CN207402113U - A kind of new and effective robot delivery positioning mechanism - Google Patents
A kind of new and effective robot delivery positioning mechanism Download PDFInfo
- Publication number
- CN207402113U CN207402113U CN201721140348.6U CN201721140348U CN207402113U CN 207402113 U CN207402113 U CN 207402113U CN 201721140348 U CN201721140348 U CN 201721140348U CN 207402113 U CN207402113 U CN 207402113U
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- mandril
- cylinder
- fixed
- spring
- pneumatic clamper
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Abstract
The utility model is related to automated production equipment, specifically a kind of new and effective robot delivery positioning mechanism solves the problems, such as that existing detent mechanism efficiency is relatively low.Including feeding mechanism and positioning, feeding transport mechanism is equipped between feeding mechanism and detent mechanism, is positioned over instead of original robot grabbing workpiece on detent mechanism, so as to improve whole discharging location efficiency；By setting fixed pneumatic clamper on rotating servo positioning head, workpiece fixation during rotational positioning is made more securely to avoid being thrown out of；By setting infrared inductor that rotating servo positioning head is avoided to dally, production efficiency is influenced；By setting mandril and the matched positioning method of fiber sensor, physical positioning and sensing positioning are combined, makes positioning more precise and stable.
Description
Technical field
The utility model is related to automated production equipment, specifically a kind of new and effective robot feeding localization machine
Structure.
Background technology
At present, automobile fuel pump wait cylindrical workpieces machinery production process in, usually using robot into
Row loading and unloading, robot can control the crawl of several fixed points by PLC or put down workpiece, robot is to going out by setting
Discharge position required precision is very high；But since this kind of cylindrical workpiece has more regular outer circumference surface, outer circumference surface is equipped with
Hold the oil guide groove that gasoline flows through together, the bottom of workpiece is set there are one protrusion round platform (as shown in drawings), and robot is difficult to institute
The outer circumference surface for having workpiece is rotated on identical direction, and lathe has the processing of this kind of product exact position requirement,
Not so product can be caused to be destroyed in process, and artificial monitoring intervention, and result in lower production efficiency, it is impossible to meet
Modern production is accurate, efficiently requirement.Existing at present produce also uses some detent mechanisms, but precision and automation journey
Production requirement is not achieved in degree.
One such workpiece of lathe process, typical time is 28 seconds, a two trolley bed of robot pipe, it is necessary to 14 seconds
The interior completion work such as feeding blowing, former robot is workpiece from discharge point, and grabbing detent mechanism, first-class to treat that mechanism completes fixed
Behind position, then workpiece grabbing is processed to lathe, at this moment front has been placed in the lathe of workpiece and machined and waiting
Robot feeding, lathe do not have running at full capacity, there is 1/5th stand-by period, have the idle stand-by period to be unfavorable for automatic metaplasia
Production improves efficiency.
The content of the invention
In order to which deficiency, the utility model provide a kind of new and effective robot delivery positioning mechanism more than making up, with
It solves the problems, such as in above-mentioned background technology.
The technical solution of the utility model is：
A kind of new and effective robot delivery positioning mechanism, including feeding mechanism and detent mechanism, the detent mechanism
It is installed on main anchor, the feeding mechanism and detent mechanism are coordinated to control by PLC, it is characterised in that：The charging
Feeding transport mechanism is equipped between mechanism and detent mechanism, the feeding transport mechanism includes band guide rail rodless cylinder, installation branch
Frame and push-and-pull cylinder, the top that mounting bracket is fixed on guide rail rodless cylinder, the mounting bracket are fixed on main fixation
On stent, the push-and-pull cylinder is fixed on band guide rail rodless cylinder, and sliding with guide rail rodless cylinder control push-and-pull cylinder or so
Dynamic, downward, and the lower end connection of push-and-pull cylinder, there are one pushing block, the pushing block connects one and grabs the output terminal of the push-and-pull cylinder
Pneumatic clamper is taken, the crawl pneumatic clamper can hold the cylindrical wall of workpiece, and the detent mechanism includes rotating servo positioning head, mandril and two
A symmetrically arranged infrared inductor, the rotating servo positioning head are installed on by Serve Motor Control, the servomotor
On one servomotor stent, the servomotor stent is installed on main anchor, and the infrared inductor passes through
Inductor support is installed on servomotor stent both sides, and a fixed pneumatic clamper, institute are fixedly connected on the rotating servo positioning head
The protrusion round platform outer wall of bottom of workpiece can be fixed by stating fixed pneumatic clamper, and the both ends with guide rail rodless cylinder are respectively at charging
The top of the discharge end of mechanism and the top of fixed pneumatic clamper, described two infrared inductors are respectively arranged at a left side for fixed pneumatic clamper
Right both sides and higher than fixed pneumatic clamper, the position of corresponding workpiece, the mandril is arranged on the rear of rotating servo positioning head and by mandril
Cylinder driving is flexible, is cased with spring outside the mandril, and the front end of the mandril is equipped with tip, and spring is pressed during the tip stress
Contracting, the oil guide groove of the tip and workpiece matches, and may be inserted into oil guide groove, set above the rear end of the mandril there are one
Fibre optical sensor.
As preferred technical solution, a kind of localization method of new and effective robot delivery positioning mechanism, feature
It is, comprises the following steps：
A. workpiece is transported to discharge end by feeding mechanism；
B., push-and-pull cylinder is moved to the top of discharge end with guide rail rodless cylinder, push-and-pull cylinder is released crawl pneumatic clamper, grabbed
Pneumatic clamper is taken to hold the cylindrical wall of workpiece, push-and-pull cylinder is retracted；
C., push-and-pull cylinder is moved to the top of fixed pneumatic clamper with guide rail rodless cylinder, push-and-pull cylinder releases crawl pneumatic clamper,
Pneumatic clamper release workpiece is captured in fixed pneumatic clamper, push-and-pull cylinder is retracted, and fixed pneumatic clamper catches the protrusion round platform of workpiece bottom；
D. infrared inductor senses workpiece, transmits a signal to PLC, and PLC control mandril cylinders release mandril, mandril
Tip prop up the cylindrical wall of workpiece, spring-compressed and mandril moves back, fibre optical sensor senses the rear end of mandril, transmission letter
Number to PLC, PLC control servomotor rotations, servomotor rotation drives the rotation of rotating servo positioning head, rotating servo positioning head
Fixed pneumatic clamper rotation is driven, fixed pneumatic clamper drives workpiece rotation；
E. workpiece rotates to certain position, when the tip of mandril corresponds to oil guide groove, mandril bullet under springback active force
Go out, in the tip insertion oil guide groove of mandril, fibre optical sensor sensing at this time transmits a signal to PLC, PLC less than the rear end of mandril
Control servomotor stops rotating, mandril cylinders retract, and workpiece positioning is completed.
As preferred technical solution, the mandril cylinder is installed in cylinder fixed seat, the mandril movable set in
In slide, spring mounting groove is equipped in the slide, the slide is installed on sliding block, and the sliding block divides into wired rail and sliding block
It rail can slidably reciprocate along the line, the cylinder fixed seat is mounted on line rail on one piece of bottom plate, and the bottom plate passes through an angle bar
Frame is fixed on main anchor, and the mandril cylinder is connected with slide by an excessive block, and the excessive block includes interior
Concave surface, the spring mounting groove are connected with inner concave, and the rear end of the mandril is through spring mounting groove and through inner concave, institute
The upper surface for stating inner concave is fixedly mounted there are one fibre optical sensor fixed block, and the fibre optical sensor fixed block is interior to be equipped with hollow out
Portion, the fibre optical sensor are installed in hollow-out parts.
As preferred technical solution, spring fixed seat is equipped in the spring mounting groove, the mandril is consolidated through spring
Reservation, one end of the spring are set in outside spring fixed seat, and the other end and the inner concave of spring offset.
As preferred technical solution, the mounting surface that the main anchor corresponds to servomotor stent is equipped with facing cut
Slot, the corresponding surface of the servomotor stent is equipped with is more than milling with the matched milling boss of facing cut slot, the facing cut slot length
Land length.
As preferred technical solution, the crawl pneumatic clamper is three-jaw finger cylinder, and the centre of the crawl cylinder is equipped with
Jacking block.
By adopting the above-described technical solution, a kind of new and effective robot feeding localization machine described in the utility model
Structure is equipped with feeding transport mechanism between feeding mechanism and detent mechanism, positioning is positioned over instead of original robot grabbing workpiece
In mechanism, so as to improve whole discharging location efficiency；By setting fixed pneumatic clamper on rotating servo positioning head, revolving workpiece
Turn fixation in position fixing process more securely to avoid being thrown out of；By the way that infrared inductor is set to avoid rotating servo positioning head empty
Turn, influence production efficiency；By setting mandril and the matched positioning method of fiber sensor, position physical positioning and sensing
It is combined, makes positioning more precise and stable.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structure diagram of the utility model embodiment；
Fig. 2 is the enlarged drawing of A in Fig. 1；
Fig. 3 is the structure diagram of workpiece in the utility model embodiment；
Fig. 4 is the mounting structure schematic diagram of mandril in the utility model embodiment；
Fig. 5 is the backsight structural representation of the utility model embodiment；
Fig. 6 is the enlarged drawing of B in Fig. 5；
Wherein：1- feeding mechanisms；11- discharge ends；2- detent mechanisms；21- rotating servo positioning heads；22- infrared inductions
Device；23- servomotors；24- servomotor stents；241- milling boss；25- inductor supports；26- fixes pneumatic clamper；The main fixations of 3-
Stent；31- facing cut slots；4- feeding transport mechanisms；41- band guide rail rodless cylinders；42- mounting brackets；43- push-and-pull cylinders；45- is pushed away
Block；46- captures pneumatic clamper；461- jacking blocks；5- workpiece；51- cylindrical walls；52- protrudes round platform；53- oil guide grooves；6- mandrils；61- is pushed up
Bar cylinder；62- springs；63- tips；64- cylinder fixed seats；65- slides；66- spring mounting grooves；661- spring fixed seats；
67- sliding blocks；68- line rails；69- bottom plates；7- fibre optical sensors；71- fibre optical sensor fixed blocks；72- hollow-out parts；8- angle-iron frames；
The excessive blocks of 9-；91- inner concaves；10- laser.
Specific embodiment
Embodiment one：As shown in Fig. 1~Fig. 6, a kind of new and effective robot feeding positioning described in the utility model
Mechanism, including feeding mechanism 1 and detent mechanism 2, the detent mechanism 2 is installed on main anchor 3, the feeding mechanism 1
Coordinate to control by PLC with detent mechanism 2, it is characterised in that：Feeding is equipped between the feeding mechanism 1 and detent mechanism 2 to pass
Mechanism 4 is sent, the feeding transport mechanism 4 includes band guide rail rodless cylinder 41, mounting bracket 42 and push-and-pull cylinder 43, the band and leads
Rail rodless cylinder 41 is fixed on the top of mounting bracket 42, and the mounting bracket 42 is fixed on main anchor 3, the push-and-pull
Cylinder 43 is fixed on band guide rail rodless cylinder 41, and with guide rail rodless cylinder 41 push-and-pull cylinder 43 is controlled to horizontally slip, described
Downward, and the lower end connection of push-and-pull cylinder 43, there are one pushing block 45, the pushing block 45 connects one to the output terminal of push-and-pull cylinder 43
Pneumatic clamper 46 is captured, the crawl pneumatic clamper 46 can hold the cylindrical wall 51 of workpiece 5, and the detent mechanism 2 is positioned including rotating servo
First 21, mandril 6 and two symmetrically arranged infrared inductors 22, the rotating servo positioning head 21 are controlled by servomotor 23
System, the servomotor 23 are installed on a servomotor stent 24, and the servomotor stent 24 is installed on main fixed branch
On frame 3, the infrared inductor 22 is installed on 24 both sides of servomotor stent by inductor support 25, and the rotation is watched
It takes and a fixed pneumatic clamper 26 is fixedly connected on positioning head 21, the fixed pneumatic clamper 26 can fix the protrusion round platform of the bottom of workpiece 5
52 outer walls, the both ends with guide rail rodless cylinder 41 are respectively at the top of the discharge end 11 of feeding mechanism 1 and fixed pneumatic clamper
26 top, described two infrared inductors 22 are respectively arranged at the left and right sides of fixed pneumatic clamper 26 and higher than fixed pneumatic clampers
26, the position of corresponding workpiece 5, the mandril 6 be arranged on the rear of rotating servo positioning head 21 and driven by mandril cylinder 61 it is flexible,
It is cased with spring 62 outside the mandril 6, the front end of the mandril 6 is equipped with tip 63, and spring 62 is compressed during 63 stress of tip,
The tip 63 and the oil guide groove 53 of workpiece 5 match, and may be inserted into oil guide groove 53, are set above the rear end of the mandril 6
There are one fibre optical sensors 7.
A kind of localization method of new and effective robot delivery positioning mechanism, which is characterized in that comprise the following steps：
A. workpiece 5 is transported to discharge end 11 by feeding mechanism 1；
B., push-and-pull cylinder 43 is moved to the top of discharge end 11 with guide rail rodless cylinder 41, the release of push-and-pull cylinder 43 is grabbed
Pneumatic clamper 46 is taken, crawl pneumatic clamper 46 holds the cylindrical wall 51 of workpiece 5, and push-and-pull cylinder 43 is retracted；
C., push-and-pull cylinder 43 is moved to the top of fixed pneumatic clamper 26 with guide rail rodless cylinder 41, push-and-pull cylinder 43 is released
Pneumatic clamper 46 is captured, crawl pneumatic clamper 46 discharges workpiece 5 in fixed pneumatic clamper 26, and push-and-pull cylinder 43 is retracted, and fixed pneumatic clamper grabs 26 and lives work
The protrusion round platform 52 of 5 bottom of part；
D. infrared inductor 22 senses workpiece 5, transmits a signal to PLC, and PLC control mandrils cylinder 61 pushes away mandril 6
Go out, the tip 63 of mandril 6 props up the cylindrical wall 51 of workpiece 5, and spring 62 compresses and mandril 6 moves back, and fibre optical sensor sense 7 should
To the rear end of mandril 6, PLC is transmitted a signal to, PLC control servomotors 23 rotate, and the rotation of servomotor 23 drives rotating servo
Positioning head 21 rotates, and rotating servo positioning head 21 drives fixed pneumatic clamper 26 to rotate, and fixed pneumatic clamper 26 drives workpiece 5 to rotate；
E. workpiece 5 rotates to certain position, and when the tip 63 of mandril 6 corresponds to oil guide groove 53, mandril 6 rebounds in spring 62 to be made
Firmly lower pop-up, the tip 63 of mandril 6 are inserted into oil guide groove 53, and fibre optical sensor 7 senses the rear end less than mandril 6, transmission letter
Number to PLC, PLC control servomotors 23 stop rotating, and mandril cylinder 61 is retracted, and the positioning of workpiece 5 is completed.Fibre optical sensor 7 is sent out
Go out red visible laser 10, and detect the i.e. reflective amount of 10 light-inletting quantity of laser of return, laser 10 is not irradiated to the rear end of mandril 6
Shi Fanguang amounts for one value, laser 10 when being irradiated to the rear end of mandril 6 reflective amount be reduced to another value, pass through the change of reflective amount
Change, signal to PLC control mandrils cylinder 61 and servomotor 23 runs or stops, the small precision of detection error is high.
The mandril cylinder 61 is installed in cylinder fixed seat 64, and 6 movable set of mandril is described in slide 65
Spring mounting groove 66 is equipped in slide 65, the slide 65 is installed on sliding block 67, and the sliding block 67 is divided into wired rail 68 and slided
Block 67 rail 68 can slidably reciprocate along the line, and the cylinder fixed seat 64 is mounted on line rail 68 on one piece of bottom plate 69, the bottom plate
69 are fixed on by an angle-iron frame 8 on main anchor 3, and the mandril cylinder 61 passes through 9 phase of excessive block with slide 65
Connection, the excessive block 9 include inner concave 91, and the spring mounting groove 66 is connected with inner concave 91, the rear end of the mandril 6
Through spring mounting groove 66 and through inner concave 91, there are one fibre optical sensors for the upper surface fixed installation of the inner concave 91
Fixed block 71, the fibre optical sensor fixed block 71 is interior to be equipped with hollow-out parts 72, and the fibre optical sensor 7 is installed on hollow-out parts 72
It is interior.Slide 65 and sliding block 67 are set, mandril 6 is installed and is more stablized, positions more accurate, front and rear cunning on 67 online rail 68 of sliding block
Dynamic more smooth, cylinder fixed seat 64 is fixed on by bottom plate 69 on angle-iron frame 8 with line rail 68, and adjustment is facilitated to be horizontally mounted position
It puts, then is installed on by angle-iron frame 8 on main anchor 3, facilitate adjustment upright position, make the more accurate temperature of entire mechanism positioning
Degree.
Spring fixed seat 661 is equipped in the spring mounting groove 66, the mandril 6 passes through spring fixed seat 661, the bullet
One end of spring 62 is set in outside spring fixed seat 661, and the other end and the inner concave 91 of spring 62 offset.Spring 62 is set in spring
It outside fixed seat 661, is more firmly mounted, avoids 62 play of spring.
The mounting surface that the main anchor 3 corresponds to servomotor stent 24 is equipped with facing cut slot 31, the servomotor
The corresponding surface of stent 24 is equipped with is more than milling boss with 31 matched milling boss 241 of facing cut slot, 31 length of facing cut slot
241 length.The 241 matched design of facing cut slot 31 and milling boss, it is easier for installation secured, and facilitate fine tuning setting height(from bottom).
The crawl pneumatic clamper 46 is three-jaw finger cylinder, and the centre of the crawl pneumatic clamper 46 is equipped with jacking block 461.Jacking block 461
Height be just designed to prop up the machined surface of workpiece 5, make that three-jaw finger cylinder captures or release workpiece 5 is more stablized, avoid
Workpiece 5 skids off.
The advantages of basic principle, main feature and the utility model of the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Simply illustrate the principle of the utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
Various changes and modifications are had, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed scope is defined by the appending claims and its equivalent thereof.
Claims (5)
1. a kind of new and effective robot delivery positioning mechanism, including feeding mechanism (1) and detent mechanism (2), the positioning
Mechanism (2) is installed on main anchor (3), and the feeding mechanism (1) and detent mechanism (2) are coordinated to control by PLC, special
Sign is：Feeding transport mechanism (4), the feeding transport mechanism are equipped between the feeding mechanism (1) and detent mechanism (2)
(4) band guide rail rodless cylinder (41), mounting bracket (42) and push-and-pull cylinder (43) are included, the band guide rail rodless cylinder (41) is solid
Due to the top of mounting bracket (42), the mounting bracket (42) is fixed on main anchor (3), the push-and-pull cylinder (43)
It is fixed on band guide rail rodless cylinder (41), and horizontally slips with guide rail rodless cylinder (41) control push-and-pull cylinder (43), it is described
Downward, and the lower end connection of push-and-pull cylinder (43) is there are one pushing block (45), the pushing block (45) for the output terminal of push-and-pull cylinder (43)
One crawl pneumatic clamper (46) of connection, the crawl pneumatic clamper (46) can hold the cylindrical wall (51) of workpiece (5), the detent mechanism
(2) include rotating servo positioning head (21), mandril (6) and two symmetrically arranged infrared inductors (22), the rotation to watch
Positioning head (21) is taken to be controlled by servomotor (23), the servomotor (23) is installed on a servomotor stent (24),
The servomotor stent (24) is installed on main anchor (3), and the infrared inductor (22) passes through inductor branch
Frame (25) is installed on servomotor stent (24) both sides, and a fixed pneumatic clamper is fixedly connected on the rotating servo positioning head (21)
(26), the fixed pneumatic clamper (26) can fix protrusion round platform (52) outer wall of the bottom of workpiece (5), the band guide rail rodless cylinder
(41) both ends are respectively at the top of the discharge end (11) of feeding mechanism (1) and the top of fixed pneumatic clamper (26), described two
Infrared inductor (22) is respectively arranged at the left and right sides of fixed pneumatic clamper (26) and higher than fixed pneumatic clamper (26), corresponding workpiece
(5) position, the mandril (6) are arranged on the rear of rotating servo positioning head () 21 and flexible, institute are driven by mandril cylinder (61)
It states and spring (62) is cased with outside mandril (6), the front end of the mandril (6) is equipped with tip (63), spring during tip (63) stress
(62) compressed, the tip (63) and the oil guide groove (53) of workpiece (5) match, and may be inserted into oil guide groove (53), institute
State fibre optical sensor (7) there are one being set above the rear end of mandril (6).
2. a kind of new and effective robot delivery positioning mechanism as described in claim 1, it is characterised in that：The mandril gas
Cylinder (61) is installed in cylinder fixed seat (64), and mandril (6) movable set is set in slide (65) in the slide (65)
There is spring mounting groove (66), the slide (65) is installed on sliding block (67), and the sliding block (67) is divided into wired rail (68) and slided
Block (67) rail (68) can slidably reciprocate along the line, and the cylinder fixed seat (64) is mounted on one piece of bottom plate (69) with line rail (68)
On, the bottom plate (69) is fixed on by an angle-iron frame (8) on main anchor (3), the mandril cylinder (61) and slide
(65) be connected by an excessive block (9), the excessive block (9) include inner concave (91), the spring mounting groove (66) with
Inner concave (91) is connected, and the rear end of the mandril (6) is through spring mounting groove (66) and through inner concave (91), the indent
The upper surface in face (91) is fixedly mounted there are one fibre optical sensor fixed block (71), and the fibre optical sensor fixed block (71) is interior to be set
There are hollow-out parts (72), the fibre optical sensor (7) is installed in hollow-out parts (72).
3. a kind of new and effective robot delivery positioning mechanism as claimed in claim 2, it is characterised in that：The spring peace
It is equipped with spring fixed seat (661) in tankage (66), the mandril (6) passes through spring fixed seat (661), and the one of the spring (62)
Loaded on spring fixed seat (661) outside, the other end and the inner concave (91) of spring (62) offset end cap.
4. a kind of new and effective robot delivery positioning mechanism as described in claim 1, it is characterised in that：The main fixation
The mounting surface of the corresponding servomotor stent (24) of stent (3) is equipped with facing cut slot (31), pair of the servomotor stent (24)
Face is answered to be equipped with milling boss (241) matched with facing cut slot (31), 31 length of facing cut slot is long more than milling boss (241)
Degree.
5. a kind of new and effective robot delivery positioning mechanism as described in claim 1, it is characterised in that：The crawl gas
Pawl (46) is three-jaw finger cylinder, and the centre of the crawl pneumatic clamper (46) is equipped with jacking block (461).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721140348.6U CN207402113U (en) | 2017-09-07 | 2017-09-07 | A kind of new and effective robot delivery positioning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721140348.6U CN207402113U (en) | 2017-09-07 | 2017-09-07 | A kind of new and effective robot delivery positioning mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207402113U true CN207402113U (en) | 2018-05-25 |
Family
ID=62405666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721140348.6U Expired - Fee Related CN207402113U (en) | 2017-09-07 | 2017-09-07 | A kind of new and effective robot delivery positioning mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207402113U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584140A (en) * | 2017-09-07 | 2018-01-16 | 浙江百信机器人股份有限公司 | It is a kind of new and effective to give robot delivery positioning mechanism and localization method |
| CN108890388A (en) * | 2018-09-18 | 2018-11-27 | 海盐县海塘标准件厂 | A kind of pipe fitting processing unit (plant) with lubricating action |
| CN113070578A (en) * | 2021-02-21 | 2021-07-06 | 旺荣电子(深圳)有限公司 | Relay shell marking device |
-
2017
- 2017-09-07 CN CN201721140348.6U patent/CN207402113U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584140A (en) * | 2017-09-07 | 2018-01-16 | 浙江百信机器人股份有限公司 | It is a kind of new and effective to give robot delivery positioning mechanism and localization method |
| CN108890388A (en) * | 2018-09-18 | 2018-11-27 | 海盐县海塘标准件厂 | A kind of pipe fitting processing unit (plant) with lubricating action |
| CN108890388B (en) * | 2018-09-18 | 2023-11-24 | 江苏恒盛通建设有限公司 | Pipe joint machining device with lubricating function |
| CN113070578A (en) * | 2021-02-21 | 2021-07-06 | 旺荣电子(深圳)有限公司 | Relay shell marking device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180525 Termination date: 20210907 |
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| CF01 | Termination of patent right due to non-payment of annual fee |