CN205552263U - Automatic compensation arrangement polishes - Google Patents
Automatic compensation arrangement polishes Download PDFInfo
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- CN205552263U CN205552263U CN201521143556.2U CN201521143556U CN205552263U CN 205552263 U CN205552263 U CN 205552263U CN 201521143556 U CN201521143556 U CN 201521143556U CN 205552263 U CN205552263 U CN 205552263U
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Abstract
The utility model discloses an automatic compensation arrangement polishes, including work piece platform, frame group and motion fitting part, wherein, the work piece platform is used for placing waits the work piece of polishing, frame group supports the work piece platform is including at least one frame, motion fitting part includes first part and second part, and one of them is located on the frame, another with the work piece platform links to each other, first part with motion cooperation between the second part, the work piece platform passes through the motion of first part and second part cooperation and with frame group links to each other, and relative frame group moves along at least one direction. And then can be through the different motion fitting part of design, in order to realize the work piece platform is in the ascending removal of a plurality of sides to at the in -process of polishing, can realize the terminal milling tools of robot and treat the work piece of polishing and carry out all -round purpose of polishing through the removal of control work piece platform.
Description
Technical field
The utility model relates to robot polishing field, is specifically related to a kind of automatically grinding compensation device.
Background technology
In grinding workpieces polishing operation, because of traditional manual operation it is difficult to ensure that the accuracy of form and position of workpiece, surface microscopic physical attribute, and manufacturing cost is higher, so more and more using robot polishing system to substitute traditional manual operation.At present, common robot polishing system one is to use milling tools fixed placement, and robot end grips the mode that workpiece to be polished carries out polishing.But, for loading bigger workpiece polish, then need employing to be placed in work stage by workpiece to be polished, robot end captures milling tools go the to polish mode of surface of the work to be polished and polishes.
In order to adapt to micro-strain or the clamping error of workpiece to be polished, must be introduced into compensation device and deacclimatize these deviations, existing compensation device predominantly installs multi-dimension force sensor robot end, the position i.e. position of milling tools of robot is adjusted by the feedback of power, reach compensate effect, with treat polishing workpiece polish.But, when above-mentioned robot polishes, workpiece to be polished is placed motionless, robot can only treat the specific region of polishing workpiece every time and polish, therefore when being adjusted the position of robot by the feedback of power, it is only capable of and adapts to the micro-strain of specific region on workpiece to be polished, and polishing workpiece cannot be treated and carry out omnibearing polishing.And then when polishing wait the zones of different of workpiece of polishing, the position of robot or the manual placement location changing workpiece to be polished can only be adjusted accordingly, to realize treating the polishing of zones of different on polishing workpiece, thus while reducing operating efficiency, have impact on the effect of polishing.
Utility model content
Therefore, the technical problems to be solved in the utility model is that the automatically grinding device grinding efficiency overcoming prior art is low, the technological deficiency of weak effect of polishing, and provides the automatically grinding compensation device that a kind of grinding efficiency is high, polish effective.
To achieve these goals, the utility model provides a kind of automatically grinding compensation device, including:
Work stage, is used for placing workpiece to be polished；
Support group, supports described work stage, including at least one support；
Motion component, including first component and second component, one of them is positioned on described support, and another is connected with described work stage, and between described first component and described second component, motion coordinates；
Described work stage is coordinated with the motion of second component by described first component and is connected with described support group, and the most described support group is moved along at least one direction.
As further improving, described motion component is the parts that are slidably matched, and wherein, first component is slide block, and second component is guide rail.
As further improving, described support group includes:
X-axis support, described X-axis support is provided with X-axis guide rail along X-direction,
Y-axis support, is arranged on described X-axis upper part of the frame, and the bottom of described Y-axis support is fixedly installed X-axis slide block, and described X-axis slide block is movable to be arranged on described X-axis guide rail.
As further improving, described X-axis support being fixedly installed X-axis tooth bar, described X-axis tooth bar is arranged with described X-axis guide rail parallel；It is installed with X-axis motor on described Y-axis support, the output shaft of described X-axis motor is provided with the X-axis gear matched with described X-axis tooth bar.
As further improving, described X-axis support has the machine plate of horizontal tabular, the upper surface of described machine plate upwards protrudes out and is formed with the two row's support columns arranged along X-direction parallel interval, the top of support column described in each row is provided with described X-axis guide rail, described X-axis tooth bar is arranged on the inwall of described support column, described X-axis motor is fixedly mounted on the bottom of described Y-axis support, and between two row's support columns.
As further improving, described Y-axis support is provided with Y-axis guide rail along Y direction；Described support group also includes that Z axis support, described Z axis support are arranged on described Y-axis upper part of the frame, and the bottom of described Z axis support is fixedly installed Y-axis slide block, and described Y-axis slide block is movable to be arranged on described Y-axis guide rail.
As further improving, described Z axis support being fixedly installed Y-axis tooth bar, described Y-axis tooth bar is arranged with described Y-axis guide rail parallel；It is installed with y-axis motor on described Y-axis support, the output shaft of described y-axis motor is provided with the Y-axis gear matched with described Y-axis tooth bar.
As further improving, described support group also includes:
Rotating support, be arranged on the bottom of described work stage to support described work stage, the bottom of described rotation support is fixedly installed Z axis tooth bar along Z-direction；
Z axis housing, is arranged under described rotation support, and described Z axis housing is hollow form, and the inwall of described Z axis housing is installed with Z axis motor, and the output shaft of described Z axis motor is provided with the Z axis gear matched with described Z axis tooth bar.
As further improving, described rotation support is hollow form, it is installed with electric rotating machine on the inwall of described rotation support, the first bevel gear it is provided with on the output shaft of described electric rotating machine, the inner chamber of described rotation support is movably installed with the second bevel gear, the gear shaft of described second bevel gear is fixedly mounted on the bottom of described work stage, and described first bevel gear coordinates transmission with the second bevel gear, to drive described work stage to rotate.
The automatically grinding compensation device that the utility model embodiment provides has the advantage that
1. what the utility model provided adds wax apparatus automatically, owing to including the support group and the motion component that support described work stage, and described work stage is coordinated with the motion of second component by described first component and is connected with described support, and the most described support group moves along at least one direction, and then can be by designing different motion components, with real presently described work stage movement in a plurality of directions, thus during polishing, can be by controlling the movement of work stage, realize the milling tools of robot end to treat polishing workpiece and carry out the purpose of comprehensive polishing；Meanwhile, coordinating the automatic compensation function of robot self, the compensation effect making polishing is more preferable, and then has reached grinding efficiency height, effective purpose of polishing.
2. what the utility model provided adds wax apparatus automatically, described motion component being designed as the parts that are slidably matched, and first component is slide block, second component is guide rail, and then by slide block slip on guide rail, it is achieved that described work stage the most described support group is moved.
3. what the utility model provided adds wax apparatus automatically, owing to described support group includes X-axis support and Y-axis support, on the movable X-axis guide rail being arranged on described X-axis support of the X-axis slide block of described Y-axis support, and then achieve Y-axis support on X-axis support along X-direction generation relative movement, it is achieved thereby that the work stage in support group is relative to X-axis support moving in the X-axis direction.
4. what the utility model provided adds wax apparatus automatically, by being fixedly installed X-axis tooth bar on described X-axis support, it is installed with X-axis motor on described Y-axis support, described X-axis motor is provided with the X-axis gear matched with described X-axis tooth bar, and then by rack and pinion engagement, stable achieves the movement along X-direction on X-axis support of Y-axis support；Meanwhile, effectively control Y-axis support variable such as the position of movement, speed on X-axis support also by the rotating speed controlling X-axis motor, and then achieve the controllability that work stage moves in the X-axis direction.
5. what the utility model provided adds wax apparatus automatically, by being provided with Y-axis guide rail along Y direction on described Y-axis support, described support group also includes Z axis support, the Y-axis slide block of described Z axis support is movable to be arranged on described Y-axis guide rail, and then achieve Z axis support on Y-axis support along Y direction generation relative movement, it is achieved thereby that described work stage in support group is relative to Y-axis support moving in the Y-axis direction, namely there is relative movement in the Y-axis direction relative to X-axis support in described work stage, there is the free degree in the both direction of X-direction and Y direction realizing described work stage.
6. what the utility model provided adds wax apparatus automatically, by being fixedly installed Y-axis tooth bar on described Z axis support, it is installed with y-axis motor on described Y-axis support, described y-axis motor is provided with the X-axis gear matched with described X-axis tooth bar, and then by rack and pinion engagement, stable achieves the movement along Y direction on Y-axis support of Z axis support；Meanwhile, effectively control Z axis support variable such as the position of movement, speed on Y-axis support also by the rotating speed controlling y-axis motor, and then achieve the controllability that work stage moves in the Y-axis direction.
7. what the utility model provided adds wax apparatus automatically, also include due to described support group rotating support and Z axis housing, the bottom of described rotation support is fixedly installed Z axis tooth bar along Z-direction, the inwall of described Z axis housing is installed with Z axis motor, the Z axis gear matched with described Z axis tooth bar it is provided with on described Z axis motor, and then by rack and pinion engagement, stable achieves rotation housing on Z axis housing along the movement of Z-direction；Meanwhile, effectively control to rotate position, the variable such as speed that housing moves relative to Z axis housing also by the rotating speed controlling Z axis motor, and then achieve the controllability that work stage moves in the Z-axis direction.
8. what the utility model provided adds wax apparatus automatically, by being installed with electric rotating machine on the inwall of described rotation support, the first bevel gear it is provided with on the output shaft of described electric rotating machine, the inner chamber of described rotation support is movably installed with the second bevel gear, the gear shaft of described second bevel gear is fixedly mounted on the bottom of described work stage, and then by coordinating transmission between described first bevel gear and the second bevel gear, to realize the rotation of the gear shaft of the second bevel gear, thus described work stage is driven to rotate；Meanwhile, effectively control the variablees such as the position of work stage rotation, speed also by the rotating speed controlling electric rotating machine, and then achieve the controllability that work stage rotates.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the utility model detailed description of the invention, below according to specific embodiment of the utility model and combine accompanying drawing, the utility model is described in further detail.
Fig. 1 is the stereogram of automatically grinding compensation device of the present utility model.
1-work stage；2-support group；21-X axle support；211-X axis rail；212-X axle tooth bar；
213-machine plate；214-support column；22-Y axle support；221-X axle slide block；222-X spindle motor；
223-Y axis rail；23-Z axle support；231-Y axle slide block；24-rotates support；
241-Z axle tooth bar；242-electric rotating machine；2421-the first bevel gear；243-the second bevel gear；
25-Z shaft housing；251-Z spindle motor；2511-Z shaft gear.
Detailed description of the invention
Below in conjunction with accompanying drawing, the technical solution of the utility model is clearly and completely described, it is clear that described embodiment is a part of embodiment of the utility model rather than whole embodiments.
In description of the present utility model, it should be noted that, orientation or the position relationship of the instruction such as term D score, " interior " are based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction or the device of hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " is installed ", " being connected ", " connection " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be the connection of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in the utility model can be understood with concrete condition.
As long as just can be combined with each other additionally, technical characteristic involved in the utility model difference embodiment disclosed below does not constitutes conflict each other.
Embodiment 1
Referring to Fig. 1, the present embodiment provides a kind of automatically grinding compensation device, including:
Work stage 1, is used for placing workpiece to be polished；
Support group 2, supports described work stage 1, including at least one support；
Motion component, including first component and second component, one of them is positioned on described support, and another is connected with described work stage 1, and between described first component and described second component, motion coordinates；
Described work stage 1 is coordinated with the motion of second component by described first component and is connected with described support group 2, and the most described support group 2 is moved along at least one direction.
Above-mentioned automatically add wax apparatus, owing to including support group 2 and the motion component supporting described work stage 1, and described work stage 1 is coordinated with the motion of second component by described first component and is connected with described support, and the most described support group 2 moves along at least one direction, and then can be by designing different motion components, with real presently described work stage 1 movement in a plurality of directions, thus during polishing, can be by controlling the movement of work stage 1, realize the milling tools of robot end to treat polishing workpiece and carry out the purpose of comprehensive polishing；Meanwhile, coordinating the automatic compensation function of robot self, the compensation effect making polishing is more preferable, and then has reached grinding efficiency height, effective purpose of polishing.
As preferred embodiment, described motion component is the parts that are slidably matched, and wherein, first component is slide block, and second component is guide rail.And then by slide block slip on guide rail, it is achieved that described work stage 1 the most described support group 2 is moved.
As preferred embodiment, it is provided with the dust cover on guide rail of metallic dust absorption when avoiding polishing cutting between described guide rail and described slide block, described slide block is provided with the lubricating cup providing lubricant environment.
By being provided with dust cover between described guide rail and slide block, and then avoid metallic dust during polishing cutting to adsorb on guide rail, affect life-span and the resistance of guide rail, meanwhile, described slide block arranges lubricating cup, and then provides continuous print lubricant environment for slide block.
As preferred embodiment, described support group 2 includes:
X-axis support 21, described X-axis support 21 is provided with X-axis guide rail 211 along X-direction,
Y-axis support 22, is arranged on described X-axis support 21 top, and the bottom of described Y-axis support 22 is fixedly installed X-axis slide block 221, and described X-axis slide block 221 is movable to be arranged on described X-axis guide rail 211.
Owing to described support group 2 includes X-axis support 21 and Y-axis support 22, on the movable X-axis guide rail 211 being arranged on described X-axis support 21 of the X-axis slide block 221 of described Y-axis support 22, and then achieve Y-axis support 22 on X-axis support 21 along X-direction generation relative movement, it is achieved thereby that the work stage 1 in support group 2 is relative to X-axis support 21 moving in the X-axis direction.
As preferred embodiment, described X-axis support 21 being fixedly installed X-axis tooth bar 212, described X-axis tooth bar 212 be arranged in parallel with described X-axis guide rail 211；It is installed with X-axis motor 222 on described Y-axis support 22, the output shaft of described X-axis motor 222 is provided with the X-axis gear matched with described X-axis tooth bar 212.
By being fixedly installed X-axis tooth bar 212 on described X-axis support 21, it is installed with X-axis motor 222 on described Y-axis support 22, described X-axis motor 222 is provided with the X-axis gear matched with described X-axis tooth bar 212, and then by rack and pinion engagement, stable achieves Y-axis support 22 movement along X-direction on X-axis support 21；Meanwhile, effectively control Y-axis support 22 variable such as the position of movement, speed on X-axis support 21 also by the rotating speed controlling X-axis motor 222, and then achieve the controllability that work stage 1 moves in the X-axis direction.
As preferred embodiment, described X-axis support 21 has the machine plate 213 of horizontal tabular, the upper surface of described machine plate 213 upwards protrudes out and is formed with the two row's support columns 214 arranged along X-direction parallel interval, the top of support column 214 described in each row is provided with described X-axis guide rail 211, described X-axis tooth bar 212 is arranged on the inwall of described support column 214, described X-axis motor 222 is fixedly mounted on the bottom of described Y-axis support 22, and between two row's support columns 214.
As preferred embodiment, described Y-axis support 22 is provided with Y-axis guide rail 223 along Y direction；Described support group 2 also includes that Z axis support 23, described Z axis support 23 are arranged on described Y-axis support 22 top, and the bottom of described Z axis support 23 is fixedly installed Y-axis slide block 231, and described Y-axis slide block 231 is movable to be arranged on described Y-axis guide rail 223.
By being provided with Y-axis guide rail 223 along Y direction on described Y-axis support 22, described support group 2 also includes Z axis support 23, the Y-axis slide block 231 of described Z axis support 23 is movable to be arranged on described Y-axis guide rail 223, and then achieve Z axis support 23 on Y-axis support 22 along Y direction generation relative movement, it is achieved thereby that described work stage 1 in support group 2 is relative to Y-axis support 22 moving in the Y-axis direction, namely there is relative movement in the Y-axis direction in the described relative X-axis support 21 of work stage 1, there is the free degree in the both direction of X-direction and Y direction realizing described work stage 1.
As preferred embodiment, described Z axis support 23 being fixedly installed Y-axis tooth bar, described Y-axis tooth bar be arranged in parallel with described Y-axis guide rail 223；It is installed with y-axis motor on described Y-axis support 22, the output shaft of described y-axis motor is provided with the Y-axis gear matched with described Y-axis tooth bar.
By being fixedly installed Y-axis tooth bar on described Z axis support 23, it is installed with y-axis motor on described Y-axis support 22, described y-axis motor is provided with the X-axis gear matched with described X-axis tooth bar 212, and then by rack and pinion engagement, stable achieves Z axis support 23 movement along Y direction on Y-axis support 22；Meanwhile, effectively control Z axle support 23 variable such as the position of movement, speed on Y-axis support 22 also by the rotating speed controlling y-axis motor, and then achieve the controllability that work stage 1 moves in the Y-axis direction.
As preferred embodiment, described support group 2 also includes:
Rotating support 24, be arranged on the bottom of described work stage 1 to support described work stage 1, the bottom of described rotation support 24 is fixedly installed Z axis tooth bar 241 along Z-direction；
Z axis housing 25, it is arranged on described rotation support 24 times, described Z axis housing 25 is in hollow form, and the inwall of described Z axis housing 25 is installed with Z axis motor 251, and the output shaft of described Z axis motor 251 is provided with the Z axis gear 2511 matched with described Z axis tooth bar 241.
Also include due to described support group 2 rotating support 24 and Z axis housing 25, the bottom of described rotation support 24 is fixedly installed Z axis tooth bar 241 along Z-direction, the inwall of described Z axis housing 25 is installed with Z axis motor 251, the Z axis gear 2511 matched with described Z axis tooth bar 241 it is provided with on described Z axis motor 251, and then by rack and pinion engagement, stable achieves rotation housing on Z axis housing 25 along the movement of Z-direction；Meanwhile, effectively control to rotate position, the variable such as speed that housing moves relative to Z axis housing 25 also by the rotating speed controlling Z axis motor 251, and then achieve the controllability that work stage 1 moves in the Z-axis direction.
As preferred embodiment, described rotation support 24 is in hollow form, it is installed with electric rotating machine 242 on the inwall of described rotation support 24, the first bevel gear 2421 it is provided with on the output shaft of described electric rotating machine 242, the inner chamber of described rotation support 24 is movably installed with the second bevel gear 243, the gear shaft of described second bevel gear 243 is fixedly mounted on the bottom of described work stage 1, and described first bevel gear 2421 coordinates transmission with the second bevel gear 243, to drive described work stage 1 to rotate.
By coordinating transmission between described first bevel gear 2421 and the second bevel gear 243, to realize the rotation of the gear shaft of the second bevel gear 243, thus described work stage 1 is driven to rotate；Meanwhile, effectively control the variablees such as the position of work stage 1 rotation, speed also by the rotating speed controlling electric rotating machine 242, and then achieve the controllability that work stage 1 rotates.
As preferred embodiment, being provided with planetary reducer in described rotation support 24, the described work stage 1 made by planetary reducer operates the most steady.
As preferred embodiment, described automatically grinding compensation device also includes the detection device of the data such as three shaft positions, translational speed and the pressure experienced for detecting described work stage 1；And controller, described controller connects described detection device and described motor.
Detected in real time by detection device and gather the data such as three shaft positions, translational speed and pressure experienced of described work stage 1 and feed back to controller, accurately to control the rotating speed of gear, rotating and the displacement on each motor, and then control the shift position of corresponding support, speed, i.e. control three shaft positions, translational speed and the feed pressure of described work stage 1, it is achieved thereby that the milling tools of robot end treats polishing workpiece carries out comprehensive polishing.
Obviously, above-described embodiment is only for clearly demonstrating example, and not restriction to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.And the obvious change thus extended out or variation still in the protection domain of the invention among.
Claims (9)
1. an automatically grinding compensation device, it is characterised in that including:
Work stage (1), is used for placing workpiece to be polished；
Support group (2), supports described work stage (1), including at least one support；
Motion component, including first component and second component, one of them is positioned on described support, and another is connected with described work stage (1), and between described first component and described second component, motion coordinates；
Described work stage (1) is coordinated with the motion of second component by described first component and is connected with described support group (2), and the most described support group (2) is moved along at least one direction.
Automatically grinding compensation device the most according to claim 1, it is characterised in that including: described motion component is the parts that are slidably matched, wherein, first component is slide block, and second component is guide rail.
Automatically grinding compensation device the most according to claim 1, it is characterised in that: described support group (2) including:
X-axis support (21), described X-axis support (21) is provided with X-axis guide rail (211) along X-direction,
Y-axis support (22), it is arranged on described X-axis support (21) top, the bottom of described Y-axis support (22) is fixedly installed X-axis slide block (221), and described X-axis slide block (221) is movable to be arranged on described X-axis guide rail (211).
Automatically grinding compensation device the most according to claim 3, it is characterized in that: be fixedly installed X-axis tooth bar (212) on described X-axis support (21), described X-axis tooth bar (212) be arranged in parallel with described X-axis guide rail (211)；It is installed with X-axis motor (222) on described Y-axis support (22), the output shaft of described X-axis motor (222) is provided with the X-axis gear matched with described X-axis tooth bar (212).
Automatically grinding compensation device the most according to claim 4, it is characterized in that: described X-axis support (21) has the machine plate (213) of horizontal tabular, the upper surface of described machine plate (213) upwards protrudes out and is formed with the two row's support columns (214) arranged along X-direction parallel interval, the top of support column (214) described in each row is provided with described X-axis guide rail (211), described X-axis tooth bar (212) is arranged on the inwall of described support column (214), described X-axis motor (222) is fixedly mounted on the bottom of described Y-axis support (22), and be positioned between two row's support columns (214).
Automatically grinding compensation device the most according to claim 3, it is characterised in that: on described Y-axis support (22), Y direction is provided with Y-axis guide rail (223)；Described support group (2) also includes Z axis support (23), described Z axis support (23) is arranged on described Y-axis support (22) top, the bottom of described Z axis support (23) is fixedly installed Y-axis slide block (231), and described Y-axis slide block (231) is movable to be arranged on described Y-axis guide rail (223).
Automatically grinding compensation device the most according to claim 6, it is characterised in that: being fixedly installed Y-axis tooth bar on described Z axis support (23), described Y-axis tooth bar be arranged in parallel with described Y-axis guide rail (223)；It is installed with y-axis motor on described Y-axis support (22), the output shaft of described y-axis motor is provided with the Y-axis gear matched with described Y-axis tooth bar.
8. according to the automatically grinding compensation device described in claim 1-7 any of which item, it is characterised in that: described support group (2) also includes:
Rotating support (24), be arranged on the bottom of described work stage (1) to support described work stage (1), the bottom of described rotation support (24) is fixedly installed Z axis tooth bar (241) along Z-direction；
Z axis housing (25), it is arranged under described rotation support (24), described Z axis housing (25) is in hollow form, the inwall of described Z axis housing (25) is installed with Z axis motor (251), and the output shaft of described Z axis motor (251) is provided with the Z axis gear (2511) matched with described Z axis tooth bar (241).
Automatically grinding compensation device the most according to claim 8, it is characterized in that: described rotation support (24) is in hollow form, it is installed with electric rotating machine (242) on the inwall of described rotation support (24), the first bevel gear (2421) it is provided with on the output shaft of described electric rotating machine (242), the inner chamber of described rotation support (24) is movably installed with the second bevel gear (243), the gear shaft of described second bevel gear (243) is fixedly mounted on the bottom of described work stage (1), described first bevel gear (2421) coordinates transmission with the second bevel gear (243), to drive described work stage (1) to rotate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521143556.2U CN205552263U (en) | 2015-12-31 | 2015-12-31 | Automatic compensation arrangement polishes |
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| CN201521143556.2U CN205552263U (en) | 2015-12-31 | 2015-12-31 | Automatic compensation arrangement polishes |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110340756A (en) * | 2019-07-26 | 2019-10-18 | 惠州市昌晖金属制品有限公司 | A kind of tool apron prosthetic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110340756A (en) * | 2019-07-26 | 2019-10-18 | 惠州市昌晖金属制品有限公司 | A kind of tool apron prosthetic device |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 528000, No. 1, first floor, No. nine, Huabao South Road, Chancheng District, Guangdong, Foshan (residence declaration) Patentee after: Guangdong robot Co., Ltd. Luo Geng Address before: 528000 Foshan National Torch Innovation and Pioneer Park, Jihua two road, Chancheng District, Guangdong, Foshan province B5-6-52 Patentee before: FOSHAN LOGEN ROBOT CO., LTD. |