CN206510061U - A kind of industrial robot special connecting piece - Google Patents
A kind of industrial robot special connecting piece Download PDFInfo
- Publication number
- CN206510061U CN206510061U CN201720226865.9U CN201720226865U CN206510061U CN 206510061 U CN206510061 U CN 206510061U CN 201720226865 U CN201720226865 U CN 201720226865U CN 206510061 U CN206510061 U CN 206510061U
- Authority
- CN
- China
- Prior art keywords
- industrial robot
- connecting piece
- contiguous block
- connector
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The utility model is related to a kind of industrial robot special connecting piece, the contiguous block set including two relative spacings, two contiguous blocks are connected as one by four decoration connecting plates, and the space between two contiguous blocks encloses to form accommodating cavity by four decoration connecting plates；The contiguous block is integrally square structure, its inner hollow formation annular seal space, sealing plate is provided with annular seal space, sealing plate isolates annular seal space to form exocoel and inner cavity chamber, the inner cavity chamber is provided with compression spring, the contiguous block is provided with outside connecting hole, the contiguous block positioned at the side of exocoel and is additionally provided with connector, and connector is connected by connecting hole with the sealing plate；The passage of connection exocoel and inner cavity chamber is additionally provided with the sealing plate.The utility model is simple in construction, easy to loading and unloading, can change or select as needed the decoration connecting plate of appropriate length, easy to use so as to change special connecting piece entire length.
Description
Technical field
The utility model is related to robot parts, belongs to robotic technology field, and more specifically, the utility model is related to
And a kind of industrial robot special connecting piece.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, is to lean on self power and control ability to realize a kind of machine of various functions.It can receive mankind commander, also may be used
To be run according to the program of advance layout, the principle guiding principle that modern industrial robot can also be formulated according to artificial intelligence technology
Action.
Industrial robot is made up of main body, three essential parts of drive system and control system.Main body is support and execution
There is walking mechanism in mechanism, including arm, wrist and hand, some robots.Most of industrial robots have 3~6 motions
The free degree, wherein wrist generally have 1~3 freedom of motion；Drive system includes power set and transmission mechanism, to make to hold
Row mechanism produces corresponding action；Control system is that instruction letter is sent to drive system and executing agency according to the program of input
Number, and be controlled.
Industrial robot is divided into four kinds by the forms of motion of arm.The arm of cartesian co-ordinate type can be moved along three rectangular co-ordinates
It is dynamic；The arm of circular cylindrical coordinate type can be lifted, turned round and expanding-contracting action；The arm of spherical coordinates type can be turned round, pitching and flexible；Close
The arm of nodal pattern has multiple cradle heads.
Arm, wrist and the hand of robot are in connection, and its attachment structure is complex, and need to be accurately positioned
Connection, handling inconvenience, and can be influenced each other during activity between connection, part, cause its scope of activities smaller, it is necessary to use
Other structures such as rotating disk, service pneumatic system etc. realize large-scale rotation so that robot architecture is all the more complicated, volume into
This is larger higher, and connecting length determines to change after connection, and inconvenience is brought to follow-up adjustment.
Utility model content
Based on above technical problem, the utility model provides a kind of industrial robot special connecting piece, so as to solve
Slewing area is small, complicated upon connection and can not change the technical problem of connecting length for conventional industrial robot.
To solve above technical problem, the technical solution adopted in the utility model is as follows：
A kind of industrial robot special connecting piece, including the contiguous block that two relative spacings are set, two contiguous blocks pass through
Four decoration connecting plates are connected as one, and the space between two contiguous blocks encloses to form receiving by four decoration connecting plates
Cavity；
The contiguous block is integrally square structure, its inner hollow formation annular seal space, and sealing plate is provided with annular seal space, close
Shrouding isolates annular seal space to form exocoel and inner cavity chamber, and the inner cavity chamber is provided with compression spring, and the contiguous block is located at outer
The side of chamber, which is provided with outside connecting hole, the contiguous block, is additionally provided with connector, connector by connecting hole with it is described close
Shrouding is connected；
The passage of connection exocoel and inner cavity chamber is additionally provided with the sealing plate.
It is preferred that, the decoration connecting plate includes sealing gasket, rigid plate and decorative panel successively from inside to outside.
It is preferred that, the decoration connecting plate two ends are flexibly connected with two contiguous blocks respectively by bolt.
It is preferred that, the sealing plate is provided with circular mounting boss, circular mounting boss and the connection positioned at exocoel
Head connection, and diameter of the diameter less than or equal to connecting hole of the circular mounting boss.
It is preferred that, the connector is mainly made up of adjusting ball head and rotation seat；The adjusting ball head includes upper end open
Hollow ball-shape base, hollow ball-shape chassis interior is provided with rotatable multi-directional ball, and universal ball portion stretches out hollow ball-shape bottom
The upper end open of seat is simultaneously connected with threaded connection post, and the universal ball surface cuts to form several continuous locating surfaces, institute
Hollow ball-shape base is stated also to be relatively set with two the first positioning screws for being used to position multi-directional ball, the hollow ball-shape base
End is outside to be additionally provided with arc connector；The rotation seat includes rotating inner seat and rotates outer seat, and the rotation inner seat upper end is set
The arc groove matched with arc connector is equipped with, the rotation inner seat is provided at both ends with and arc connector positioned at arc groove
Rotatable second positioning screw of connection；The outer seat of the rotation is rotatably coupled to rotate under inner seat by rotating bolt
End, the rotating bolt and the first positioning screw are arranged in a mutually vertical manner, and the rotation is also associated with lower screw thread outside outer seat lower end
Connecting pole.
It is preferred that, one end that first positioning screw is located at hollow ball-shape chassis interior cavity is additionally provided with locating ring,
Locating ring can be brought into close contact with locating surface.
It is preferred that, the surface area of the upper end open of the hollow ball-shape base for hollow ball-shape susceptor surface accumulate five/
Two.
It is preferred that, the upper threaded connection post and lower threaded connection post respectively connect with multi-directional ball and the outer seat screw thread of rotation
Connect.
In summary, by adopting the above-described technical solution, the beneficial effects of the utility model are：
1st, the utility model is simple in construction, easy to loading and unloading, can change or select as needed the decoration of appropriate length to connect
Fishplate bar, it is easy to use so as to change special connecting piece entire length.
2nd, contiguous block of the present utility model has direction adjustability, so that adjustment is may be rotated in assembling, it is convenient
Remaining connection member is quick and precisely connected with robot, and the matching relationship of assembly parts coupling part need not be so accurate, so that
Reduce its difficulty of processing, cost reduction.
3rd, the utility model contiguous block is connected by connector with industrial robot remaining part, so that in use
Its connection angle can be pre-adjusted, and rotation can be aided in during subsequent rotation, so as to improve industrial robot
Flexibility between connector, improves its slewing area.
4. the utility model contiguous block and connector elastic connection, are not in when in use during industrial machine human action
Bite sense, and with certain buffering effect, it is possible to reduce the rigid shock power between part, fabulous protection robot is simultaneously
And reduce the incoordination of robot.
Brief description of the drawings
Fig. 1 is the structural representation of utility model；
Fig. 2 is the structural representation for decorating connecting plate；
Fig. 3 is the structural representation of contiguous block；
Fig. 4 is the sectional view of contiguous block；
Fig. 5 is the structural representation of connector；
Fig. 6 is the sectional view of connector；
Marked in figure：1st, contiguous block；2nd, bolt；3rd, connecting plate is decorated；31st, sealing gasket；32nd, rigid plate；33rd, decorative panel；
4th, exocoel；5th, sealing plate；6th, compression spring；7th, inner cavity chamber；8th, connecting hole；9th, circular mounting boss；10th, passage；11st, adjust
Save bulb；12nd, rotation seat；13rd, upper threaded connection post；14th, multi-directional ball；15th, locating ring；16th, the first positioning screw；17th, it is hollow
Spherical base；18th, the second positioning screw；19th, inner seat is rotated；20th, rotating bolt；21st, lower threaded connection post；22nd, outer seat is rotated；
23rd, outer seat is rotated.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings.Embodiment of the present utility model includes but not limited
In the following example.
As Figure 1-Figure 4, a kind of industrial robot special connecting piece, including the contiguous block 1 that two relative spacings are set,
Two contiguous blocks 1 are connected as one by four decoration connecting plates 3, and the space between two contiguous blocks 1 passes through four decorations
Connecting plate 3 encloses to form accommodating cavity；
Sealing plate 5 is provided with the overall structure that is square of contiguous block 1, its inner hollow formation annular seal space, annular seal space,
Sealing plate 5 isolates annular seal space to form exocoel 4 and inner cavity chamber 7, and the inner cavity chamber 7 is provided with compression spring 6, the contiguous block
1 side for being located at exocoel 7, which is provided with outside connecting hole 8, the contiguous block 1, is additionally provided with connector, and connector passes through connection
Hole 8 is connected with the sealing plate 5；
The passage 10 of connection exocoel 4 and inner cavity chamber 7 is additionally provided with the sealing plate 5.
Two contiguous blocks 1 of the present embodiment are used to connect the parts such as robot arm, claw, base, four decoration connections
Plate 3 connects and complete connector is formed after two contiguous blocks 1, and four decoration connecting plates 3 can select different length as needed,
So as to constitute the connector of different length, it is ensured that the size requirements of different machines people；Meanwhile, the inner sealing plate 5 of contiguous block 1 exists
It can be moved under compression spring 6 or so along the length direction of compression spring 6, isolate annular seal space due to sealing plate 5 to form exocoel 4
With inner cavity chamber 7, the side that contiguous block 1 is located at exocoel 7 is provided with connecting hole 8, so that sealing plate 5 is in movement, due to inner chamber
Gas slowly in room 7 is discharged from connecting hole 8, or air slowly enters inner cavity chamber 7 from connecting hole 8 in exocoel 4, so that two
Individual contiguous block 1 has cushioning effect when connecting, and will be rigidly connected and is changed into flexible connection, connects more convenient and safe, while even
Connect also more flexible when rear robot manipulation or motion, junction has certain pliability, is easy to use for a long time.
Meanwhile, the space in the present embodiment between two contiguous blocks 1 encloses to form receiving sky by four decoration connecting plates 3
Chamber, inside accommodating cavity can with cabling or sensor, electrical part needed for setting etc., can separately as small-sized storage space, from
And robot architecture can be simplified, reduce cost and weight.
Embodiment 2
The present embodiment has done following optimization on the basis of embodiment 1：The decoration connecting plate 3 includes close successively from inside to outside
Packing 31, rigid plate 32 and decorative panel 33.
The decoration connecting plate 3 of the present embodiment primarily serves the effect of decoration and connection, and its internal sealing gasket 31 can rise
To dust-proof and water proof effect, the electrical part of storage inside is protected, while rigid plate 32 has certain intensity, robot is met
Bonding strength demand, and required decorative pattern and color can be set in decorative panel 33, improves the aesthetic of robot.This implementation
The rigid plate 32 of example can be the plate body that alloy sheets, steel plate or other metal materials are made.
Embodiment 3
The present embodiment optimizes following structure on the basis of embodiment 1 or embodiment 2：Decoration connecting plate 3 two ends
It is flexibly connected respectively with two contiguous blocks 1 by bolt 2.
The present embodiment bolt 2 is convenient to be dismantled, and can also select the quantity that uses as requested, and no matter decoration connection
The change of plate length nor affects on its connection.
Embodiment 4
The present embodiment has done following optimization and addition in embodiment 1- embodiments 3 on the basis of any embodiment：It is described
Sealing plate 5 is provided with circular mounting boss 9 positioned at exocoel 4, and circular mounting boss 9 is connected with the connector, and the circle
The diameter of shape installation base 9 is less than or equal to the diameter of connecting hole 8.
The circular mounting boss 9 of the present embodiment not only facilitates the connection of connector, while being translated in connector with sealing plate 5
When play good guiding function, and the diameter of circular mounting boss 9 is less than or equal to the diameter of connecting hole 8, so that circular
Installation base 9 can partly stretch out connecting hole 8, so as to facilitate the connection of connector, facilitate the connection of connector.
Embodiment 5
As shown in Figure 5, Figure 6, the present embodiment optimizes connector on the basis of any of the above-described embodiment, is specifically：Institute
Connector is stated mainly to be made up of adjusting ball head 11 and rotation seat 12；The adjusting ball head 11 includes the hollow ball-shape bottom of upper end open
Seat 17, hollow ball-shape base 17 is internally provided with rotatable multi-directional ball 14, and hollow ball-shape base 17 is stretched out in the part of multi-directional ball 14
Upper end open and be connected with threaded connection post 13, the surface of multi-directional ball 14 cuts to form several continuous locating surfaces,
The hollow ball-shape base 17 is also relatively set with two the first positioning screws 16 for being used to position multi-directional ball 14, the hollow ball
Shape base 17 is additionally provided with arc connector 23 outside lower end；The rotation seat 12 includes rotating inner seat 19 and rotates outer seat 22,
Rotation inner seat 19 upper end is provided with the arc groove matched with arc connector 23, and it is recessed that the rotation inner seat 19 is located at arc
Groove is provided at both ends with rotatable second positioning screw 18 being connected with arc connector 23；The outer seat 22 of the rotation is by rotating
Bolt 20 is rotatably coupled to rotate the lower end of inner seat 19, and the positioning screw 16 of rotating bolt 20 and first is mutually perpendicular to set
Put, lower threaded connection post 21 is also associated with outside the outer lower end of seat 22 of the rotation.
The operation principle of the present embodiment is：The machines such as claw, arm, wrist needed for upper threaded connection post 13 and robot
People's part is connected, and lower threaded connection post 21 is then connected with contiguous block, and rotating inner seat 19 can be rotary shaft with rotating bolt 20 and turn
Outer seat 22 is moved to relatively rotate, meanwhile, hollow ball-shape base 17 can be rotary shaft with the second positioning screw 18 with rotating the phase of inner seat 19
To rotating, and multi-directional ball 14 can then be rotated in hollow ball-shape base 17, by multi-directional ball 14, rotate inner seat 19 and the outer seat of rotation
22 relative rotation, so as to realize the relative rotation of contiguous block and robot components, so that in use can be pre-
Its connection angle is first adjusted, and rotation can be aided in during subsequent rotation, so as to improve industrial robot connector
Between flexibility, improve its slewing area.And when needing to fix its link position, the first positioning screw can be screwed
16th, the second positioning screw 18 and rotating bolt 20, by multi-directional ball 14, rotate inner seat 19 and rotate outer seat 22 and fix, pass through the above
Structure so that robot coupling part has certain adjustability, the angle that the part of installation is relative can be preset, and
Also increase the flexibility of coupling part.
The surface of multi-directional ball 14 of the present embodiment cuts to form several continuous locating surfaces, so that the first positioning screw 16 exists
Uniform force is stable when holding out against multi-directional ball 14, can be good at fixing multi-directional ball 14.
As the perfect scheme of the embodiment, first positioning screw 16 is located at the internal cavities of hollow ball-shape base 17
One end is additionally provided with locating ring 15, and locating ring 15 can be brought into close contact with locating surface.Locating ring 15 can be good at shape with locating surface
Into face contact, lifting surface area is improved, so that fixed effect is more preferable when the first positioning screw 16 compresses multi-directional ball 14.
As the perfect scheme of the embodiment, the surface area of the upper end open of the hollow ball-shape base 17 is hollow ball-shape
2/5ths of the surface area of base 17.It can be influenceed in view of multi-directional ball 14 by the external force of robot external component, in order to avoid
It departs from out of hollow ball-shape base 17, and meets its maximum rotational angle and by force intensity, as perfect, limit hollow
The surface area of the upper end open of spherical base 17 is 2/5ths of the surface area of hollow ball-shape base 17, so that meeting normally makes
With demand, and realize maximized utilization.
As the perfect scheme of the embodiment, it is described it is upper threaded connection post 13 and it is lower threaded connection post 21 respectively with it is universal
Ball 14 and the outer seat 22 of rotation are threadedly coupled.The present embodiment upper threaded connection post 13 and lower dismounting for being threadedly coupled post 21 for convenience
Change, it is arranged to be threadedly coupled with the connected mode of multi-directional ball 14 and the outer seat 22 of rotation, handling facility.
It is embodiment of the present utility model as described above.Described previously is each preferred embodiment of the present utility model,
Preferred embodiment in each preferred embodiment if not substantially contradictory or premised on a certain preferred embodiment,
Each preferred embodiment can arbitrarily stack combinations use, the design parameter in the embodiment and embodiment be only for
The utility model verification process of clear statement utility model people, and be not used to limit scope of patent protection of the present utility model,
Scope of patent protection of the present utility model is still defined by its claims, every with specification of the present utility model and attached
The equivalent structure change that figure content is made, similarly should be included in protection domain of the present utility model.
Claims (8)
1. a kind of industrial robot special connecting piece, it is characterised in that：The contiguous block (1) set including two relative spacings, two
Individual contiguous block (1) is connected as one by four decoration connecting plates (3), and the space between two contiguous blocks (1) passes through four
Decoration connecting plate (3) encloses to form accommodating cavity；
Sealing plate (5) is provided with the overall structure that is square of the contiguous block (1), its inner hollow formation annular seal space, annular seal space,
Sealing plate (5) isolates annular seal space to form exocoel (4) and inner cavity chamber (7), and the inner cavity chamber (7) is provided with compression spring (6),
The side that the contiguous block (1) is located at exocoel (7) is provided with connecting hole (8), and the contiguous block (1) is outside to be additionally provided with connection
Head, connector is connected by connecting hole (8) with the sealing plate (5)；
The passage (10) of connection exocoel (4) and inner cavity chamber (7) is additionally provided with the sealing plate (5).
2. a kind of industrial robot special connecting piece according to claim 1, it is characterised in that：The decoration connecting plate
(3) sealing gasket (31), rigid plate (32) and decorative panel (33) are included successively from inside to outside.
3. a kind of industrial robot special connecting piece according to claim 1, it is characterised in that：The decoration connecting plate
(3) two ends are flexibly connected with two contiguous blocks (1) respectively by bolt (2).
4. a kind of industrial robot special connecting piece according to claim 1, it is characterised in that：Sealing plate (5) position
Exocoel (4) is provided with circular mounting boss (9), circular mounting boss (9) is connected with the connector, and the circular peace
The diameter for filling boss (9) is less than or equal to the diameter of connecting hole (8).
5. a kind of industrial robot special connecting piece according to claim 1, it is characterised in that：The connector it is main by
Adjusting ball head (11) and rotation seat (12) are constituted；The adjusting ball head (11) includes the hollow ball-shape base (17) of upper end open,
Hollow ball-shape base (17) is internally provided with rotatable multi-directional ball (14), and hollow ball-shape base is stretched out in multi-directional ball (14) part
(17) upper end open is simultaneously connected with threaded connection post (13), and multi-directional ball (14) surface cuts that to form several continuous
Locating surface, the hollow ball-shape base (17) is also relatively set with two the first positioning screws for being used to position multi-directional ball (14)
(16), it is additionally provided with arc connector (23) outside hollow ball-shape base (17) lower end；The rotation seat (12) includes turning
Dynamic inner seat (19) and the outer seat (22) of rotation, described rotation inner seat (19) upper end are provided with the arc matched with arc connector (23)
Groove, the rotation inner seat (19) is provided at both ends with rotatable second be connected with arc connector (23) positioned at arc groove
Positioning screw (18)；The outer seat (22) of the rotation is rotatably coupled to rotate inner seat (19) lower end by rotating bolt (20),
The rotating bolt (20) and the first positioning screw (16) are arranged in a mutually vertical manner, and the rotation is also connected with outside outer seat (22) lower end
There is lower threaded connection post (21).
6. a kind of industrial robot special connecting piece according to claim 5, it is characterised in that：First positioning screw
(16) one end positioned at hollow ball-shape base (17) internal cavities is additionally provided with locating ring (15), and locating ring (15) can be with locating surface
It is brought into close contact.
7. a kind of industrial robot special connecting piece according to claim 5, it is characterised in that：The hollow ball-shape base
(17) surface area of upper end open is 2/5ths of hollow ball-shape base (17) surface area.
8. a kind of industrial robot special connecting piece according to claim 5, it is characterised in that：The upper threaded connection post
(13) respectively it is threadedly coupled with lower threaded connection post (21) with multi-directional ball (14) and the outer seat (22) of rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720226865.9U CN206510061U (en) | 2017-03-09 | 2017-03-09 | A kind of industrial robot special connecting piece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720226865.9U CN206510061U (en) | 2017-03-09 | 2017-03-09 | A kind of industrial robot special connecting piece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206510061U true CN206510061U (en) | 2017-09-22 |
Family
ID=59870097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720226865.9U Expired - Fee Related CN206510061U (en) | 2017-03-09 | 2017-03-09 | A kind of industrial robot special connecting piece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206510061U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111958575A (en) * | 2020-08-11 | 2020-11-20 | 广东万合新材料科技有限公司 | Mechanical arm mechanism |
| JP2021049568A (en) * | 2019-09-26 | 2021-04-01 | 三井住友建設株式会社 | Reinforcing-bar binding machine connection structure and reinforcing-bar binding robot |
-
2017
- 2017-03-09 CN CN201720226865.9U patent/CN206510061U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2021049568A (en) * | 2019-09-26 | 2021-04-01 | 三井住友建設株式会社 | Reinforcing-bar binding machine connection structure and reinforcing-bar binding robot |
| JP7332411B2 (en) | 2019-09-26 | 2023-08-23 | 三井住友建設株式会社 | Rebar binding machine connection structure and rebar binding robot |
| CN111958575A (en) * | 2020-08-11 | 2020-11-20 | 广东万合新材料科技有限公司 | Mechanical arm mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020125044A1 (en) | Four degrees of freedom parallel robot provided with dual moving platform structure | |
| CN205969113U (en) | Simple manipulator | |
| CN102126210B (en) | 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm | |
| CN206510061U (en) | A kind of industrial robot special connecting piece | |
| CN208056572U (en) | A kind of patch block tooling and patch block robot | |
| US10584733B2 (en) | Relocating mechanism of industrial machine | |
| CN206561437U (en) | A kind of connector of industrial robot | |
| CN112720545A (en) | Humanoid parallel robot dexterous hand | |
| CN104149081A (en) | Modular handheld double-operating-end master robot | |
| CN105500399A (en) | Manipulator driven by pneumatic brake cables and having human hand characteristics | |
| CN109079771A (en) | Five articulated robots of one kind and its control method | |
| CN100519106C (en) | Pneumatic flexible ball joint based on arc pneumatic cylinder | |
| CN111844033A (en) | Teaching mechanical arm system and control method thereof | |
| CN206561411U (en) | A kind of mounting seat of industrial robot | |
| CN205043780U (en) | Multi -freedom -degree manipulator | |
| CN208289905U (en) | A kind of humanoid basketball robot with hand structure | |
| CN207971949U (en) | A kind of six-joint robot of gear transmission structure | |
| CN207172062U (en) | A kind of asymmetric double robot arm device | |
| CN201109119Y (en) | Pneumatic flexible ball-joint based on arc pneumatic cylinder | |
| CN106826794A (en) | A kind of adaptive robot visual inspection webcam driver structure | |
| CN206561415U (en) | A kind of positioning installation apparatus of industrial robot | |
| CN208557476U (en) | A kind of novel ball coordinate robots | |
| CN207104914U (en) | A kind of adaptive robot visual inspection webcam driver structure | |
| CN204585235U (en) | A kind of pneumatic brake cable drives and has the manipulator of staff feature | |
| CN208663842U (en) | A kind of robot tool quick change construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170922 Termination date: 20210309 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |