution adopted in the utility model is such: a kind of robot cable drag chain, comprises three-dimensional drag chain unit, holder unit and end-fitting unit, also comprises slip fixed cell, wherein:
Described three-dimensional drag chain unit is saved by more piece strand and is formed by connecting, and described strand joint is overall in annular, and be divided into left chain link and right chain link by the plane crossing its perpendicular bisector, the two ends of described left chain link and right chain link overlap mutually in separated place;
Single link center is provided with draw-in groove and the buckle of one group of mutual clamping, one end of described draw-in groove and buckle is separately fixed in the middle part of left chain link inwall and in the middle part of right chain link inwall, a left sphere connector is provided with in the middle part of draw-in groove, be provided with a right connection ball in the middle part of buckle bottom, the left sphere connector sphere during described right connection ball can save with strand below it is connected;
Described right chain link comprises intrados and extrados, and wherein the extrados on right chain link top is the thick grading structures in intermediate thin both sides;
The lower dimension of strand joint is less than upper dimension, and when multiple strand joint connects, a strand energy-conservation part in top is positioned at below strand joint, saves keep interference fit with below strand;
Described three-dimensional drag chain unit is inserted in one end of described slip fixed cell.
As preferred technical scheme: described left chain link is divided into upper left quarter and lower left quarter, right chain link is divided into upper right quarter and right lower quadrant, wherein the extrados of upper right quarter is the thick grading structures in intermediate thin both sides, upper left quarter and upper right quarter overlap joint, lower left quarter and right lower quadrant overlap joint, when more piece strand joint connects, the lower left quarter of strand joint of a upper joint and a part for right lower quadrant are positioned at upper left quarter and the upper right quarter of next joint strand joint, and interference fit.
As preferred technical scheme: after the overlap joint of described left chain link and right chain link, it is consistent that thickness and the strand of lap-joint save peripheral thickness.
As preferred technical scheme: described strand joint upper surface comprises inner ring face and face, outer ring, and the inner ring face that described left sphere connector and corresponding strand save is concentric.
In the utility model, strand joint is divided into left chain link and right chain link, the two overlaps in separated place, again by draw-in groove and the buckle clamping at middle part, the connection that strand saves this individuality is just very simple, due to left chain link and right chain link overlap joint, and the extrados on the right chain link top grading structure that to be intermediate thin both sides thick, the flexibility of right chain link mid portion is made to be greater than the flexibility of left chain link mid portion, therefore when pressing, the end of right chain link is easy to bending, make cable be installed into drag chain inside easily, also make the cable in maintenance drag chain be more prone to.
Two joint strand joints are connected with right connection ball sphere by left sphere connector, after connection, because a strand energy-conservation part in top is positioned at below strand joint, save with below strand and keep interference fit, this guarantees the sealing of the three-dimensional drag chain whole interior be formed by connecting, the greasy dirt produced when can completely cut off dust in air and robot manipulating task, avoid water stain etc. entering into the generation that drag chain internal contamination cable even causes the situations such as short circuit, prevent the cable of robot drag chain inside when operation to be subject to extraneous pollution.
As preferred technical scheme: described slip fixed cell comprises two halfbodies removably connected, described halfbody is semi-circular shape, after connecting, entirety is annular, be provided with several through hole arranged along its perpendicular bisector direction in the middle part of halfbody, in through hole, one_to_one corresponding is provided with bolt sleeve, and wherein half external body is provided with bolt, described bolt one end is arranged in bolt sleeve, the other end stretches out from halfbody outer wall, and halfbody inwall is provided with the sealing gasket of sealing through hole, and described sealing gasket surface is concordant with halfbody inwall.
Above-mentioned slip fixed cell is installed on body, and the other end is inserted in three-dimensional drag chain, and three-dimensional drag chain, when by axial force, can slide in slip holder.
Robot of the present utility model cable drag chain, also comprises holder unit, and holder cellular installation is in the lambda line of three-dimensional drag chain and outgoing line side and dryly save, and mainly plays the effect three-dimensional drag chain is fixed on body.
As further preferred technical scheme: described in be detachably connected as clamping, be provided with slip holder buckle at slip fixed block two ends, another slip fixed block two ends are provided with the slip holder buckle slot mated with the holder buckle that slides.
As further preferred technical scheme: described bolt sleeve and bolt are three, and slip fixed block is uniformly distributed.
As further preferred technical scheme: be provided with boss in the middle part of described halfbody outer wall, through hole runs through boss, halfbody inwall edge rounding.
Three-dimensional drag chain unit can be arranged on the mechanical arm of robot by above-mentioned slip fixed cell, so the utility model mid diameter is greater than the diameter of robot three-dimensional drag chain, therefore three-dimensional drag chain can carry out in sliding seat inside bending, rotate, the action such as to stretch, meet the motion that robot drag chain carries out high-freedom degree.
As preferred technical scheme: described end-fitting unit, comprise left part joint, right part joint and ring flange,
Described left part joint top is semi-circular shape, and bottom is provided with at least three buckles;
Described right part joint top is semi-circular shape, and bottom is provided with at least three buckles;
Described left part joint and right part joint connect into annulus by the mode of removably connecting;
In described ring flange, to connect into the buckle diameter after annulus identical for circular diameter and described left part joint and right part joint, and described ring flange is provided with fixing hole;
The length of described buckle is greater than the thickness of ring flange.
As further preferred technical scheme: described left part joint is connected by buckle with right part joint.
Above-mentioned end-fitting unit adopts destressing joint, for the connection of line outlet with pipe fitting, overcome existing robot drag chain due to robotic end-of-arm non-telescoping when moving, the defect that when causing it to there is drag chain disconnection, Internal cable is exposed; Can prevent the cable of robot premature aging after working long hours from damaging, make robot production operation safer simultaneously.
Compared with prior art, the utility model has the advantage of: cable is easy for installation, maintenance is easy, has good sealing property, prevent the cable of robot drag chain inside when operation to be subject to extraneous pollution; Three-dimensional drag chain can carry out in sliding seat inside bending, rotate, the action such as to stretch, and meets the motion that robot drag chain carries out high-freedom degree; Can prevent the cable of robot premature aging after working long hours from damaging, make robot production operation safer simultaneously.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the three-dimensional drag chain unit of the utility model embodiment;
Fig. 2 is Fig. 1 strand joint structural representation;
Fig. 3 is the structural representation that Fig. 2 is split as left chain link and right chain link;
Fig. 4 is left chain link perspective view in Fig. 2;
Fig. 5 is right chain link perspective view in Fig. 2;
Fig. 6 is the front view of strand joint in Fig. 1;
Fig. 7 is for being show the schematic diagram that intermediate thin both sides are thick in the A-A sectional view shown in Fig. 6;
Fig. 8 is the structural representation of the slip fixed cell of the utility model embodiment;
Fig. 9 is that Fig. 8 splits structural representation;
Figure 10 is the front view of Fig. 8;
Figure 11 is the left view of Fig. 8;
Figure 12 is the 1-1 sectional view of Figure 10;
Figure 13 is the 2-2 sectional view of Figure 11;
Figure 14 is the end-fitting whole unit structural representation of the utility model embodiment;
Figure 15 is that in Figure 14, left part joint and right part joint split structural representation;
Figure 16 is the structural representation of ring flange in Figure 14;
Figure 17 is the structural representation of the end-fitting unit of the utility model embodiment when being connected with drag chain;
Figure 18 is the overall structure of the cable drag chain of the utility model embodiment.
In figure: 100, strand joint; 110, right chain link; 120, left chain link; 210, upper right quarter; 220, upper left quarter; 230, right lower quadrant; 240, lower left quarter; 250, left inside cambered surface; 260, right inside cambered surface; 310, right connection ball; 320, left chain link clinch; 330, right chain link clinch; 340, draw-in groove; 350, buckle; 360, left middle interconnecting piece; 370, right middle interconnecting piece; 410, left sphere connector;
510, halfbody; 520, bolt sleeve; 530, sealing gasket; 540, bolt; 610, slip holder buckle; 620, slip holder buckle slot; 630, bolt hole;
700, left part joint; 710, the first buckle; 720, the first draw-in groove; 800, right part joint; 810, the second buckle; 820, the second draw-in groove; 900, ring flange; 910, fixing hole; 920, buckle;
A, three-dimensional drag chain unit; B, simulation robot; C, slip fixed cell; D, holder packing ring.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Embodiment:
See Fig. 1-18, a kind of robot cable drag chain, comprises three-dimensional drag chain unit A, holder unit and end-fitting unit, also comprises slip fixed cell C, wherein:
Described three-dimensional drag chain unit A, saves 100 by more piece strand and is formed by connecting, and strand joint 100 is overall in annular, and be divided into left chain link 120 and right chain link 110 by the plane crossing its perpendicular bisector, the two ends of left chain link 120 and right chain link 110 overlap mutually in separated place;
In the present embodiment, described left chain link 120 is divided into upper left quarter 220 and lower left quarter 240, right chain link 110 is divided into upper right quarter 210 and right lower quadrant 230, and wherein the extrados of upper right quarter 210 is the thick grading structures in intermediate thin both sides, for convenience of description, we depict Fig. 7, see Fig. 7, upper right quarter 210 comprises corresponding right inside cambered surface 260 and right outside cambered surface, and upper left quarter 220 also comprises corresponding left inside cambered surface 250 and left outside cambered surface, can obviously find out from figure, upper right quarter 210 intermediate thin both sides are thick.
Time left chain link 120 and right chain link 110 carry out overlapping, that upper left quarter 220 and upper right quarter 210 overlap, lower left quarter 240 and right lower quadrant 230 overlap, and when designing this lap-joint, the edge of left chain link 120 and right chain link 110 is done thin, see Fig. 2, we devise left chain link clinch 320 and right chain link clinch 330 respectively; After both guarantees overlap joint, the integral thickness of lap-joint and strand save 100 peripheral thickness and are consistent, and integral surface looks or is smooth arcwall face.
Strand saves draw-in groove 340 and the buckle 350 that 100 centers are provided with one group of mutual clamping, one end of described draw-in groove 340 and buckle 350 is separately fixed in the middle part of left chain link 120 inwall and in the middle part of right chain link 110 inwall, at this, we design draw-in groove 340 and buckle 350 by two position clampings, near the two ends laying respectively at draw-in groove 340, to ensure the stability that left chain link 120 is connected with right chain link 110.
Be provided with a left sphere connector 410 in the middle part of draw-in groove 340, be provided with a right connection ball 310 in the middle part of buckle 350 bottom, left sphere connector 410 sphere that described right connection ball 310 can save in 100 with strand below it is connected; Wherein, strand saves 100 upper surfaces and comprises inner ring face and face, outer ring, and the inner ring face that described left sphere connector 410 and corresponding strand save 100 is concentric.
For convenience of description, in accompanying drawing 3, draw-in groove 340 and left sphere connector 410 circle are irised out by we, are designated as left middle interconnecting piece 360, buckle 350 and right connection ball 310 circle are irised out, are designated as right middle interconnecting piece 370, convenient understanding.
Here more piece strand joint 100 connects by we, when more piece strand joint 100 connects, the strand joint lower left quarter 240 of 100 of a upper joint and a part for right lower quadrant 230 are positioned at upper left quarter 220 and the upper right quarter 210 of next joint strand joint 100, and interference fit, to ensure the sealing of junction.
To sum up, the utility model forms a strand by the draw-in groove 340 of a left chain link 120, right chain link 110, one group of mutual clamping and the right connection ball 310 of buckle 350, one left sphere connector 410, and saves 100, is connected to form the drag chain of complete set between multiple strand joint 100 by left sphere connector 410 and right connection ball 310.
Slip fixed cell C, comprise two halfbodies removably connected 510, described halfbody 510 is semi-circular shape, after connecting, entirety is annular, describedly be detachably connected as clamping, be provided with slip holder buckle 610 at slip fixed block two ends, another slip fixed block two ends are provided with slip holder buckle 610 groove 620 mated with the holder buckle 610 that slides; When installing drag chain, drag chain passes from the utility model center.
Be provided with 3 in the middle part of halfbody 510 to arrange and equally distributed through hole along its perpendicular bisector direction, in through hole, one_to_one corresponding is provided with bolt sleeve 520, wherein halfbody 510 outside is provided with bolt 540, described bolt 540 one end is arranged in the bolt hole 630 of bolt sleeve 520, the other end stretches out from halfbody 510 outer wall, halfbody 510 inwall is provided with the sealing gasket 530 of sealing through hole, and described sealing gasket 530 surface is concordant with halfbody 510 inwall.
In order to increase overall steadiness, in the middle part of halfbody 510 outer wall, be provided with boss, see Fig. 2, in the middle part of halfbody 510, outer wall protruding parts, is boss, and through hole runs through boss, in addition, bolt 540 adopts M4 standard bolt, and described bolt sleeve 520 centre bore mid diameter is 5mm.The utility model is fixed in robot by three M4 bolts, and bolt 540 and bolt sleeve 520 all adopt metal material, reduces bolt 540 and the wearing and tearing sliding three-dimensional cable drag chain slip fixed block.Halfbody 510 inwall edge rounding, can ensure drag chain flexible motion, and not cause wearing and tearing to it.
During installation, be fixed in robot by the halfbody 510 with bolt 540 by bolt 540, then the three-dimensional drag chain of robot passes in the middle of halfbody 510, then by the clamping of two halfbodies 510, and be connected firmly:
End-fitting unit, comprises left part joint 700, right part joint 800 and ring flange 900,
Left part joint 700 top is semi-circular shape, and bottom is arranged evenly buckle 920;
Right part joint 800 top is semi-circular shape, and bottom is arranged evenly buckle 920;
The one end on left part joint 700 top arranges the first buckle 710, and the other end arranges the first draw-in groove 720; The one end on right part joint 800 top arranges second buckle 810 corresponding with the first draw-in groove 720, and the other end arranges second draw-in groove 820 corresponding to the first buckle 710;
In ring flange 910, to connect into the buckle after annulus 920 diameter identical for circular diameter and left part joint 700 and right part joint 800, namely after left part joint 700 and right part joint 800 connect into annulus, be connected in the middle of ring flange 900 by its underpart buckle 920, buckle 920 outward flange of its underpart is close to the inward flange of ring flange; The length of buckle 920 is greater than the thickness of ring flange 900; Ring flange 900 is provided with fixing hole 910; By fixing hole 910, ring flange 900 adds that the mode of bolt is fixed on three-dimensional drag chain unit A inlet wire or wire outlet part.
The mounting means of three-dimensional drag chain unit A is:
1. first assemble single strand joint 100, left chain link 120, right chain link 110 are connected firmly by the draw-in groove 340 of one group of mutual clamping and buckle 350, ensure that two lapping ends places well overlap;
2. adjacent strand joint 100 is connected with right connection ball 310 by left sphere connector 410, the right connection of a upper joint strand joint 100 is arranged in the left sphere connector 410 of next joint strand joint 100, carry out sphere connection, complete the connection of two strand joints 100, the connected mode of multiple strand joint 100 is identical therewith;
3. time due to 100 connection of more piece strand joint, the strand joint lower left quarter 240 of 100 of a upper joint and a part for right lower quadrant 230 are positioned at upper left quarter 220 and the upper right quarter 210 of next joint strand joint 100, and interference fit, drag chain integral outer and inside are separated, and within becomes an airtight space makes it can not be subject to infecting of dirt;
4. when cable is installed in drag chain, press the lap-joint of right chain link 110, wherein, the lap-joint of right chain link 110 is positioned at inside the lap-joint of left chain link 120, press the lap-joint of right chain link 110, because intermediate thin both sides, portion, right chain link 110 outer ring are thick, the flexibility of right chain link 110 mid portion is greater than the flexibility of left chain link 120 mid portion, therefore when pressing, the end of right chain link 110 is easy to bending, makes cable be installed into drag chain inside easily;
5., after more piece chain link installs, install drag chain end-fitting unit, left part joint 700 and right part joint 800 are connected firmly by buckle 900, and the buckle 900 of joint lower end is assemblied in ring flange 910 and connects;
6. the drag chain of the end-fitting unit connected is fixed on wiring place of robot by ring flange 910;
7. after drag chain wiring place has connected, the fixed cell C that slided by drag chain is fixed on the appropriate location of robots arm, then is passed in the middle of drag chain slip fixed cell C by drag chain; One section of drag chain is when along with robot motion, and drag chain can do certain front and back, rotary motion along with mechanical arm in slip fixed cell C inside;
8. the installation of holder: when holder and three-dimensional drag chain assemble, there is a complete holder packing ring D holder inside, the effect of a complete holder packing ring D is that the irregular roundness of drag chain outer ring is become standard round, simultaneously this complete holder packing ring D also can be arranged separately in other easy colliding parts of drag chain, play protective action, a complete holder packing ring D holder packing ring D positioning convex and left chain link when assembling with three-dimensional drag chain are used for cooperatively interacting with holder location groove playing positioning action, guarantee the uniqueness of assembling.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. a robot cable drag chain, comprises three-dimensional drag chain unit, holder unit and end-fitting unit, it is characterized in that: also comprise slip fixed cell, wherein:
Described three-dimensional drag chain unit is saved by more piece strand and is formed by connecting, and described strand joint is overall in annular, and be divided into left chain link and right chain link by the plane crossing its perpendicular bisector, the two ends of described left chain link and right chain link overlap mutually in separated place;
Single link center is provided with draw-in groove and the buckle of one group of mutual clamping, one end of described draw-in groove and buckle is separately fixed in the middle part of left chain link inwall and in the middle part of right chain link inwall, a left sphere connector is provided with in the middle part of draw-in groove, be provided with a right connection ball in the middle part of buckle bottom, the left sphere connector sphere during described right connection ball can save with strand below it is connected;
Described right chain link comprises intrados and extrados, and wherein the extrados on right chain link top is the thick grading structures in intermediate thin both sides;
The lower dimension of strand joint is less than upper dimension, and when multiple strand joint connects, a strand energy-conservation part in top is positioned at below strand joint, saves keep interference fit with below strand;
Described three-dimensional drag chain unit is inserted in one end of described slip fixed cell.
2. a kind of robot according to claim 1 cable drag chain, it is characterized in that: described left chain link is divided into upper left quarter and lower left quarter, right chain link is divided into upper right quarter and right lower quadrant, wherein the extrados of upper right quarter is the thick grading structures in intermediate thin both sides, upper left quarter and upper right quarter overlap joint, lower left quarter and right lower quadrant overlap joint, when more piece strand joint connects, the lower left quarter of strand joint of a upper joint and a part for right lower quadrant are positioned at upper left quarter and the upper right quarter of next joint strand joint, and interference fit.
3. a kind of robot according to claim 1 cable drag chain, is characterized in that: after the overlap joint of described left chain link and right chain link, and it is consistent that thickness and the strand of lap-joint save peripheral thickness.
4. a kind of robot according to claim 1 cable drag chain, is characterized in that: described strand joint upper surface comprises inner ring face and face, outer ring, and the inner ring face that described left sphere connector and corresponding strand save is concentric.
5. a kind of robot according to claim 1 cable drag chain, it is characterized in that: described slip fixed cell comprises two halfbodies removably connected, described halfbody is semi-circular shape, after connecting, entirety is annular, several through hole arranged along its perpendicular bisector direction is provided with in the middle part of halfbody, in through hole, one_to_one corresponding is provided with bolt sleeve, wherein half external body is provided with bolt, described bolt one end is arranged in bolt sleeve, the other end stretches out from halfbody outer wall, halfbody inwall is provided with the sealing gasket of sealing through hole, and described sealing gasket surface is concordant with halfbody inwall.
6. a kind of robot according to claim 5 cable drag chain, it is characterized in that: described in be detachably connected as clamping, be provided with slip holder buckle at slip fixed block two ends, another slip fixed block two ends are provided with the slip holder buckle slot mated with the holder buckle that slides.
7. a kind of robot according to claim 5 cable drag chain, is characterized in that: described bolt sleeve and bolt are three, slip fixed block is uniformly distributed.
8. a kind of robot according to claim 5 cable drag chain, is characterized in that: be provided with boss in the middle part of described halfbody outer wall, through hole runs through boss, halfbody inwall edge rounding.
9. a kind of robot according to claim 1 cable drag chain, is characterized in that: described end-fitting unit, comprises left part joint, right part joint and ring flange,
Described left part joint top is semi-circular shape, and bottom is provided with at least three buckles;
Described right part joint top is semi-circular shape, and bottom is provided with at least three buckles;
Described left part joint and right part joint connect into annulus by the mode of removably connecting;
In described ring flange, to connect into the buckle diameter after annulus identical for circular diameter and described left part joint and right part joint, and described ring flange is provided with fixing hole;
The length of described buckle is greater than the thickness of ring flange.
10. a kind of robot according to claim 9 cable drag chain, is characterized in that: described left part joint is connected by buckle with right part joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521018765.4U CN205184811U (en) | 2015-12-09 | 2015-12-09 | Robot cable tow chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521018765.4U CN205184811U (en) | 2015-12-09 | 2015-12-09 | Robot cable tow chain |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205184811U true CN205184811U (en) | 2016-04-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521018765.4U Expired - Fee Related CN205184811U (en) | 2015-12-09 | 2015-12-09 | Robot cable tow chain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205184811U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105313141A (en) * | 2015-12-09 | 2016-02-10 | 绵阳伦奇机器人有限公司 | Robot cable drag chain |
| CN110953300A (en) * | 2018-09-27 | 2020-04-03 | 周口师范学院 | Cable drag chain |
-
2015
- 2015-12-09 CN CN201521018765.4U patent/CN205184811U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105313141A (en) * | 2015-12-09 | 2016-02-10 | 绵阳伦奇机器人有限公司 | Robot cable drag chain |
| CN110953300A (en) * | 2018-09-27 | 2020-04-03 | 周口师范学院 | Cable drag chain |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210112 Address after: No. 50, Huancheng North Road, Fengxian District, Shanghai 201401 Patentee after: Igus (Shanghai) towline System Co.,Ltd. Address before: 621000 3rd floor, building 2, Youxian district government, Mianyang City, Sichuan Province Patentee before: MIANYANG LUNQI ROBOT Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160427 Termination date: 20201209 |
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| CF01 | Termination of patent right due to non-payment of annual fee |