CN206066442U - A kind of M types indulge away mechanical hand - Google Patents
A kind of M types indulge away mechanical hand Download PDFInfo
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- CN206066442U CN206066442U CN201620998551.6U CN201620998551U CN206066442U CN 206066442 U CN206066442 U CN 206066442U CN 201620998551 U CN201620998551 U CN 201620998551U CN 206066442 U CN206066442 U CN 206066442U
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Abstract
This utility model is related to a kind of M types and indulges away mechanical hand, including supports beam portion and row beam portion, and M shape rotating parts are provided with row beam portion, and M shapes rotating part allows M shapes rotating part to slide along X rows direction of principal axis with row beam portion by being slidably connected.M shape rotating parts include slip row component, M rotating shaft assemblies and the H rotating shaft assemblies being connected with row beam portion, also including connecting rod one and connecting rod two.The bottom of H rotating shaft assemblies is provided with the tool of crawl article, M rotating shaft assemblies drive tool to rotate around Y-axis, H rotating shaft assemblies drive tool to rotate about the z axis, H rotating shaft assembly in the vertical directions do straight line elevating movement, so that tool realizes traversing X-axis, Y-axis rotation, Z axis lifting moving, and its horizontal level remains constant when Z axis vertical direction is lifted.This utility model structure is novel, positioning precision is high, load weight is high, compact conformation, can shorten workpiece handling cycle, improve production efficiency.
Description
Technical field
This utility model belongs to mechanical hand technical field, in more particularly to a kind of metal processing sectors for carry stacking and
The M types of cast indulge away mechanical hand, are particularly well-suited to carrying heavy goods and compare high field again to required precision and stability requirement
Close.
Background technology
In stacker handling and ferrum, aluminum（Alloy type）The fields such as high-temperature metal liquation cast, often need article from a position
Put and be transferred to another position, and make which rotate to an angle, to carry out the aligned of article.For example stacking by one
The horizontality put rotates to an angle after carrying a segment distance and is placed on stacking stacking platform.In order to realize this function,
Generally need a kind of to capture the mechanical hand that material can carry material again.At present, frequently with method be using multi-joint machine
Device people adds conveyance system and device, solves moving and conveying for stacking.But this articulated robot adds conveyer device cost
Higher, structure is complex, takes up room also larger.
China Patent No. CN 203919087U, patent name are that joint Manipulator and the M shapes with the joint Manipulator are double
In the patent documentation of arm robot, a kind of material grasping mechanical hand of two axles servo-drive M shape is disclosed, it is mainly light using Injection Industry
The taking-up of type injection-molded item.Its mainly including cylinder, two motors, support vertical beam, double bar link mechanism and same
Walk the material grasping bar with connection.Whole device is driven to do row linear motion by a servomotor, another servomotor is by driving
The collective effect of Timing Belt and double bar link, enables material grasping bar vertically to move up and down, and finally drives tool to play material grasping taking-up
Function.Although which uses two servomotors to drive, and by servomotor by driving the common of Timing Belt and double bar link
Effect can complete the function of feeding, but the restriction designed because of its own, can only pick up carrying lightweight product, main application note
The taking-up of the light-duty injection-molded item of modeling industry.
Utility model content
Technical problem to be solved in the utility model is, there is provided a kind of M types indulge away mechanical hand, and structure is novel, positioning
High precision, load weight are high, compact conformation, can be reduced production cost, shorten the workpiece handling cycle, improve production effect
Rate, realizes that above-mentioned stacker handling and the cast of high-temperature metal liquation etc. are required.
This utility model is achieved in that a kind of M types of offer indulge away mechanical hand, including supports beam portion and row beam portion,
The row beam portion is fixed on the top for supporting beam portion by bolt, and the M types indulge away mechanical hand, and to be additionally provided with one mechanical
Hand control system, is provided with M shape rotating parts in the row beam portion, and the manipulator control system controls M shape rotating parts, institute
M shapes rotating part is stated with row beam portion by being slidably connected, allows the M shapes rotating part to slide along X rows direction of principal axis；The M
Shape rotating part includes slip row component, M rotating shaft assemblies and the H rotating shaft assemblies being connected with row beam portion, revolves in the H
The bottom of rotating assembly is provided with the tool of crawl article, and the M rotating shaft assemblies drive tool to rotate around Y-axis, the H rotations
Shaft assembly drives tool to rotate about the z axis, and the manipulator control system control slip row component and M rotating shaft assemblies do and join
It is dynamic, drive H rotating shaft assembly in the vertical directions to do straight line elevating movement so that tool realizes traversing X-axis, Y-axis rotation, Z axis
Lifting moving, and its horizontal level remains constant when Z axis vertical direction is lifted；The M shapes rotating part also includes connecting
Bar one and connecting rod two, the connecting rod one and two head and the tail of connecting rod are arranged on the sidepiece of M rotating shaft assemblies, the connecting rod with being actively coupled
One end is connected to the sidepiece of H rotating shaft assemblies, and the front end of the connecting rod two is arranged on slip row component.
Further, the slip row component includes row motor, row reductor, row slide plate one, row slide plate
2nd, row gear and slide block, the row motor drive the rotation of row gear by row reductor, the row gear with
The tooth bar engagement being arranged in row beam portion, so as to drive whole M shapes rotating part mass motion, the row slide plate one to be arranged on
The top of row beam portion, the row slide plate two are arranged on the sidepiece of row beam portion, the row slide plate one and row slide plate two
Be fixed together mutual vertically, the slide block is separately positioned on row slide plate one and row slide plate two, and be arranged on horizontal stroke
Guide rail in cross girders portion cooperatively forms moving sets, and along guide rail transverse shifting.
Further, the M rotating shaft assemblies include M type arms swing beams, M axle RV reductors, M axles servomotor and
M type arm beam side plates, described M axles RV reductors one end are connected on row slide plate two, and its other end is connected to M type arms swings
Liang Shang, the M axles servomotor are driven after the deceleration of M axle RV reductors and drive M type arms swing beams to rotate, and are constituted
One revolute, the H rotating shaft assemblies are arranged on the end of M type arms swing beams, and the M types arm beam side plate is arranged on M
The sidepiece of type arms swing beam.
Further, the H rotating shaft assemblies also include H axle reductors, H axle servomotors, motor mount, Timing Belt
Wheel one, Timing Belt, pulley base one, synchronous pulley two, axle one, pulley base two, umbrella tooth one, joint housing, umbrella tooth two, axle three, institute
H axles servomotor is stated on motor mount, the H axles servomotor connects synchronous pulley one, and then passes through Timing Belt
Synchronous pulley two is driven to synchronously rotate；The umbrella tooth one and synchronous pulley two are fixedly connected on the two ends of axle one, the umbrella tooth
Two are connected on the axle three of H axle reductors, and the H axles servomotor is driven with the umbrella tooth one on moving axis one by Synchronous Transmission
Umbrella tooth two is moved, so as to drive the jig rotation for being connected to that H axles reductor drives end, the joint housing to be fixed on arm pendulum
The end of dynamic beam, the umbrella tooth two and axle three are arranged on the lower end of joint housing, the axle one, one and of umbrella tooth by pulley base one
Synchronous pulley two is arranged on the side of joint housing by pulley base two.
Further, the M shapes rotating part also includes N rotary shafts, and the N rotary shafts are arranged at H rotating shaft assemblies, institute
Stating N rotary shafts also drives H rotating shaft assemblies to rotate along Y-axis.
Compared with prior art, M types of the present utility model indulge away mechanical hand, drive M rotating shaft assemblies by motor
Swing arm rotates, and by the connection of two connecting rods, makes the pose in the vertical direction of H rotating shaft assemblies end tool keep angle
It is constant；H rotating shaft assemblies drive two umbrella tooth transmissions to realize spinning movement around end rotary shaft by Timing Belt connection.This practicality
A kind of structure of new proposition is novel, positioning precision is high, load weight is high, compact conformation, can shorten the workpiece handling cycle, carry
High efficiency.
Description of the drawings
Schematic perspective views of the Fig. 1 for one preferred embodiment of this utility model；
Fig. 2 is the schematic perspective view of M shape rotating parts in Fig. 1；
Front views of the Fig. 3 for Fig. 2；
Structure principle charts of the Fig. 4 for the M shape rotating parts of Fig. 3；
Fig. 5 is P-P generalized sections in Fig. 3；
Fig. 6 is I portions enlarged diagram in Fig. 5；
Fig. 7 is the structure partial schematic perspective view of M shape rotating parts in Fig. 2；
Fig. 8 is the front view of another embodiment of M shapes rotating part of the present utility model；
Structure principle charts of the Fig. 9 for the M shape rotating parts of Fig. 8.
Specific embodiment
In order that technical problem to be solved in the utility model, technical scheme and beneficial effect become more apparent, with
Lower combination drawings and Examples, are further elaborated to this utility model.It should be appreciated that concrete reality described herein
Example is applied only to explain this utility model, be not used to limit this utility model.
Referring to shown in Fig. 1, Fig. 2 and Fig. 3, this utility model M types indulge away a preferred embodiment of mechanical hand, bag
Support beam portion 1 and row beam portion 2 are included, the row beam portion 2 is fixed on the top for supporting beam portion 1 by bolt.The M types
Indulge away mechanical hand and be additionally provided with a manipulator control system.M shapes rotating part 3, the machinery are provided with the row beam portion 2
Hand control system control M shapes rotating part 3.The M shapes rotating part 3 makes the M shapes rotation with row beam portion 2 by being slidably connected
Portion 3 can be along 1 axle --- X row direction of principal axis reciprocatingly slides.
The M shapes rotating part 3 includes the slip row component 4, M rotating shaft assemblies 5 being connected with row beam portion 2 and H rotations
Rotating assembly 6.The bottom of the H rotating shaft assemblies 6 is provided with the tool 3-12 of crawl article.The M rotating shaft assemblies 5 drive
Dynamic tool 3-12 is around Y-axis（2 axles：M rotary shafts）Rotation, the H rotating shaft assemblies 6 drive tool 3-12 about the z axis（3 axles：H rotates
Axle）Rotation.The manipulator control system control slip row component 4 and M rotating shaft assemblies 5 link, and drive H rotary shaft groups
6 in the vertical direction of part does straight line elevating movement so that tool 3-12 realizes traversing X-axis, Y-axis rotation, Z axis lifting moving, with
And its horizontal level remains constant when Z axis vertical direction is lifted.
Referring to shown in Fig. 2 and Fig. 3, the M shapes rotating part 3 also includes two 3-15 of one 3-14 of connecting rod and connecting rod.Institute
State the sidepiece that one 3-14 of connecting rod and two 3-15 of connecting rod head and the tail are arranged on M rotating shaft assemblies 5 with being actively coupled, one 3-14 of the connecting rod
End be connected to the sidepiece of H rotating shaft assemblies 6, the front end of two 3-15 of the connecting rod is arranged on slip row component 4.Pass through
Two connecting rods --- the connection of two 3-15 of one 3-14 of connecting rod and connecting rod is set, the position of the tool 3-12 of 3 end of M shapes rotating part is made
Keep angle constant with posture in the vertical direction, facilitate tool crawl and put product.
Referring to shown in Fig. 2, Fig. 3 and Fig. 5, the slip row component 4 includes that row motor 3-1, row subtract
Fast machine 3-2, one 3-3 of row slide plate, two 3-4 of row slide plate, row gear 3-6 and slide block 3-8.The row motor 3-1 leads to
Crossing row reductor 3-2 drives row gear 3-6 rotations, the row gear 3-6 to nibble with the tooth bar being arranged in row beam portion 2
Close, so as to drive whole 3 mass motion of M shapes rotating part.One 3-3 of row slide plate is arranged on the top of row beam portion 2, described
Two 3-4 of row slide plate is arranged on the sidepiece of row beam portion 2, and one 3-3 of row slide plate and two 3-4 of row slide plate is mutual vertically
It is fixed together.The slide block 3-8 is separately positioned on one 3-3 of row slide plate and two 3-4 of row slide plate, and be arranged on row
Guide rail in beam portion 2 cooperatively forms moving sets, and along guide rail transverse shifting.
Referring to shown in Fig. 2, Fig. 3 and Fig. 5, the M rotating shaft assemblies 5 include M type arms swing beam 3-5, M axles
RV reductor 3-9, M axle servomotor 3-10 and M type arm beam side plate 3-11.Described M axles RV reductor 3-9 one end is connected to
On two 3-4 of row slide plate, its other end is connected on M type arms swing beam 3-5.The M axles servomotor 3-10 passes through M axle RV
Reductor 3-9 drives after slowing down and drives M type arms swing beam 3-5 to rotate, and constitutes a revolute.The H rotary shafts
Component 6 is arranged on the end of M type arms swing beam 3-5, and the M types arm beam side plate 3-11 is arranged on M type arms swing beam 3-5
Sidepiece.
Refer to shown in Fig. 4, the structural principle of M shapes rotating part 3 is exactly a parallelogram connection-rod structure in fact, additional
Two revolutes drive.The parallelogram connection-rod structure includes connecting rod L1, L2, L3 and L4, and four fulcrums, wherein,
Point A points and fulcrum D points are fixed, and, without constraint, fulcrum A and fulcrum B is revolute for fulcrum B points and fulcrum C points.Connecting rod L5 is located at fulcrum
At B, equivalent to tool 3-12.M shapes rotating part 3 is to maintain M rotary shafts using the purpose of parallelogram connection-rod structure and drives M types
When arms swing beam 3-5 rotates, the pose in the vertical direction of tool 3-12 remains constant.
Referring to shown in Fig. 2, Fig. 3, Fig. 5, Fig. 6 and Fig. 7, the H rotating shaft assemblies 6 also include H axle reductors
It is 3-13, H axle servomotor 3-16, motor mount 3-17, one 3-18 of synchronous pulley, Timing Belt 3-19, one 3-20 of pulley base, same
Step two 3-21 of belt wheel, one 3-24 of axle, two 3-26 of pulley base, one 3-27 of umbrella tooth, joint housing 3-25, two 3-23 of umbrella tooth, three 3- of axle
22。
, on motor mount 3-17, the H axles servomotor 3-16 connections are synchronous for the H axles servomotor 3-16
One 3-18 of belt wheel, and then drive two 3-21 of synchronous pulley to synchronously rotate by Timing Belt 3-19.One 3-27 of umbrella tooth and same
Step two 3-21 of belt wheel is fixedly connected on the two ends of one 3-24 of axle, and two 3-23 of umbrella tooth is connected to the axle three of H axle reductor 3-13
On 3-22.The H axles servomotor 3-16 is driven by synchronization 3-19, drives umbrella tooth with one 3-27 of umbrella tooth on one 3-24 of moving axis
Two 3-23 are moved, so as to drive the tool 3-12 rotations for being connected to that H axle reductors 3-13 drives end.The joint housing 3-25
It is fixed on the end of arms swing beam 3-5.Two 3-23 of umbrella tooth and three 3-22 of axle are arranged on joint by one 3-20 of pulley base
The lower end of housing 3-25, one 3-24 of the axle, one 3-27 of umbrella tooth and two 3-21 of synchronous pulley are arranged on by two 3-26 of pulley base
The side of joint housing 3-25.
Generally speaking, the transmission process of H rotating shaft assemblies 6 can be summarized as i.e. by a Motor drive, mid-ambles band
Drive, is changed by two umbrella teeth transmissions on direction of rotation, separately matches somebody with somebody a reductor to change transmission speed and output torque.
Referring to shown in Fig. 2, Fig. 8 and Fig. 9, as another embodiment of M shapes rotating part of the present utility model 3, M shapes
Rotating part 3 is different from front embodiment in structure, eliminates the structure of two 3-15 of one 3-14 of aforesaid connecting rod and connecting rod.In this reality
Apply in example, the M shapes rotating part 3 also includes N rotary shafts 3-7, and N rotary shafts 3-7 are arranged at H rotating shaft assemblies 6, described
N rotary shafts 3-7 also drive H rotating shaft assemblies 6 to rotate along Y-axis.Tie equivalent to the double leval jib the M shapes rotating part 3 of front embodiment
Structure replaces with two connecting rods（Remain connecting rod L1 and L4）Structure, an additional servomotor drive 4 axles --- and N rotary shafts drive,
Retain 2 axles --- M rotary shafts and 3 axles --- the H rotary shafts in original structure.
Other structures are identical with front embodiment, repeat no more.
Preferred embodiment of the present utility model is the foregoing is only, it is not to limit this utility model, all at this
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in this utility model
Protection domain within.
Claims (5)
1. a kind of M types indulge away mechanical hand, including support beam portion（1）With row beam portion（2）, the row beam portion（2）By bolt
It is fixed on support beam portion（1）Top, it is characterised in that the M types are indulged away mechanical hand and are additionally provided with a manipulator control
System, in the row beam portion（2）On be provided with M shape rotating parts（3）, the manipulator control system control M shape rotating parts
（3）, the M shapes rotating part（3）With row beam portion（2）By being slidably connected, the M shapes rotating part is made（3）Can be along X row axles
Slide in direction；The M shapes rotating part（3）Including with row beam portion（2）The slip row component of connection（4）, M rotating shaft assemblies
（5）And H rotating shaft assemblies（6）, in the H rotating shaft assemblies（6）Bottom be provided with crawl article tool（3-12）, institute
State M rotating shaft assemblies（5）Drive tool（3-12）Rotate around Y-axis, the H rotating shaft assemblies（6）Drive tool（3-12）About the z axis
Rotation, the manipulator control system control slip row component（4）With M rotating shaft assemblies（5）Link, drive H rotary shafts
Component（6）In the vertical direction does straight line elevating movement so that tool（3-12）Realize that traversing X-axis, Y-axis rotation, Z axis lifting are moved
It is dynamic, and its horizontal level remains constant when Z axis vertical direction is lifted；The M shapes rotating part（3）Also include connecting rod one
（3-14）With connecting rod two（3-15）, the connecting rod one（3-14）With connecting rod two（3-15）Head and the tail are arranged on M rotations with being actively coupled
Shaft assembly（5）Sidepiece, the connecting rod one（3-14）End be connected to H rotating shaft assemblies（6）Sidepiece, the connecting rod two
（3-15）Front end be arranged on slip row component（4）On.
2. M types as claimed in claim 1 indulge away mechanical hand, it is characterised in that the slip row component（4）Including row electricity
Machine（3-1）, row reductor（3-2）, row slide plate one（3-3）, row slide plate two（3-4）, row gear（3-6）And slide block
（3-8）, the row motor（3-1）By row reductor（3-2）Drive row gear（3-6）Rotation, the row gear
（3-6）Be arranged on row beam portion（2）On tooth bar engagement, so as to drive whole M shapes rotating part（3）Mass motion, the horizontal stroke
Row slide plate one（3-3）It is arranged on row beam portion（2）Top, the row slide plate two（3-4）It is arranged on row beam portion（2）Side
Portion, the row slide plate one（3-3）With row slide plate two（3-4）It is fixed together mutual vertically, the slide block（3-8）Respectively
It is arranged on row slide plate one（3-3）With row slide plate two（3-4）On, and be arranged on row beam portion（2）On guide rail coordinate shape
Into moving sets, and along guide rail transverse shifting.
3. M types as claimed in claim 2 indulge away mechanical hand, it is characterised in that the M rotating shaft assemblies（5）Including M type arms
Walking beam（3-5）, M axle RV reductors（3-9）, M axle servomotors（3-10）And M type arm beam side plates（3-11）, the M axles
RV reductors（3-9）One end is connected to row slide plate two（3-4）On, its other end is connected to M type arms swing beams（3-5）On,
The M axles servomotor（3-10）By M axle RV reductors（3-9）Drive after deceleration and drive M type arms swing beams（3-5）Do and revolve
Transhipment is dynamic, constitutes a revolute, the H rotating shaft assemblies（6）It is arranged on M type arms swing beams（3-5）End, the M
Type arm beam side plate（3-11）It is arranged on M type arms swing beams（3-5）Sidepiece.
4. M types as claimed in claim 3 indulge away mechanical hand, it is characterised in that the H rotating shaft assemblies（6）Also subtract including H axles
Fast machine（3-13）, H axle servomotors（3-16）, motor mount（3-17）, synchronous pulley one（3-18）, Timing Belt（3-19）、
Pulley base one（3-20）, synchronous pulley two（3-21）, axle one（3-24）, pulley base two（3-26）, umbrella tooth one（3-27）, joint shell
Body（3-25）, umbrella tooth two（3-23）, axle three（3-22）, the H axles servomotor（3-16）Installed in motor mount（3-17）
On, the H axles servomotor（3-16）Connection synchronous pulley one（3-18）, and then pass through Timing Belt（3-19）Drive synchronous pulley
Two（3-21）Synchronously rotate；The umbrella tooth one（3-27）With synchronous pulley two（3-21）It is fixedly connected on axle one（3-24）Two
End, the umbrella tooth two（3-23）It is connected to H axle reductors（3-13）Axle three（3-22）On, the H axles servomotor（3-16）
By Timing Belt（3-19）Transmission, band moving axis one（3-24）On umbrella tooth one（3-27）Drive umbrella tooth two（3-23）Motion, so as to
Drive is connected to H axle reductors（3-13）The tool of end（3-12）Rotation, the joint housing（3-25）It is fixed on arm pendulum
Dynamic beam（3-5）End, the umbrella tooth two（3-23）With axle three（3-22）By pulley base one（3-20）It is arranged on joint housing
（3-25）Lower end, the axle one（3-24）, umbrella tooth one（3-27）With synchronous pulley two（3-21）By pulley base two（3-26）
It is arranged on joint housing（3-25）Side.
5. the M types as described in any one in Claims 1-4 indulge away mechanical hand, it is characterised in that the M shapes rotating part（3）
Also include N rotary shafts（3-7）, the N rotary shafts（3-7）It is arranged on H rotating shaft assemblies（6）Place, the N rotary shafts（3-7）
Drive H rotating shaft assemblies（6）Rotate along Y-axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620998551.6U CN206066442U (en) | 2016-08-31 | 2016-08-31 | A kind of M types indulge away mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620998551.6U CN206066442U (en) | 2016-08-31 | 2016-08-31 | A kind of M types indulge away mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066442U true CN206066442U (en) | 2017-04-05 |
Family
ID=58436188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620998551.6U Active CN206066442U (en) | 2016-08-31 | 2016-08-31 | A kind of M types indulge away mechanical hand |
Country Status (1)
| Country | Link |
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| CN (1) | CN206066442U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426123A (en) * | 2016-08-31 | 2017-02-22 | 宁波伟立机器人科技有限公司 | M-shaped longitudinal traveling mechanical hand and application method thereof |
| CN109873525A (en) * | 2018-08-07 | 2019-06-11 | 安徽御流包装机械有限公司 | A kind of pushing meanss |
| CN111070192A (en) * | 2019-12-09 | 2020-04-28 | 歌尔股份有限公司 | Multi-axis movement device |
-
2016
- 2016-08-31 CN CN201620998551.6U patent/CN206066442U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426123A (en) * | 2016-08-31 | 2017-02-22 | 宁波伟立机器人科技有限公司 | M-shaped longitudinal traveling mechanical hand and application method thereof |
| CN106426123B (en) * | 2016-08-31 | 2020-01-31 | 宁波伟立机器人科技有限公司 | M-type longitudinal-moving manipulator and using method thereof |
| CN109873525A (en) * | 2018-08-07 | 2019-06-11 | 安徽御流包装机械有限公司 | A kind of pushing meanss |
| CN109873525B (en) * | 2018-08-07 | 2024-03-22 | 安徽御流包装机械有限公司 | Pushing device for product package |
| CN111070192A (en) * | 2019-12-09 | 2020-04-28 | 歌尔股份有限公司 | Multi-axis movement device |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 315480, Lane 48, Long Xia street, Yuyao, Zhejiang, Ningbo Patentee after: Ningbo Liwei robot Polytron Technologies Inc Address before: 315480, Lane 48, Long Xia street, Yuyao, Zhejiang, Ningbo Patentee before: Ningbo Weil-lih Robot Technology Co., Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: An M-type longitudinal manipulator Effective date of registration: 20220211 Granted publication date: 20170405 Pledgee: China Co. truction Bank Corp Yuyao branch Pledgor: NINGBO WELLLIH ROBOT TECHNOLOGY CO.,LTD. Registration number: Y2022330000201 |