CN207431434U - A kind of robot manipulator structure of gear grinding machines - Google Patents
A kind of robot manipulator structure of gear grinding machines Download PDFInfo
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- CN207431434U CN207431434U CN201721503198.0U CN201721503198U CN207431434U CN 207431434 U CN207431434 U CN 207431434U CN 201721503198 U CN201721503198 U CN 201721503198U CN 207431434 U CN207431434 U CN 207431434U
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Abstract
The utility model is related to Gear Processing fields, a kind of robot manipulator structure of gear grinding machines is disclosed, including symmetrical two manipulators, manipulator includes mounting base, vertical adjustment seat, longitudinally connected arm and lateral adjustments arm, and vertical adjustment seat is fixedly installed on mounting base end；Vertical adjustment seat offers vertical adjustment slot, longitudinally connected arm one end offers fixing screwed hole, and longitudinally connected arm passes through vertical adjustment slot to be connected with vertical adjustment seat and its setting height(from bottom) on vertical adjustment seat can be adjusted in the range of vertical adjustment slot by adjusting bolt；Lateral adjustments arm is connected with longitudinally connected arm another end, and can be compared with longitudinally connected arm lateral adjustments；Lateral adjustments arm end is removably fixed with gear cleft hand.The gear size scope that gear grinding machines carry out loading and unloading automatically is expanded, gear grinding machines still can carry out automatic loading/unloading to various sizes of gear, improve work efficiency when processing different dimensional parameters gears, and avoiding artificial loading and unloading causes to generate injury to human body.
Description
Technical field
The utility model is related to gear machining technology field, more particularly to a kind of robot manipulator structure of gear grinding machines.
Background technology
Automatic toothing machine is processed by the use of emery wheel as finishing roller gear or some gears (helical gear, bevel gear etc.)
The gear cutting machine of the cutter flank of tooth, the deformation for being mainly used for eliminating after being heat-treated and the raising accuracy of gear, automatic toothing machine is certainly
Band loading and unloading manipulator, but in actual use, the manipulator carried are only capable of meeting main subtract on serial automatic of one, tooth
Blanking can only realize the gear of same size batch automatic loading/unloading operation, cause expensive automatic toothing machine not
It can be suitably used for the Gear Processing of other different size batches（Such as outer diameter variation or the height change of gear）, applicability is low,
If necessary to process the gear of different size batches, can only manually loading and unloading single-piece be ground, and the various sizes of tooth of each batch
Wheel have certain quantity so that not only increasing operational motion, every product only emery wheel stops, opens the door, lower workpiece, on
Workpiece, startup, shutdown, emery wheel, which are opened etc., just accumulates the stand-by period more than 10 seconds, and 1 class will lack 80 more than one piece of converted products, together
When, artificial loading and unloading, because of main motor frequent starting, not only power consumption increases, and also increases failure-frequency, and enabling mist of oil is very
Greatly, injury is also also easy to produce to operative employee's body.
Utility model content
The goal of the invention of the utility model is：In view of the above problems, a kind of manipulator knot of gear grinding machines is provided
Structure, the gear size scope of loading and unloading can be carried out automatically by expanding gear grinding machines within the specific limits, realized gear grinding machines and added
During the gear of work difference dimensional parameters, still automatic loading/unloading can be carried out to various sizes of gear, solve manual operation
Cumbersome problem, reduce increased power consumption due to frequent starting motor, improve work efficiency, avoid manually up and down
Material causes the injury generated to human body.
The technical solution adopted in the utility model is such：A kind of robot manipulator structure of gear grinding machines, including symmetrical
Two manipulators, each manipulator includes mounting base, vertical adjustment seat, longitudinally connected arm and lateral adjustments arm, institute
It states vertical adjustment seat and is fixedly installed on the mounting base end；Vertical adjustment slot is offered on the vertical adjustment seat, it is described vertical
Fixing screwed hole is offered to linking arm one end, the longitudinally connected arm passes through the vertical adjustment slot simultaneously by an adjusting bolt
Fixing screwed hole described in precession come realize with the vertical adjustment seat be fixedly connected and the longitudinally connected arm can adjusted vertically
It saves and its fixed installation height on the vertical adjustment seat is adjusted in the altitude range of slot；The lateral adjustments arm is indulged with described
It is fixedly connected and is mutually perpendicular to the another end of linking arm, the lateral adjustments arm can laterally be adjusted compared with the longitudinally connected arm
Section；The end of the lateral adjustments arm, which is removably secured, is connected with gear cleft hand.
A kind of robot manipulator structure of gear grinding machines described in the utility model, the another end of the longitudinally connected arm are fixedly installed
Laterally steering portion, the length in the laterally steering portion are more than the width of longitudinally connected arm and, the horizontal stroke vertical with longitudinally connected arm
There is laterally steering hole into guide part, the lateral adjustments arm is passed through and is installed in laterally steering hole, the lateral adjustments
Arm can realize lateral adjustments in laterally steering hole compared with the laterally steering portion.
A kind of robot manipulator structure of gear grinding machines described in the utility model, the laterally steering hole be threaded hole, the horizontal stroke
It is screw to regulating arm, the screw is closed with corresponding threaded holes, and one end tool of the screw passes through a spanner there are one clamping part
It is held on the clamping part and screw is driven to be rotated compared with laterally steering portion, and then realize that lateral adjustments arm is led compared with horizontal
It is adjusted to portion's transverse shifting.
A kind of robot manipulator structure of gear grinding machines described in the utility model is socketed with lock sleeve, the lock on the screw
Fixed to coordinate with wire rod thread, for the lock sleeve between laterally steering portion and gear cleft hand, the lock sleeve can be by screw
It lock onto in laterally steering portion, prevents screw from being rotated compared with the laterally steering portion.
A kind of robot manipulator structure of gear grinding machines described in the utility model offers rectangle on the vertical adjustment seat end face
Vertical guide groove, the vertical guide groove communicates with the vertical adjustment slot, and described longitudinally connected arm one end has rectangle
Guide ledges, the guide ledges are located in vertical guide groove and are adapted.
A kind of robot manipulator structure of gear grinding machines described in the utility model, the gear cleft hand pass through cleft hand seat and the horizontal stroke
It is connected to regulating arm, described cleft hand seat one end offers blind round hole, another end offers rectangular clip slot, the gear cleft hand
Including claw and fixed plate portion, the fixed plate portion is located in clip slot, and the upper end of the clip slot is accordingly threaded with locking
Screw, the lock-screw precession cleft hand seat and can hold out against the upper surface of the fixed plate portion, the end of the lateral adjustments arm
Tool is there are one cylindrical portion, and the cylindrical portion is located in the blind round hole and is adapted, and the upper end of the blind round hole also corresponds to
Ground is threaded with lock-screw, and the lock-screw precession cleft hand seat and can hold out against the cylindrical portion.
A kind of robot manipulator structure of gear grinding machines described in the utility model offers annular groove in the cylindrical portion, works as institute
When stating cylindrical portion and being located in the blind round hole, the end of the upper end locking screw of the blind round hole can annular groove described in jacking
It is interior.
A kind of robot manipulator structure of gear grinding machines described in the utility model, on the vertical adjustment seat with longitudinally connected arm phase
Graduation mark is provided on adjacent end face.
A kind of robot manipulator structure of gear grinding machines described in the utility model, head and the vertical adjustment seat of the adjusting bolt
Gasket is provided between outer surface, head and the gasket of adjusting bolt are adjacent to, and gasket is adjacent to vertical adjustment seat outer surface.
In conclusion by adopting the above-described technical solution, the beneficial effects of the utility model are：The machine of the utility model
Tool hand stable structure and design is reasonable, strong applicability, the gear cleft hand up and down adjustment and left and right that can realize robot manipulator structure are adjusted
Section, and then according to circle product external diameter and the height of product, be adjusted flexibly from both direction, so as to adaptively to not
Product with size carries out clamping loading and unloading, and the gear ruler of loading and unloading can be carried out automatically by expanding gear grinding machines within the specific limits
Very little scope without manually carrying out loading and unloading, only need to adaptively adjust robot manipulator structure when processing different batches gear, with
So that the cleft hand of robot manipulator structure adapts to the gear size of this batch, you can realizes and the gear of this batch is carried out above and below automatic
Material, improves the processing efficiency of product, adds company's output value, ensure that the health of staff.
The utility model realizes our company's difference appearance and size roller gear product in the practical application of the applicant
100% all standing of roll flute manipulator automatic loading/unloading, and promote split run roll flute process capacity efficiency 30%, the two of company
Platform gear grinding machines can monthly increase by 8000 more than one piece of roll flute finished product, newly-increased 48.38 ten thousand yuan of the output value of roll flute storage.
Description of the drawings
Fig. 1 is the cooperation top view that two manipulators and gear are controlled in the robot manipulator structure of the utility model；
Fig. 2 is the top view of right gear wheel cleft hand in the utility model；
Fig. 3 is right end mounting base and the front view of vertical adjustment seat cooperation in the utility model；
Fig. 4 is right end mounting base and the top view of vertical adjustment seat cooperation in the utility model；
Fig. 5 is right end mounting base and the left view of vertical adjustment seat cooperation in the utility model；
Fig. 6 is the right view of the longitudinally connected arm of right end in the utility model；
Fig. 7 is the partial sectional view of the longitudinally connected arm of right end in the utility model；
Fig. 8 is the top view of right end lateral adjustments arm in the utility model；
Fig. 9 is the front view of right end cleft hand seat in the utility model；
Figure 10 is the right view of right end cleft hand seat in the utility model.
It is marked in figure：1 is mounting base, and 2 be vertical adjustment seat, and 3 be longitudinally connected arm, and 4 be lateral adjustments arm, and 5 be vertical
Regulating tank, 6 be fixing screwed hole, and 7 be adjusting bolt, and 8 be gear cleft hand, and 9 be laterally steering portion, and 10 be laterally steering hole, 11
It is lock sleeve for clamping part, 12,13 be vertical guide groove, and 14 be guide ledges, and 15 be cleft hand seat, and 16 be blind round hole, and 17 are
Clip slot, 18 be claw, and 19 be fixed plate portion, and 20 be lock-screw, and 21 be cylindrical portion, and 22 be annular groove, and 23 be gasket.
Specific embodiment
Below in conjunction with the accompanying drawings, the utility model is described in detail.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, is further elaborated the utility model.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Explanation：The vertical interface vertical direction i.e. with attached drawing 1, longitudinal direction are the vertical direction at 1 interface of attached drawing, are laterally attached drawing
The left and right directions at 1 interface；The application only provides a kind of robot manipulator structure of automatic loading/unloading, realizes different size gear processing
The change of technological parameter, the application are not directed to.
Embodiment 1
As shown in Fig. 1 to 10, a kind of robot manipulator structure of gear grinding machines, including symmetrical two manipulators, two machines
Tool hand is and gear grinding machines（It is not shown in figure）Executing agency（It is not shown in figure）It is fixedly connected, each manipulator includes installation
Seat 1, vertical adjustment seat 2, longitudinally connected arm 3 and lateral adjustments arm 4, vertical adjustment seat 2 are fixedly installed on 1 end of mounting base, have
Body, vertical adjustment seat 2 is structure as a whole with mounting base 1；Vertical adjustment slot 5, longitudinally connected arm are offered on vertical adjustment seat 2
3 one end offer fixing screwed hole 6, and longitudinally connected arm 3 fixes spiral shell by an adjusting bolt 7 through vertical adjustment slot 5 and precession
Pit 6 come realize with vertical adjustment seat 2 be fixedly connected and longitudinally connected arm 3 can be adjusted in the altitude range of vertical adjustment slot 5
It saves its fixed installation height on vertical adjustment seat 2, is set on vertical adjustment seat 2 on the end face adjacent with longitudinally connected arm 3
There is graduation mark（It is not shown in figure）, graduation mark causes when adjusting setting height(from bottom), more intuitively, can more rapidly will longitudinal direction
Linking arm 3 is adjusted to required setting height(from bottom), the head diameter of adjusting bolt 7 be more than the width of vertical adjustment slot 5, head with it is vertical
2 outer surface of adjustment seat is adjacent to, and further, gasket is provided between 2 outer surface of head and vertical adjustment seat of adjusting bolt 7
23, head and the gasket 23 of adjusting bolt 7 are adjacent to, and gasket 23 is adjacent to 2 outer surface of vertical adjustment seat, and the setting of gasket 23 causes
The not direct outer surface with vertical adjustment seat 2 in the head of adjusting bolt 7 contacts, and when being fixed, the head of adjusting bolt 7 is only
There is spin friction in the outer surface of gasket 23, protect the outer surface of vertical adjustment seat 2；Lateral adjustments arm 4 and longitudinally connected arm 3
Another end be fixedly connected and be mutually perpendicular to, lateral adjustments arm 4 can be compared with longitudinally connected 3 lateral adjustments of arm；Lateral adjustments arm 4
End, which is removably secured, is connected with gear cleft hand 8, can the gear cleft hand 8 for the different sizes that change the outfit as needed, two
The gear cleft hand 8 of manipulator acts on the both ends of same gear, realizes the firm crawl to gear.
Specifically, the another end of longitudinally connected arm 3 is fixedly installed laterally steering portion 9, and the length in laterally steering portion 9, which is more than, indulges
Width to linking arm 3 and vertical with longitudinally connected arm 3, has laterally steering hole 10, lateral adjustments arm 4 in laterally steering portion 9
It passes through and is installed in laterally steering hole 10, lateral adjustments arm 4 can be realized in laterally steering hole 10 compared with laterally steering portion 9
Lateral adjustments so that lateral adjustments arm 4 adjusts more firm, laterally steering hole 10 compared with the transverse shifting of longitudinally connected arm 3
For threaded hole, lateral adjustments arm 4 is screw, and screw is closed with corresponding threaded holes, and there are one clamping part 11, clampings for one end tool of screw
Portion 11 is specially hexagonal head, is held on clamping part 11 by a spanner and screw is driven to be rotated compared with laterally steering portion 9, into
And realize that lateral adjustments arm 4 is adjusted compared with 9 transverse shifting of laterally steering portion, the cooperation of screw and threaded hole, further such that
Lateral adjustments arm 4 adjusts more convenient and reliable and stable compared with the transverse shifting of longitudinally connected arm 3.
Further, lock sleeve 12 is socketed on screw, lock sleeve 12 coordinates with wire rod thread, and lock sleeve 12 is located at laterally
Between guide part 9 and gear cleft hand 8, screw can be lock onto in laterally steering portion 9 by lock sleeve 12, prevent screw compared with transverse direction
Guide part 9 rotates, the setting of lock sleeve 12, is adjusted in place compared with the transverse shifting of longitudinally connected arm 3 in lateral adjustments arm 4
When, you can rotary locking cover 12 prevents robot work to be locked between lateral adjustments arm 4 and longitudinally connected arm 3
Screw influences robot manipulator structure normal work compared with 9 unintentional rotation of laterally steering portion in the process.
Embodiment 2
As shown in Fig. 1,3 to 7, on the basis of embodiment 1, the vertical of rectangle is offered on 2 end face of vertical adjustment seat and is led
To slot 13, vertical guide groove 13 is communicated with vertical adjustment slot 5, and longitudinally connected 3 one end of arm has the guide ledges 14 of rectangle, is oriented to
Boss 14 is located in vertical guide groove 13 and is adapted, and is arranged such so that longitudinally connected arm 3 is adjusted on vertical adjustment seat 2
During setting height(from bottom), more stablize smoothly, play the role of guiding, ensure longitudinally connected arm 3 compared with vertical adjustment seat 2 only
Move up and down adjusting.
Embodiment 3
As shown in Fig. 1,2,8,9,10, on the basis of embodiment 1, gear cleft hand 8 passes through cleft hand seat 15 and lateral adjustments
Arm 4 connects, and 15 one end of cleft hand seat offers blind round hole 16, another end offers rectangular clip slot 17, and gear cleft hand 8 includes pawl
Portion 18 and fixed plate portion 19, fixed plate portion 19 are located in clip slot 17, and the upper end of clip slot 17 is accordingly threadedly coupled that there are two lock
Screw 20, lock-screw 20 precession cleft hand seat 15 and can hold out against the upper surface of fixed plate portion 19, and the end of lateral adjustments arm 4 has
One cylindrical portion 21, cylindrical portion 21 are located in blind round hole 16 and are adapted, and also accordingly screw thread connects for the upper end of blind round hole 16
It connects there are one lock-screw 20, lock-screw 20 precession cleft hand seat 15 and can hold out against the cylindrical portion 21, and gear cleft hand 8 passes through solid
Fixed board is removably secured with cleft hand seat 15 and is connected, and cleft hand seat 15 is removably secured company by lock-screw 20 and screw end
Connect so that the connection or disassembly process between three components are more convenient, and can as needed and the different sizes that change the outfit are big
Small gear cleft hand 8, it is also rotatable before lock-screw 20 is locked to adjust cleft hand seat 15 so that the gear of 15 front end of cleft hand seat
Cleft hand 8 is with treating that clip tooth wheel can be matched more fully；Further, annular groove 22 is offered in cylindrical portion 21, works as cylindrical portion
21 when being located in the blind round hole 16, and the end of the upper end locking screw 20 of blind round hole 16 can be in jacking annular groove 22, such as
This is set, and ensures to hold out against 22 bottom of annular groove when lock-screw 20 is locked, without directly withstanding on the outer round surface of cylindrical portion 21,
Prevent due to lock-screw 20 frequently hold out against operation damage cylindrical portion 21 outer round surface, ensure 16 inner surface of blind round hole with
The outer round surface of cylindrical portion 21 more fully coordinates contact, meanwhile, it can also prevent cleft hand seat 15 from undesirably falling off cylindrical portion 21, protect
Card cleft hand seat 15 is more steadily fixedly connected with screw end.
Further, offer the vertical guide groove 13 of rectangle on 2 end face of vertical adjustment seat, vertical guide groove 13 with it is vertical
Regulating tank 5 communicates, and longitudinally connected 3 one end of arm has the guide ledges 14 of rectangle, and guide ledges 14 are located in vertical guide groove 13
And be adapted, it being arranged such so that longitudinally connected arm 3 is more stablized smoothly when adjusting setting height(from bottom) on vertical adjustment seat 2,
Play the role of guiding, ensure that longitudinally connected arm 3 only moves up and down adjusting compared with vertical adjustment seat 2.
When gear height is unchanged, outer diameter becomes larger, lock sleeve 12 need to be only unclamped, adjusts the screw of two symmetrical manipulators,
So that then two gear cleft hands 8 unclamp the corresponding lock-screw 20 in 16 upper end of blind round hole, rotation reversely away to suitable position
Turn cleft hand seat 15 so that gear cleft hand 8 can be adapted with gear, while can replace the large-sized gear pawl of installation as needed
Hand 8；When gear highly becomes larger or becomes small, adjusting bolt 7 can be directly unclamped, adjusts longitudinally connected arm 3 up or down so that
The height of gear cleft hand 8 then tightens adjusting bolt 7 in the suitable position of gear.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (9)
1. a kind of robot manipulator structure of gear grinding machines, including symmetrical two manipulators, it is characterised in that：Each machinery
Hand includes mounting base（1）, vertical adjustment seat（2）, longitudinally connected arm（3）With lateral adjustments arm（4）, the vertical adjustment seat
（2）It is fixedly installed on the mounting base（1）End；The vertical adjustment seat（2）On offer vertical adjustment slot（5）, it is described vertical
To linking arm（3）One end offers fixing screwed hole（6）, the longitudinally connected arm（3）Pass through an adjusting bolt（7）Through described
Vertical adjustment slot（5）And fixing screwed hole described in precession（6）To realize and the vertical adjustment seat（2）Be fixedly connected and institute
State longitudinally connected arm（3）It can be in vertical adjustment slot（5）Altitude range in adjust its in the vertical adjustment seat（2）On fixation
Setting height(from bottom)；The lateral adjustments arm（4）With the longitudinally connected arm（3）Another end be fixedly connected and be mutually perpendicular to, the horizontal stroke
To regulating arm（4）It can be compared with the longitudinally connected arm（3）Lateral adjustments；The lateral adjustments arm（4）End removably
It is fixedly connected with gear cleft hand（8）.
2. a kind of robot manipulator structure of gear grinding machines according to claim 1, it is characterised in that：The longitudinally connected arm（3）
Another end be fixedly installed laterally steering portion（9）, the laterally steering portion（9）Length be more than longitudinally connected arm（3）Width,
And with longitudinally connected arm（3）Vertically, the laterally steering portion（9）It is interior that there is laterally steering hole（10）, the lateral adjustments arm（4）
It passes through and is installed on laterally steering hole（10）It is interior, the lateral adjustments arm（4）It can be in laterally steering hole（10）It is interior compared with described
Laterally steering portion（9）Realize lateral adjustments.
3. a kind of robot manipulator structure of gear grinding machines according to claim 2, it is characterised in that：The laterally steering hole（10）
For threaded hole, the lateral adjustments arm（4）For screw, the screw is closed with corresponding threaded holes, and one end of the screw has one
A clamping part（11）, the clamping part is held on by a spanner（11）And screw is driven compared with laterally steering portion（9）It rotates,
And then realize lateral adjustments arm（4）Compared with laterally steering portion（9）Transverse shifting is adjusted.
4. a kind of robot manipulator structure of gear grinding machines according to claim 3, it is characterised in that：Lock is socketed on the screw
It is fixed（12）, the lock sleeve（12）Coordinate with wire rod thread, the lock sleeve（12）Positioned at laterally steering portion（9）With gear pawl
Hand（8）Between, the lock sleeve（12）Screw can be lock onto to laterally steering portion（9）It is interior, prevent screw compared with the transverse direction
Guide part（9）It rotates.
5. a kind of robot manipulator structure of gear grinding machines according to any one of claims 1 to 4, it is characterised in that：It is described vertical
Adjustment seat（2）The vertical guide groove of rectangle is offered on end face（13）, the vertical guide groove（13）With the vertical adjustment slot
（5）It communicates, the longitudinally connected arm（3）One end has the guide ledges of rectangle（14）, the guide ledges（14）Positioned at vertical
Guide groove（13）It is interior and be adapted.
6. a kind of robot manipulator structure of gear grinding machines according to any one of claims 1 to 4, it is characterised in that：The gear
Cleft hand（8）Pass through cleft hand seat（15）With the lateral adjustments arm（4）Connection, the cleft hand seat（15）One end offers blind round hole
（16）, another end offer rectangular clip slot（17）, the gear cleft hand（8）Including claw（18）With fixed plate portion（19）, institute
State fixed plate portion（19）Positioned at clip slot（17）It is interior, the clip slot（17）Upper end be accordingly threaded with lock-screw（20）,
The lock-screw（20）It can precession cleft hand seat（15）And hold out against the fixed plate portion（19）Upper surface, the lateral adjustments arm
（4）End tool there are one cylindrical portion（21）, the cylindrical portion（21）Positioned at the blind round hole（16）It is interior and be adapted, it is described
Blind round hole（16）Upper end be also accordingly threaded with lock-screw（20）, the lock-screw（20）It can precession cleft hand seat
（15）And hold out against the cylindrical portion（21）.
7. a kind of robot manipulator structure of gear grinding machines according to claim 6, it is characterised in that：The cylindrical portion（21）On open
Equipped with annular groove（22）, when the cylindrical portion（21）Positioned at the blind round hole（16）When interior, the blind round hole（16）It is upper
Hold lock-screw（20）End can annular groove described in jacking（22）It is interior.
8. a kind of robot manipulator structure of gear grinding machines according to claim 1, it is characterised in that：The vertical adjustment seat（2）
Upper and longitudinally connected arm（3）Graduation mark is provided on adjacent end face.
9. a kind of robot manipulator structure of gear grinding machines according to claim 1, it is characterised in that：The adjusting bolt（7）'s
Head and vertical adjustment seat（2）Gasket is provided between outer surface（23）, adjusting bolt（7）Head and gasket（23）It is adjacent to,
Gasket（23）With vertical adjustment seat（2）Outer surface is adjacent to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721503198.0U CN207431434U (en) | 2017-11-13 | 2017-11-13 | A kind of robot manipulator structure of gear grinding machines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721503198.0U CN207431434U (en) | 2017-11-13 | 2017-11-13 | A kind of robot manipulator structure of gear grinding machines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207431434U true CN207431434U (en) | 2018-06-01 |
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ID=62288909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721503198.0U Active CN207431434U (en) | 2017-11-13 | 2017-11-13 | A kind of robot manipulator structure of gear grinding machines |
Country Status (1)
| Country | Link |
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| CN (1) | CN207431434U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974927A (en) * | 2018-09-28 | 2018-12-11 | 隆钛（深圳）技术有限公司 | The grasping mechanism of compatible more sizes |
-
2017
- 2017-11-13 CN CN201721503198.0U patent/CN207431434U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974927A (en) * | 2018-09-28 | 2018-12-11 | 隆钛（深圳）技术有限公司 | The grasping mechanism of compatible more sizes |
| CN108974927B (en) * | 2018-09-28 | 2024-01-23 | 隆钛（深圳）技术有限公司 | Grabbing mechanism compatible with multiple sizes |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Outside North Meishan city of Sichuan province Danleng town 620200 Danleng County No. 1 Patentee after: Sichuan denture Precision Technology Co.,Ltd. Address before: Outside North Meishan city of Sichuan province Danleng town 620200 Danleng County No. 1 Patentee before: CHONCHE GROUP (SICHUAN) DANCHI PARTS & COMPONENTS Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |