CN207643160U - A kind of robot vacuum holding means - Google Patents
A kind of robot vacuum holding means Download PDFInfo
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- CN207643160U CN207643160U CN201721482437.9U CN201721482437U CN207643160U CN 207643160 U CN207643160 U CN 207643160U CN 201721482437 U CN201721482437 U CN 201721482437U CN 207643160 U CN207643160 U CN 207643160U
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- suction nozzle
- annular suction
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- holding means
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Abstract
The utility model is related to a kind of robot vacuum holding means, including the multiple absorption ontologies that can draw and shift same object to be held, the connecting plate for being connected as one multiple absorption ontologies, a mounting platform is installed in the top of connecting plate by holder, which couples with the mechanical arm of robot；Absorption ontology includes the reinforcement block that can be formed the annular suction nozzle of negative pressure cavity and extend from annular suction nozzle upper end to connecting plate direction, and a pre-buried connecting tube in reinforcement block, the connecting tube is fixedly connected across connecting plate and with connecting plate；A gas passage for extending to negative pressure cavity is equipped in connecting tube, annular suction nozzle is contacted with the smooth upper surface of object to be held, and the gas in annular suction nozzle is extracted out by gas passage, forms the vacuum area for adsorbing object to be held.The vacuum holding means of the utility model has the advantages that simple in structure, easy to use, absorption is reliable.
Description
Technical field
The utility model belongs to robot field, and in particular to a kind of robot vacuum holding means.
Background technology
On food or parts production line, the phenomenon that manually crawl there is also food package box or parts, by machine
Device people replaces manual work, is the trend of social development now.
Sucker is widely used in major supermarket or family, is by the way that adsorption cup to be extruded in smooth mounting plane
On, then force the air in adsorption cup to be discharged, when reaching the air pressure that air pressure inside adsorption cup is less than outside adsorption cup, absorption
Cup is then adsorbed on mounting plane, and hook is connected on adsorption cup, and hook then can be used for tangling Cargo bag or various cargos
Deng.
The component that a mechanical arm using robot picks and places article is developed using sucker principle, becomes research staff urgently
Problem to be solved.
Utility model content
The purpose of this utility model is to provide a kind of robot vacuum holding means, solves existing robot and picks and places object
The problem of product inconvenience.
For this purpose, the technical solution of the utility model is as follows：
A kind of robot vacuum holding means, including can draw and shift same object to be held multiple absorption ontologies,
A mounting platform, the peace are installed in the connecting plate that multiple absorption ontologies are connected as one, the top of the connecting plate by holder
Assembling platform couples with the mechanical arm of robot so that mechanical arm drives absorption ontology linkage；
The mechanical arm includes：With the integrally formed turntable of Y-axis, X-axis, fixed two floors on a spinstand, with
Supporting parts that the upper surface of mounting platform is fixedly connected, the first steering engine of driving X-axis rotation, the bottom for fixing the second steering engine
Seat, the pedestal are equipped with through-hole, and the Y-axis passes through through-hole, and the junction of through-hole and Y-axis is equipped at least one bearing, the Y
Y-axis gear is arranged on axis, the output shaft of second steering engine is equipped with the driving gear of driving Y-axis gear rotation；
The X-axis passes through supporting parts and is fixedly connected with supporting parts, to realize that X-axis drives supporting parts rotation；The X-axis
Both ends are each passed through floor, and bearing is equipped between floor and X-axis；The output shaft of first steering engine is equipped with first gear,
The X-axis is equipped with the second gear engaged with first gear；
The absorption ontology includes that can form the annular suction nozzle of negative pressure cavity and from annular suction nozzle upper end to connecting plate direction
The reinforcement block of extension, a pre-buried connecting tube in the reinforcement block, which, which passes through the connecting plate and fixed with connecting plate, connects
It connects；
A gas passage for extending to negative pressure cavity is equipped in the connecting tube, the annular suction nozzle is smooth with object to be held
Upper surface contacts, and the gas in annular suction nozzle is extracted out by gas passage, forms the vacuum area for adsorbing object to be held.
A kind of above-mentioned robot vacuum holding means, the annular suction nozzle is horn-like structure, the annular suction nozzle
Big end for adsorbing object to be held.
A kind of above-mentioned robot vacuum holding means, the outer portion of the annular suction nozzle is along the section of connecting tube axial direction
It is trapezoidal；The internal ring portion of the annular suction nozzle is arc along the section of connecting tube axial direction.
A kind of above-mentioned robot vacuum holding means, the end face for being located at the annular suction nozzle big end are equipped with friction
Pad, the frictional force between the friction pad and object to be held can offset the lateral force that object to be held is subject in transfer；The friction pad
Piece is made of Polyurethane or neoprene.
A kind of above-mentioned robot vacuum holding means, the connecting plate lead to equipped with multiple for what connecting tube passed through
Hole, the connecting tube are fixed after passing through through-hole by nut.
A kind of above-mentioned robot vacuum holding means, the through-hole are threaded hole, and the connecting tube is equipped with and spiral shell
The external screw thread of pit cooperation.
A kind of above-mentioned robot vacuum holding means, the holder include for connecting mounting platform, connecting plate
Four supporting legs are equipped with support plate between four supporting legs, and the support plate is for placing aspiration pump and inflator pump.
A kind of above-mentioned robot vacuum holding means, the free end of multiple connecting tubes are equipped with supplied gas and pass through
Hose, multiple hoses connect through at least one four-way union with total hose, and total hose is equipped with two-bit triplet solenoid valve, institute
Two air inlets for stating two-bit triplet solenoid valve are separately connected aspiration pump, inflator pump by pipeline, and the aspiration pump inhales annular
The space of mouth is evacuated, and so that absorption ontology is formed negative pressure cavity, object to be held is clamped；The inflator pump is noted into annular suction nozzle
Enter air, to realize the disengaging of annular suction nozzle and object to be held.
The beneficial effects of the utility model：
For the utility model by the smooth surface of multiple absorption body contacts objects to be held, aspiration pump will by gas passage
Evacuating air in annular suction nozzle makes annular suction nozzle form negative pressure cavity, since the air pressure inside annular suction nozzle is less than annular suction nozzle
External air pressure, object to be held are picked up under the action of external pressure.When mechanical arm drives absorption ontology and object to be held to move
After moving suitable position, inflator pump is inflated by gas passage to the inner cavity of annular suction nozzle, make the air pressure inside of annular suction nozzle with
External pressure keeps balance, absorption ontology to be detached from object to be held.It follows that the vacuum holding means of the utility model has
Advantage simple in structure, easy to use, absorption is reliable.
The utility model is described in further details below with reference to accompanying drawings and embodiments.
Description of the drawings
Fig. 1 is the structural schematic diagram one of vacuum holding means.
Fig. 2 is the A direction views of Fig. 1.
Fig. 3 is the sectional view for adsorbing ontology.
Fig. 4 is the pipe-line system schematic diagram of vacuum holding means.
Fig. 5 is the structural schematic diagram of mechanical arm.
In figure：1. adsorbing ontology；11. annular suction nozzle；11-1. outer portions；11-2. internal ring portions；12. reinforcement block；
13. gas passage；14. connecting tube；2. connecting plate；3. mounting platform；4. supporting leg；5. support plate；6. aspiration pump；7. inflation
Pump；8. two-bit triplet solenoid valve；81. total hose；9. four-way union；91. hose；100. object to be held；A1. it rotates
Platform；A2.X axis；A2-1. second gear；A3. floor；A4. supporting parts；A5. the first steering engine；A5-1. first gear；A6.Y axis；
A6-1.Y shaft gears；A7. pedestal；A8. the second steering engine；A8-1. output shaft；A8-2. driving gear.
Specific implementation mode
Reach the technological means and effect that predetermined purpose is taken for the utility model is expanded on further, below in conjunction with attached drawing
And embodiment, to specific embodiment of the present utility model, structure feature and its effect, detailed description are as follows.
In order to solve the problems, such as that existing robot picks and places article inconvenience, it is true to present embodiments provide a kind of robot use
Empty clamping device.As depicted in figs. 1 and 2, the vacuum holding means of the present embodiment includes that can draw and shift same object to be held
100 multiple absorption ontologies 1, the connecting plate 2 for being connected as one multiple absorption ontologies 1, the top of connecting plate 2 is pacified by holder
A mounting platform 3 is filled, which couples with the mechanical arm of robot so that mechanical arm drives absorption ontology 1 to link.
As shown in figure 5, the mechanical arm of the present embodiment includes：With the integrally formed turntable a1 of Y-axis a6, X-axis a2, be installed in
Two floor a3 on turntable a1, the supporting parts a4 being fixedly connected with the upper surface of mounting platform, the a2 rotations of driving X-axis the
One steering engine a5, the pedestal a7 for fixing the second steering engine a8, pedestal a7 are equipped with through-hole, and the Y-axis a6 passes through through-hole, and logical
Hole and the junction of Y-axis a6 are equipped at least one bearing, and Y-axis gear a6-1, the second steering engine a8 are arranged on the Y-axis a6
Output shaft a8-1 be equipped with the driving gear a8-2 of driving Y-axis gear a6-1 rotation；
The X-axis a2 passes through supporting parts a4 and is fixedly connected with supporting parts a4, to realize that X-axis a2 drives supporting parts a4 rotations
Turn；The both ends of the X-axis a2 are each passed through floor a3, and bearing is equipped between floor a3 and X-axis a2；The first steering engine a5's
Output shaft is equipped with first gear a5-1, the X-axis a2 and is equipped with the second gear a2-1 engaged with first gear a5-1.
The first servo driving X-axis a2 rotations of the present embodiment, X-axis a2 is fixedly connected with supporting parts a4, when X-axis a2 is rotated,
Supporting parts a4 is also rotated therewith；The present embodiment since Y-axis gear a6-1 is fixedly connected with Y-axis a6, as driving gear a8-2
After being engaged with Y-axis gear a6-1, the second steering engine a8 driving Y-axis a6 rotations, supporting parts a4 is also rotated with the rotation of Y-axis a6.This
The first steering engine, the second steering engine of embodiment are electrically connected with the interior controller for setting microcontroller, under the control of the controller, first
Steering engine, the second steering engine make the object to be held 100 being adsorbed on multiple absorption ontologies 1 be delivered to next machining position from position to be held
It sets.
It may be noted that in actual use, the pedestal a7 of the present embodiment is also possible to connect with the fuselage of robot or engine base.
The supporting parts a4 of the present embodiment can be by the first noumenon that is fixedly connected with X-axis a2 and perpendicular to the second ontology group of the first noumenon
At the length of the second ontology is more than the length of the first noumenon, and the lower face of the second ontology and the upper surface of mounting platform are fixed and connected
It connects, when X-axis a2 or Y-axis a6 rotate, mounting platform is rotated with the rotation of the second ontology.Certainly, the supporting parts a4 of the present embodiment
It is not limited to above structure, as long as the work(that can be realized the undertaking to mounting platform, the absorption ontology 1 on mounting platform is driven to rotate
Energy.
As shown in figure 3, the absorption ontology 1 of the present embodiment includes the annular suction nozzle 11 that can form negative pressure cavity and certainly annular suction nozzle
The reinforcement block 12 that 11 upper ends extend to 2 direction of connecting plate, a pre-buried connecting tube 14 in reinforcement block 12, which, which passes through, connects
Fishplate bar 2 is simultaneously fixedly connected with connecting plate 2；A gas passage 13 for extending to negative pressure cavity, annular suction nozzle 11 are equipped in connecting tube 14
It is contacted with the smooth upper surface of object 100 to be held, the gas in annular suction nozzle 11 is extracted out by gas passage 13, is formed for adsorbing
The vacuum area of object 100 to be held.
The present embodiment is the smooth surface that object 100 to be held is contacted by multiple absorption ontologies 1, and aspiration pump 6 passes through gas
Evacuating air in annular suction nozzle 11 is made annular suction nozzle 11 form negative pressure cavity, due to the gas inside annular suction nozzle 11 by channel 13
Pressure is less than the air pressure outside annular suction nozzle 11, and object 100 to be held is picked up under the action of external pressure.The vacuum of the present embodiment
Clamping device has the advantages that cleaning, absorption are steady reliably, does not damage clamped object surface.
After mechanical arm drives absorption ontology 1 and object to be held 100 to be moved to suitable position, inflator pump 7 is logical by gas
Road 13 is inflated to the inner cavity of annular suction nozzle 11, is made the air pressure inside of annular suction nozzle 11 keep balancing with external pressure, is adsorbed ontology 1
It is detached from object 100 to be held.
As shown in figure 3, the annular suction nozzle 11 of the present embodiment is horn-like structure, the big end of annular suction nozzle 11 is waited for for adsorbing
Object 100 is clamped, small end is connect with reinforcement block 12.The outer portion 11-1 of annular suction nozzle 11 is ladder along the axial section of connecting tube 14
Shape；The internal ring portion 11-2 of annular suction nozzle 11 is arc along the axial section of connecting tube 14.The purpose being arranged in this way is to make annular suction
Cavities seals between mouth 11 and object to be held 100 are more preferable.
With reference to Fig. 3, the design principle of the present embodiment is described in detail：The absorption ontology 1 of the present embodiment uses vacuum principle,
I.e. with negative pressure of vacuum come adsorbent article to achieve the purpose that clamping workpiece.As shown in Figure 3 and Figure 4, the free end of connecting tube 14 with
Hose 91 connects, and hose 91 is connect by total hose 81 with aspiration pump 6, after aspiration pump 6 starts, the gas of 11 inner cavity of annular suction nozzle
Body is extracted out by aspiration pump 6, and the air inside annular suction nozzle 11 is pumped, and forms the vacuum shape that air pressure inside is less than external pressure
State.At this point, since the air pressure inside annular suction nozzle 11 is less than the atmospheric pressure outside annular suction nozzle 11, article is pressed in outside
It is picked up under the action of power.Vacuum degree inside annular suction nozzle 11 is higher, and that is pasted between annular suction nozzle 11 and article is tighter.
After object 100 to be held sucks, the mechanical arm of robot drives absorption ontology 1 and object to be held 100, and article is turned
Suitable position is moved on to, inflator pump 7 is inflated by gas passage 13 to the inner cavity of annular suction nozzle 11, and the inside gas of annular suction nozzle 11 is made
Pressure keeps balancing with external pressure, and absorption ontology 1 is detached from object 100 to be held.
What is stressed is：The absorption ontology 1 of the present embodiment needs to contact with the sealing contents adsorbed when in use, is formed
After one closed gas chamber, aspiration pump 6 could be started, air-tight chamber is vacuumized.Above-mentioned analysis it is found that the present embodiment vacuum
Clamping device have the characteristics that it is pollution-free, do not hinder workpiece and easy-to-use.
It since the material of annular suction nozzle 11 is generally rubber, directly contacts, can wear tight with object 100 to be held for a long time
Weight, and the phenomenon that clamping object moves horizontally is susceptible to during shifting article.For this purpose, the present embodiment is positioned at annular suction nozzle
The end face of 11 big ends is equipped with friction pad, and the frictional force between the friction pad and object to be held 100 can offset object 100 to be held and turn
The lateral force being subject to when shifting；Friction shim is made of Polyurethane or neoprene.
In order to which connecting plate 2 and absorption ontology 1 is preferably fixed, the connecting plate 2 of the present embodiment is equipped with multiple for connection
The through-hole that pipe 14 passes through, connecting tube 14 are fixed after passing through through-hole by nut.The fixation of connecting tube 14 and through-hole can be welding,
Can also be that through-hole and connecting tube 14 are interference fitted.In view of easy to demolition, the through-hole of the present embodiment is threaded hole, connecting tube 14
It is equipped with the external screw thread coordinated with threaded hole.
As shown in Fig. 2, the holder of the present embodiment includes four supporting legs 4 for connecting mounting platform 3, connecting plate 2, four
Support plate 5 is equipped between supporting leg 4, the support plate 5 is for placing aspiration pump 6 and inflator pump 7.As shown in figure 4, multiple connecting tubes 14
Free end be equipped with the hose 91 that supplied gas passes through, multiple hoses 91 connect through at least one four-way union 9 and total hose 81
It connects, total hose 81 is equipped with two-bit triplet solenoid valve 8, and two air inlets of two-bit triplet solenoid valve 8 are separately connected by pipeline
The space of annular suction nozzle 11 is evacuated by aspiration pump 6, inflator pump 7, aspiration pump 6, and absorption ontology 1 is made to form negative pressure cavity, with folder
Hold object 100 to be held；Inflator pump 7 injects air into annular suction nozzle 11, to realize the de- of annular suction nozzle 11 and object 100 to be held
From.
It may be noted that vacuum absorption device is coupled by mounting platform 3 with the mechanical arm of robot, mechanical arm is equipped with first
Limit switch and the second limit switch, the first limit switch, the second limit switch are electrically connected with the controller of robot, and first
Limit switch is used to send the information that vacuum absorption device is located at clamping position to controller, and the second limit switch is used for controller
It sends vacuum absorption device and is located at the information for being detached from position；Controller is electrically connected with two-bit triplet solenoid valve 8, for controlling two three
The magnet switching electricity of three-way electromagnetic valve 8, to make annular suction nozzle 11 be in vacuum state or normal pressure state.
The mechanical arm of robot can be rotated using universal joint, can also be using sliding rail, guide rail or telescopic rod
Straight line is shunk, naturally it is also possible to be the combination of the two.First limit switch and the second limit switch of the present embodiment are located at
On the one hand two different working positions of mechanical arm, the first limit switch and the second limit switch can prevent manipulator motion from exceeding
Formation damages, and the movable information of mechanical arm on the other hand can also be transmitted to controller.
The controller of the present embodiment robot can select the microprocessor of model STM32F103RBT6；The microprocessor
Device is 32 bit processor products of the ST companies based on the newest Cortex-X3 framework kernels of ARM, Flash, 20K's of built-in 128KB
Multiple resources, the clock frequencies such as RAM, 12 AD, 4 16 bit timing device core, 3 road USART communication ports reach as high as 72MHz.Micro- place
The input voltage for managing device is 3.3V, and low energy consumption, and dry cell may be used and be powered, run duration is long.
The present embodiment contacts the smooth surface of object 100 to be held by multiple absorption ontologies 1, and aspiration pump 6 is logical by gas
Evacuating air in annular suction nozzle 11 is made annular suction nozzle 11 form negative pressure cavity, due to the air pressure inside annular suction nozzle 11 by road 13
Less than the air pressure outside annular suction nozzle 11, object 100 to be held is picked up under the action of external pressure.It is adsorbed when mechanical arm drives
After ontology 1 and object to be held 100 are moved to suitable position, inflator pump 7 is filled by gas passage 13 to the inner cavity of annular suction nozzle 11
Gas makes the air pressure inside of annular suction nozzle 11 keep balancing with external pressure, and absorption ontology 1 is detached from object 100 to be held.Thus may be used
Know, the vacuum holding means of the present embodiment has the advantages that simple in structure, easy to use, absorption is reliable.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is confined to these explanations.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard
To belong to the scope of protection of the utility model.
Claims (8)
1. a kind of robot vacuum holding means, which is characterized in that including that can draw and shift same object to be held（100）'s
Multiple absorption ontologies（1）, by multiple absorption ontologies（1）The connecting plate being connected as one（2）, the connecting plate（2）Top it is logical
It crosses holder and one mounting platform is installed（3）, the mounting platform（3）Couple with the mechanical arm of robot so that mechanical arm drives absorption
Ontology（1）Linkage；
The mechanical arm includes：With Y-axis（a6）Integrally formed turntable（a1）, X-axis（a2）, be installed in turntable（a1）On
Two floors（a3）, the supporting parts that are fixedly connected with the upper surface of mounting platform（a4）, driving X-axis（a2）First steering engine of rotation
（a5）, for fixing the second steering engine（a8）Pedestal（a7）, the pedestal（a7）It is equipped with through-hole, the Y-axis（a6）Across through-hole,
And through-hole and Y-axis（a6）Junction be equipped at least one bearing, the Y-axis（a6）On be arranged with Y-axis gear（a6-1）, described
Second steering engine（a8）Output shaft（a8-1）It is equipped with and Y-axis gear（a6-1）The driving gear of engagement（a8-2）；
The X-axis（a2）Across supporting parts（a4）And and supporting parts（a4）It is fixedly connected, to realize X-axis（a2）Drive supporting parts
（a4）Rotation；The X-axis（a2）Both ends be each passed through floor（a3）, and floor（a3）With X-axis（a2）Between be equipped with bearing；Institute
State the first steering engine（a5）Output shaft be equipped with first gear（a5-1）, the X-axis（a2）It is equipped with and first gear（a5-1）
The second gear of engagement（a2-1）；
The absorption ontology（1）Annular suction nozzle including negative pressure cavity can be formed（11）With certainly annular suction nozzle（11）Upper end is to connection
Plate（2）The reinforcement block that direction extends（12）, the reinforcement block（12）An interior pre-buried connecting tube（14）, the connecting tube（14）Across institute
State connecting plate（2）And and connecting plate（2）It is fixedly connected；
The connecting tube（14）Inside it is equipped with a gas passage for extending to negative pressure cavity（13）, the annular suction nozzle（11）With it is to be held
Object（100）Smooth upper surface contact, annular suction nozzle（11）Interior gas is by gas passage（13）Extraction is formed and is waited for for adsorbing
Object is clamped（100）Vacuum area.
2. robot vacuum holding means as described in claim 1, which is characterized in that the annular suction nozzle（11）For loudspeaker
Shape structure, the annular suction nozzle（11）Big end for adsorbing object to be held（100）.
3. robot vacuum holding means as claimed in claim 2, which is characterized in that the annular suction nozzle（11）Outer shroud
Portion（11-1）Along connecting tube（14）Axial section is trapezoidal；The annular suction nozzle（11）Internal ring portion（11-2）Along connecting tube
（14）Axial section is arc.
4. robot vacuum holding means as claimed in claim 2, which is characterized in that be located at the annular suction nozzle（11）Greatly
The end face at end is equipped with friction pad, the friction pad and object to be held（100）Between frictional force can offset object to be held（100）Turning
The lateral force being subject to when shifting；The friction pad is made of Polyurethane or neoprene.
5. robot vacuum holding means as described in claim 1, which is characterized in that the connecting plate（2）It is equipped with more
It is a for connecting tube（14）The through-hole passed through, the connecting tube（14）It is fixed by nut after through-hole.
6. robot vacuum holding means as claimed in claim 5, which is characterized in that the through-hole is threaded hole, described
Connecting tube（14）It is equipped with the external screw thread coordinated with threaded hole.
7. robot vacuum holding means as described in claim 1, which is characterized in that the holder includes for connecting peace
Assembling platform（3）, connecting plate（2）Four supporting legs（4）, four supporting legs（4）Between be equipped with support plate（5）, the support plate（5）
For placing aspiration pump（6）And inflator pump（7）.
8. robot vacuum holding means as claimed in claim 7, which is characterized in that multiple connecting tubes（14）From
The hose that supplied gas passes through is equipped with by end（91）, multiple hoses（91）Through at least one four-way union（9）With total hose
（81）Connection, total hose（81）It is equipped with two-bit triplet solenoid valve（8）, the two-bit triplet solenoid valve（8）Two air inlets
It is separately connected aspiration pump by pipeline（6）, inflator pump（7）, the aspiration pump（6）By annular suction nozzle（11）Space be pumped into very
Sky makes absorption ontology（1）Negative pressure cavity is formed, object to be held is clamped（100）；The inflator pump（7）To annular suction nozzle（11）It is interior
Air is injected, to realize annular suction nozzle（11）With object to be held（100）Disengaging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721482437.9U CN207643160U (en) | 2017-11-09 | 2017-11-09 | A kind of robot vacuum holding means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721482437.9U CN207643160U (en) | 2017-11-09 | 2017-11-09 | A kind of robot vacuum holding means |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207643160U true CN207643160U (en) | 2018-07-24 |
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ID=62889044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721482437.9U Expired - Fee Related CN207643160U (en) | 2017-11-09 | 2017-11-09 | A kind of robot vacuum holding means |
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| Country | Link |
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| CN (1) | CN207643160U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950083A (en) * | 2019-12-09 | 2020-04-03 | 江西世安科技发展有限公司 | Glass sheet sucking device for assembling file cabinet |
-
2017
- 2017-11-09 CN CN201721482437.9U patent/CN207643160U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950083A (en) * | 2019-12-09 | 2020-04-03 | 江西世安科技发展有限公司 | Glass sheet sucking device for assembling file cabinet |
| CN110950083B (en) * | 2019-12-09 | 2021-03-02 | 江西省润华教育装备集团有限公司 | Glass sheet sucking device for assembling file cabinet |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180724 Termination date: 20181109 |